+ python -m lidar_slam --no-model /working/61721308-a28a-4b5d-a02b-eba3020b5a7b Lidar SLAM 0.0.13 ===================================================== The recording path: /working/61721308-a28a-4b5d-a02b-eba3020b5a7b 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 0.005336195 Adjusted end_distance from 9.223372036854776e+18 to 177.335336195 -=-=-> Lidar cleaning parameters file not found. --> Creating a generic default one. SLAMing on 0.005336195 meters Centerline goodness [0,1] 0.9970458858030016 Centerline is valid? [0, True] SLAMing on 0.035336195 meters Centerline goodness [0,1] 0.9986596912966406 Centerline is valid? [True, True] Translation: X:0.03, Y:-0.18, Z:-0.02 [[ 9.99314660e-01 -3.50725259e-02 -1.18375515e-02 2.94251777e-02] [ 3.50762347e-02 9.99384634e-01 1.05776649e-04 -1.80786623e-01] [ 1.18265572e-02 -5.20920888e-04 9.99929928e-01 -1.59736599e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.065336195 meters Centerline goodness [0,1] 0.9991805929919138 Centerline is valid? [True, True] Translation: X:0.06, Y:-0.19, Z:-0.01 [[ 9.99510749e-01 -3.04719534e-02 -7.05145032e-03 5.84649558e-02] [ 3.04731551e-02 9.99535584e-01 6.30255698e-05 -1.85082135e-01] [ 7.04625500e-03 -2.77874674e-04 9.99975136e-01 -8.75375597e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.095336195 meters Centerline goodness [0,1] 0.9993739070359896 Centerline is valid? [True, True] Translation: X:0.09, Y:-0.17, Z:-0.00 [[ 9.99615146e-01 -2.74051050e-02 -4.30339916e-03 8.90307594e-02] [ 2.74055240e-02 9.99624397e-01 3.84141736e-05 -1.73344883e-01] [ 4.30073004e-03 -1.56336299e-04 9.99990740e-01 -2.98796408e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.12533619499999998 meters Centerline goodness [0,1] 0.9994829926111027 Centerline is valid? [True, True] Translation: X:0.12, Y:-0.16, Z:-0.00 [[ 9.99693915e-01 -2.44504637e-02 -3.77500264e-03 1.20465085e-01] [ 2.44507648e-02 9.99701035e-01 3.36208105e-05 -1.64488933e-01] [ 3.77305201e-03 -1.25912221e-04 9.99992874e-01 -6.32681426e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.15533619499999998 meters Centerline goodness [0,1] 0.9992851417802135 Centerline is valid? [True, True] Translation: X:0.15, Y:-0.16, Z:-0.01 [[ 9.99807677e-01 -1.79515729e-02 -7.89624481e-03 1.49816790e-01] [ 1.79526904e-02 9.99838835e-01 7.06593874e-05 -1.55384877e-01] [ 7.89370377e-03 -2.12404636e-04 9.99968822e-01 -6.84765234e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.18533619499999998 meters Centerline goodness [0,1] 0.9993118871494925 Centerline is valid? [True, True] Translation: X:0.18, Y:-0.15, Z:-0.01 [[ 9.99871816e-01 -1.36166516e-02 -8.42246793e-03 1.80258210e-01] [ 1.36177686e-02 9.99907271e-01 7.52809547e-05 -1.49923587e-01] [ 8.42066184e-03 -1.89966524e-04 9.99964528e-01 -8.74196868e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.21533619499999998 meters Centerline goodness [0,1] 0.9993730407523511 Centerline is valid? [True, True] Translation: X:0.21, Y:-0.14, Z:-0.01 [[ 9.99928574e-01 -8.63873673e-03 -8.25952162e-03 2.10693459e-01] [ 8.63964114e-03 9.99962675e-01 7.38245225e-05 -1.43282761e-01] [ 8.25857558e-03 -1.45178552e-04 9.99965887e-01 -9.75021141e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.24533619499999998 meters Centerline goodness [0,1] 0.9991790528862772 Centerline is valid? [True, True] Translation: X:0.24, Y:-0.14, Z:-0.01 [[ 9.99960806e-01 -3.88995188e-03 -7.95333242e-03 2.40186628e-01] [ 3.89064014e-03 9.99992429e-01 7.10668593e-05 -1.36765729e-01] [ 7.95299575e-03 -1.02007628e-04 9.99968369e-01 -1.04085147e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.275336195 meters Centerline goodness [0,1] 0.9991110340192103 Centerline is valid? [True, True] Translation: X:0.27, Y:-0.12, Z:-0.01 [[ 9.99961679e-01 4.33684139e-03 -7.60477664e-03 2.68651096e-01] [-4.33645187e-03 9.99990595e-01 6.77090249e-05 -1.24676832e-01] [ 7.60499876e-03 -3.47286824e-05 9.99971081e-01 -9.25792208e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.305336195 meters Centerline goodness [0,1] 0.998966163389261 Centerline is valid? [True, True] Translation: X:0.30, Y:-0.12, Z:-0.01 [[ 9.99945889e-01 8.07066118e-03 -6.56385467e-03 2.96755483e-01] [-8.07045745e-03 9.99967432e-01 5.75245461e-05 -1.15183079e-01] [ 6.56410516e-03 -4.54812355e-06 9.99978456e-01 -5.14033296e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.33533619499999995 meters Centerline goodness [0,1] 0.9991380610683733 Centerline is valid? [True, True] Translation: X:0.33, Y:-0.10, Z:-0.00 [[ 9.99922531e-01 1.14752093e-02 -4.82196438e-03 3.25666820e-01] [-1.14751400e-02 9.99934158e-01 4.20576709e-05 -1.03975177e-01] [ 4.82212951e-03 1.32783034e-05 9.99988373e-01 -1.41471941e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.365336195 meters Centerline goodness [0,1] 0.9990920881971466 Centerline is valid? [True, True] Translation: X:0.35, Y:-0.10, Z:-0.00 [[ 9.99922276e-01 1.14675494e-02 -4.89253314e-03 3.54061864e-01] [-1.14674787e-02 9.99934245e-01 4.24918987e-05 -1.04205200e-01] [ 4.89269871e-03 1.36164237e-05 9.99988031e-01 -2.96818972e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.395336195 meters Centerline goodness [0,1] 0.9992455107891958 Centerline is valid? [True, True] Translation: X:0.38, Y:-0.11, Z:-0.00 [[ 9.99929962e-01 1.06609042e-02 -5.13963542e-03 3.82163837e-01] [-1.06608176e-02 9.99943171e-01 4.42479742e-05 -1.06299647e-01] [ 5.13981506e-03 1.05478405e-05 9.99986791e-01 -4.88756128e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.425336195 meters Centerline goodness [0,1] 0.9994187173028483 Centerline is valid? [True, True] Translation: X:0.41, Y:-0.11, Z:-0.01 [[ 9.99970471e-01 5.04133122e-03 -5.80024419e-03 4.10232074e-01] [-5.04112927e-03 9.99987292e-01 4.94375009e-05 -1.14857526e-01] [ 5.80041971e-03 -2.01962603e-05 9.99983177e-01 -8.23700127e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.45533619499999994 meters Centerline goodness [0,1] 0.9991398589368656 Centerline is valid? [True, True] Translation: X:0.44, Y:-0.12, Z:-0.01 [[ 9.99981387e-01 8.24045082e-04 -6.04539910e-03 4.37661898e-01] [-8.23750919e-04 9.99999659e-01 5.11487962e-05 -1.18869424e-01] [ 6.04543919e-03 -4.61679411e-05 9.99981725e-01 -7.30067913e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.48533619499999997 meters Centerline goodness [0,1] 0.9995489206315111 Centerline is valid? [True, True] Translation: X:0.47, Y:-0.12, Z:-0.00 [[ 9.99946345e-01 -8.28771956e-03 -6.21457595e-03 4.67883485e-01] [ 8.28820375e-03 9.99965651e-01 5.21618510e-05 -1.22533433e-01] [ 6.21393018e-03 -1.03666724e-04 9.99980688e-01 -4.33156612e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.515336195 meters Centerline goodness [0,1] 0.9992471661181734 Centerline is valid? [True, True] Translation: X:0.50, Y:-0.12, Z:-0.00 [[ 9.99901330e-01 -1.28383208e-02 -5.70160716e-03 4.98639823e-01] [ 1.28388015e-02 9.99917578e-01 4.77268108e-05 -1.24964179e-01] [ 5.70052449e-03 -1.20923904e-04 9.99983745e-01 -1.88048780e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.5453361950000001 meters Centerline goodness [0,1] 0.9990761033045421 Centerline is valid? [True, True] Translation: X:0.53, Y:-0.13, Z:0.00 [[ 9.99836732e-01 -1.73568055e-02 -5.02499854e-03 5.29058836e-01] [ 1.73572370e-02 9.99849351e-01 4.22745431e-05 -1.29311436e-01] [ 5.02350778e-03 -1.29487732e-04 9.99987374e-01 3.84303515e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.575336195 meters Centerline goodness [0,1] 0.9991805753223789 Centerline is valid? [True, True] Translation: X:0.56, Y:-0.13, Z:0.00 [[ 9.99771100e-01 -2.09338188e-02 -4.41846485e-03 5.59538810e-01] [ 2.09341876e-02 9.99780855e-01 3.72141769e-05 -1.34561919e-01] [ 4.41671753e-03 -1.29702631e-04 9.99990238e-01 6.22942762e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.605336195 meters Centerline goodness [0,1] 0.9989430771553677 Centerline is valid? [True, True] Translation: X:0.59, Y:-0.15, Z:-0.00 [[ 9.99663294e-01 -2.55752630e-02 -4.38240730e-03 5.90183227e-01] [ 2.55756704e-02 9.99672888e-01 3.69337607e-05 -1.45192103e-01] [ 4.38002917e-03 -1.49004329e-04 9.99990397e-01 -3.47207232e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.635336195 meters Centerline goodness [0,1] 0.9991996019642201 Centerline is valid? [True, True] Translation: X:0.62, Y:-0.15, Z:-0.00 [[ 9.99637368e-01 -2.65588887e-02 -4.44489392e-03 6.22000560e-01] [ 2.65593176e-02 9.99647238e-01 3.74925692e-05 -1.48199361e-01] [ 4.44233017e-03 -1.55532323e-04 9.99990121e-01 -4.14637053e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.665336195 meters Centerline goodness [0,1] 0.9993315508021391 Centerline is valid? [True, True] Translation: X:0.65, Y:-0.15, Z:-0.00 [[ 9.99630860e-01 -2.67612516e-02 -4.68827236e-03 6.53171249e-01] [ 2.67617323e-02 9.99641840e-01 3.98086642e-05 -1.48541619e-01] [ 4.68552788e-03 -1.65260259e-04 9.99989009e-01 -3.68259309e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.695336195 meters Centerline goodness [0,1] 0.9992892679459844 Centerline is valid? [True, True] Translation: X:0.68, Y:-0.15, Z:-0.00 [[ 9.99639070e-01 -2.62971882e-02 -5.49425557e-03 6.84552625e-01] [ 2.62978426e-02 9.99654151e-01 4.68854527e-05 -1.47562042e-01] [ 5.49112243e-03 -1.91355598e-04 9.99984905e-01 -2.92972483e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.725336195 meters Centerline goodness [0,1] 0.999462168964998 Centerline is valid? [True, True] Translation: X:0.72, Y:-0.13, Z:0.00 [[ 9.99693883e-01 -2.42598086e-02 -4.85817998e-03 7.15885832e-01] [ 2.42602970e-02 9.99705675e-01 4.16195264e-05 -1.29933327e-01] [ 4.85574041e-03 -1.59467675e-04 9.99988198e-01 2.00935353e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.755336195 meters Centerline goodness [0,1] 0.9993108349665109 Centerline is valid? [True, True] Translation: X:0.75, Y:-0.12, Z:0.00 [[ 9.99742486e-01 -2.23076655e-02 -4.16299952e-03 7.47439261e-01] [ 2.23080075e-02 9.99751145e-01 3.57347568e-05 -1.23157380e-01] [ 4.16116638e-03 -1.28593779e-04 9.99991334e-01 3.68966087e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.7853361950000001 meters Centerline goodness [0,1] 0.9995062258480034 Centerline is valid? [True, True] Translation: X:0.78, Y:-0.12, Z:0.00 [[ 9.99826977e-01 -1.82795859e-02 -3.44578112e-03 7.77479476e-01] [ 1.82797968e-02 9.99832910e-01 2.97147487e-05 -1.22293278e-01] [ 3.44466219e-03 -9.26977861e-05 9.99994063e-01 2.21628194e-05] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.815336195 meters Centerline goodness [0,1] 0.9998281528580327 Centerline is valid? [True, True] Translation: X:0.81, Y:-0.12, Z:-0.00 [[ 9.99853205e-01 -1.66652273e-02 -3.97979088e-03 8.08635822e-01] [ 1.66654953e-02 9.99861120e-01 3.41797291e-05 -1.24073905e-01] [ 3.97866855e-03 -1.00499898e-04 9.99992080e-01 -2.02411436e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.845336195 meters Centerline goodness [0,1] 0.9994428730607697 Centerline is valid? [True, True] Translation: X:0.84, Y:-0.12, Z:-0.00 [[ 9.99878868e-01 -1.48214852e-02 -4.75104643e-03 8.40685993e-01] [ 1.48218476e-02 9.99890150e-01 4.10773421e-05 -1.18408505e-01] [ 4.74991570e-03 -1.11491652e-04 9.99988713e-01 -4.10085543e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.875336195 meters Centerline goodness [0,1] 0.9993342496349111 Centerline is valid? [True, True] Translation: X:0.87, Y:-0.11, Z:-0.00 [[ 9.99899634e-01 -1.33141288e-02 -4.84308933e-03 8.73429765e-01] [ 1.33144886e-02 9.99911357e-01 4.20600206e-05 -1.10619546e-01] [ 4.84210003e-03 -1.06539057e-04 9.99988271e-01 -1.18350138e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.905336195 meters Centerline goodness [0,1] 0.9995708154506437 Centerline is valid? [True, True] Translation: X:0.90, Y:-0.11, Z:0.00 [[ 9.99894681e-01 -1.36731058e-02 -4.86555877e-03 9.04140358e-01] [ 1.36734752e-02 9.99906513e-01 4.26763703e-05 -1.07879378e-01] [ 4.86452038e-03 -1.09200973e-04 9.99988162e-01 1.64572566e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.935336195 meters Centerline goodness [0,1] 0.9995708154506437 Centerline is valid? [True, True] Translation: X:0.94, Y:-0.11, Z:0.00 [[ 9.99895310e-01 -1.36269892e-02 -4.86555822e-03 9.35841915e-01] [ 1.36273584e-02 9.99907142e-01 4.27389472e-05 -1.08234169e-01] [ 4.86452401e-03 -1.09039179e-04 9.99988162e-01 1.87004316e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.965336195 meters Centerline goodness [0,1] 0.9995484356520804 Centerline is valid? [True, True] Translation: X:0.97, Y:-0.11, Z:0.00 [[ 9.99873680e-01 -1.48723020e-02 -5.60698751e-03 9.68367742e-01] [ 1.48728136e-02 9.99889392e-01 4.95602429e-05 -1.07198563e-01] [ 5.60563026e-03 -1.32945663e-04 9.99984279e-01 2.75641518e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.995336195 meters Centerline goodness [0,1] 0.9993777892207346 Centerline is valid? [True, True] Translation: X:1.00, Y:-0.11, Z:0.00 [[ 9.99841391e-01 -1.67378228e-02 -6.08589015e-03 9.99639929e-01] [ 1.67384621e-02 9.99859901e-01 5.41123954e-05 -1.12392070e-01] [ 6.08413180e-03 -1.55972254e-04 9.99981479e-01 2.13644596e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.025336195 meters Centerline goodness [0,1] 0.9991414466623739 Centerline is valid? [True, True] Translation: X:1.03, Y:-0.12, Z:0.00 [[ 9.99746728e-01 -2.17926934e-02 -5.61771161e-03 1.03102992e+00] [ 2.17933189e-02 9.99762496e-01 5.01409900e-05 -1.19378534e-01] [ 5.61528468e-03 -1.72556871e-04 9.99984219e-01 1.98636773e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.055336195 meters Centerline goodness [0,1] 0.9995283726713401 Centerline is valid? [True, True] Translation: X:1.06, Y:-0.12, Z:0.00 [[ 9.99707298e-01 -2.36327260e-02 -5.17802689e-03 1.06325195e+00] [ 2.36332823e-02 9.99720694e-01 4.62757466e-05 -1.19951851e-01] [ 5.17548702e-03 -1.68635973e-04 9.99986593e-01 3.37054512e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.085336195 meters Centerline goodness [0,1] 0.9994652863926081 Centerline is valid? [True, True] Translation: X:1.09, Y:-0.13, Z:0.00 [[ 9.99686821e-01 -2.44797605e-02 -5.19618739e-03 1.09462811e+00] [ 2.44803336e-02 9.99700311e-01 4.67021143e-05 -1.25612509e-01] [ 5.19348689e-03 -1.73891889e-04 9.99986499e-01 1.97588367e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.1153361949999998 meters Centerline goodness [0,1] 0.9995729598155186 Centerline is valid? [True, True] Translation: X:1.13, Y:-0.12, Z:-0.00 [[ 9.99703647e-01 -2.37134542e-02 -5.50363664e-03 1.12658403e+00] [ 2.37140866e-02 9.99718780e-01 4.96538126e-05 -1.24069606e-01] [ 5.50091145e-03 -1.80152813e-04 9.99984854e-01 -1.17115229e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.1453361949999998 meters Centerline goodness [0,1] 0.9991443118127754 Centerline is valid? [True, True] Translation: X:1.16, Y:-0.12, Z:-0.00 [[ 9.99738513e-01 -2.22427811e-02 -5.30697762e-03 1.15940709e+00] [ 2.22433494e-02 9.99752585e-01 4.80797555e-05 -1.19717662e-01] [ 5.30459517e-03 -1.66112141e-04 9.99985917e-01 -1.32196663e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.1753361949999999 meters Centerline goodness [0,1] 0.9993153029784321 Centerline is valid? [True, True] Translation: X:1.19, Y:-0.12, Z:-0.00 [[ 9.99769146e-01 -2.07407098e-02 -5.61053606e-03 1.19073904e+00] [ 2.07413235e-02 9.99784874e-01 5.12094143e-05 -1.21242935e-01] [ 5.60826697e-03 -1.67567536e-04 9.99984260e-01 -1.57152312e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.2053361949999999 meters Centerline goodness [0,1] 0.9994415087854964 Centerline is valid? [True, True] Translation: X:1.22, Y:-0.11, Z:-0.00 [[ 9.99799504e-01 -1.77312016e-02 -9.30357786e-03 1.22093481e+00] [ 1.77327631e-02 9.99842759e-01 8.53686977e-05 -1.10709651e-01] [ 9.30060126e-03 -2.50329723e-04 9.99956717e-01 -4.02597686e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.235336195 meters Centerline goodness [0,1] 0.9994846688997681 Centerline is valid? [True, True] Translation: X:1.25, Y:-0.10, Z:-0.00 [[ 9.99784772e-01 -1.73196674e-02 -1.14210158e-02 1.25334165e+00] [ 1.73219983e-02 9.99849957e-01 1.05190985e-04 -1.00228835e-01] [ 1.14174803e-02 -3.03003161e-04 9.99934773e-01 -4.24982438e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.265336195 meters Centerline goodness [0,1] 0.9996549939623943 Centerline is valid? [True, True] Translation: X:1.28, Y:-0.10, Z:-0.01 [[ 9.99768121e-01 -1.76732823e-02 -1.23027866e-02 1.28374809e+00] [ 1.76760189e-02 9.99843761e-01 1.13729656e-04 -1.00165020e-01] [ 1.22988545e-02 -3.31167575e-04 9.99924311e-01 -5.50118796e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.295336195 meters Centerline goodness [0,1] 0.9995482510863486 Centerline is valid? [True, True] Translation: X:1.31, Y:-0.11, Z:-0.01 [[ 9.99759251e-01 -1.86996600e-02 -1.14787685e-02 1.31355453e+00] [ 1.87021108e-02 9.99825095e-01 1.06188742e-04 -1.05204745e-01] [ 1.14747751e-02 -3.20840378e-04 9.99934111e-01 -6.72416625e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.3253361949999998 meters Centerline goodness [0,1] 0.9994632313472893 Centerline is valid? [True, True] Translation: X:1.34, Y:-0.12, Z:-0.01 [[ 9.99729689e-01 -2.15365535e-02 -8.75929804e-03 1.34324674e+00] [ 2.15380900e-02 9.99768025e-01 8.11095831e-05 -1.19961692e-01] [ 8.75551928e-03 -2.69746208e-04 9.99961633e-01 -5.22991885e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.3553361949999998 meters Centerline goodness [0,1] 0.9992069445932912 Centerline is valid? [True, True] Translation: X:1.37, Y:-0.12, Z:-0.00 [[ 9.99676464e-01 -2.41344069e-02 -8.03107461e-03 1.37412877e+00] [ 2.41357848e-02 9.99708687e-01 7.46792077e-05 -1.23229544e-01] [ 8.02693272e-03 -2.68491335e-04 9.99967748e-01 -2.91354259e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.3853361949999998 meters Centerline goodness [0,1] 0.999292847040672 Centerline is valid? [True, True] Translation: X:1.40, Y:-0.13, Z:0.00 [[ 9.99589655e-01 -2.76396621e-02 -7.52131024e-03 1.40461688e+00] [ 2.76409703e-02 9.99617913e-01 7.00168746e-05 -1.25983692e-01] [ 7.51650120e-03 -2.77884456e-04 9.99971712e-01 1.15705728e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.4153361949999999 meters Centerline goodness [0,1] 0.9989689835896555 Centerline is valid? [True, True] Translation: X:1.44, Y:-0.13, Z:0.01 [[ 9.99405220e-01 -3.42145433e-02 -4.30954365e-03 1.43569007e+00] [ 3.42150337e-02 9.99414494e-01 4.01089027e-05 -1.25222631e-01] [ 4.30564808e-03 -1.87536228e-04 9.99990713e-01 1.05735299e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.4453361949999999 meters Centerline goodness [0,1] 0.9993570923429698 Centerline is valid? [True, True] Translation: X:1.47, Y:-0.14, Z:0.01 [[ 9.99309120e-01 -3.69332939e-02 -4.14897156e-03 1.46594290e+00] [ 3.69337723e-02 9.99317715e-01 3.87133762e-05 -1.37042906e-01] [ 4.14471097e-03 -1.91923801e-04 9.99991392e-01 1.16044317e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.475336195 meters Centerline goodness [0,1] 0.9996993191726982 Centerline is valid? [True, True] Translation: X:1.50, Y:-0.14, Z:0.01 [[ 9.99200096e-01 -3.95563587e-02 -5.87056320e-03 1.49718705e+00] [ 3.95573622e-02 9.99217300e-01 5.48791917e-05 -1.41130765e-01] [ 5.86379749e-03 -2.87059289e-04 9.99982767e-01 6.91170896e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.505336195 meters Centerline goodness [0,1] 0.9989692714037235 Centerline is valid? [True, True] Translation: X:1.53, Y:-0.15, Z:0.00 [[ 9.99097498e-01 -4.17476538e-02 -7.83086940e-03 1.52737523e+00] [ 4.17495076e-02 9.99128107e-01 7.33485661e-05 -1.50678139e-01] [ 7.82097958e-03 -4.00217310e-04 9.99969336e-01 1.94439467e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.535336195 meters Centerline goodness [0,1] 0.9986089115267731 Centerline is valid? [True, True] Translation: X:1.56, Y:-0.16, Z:0.00 [[ 9.99057559e-01 -4.25785936e-02 -8.42952120e-03 1.55786018e+00] [ 4.25807746e-02 9.99093024e-01 7.93575069e-05 -1.61488807e-01] [ 8.41849690e-03 -4.38218260e-04 9.99964468e-01 6.21982593e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.565336195 meters Centerline goodness [0,1] 0.9990321748107364 Centerline is valid? [True, True] Translation: X:1.59, Y:-0.16, Z:0.00 [[ 9.99126376e-01 -4.08479045e-02 -8.82796190e-03 1.58923206e+00] [ 4.08502311e-02 9.99165277e-01 8.33165893e-05 -1.57289344e-01] [ 8.81718970e-03 -4.43868086e-04 9.99961029e-01 1.38171784e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.5953361949999998 meters Centerline goodness [0,1] 0.9990379476215927 Centerline is valid? [True, True] Translation: X:1.62, Y:-0.16, Z:0.00 [[ 9.99220598e-01 -3.82348879e-02 -9.81278589e-03 1.61872411e+00] [ 3.82376384e-02 9.99268670e-01 9.27628704e-05 -1.60972504e-01] [ 9.80206273e-03 -4.67908329e-04 9.99951849e-01 1.46694181e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.6253361949999998 meters Centerline goodness [0,1] 0.9994861693928235 Centerline is valid? [True, True] Translation: X:1.65, Y:-0.16, Z:0.00 [[ 9.99466620e-01 -3.13102456e-02 -9.28138610e-03 1.64848171e+00] [ 3.13124074e-02 9.99509643e-01 8.76586948e-05 -1.55515847e-01] [ 9.27409029e-03 -3.78234482e-04 9.99956923e-01 4.52338863e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.6553361949999998 meters Centerline goodness [0,1] 0.9992058552080874 Centerline is valid? [True, True] Translation: X:1.68, Y:-0.15, Z:0.01 [[ 9.99610353e-01 -2.67394401e-02 -8.00897823e-03 1.67872431e+00] [ 2.67409031e-02 9.99642395e-01 7.56302188e-05 -1.49252840e-01] [ 8.00409187e-03 -2.89768061e-04 9.99967925e-01 7.05287796e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.6853361949999999 meters Centerline goodness [0,1] 0.9993334480089447 Centerline is valid? [True, True] Translation: X:1.71, Y:-0.14, Z:0.01 [[ 9.99730956e-01 -2.20850689e-02 -7.08975742e-03 1.70987157e+00] [ 2.20860984e-02 9.99756070e-01 6.69391303e-05 -1.40943574e-01] [ 7.08654966e-03 -2.23506201e-04 9.99974865e-01 7.31600836e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.715336195 meters Centerline goodness [0,1] 0.999571468363652 Centerline is valid? [True, True] Translation: X:1.74, Y:-0.14, Z:0.01 [[ 9.99821225e-01 -1.76239572e-02 -6.84946004e-03 1.74084928e+00] [ 1.76248140e-02 9.99844669e-01 6.47406752e-05 -1.36700006e-01] [ 6.84725512e-03 -1.85449560e-04 9.99976540e-01 6.38519698e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.745336195 meters Centerline goodness [0,1] 0.999871131252819 Centerline is valid? [True, True] Translation: X:1.77, Y:-0.12, Z:0.01 [[ 9.99943149e-01 -8.44138072e-03 -6.51480308e-03 1.77162108e+00] [ 8.44196151e-03 9.99964364e-01 6.16550571e-05 -1.22712181e-01] [ 6.51405046e-03 -1.16649269e-04 9.99978777e-01 7.29341021e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.775336195 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:1.80, Y:-0.12, Z:0.01 [[ 9.99968516e-01 -4.59316753e-03 -6.47065201e-03 1.80227668e+00] [ 4.59365993e-03 9.99989447e-01 6.12364689e-05 -1.17944007e-01] [ 6.47030246e-03 -9.09585158e-05 9.99979063e-01 5.40887368e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.8053361949999998 meters Centerline goodness [0,1] 0.9996169316222946 Centerline is valid? [True, True] Translation: X:1.83, Y:-0.12, Z:0.00 [[ 9.99973134e-01 -1.16110950e-03 -7.23765998e-03 1.83127046e+00] [ 1.16163563e-03 9.99999323e-01 6.84897475e-05 -1.17095440e-01] [ 7.23757556e-03 -7.68954312e-05 9.99973805e-01 3.63052682e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.8353361949999998 meters Centerline goodness [0,1] 0.9995920207854674 Centerline is valid? [True, True] Translation: X:1.86, Y:-0.12, Z:-0.00 [[ 9.99935982e-01 2.17629689e-03 -1.11038652e-02 1.86042768e+00] [-2.17527512e-03 9.99997629e-01 1.04095175e-04 -1.15743562e-01] [ 1.11040654e-02 -7.99345498e-05 9.99938345e-01 -2.67181602e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.8653361949999998 meters Centerline goodness [0,1] 0.9996140320782229 Centerline is valid? [True, True] Translation: X:1.89, Y:-0.11, Z:-0.00 [[ 9.99922667e-01 2.09001999e-03 -1.22593203e-02 1.88944447e+00] [-2.08878548e-03 9.99997812e-01 1.13502905e-04 -1.14457105e-01] [ 1.22595307e-02 -8.78870374e-05 9.99924845e-01 -1.77177509e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.8953361949999998 meters Centerline goodness [0,1] 0.999611801242236 Centerline is valid? [True, True] Translation: X:1.92, Y:-0.11, Z:0.00 [[ 9.99921023e-01 5.86683481e-04 -1.25540638e-02 1.91679635e+00] [-5.85278690e-04 9.99999822e-01 1.15572957e-04 -1.14331398e-01] [ 1.25541293e-02 -1.08216204e-04 9.99921188e-01 5.90335732e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.9253361949999999 meters Centerline goodness [0,1] 0.999656976245605 Centerline is valid? [True, True] Translation: X:1.95, Y:-0.12, Z:0.00 [[ 9.99912849e-01 -2.50063434e-03 -1.29630718e-02 1.94539510e+00] [ 2.50238263e-03 9.99996862e-01 1.18648474e-04 -1.16176406e-01] [ 1.29627344e-02 -1.51076699e-04 9.99915969e-01 2.15353992e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.9553361949999999 meters Centerline goodness [0,1] 0.9994851884424806 Centerline is valid? [True, True] Translation: X:1.97, Y:-0.13, Z:-0.00 [[ 9.99864866e-01 -9.85874094e-03 -1.31550509e-02 1.97438212e+00] [ 9.86117201e-03 9.99951370e-01 1.19947354e-04 -1.33278911e-01] [ 1.31532286e-02 -2.49655364e-04 9.99913461e-01 -5.01503857e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.985336195 meters Centerline goodness [0,1] 0.9994848790538945 Centerline is valid? [True, True] Translation: X:2.00, Y:-0.14, Z:0.00 [[ 9.99833131e-01 -1.42270384e-02 -1.14587160e-02 2.00360694e+00] [ 1.42291663e-02 9.99898755e-01 1.04191283e-04 -1.41404167e-01] [ 1.14560735e-02 -2.67221872e-04 9.99934341e-01 3.16312922e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.0153361949999997 meters Centerline goodness [0,1] 0.9994223363286264 Centerline is valid? [True, True] Translation: X:2.03, Y:-0.15, Z:0.01 [[ 9.99784893e-01 -1.87685426e-02 -8.82659924e-03 2.03365477e+00] [ 1.87699802e-02 9.99823825e-01 8.00489913e-05 -1.49968028e-01] [ 8.82354182e-03 -2.45706865e-04 9.99961042e-01 7.52360260e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.045336195 meters Centerline goodness [0,1] 0.9998498305230188 Centerline is valid? [True, True] Translation: X:2.06, Y:-0.16, Z:0.01 [[ 9.99707895e-01 -2.30034820e-02 -7.41386358e-03 2.06390772e+00] [ 2.30046121e-02 9.99735357e-01 6.71715876e-05 -1.59597813e-01] [ 7.41035637e-03 -2.37705022e-04 9.99972515e-01 9.95013715e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.0753361949999998 meters Centerline goodness [0,1] 0.9993721992509688 Centerline is valid? [True, True] Translation: X:2.09, Y:-0.17, Z:0.01 [[ 9.99536188e-01 -2.96099509e-02 -7.11756751e-03 2.09478410e+00] [ 2.96111603e-02 9.99561491e-01 6.45653650e-05 -1.67211731e-01] [ 7.11253462e-03 -2.75294851e-04 9.99974668e-01 1.23337772e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.105336195 meters Centerline goodness [0,1] 0.9995455234055446 Centerline is valid? [True, True] Translation: X:2.12, Y:-0.17, Z:0.01 [[ 9.99478896e-01 -3.17088607e-02 -6.04025790e-03 2.12435568e+00] [ 3.17097706e-02 9.99497117e-01 5.48974683e-05 -1.74631794e-01] [ 6.03547962e-03 -2.46404053e-04 9.99981756e-01 1.42215012e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.135336195 meters Centerline goodness [0,1] 0.9995060561807405 Centerline is valid? [True, True] Translation: X:2.16, Y:-0.19, Z:0.02 [[ 9.99455727e-01 -3.27487817e-02 -3.97068878e-03 2.15542418e+00] [ 3.27491826e-02 9.99463601e-01 3.59783476e-05 -1.86353470e-01] [ 3.96738066e-03 -1.65995578e-04 9.99992116e-01 1.79048549e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.165336195 meters Centerline goodness [0,1] 0.9996972842068846 Centerline is valid? [True, True] Translation: X:2.19, Y:-0.19, Z:0.02 [[ 9.99505753e-01 -3.10530102e-02 -4.89490968e-03 2.18721255e+00] [ 3.10536003e-02 9.99517720e-01 4.45861584e-05 -1.89211203e-01] [ 4.89116443e-03 -1.96568691e-04 9.99988019e-01 1.58165745e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.195336195 meters Centerline goodness [0,1] 0.9996535596743461 Centerline is valid? [True, True] Translation: X:2.22, Y:-0.19, Z:0.01 [[ 9.99585676e-01 -2.79283907e-02 -6.96281587e-03 2.21811431e+00] [ 2.79295115e-02 9.99609893e-01 6.37640038e-05 -1.89129934e-01] [ 6.95831880e-03 -2.58205631e-04 9.99975757e-01 1.18789454e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.2253361949999997 meters Centerline goodness [0,1] 0.999718918918919 Centerline is valid? [True, True] Translation: X:2.25, Y:-0.19, Z:0.01 [[ 9.99670996e-01 -2.39987933e-02 -9.05300322e-03 2.24904175e+00] [ 2.40005282e-02 9.99711942e-01 8.30344946e-05 -1.87994397e-01] [ 9.04840270e-03 -3.00284035e-04 9.99959017e-01 8.14434266e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.255336195 meters Centerline goodness [0,1] 0.999593147751606 Centerline is valid? [True, True] Translation: X:2.28, Y:-0.18, Z:0.01 [[ 9.99824982e-01 -1.49950980e-02 -1.11871701e-02 2.27839605e+00] [ 1.49971853e-02 9.99887531e-01 1.02707316e-04 -1.77773219e-01] [ 1.11843717e-02 -2.70465403e-04 9.99937416e-01 6.79623901e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.2853361949999997 meters Centerline goodness [0,1] 0.9995926068870877 Centerline is valid? [True, True] Translation: X:2.31, Y:-0.17, Z:0.01 [[ 9.99884802e-01 -9.49163775e-03 -1.18445045e-02 2.30745184e+00] [ 9.49359023e-03 9.99954929e-01 1.08626381e-04 -1.70580736e-01] [ 1.18429396e-02 -2.21060739e-04 9.99929845e-01 6.08601063e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.315336195 meters Centerline goodness [0,1] 0.9998072846405859 Centerline is valid? [True, True] Translation: X:2.34, Y:-0.16, Z:0.00 [[ 9.99907027e-01 -4.59979522e-03 -1.28366201e-02 2.33671196e+00] [ 4.60167229e-03 9.99989405e-01 1.16695351e-04 -1.63391805e-01] [ 1.28359474e-02 -1.75754421e-04 9.99917600e-01 3.00635527e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.345336195 meters Centerline goodness [0,1] 0.999743013170575 Centerline is valid? [True, True] Translation: X:2.37, Y:-0.15, Z:0.00 [[ 9.99903780e-01 7.95850820e-04 -1.38491112e-02 2.36612711e+00] [-7.94206602e-04 9.99999677e-01 1.24223128e-04 -1.54882173e-01] [ 1.38492056e-02 -1.13212120e-04 9.99904089e-01 4.32941616e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.375336195 meters Centerline goodness [0,1] 0.999807036727343 Centerline is valid? [True, True] Translation: X:2.39, Y:-0.13, Z:0.01 [[ 9.99853567e-01 8.98821504e-03 -1.45621554e-02 2.39376226e+00] [-8.98728089e-03 9.99959605e-01 1.29589966e-04 -1.34796493e-01] [ 1.45627320e-02 1.30319113e-06 9.99893958e-01 5.52535974e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.405336195 meters Centerline goodness [0,1] 0.9999141870293695 Centerline is valid? [True, True] Translation: X:2.42, Y:-0.13, Z:0.01 [[ 9.99828130e-01 1.22152387e-02 -1.39463041e-02 2.42153718e+00] [-1.22147193e-02 9.99925390e-01 1.22425101e-04 -1.26852770e-01] [ 1.39467591e-02 4.79461301e-05 9.99902738e-01 7.36837313e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.4353361949999996 meters Centerline goodness [0,1] 0.9999141925519135 Centerline is valid? [True, True] Translation: X:2.45, Y:-0.12, Z:0.01 [[ 9.99816439e-01 1.43987739e-02 -1.26397281e-02 2.44973172e+00] [-1.43985411e-02 9.99896330e-01 1.09420136e-04 -1.21910068e-01] [ 1.26399932e-02 7.25935939e-05 9.99920109e-01 7.47760034e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.465336195 meters Centerline goodness [0,1] 0.9998712556862072 Centerline is valid? [True, True] Translation: X:2.48, Y:-0.12, Z:0.01 [[ 9.99803053e-01 1.64320180e-02 -1.11285602e-02 2.47835923e+00] [-1.64319697e-02 9.99864981e-01 9.57813575e-05 -1.17547615e-01] [ 1.11286316e-02 8.71016713e-05 9.99938071e-01 1.04879837e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.4953361949999997 meters Centerline goodness [0,1] 0.9998925170360498 Centerline is valid? [True, True] Translation: X:2.51, Y:-0.11, Z:0.01 [[ 9.99784526e-01 1.62969766e-02 -1.28572986e-02 2.50675327e+00] [-1.62969184e-02 9.99867190e-01 1.09306285e-04 -1.09947268e-01] [ 1.28573724e-02 1.00251613e-04 9.99917336e-01 7.16789550e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.525336195 meters Centerline goodness [0,1] 0.9998070284525826 Centerline is valid? [True, True] Translation: X:2.53, Y:-0.10, Z:0.01 [[ 9.99803165e-01 1.48856852e-02 -1.31166782e-02 2.53488114e+00] [-1.48855262e-02 9.99889198e-01 1.09761381e-04 -1.04765275e-01] [ 1.31168587e-02 8.55088795e-05 9.99913967e-01 5.23048453e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.5553361949999998 meters Centerline goodness [0,1] 0.9998925239671553 Centerline is valid? [True, True] Translation: X:2.56, Y:-0.10, Z:0.01 [[ 9.99832311e-01 1.39624429e-02 -1.18490718e-02 2.56305907e+00] [-1.39622583e-02 9.99902518e-01 9.83057851e-05 -9.90575938e-02] [ 1.18492893e-02 6.71505009e-05 9.99929792e-01 9.23006988e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.585336195 meters Centerline goodness [0,1] 0.999720406056435 Centerline is valid? [True, True] Translation: X:2.59, Y:-0.10, Z:0.01 [[ 9.99870617e-01 1.20858755e-02 -1.06150830e-02 2.59090184e+00] [-1.20856277e-02 9.99926962e-01 8.74996891e-05 -9.56404178e-02] [ 1.06153652e-02 4.08015723e-05 9.99943655e-01 1.11521120e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.615336195 meters Centerline goodness [0,1] 0.9998711644585686 Centerline is valid? [True, True] Translation: X:2.62, Y:-0.10, Z:0.01 [[ 9.99909240e-01 6.74033963e-03 -1.16653346e-02 2.61856152e+00] [-6.73968542e-03 9.99977284e-01 9.53931381e-05 -9.69184169e-02] [ 1.16657126e-02 -1.67637946e-05 9.99931953e-01 5.92401762e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.6453361949999996 meters Centerline goodness [0,1] 0.9998495335540174 Centerline is valid? [True, True] Translation: X:2.65, Y:-0.10, Z:0.01 [[ 9.99915751e-01 3.12196820e-03 -1.25993753e-02 2.64691093e+00] [-3.12092781e-03 9.99995125e-01 1.02236242e-04 -9.88750264e-02] [ 1.25996331e-02 -6.29058878e-05 9.99920619e-01 5.65514905e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.675336195 meters Centerline goodness [0,1] 0.9998495594240275 Centerline is valid? [True, True] Translation: X:2.68, Y:-0.10, Z:0.00 [[ 9.99918807e-01 -1.66929651e-03 -1.26329997e-02 2.67537113e+00] [ 1.67071728e-03 9.99998599e-01 1.01911981e-04 -1.00918879e-01] [ 1.26328119e-02 -1.23009877e-04 9.99920195e-01 4.72512721e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.7053361949999997 meters Centerline goodness [0,1] 0.9991807696453595 Centerline is valid? [True, True] Translation: X:2.71, Y:-0.10, Z:0.01 [[ 9.99877714e-01 -1.00718551e-02 -1.19630773e-02 2.70605919e+00] [ 1.00737266e-02 9.99949254e-01 9.61907334e-05 -1.01854342e-01] [ 1.19615014e-02 -2.16691740e-04 9.99928435e-01 7.04698448e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.735336195 meters Centerline goodness [0,1] 0.9997412733662491 Centerline is valid? [True, True] Translation: X:2.73, Y:-0.10, Z:0.01 [[ 9.99819188e-01 -1.40575914e-02 -1.28053179e-02 2.73436053e+00] [ 1.40600587e-02 9.99901147e-01 1.02666918e-04 -1.02556339e-01] [ 1.28026089e-02 -2.82691876e-04 9.99918003e-01 8.35753309e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.7653361949999997 meters Centerline goodness [0,1] 0.9995912923765273 Centerline is valid? [True, True] Translation: X:2.76, Y:-0.10, Z:0.01 [[ 9.99747927e-01 -1.78219338e-02 -1.36551087e-02 2.76349125e+00] [ 1.78250829e-02 9.99841115e-01 1.08937210e-04 -1.03043889e-01] [ 1.36509977e-02 -3.52313195e-04 9.99906759e-01 8.78435007e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.795336195 meters Centerline goodness [0,1] 0.9997395946356495 Centerline is valid? [True, True] Translation: X:2.79, Y:-0.10, Z:0.01 [[ 9.99597448e-01 -2.45728042e-02 -1.41816492e-02 2.79379264e+00] [ 2.45768774e-02 9.99697937e-01 1.12981520e-04 -1.04911440e-01] [ 1.41745892e-02 -4.61476693e-04 9.99899429e-01 8.21136506e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.8253361949999998 meters Centerline goodness [0,1] 0.9997395946356495 Centerline is valid? [True, True] Translation: X:2.83, Y:-0.11, Z:0.01 [[ 9.99598604e-01 -2.45257481e-02 -1.41816465e-02 2.82550529e+00] [ 2.45298215e-02 9.99699092e-01 1.13330454e-04 -1.05238040e-01] [ 1.41745996e-02 -4.61158219e-04 9.99899429e-01 8.43584026e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.855336195 meters Centerline goodness [0,1] 0.9999347584977056 Centerline is valid? [True, True] Translation: X:2.86, Y:-0.11, Z:0.01 [[ 9.99497258e-01 -2.85456506e-02 -1.37977290e-02 2.85620977e+00] [ 2.85498945e-02 9.99592363e-01 1.10665765e-04 -1.09551590e-01] [ 1.37889455e-02 -5.04533835e-04 9.99904801e-01 8.00096746e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.885336195 meters Centerline goodness [0,1] 0.9992237196765499 Centerline is valid? [True, True] Translation: X:2.89, Y:-0.12, Z:0.01 [[ 9.99378960e-01 -3.26432082e-02 -1.32708054e-02 2.88611953e+00] [ 3.26474952e-02 9.99466923e-01 1.06469514e-04 -1.17710973e-01] [ 1.32602555e-02 -5.39661947e-04 9.99911933e-01 8.43188427e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.9153361949999996 meters Centerline goodness [0,1] 0.999026837654895 Centerline is valid? [True, True] Translation: X:2.92, Y:-0.12, Z:0.01 [[ 9.99247879e-01 -3.67937920e-02 -1.22430741e-02 2.91533213e+00] [ 3.67977503e-02 9.99322729e-01 9.81225002e-05 -1.23171382e-01] [ 1.22311719e-02 -5.48566284e-04 9.99925046e-01 9.70436287e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.945336195 meters Centerline goodness [0,1] 0.9991609474839181 Centerline is valid? [True, True] Translation: X:2.95, Y:-0.12, Z:0.01 [[ 9.99102503e-01 -4.07958133e-02 -1.13969104e-02 2.94632865e+00] [ 4.07995024e-02 9.99167349e-01 9.12872374e-05 -1.24144729e-01] [ 1.13836967e-02 -5.56193583e-04 9.99935049e-01 1.21674141e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.9753361949999997 meters Centerline goodness [0,1] 0.9820964669206789 Centerline is valid? [True, True] Translation: X:2.98, Y:-0.13, Z:0.01 [[ 9.98761316e-01 -4.82077047e-02 -1.23228135e-02 2.97533470e+00] [ 4.82125825e-02 9.98837092e-01 9.88965657e-05 -1.30275265e-01] [ 1.23037156e-02 -6.92888726e-04 9.99924066e-01 1.45854936e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.005336195 meters Centerline goodness [0,1] 0.9839245641291213 Centerline is valid? [True, True] Translation: X:3.01, Y:-0.13, Z:0.02 [[ 9.98664047e-01 -5.00693673e-02 -1.27742122e-02 3.00690601e+00] [ 5.00747656e-02 9.98745467e-01 1.02898515e-04 -1.26899525e-01] [ 1.27530344e-02 -7.42426727e-04 9.99918401e-01 1.55291362e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.0353361949999997 meters Centerline goodness [0,1] 0.9862522156413471 Centerline is valid? [True, True] Translation: X:3.04, Y:-0.13, Z:0.01 [[ 9.98697516e-01 -4.95656971e-02 -1.21042349e-02 3.03930507e+00] [ 4.95705117e-02 9.98770622e-01 9.78860061e-05 -1.29127430e-01] [ 1.20845024e-02 -6.97771627e-04 9.99926736e-01 1.12301840e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.065336195 meters Centerline goodness [0,1] 0.9386852770974663 Centerline is valid? [True, False] Translation: X:3.04, Y:-0.13, Z:0.01 [[ 9.98720888e-01 -4.90808166e-02 -1.21515787e-02 3.04083702e+00] [ 4.90965704e-02 9.98793534e-01 1.00136345e-03 -1.32717159e-01] [ 1.20877705e-02 -1.59668344e-03 9.99925665e-01 8.87932685e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.095336195 meters Centerline goodness [0,1] 0.9874322860238354 Centerline is valid? [False, True] Translation: X:3.04, Y:-0.13, Z:0.01 [[ 9.98731255e-01 -4.88377386e-02 -1.22782903e-02 3.04218192e+00] [ 4.88582050e-02 9.98804782e-01 1.37230167e-03 -1.33945482e-01] [ 1.21965949e-02 -1.97045579e-03 9.99923677e-01 7.14545524e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.125336195 meters Centerline goodness [0,1] 0.98251581592859 Centerline is valid? [True, True] Translation: X:3.07, Y:-0.13, Z:0.01 [[ 9.98804184e-01 -4.70158296e-02 -1.34057322e-02 3.07312951e+00] [ 4.70211277e-02 9.98893892e-01 8.01218881e-05 -1.30584704e-01] [ 1.33871370e-02 -7.10378722e-04 9.99910136e-01 7.19242210e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.155336195 meters Centerline goodness [0,1] 0.9975323072926814 Centerline is valid? [True, True] Translation: X:3.10, Y:-0.11, Z:0.01 [[ 9.98975977e-01 -4.22464801e-02 -1.61935691e-02 3.10338386e+00] [ 4.22535889e-02 9.99106914e-01 9.69474509e-05 -1.08846641e-01] [ 1.61750112e-02 -7.81084587e-04 9.99868871e-01 1.19937578e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.1853361949999996 meters Centerline goodness [0,1] 0.9758197075871615 Centerline is valid? [True, True] Translation: X:3.13, Y:-0.11, Z:0.01 [[ 9.99066009e-01 -3.98376267e-02 -1.67353878e-02 3.13345521e+00] [ 3.98448820e-02 9.99205872e-01 1.00188545e-04 -1.08406310e-01] [ 1.67181065e-02 -7.66914523e-04 9.99859949e-01 1.21172889e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.215336195 meters Centerline goodness [0,1] 0.9995668276623855 Centerline is valid? [True, True] Translation: X:3.16, Y:-0.09, Z:0.02 [[ 9.99192104e-01 -3.68738470e-02 -1.59831051e-02 3.16426055e+00] [ 3.68800880e-02 9.99319694e-01 9.57989108e-05 -9.39203739e-02] [ 1.59686992e-02 -6.85179838e-04 9.99872257e-01 1.51934930e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.2453361949999997 meters Centerline goodness [0,1] 0.9994169473956984 Centerline is valid? [True, True] Translation: X:3.19, Y:-0.09, Z:0.01 [[ 9.99344322e-01 -3.28454667e-02 -1.52348612e-02 3.19377342e+00] [ 3.28506694e-02 9.99460267e-01 9.13043768e-05 -9.49571093e-02] [ 1.52236395e-02 -5.91719899e-04 9.99883939e-01 1.28587786e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.275336195 meters Centerline goodness [0,1] 0.9999133185974949 Centerline is valid? [True, True] Translation: X:3.22, Y:-0.09, Z:0.01 [[ 9.99579805e-01 -2.53152155e-02 -1.41192486e-02 3.22474066e+00] [ 2.53189339e-02 9.99679421e-01 8.46390419e-05 -9.02494681e-02] [ 1.41125796e-02 -4.42087799e-04 9.99900315e-01 7.38510602e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.3053361949999998 meters Centerline goodness [0,1] 0.9996973888984956 Centerline is valid? [True, True] Translation: X:3.26, Y:-0.08, Z:0.01 [[ 9.99674904e-01 -2.24628430e-02 -1.20626653e-02 3.25613186e+00] [ 2.24653516e-02 9.99747620e-01 7.24932820e-05 -8.44253900e-02] [ 1.20579925e-02 -3.43461732e-04 9.99927241e-01 1.27857368e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.335336195 meters Centerline goodness [0,1] 0.999567604963895 Centerline is valid? [True, True] Translation: X:3.29, Y:-0.08, Z:0.02 [[ 9.99726705e-01 -2.07826471e-02 -1.07049996e-02 3.28808415e+00] [ 2.07845296e-02 9.99783976e-01 6.46176190e-05 -7.87852923e-02] [ 1.07013442e-02 -2.87098341e-04 9.99942698e-01 1.68894111e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.365336195 meters Centerline goodness [0,1] 0.9999135957143475 Centerline is valid? [True, True] Translation: X:3.32, Y:-0.07, Z:0.02 [[ 9.99731395e-01 -1.99571967e-02 -1.17833437e-02 3.32068108e+00] [ 1.99594262e-02 9.99800788e-01 7.16255367e-05 -7.16186578e-02] [ 1.17795669e-02 -3.06795077e-04 9.99930571e-01 1.74412655e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.3953361949999996 meters Centerline goodness [0,1] 0.9998483896818349 Centerline is valid? [True, True] Translation: X:3.35, Y:-0.07, Z:0.02 [[ 9.99698242e-01 -2.10677309e-02 -1.26323287e-02 3.35254090e+00] [ 2.10703897e-02 9.99777992e-01 7.74037615e-05 -7.12723925e-02] [ 1.26278935e-02 -3.43548493e-04 9.99920206e-01 1.77625686e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.425336195 meters Centerline goodness [0,1] 0.9997616003120868 Centerline is valid? [True, True] Translation: X:3.38, Y:-0.08, Z:0.02 [[ 9.99600031e-01 -2.50967507e-02 -1.30357558e-02 3.38230500e+00] [ 2.50999324e-02 9.99684944e-01 8.05054527e-05 -7.99695415e-02] [ 1.30296284e-02 -4.07669843e-04 9.99915028e-01 1.61406950e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.4553361949999997 meters Centerline goodness [0,1] 0.9998489882210813 Centerline is valid? [True, True] Translation: X:3.41, Y:-0.09, Z:0.01 [[ 9.99513547e-01 -2.77754172e-02 -1.41843526e-02 3.41254468e+00] [ 2.77794597e-02 9.99614072e-01 8.80122954e-05 -9.37022629e-02] [ 1.41764339e-02 -4.82003134e-04 9.99899393e-01 9.89454087e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.485336195 meters Centerline goodness [0,1] 0.9998479814102982 Centerline is valid? [True, True] Translation: X:3.44, Y:-0.10, Z:0.01 [[ 9.99399469e-01 -3.06608247e-02 -1.61435623e-02 3.44319021e+00] [ 3.06664403e-02 9.99529669e-01 1.00365072e-04 -9.75978502e-02] [ 1.61328922e-02 -5.95370390e-04 9.99869679e-01 7.92351027e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.5153361949999997 meters Centerline goodness [0,1] 0.9826117197009215 Centerline is valid? [True, True] Translation: X:3.47, Y:-0.12, Z:0.01 [[ 9.99119794e-01 -3.83440522e-02 -1.70109261e-02 3.47270185e+00] [ 3.83514031e-02 9.99264309e-01 1.06001773e-04 -1.16306955e-01] [ 1.69943468e-02 -7.58301355e-04 9.99855298e-01 6.84477180e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.545336195 meters Centerline goodness [0,1] 0.9776653477762643 Centerline is valid? [True, True] Translation: X:3.50, Y:-0.12, Z:0.01 [[ 9.98987870e-01 -4.20762625e-02 -1.59004301e-02 3.50341065e+00] [ 4.20831583e-02 9.99114107e-01 9.91932350e-05 -1.22311331e-01] [ 1.58821703e-02 -7.68233155e-04 9.99873575e-01 9.06800307e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.5753361949999998 meters Centerline goodness [0,1] 0.9618290776446066 Centerline is valid? [True, True] Translation: X:3.53, Y:-0.13, Z:0.01 [[ 9.98848965e-01 -4.57920039e-02 -1.42771938e-02 3.53363028e+00] [ 4.57979424e-02 9.98950720e-01 8.90944601e-05 -1.30408022e-01] [ 1.42581332e-02 -7.42858009e-04 9.99898072e-01 9.80428563e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.6053361949999996 meters Centerline goodness [0,1] 0.9797720305686283 Centerline is valid? [True, True] Translation: X:3.56, Y:-0.14, Z:0.02 [[ 9.98662175e-01 -5.04351495e-02 -1.14085775e-02 3.56481253e+00] [ 5.04392445e-02 9.98727129e-01 7.13094715e-05 -1.41730654e-01] [ 1.13904593e-02 -6.46654100e-04 9.99934918e-01 1.61177756e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.635336195 meters Centerline goodness [0,1] 0.9392598377369951 Centerline is valid? [True, False] Translation: X:3.57, Y:-0.15, Z:0.02 [[ 9.98690350e-01 -4.99022611e-02 -1.12849158e-02 3.56502544e+00] [ 4.99221891e-02 9.98751997e-01 1.49097679e-03 -1.48540406e-01] [ 1.11964291e-02 -2.05239184e-03 9.99935212e-01 1.53177476e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.6653361949999996 meters Centerline goodness [0,1] 0.9927813438803519 Centerline is valid? [False, True] Translation: X:3.57, Y:-0.16, Z:0.01 [[ 9.98738008e-01 -4.89193736e-02 -1.13704391e-02 3.56686577e+00] [ 4.89622897e-02 9.98794401e-01 3.52697591e-03 -1.57411938e-01] [ 1.11841934e-02 -4.07924763e-03 9.99929134e-01 1.30303562e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.695336195 meters Centerline goodness [0,1] 0.9983313106796117 Centerline is valid? [True, True] Translation: X:3.60, Y:-0.16, Z:0.01 [[ 9.98826900e-01 -4.69631603e-02 -1.18018955e-02 3.59890180e+00] [ 4.69675769e-02 9.98896410e-01 9.71911009e-05 -1.56057485e-01] [ 1.17843067e-02 -6.51383523e-04 9.99930350e-01 1.34391234e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.7253361949999997 meters Centerline goodness [0,1] 0.9984615384615385 Centerline is valid? [True, True] Translation: X:3.63, Y:-0.16, Z:0.01 [[ 9.99158847e-01 -3.84306000e-02 -1.43069194e-02 3.62866388e+00] [ 3.84362248e-02 9.99261048e-01 1.18285841e-04 -1.62065572e-01] [ 1.42918015e-02 -6.68090314e-04 9.99897644e-01 1.10514173e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.755336195 meters Centerline goodness [0,1] 0.999739572030036 Centerline is valid? [True, True] Translation: X:3.66, Y:-0.16, Z:0.01 [[ 9.99354471e-01 -3.22620281e-02 -1.58051389e-02 3.65932087e+00] [ 3.22681230e-02 9.99479240e-01 1.30697246e-04 -1.55508559e-01] [ 1.57926917e-02 -6.40615044e-04 9.99875082e-01 1.08933378e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.7853361949999997 meters Centerline goodness [0,1] 0.9996964835450722 Centerline is valid? [True, True] Translation: X:3.69, Y:-0.16, Z:0.01 [[ 9.99544141e-01 -2.53464342e-02 -1.64032919e-02 3.68921478e+00] [ 2.53520709e-02 9.99678575e-01 1.35743149e-04 -1.56735714e-01] [ 1.63945789e-02 -5.51538688e-04 9.99865448e-01 9.63937214e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.815336195 meters Centerline goodness [0,1] 0.9997829154455661 Centerline is valid? [True, True] Translation: X:3.72, Y:-0.14, Z:0.01 [[ 9.99832866e-01 -9.39828778e-03 -1.56815598e-02 3.71940310e+00] [ 9.40148102e-03 9.99955797e-01 1.29921596e-04 -1.39590976e-01] [ 1.56796456e-02 -2.77329768e-04 9.99877028e-01 1.45192971e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.845336195 meters Centerline goodness [0,1] 0.9997179798681014 Centerline is valid? [True, True] Translation: X:3.75, Y:-0.13, Z:0.02 [[ 9.99891687e-01 -9.82104385e-04 -1.46850246e-02 3.74940886e+00] [ 9.83996603e-04 9.99999508e-01 1.21628756e-04 -1.27624038e-01] [ 1.46848980e-02 -1.36065596e-04 9.99892162e-01 1.81499057e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.8753361949999996 meters Centerline goodness [0,1] 0.999761781011781 Centerline is valid? [True, True] Translation: X:3.78, Y:-0.12, Z:0.02 [[ 9.99889023e-01 6.96411021e-03 -1.31697720e-02 3.77782606e+00] [-6.96328250e-03 9.99975750e-01 1.08703708e-04 -1.17494797e-01] [ 1.31702097e-02 -1.69868015e-05 9.99913269e-01 1.91770729e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.905336195 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:3.81, Y:-0.10, Z:0.02 [[ 9.99665375e-01 2.36726137e-02 -1.04281198e-02 3.80761896e+00] [-2.36730066e-02 9.99719751e-01 8.57721694e-05 -1.02455612e-01] [ 1.04272277e-02 1.61121481e-04 9.99945622e-01 1.73952875e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.9353361949999996 meters Centerline goodness [0,1] 0.9999566602379353 Centerline is valid? [True, True] Translation: X:3.84, Y:-0.10, Z:0.02 [[ 9.99487604e-01 3.06879567e-02 -9.09832192e-03 3.83789836e+00] [-3.06885472e-02 9.99528993e-01 7.47368077e-05 -9.60279514e-02] [ 9.09633007e-03 2.04515768e-04 9.99958607e-01 1.58844845e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.965336195 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:3.87, Y:-0.09, Z:0.02 [[ 9.99336605e-01 3.54141155e-02 -8.49645336e-03 3.86709014e+00] [-3.54148019e-02 9.99372697e-01 6.97044688e-05 -8.78538904e-02] [ 8.49359203e-03 2.31241985e-04 9.99963902e-01 1.65707066e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.9953361949999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:3.90, Y:-0.08, Z:0.02 [[ 9.99325923e-01 3.56379120e-02 -8.81127973e-03 3.89551388e+00] [-3.56386622e-02 9.99364739e-01 7.19079650e-05 -7.51859891e-02] [ 8.80824491e-03 2.42162728e-04 9.99961177e-01 2.11558016e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.0253361949999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:3.92, Y:-0.07, Z:0.02 [[ 9.99426746e-01 3.23306073e-02 -1.00454542e-02 3.92426233e+00] [-3.23314298e-02 9.99477199e-01 8.05477392e-05 -7.32637568e-02] [ 1.00428066e-02 2.44282332e-04 9.99949540e-01 2.15368856e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.055336195 meters Centerline goodness [0,1] 0.9999134386496429 Centerline is valid? [True, True] Translation: X:3.95, Y:-0.09, Z:0.01 [[ 9.99675648e-01 2.14560494e-02 -1.37199280e-02 3.95337681e+00] [-2.14565658e-02 9.99769775e-01 1.09572294e-04 -8.60209258e-02] [ 1.37191203e-02 1.84845784e-04 9.99905871e-01 1.40794023e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.085336195 meters Centerline goodness [0,1] 0.999891936285634 Centerline is valid? [True, True] Translation: X:3.98, Y:-0.10, Z:0.01 [[ 9.99779921e-01 1.48747410e-02 -1.47936594e-02 3.98180443e+00] [-1.48746281e-02 9.99889360e-01 1.17668125e-04 -9.72635088e-02] [ 1.47937729e-02 1.02407954e-04 9.99890561e-01 1.11845951e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.115336194999999 meters Centerline goodness [0,1] 0.9998916365054941 Centerline is valid? [True, True] Translation: X:4.01, Y:-0.11, Z:0.01 [[ 9.99857285e-01 8.00431673e-03 -1.48775029e-02 4.01082025e+00] [-8.00345233e-03 9.99967965e-01 1.17640633e-04 -1.09816729e-01] [ 1.48779680e-02 1.44754131e-06 9.99889317e-01 7.29447854e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.145336195 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:4.04, Y:-0.12, Z:0.00 [[ 9.99888629e-01 1.40114409e-03 -1.48582107e-02 4.03920617e+00] [-1.39956314e-03 9.99999014e-01 1.16799931e-04 -1.22576004e-01] [ 1.48583597e-02 -9.59919186e-05 9.99889604e-01 4.60647274e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.175336195 meters Centerline goodness [0,1] 0.999935036812473 Centerline is valid? [True, True] Translation: X:4.07, Y:-0.13, Z:0.00 [[ 9.99873826e-01 -5.47091749e-03 -1.49131094e-02 4.06737658e+00] [ 5.47326366e-03 9.99985015e-01 1.16513125e-04 -1.34553173e-01] [ 1.49122484e-02 -1.98121804e-04 9.99888787e-01 3.37929796e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.205336195 meters Centerline goodness [0,1] 0.9999782717336984 Centerline is valid? [True, True] Translation: X:4.10, Y:-0.15, Z:0.01 [[ 9.99761146e-01 -1.73976881e-02 -1.32277039e-02 4.09789437e+00] [ 1.74005732e-02 9.99848593e-01 1.03044340e-04 -1.47830120e-01] [ 1.32239084e-02 -3.33189359e-04 9.99912505e-01 1.20981863e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.2353361949999995 meters Centerline goodness [0,1] 0.9998261323133095 Centerline is valid? [True, True] Translation: X:4.13, Y:-0.15, Z:0.02 [[ 9.99665552e-01 -2.25247446e-02 -1.27050950e-02 4.12798407e+00] [ 2.25278191e-02 9.99746212e-01 9.89090001e-05 -1.50709941e-01] [ 1.26996427e-02 -3.85094001e-04 9.99919282e-01 1.64569287e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.265336195 meters Centerline goodness [0,1] 0.9998916670277765 Centerline is valid? [True, True] Translation: X:4.16, Y:-0.16, Z:0.02 [[ 9.99530224e-01 -2.72855043e-02 -1.39582598e-02 4.15744625e+00] [ 2.72896769e-02 9.99627562e-01 1.08516877e-04 -1.55957070e-01] [ 1.39501003e-02 -4.89382298e-04 9.99902573e-01 1.68640138e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.295336195 meters Centerline goodness [0,1] 0.9993060073736717 Centerline is valid? [True, True] Translation: X:4.19, Y:-0.17, Z:0.01 [[ 9.99224638e-01 -3.54437466e-02 -1.71424474e-02 4.18840176e+00] [ 3.54512381e-02 9.99371398e-01 1.33233648e-04 -1.69458874e-01] [ 1.71269493e-02 -7.40851327e-04 9.99853049e-01 1.02540211e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.325336195 meters Centerline goodness [0,1] 0.9983292106062579 Centerline is valid? [True, True] Translation: X:4.22, Y:-0.18, Z:0.01 [[ 9.99132530e-01 -3.80119575e-02 -1.70081947e-02 4.21907456e+00] [ 3.80197057e-02 9.99276981e-01 1.32329303e-04 -1.79103114e-01] [ 1.69908674e-02 -7.78861068e-04 9.99855341e-01 1.00179125e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.355336195 meters Centerline goodness [0,1] 0.9988709152100749 Centerline is valid? [True, True] Translation: X:4.25, Y:-0.18, Z:0.01 [[ 9.99087100e-01 -3.97590904e-02 -1.56262935e-02 4.25112103e+00] [ 3.97658512e-02 9.99209018e-01 1.22056865e-04 -1.83240275e-01] [ 1.56090805e-02 -7.43338302e-04 9.99877895e-01 9.65474390e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.385336195 meters Centerline goodness [0,1] 0.998565685102684 Centerline is valid? [True, True] Translation: X:4.28, Y:-0.19, Z:0.02 [[ 9.99074444e-01 -4.14452482e-02 -1.15129288e-02 4.28246954e+00] [ 4.14490341e-02 9.99140615e-01 9.03238902e-05 -1.91960943e-01] [ 1.14992913e-02 -5.67440069e-04 9.99933720e-01 1.64536811e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.415336195 meters Centerline goodness [0,1] 0.9992875801472334 Centerline is valid? [True, True] Translation: X:4.31, Y:-0.19, Z:0.02 [[ 9.99111040e-01 -4.09081246e-02 -1.01811441e-02 4.31497886e+00] [ 4.09110611e-02 9.99162789e-01 8.02375785e-05 -1.89689896e-01] [ 1.01693380e-02 -4.96687661e-04 9.99948168e-01 2.05455101e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.445336194999999 meters Centerline goodness [0,1] 0.9994167080731924 Centerline is valid? [True, True] Translation: X:4.34, Y:-0.18, Z:0.03 [[ 9.99232572e-01 -3.80677423e-02 -9.22577333e-03 4.34488175e+00] [ 3.80700354e-02 9.99275071e-01 7.29925696e-05 -1.80680140e-01] [ 9.21630664e-03 -4.24162070e-04 9.99957439e-01 2.69974614e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.475336195 meters Centerline goodness [0,1] 0.9998270270270271 Centerline is valid? [True, True] Translation: X:4.38, Y:-0.17, Z:0.03 [[ 9.99314507e-01 -3.57642891e-02 -9.56197276e-03 4.37636291e+00] [ 3.57666476e-02 9.99360166e-01 7.57158721e-05 -1.72981084e-01] [ 9.55314676e-03 -4.17663680e-04 9.99954280e-01 2.72681349e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.505336195 meters Centerline goodness [0,1] 0.9996971532404604 Centerline is valid? [True, True] Translation: X:4.41, Y:-0.17, Z:0.02 [[ 9.99489493e-01 -2.98315301e-02 -1.14382497e-02 4.40574554e+00] [ 2.98345189e-02 9.99554848e-01 9.07090721e-05 -1.73333590e-01] [ 1.14304520e-02 -4.31917441e-04 9.99934577e-01 2.09316531e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.535336195 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:4.44, Y:-0.18, Z:0.02 [[ 9.99582716e-01 -2.63567740e-02 -1.18200863e-02 4.43529349e+00] [ 2.63597212e-02 9.99652518e-01 9.35927576e-05 -1.75116634e-01] [ 1.18135122e-02 -4.05127883e-04 9.99930136e-01 1.72488890e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.5653361949999995 meters Centerline goodness [0,1] 0.9998265018434179 Centerline is valid? [True, True] Translation: X:4.47, Y:-0.18, Z:0.01 [[ 9.99668710e-01 -2.10013005e-02 -1.48800208e-02 4.46631348e+00] [ 2.10053801e-02 9.99779356e-01 1.17910460e-04 -1.75004665e-01] [ 1.48742613e-02 -4.30431889e-04 9.99889279e-01 1.02907559e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.595336195 meters Centerline goodness [0,1] 0.9998915801114556 Centerline is valid? [True, True] Translation: X:4.50, Y:-0.17, Z:0.01 [[ 9.99685381e-01 -1.82085323e-02 -1.72507747e-02 4.49648698e+00] [ 1.82136033e-02 9.99834109e-01 1.36882724e-04 -1.71908843e-01] [ 1.72454205e-02 -4.51038425e-04 9.99851185e-01 8.61980523e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.625336195 meters Centerline goodness [0,1] 0.9998485078018482 Centerline is valid? [True, True] Translation: X:4.53, Y:-0.16, Z:0.02 [[ 9.99766013e-01 -1.26941630e-02 -1.75150691e-02 4.52594208e+00] [ 1.26985426e-02 9.99919361e-01 1.38854709e-04 -1.56974538e-01] [ 1.75118941e-02 -3.61238071e-04 9.99846590e-01 1.65797505e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.655336194999999 meters Centerline goodness [0,1] 0.9999351014580539 Centerline is valid? [True, True] Translation: X:4.56, Y:-0.15, Z:0.02 [[ 9.99823636e-01 -7.78283686e-03 -1.70916606e-02 4.55610872e+00] [ 7.78628297e-03 9.99969677e-01 1.35088640e-04 -1.49793843e-01] [ 1.70900909e-02 -2.68145321e-04 9.99853918e-01 1.95493683e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.685336195 meters Centerline goodness [0,1] 0.9998480408118963 Centerline is valid? [True, True] Translation: X:4.58, Y:-0.15, Z:0.01 [[ 9.99846369e-01 -5.61472394e-03 -1.66046218e-02 4.58470621e+00] [ 5.61764705e-03 9.99984213e-01 1.29404172e-04 -1.53646911e-01] [ 1.66036331e-02 -2.22663196e-04 9.99862125e-01 1.42984144e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.715336195 meters Centerline goodness [0,1] 0.999783132007547 Centerline is valid? [True, True] Translation: X:4.61, Y:-0.16, Z:0.01 [[ 9.99886797e-01 -1.03719594e-03 -1.50105949e-02 4.61346710e+00] [ 1.03904767e-03 9.99999454e-01 1.15563226e-04 -1.55386806e-01] [ 1.50104668e-02 -1.31146867e-04 9.99887328e-01 1.24518246e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.745336195 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:4.64, Y:-0.15, Z:0.01 [[ 9.99886359e-01 9.08317116e-04 -1.50480553e-02 4.64218163e+00] [-9.06701923e-04 9.99999582e-01 1.14157755e-04 -1.51299384e-01] [ 1.50481527e-02 -1.00500681e-04 9.99886765e-01 1.34305387e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.7753361949999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:4.67, Y:-0.15, Z:0.01 [[ 9.99886422e-01 8.36465435e-04 -1.50480683e-02 4.66963885e+00] [-8.34868198e-04 9.99999645e-01 1.12423950e-04 -1.51388470e-01] [ 1.50481570e-02 -9.98480278e-05 9.99886765e-01 1.36195566e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.805336195 meters Centerline goodness [0,1] 0.9996953607798764 Centerline is valid? [True, True] Translation: X:4.70, Y:-0.15, Z:0.02 [[ 9.99882685e-01 3.12055779e-03 -1.49959228e-02 4.69853007e+00] [-3.11925624e-03 9.99995129e-01 1.10182756e-04 -1.45080725e-01] [ 1.49961936e-02 -6.33937041e-05 9.99887549e-01 1.53205495e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.835336195 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:4.73, Y:-0.13, Z:0.02 [[ 9.99861407e-01 9.91534354e-03 -1.33736178e-02 4.72703408e+00] [-9.91494442e-03 9.99950841e-01 9.61475555e-05 -1.28906577e-01] [ 1.33739137e-02 3.64644472e-05 9.99910565e-01 2.25162405e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.865336194999999 meters Centerline goodness [0,1] 0.9998701944919196 Centerline is valid? [True, True] Translation: X:4.76, Y:-0.12, Z:0.03 [[ 9.99821371e-01 1.47232708e-02 -1.18512330e-02 4.75571645e+00] [-1.47233171e-02 9.99891603e-01 8.33459139e-05 -1.18709992e-01] [ 1.18511754e-02 9.11584354e-05 9.99929768e-01 2.53077729e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.895336195 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:4.78, Y:-0.12, Z:0.02 [[ 9.99809469e-01 1.53986832e-02 -1.19960533e-02 4.78321257e+00] [-1.53987969e-02 9.99881428e-01 8.28925890e-05 -1.17540538e-01] [ 1.19959073e-02 1.01847993e-04 9.99928041e-01 2.19528488e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.925336195 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:4.81, Y:-0.12, Z:0.02 [[ 9.99819112e-01 1.53559902e-02 -1.12221474e-02 4.81201934e+00] [-1.53560936e-02 9.99882085e-01 7.69617261e-05 -1.19595784e-01] [ 1.12220060e-02 9.53805411e-05 9.99937027e-01 1.96206213e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.955336195 meters Centerline goodness [0,1] 0.9998267160525917 Centerline is valid? [True, True] Translation: X:4.84, Y:-0.12, Z:0.02 [[ 9.99829485e-01 1.54991813e-02 -1.00387113e-02 4.84104265e+00] [-1.54992756e-02 9.99879877e-01 6.84136477e-05 -1.17724813e-01] [ 1.00385658e-02 8.71907707e-05 9.99949609e-01 2.34175042e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.9853361949999995 meters Centerline goodness [0,1] 0.9998269110106234 Centerline is valid? [True, True] Translation: X:4.87, Y:-0.11, Z:0.03 [[ 9.99823324e-01 1.60036230e-02 -9.85921201e-03 4.86911131e+00] [-1.60037433e-02 9.99871930e-01 6.66936733e-05 -1.06617380e-01] [ 9.85901668e-03 9.11024080e-05 9.99951395e-01 2.61594434e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.015336195 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:4.90, Y:-0.10, Z:0.02 [[ 9.99798685e-01 1.66294085e-02 -1.12273268e-02 4.89829466e+00] [-1.66296173e-02 9.99861716e-01 7.47615927e-05 -1.00921705e-01] [ 1.12270175e-02 1.11959606e-04 9.99936969e-01 2.35365510e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.045336195 meters Centerline goodness [0,1] 0.9996972449288526 Centerline is valid? [True, True] Translation: X:4.93, Y:-0.09, Z:0.02 [[ 9.99764988e-01 1.72615518e-02 -1.31151601e-02 4.92695807e+00] [-1.72619224e-02 9.99850998e-01 8.49540341e-05 -9.25996893e-02] [ 1.31146724e-02 1.41458808e-04 9.99913989e-01 2.10735373e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.075336194999999 meters Centerline goodness [0,1] 0.9998915965657792 Centerline is valid? [True, True] Translation: X:4.95, Y:-0.09, Z:0.02 [[ 9.99763412e-01 1.53521989e-02 -1.54087919e-02 4.95350683e+00] [-1.53525154e-02 9.99882138e-01 9.77504505e-05 -8.93807987e-02] [ 1.54084764e-02 1.38836391e-04 9.99881273e-01 1.50800333e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.105336195 meters Centerline goodness [0,1] 0.999826659733056 Centerline is valid? [True, True] Translation: X:4.98, Y:-0.09, Z:0.02 [[ 9.99785246e-01 1.29826286e-02 -1.61527788e-02 4.98254736e+00] [-1.29826843e-02 9.99915716e-01 1.01413872e-04 -9.33584909e-02] [ 1.61527340e-02 1.08314334e-04 9.99869530e-01 1.53176078e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.135336195 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:5.01, Y:-0.09, Z:0.02 [[ 9.99848439e-01 5.78738608e-03 -1.64196381e-02 5.01071411e+00] [-5.78648872e-03 9.99983253e-01 1.02161069e-04 -9.35047257e-02] [ 1.64199543e-02 -7.13353482e-06 9.99865183e-01 1.58087579e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.165336195 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:5.04, Y:-0.09, Z:0.02 [[ 9.99872592e-01 1.73659418e-03 -1.58676833e-02 5.03935127e+00] [-1.73525928e-03 9.99998490e-01 9.78945839e-05 -9.22481955e-02] [ 1.58678294e-02 -7.03475667e-05 9.99874096e-01 1.91093437e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.195336194999999 meters Centerline goodness [0,1] 0.9999351813840935 Centerline is valid? [True, True] Translation: X:5.07, Y:-0.10, Z:0.02 [[ 9.99884023e-01 -5.55460561e-03 -1.41804827e-02 5.06659440e+00] [ 5.55639133e-03 9.99984559e-01 8.65323758e-05 -9.69449394e-02] [ 1.41797831e-02 -1.65314651e-04 9.99899448e-01 2.02454409e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.225336195 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:5.10, Y:-0.10, Z:0.02 [[ 9.99876305e-01 -8.99098213e-03 -1.29049338e-02 5.09554741e+00] [ 8.99273626e-03 9.99959561e-01 7.79045278e-05 -1.01249101e-01] [ 1.29037115e-02 -1.93945557e-04 9.99916725e-01 2.05451599e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.255336195 meters Centerline goodness [0,1] 0.9999136498067914 Centerline is valid? [True, True] Translation: X:5.12, Y:-0.11, Z:0.02 [[ 9.99853871e-01 -1.29259693e-02 -1.11873011e-02 5.12488897e+00] [ 1.29275295e-02 9.99916434e-01 6.71602061e-05 -1.06365903e-01] [ 1.11854981e-02 -2.11774558e-04 9.99937418e-01 2.23965737e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.285336194999999 meters Centerline goodness [0,1] 0.9998277717976318 Centerline is valid? [True, True] Translation: X:5.15, Y:-0.11, Z:0.03 [[ 9.99729936e-01 -2.18013690e-02 -8.04705922e-03 5.15497152e+00] [ 2.18024627e-02 9.99762297e-01 4.81940845e-05 -1.11373821e-01] [ 8.04409572e-03 -2.23626777e-04 9.99967621e-01 3.04654016e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.3153361949999995 meters Centerline goodness [0,1] 0.9994845914313325 Centerline is valid? [True, True] Translation: X:5.19, Y:-0.11, Z:0.03 [[ 9.99512338e-01 -3.00044959e-02 -8.64962635e-03 5.18518310e+00] [ 3.00060664e-02 9.99549715e-01 5.18213201e-05 -1.14842298e-01] [ 8.64417668e-03 -3.11337311e-04 9.99962590e-01 3.25527554e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.345336195 meters Centerline goodness [0,1] 0.999763481551561 Centerline is valid? [True, True] Translation: X:5.22, Y:-0.12, Z:0.03 [[ 9.99401379e-01 -3.32027164e-02 -9.71921477e-03 5.21577347e+00] [ 3.32048516e-02 9.99448565e-01 5.83611621e-05 -1.16660565e-01] [ 9.71191751e-03 -3.81051310e-04 9.99952766e-01 3.10480672e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.375336195 meters Centerline goodness [0,1] 0.9991618671022092 Centerline is valid? [True, True] Translation: X:5.25, Y:-0.13, Z:0.02 [[ 9.99282411e-01 -3.61384245e-02 -1.13436053e-02 5.24594104e+00] [ 3.61415264e-02 9.99346679e-01 6.85106261e-05 -1.30643281e-01] [ 1.13337184e-02 -4.78436674e-04 9.99935657e-01 2.11984097e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.405336194999999 meters Centerline goodness [0,1] 0.9999137317488731 Centerline is valid? [True, True] Translation: X:5.28, Y:-0.13, Z:0.02 [[ 9.99299495e-01 -3.53595503e-02 -1.22564527e-02 5.27812348e+00] [ 3.53631203e-02 9.99374526e-01 7.46022353e-05 -1.26569737e-01] [ 1.22461487e-02 -5.07976386e-04 9.99924884e-01 1.73601411e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.435336195 meters Centerline goodness [0,1] 0.9994382507994123 Centerline is valid? [True, True] Translation: X:5.31, Y:-0.13, Z:0.02 [[ 9.99383308e-01 -3.21693268e-02 -1.40761659e-02 5.30811227e+00] [ 3.21737249e-02 9.99482288e-01 8.60487097e-05 -1.26173614e-01] [ 1.40661104e-02 -5.38878334e-04 9.99900922e-01 1.56935793e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.465336195 meters Centerline goodness [0,1] 0.9997204842073577 Centerline is valid? [True, True] Translation: X:5.34, Y:-0.11, Z:0.02 [[ 9.99490104e-01 -2.87985291e-02 -1.37904637e-02 5.33858049e+00] [ 2.88024300e-02 9.99585120e-01 8.43021898e-05 -1.12833136e-01] [ 1.37823146e-02 -4.81458070e-04 9.99904903e-01 2.27936925e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.495336195 meters Centerline goodness [0,1] 0.999978471474704 Centerline is valid? [True, True] Translation: X:5.37, Y:-0.11, Z:0.03 [[ 9.99561612e-01 -2.67914627e-02 -1.26016249e-02 5.37006200e+00] [ 2.67945623e-02 9.99640958e-01 7.71660973e-05 -1.07260160e-01] [ 1.25950330e-02 -4.14787293e-04 9.99920593e-01 2.53904657e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.5253361949999995 meters Centerline goodness [0,1] 0.9998280568272186 Centerline is valid? [True, True] Translation: X:5.40, Y:-0.10, Z:0.03 [[ 9.99613356e-01 -2.49043372e-02 -1.23658073e-02 5.40108122e+00] [ 2.49071811e-02 9.99689765e-01 7.60022118e-05 -1.04395449e-01] [ 1.23600782e-02 -3.83970228e-04 9.99923538e-01 2.81235697e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.555336195 meters Centerline goodness [0,1] 0.9997211856045983 Centerline is valid? [True, True] Translation: X:5.43, Y:-0.10, Z:0.03 [[ 9.99672213e-01 -2.25271832e-02 -1.21652540e-02 5.43118217e+00] [ 2.25297630e-02 9.99746170e-01 7.50450857e-05 -1.04524495e-01] [ 1.21604755e-02 -3.49100776e-04 9.99925998e-01 2.62338981e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.585336195 meters Centerline goodness [0,1] 0.9997633950657117 Centerline is valid? [True, True] Translation: X:5.46, Y:-0.10, Z:0.02 [[ 9.99698353e-01 -2.14587054e-02 -1.19468103e-02 5.46317537e+00] [ 2.14611218e-02 9.99769681e-01 7.40831477e-05 -1.04901944e-01] [ 1.19424690e-02 -3.30452751e-04 9.99928632e-01 2.39571232e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.615336194999999 meters Centerline goodness [0,1] 0.999849436462187 Centerline is valid? [True, True] Translation: X:5.49, Y:-0.10, Z:0.02 [[ 9.99761690e-01 -1.65794501e-02 -1.42016123e-02 5.49366053e+00] [ 1.65823781e-02 9.99862499e-01 8.84374136e-05 -9.58636065e-02] [ 1.41981933e-02 -3.23912842e-04 9.99899148e-01 2.16457911e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.645336195 meters Centerline goodness [0,1] 0.999677349967735 Centerline is valid? [True, True] Translation: X:5.52, Y:-0.09, Z:0.02 [[ 9.99778976e-01 -1.40938024e-02 -1.56001394e-02 5.52370650e+00] [ 1.40970332e-02 9.99900627e-01 9.71464337e-05 -9.03710162e-02] [ 1.55972200e-02 -3.17040645e-04 9.99878306e-01 2.01955417e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.675336195 meters Centerline goodness [0,1] 0.999956934605198 Centerline is valid? [True, True] Translation: X:5.55, Y:-0.08, Z:0.02 [[ 9.99858480e-01 -8.92968581e-03 -1.42576436e-02 5.55375233e+00] [ 8.93185827e-03 9.99960106e-01 8.87011334e-05 -7.50121079e-02] [ 1.42562827e-02 -2.16035832e-04 9.99898351e-01 2.37534342e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.705336195 meters Centerline goodness [0,1] 0.9996328848770164 Centerline is valid? [True, True] Translation: X:5.58, Y:-0.07, Z:0.03 [[ 9.99899233e-01 -6.85267808e-03 -1.24323711e-02 5.58233990e+00] [ 6.85416239e-03 9.99976507e-01 7.67859574e-05 -7.08961895e-02] [ 1.24315528e-02 -1.61991710e-04 9.99922712e-01 2.75506336e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.7353361949999995 meters Centerline goodness [0,1] 0.9996776896796236 Centerline is valid? [True, True] Translation: X:5.61, Y:-0.07, Z:0.03 [[ 9.99935432e-01 -6.21022258e-03 -9.51656538e-03 5.61091080e+00] [ 6.21105457e-03 9.99980710e-01 5.78733145e-05 -6.67986048e-02] [ 9.51602240e-03 -1.16977485e-04 9.99954715e-01 2.89808547e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.765336195 meters Centerline goodness [0,1] 0.9997201171202205 Centerline is valid? [True, True] Translation: X:5.64, Y:-0.06, Z:0.03 [[ 9.99927870e-01 -6.39697677e-03 -1.01653372e-02 5.63971293e+00] [ 6.39791780e-03 9.99979531e-01 6.00558152e-05 -6.23729128e-02] [ 1.01647449e-02 -1.25088475e-04 9.99948330e-01 3.19437169e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.795336195 meters Centerline goodness [0,1] 0.9998058042938829 Centerline is valid? [True, True] Translation: X:5.67, Y:-0.06, Z:0.03 [[ 9.99883435e-01 -8.61074002e-03 -1.26084147e-02 5.66812464e+00] [ 8.61234171e-03 9.99962910e-01 7.27422242e-05 -5.58385599e-02] [ 1.26073207e-02 -1.81321721e-04 9.99920508e-01 2.98099119e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.825336194999999 meters Centerline goodness [0,1] 0.9999353378596831 Centerline is valid? [True, True] Translation: X:5.70, Y:-0.06, Z:0.03 [[ 9.99859134e-01 -9.87727939e-03 -1.35702663e-02 5.69563630e+00] [ 9.87924003e-03 9.99951196e-01 7.74515971e-05 -5.69307378e-02] [ 1.35688390e-02 -2.11504605e-04 9.99907917e-01 2.67967797e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.855336195 meters Centerline goodness [0,1] 0.9997405685871797 Centerline is valid? [True, True] Translation: X:5.72, Y:-0.06, Z:0.02 [[ 9.99813033e-01 -1.05632580e-02 -1.61961883e-02 5.72377933e+00] [ 1.05661242e-02 9.99944173e-01 9.14053590e-05 -5.79398695e-02] [ 1.61943186e-02 -2.62519207e-04 9.99868829e-01 2.21479826e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.885336195 meters Centerline goodness [0,1] 0.9999139562897952 Centerline is valid? [True, True] Translation: X:5.75, Y:-0.06, Z:0.02 [[ 9.99794140e-01 -1.08510019e-02 -1.71444899e-02 5.75132884e+00] [ 1.08542384e-02 9.99941086e-01 9.57345287e-05 -5.90074469e-02] [ 1.71424411e-02 -2.81805202e-04 9.99853018e-01 2.03777443e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.915336195 meters Centerline goodness [0,1] 0.9998057539982302 Centerline is valid? [True, True] Translation: X:5.78, Y:-0.06, Z:0.02 [[ 9.99737040e-01 -1.25727212e-02 -1.91775364e-02 5.77966154e+00] [ 1.25770579e-02 9.99920900e-01 1.05537062e-04 -5.67777466e-02] [ 1.91746926e-02 -3.46706296e-04 9.99816089e-01 1.77394820e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.945336194999999 meters Centerline goodness [0,1] 0.9997850525546503 Centerline is valid? [True, True] Translation: X:5.81, Y:-0.06, Z:0.02 [[ 9.99709139e-01 -1.48179155e-02 -1.90280707e-02 5.80750280e+00] [ 1.48225663e-02 9.99890134e-01 1.03397972e-04 -5.70555388e-02] [ 1.90244481e-02 -3.85412737e-04 9.99818945e-01 1.91227705e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.975336195 meters Centerline goodness [0,1] 0.9996332175451466 Centerline is valid? [True, True] Translation: X:5.84, Y:-0.06, Z:0.02 [[ 9.99739321e-01 -1.59426683e-02 -1.63438475e-02 5.83612607e+00] [ 1.59462189e-02 9.99872847e-01 8.69438072e-05 -5.86186710e-02] [ 1.63403832e-02 -3.47543714e-04 9.99866427e-01 2.49540829e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.005336195 meters Centerline goodness [0,1] 0.9996553952186087 Centerline is valid? [True, True] Translation: X:5.87, Y:-0.06, Z:0.03 [[ 9.99765314e-01 -1.70104655e-02 -1.34149329e-02 5.86550488e+00] [ 1.70129393e-02 9.99855267e-01 7.03028519e-05 -6.05675587e-02] [ 1.34117955e-02 -2.98513792e-04 9.99910013e-01 2.91918102e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.035336194999999 meters Centerline goodness [0,1] 0.9997196644599228 Centerline is valid? [True, True] Translation: X:5.90, Y:-0.07, Z:0.03 [[ 9.99731757e-01 -1.98351061e-02 -1.19575236e-02 5.89699188e+00] [ 1.98372732e-02 9.99803220e-01 6.26423921e-05 -6.62140247e-02] [ 1.19539281e-02 -2.99830251e-04 9.99928504e-01 2.86622354e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.0653361949999995 meters Centerline goodness [0,1] 0.999700053561864 Centerline is valid? [True, True] Translation: X:5.93, Y:-0.07, Z:0.03 [[ 9.99685266e-01 -2.20675097e-02 -1.19329079e-02 5.92757952e+00] [ 2.20698301e-02 9.99756430e-01 6.27953689e-05 -7.02598273e-02] [ 1.19286157e-02 -3.26132855e-04 9.99928798e-01 3.10731594e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.095336195 meters Centerline goodness [0,1] 0.9994862903743659 Centerline is valid? [True, True] Translation: X:5.96, Y:-0.07, Z:0.03 [[ 9.99669290e-01 -2.25157031e-02 -1.24239440e-02 5.96016848e+00] [ 2.25182583e-02 9.99746430e-01 6.58062476e-05 -7.16503048e-02] [ 1.24193120e-02 -3.45550065e-04 9.99922818e-01 3.06308125e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.125336195 meters Centerline goodness [0,1] 0.9997640396413403 Centerline is valid? [True, True] Translation: X:5.99, Y:-0.08, Z:0.02 [[ 9.99635282e-01 -2.27158954e-02 -1.46044570e-02 5.99229627e+00] [ 2.27194586e-02 9.99741877e-01 7.80921853e-05 -7.62323397e-02] [ 1.45989133e-02 -4.09869060e-04 9.99893346e-01 2.45738295e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.155336194999999 meters Centerline goodness [0,1] 0.9996773916035788 Centerline is valid? [True, True] Translation: X:6.02, Y:-0.08, Z:0.02 [[ 9.99635422e-01 -2.16735163e-02 -1.61022547e-02 6.02352940e+00] [ 2.16777237e-02 9.99765007e-01 8.67776999e-05 -7.95655279e-02] [ 1.60965900e-02 -4.35806290e-04 9.99870347e-01 2.43612949e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.185336195 meters Centerline goodness [0,1] 0.9996340780920401 Centerline is valid? [True, True] Translation: X:6.05, Y:-0.07, Z:0.02 [[ 9.99667954e-01 -1.83745298e-02 -1.80653933e-02 6.05442209e+00] [ 1.83792921e-02 9.99831082e-01 9.76081691e-05 -7.20644244e-02] [ 1.80605482e-02 -4.29604899e-04 9.99836803e-01 2.42598907e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.215336195 meters Centerline goodness [0,1] 0.9996135431650814 Centerline is valid? [True, True] Translation: X:6.08, Y:-0.07, Z:0.02 [[ 9.99706984e-01 -1.54086766e-02 -1.86686361e-02 6.08394040e+00] [ 1.54132401e-02 9.99881204e-01 1.00579637e-04 -6.61964283e-02] [ 1.86648686e-02 -3.88294336e-04 9.99825721e-01 2.49842436e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.245336195 meters Centerline goodness [0,1] 0.9997635120608849 Centerline is valid? [True, True] Translation: X:6.11, Y:-0.05, Z:0.02 [[ 9.99820834e-01 -6.36628646e-03 -1.78260973e-02 6.11432925e+00] [ 6.36900561e-03 9.99979713e-01 9.57692781e-05 -5.26140062e-02] [ 1.78251259e-02 -2.09286633e-04 9.99841098e-01 2.49309753e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.2753361949999995 meters Centerline goodness [0,1] 0.9997208143630272 Centerline is valid? [True, True] Translation: X:6.14, Y:-0.05, Z:0.02 [[ 9.99843732e-01 -9.05670009e-04 -1.76547694e-02 6.14204981e+00] [ 9.07473451e-04 9.99999584e-01 9.41394521e-05 -4.58841456e-02] [ 1.76546768e-02 -1.10145976e-04 9.99844138e-01 2.23547699e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.305336195 meters Centerline goodness [0,1] 0.999827738420792 Centerline is valid? [True, True] Translation: X:6.17, Y:-0.03, Z:0.02 [[ 9.99839195e-01 7.99938951e-03 -1.60497310e-02 6.17128769e+00] [-7.99907408e-03 9.99968003e-01 8.38498474e-05 -2.97923437e-02] [ 1.60498882e-02 4.45466232e-05 9.99871191e-01 2.08956356e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.335336195 meters Centerline goodness [0,1] 0.9996550980814831 Centerline is valid? [True, True] Translation: X:6.20, Y:-0.02, Z:0.02 [[ 9.99827832e-01 1.07585810e-02 -1.51181544e-02 6.19911437e+00] [-1.07586545e-02 9.99942121e-01 7.64701522e-05 -2.04702301e-02] [ 1.51181021e-02 8.61940136e-05 9.99885711e-01 2.41665458e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.365336194999999 meters Centerline goodness [0,1] 0.9998704579312132 Centerline is valid? [True, True] Translation: X:6.23, Y:-0.00, Z:0.03 [[ 9.99796730e-01 1.37573671e-02 -1.47388320e-02 6.22678402e+00] [-1.37577881e-02 9.99905355e-01 7.28300252e-05 -3.01723715e-03] [ 1.47384390e-02 1.29958506e-04 9.99891375e-01 2.73957217e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.395336195 meters Centerline goodness [0,1] 0.9998492516420803 Centerline is valid? [True, True] Translation: X:6.26, Y:-0.00, Z:0.02 [[ 9.99771249e-01 1.36180787e-02 -1.64923629e-02 6.25532624e+00] [-1.36186208e-02 9.99907259e-01 7.94409807e-05 -1.51718004e-03] [ 1.64919152e-02 1.45180428e-04 9.99863989e-01 2.39401634e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.425336195 meters Centerline goodness [0,1] 0.9999568984095513 Centerline is valid? [True, True] Translation: X:6.28, Y:-0.00, Z:0.02 [[ 9.99769424e-01 1.08307043e-02 -1.85417067e-02 6.28300212e+00] [-1.08309756e-02 9.99941340e-01 8.57925779e-05 -1.22898302e-03] [ 1.85415482e-02 1.15051976e-04 9.99828084e-01 1.90676640e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.455336195 meters Centerline goodness [0,1] 0.9996986914600551 Centerline is valid? [True, True] Translation: X:6.31, Y:0.00, Z:0.02 [[ 9.99797108e-01 8.27084438e-03 -1.83667100e-02 6.31053440e+00] [-8.27071514e-03 9.99965794e-01 8.29973431e-05 1.94146678e-03] [ 1.83667682e-02 6.89253230e-05 9.99831314e-01 2.17298044e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.4853361949999995 meters Centerline goodness [0,1] 0.9998062766369624 Centerline is valid? [True, True] Translation: X:6.34, Y:0.00, Z:0.03 [[ 9.99835866e-01 1.30137913e-03 -1.80706401e-02 6.33787472e+00] [-1.30013491e-03 9.99999152e-01 8.06012180e-05 4.76922262e-03] [ 1.80707296e-02 -5.70937185e-05 9.99836709e-01 2.76959469e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.515336195 meters Centerline goodness [0,1] 0.999742279111722 Centerline is valid? [True, True] Translation: X:6.37, Y:-0.00, Z:0.02 [[ 9.99804453e-01 -8.56364508e-03 -1.78246738e-02 6.36625693e+00] [ 8.56640927e-03 9.99963305e-01 7.87284317e-05 -3.36514793e-03] [ 1.78233456e-02 -2.31406488e-04 9.99841125e-01 2.48535564e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.545336195 meters Centerline goodness [0,1] 0.9993577254918752 Centerline is valid? [True, True] Translation: X:6.40, Y:-0.00, Z:0.03 [[ 9.99758396e-01 -1.33509409e-02 -1.74614269e-02 6.39551132e+00] [ 1.33543129e-02 9.99910824e-01 7.65185256e-05 -4.58932784e-03] [ 1.74588482e-02 -3.09685398e-04 9.99847535e-01 2.89851291e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.575336194999999 meters Centerline goodness [0,1] 0.9996150062026778 Centerline is valid? [True, True] Translation: X:6.42, Y:-0.01, Z:0.03 [[ 9.99620017e-01 -2.33837530e-02 -1.45952340e-02 6.42456427e+00] [ 2.33871743e-02 9.99726481e-01 6.37563818e-05 -1.16542977e-02] [ 1.45897511e-02 -4.05073438e-04 9.99893482e-01 3.19260796e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.605336195 meters Centerline goodness [0,1] 0.999808241360208 Centerline is valid? [True, True] Translation: X:6.45, Y:-0.02, Z:0.03 [[ 9.99509128e-01 -2.77561747e-02 -1.45292022e-02 6.45477836e+00] [ 2.77600266e-02 9.99614614e-01 6.34676963e-05 -1.74975486e-02] [ 1.45218412e-02 -4.66767581e-04 9.99894444e-01 3.12702065e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.635336195 meters Centerline goodness [0,1] 0.999808241360208 Centerline is valid? [True, True] Translation: X:6.49, Y:-0.02, Z:0.03 [[ 9.99510378e-01 -2.77111437e-02 -1.45292007e-02 6.48649564e+00] [ 2.77149959e-02 9.99615864e-01 6.38131278e-05 -1.77114621e-02] [ 1.45218511e-02 -4.66458620e-04 9.99894444e-01 3.14878540e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.665336195 meters Centerline goodness [0,1] 0.999465994531784 Centerline is valid? [True, True] Translation: X:6.52, Y:-0.03, Z:0.03 [[ 9.99308790e-01 -3.39467208e-02 -1.51513218e-02 6.51688055e+00] [ 3.39516312e-02 9.99423475e-01 6.69132994e-05 -2.86246454e-02] [ 1.51403152e-02 -5.81279137e-04 9.99885210e-01 2.80210091e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.695336194999999 meters Centerline goodness [0,1] 0.9991046685141761 Centerline is valid? [True, True] Translation: X:6.55, Y:-0.03, Z:0.03 [[ 9.99265886e-01 -3.52410339e-02 -1.50252452e-02 6.54938567e+00] [ 3.52460152e-02 9.99378664e-01 6.67684408e-05 -2.78047673e-02] [ 1.50135565e-02 -5.96299447e-04 9.99887112e-01 2.99871959e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.725336195 meters Centerline goodness [0,1] 0.9989958766851113 Centerline is valid? [True, True] Translation: X:6.58, Y:-0.04, Z:0.03 [[ 9.99231332e-01 -3.67511250e-02 -1.36418807e-02 6.58029261e+00] [ 3.67553826e-02 9.99324291e-01 6.14271410e-05 -3.60669637e-02] [ 1.36304053e-02 -5.62792469e-04 9.99906943e-01 3.22995255e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.755336195 meters Centerline goodness [0,1] 0.9993373236425823 Centerline is valid? [True, True] Translation: X:6.61, Y:-0.03, Z:0.03 [[ 9.99211252e-01 -3.73756287e-02 -1.34140291e-02 6.61199955e+00] [ 3.73798114e-02 9.99301129e-01 6.11430956e-05 -3.21752821e-02] [ 1.34023691e-02 -5.62508746e-04 9.99910026e-01 3.48602293e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.785336194999999 meters Centerline goodness [0,1] 0.9978260869565218 Centerline is valid? [True, True] Translation: X:6.64, Y:-0.03, Z:0.04 [[ 9.99194588e-01 -3.74308908e-02 -1.44603880e-02 6.64345454e+00] [ 3.74357647e-02 9.99299034e-01 6.64242884e-05 -3.11001041e-02] [ 1.44477654e-02 -6.07706471e-04 9.99895441e-01 4.04029332e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.8153361949999995 meters Centerline goodness [0,1] 0.9988096250318851 Centerline is valid? [True, True] Translation: X:6.68, Y:-0.03, Z:0.04 [[ 9.99212460e-01 -3.67665214e-02 -1.49225833e-02 6.67522327e+00] [ 3.67716469e-02 9.99323692e-01 6.91437323e-05 -2.78069026e-02] [ 1.49099488e-02 -6.17817240e-04 9.99888650e-01 4.15417970e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.845336195 meters Centerline goodness [0,1] 0.9996583605577264 Centerline is valid? [True, True] Translation: X:6.71, Y:-0.03, Z:0.03 [[ 9.99300290e-01 -3.39241972e-02 -1.57505595e-02 6.70583054e+00] [ 3.39295598e-02 9.99424224e-01 7.32995385e-05 -3.09491374e-02] [ 1.57390041e-02 -6.07657802e-04 9.99875950e-01 3.28919988e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.875336195 meters Centerline goodness [0,1] 0.9996369925903782 Centerline is valid? [True, True] Translation: X:6.74, Y:-0.03, Z:0.03 [[ 9.99378434e-01 -3.07972903e-02 -1.71544034e-02 6.73722250e+00] [ 3.08031956e-02 9.99525466e-01 8.00625822e-05 -2.87569756e-02] [ 1.71437973e-02 -6.08423261e-04 9.99852849e-01 3.01231684e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.905336194999999 meters Centerline goodness [0,1] 0.9999144787479689 Centerline is valid? [True, True] Translation: X:6.77, Y:-0.02, Z:0.03 [[ 9.99553658e-01 -2.37241468e-02 -1.81562722e-02 6.76719133e+00] [ 2.37295992e-02 9.99718410e-01 8.48950712e-05 -1.69935638e-02] [ 1.81491455e-02 -5.15698240e-04 9.99835158e-01 3.07703843e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.935336195 meters Centerline goodness [0,1] 0.9998277235824881 Centerline is valid? [True, True] Translation: X:6.80, Y:-0.01, Z:0.03 [[ 9.99646094e-01 -2.04287650e-02 -1.70397442e-02 6.79788229e+00] [ 2.04330927e-02 9.99791219e-01 7.98981452e-05 -1.05115268e-02] [ 1.70345544e-02 -4.28044541e-04 9.99854810e-01 3.29400858e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.965336195 meters Centerline goodness [0,1] 0.9997211257937189 Centerline is valid? [True, True] Translation: X:6.83, Y:0.01, Z:0.05 [[ 9.99817465e-01 -1.38445107e-02 -1.31668465e-02 6.82836552e+00] [ 1.38465255e-02 9.99904130e-01 6.18674155e-05 7.31086602e-03] [ 1.31647277e-02 -2.44171199e-04 9.99913311e-01 4.52216884e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.995336194999999 meters Centerline goodness [0,1] 0.9998076840890636 Centerline is valid? [True, True] Translation: X:6.86, Y:0.02, Z:0.05 [[ 9.99908918e-01 -8.55588702e-03 -1.04380410e-02 6.85858349e+00] [ 8.55686518e-03 9.99963388e-01 4.90548283e-05 1.51249962e-02] [ 1.04372392e-02 -1.38367270e-04 9.99945521e-01 4.64726239e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.0253361949999995 meters Centerline goodness [0,1] 0.9998067549867949 Centerline is valid? [True, True] Translation: X:6.89, Y:0.01, Z:0.04 [[ 9.99919420e-01 -6.86504259e-03 -1.06782425e-02 6.88796990e+00] [ 6.86596894e-03 9.99976428e-01 5.00938146e-05 1.45734195e-02] [ 1.06776469e-02 -1.23406259e-04 9.99942985e-01 4.28021912e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.055336195 meters Centerline goodness [0,1] 0.9994019905172782 Centerline is valid? [True, True] Translation: X:6.92, Y:0.02, Z:0.04 [[ 9.99914381e-01 -5.54655108e-03 -1.18518495e-02 6.91701417e+00] [ 5.54758782e-03 9.99984611e-01 5.46012057e-05 1.65327947e-02] [ 1.18513643e-02 -1.20345707e-04 9.99929763e-01 4.09769655e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.085336195 meters Centerline goodness [0,1] 0.9999785347843819 Centerline is valid? [True, True] Translation: X:6.95, Y:0.02, Z:0.04 [[ 9.99921613e-01 -4.82217138e-03 -1.15548718e-02 6.94521041e+00] [ 4.82309261e-03 9.99988367e-01 5.18615631e-05 1.96672856e-02] [ 1.15544873e-02 -1.07587714e-04 9.99933239e-01 4.30478165e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.115336194999999 meters Centerline goodness [0,1] 0.9999784450240338 Centerline is valid? [True, True] Translation: X:6.97, Y:0.03, Z:0.04 [[ 9.99897952e-01 -4.42270430e-03 -1.35839883e-02 6.97399997e+00] [ 4.42391975e-03 9.99990213e-01 5.94289524e-05 2.58085796e-02] [ 1.35835925e-02 -1.19517362e-04 9.99907732e-01 4.25962096e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.145336195 meters Centerline goodness [0,1] 0.9996367521367522 Centerline is valid? [True, True] Translation: X:7.00, Y:0.03, Z:0.04 [[ 9.99873887e-01 -4.21241631e-03 -1.53122799e-02 7.00303672e+00] [ 4.21389610e-03 9.99991119e-01 6.43775333e-05 2.61798095e-02] [ 1.53118728e-02 -1.28893771e-04 9.99882758e-01 4.00659930e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.175336195 meters Centerline goodness [0,1] 0.9995258314115136 Centerline is valid? [True, True] Translation: X:7.03, Y:0.02, Z:0.03 [[ 9.99860766e-01 -2.34049013e-03 -1.65218543e-02 7.03142437e+00] [ 2.34191128e-03 9.99997255e-01 6.66690343e-05 2.46443705e-02] [ 1.65216529e-02 -1.05352469e-04 9.99863503e-01 3.47388747e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.205336194999999 meters Centerline goodness [0,1] 0.9997631454287068 Centerline is valid? [True, True] Translation: X:7.06, Y:0.02, Z:0.04 [[ 9.99871807e-01 -1.55208613e-03 -1.59361270e-02 7.05990972e+00] [ 1.55326679e-03 9.99998792e-01 6.17101059e-05 2.48419023e-02] [ 1.59360119e-02 -8.64552518e-05 9.99873010e-01 3.52159056e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.2353361949999995 meters Centerline goodness [0,1] 0.9995485521422276 Centerline is valid? [True, True] Translation: X:7.09, Y:0.03, Z:0.04 [[ 9.99891021e-01 -1.95761613e-03 -1.46326163e-02 7.08762556e+00] [ 1.95863288e-03 9.99998080e-01 5.51545343e-05 2.63254703e-02] [ 1.46324802e-02 -8.38084470e-05 9.99892936e-01 3.94718410e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.265336195 meters Centerline goodness [0,1] 0.9995509270149477 Centerline is valid? [True, True] Translation: X:7.12, Y:0.03, Z:0.05 [[ 9.99922236e-01 -2.55492404e-03 -1.22063552e-02 7.11523691e+00] [ 2.55566633e-03 9.99996733e-01 4.52133065e-05 3.01164000e-02] [ 1.22061998e-02 -7.64051614e-05 9.99925499e-01 4.77892261e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.295336195 meters Centerline goodness [0,1] 0.9999356995884774 Centerline is valid? [True, True] Translation: X:7.14, Y:0.03, Z:0.05 [[ 9.99938095e-01 -3.50854502e-03 -1.05592099e-02 7.14306052e+00] [ 3.50914096e-03 9.99993842e-01 3.79114867e-05 3.24384560e-02] [ 1.05590119e-02 -7.49628958e-05 9.99944249e-01 5.12083873e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.325336194999999 meters Centerline goodness [0,1] 0.9993580690717678 Centerline is valid? [True, True] Translation: X:7.17, Y:0.03, Z:0.05 [[ 9.99930937e-01 -3.61030548e-03 -1.11841875e-02 7.17064643e+00] [ 3.61096241e-03 9.99993480e-01 3.85441978e-05 3.23289464e-02] [ 1.11839754e-02 -7.89272166e-05 9.99937454e-01 4.88576071e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.355336195 meters Centerline goodness [0,1] 0.9997001499250375 Centerline is valid? [True, True] Translation: X:7.20, Y:0.03, Z:0.04 [[ 9.99929009e-01 -2.02758535e-03 -1.17416021e-02 7.19924485e+00] [ 2.02818591e-03 9.99997942e-01 3.92410550e-05 3.42100899e-02] [ 1.17414984e-02 -6.30524213e-05 9.99931064e-01 4.42003478e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.385336195 meters Centerline goodness [0,1] 0.9995058014611087 Centerline is valid? [True, True] Translation: X:7.23, Y:0.04, Z:0.04 [[ 9.99938612e-01 -1.45288941e-03 -1.09845810e-02 7.22666982e+00] [ 1.45336009e-03 9.99998943e-01 3.48667411e-05 3.64682781e-02] [ 1.09845188e-02 -5.08291524e-05 9.99939667e-01 4.33227798e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.415336195 meters Centerline goodness [0,1] 0.9999143212097845 Centerline is valid? [True, True] Translation: X:7.25, Y:0.05, Z:0.05 [[ 9.99939875e-01 5.23872457e-04 -1.09532042e-02 7.25420807e+00] [-5.23539936e-04 9.99999862e-01 3.32255924e-05 4.64694646e-02] [ 1.09532201e-02 -2.74891549e-05 9.99940011e-01 4.63276794e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.445336194999999 meters Centerline goodness [0,1] 0.9996780908642188 Centerline is valid? [True, True] Translation: X:7.28, Y:0.06, Z:0.05 [[ 9.99926086e-01 1.01973963e-03 -1.21154002e-02 7.28062627e+00] [-1.01938386e-03 9.99999480e-01 3.55406835e-05 5.64834342e-02] [ 1.21154301e-02 -2.31878132e-05 9.99926605e-01 4.66029310e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.475336195 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:7.31, Y:0.06, Z:0.05 [[ 9.99928287e-01 3.75157648e-04 -1.19699925e-02 7.30873311e+00] [-3.74780151e-04 9.99999929e-01 3.37800412e-05 5.71938244e-02] [ 1.19700043e-02 -2.92915031e-05 9.99928357e-01 4.50196918e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.505336195 meters Centerline goodness [0,1] 0.9997218299310994 Centerline is valid? [True, True] Translation: X:7.34, Y:0.06, Z:0.04 [[ 9.99930307e-01 -1.11864590e-03 -1.17528742e-02 7.33786258e+00] [ 1.11910488e-03 9.99999373e-01 3.24765698e-05 5.58178749e-02] [ 1.17528306e-02 -4.56270054e-05 9.99930932e-01 4.40259679e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.535336194999999 meters Centerline goodness [0,1] 0.99982874879589 Centerline is valid? [True, True] Translation: X:7.37, Y:0.05, Z:0.04 [[ 9.99922207e-01 -5.31156873e-03 -1.12857342e-02 7.36578270e+00] [ 5.31225261e-03 9.99985889e-01 3.06205032e-05 5.30014490e-02] [ 1.12854123e-02 -9.05707920e-05 9.99936314e-01 4.44356191e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.5653361949999995 meters Centerline goodness [0,1] 0.9998075648399581 Centerline is valid? [True, True] Translation: X:7.40, Y:0.05, Z:0.05 [[ 9.99857850e-01 -1.09108810e-02 -1.28542596e-02 7.39572975e+00] [ 1.09122232e-02 9.99940459e-01 3.42822475e-05 5.37044162e-02] [ 1.28531202e-02 -1.74545924e-04 9.99917380e-01 4.54027127e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.595336195 meters Centerline goodness [0,1] 0.9999145536496272 Centerline is valid? [True, True] Translation: X:7.43, Y:0.05, Z:0.04 [[ 9.99823266e-01 -1.34131235e-02 -1.31728646e-02 7.42545150e+00] [ 1.34147470e-02 9.99910018e-01 3.48934033e-05 5.29563203e-02] [ 1.31712113e-02 -2.11597883e-04 9.99913233e-01 4.42314584e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.625336195 meters Centerline goodness [0,1] 0.9998081800549884 Centerline is valid? [True, True] Translation: X:7.46, Y:0.05, Z:0.04 [[ 9.99786073e-01 -1.63821215e-02 -1.26267222e-02 7.45649325e+00] [ 1.63838506e-02 9.99865775e-01 3.35027748e-05 5.12812436e-02] [ 1.26244785e-02 -2.40369938e-04 9.99920279e-01 4.20744745e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.655336194999999 meters Centerline goodness [0,1] 0.9999148120540944 Centerline is valid? [True, True] Translation: X:7.49, Y:0.05, Z:0.04 [[ 9.99765651e-01 -1.74029925e-02 -1.28755188e-02 7.48767196e+00] [ 1.74048798e-02 9.99848523e-01 3.45312199e-05 4.83349189e-02] [ 1.28729675e-02 -2.58619985e-04 9.99917106e-01 4.03338942e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.685336195 meters Centerline goodness [0,1] 0.9996587030716724 Centerline is valid? [True, True] Translation: X:7.52, Y:0.05, Z:0.04 [[ 9.99733620e-01 -1.84119861e-02 -1.39172085e-02 7.51942938e+00] [ 1.84142986e-02 9.99830442e-01 3.80263301e-05 5.28404128e-02] [ 1.39141486e-02 -2.94291835e-04 9.99903150e-01 4.03739784e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.715336195 meters Centerline goodness [0,1] 0.9993620957281677 Centerline is valid? [True, True] Translation: X:7.55, Y:0.06, Z:0.05 [[ 9.99792913e-01 -1.73018425e-02 -1.07133732e-02 7.55175542e+00] [ 1.73031545e-02 9.99850289e-01 2.97799216e-05 6.18732085e-02] [ 1.07112540e-02 -2.15148906e-04 9.99942610e-01 4.83772394e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.745336194999999 meters Centerline goodness [0,1] 0.9992545419692871 Centerline is valid? [True, True] Translation: X:7.58, Y:0.06, Z:0.05 [[ 9.99829769e-01 -1.58161227e-02 -9.50179594e-03 7.58424628e+00] [ 1.58170914e-02 9.99874902e-01 2.68058487e-05 6.49056743e-02] [ 9.50018331e-03 -1.77092060e-04 9.99954857e-01 4.92428577e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.7753361949999995 meters Centerline goodness [0,1] 0.999701173959445 Centerline is valid? [True, True] Translation: X:7.62, Y:0.07, Z:0.04 [[ 9.99857849e-01 -1.30308163e-02 -1.06995281e-02 7.61637640e+00] [ 1.30318909e-02 9.99915081e-01 3.07141102e-05 7.13606433e-02] [ 1.06982193e-02 -1.70144827e-04 9.99942758e-01 4.49657829e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.805336195 meters Centerline goodness [0,1] 0.999681068208879 Centerline is valid? [True, True] Translation: X:7.65, Y:0.07, Z:0.04 [[ 9.99869530e-01 -1.23717230e-02 -1.03857479e-02 7.64800881e+00] [ 1.23727045e-02 9.99923455e-01 3.02498835e-05 7.23866872e-02] [ 1.03845787e-02 -1.58745726e-04 9.99946066e-01 4.45097014e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.835336195 meters Centerline goodness [0,1] 0.9997871298720651 Centerline is valid? [True, True] Translation: X:7.68, Y:0.08, Z:0.05 [[ 9.99905332e-01 -1.10405540e-02 -8.21176508e-03 7.67981778e+00] [ 1.10411246e-02 9.99939045e-01 2.41541877e-05 8.27991391e-02] [ 8.21099786e-03 -1.14819022e-04 9.99966283e-01 5.08668033e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.865336194999999 meters Centerline goodness [0,1] 0.999319090986467 Centerline is valid? [True, True] Translation: X:7.71, Y:0.09, Z:0.05 [[ 9.99901366e-01 -1.06303302e-02 -9.17903865e-03 7.71220529e+00] [ 1.06310293e-02 9.99943489e-01 2.73647599e-05 8.80061029e-02] [ 9.17822903e-03 -1.24944689e-04 9.99957871e-01 5.09924005e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.895336195 meters Centerline goodness [0,1] 0.9992345637013097 Centerline is valid? [True, True] Translation: X:7.74, Y:0.09, Z:0.05 [[ 9.99886744e-01 -1.04342803e-02 -1.08454815e-02 7.74407871e+00] [ 1.04352506e-02 9.99945551e-01 3.28799984e-05 9.23643759e-02] [ 1.08445479e-02 -1.46051593e-04 9.99941185e-01 4.62765057e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.925336195 meters Centerline goodness [0,1] 0.999914675767918 Centerline is valid? [True, True] Translation: X:7.77, Y:0.09, Z:0.04 [[ 9.99889927e-01 -1.08680350e-02 -1.01004813e-02 7.77413725e+00] [ 1.08689019e-02 9.99940931e-01 3.09466283e-05 8.93450829e-02] [ 1.00995483e-02 -1.40724363e-04 9.99948988e-01 4.35480749e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.955336194999999 meters Centerline goodness [0,1] 0.9994414007949296 Centerline is valid? [True, True] Translation: X:7.81, Y:0.09, Z:0.04 [[ 9.99857303e-01 -1.23607419e-02 -1.15145521e-02 7.80604156e+00] [ 1.23619711e-02 9.99923587e-01 3.55858340e-05 8.88101551e-02] [ 1.15132324e-02 -1.77923316e-04 9.99933705e-01 3.90145265e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.9853361949999995 meters Centerline goodness [0,1] 0.9995738606098055 Centerline is valid? [True, True] Translation: X:7.84, Y:0.09, Z:0.04 [[ 9.99821429e-01 -1.40727995e-02 -1.26121211e-02 7.83680797e+00] [ 1.40744209e-02 9.99900950e-01 3.98031353e-05 8.83968418e-02] [ 1.26103117e-02 -2.17304328e-04 9.99920463e-01 3.91330933e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.015336195 meters Centerline goodness [0,1] 0.9999573187648051 Centerline is valid? [True, True] Translation: X:7.87, Y:0.09, Z:0.04 [[ 9.99788735e-01 -1.56320733e-02 -1.33463058e-02 7.86852013e+00] [ 1.56340377e-02 9.99877780e-01 4.28626292e-05 9.10464524e-02] [ 1.33440046e-02 -2.51510222e-04 9.99910933e-01 4.20409046e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.045336194999999 meters Centerline goodness [0,1] 0.9996589940323956 Centerline is valid? [True, True] Translation: X:7.90, Y:0.08, Z:0.04 [[ 9.99681133e-01 -2.09055064e-02 -1.41630218e-02 7.89815564e+00] [ 2.09082545e-02 9.99781397e-01 4.59764063e-05 8.21865514e-02] [ 1.41589646e-02 -3.42085811e-04 9.99899698e-01 3.96625648e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.075336195 meters Centerline goodness [0,1] 0.9998073959938367 Centerline is valid? [True, True] Translation: X:7.93, Y:0.08, Z:0.04 [[ 9.99612231e-01 -2.47020129e-02 -1.28529663e-02 7.92959522e+00] [ 2.47045950e-02 9.99694794e-01 4.21372470e-05 7.60512608e-02] [ 1.28480026e-02 -3.59648234e-04 9.99917396e-01 4.12627910e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.105336195 meters Centerline goodness [0,1] 0.9997024125836964 Centerline is valid? [True, True] Translation: X:7.96, Y:0.06, Z:0.05 [[ 9.99440845e-01 -3.15362204e-02 -1.11114583e-02 7.95908752e+00] [ 3.15385730e-02 9.99502535e-01 3.65225769e-05 6.03489523e-02] [ 1.11047790e-02 -3.86941694e-04 9.99938265e-01 4.57746097e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.135336194999999 meters Centerline goodness [0,1] 0.9997439235184908 Centerline is valid? [True, True] Translation: X:7.99, Y:0.06, Z:0.05 [[ 9.99331591e-01 -3.49458528e-02 -1.07312133e-02 7.99012620e+00] [ 3.49482432e-02 9.99389123e-01 3.52553420e-05 5.89633041e-02] [ 1.07234258e-02 -4.10268828e-04 9.99942418e-01 4.53915395e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.165336195 meters Centerline goodness [0,1] 0.9992726805998245 Centerline is valid? [True, True] Translation: X:8.02, Y:0.04, Z:0.04 [[ 9.99194234e-01 -3.90904988e-02 -9.10035846e-03 8.01985159e+00] [ 3.90923898e-02 9.99235600e-01 2.99454199e-05 4.27724981e-02] [ 9.09223156e-03 -3.85676051e-04 9.99958590e-01 4.41751565e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.195336195 meters Centerline goodness [0,1] 0.9995075895437711 Centerline is valid? [True, True] Translation: X:8.05, Y:0.04, Z:0.04 [[ 9.99195762e-01 -3.91366916e-02 -8.72634547e-03 8.05195928e+00] [ 3.91384343e-02 9.99233798e-01 2.89568897e-05 3.79922803e-02] [ 8.71852605e-03 -3.70469100e-04 9.99961924e-01 4.47758257e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.225336194999999 meters Centerline goodness [0,1] 0.9984674329501916 Centerline is valid? [True, True] Translation: X:8.08, Y:0.03, Z:0.04 [[ 9.99281405e-01 -3.62969355e-02 -1.09181687e-02 8.08134065e+00] [ 3.62995112e-02 9.99340955e-01 3.77720441e-05 2.99460640e-02] [ 1.09096022e-02 -4.34069090e-04 9.99940394e-01 4.39850556e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.255336195 meters Centerline goodness [0,1] 0.9995740693415112 Centerline is valid? [True, True] Translation: X:8.11, Y:0.04, Z:0.04 [[ 9.99520647e-01 -2.82183351e-02 -1.27358131e-02 8.11213395e+00] [ 2.82211901e-02 9.99601702e-01 4.44680777e-05 4.06149011e-02] [ 1.27294856e-02 -4.03866563e-04 9.99918895e-01 4.16552057e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.285336195 meters Centerline goodness [0,1] 0.9997018802836396 Centerline is valid? [True, True] Translation: X:8.14, Y:0.04, Z:0.04 [[ 9.99662707e-01 -2.25134384e-02 -1.29467221e-02 8.14323382e+00] [ 2.25159117e-02 9.99746484e-01 4.52956836e-05 4.43159489e-02] [ 1.29424201e-02 -3.36787658e-04 9.99916187e-01 4.07983682e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.315336195 meters Centerline goodness [0,1] 0.9991261722080136 Centerline is valid? [True, True] Translation: X:8.17, Y:0.06, Z:0.04 [[ 9.99846885e-01 -8.68159915e-03 -1.51933257e-02 8.17397942e+00] [ 8.68341074e-03 9.99962297e-01 5.32698102e-05 6.32628519e-02] [ 1.51922904e-02 -1.85191541e-04 9.99884573e-01 4.19480285e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.345336195 meters Centerline goodness [0,1] 0.9991021036428938 Centerline is valid? [True, True] Translation: X:8.20, Y:0.07, Z:0.04 [[ 9.99857110e-01 -2.19543552e-03 -1.67612484e-02 8.20232990e+00] [ 2.19670316e-03 9.99997586e-01 5.72180673e-05 7.48192048e-02] [ 1.67610823e-02 -9.40293786e-05 9.99859519e-01 4.13627999e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.375336195 meters Centerline goodness [0,1] 0.999807593637763 Centerline is valid? [True, True] Translation: X:8.23, Y:0.09, Z:0.04 [[ 9.99808409e-01 1.10387104e-02 -1.61645624e-02 8.23050269e+00] [-1.10393031e-02 9.99939064e-01 5.25650052e-05 9.16239885e-02] [ 1.61641577e-02 1.25890570e-04 9.99869344e-01 3.84900952e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.405336195 meters Centerline goodness [0,1] 0.9997646555412922 Centerline is valid? [True, True] Translation: X:8.26, Y:0.10, Z:0.04 [[ 9.99766010e-01 1.60749574e-02 -1.44748270e-02 8.25777674e+00] [-1.60759813e-02 9.99870772e-01 4.56264662e-05 9.76909122e-02] [ 1.44736899e-02 1.87081258e-04 9.99895233e-01 3.91651513e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.435336195 meters Centerline goodness [0,1] 0.9998076265389877 Centerline is valid? [True, True] Translation: X:8.29, Y:0.11, Z:0.04 [[ 9.99672545e-01 2.23705378e-02 -1.24242366e-02 8.28727190e+00] [-2.23717839e-02 9.99749720e-01 3.86987487e-05 1.06361607e-01] [ 1.24219927e-02 2.39266259e-04 9.99922815e-01 4.28112998e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.465336194999999 meters Centerline goodness [0,1] 0.999722079698991 Centerline is valid? [True, True] Translation: X:8.32, Y:0.11, Z:0.04 [[ 9.99685983e-01 2.19190067e-02 -1.21446470e-02 8.31521997e+00] [-2.19201776e-02 9.99759723e-01 3.66986073e-05 1.07757222e-01] [ 1.21425333e-02 2.29525736e-04 9.99926250e-01 4.36367067e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.495336195 meters Centerline goodness [0,1] 0.9997430076669379 Centerline is valid? [True, True] Translation: X:8.34, Y:0.11, Z:0.05 [[ 9.99784906e-01 1.69117681e-02 -1.20055342e-02 8.34472295e+00] [-1.69125679e-02 9.99856972e-01 3.49072090e-05 1.06219666e-01] [ 1.20044074e-02 1.68144711e-04 9.99927930e-01 4.66099173e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.525336195 meters Centerline goodness [0,1] 0.9997643378966086 Centerline is valid? [True, True] Translation: X:8.37, Y:0.09, Z:0.04 [[ 9.99864711e-01 7.54009869e-03 -1.46187217e-02 8.37314489e+00] [-7.54029113e-03 9.99971571e-01 4.19540432e-05 9.37343017e-02] [ 1.46186224e-02 6.82810503e-05 9.99893140e-01 3.93165994e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.555336194999999 meters Centerline goodness [0,1] 0.9997643378966086 Centerline is valid? [True, True] Translation: X:8.40, Y:0.09, Z:0.04 [[ 9.99865226e-01 7.47141124e-03 -1.46187241e-02 8.40058539e+00] [-7.47160876e-03 9.99972086e-01 4.11050579e-05 9.37719848e-02] [ 1.46186231e-02 6.81258690e-05 9.99893140e-01 3.95051435e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.585336195 meters Centerline goodness [0,1] 0.9998498788307706 Centerline is valid? [True, True] Translation: X:8.43, Y:0.08, Z:0.04 [[ 9.99879322e-01 1.79242586e-03 -1.54314046e-02 8.42966292e+00] [-1.79198343e-03 9.99998393e-01 4.24975596e-05 8.30677370e-02] [ 1.54314559e-02 -1.48396098e-05 9.99880928e-01 3.65992888e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.615336195 meters Centerline goodness [0,1] 0.9993577117410294 Centerline is valid? [True, True] Translation: X:8.46, Y:0.06, Z:0.04 [[ 9.99829906e-01 -1.11001922e-02 -1.47290172e-02 8.45788127e+00] [ 1.11019842e-02 9.99938370e-01 3.99014348e-05 6.44275920e-02] [ 1.47276665e-02 -2.03415963e-04 9.99891521e-01 4.13501994e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.645336195 meters Centerline goodness [0,1] 0.99950842096264 Centerline is valid? [True, True] Translation: X:8.49, Y:0.06, Z:0.05 [[ 9.99743152e-01 -1.73538849e-02 -1.45764731e-02 8.48740701e+00] [ 1.73562974e-02 9.99849367e-01 3.90056158e-05 6.04091750e-02] [ 1.45736005e-02 -2.91989199e-04 9.99893757e-01 4.61087263e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.675336195 meters Centerline goodness [0,1] 0.9993120942430886 Centerline is valid? [True, True] Translation: X:8.52, Y:0.05, Z:0.05 [[ 9.99502059e-01 -2.79790802e-02 -1.45878219e-02 8.51874162e+00] [ 2.79826269e-02 9.99608409e-01 3.90343769e-05 4.53573420e-02] [ 1.45810173e-02 -4.47220518e-04 9.99893591e-01 4.68847087e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.705336195 meters Centerline goodness [0,1] 0.9996148496843907 Centerline is valid? [True, True] Translation: X:8.55, Y:0.03, Z:0.05 [[ 9.99416149e-01 -3.13172553e-02 -1.36598154e-02 8.54845582e+00] [ 3.13206833e-02 9.99509386e-01 3.70468456e-05 3.27853128e-02] [ 1.36519535e-02 -4.64859969e-04 9.99906700e-01 4.52290364e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.735336195 meters Centerline goodness [0,1] 0.9995506002696398 Centerline is valid? [True, True] Translation: X:8.58, Y:0.02, Z:0.05 [[ 9.99401063e-01 -3.32945739e-02 -9.43329428e-03 8.57995556e+00] [ 3.32963009e-02 9.99445524e-01 2.60383313e-05 2.27247745e-02] [ 9.42719681e-03 -3.40116540e-04 9.99955505e-01 5.13110828e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.765336195 meters Centerline goodness [0,1] 0.9993171148100726 Centerline is valid? [True, True] Translation: X:8.61, Y:0.03, Z:0.05 [[ 9.99405714e-01 -3.23017762e-02 -1.20338597e-02 8.61223555e+00] [ 3.23045257e-02 9.99478072e-01 3.41169374e-05 2.55344275e-02] [ 1.20264769e-02 -4.22844793e-04 9.99927590e-01 5.01490974e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.795336194999999 meters Centerline goodness [0,1] 0.9995736062253491 Centerline is valid? [True, True] Translation: X:8.64, Y:0.03, Z:0.05 [[ 9.99513040e-01 -2.72790893e-02 -1.51503967e-02 8.64211772e+00] [ 2.72828769e-02 9.99627752e-01 4.33388322e-05 3.14912683e-02] [ 1.51435748e-02 -4.56664137e-04 9.99885225e-01 4.72154607e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.825336195 meters Centerline goodness [0,1] 0.9995524582827185 Centerline is valid? [True, True] Translation: X:8.67, Y:0.04, Z:0.05 [[ 9.99619199e-01 -2.32953934e-02 -1.47912437e-02 8.67258152e+00] [ 2.32985678e-02 9.99728551e-01 4.23114483e-05 3.59989552e-02] [ 1.47862429e-02 -3.86910130e-04 9.99890603e-01 4.72648017e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.855336195 meters Centerline goodness [0,1] 0.9992754704114902 Centerline is valid? [True, True] Translation: X:8.70, Y:0.04, Z:0.04 [[ 9.99804069e-01 -1.35766818e-02 -1.44047943e-02 8.70245001e+00] [ 1.35786828e-02 9.99907805e-01 4.11181673e-05 4.08139294e-02] [ 1.44029080e-02 -2.36708244e-04 9.99896245e-01 4.20493859e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.885336194999999 meters Centerline goodness [0,1] 0.9999358522034768 Centerline is valid? [True, True] Translation: X:8.73, Y:0.05, Z:0.04 [[ 9.99860819e-01 -8.01447237e-03 -1.46325313e-02 8.73228792e+00] [ 8.01593929e-03 9.99967871e-01 4.16030301e-05 4.90751595e-02] [ 1.46317278e-02 -1.58890723e-04 9.99892938e-01 4.17579843e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.915336195 meters Centerline goodness [0,1] 0.9995948136142626 Centerline is valid? [True, True] Translation: X:8.76, Y:0.07, Z:0.05 [[ 9.99914487e-01 1.22753972e-03 -1.30196929e-02 8.76110653e+00] [-1.22716629e-03 9.99999246e-01 3.66710284e-05 7.18661400e-02] [ 1.30197281e-02 -2.06905644e-05 9.99915240e-01 5.16558841e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.945336195 meters Centerline goodness [0,1] 0.9994252506545757 Centerline is valid? [True, True] Translation: X:8.79, Y:0.08, Z:0.06 [[ 9.99922709e-01 4.59133493e-03 -1.15540490e-02 8.79028132e+00] [-4.59127666e-03 9.99989460e-01 3.15684201e-05 8.18954791e-02] [ 1.15540722e-02 2.14818555e-05 9.99933249e-01 5.71041765e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.975336194999999 meters Centerline goodness [0,1] 0.9997005155411043 Centerline is valid? [True, True] Translation: X:8.82, Y:0.09, Z:0.06 [[ 9.99922615e-01 8.76118774e-03 -8.83203308e-03 8.81928556e+00] [-8.76132600e-03 9.99961619e-01 2.30370194e-05 9.11542528e-02] [ 8.83189592e-03 5.43450844e-05 9.99960997e-01 5.92389135e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.005336195 meters Centerline goodness [0,1] 0.9999144476526575 Centerline is valid? [True, True] Translation: X:8.85, Y:0.09, Z:0.06 [[ 9.99939254e-01 8.06538466e-03 -7.51246028e-03 8.84827248e+00] [-8.06547229e-03 9.99967473e-01 1.86324377e-05 8.98326528e-02] [ 7.51236620e-03 4.19602342e-05 9.99971781e-01 5.96792723e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.035336195 meters Centerline goodness [0,1] 0.9999572329733776 Centerline is valid? [True, True] Translation: X:8.88, Y:0.09, Z:0.06 [[ 9.99964440e-01 3.40020640e-03 -7.71729561e-03 8.87648222e+00] [-3.40016285e-03 9.99994219e-01 1.87637533e-05 8.60488283e-02] [ 7.71731479e-03 7.47697577e-06 9.99970221e-01 5.78239928e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.065336195 meters Centerline goodness [0,1] 0.9995741056218058 Centerline is valid? [True, True] Translation: X:8.90, Y:0.08, Z:0.05 [[ 9.99919039e-01 -1.49750921e-03 -1.26361939e-02 8.90407605e+00] [ 1.49800374e-03 9.99998878e-01 2.96707620e-05 8.30984055e-02] [ 1.26361352e-02 -4.85974255e-05 9.99920160e-01 5.02809002e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.095336195 meters Centerline goodness [0,1] 0.9996376734372003 Centerline is valid? [True, True] Translation: X:8.93, Y:0.08, Z:0.05 [[ 9.99885913e-01 -2.72544622e-03 -1.48570897e-02 8.93290454e+00] [ 2.72625149e-03 9.99996283e-01 3.39482385e-05 8.34002579e-02] [ 1.48569420e-02 -7.44485286e-05 9.99889627e-01 4.83964660e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.125336195 meters Centerline goodness [0,1] 0.9996587249109485 Centerline is valid? [True, True] Translation: X:8.96, Y:0.08, Z:0.05 [[ 9.99871151e-01 -3.92714896e-03 -1.55646445e-02 8.96043950e+00] [ 3.92816529e-03 9.99992284e-01 3.47258227e-05 8.38885090e-02] [ 1.55643880e-02 -9.58618445e-05 9.99878863e-01 4.71560178e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.155336195 meters Centerline goodness [0,1] 0.9995946493717065 Centerline is valid? [True, True] Translation: X:8.99, Y:0.09, Z:0.05 [[ 9.99878006e-01 -4.26895187e-03 -1.50249339e-02 8.98857346e+00] [ 4.26990891e-03 9.99990883e-01 3.16183238e-05 8.59175454e-02] [ 1.50246619e-02 -9.57695658e-05 9.99887119e-01 5.01848691e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.185336195 meters Centerline goodness [0,1] 0.9994453096665458 Centerline is valid? [True, True] Translation: X:9.02, Y:0.09, Z:0.05 [[ 9.99902691e-01 -4.81964355e-03 -1.30912288e-02 9.01597759e+00] [ 4.82039798e-03 9.99988381e-01 2.60752175e-05 8.77769742e-02] [ 1.30909511e-02 -8.91776131e-05 9.99914306e-01 5.40464425e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.215336194999999 meters Centerline goodness [0,1] 0.9996582802955876 Centerline is valid? [True, True] Translation: X:9.04, Y:0.09, Z:0.06 [[ 9.99945097e-01 -4.94256142e-03 -9.23977760e-03 9.04478019e+00] [ 4.94293637e-03 9.99987783e-01 1.77440798e-05 8.70470699e-02] [ 9.23957702e-03 -6.34147383e-05 9.99957312e-01 5.81189634e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.245336195 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:9.07, Y:0.09, Z:0.06 [[ 9.99969497e-01 -4.90887754e-03 -6.07520200e-03 9.07278763e+00] [ 4.90903491e-03 9.99987951e-01 1.09921146e-05 8.68364442e-02] [ 6.07507484e-03 -4.08151580e-05 9.99981546e-01 6.21585539e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.275336195 meters Centerline goodness [0,1] 0.9997867531027423 Centerline is valid? [True, True] Translation: X:9.10, Y:0.09, Z:0.06 [[ 9.99973561e-01 -5.11717087e-03 -5.16634707e-03 9.10341621e+00] [ 5.11728575e-03 9.99986907e-01 9.01674939e-06 8.86409258e-02] [ 5.16623328e-03 -3.54541852e-05 9.99986654e-01 6.30082426e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.305336194999999 meters Centerline goodness [0,1] 0.9993814784797168 Centerline is valid? [True, True] Translation: X:9.13, Y:0.09, Z:0.06 [[ 9.99955179e-01 -6.26624346e-03 -7.09748202e-03 9.13378611e+00] [ 6.26648923e-03 9.99980365e-01 1.23897967e-05 9.43093071e-02] [ 7.09726503e-03 -5.68655361e-05 9.99974812e-01 6.31907414e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.335336195 meters Centerline goodness [0,1] 0.9998938316169445 Centerline is valid? [True, True] Translation: X:9.16, Y:0.10, Z:0.07 [[ 9.99958928e-01 -6.54803135e-03 -6.26625051e-03 9.16471835e+00] [ 6.54822888e-03 9.99978560e-01 1.10072768e-05 9.75183273e-02] [ 6.26604409e-03 -5.20396673e-05 9.99980367e-01 6.61073771e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.365336195 meters Centerline goodness [0,1] 0.9995970392992726 Centerline is valid? [True, True] Translation: X:9.20, Y:0.09, Z:0.06 [[ 9.99932961e-01 -7.92314322e-03 -8.44376824e-03 9.19559663e+00] [ 7.92355139e-03 9.99968608e-01 1.48877136e-05 9.48036086e-02] [ 8.44338522e-03 -8.17913471e-05 9.99964351e-01 5.83905335e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.395336194999999 meters Centerline goodness [0,1] 0.9995721650587204 Centerline is valid? [True, True] Translation: X:9.23, Y:0.09, Z:0.05 [[ 9.99893542e-01 -9.56562589e-03 -1.10183355e-02 9.22582964e+00] [ 9.56642411e-03 9.99954241e-01 1.97407409e-05 9.21974937e-02] [ 1.10176425e-02 -1.25144710e-04 9.99939296e-01 5.23686250e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.425336195 meters Centerline goodness [0,1] 0.9997863247863248 Centerline is valid? [True, True] Translation: X:9.26, Y:0.09, Z:0.05 [[ 9.99838247e-01 -1.47416435e-02 -1.03035479e-02 9.25657477e+00] [ 1.47426162e-02 9.99891322e-01 1.84601087e-05 8.81265499e-02] [ 1.03021560e-02 -1.70358376e-04 9.99946917e-01 5.28439455e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.455336195 meters Centerline goodness [0,1] 0.9996164255119654 Centerline is valid? [True, True] Translation: X:9.29, Y:0.08, Z:0.06 [[ 9.99691540e-01 -2.37222511e-02 -7.35385109e-03 9.28740684e+00] [ 2.37229894e-02 9.99718570e-01 1.31763299e-05 8.29385933e-02] [ 7.35146893e-03 -1.87627597e-04 9.99972960e-01 6.10841198e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.485336195 meters Centerline goodness [0,1] 0.99980795903126 Centerline is valid? [True, True] Translation: X:9.32, Y:0.08, Z:0.06 [[ 9.99552791e-01 -2.87415747e-02 -8.25469940e-03 9.31700231e+00] [ 2.87426761e-02 9.99586844e-01 1.48053130e-05 7.98920501e-02] [ 8.25086340e-03 -2.52060843e-04 9.99965929e-01 6.32704302e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.515336195 meters Centerline goodness [0,1] 0.9993172168050014 Centerline is valid? [True, True] Translation: X:9.35, Y:0.07, Z:0.06 [[ 9.99250128e-01 -3.70709257e-02 -1.11771596e-02 9.34820299e+00] [ 3.70734660e-02 9.99312543e-01 2.01013892e-05 7.25087746e-02] [ 1.11687306e-02 -4.34462364e-04 9.99937533e-01 5.66188079e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.545336194999999 meters Centerline goodness [0,1] 0.9959118150684931 Centerline is valid? [True, True] Translation: X:9.38, Y:0.06, Z:0.05 [[ 9.99119085e-01 -4.03366364e-02 -1.15762604e-02 9.37873874e+00] [ 4.03395826e-02 9.99186028e-01 2.10200983e-05 5.71319876e-02] [ 1.15659898e-02 -4.87983095e-04 9.99932993e-01 4.95151786e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.575336195 meters Centerline goodness [0,1] 0.9965138277745892 Centerline is valid? [True, True] Translation: X:9.41, Y:0.05, Z:0.05 [[ 9.99009890e-01 -4.31122869e-02 -1.09804486e-02 9.41028138e+00] [ 4.31151075e-02 9.99070111e-01 2.01762737e-05 4.67297141e-02] [ 1.09693682e-02 -4.93579521e-04 9.99939713e-01 4.52155899e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.605336195 meters Centerline goodness [0,1] 0.9978683946880396 Centerline is valid? [True, True] Translation: X:9.44, Y:0.05, Z:0.05 [[ 9.99068199e-01 -4.12110333e-02 -1.28212547e-02 9.44152973e+00] [ 4.12147267e-02 9.99150312e-01 2.38674317e-05 5.36041613e-02] [ 1.28093771e-02 -5.52269702e-04 9.99917804e-01 4.95699581e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.635336194999999 meters Centerline goodness [0,1] 0.9988493500958875 Centerline is valid? [True, True] Translation: X:9.47, Y:0.06, Z:0.05 [[ 9.99133809e-01 -3.97727116e-02 -1.22378154e-02 9.47265816e+00] [ 3.97759720e-02 9.99208623e-01 2.30489735e-05 5.95170039e-02] [ 1.22272139e-02 -5.09800011e-04 9.99925115e-01 5.45691780e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.665336195 meters Centerline goodness [0,1] 0.999127028062854 Centerline is valid? [True, True] Translation: X:9.50, Y:0.06, Z:0.06 [[ 9.99305274e-01 -3.59296089e-02 -9.90115905e-03 9.50369267e+00] [ 3.59315561e-02 9.99354253e-01 1.87954280e-05 6.45765368e-02] [ 9.89409009e-03 -3.74546422e-04 9.99950982e-01 6.07924836e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.695336195 meters Centerline goodness [0,1] 0.9999141925519135 Centerline is valid? [True, True] Translation: X:9.53, Y:0.06, Z:0.05 [[ 9.99425920e-01 -3.21099640e-02 -1.08065336e-02 9.53308157e+00] [ 3.21120608e-02 9.99484275e-01 2.05227352e-05 5.81734294e-02] [ 1.08003014e-02 -3.67531016e-04 9.99941608e-01 5.38515961e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.725336194999999 meters Centerline goodness [0,1] 0.9995738606098055 Centerline is valid? [True, True] Translation: X:9.56, Y:0.05, Z:0.05 [[ 9.99467632e-01 -3.07546717e-02 -1.08904927e-02 9.56483301e+00] [ 3.07567219e-02 9.99526900e-01 2.07836090e-05 5.46145256e-02] [ 1.08847012e-02 -3.55728400e-04 9.99940697e-01 5.32388274e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.755336195 meters Centerline goodness [0,1] 0.9997008035561634 Centerline is valid? [True, True] Translation: X:9.60, Y:0.05, Z:0.06 [[ 9.99509910e-01 -2.95357412e-02 -1.03720651e-02 9.59704071e+00] [ 2.95375400e-02 9.99563671e-01 2.02420642e-05 5.18587468e-02] [ 1.03669416e-02 -3.26597432e-04 9.99946208e-01 5.55660561e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.785336195 meters Centerline goodness [0,1] 0.9997215618239842 Centerline is valid? [True, True] Translation: X:9.63, Y:0.06, Z:0.06 [[ 9.99542584e-01 -2.79344616e-02 -1.15883363e-02 9.62898274e+00] [ 2.79366059e-02 9.99609697e-01 2.31784841e-05 5.64505463e-02] [ 1.15831658e-02 -3.46906666e-04 9.99932853e-01 5.69668306e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.815336195 meters Centerline goodness [0,1] 0.9991873569855221 Centerline is valid? [True, True] Translation: X:9.66, Y:0.06, Z:0.06 [[ 9.99618107e-01 -2.41312927e-02 -1.34655294e-02 9.65969170e+00] [ 2.41338504e-02 9.99708736e-01 2.74592765e-05 5.68141933e-02] [ 1.34609448e-02 -3.52423863e-04 9.99909335e-01 5.59152530e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.845336195 meters Centerline goodness [0,1] 0.9998718304744408 Centerline is valid? [True, True] Translation: X:9.69, Y:0.06, Z:0.06 [[ 9.99696123e-01 -2.09501712e-02 -1.29904843e-02 9.69137858e+00] [ 2.09522878e-02 9.99780476e-01 2.68501783e-05 5.85958902e-02] [ 1.29870701e-02 -2.99022386e-04 9.99915620e-01 5.52319534e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.875336195 meters Centerline goodness [0,1] 0.9997219072881682 Centerline is valid? [True, True] Translation: X:9.72, Y:0.07, Z:0.05 [[ 9.99849046e-01 -1.23638502e-02 -1.22073608e-02 9.72212382e+00] [ 1.23650824e-02 9.99923549e-01 2.54699635e-05 6.54852827e-02] [ 1.22061127e-02 -1.76411142e-04 9.99925487e-01 5.21571158e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.905336195 meters Centerline goodness [0,1] 0.9995727956254272 Centerline is valid? [True, True] Translation: X:9.75, Y:0.07, Z:0.05 [[ 9.99928210e-01 -2.19812810e-03 -1.17789112e-02 9.75157221e+00] [ 2.19857042e-03 9.99997583e-01 2.46031800e-05 7.27825960e-02] [ 1.17788286e-02 -5.04981795e-05 9.99930626e-01 4.73981459e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.935336195 meters Centerline goodness [0,1] 0.9999142899997857 Centerline is valid? [True, True] Translation: X:9.78, Y:0.08, Z:0.05 [[ 9.99921980e-01 4.82267636e-03 -1.15228191e-02 9.77923899e+00] [-4.82272388e-03 9.99988370e-01 2.36630001e-05 8.18331748e-02] [ 1.15227992e-02 3.19102208e-05 9.99933610e-01 4.94587206e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.965336194999999 meters Centerline goodness [0,1] 0.9995290995098354 Centerline is valid? [True, True] Translation: X:9.81, Y:0.09, Z:0.06 [[ 9.99910298e-01 7.06882948e-03 -1.13766630e-02 9.80698282e+00] [-7.06903225e-03 9.99975014e-01 2.23901679e-05 9.23584273e-02] [ 1.13765370e-02 5.80338383e-05 9.99935283e-01 5.57592704e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.995336195 meters Centerline goodness [0,1] 0.9997437266417512 Centerline is valid? [True, True] Translation: X:9.84, Y:0.11, Z:0.06 [[ 9.99896324e-01 8.89527959e-03 -1.13232495e-02 9.83602598e+00] [-8.89561219e-03 9.99960433e-01 2.09925603e-05 1.07287539e-01] [ 1.13229882e-02 7.97368524e-05 9.99935890e-01 6.38230212e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.025336195 meters Centerline goodness [0,1] 0.9996165807523538 Centerline is valid? [True, True] Translation: X:9.86, Y:0.11, Z:0.06 [[ 9.99898024e-01 8.00322725e-03 -1.18275285e-02 9.86379692e+00] [-8.00354461e-03 9.99967971e-01 2.05012851e-05 1.05673306e-01] [ 1.18273137e-02 7.41629571e-05 9.99930052e-01 5.98235435e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.055336194999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:9.89, Y:0.10, Z:0.05 [[ 9.99908173e-01 6.12815704e-03 -1.20868257e-02 9.89265465e+00] [-6.12835923e-03 9.99981221e-01 2.03097163e-05 9.87154405e-02] [ 1.20867232e-02 5.37645584e-05 9.99926951e-01 5.17626539e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.085336195 meters Centerline goodness [0,1] 0.9995718169945835 Centerline is valid? [True, True] Translation: X:9.92, Y:0.10, Z:0.05 [[ 9.99921716e-01 3.78323757e-03 -1.19268397e-02 9.92137528e+00] [-3.78327417e-03 9.99992843e-01 1.94934264e-05 9.74579314e-02] [ 1.19268280e-02 2.56306040e-05 9.99928873e-01 5.11897487e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.115336195 meters Centerline goodness [0,1] 0.9999359726816776 Centerline is valid? [True, True] Translation: X:9.95, Y:0.10, Z:0.05 [[ 9.99875853e-01 -2.17989950e-03 -1.56053142e-02 9.94859280e+00] [ 2.18054478e-03 9.99997622e-01 2.43350294e-05 9.70446440e-02] [ 1.56052240e-02 -5.83600947e-05 9.99878229e-01 4.76954958e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.145336194999999 meters Centerline goodness [0,1] 0.9997012058478284 Centerline is valid? [True, True] Translation: X:9.98, Y:0.10, Z:0.05 [[ 9.99839537e-01 -5.67584374e-03 -1.69907533e-02 9.97778625e+00] [ 5.67709482e-03 9.99983885e-01 2.54008590e-05 9.57759163e-02] [ 1.69903354e-02 -1.21854901e-04 9.99855646e-01 4.67036205e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.175336195 meters Centerline goodness [0,1] 0.9998293697344567 Centerline is valid? [True, True] Translation: X:10.01, Y:0.09, Z:0.05 [[ 9.99827923e-01 -1.29789952e-02 -1.32540715e-02 1.00067580e+01] [ 1.29803911e-02 9.99915751e-01 1.92896779e-05 9.00430081e-02] [ 1.32527045e-02 -1.91329389e-04 9.99912161e-01 5.45258168e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.205336195 meters Centerline goodness [0,1] 0.9997431891625826 Centerline is valid? [True, True] Translation: X:10.04, Y:0.08, Z:0.05 [[ 9.99726293e-01 -2.07471273e-02 -1.08118263e-02 1.00379787e+01] [ 2.07485078e-02 9.99784726e-01 1.55274112e-05 7.55789003e-02] [ 1.08091766e-02 -2.39852423e-04 9.99941550e-01 5.24902683e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.235336195 meters Centerline goodness [0,1] 0.9994870150689323 Centerline is valid? [True, True] Translation: X:10.07, Y:0.07, Z:0.05 [[ 9.99651769e-01 -2.45779093e-02 -9.60554636e-03 1.00694535e+01] [ 2.45791770e-02 9.99697886e-01 1.39263094e-05 7.03668864e-02] [ 9.60230211e-03 -2.50017884e-04 9.99953866e-01 5.39851941e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.265336195 meters Centerline goodness [0,1] 0.9993999657123264 Centerline is valid? [True, True] Translation: X:10.10, Y:0.07, Z:0.06 [[ 9.99406916e-01 -3.30115721e-02 -9.80066423e-03 1.01007672e+01] [ 3.30132989e-02 9.99454912e-01 1.44236634e-05 7.19697309e-02] [ 9.79484586e-03 -3.37967366e-04 9.99951972e-01 6.19815088e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.295336194999999 meters Centerline goodness [0,1] 0.9965765076124862 Centerline is valid? [True, True] Translation: X:10.13, Y:0.06, Z:0.06 [[ 9.99071938e-01 -4.03697024e-02 -1.50182967e-02 1.01308822e+01] [ 4.03745908e-02 9.99184614e-01 2.23209907e-05 5.88462991e-02] [ 1.50051499e-02 -6.28657860e-04 9.99887219e-01 5.51308889e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.325336195 meters Centerline goodness [0,1] 0.9950035382668926 Centerline is valid? [True, True] Translation: X:10.16, Y:0.05, Z:0.05 [[ 9.98928635e-01 -4.31348154e-02 -1.67621712e-02 1.01621961e+01] [ 4.31412959e-02 9.99068981e-01 2.50425196e-05 5.34229884e-02] [ 1.67454851e-02 -7.48157479e-04 9.99859505e-01 5.00639736e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.355336195 meters Centerline goodness [0,1] 0.9741872173393634 Centerline is valid? [True, True] Translation: X:10.19, Y:0.04, Z:0.04 [[ 9.98819855e-01 -4.52615786e-02 -1.76149430e-02 1.01920115e+01] [ 4.52690668e-02 9.98974830e-01 2.63975987e-05 3.56255977e-02] [ 1.75956899e-02 -8.23778477e-04 9.99844845e-01 4.17251473e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.385336194999999 meters Centerline goodness [0,1] 0.9834591950570668 Centerline is valid? [True, True] Translation: X:10.22, Y:0.03, Z:0.04 [[ 9.98831014e-01 -4.51416845e-02 -1.72868383e-02 1.02241818e+01] [ 4.51488864e-02 9.98980269e-01 2.63674787e-05 3.22847705e-02] [ 1.72680201e-02 -8.06818155e-04 9.99850571e-01 4.17545253e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.415336195 meters Centerline goodness [0,1] 0.9993134373189727 Centerline is valid? [True, True] Translation: X:10.25, Y:0.04, Z:0.05 [[ 9.99039637e-01 -4.11804741e-02 -1.49656704e-02 1.02543519e+01] [ 4.11854318e-02 9.99151520e-01 2.30911264e-05 3.88424517e-02] [ 1.49520214e-02 -6.39436548e-04 9.99888008e-01 5.22489708e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.445336195 meters Centerline goodness [0,1] 0.9993134373189727 Centerline is valid? [True, True] Translation: X:10.29, Y:0.04, Z:0.05 [[ 9.99042451e-01 -4.11121683e-02 -1.49656695e-02 1.02869390e+01] [ 4.11171266e-02 9.99154333e-01 2.36461215e-05 3.86839621e-02] [ 1.49520414e-02 -6.38968808e-04 9.99888008e-01 5.24725832e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.475336194999999 meters Centerline goodness [0,1] 0.9992351166447117 Centerline is valid? [True, True] Translation: X:10.32, Y:0.04, Z:0.06 [[ 9.99216827e-01 -3.75625441e-02 -1.24413490e-02 1.03166697e+01] [ 3.75657003e-02 9.99294160e-01 2.00081723e-05 4.42693024e-02] [ 1.24318159e-02 -4.87360491e-04 9.99922603e-01 6.12339161e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.505336195 meters Centerline goodness [0,1] 0.9991281418789606 Centerline is valid? [True, True] Translation: X:10.35, Y:0.05, Z:0.07 [[ 9.99510270e-01 -3.02551605e-02 -7.99031230e-03 1.03467806e+01] [ 3.02562287e-02 9.99542175e-01 1.28175310e-05 5.41532962e-02] [ 7.98626635e-03 -2.54567971e-04 9.99968077e-01 7.08044981e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.535336195 meters Centerline goodness [0,1] 0.9993395543056798 Centerline is valid? [True, True] Translation: X:10.38, Y:0.06, Z:0.06 [[ 9.99699541e-01 -2.28091492e-02 -8.97610898e-03 1.03772910e+01] [ 2.28101973e-02 9.99739813e-01 1.43895933e-05 5.81099380e-02] [ 8.97344530e-03 -2.19132086e-04 9.99959714e-01 6.26846117e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.565336194999999 meters Centerline goodness [0,1] 0.999615220179564 Centerline is valid? [True, True] Translation: X:10.41, Y:0.06, Z:0.06 [[ 9.99770545e-01 -1.88203519e-02 -1.02299384e-02 1.04086160e+01] [ 1.88215053e-02 9.99822860e-01 1.64759697e-05 5.98824282e-02] [ 1.02278162e-02 -2.09015030e-04 9.99947673e-01 5.90310047e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.595336195 meters Centerline goodness [0,1] 0.9993589332649528 Centerline is valid? [True, True] Translation: X:10.44, Y:0.07, Z:0.06 [[ 9.99820832e-01 -1.38018215e-02 -1.29543260e-02 1.04397781e+01] [ 1.38032544e-02 9.99904730e-01 2.12038449e-05 6.77919736e-02] [ 1.29527992e-02 -2.00011904e-04 9.99916089e-01 5.81871153e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.625336195 meters Centerline goodness [0,1] 0.9995514354066986 Centerline is valid? [True, True] Translation: X:10.47, Y:0.08, Z:0.06 [[ 9.99812459e-01 -1.13138689e-02 -1.57176189e-02 1.04697089e+01] [ 1.13156757e-02 9.99935975e-01 2.60220697e-05 7.56484094e-02] [ 1.57163182e-02 -2.03872667e-04 9.99876470e-01 6.05787517e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.655336195 meters Centerline goodness [0,1] 0.999722079698991 Centerline is valid? [True, True] Translation: X:10.50, Y:0.08, Z:0.06 [[ 9.99814898e-01 -1.12231539e-02 -1.56272285e-02 1.04987359e+01] [ 1.12249084e-02 9.99936998e-01 2.45600272e-05 7.90045340e-02] [ 1.56259683e-02 -1.99969689e-04 9.99877887e-01 6.36410695e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.685336195 meters Centerline goodness [0,1] 0.9997851956867294 Centerline is valid? [True, True] Translation: X:10.53, Y:0.08, Z:0.06 [[ 9.99818128e-01 -1.28744648e-02 -1.40697755e-02 1.05272837e+01] [ 1.28760200e-02 9.99917100e-01 1.99520097e-05 7.70104487e-02] [ 1.40683523e-02 -2.01111092e-04 9.99901016e-01 6.40381948e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.715336194999999 meters Centerline goodness [0,1] 0.9998502321401828 Centerline is valid? [True, True] Translation: X:10.56, Y:0.06, Z:0.05 [[ 9.99786442e-01 -1.46318534e-02 -1.45938370e-02 1.05578804e+01] [ 1.46336981e-02 9.99892922e-01 1.96200520e-05 6.36032980e-02] [ 1.45919872e-02 -2.33177666e-04 9.99893504e-01 5.36061814e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.745336195 meters Centerline goodness [0,1] 0.999871443263627 Centerline is valid? [True, True] Translation: X:10.59, Y:0.06, Z:0.05 [[ 9.99763820e-01 -1.54833647e-02 -1.52502402e-02 1.05883592e+01] [ 1.54854809e-02 9.99880093e-01 2.06806018e-05 5.93645860e-02] [ 1.52480914e-02 -2.56833020e-04 9.99883708e-01 5.22459440e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.775336195 meters Centerline goodness [0,1] 0.999806937383358 Centerline is valid? [True, True] Translation: X:10.62, Y:0.06, Z:0.06 [[ 9.99697308e-01 -1.73478446e-02 -1.74454740e-02 1.06190760e+01] [ 1.73509015e-02 9.99849461e-01 2.38690483e-05 6.15379701e-02] [ 1.74424337e-02 -3.26556525e-04 9.99847816e-01 5.55718365e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.805336194999999 meters Centerline goodness [0,1] 0.9995498102771883 Centerline is valid? [True, True] Translation: X:10.65, Y:0.06, Z:0.06 [[ 9.99670272e-01 -1.80153042e-02 -1.82974474e-02 1.06496210e+01] [ 1.80187827e-02 9.99837648e-01 2.52506979e-05 6.10909398e-02] [ 1.82940219e-02 -3.54940101e-04 9.99832587e-01 5.66858596e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.835336195 meters Centerline goodness [0,1] 0.9995705020830649 Centerline is valid? [True, True] Translation: X:10.68, Y:0.06, Z:0.06 [[ 9.99666251e-01 -1.93752280e-02 -1.70876289e-02 1.06807375e+01] [ 1.93784655e-02 9.99812220e-01 2.38892798e-05 5.66935877e-02] [ 1.70839573e-02 -3.55013333e-04 9.99853996e-01 5.88056363e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.865336195 meters Centerline goodness [0,1] 0.9997858855772525 Centerline is valid? [True, True] Translation: X:10.71, Y:0.04, Z:0.06 [[ 9.99637579e-01 -2.28879526e-02 -1.41722251e-02 1.07118743e+01] [ 2.28905376e-02 9.99737977e-01 2.01941546e-05 4.02076373e-02] [ 1.41680495e-02 -3.44596689e-04 9.99899569e-01 5.80435414e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.895336194999999 meters Centerline goodness [0,1] 0.9995941211655132 Centerline is valid? [True, True] Translation: X:10.74, Y:0.02, Z:0.06 [[ 9.99482989e-01 -2.91552469e-02 -1.35545318e-02 1.07417243e+01] [ 2.91581894e-02 9.99574809e-01 1.94770588e-05 2.30240313e-02] [ 1.35482007e-02 -4.14692595e-04 9.99908133e-01 5.94697769e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.925336195 meters Centerline goodness [0,1] 0.99938174220782 Centerline is valid? [True, True] Translation: X:10.77, Y:0.02, Z:0.07 [[ 9.99402487e-01 -3.19266848e-02 -1.32421954e-02 1.07730931e+01] [ 3.19297373e-02 9.99490116e-01 1.91098696e-05 2.08467170e-02] [ 1.32348333e-02 -4.41918271e-04 9.99912318e-01 6.50063501e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.955336195 meters Centerline goodness [0,1] 0.9995295124037639 Centerline is valid? [True, True] Translation: X:10.80, Y:0.01, Z:0.07 [[ 9.99259167e-01 -3.61080634e-02 -1.33163324e-02 1.08039786e+01] [ 3.61115239e-02 9.99347766e-01 1.94366391e-05 1.48522154e-02] [ 1.33069453e-02 -5.00295297e-04 9.99911334e-01 6.99453836e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.985336195 meters Centerline goodness [0,1] 0.9994022075620743 Centerline is valid? [True, True] Translation: X:10.83, Y:0.01, Z:0.07 [[ 9.99254073e-01 -3.61215624e-02 -1.36576056e-02 1.08348137e+01] [ 3.61252183e-02 9.99347271e-01 2.09912529e-05 1.04215244e-02] [ 1.36479326e-02 -5.14359578e-04 9.99906730e-01 6.88774123e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.015336195 meters Centerline goodness [0,1] 0.999678814611794 Centerline is valid? [True, True] Translation: X:10.87, Y:0.00, Z:0.06 [[ 9.99344418e-01 -3.24428585e-02 -1.60684466e-02 1.08654083e+01] [ 3.24474648e-02 9.99473442e-01 2.59705203e-05 4.48211183e-03] [ 1.60591431e-02 -5.47333851e-04 9.99870894e-01 6.12429292e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.045336194999999 meters Centerline goodness [0,1] 0.99950827382734 Centerline is valid? [True, True] Translation: X:10.90, Y:0.01, Z:0.06 [[ 9.99501905e-01 -2.51959945e-02 -1.90027172e-02 1.08961279e+01] [ 2.52011303e-02 9.99682401e-01 3.08087491e-05 7.39265915e-03] [ 1.89959057e-02 -5.09683355e-04 9.99819432e-01 5.61544978e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.075336195 meters Centerline goodness [0,1] 0.9992528392109982 Centerline is valid? [True, True] Translation: X:10.93, Y:0.01, Z:0.05 [[ 9.99581898e-01 -2.11723107e-02 -1.96916770e-02 1.09264943e+01] [ 2.11770484e-02 9.99775741e-01 3.20733183e-05 8.88932791e-03] [ 1.96865819e-02 -4.49071505e-04 9.99806100e-01 5.48379562e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.105336195 meters Centerline goodness [0,1] 0.9998503666018256 Centerline is valid? [True, True] Translation: X:10.96, Y:0.02, Z:0.06 [[ 9.99748713e-01 -1.41550612e-02 -1.73823165e-02 1.09572030e+01] [ 1.41576952e-02 9.99899774e-01 2.84855056e-05 1.84257792e-02] [ 1.73801711e-02 -2.74571887e-04 9.99848916e-01 6.21091538e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.135336194999999 meters Centerline goodness [0,1] 0.9997420242497205 Centerline is valid? [True, True] Translation: X:10.99, Y:0.02, Z:0.07 [[ 9.99799897e-01 -1.16695197e-02 -1.62477352e-02 1.09865070e+01] [ 1.16714904e-02 9.99931885e-01 2.64697206e-05 2.32167361e-02] [ 1.62463196e-02 -2.16099710e-04 9.99867996e-01 6.74853833e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.165336195 meters Centerline goodness [0,1] 0.9995318650920311 Centerline is valid? [True, True] Translation: X:11.01, Y:0.02, Z:0.07 [[ 9.99869972e-01 -8.39387331e-03 -1.37688920e-02 1.10145269e+01] [ 8.39497053e-03 9.99964761e-01 2.18914736e-05 2.02019636e-02] [ 1.37682230e-02 -1.37478069e-04 9.99905204e-01 6.84011060e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.195336195 meters Centerline goodness [0,1] 0.9998926186027532 Centerline is valid? [True, True] Translation: X:11.04, Y:0.02, Z:0.07 [[ 9.99911799e-01 -6.16146975e-03 -1.17656390e-02 1.10433835e+01] [ 6.16210287e-03 9.99981014e-01 1.75600040e-05 1.65147171e-02] [ 1.17653074e-02 -9.00595331e-05 9.99930782e-01 6.92542407e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.225336194999999 meters Centerline goodness [0,1] 0.9995115009663785 Centerline is valid? [True, True] Translation: X:11.07, Y:0.02, Z:0.07 [[ 9.99916908e-01 -4.58847627e-03 -1.20466831e-02 1.10707089e+01] [ 4.58900834e-03 9.99989470e-01 1.65249021e-05 1.77482601e-02] [ 1.20464804e-02 -7.18058581e-05 9.99927436e-01 6.91133646e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.255336195 meters Centerline goodness [0,1] 0.9997219370294319 Centerline is valid? [True, True] Translation: X:11.10, Y:0.02, Z:0.07 [[ 9.99891008e-01 -1.93483316e-03 -1.46365282e-02 1.10987808e+01] [ 1.93530645e-03 9.99998127e-01 1.81729054e-05 2.25608247e-02] [ 1.46364656e-02 -4.64970921e-05 9.99892880e-01 6.91360329e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.285336195 meters Centerline goodness [0,1] 0.9998076265389877 Centerline is valid? [True, True] Translation: X:11.13, Y:0.02, Z:0.06 [[ 9.99857627e-01 8.87430390e-04 -1.68504556e-02 1.11267626e+01] [-8.87242422e-04 9.99999606e-01 1.86307913e-05 2.14317942e-02] [ 1.68504655e-02 -3.67769969e-06 9.99858021e-01 6.47064736e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.315336194999999 meters Centerline goodness [0,1] 0.9997219072881682 Centerline is valid? [True, True] Translation: X:11.16, Y:0.02, Z:0.06 [[ 9.99833978e-01 2.37179727e-03 -1.80663097e-02 1.11558286e+01] [-2.37186700e-03 9.99997187e-01 1.75674611e-05 2.11743730e-02] [ 1.80663006e-02 2.52863394e-05 9.99836791e-01 6.38691276e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.345336195 meters Centerline goodness [0,1] 0.9992757944960382 Centerline is valid? [True, True] Translation: X:11.18, Y:0.02, Z:0.06 [[ 9.99852368e-01 1.23532058e-03 -1.71381767e-02 1.11834498e+01] [-1.23524408e-03 9.99999237e-01 1.50491351e-05 1.78759170e-02] [ 1.71381822e-02 6.12291802e-06 9.99853131e-01 6.43965930e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.375336195 meters Centerline goodness [0,1] 0.9997868349249659 Centerline is valid? [True, True] Translation: X:11.21, Y:0.00, Z:0.07 [[ 9.99878680e-01 -3.41356321e-03 -1.51977959e-02 1.12126151e+01] [ 3.41414914e-03 9.99994172e-01 1.26084676e-05 4.48075731e-03] [ 1.51976643e-02 -6.44944798e-05 9.99884507e-01 6.61629344e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.405336195 meters Centerline goodness [0,1] 0.9997655434064412 Centerline is valid? [True, True] Translation: X:11.24, Y:-0.00, Z:0.07 [[ 9.99884392e-01 -6.31074207e-03 -1.38338882e-02 1.12404160e+01] [ 6.31149276e-03 9.99980082e-01 1.06068647e-05 -5.99936128e-04] [ 1.38335457e-02 -9.79181239e-05 9.99904307e-01 6.87679128e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.435336195 meters Centerline goodness [0,1] 0.9996367987010213 Centerline is valid? [True, True] Translation: X:11.27, Y:-0.00, Z:0.08 [[ 9.99874156e-01 -1.18490507e-02 -1.05485450e-02 1.12693998e+01] [ 1.18497889e-02 9.99929789e-01 7.48155148e-06 -4.98747045e-03] [ 1.05477157e-02 -1.32478641e-04 9.99944363e-01 7.86680145e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.465336194999999 meters Centerline goodness [0,1] 0.999744990118367 Centerline is valid? [True, True] Translation: X:11.30, Y:-0.02, Z:0.08 [[ 9.99806819e-01 -1.60765839e-02 -1.13078881e-02 1.13003010e+01] [ 1.60777028e-02 9.99870745e-01 8.03727930e-06 -1.75043396e-02] [ 1.13062973e-02 -1.89840590e-04 9.99936064e-01 7.54528550e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.495336195 meters Centerline goodness [0,1] 0.9997885879791125 Centerline is valid? [True, True] Translation: X:11.33, Y:-0.02, Z:0.07 [[ 9.99799492e-01 -1.63210720e-02 -1.16016631e-02 1.13314418e+01] [ 1.63222747e-02 9.99866783e-01 8.98280325e-06 -2.43551321e-02] [ 1.15999709e-02 -1.98346534e-04 9.99932698e-01 7.26309819e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.525336195 meters Centerline goodness [0,1] 0.9999571422448892 Centerline is valid? [True, True] Translation: X:11.36, Y:-0.02, Z:0.07 [[ 9.99823105e-01 -1.39069210e-02 -1.26631682e-02 1.13625830e+01] [ 1.39081651e-02 9.99903277e-01 1.01899551e-05 -2.19542713e-02] [ 1.26618017e-02 -1.86309587e-04 9.99919819e-01 7.17219820e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.555336194999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:11.39, Y:-0.02, Z:0.07 [[ 9.99859472e-01 -9.81214047e-03 -1.35925931e-02 1.13931039e+01] [ 9.81320274e-03 9.99951849e-01 1.14541596e-05 -1.55738613e-02] [ 1.35918262e-02 -1.44839421e-04 9.99907616e-01 7.16687987e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.585336195 meters Centerline goodness [0,1] 0.9997671957671957 Centerline is valid? [True, True] Translation: X:11.42, Y:-0.01, Z:0.07 [[ 9.99877864e-01 -8.03101522e-03 -1.34074857e-02 1.14217573e+01] [ 8.03187956e-03 9.99967744e-01 1.06209512e-05 -1.00908137e-02] [ 1.34069679e-02 -1.18306964e-04 9.99910116e-01 7.31982614e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.615336195 meters Centerline goodness [0,1] 0.9998088969105 Centerline is valid? [True, True] Translation: X:11.45, Y:-0.01, Z:0.07 [[ 9.99898395e-01 -5.90337155e-03 -1.29750058e-02 1.14504510e+01] [ 5.90397563e-03 9.99982571e-01 8.25353693e-06 -8.03757937e-03] [ 1.29747309e-02 -8.48568164e-05 9.99915821e-01 7.29679745e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.645336194999999 meters Centerline goodness [0,1] 0.9996802114868034 Centerline is valid? [True, True] Translation: X:11.48, Y:-0.01, Z:0.07 [[ 9.99899091e-01 -5.20535700e-03 -1.32178423e-02 1.14774254e+01] [ 5.20590131e-03 9.99986449e-01 6.77324060e-06 -7.23035556e-03] [ 1.32176279e-02 -7.55833395e-05 9.99912640e-01 7.20139944e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.675336195 meters Centerline goodness [0,1] 0.9998940812608567 Centerline is valid? [True, True] Translation: X:11.51, Y:-0.00, Z:0.07 [[ 9.99874366e-01 -4.47157404e-03 -1.52071375e-02 1.15050829e+01] [ 4.47219287e-03 9.99990000e-01 6.68651201e-06 -4.64524588e-03] [ 1.52069555e-02 -7.46949239e-05 9.99884365e-01 6.67192042e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.705336195 meters Centerline goodness [0,1] 0.999808241360208 Centerline is valid? [True, True] Translation: X:11.53, Y:-0.00, Z:0.07 [[ 9.99875656e-01 -4.90362234e-03 -1.49875625e-02 1.15322391e+01] [ 4.90425659e-03 9.99987974e-01 5.56475460e-06 -2.25941615e-03] [ 1.49873550e-02 -7.90669149e-05 9.99887680e-01 6.75108344e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.735336195 meters Centerline goodness [0,1] 0.9997672253258846 Centerline is valid? [True, True] Translation: X:11.56, Y:-0.00, Z:0.07 [[ 9.99882944e-01 -5.45839968e-03 -1.42935261e-02 1.15600617e+01] [ 5.45900664e-03 9.99985100e-01 3.44741415e-06 -3.62069743e-04] [ 1.42932943e-02 -8.14754646e-05 9.99897842e-01 6.98399273e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.765336195 meters Centerline goodness [0,1] 0.9999357285172569 Centerline is valid? [True, True] Translation: X:11.59, Y:-0.00, Z:0.07 [[ 9.99859235e-01 -7.98590544e-03 -1.47558495e-02 1.15890125e+01] [ 7.98680310e-03 9.99968105e-01 1.90507410e-06 -1.81477218e-03] [ 1.47553637e-02 -1.19756871e-04 9.99891127e-01 6.90424846e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.795336194999999 meters Centerline goodness [0,1] 0.9997229267460943 Centerline is valid? [True, True] Translation: X:11.62, Y:-0.01, Z:0.07 [[ 9.99823329e-01 -1.07058950e-02 -1.54497531e-02 1.16167733e+01] [ 1.07071908e-02 9.99942676e-01 1.15079311e-06 -7.21391649e-03] [ 1.54488552e-02 -1.66574044e-04 9.99880645e-01 6.69612643e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.825336195 meters Centerline goodness [0,1] 0.9999574332233692 Centerline is valid? [True, True] Translation: X:11.65, Y:-0.02, Z:0.07 [[ 9.99673464e-01 -1.95631083e-02 -1.64392931e-02 1.16470440e+01] [ 1.95657637e-02 9.99808572e-01 6.88236507e-07 -1.57766383e-02] [ 1.64361327e-02 -3.22335335e-04 9.99864866e-01 6.82027226e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.855336195 meters Centerline goodness [0,1] 0.9997436226124856 Centerline is valid? [True, True] Translation: X:11.68, Y:-0.03, Z:0.06 [[ 9.99439290e-01 -2.79499530e-02 -1.84365284e-02 1.16779880e+01] [ 2.79547205e-02 9.99609190e-01 8.74748465e-07 -2.84124904e-02] [ 1.84292988e-02 -5.16262257e-04 9.99830033e-01 6.39159931e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.885336194999999 meters Centerline goodness [0,1] 0.9995949777237748 Centerline is valid? [True, True] Translation: X:11.71, Y:-0.04, Z:0.06 [[ 9.99312167e-01 -3.16290089e-02 -1.93596959e-02 1.17086466e+01] [ 3.16349606e-02 9.99499489e-01 1.17584810e-06 -3.83748408e-02] [ 1.93499690e-02 -6.13618256e-04 9.99812584e-01 5.89399947e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.915336195 meters Centerline goodness [0,1] 0.9993824926005579 Centerline is valid? [True, True] Translation: X:11.74, Y:-0.05, Z:0.06 [[ 9.99228022e-01 -3.57121961e-02 -1.63706724e-02 1.17394811e+01] [ 3.57170016e-02 9.99361944e-01 1.16609972e-06 -4.72345515e-02] [ 1.63601854e-02 -5.85876532e-04 9.99865992e-01 6.46706140e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.945336195 meters Centerline goodness [0,1] 0.9991030432461292 Centerline is valid? [True, True] Translation: X:11.77, Y:-0.05, Z:0.07 [[ 9.99250961e-01 -3.60723322e-02 -1.40108113e-02 1.17701432e+01] [ 3.60758915e-02 9.99349053e-01 1.30323361e-06 -4.57037415e-02] [ 1.40016440e-02 -5.06754766e-04 9.99901844e-01 7.28959960e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.975336194999999 meters Centerline goodness [0,1] 0.9995286858905694 Centerline is valid? [True, True] Translation: X:11.80, Y:-0.04, Z:0.08 [[ 9.99385760e-01 -3.30384595e-02 -1.16860155e-02 1.18008870e+01] [ 3.30407313e-02 9.99454006e-01 1.33450659e-06 -3.56216608e-02] [ 1.16795909e-02 -3.87448184e-04 9.99931716e-01 7.90429667e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.005336195 meters Centerline goodness [0,1] 0.9996371398078976 Centerline is valid? [True, True] Translation: X:11.83, Y:-0.04, Z:0.07 [[ 9.99520547e-01 -2.80524751e-02 -1.31047866e-02 1.18305983e+01] [ 2.80549049e-02 9.99606384e-01 1.58596673e-06 -3.99140017e-02] [ 1.30995839e-02 -3.69238750e-04 9.99914129e-01 7.03125691e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.035336195 meters Centerline goodness [0,1] 0.9997222578301928 Centerline is valid? [True, True] Translation: X:11.86, Y:-0.04, Z:0.07 [[ 9.99570817e-01 -2.53466641e-02 -1.46876729e-02 1.18607380e+01] [ 2.53494260e-02 9.99678652e-01 1.86724369e-06 -4.05968874e-02] [ 1.46829057e-02 -3.74190518e-04 9.99892130e-01 6.86596087e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.065336194999999 meters Centerline goodness [0,1] 0.9995267392333176 Centerline is valid? [True, True] Translation: X:11.89, Y:-0.04, Z:0.07 [[ 9.99592144e-01 -2.41907005e-02 -1.51774835e-02 1.18919592e+01] [ 2.41935220e-02 9.99707294e-01 2.29273540e-06 -3.99137038e-02] [ 1.51729855e-02 -3.69488581e-04 9.99884815e-01 7.15555819e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.095336195 meters Centerline goodness [0,1] 0.9998708260672996 Centerline is valid? [True, True] Translation: X:11.92, Y:-0.03, Z:0.08 [[ 9.99643011e-01 -2.17087589e-02 -1.55749996e-02 1.19233481e+01] [ 2.17114359e-02 9.99764279e-01 2.78896366e-06 -3.32425855e-02] [ 1.55712677e-02 -3.40943573e-04 9.99878702e-01 7.51059983e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.125336195 meters Centerline goodness [0,1] 0.9998933287820281 Centerline is valid? [True, True] Translation: X:11.95, Y:-0.04, Z:0.07 [[ 9.99671248e-01 -2.01692789e-02 -1.58301979e-02 1.19544666e+01] [ 2.01718587e-02 9.99796527e-01 3.29554130e-06 -3.50758682e-02] [ 1.58269105e-02 -3.22618973e-04 9.99874695e-01 7.34663704e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.155336195 meters Centerline goodness [0,1] 0.9999357161223965 Centerline is valid? [True, True] Translation: X:11.99, Y:-0.03, Z:0.07 [[ 9.99730733e-01 -1.71120756e-02 -1.56728648e-02 1.19861815e+01] [ 1.71142372e-02 9.99853541e-01 3.79990266e-06 -3.46252580e-02] [ 1.56705043e-02 -2.72028004e-04 9.99877173e-01 7.13595042e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.185336195 meters Centerline goodness [0,1] 0.9998289648095096 Centerline is valid? [True, True] Translation: X:12.02, Y:-0.03, Z:0.07 [[ 9.99814160e-01 -1.38402609e-02 -1.34198776e-02 1.20161222e+01] [ 1.38415537e-02 9.99904201e-01 3.45884668e-06 -3.24936939e-02] [ 1.34185441e-02 -1.89210160e-04 9.99909949e-01 7.41838704e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.215336194999999 meters Centerline goodness [0,1] 0.9997443926129466 Centerline is valid? [True, True] Translation: X:12.05, Y:-0.03, Z:0.07 [[ 9.99827394e-01 -1.28805551e-02 -1.33892998e-02 1.20466208e+01] [ 1.28817570e-02 9.99917027e-01 3.52416688e-06 -3.15828802e-02] [ 1.33881434e-02 -1.76001264e-04 9.99910359e-01 7.40591140e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.245336195 meters Centerline goodness [0,1] 0.999850123113157 Centerline is valid? [True, True] Translation: X:12.08, Y:-0.03, Z:0.07 [[ 9.99816668e-01 -1.24169359e-02 -1.45756500e-02 1.20773303e+01] [ 1.24183122e-02 9.99922890e-01 3.92018838e-06 -2.92400691e-02] [ 1.45744774e-02 -1.84924442e-04 9.99893770e-01 7.42079929e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.275336195 meters Centerline goodness [0,1] 0.9998931966250133 Centerline is valid? [True, True] Translation: X:12.11, Y:-0.03, Z:0.08 [[ 9.99807841e-01 -1.24972083e-02 -1.51029822e-02 1.21064897e+01] [ 1.24986754e-02 9.99921889e-01 2.74918566e-06 -2.75272259e-02] [ 1.51017681e-02 -1.91515929e-04 9.99885943e-01 7.55791409e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.305336194999999 meters Centerline goodness [0,1] 0.999828763458122 Centerline is valid? [True, True] Translation: X:12.14, Y:-0.03, Z:0.08 [[ 9.99800216e-01 -1.25044271e-02 -1.55937963e-02 1.21356085e+01] [ 1.25059697e-02 9.99921797e-01 1.41379355e-06 -2.67091869e-02] [ 1.55925592e-02 -1.96429056e-04 9.99878409e-01 7.66161220e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.335336195 meters Centerline goodness [0,1] 0.9995939997435788 Centerline is valid? [True, True] Translation: X:12.16, Y:-0.03, Z:0.07 [[ 9.99787261e-01 -1.24733597e-02 -1.64270801e-02 1.21641782e+01] [ 1.24750387e-02 9.99922184e-01 -2.61275659e-07 -2.74686741e-02] [ 1.64258050e-02 -2.04667239e-04 9.99865066e-01 7.31700051e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.365336195 meters Centerline goodness [0,1] 0.9995939997435788 Centerline is valid? [True, True] Translation: X:12.19, Y:-0.03, Z:0.07 [[ 9.99785003e-01 -1.26530369e-02 -1.64270797e-02 1.21915432e+01] [ 1.26546942e-02 9.99919926e-01 -3.06001282e-06 -2.73194505e-02] [ 1.64258030e-02 -2.04820315e-04 9.99865066e-01 7.33585088e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.395336194999999 meters Centerline goodness [0,1] 0.9994885564505818 Centerline is valid? [True, True] Translation: X:12.22, Y:-0.03, Z:0.07 [[ 9.99796943e-01 -1.16497918e-02 -1.64424832e-02 1.22190590e+01] [ 1.16512875e-02 9.99932121e-01 -4.83156251e-06 -2.92233603e-02] [ 1.64414234e-02 -1.86745517e-04 9.99864813e-01 7.12020146e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.425336195 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:12.25, Y:-0.03, Z:0.07 [[ 9.99846904e-01 -1.07222421e-02 -1.38275997e-02 1.22475642e+01] [ 1.07231910e-02 9.99942505e-01 -5.51526221e-06 -3.28430021e-02] [ 1.38268638e-02 -1.42761575e-04 9.99904394e-01 7.04865922e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.455336195 meters Centerline goodness [0,1] 0.9993830312313846 Centerline is valid? [True, True] Translation: X:12.27, Y:-0.03, Z:0.07 [[ 9.99869649e-01 -1.00541324e-02 -1.26332579e-02 1.22748793e+01] [ 1.00548519e-02 9.99949449e-01 -6.56779640e-06 -3.20569809e-02] [ 1.26326853e-02 -1.20458597e-04 9.99920197e-01 7.26589538e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.485336195 meters Centerline goodness [0,1] 0.9997438524590164 Centerline is valid? [True, True] Translation: X:12.30, Y:-0.02, Z:0.08 [[ 9.99853227e-01 -8.22782944e-03 -1.50275417e-02 1.23034688e+01] [ 8.22861014e-03 9.99966144e-01 -9.88045387e-06 -1.64799056e-02] [ 1.50271143e-02 -1.13776779e-04 9.99887080e-01 7.79639881e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.515336195 meters Centerline goodness [0,1] 0.9998932331148171 Centerline is valid? [True, True] Translation: X:12.33, Y:-0.01, Z:0.08 [[ 9.99865578e-01 -7.56691968e-03 -1.45453726e-02 1.23314125e+01] [ 7.56755870e-03 9.99971366e-01 -1.11065998e-05 -1.07445271e-02] [ 1.45450402e-02 -9.89678545e-05 9.99894210e-01 7.87213445e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.545336194999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:12.36, Y:-0.01, Z:0.08 [[ 9.99879681e-01 -7.55231660e-03 -1.35493983e-02 1.23588619e+01] [ 7.55285691e-03 9.99971477e-01 -1.12935849e-05 -9.83721397e-03] [ 1.35490972e-02 -9.10444408e-05 9.99908203e-01 7.90516101e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.575336195 meters Centerline goodness [0,1] 0.9992801338104211 Centerline is valid? [True, True] Translation: X:12.39, Y:-0.01, Z:0.08 [[ 9.99882850e-01 -8.53766874e-03 -1.27040932e-02 1.23867279e+01] [ 8.53820277e-03 9.99963549e-01 -1.22016156e-05 -8.30029386e-03] [ 1.27037343e-02 -9.62699374e-05 9.99919300e-01 7.63557065e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.605336195 meters Centerline goodness [0,1] 0.9993125966660938 Centerline is valid? [True, True] Translation: X:12.42, Y:-0.01, Z:0.07 [[ 9.99821318e-01 -1.19326318e-02 -1.46609630e-02 1.24153201e+01] [ 1.19336680e-02 9.99928791e-01 -1.68059006e-05 -1.20862263e-02] [ 1.46601195e-02 -1.58156167e-04 9.99892522e-01 6.93240797e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.635336194999999 meters Centerline goodness [0,1] 0.9997216810464793 Centerline is valid? [True, True] Translation: X:12.44, Y:-0.01, Z:0.07 [[ 9.99777655e-01 -1.44342051e-02 -1.53718396e-02 1.24441116e+01] [ 1.44356154e-02 9.99895801e-01 -1.92116618e-05 -1.37833958e-02] [ 1.53705152e-02 -2.02694575e-04 9.99881846e-01 6.88908076e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.665336195 meters Centerline goodness [0,1] 0.9998502353444587 Centerline is valid? [True, True] Translation: X:12.47, Y:-0.01, Z:0.08 [[ 9.99642501e-01 -2.09893955e-02 -1.65624983e-02 1.24737411e+01] [ 2.09919245e-02 9.99779645e-01 -2.11604055e-05 -9.24836280e-03] [ 1.65592928e-02 -3.26525873e-04 9.99862832e-01 7.67357029e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.695336195 meters Centerline goodness [0,1] 0.9996143463170073 Centerline is valid? [True, True] Translation: X:12.51, Y:-0.01, Z:0.08 [[ 9.99555681e-01 -2.49032732e-02 -1.63788659e-02 1.25050076e+01] [ 2.49062738e-02 9.99689790e-01 -2.07892336e-05 -1.00185442e-02] [ 1.63743027e-02 -3.87156522e-04 9.99865857e-01 7.96471307e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.725336194999999 meters Centerline goodness [0,1] 0.9997420575211727 Centerline is valid? [True, True] Translation: X:12.54, Y:-0.02, Z:0.08 [[ 9.99390811e-01 -3.18569182e-02 -1.42528257e-02 1.25355183e+01] [ 3.18598989e-02 9.99492344e-01 -1.79384535e-05 -1.61331454e-02] [ 1.42461617e-02 -4.36166060e-04 9.99898423e-01 8.06067523e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.755336195 meters Centerline goodness [0,1] 0.9995089562117039 Centerline is valid? [True, True] Translation: X:12.57, Y:-0.03, Z:0.08 [[ 9.99326986e-01 -3.40585629e-02 -1.36230825e-02 1.25664916e+01] [ 3.40614980e-02 9.99419739e-01 -1.65810955e-05 -2.57429381e-02] [ 1.36157423e-02 -4.47452662e-04 9.99907201e-01 7.78537894e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.785336195 meters Centerline goodness [0,1] 0.9997447080097862 Centerline is valid? [True, True] Translation: X:12.60, Y:-0.03, Z:0.08 [[ 9.99296115e-01 -3.50658497e-02 -1.33289358e-02 1.25990460e+01] [ 3.50687600e-02 9.99384902e-01 -1.53874771e-05 -2.50194340e-02] [ 1.33212768e-02 -4.52052605e-04 9.99911166e-01 7.65058965e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.815336194999999 meters Centerline goodness [0,1] 0.9998071566316692 Centerline is valid? [True, True] Translation: X:12.63, Y:-0.02, Z:0.08 [[ 9.99320591e-01 -3.39627249e-02 -1.43139722e-02 1.26299535e+01] [ 3.39659767e-02 9.99422990e-01 -1.59423737e-05 -2.00123689e-02] [ 1.43062543e-02 -4.70256502e-04 9.99897550e-01 7.60708196e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.845336195 meters Centerline goodness [0,1] 0.9996789589709565 Centerline is valid? [True, True] Translation: X:12.66, Y:-0.01, Z:0.08 [[ 9.99308339e-01 -3.34139673e-02 -1.63202624e-02 1.26628752e+01] [ 3.34181367e-02 9.99441458e-01 -1.72509765e-05 -1.11554828e-02] [ 1.63117233e-02 -5.28153715e-04 9.99866815e-01 7.68493626e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.875336195 meters Centerline goodness [0,1] 0.9993167065254527 Centerline is valid? [True, True] Translation: X:12.69, Y:-0.01, Z:0.07 [[ 9.99235895e-01 -3.33197747e-02 -2.04308354e-02 1.26941746e+01] [ 3.33263119e-02 9.99444524e-01 -2.05219144e-05 -8.97471183e-03] [ 2.04201704e-02 -6.60378160e-04 9.99791268e-01 7.39040703e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.905336195 meters Centerline goodness [0,1] 0.999638351734848 Centerline is valid? [True, True] Translation: X:12.72, Y:-0.02, Z:0.07 [[ 9.99124494e-01 -3.73521899e-02 -1.88429954e-02 1.27244586e+01] [ 3.73584806e-02 9.99301928e-01 -1.81664752e-05 -1.87592924e-02] [ 1.88305201e-02 -6.85795107e-04 9.99822455e-01 7.22819707e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.935336195 meters Centerline goodness [0,1] 0.9994882729211088 Centerline is valid? [True, True] Translation: X:12.76, Y:-0.02, Z:0.07 [[ 9.99040048e-01 -4.00584805e-02 -1.77285255e-02 1.27556461e+01] [ 4.00644839e-02 9.99197096e-01 -1.65501307e-05 -2.30713165e-02] [ 1.77149541e-02 -6.93749980e-04 9.99842837e-01 7.17472007e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.965336194999999 meters Centerline goodness [0,1] 0.9990145672664953 Centerline is valid? [True, True] Translation: X:12.79, Y:-0.04, Z:0.07 [[ 9.98807879e-01 -4.62947857e-02 -1.54794878e-02 1.27862262e+01] [ 4.63001127e-02 9.98927575e-01 -1.42549152e-05 -3.73740863e-02] [ 1.54635471e-02 -7.02464106e-04 9.99880185e-01 7.32527390e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.995336195 meters Centerline goodness [0,1] 0.9915816600450983 Centerline is valid? [True, True] Translation: X:12.82, Y:-0.04, Z:0.08 [[ 9.98647833e-01 -5.01200523e-02 -1.38016804e-02 1.28155232e+01] [ 5.01246532e-02 9.98742969e-01 -1.25740635e-05 -4.42886561e-02] [ 1.37849615e-02 -6.79247384e-04 9.99904752e-01 8.14438658e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.025336195 meters Centerline goodness [0,1] 0.9949691728035622 Centerline is valid? [True, True] Translation: X:12.85, Y:-0.04, Z:0.08 [[ 9.98636523e-01 -5.00989714e-02 -1.46693164e-02 1.28472740e+01] [ 5.01041851e-02 9.98743996e-01 -1.21138165e-05 -4.15554005e-02] [ 1.46514986e-02 -7.22896844e-04 9.99892400e-01 8.33066573e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.055336194999999 meters Centerline goodness [0,1] 0.9963186507426908 Centerline is valid? [True, True] Translation: X:12.88, Y:-0.04, Z:0.08 [[ 9.98850736e-01 -4.53178361e-02 -1.56044908e-02 1.28765185e+01] [ 4.53231688e-02 9.98972377e-01 -1.19138994e-05 -4.06967718e-02] [ 1.55889952e-02 -6.95344763e-04 9.99878242e-01 8.31533804e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.085336195 meters Centerline goodness [0,1] 0.9938295328379879 Centerline is valid? [True, True] Translation: X:12.91, Y:-0.04, Z:0.08 [[ 9.99043929e-01 -4.06785322e-02 -1.60151397e-02 1.29063906e+01] [ 4.06835530e-02 9.99172081e-01 -1.23083360e-05 -4.49112826e-02] [ 1.60023812e-02 -6.39256218e-04 9.99871749e-01 7.95757569e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.115336195 meters Centerline goodness [0,1] 0.9995066389240439 Centerline is valid? [True, True] Translation: X:12.94, Y:-0.04, Z:0.07 [[ 9.99460950e-01 -2.88966145e-02 -1.55818914e-02 1.29368567e+01] [ 2.88999365e-02 9.99582310e-01 -1.19815688e-05 -3.55806482e-02] [ 1.55757293e-02 -4.38340564e-04 9.99878595e-01 7.48711422e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.145336194999999 meters Centerline goodness [0,1] 0.9999786356741514 Centerline is valid? [True, True] Translation: X:12.97, Y:-0.03, Z:0.08 [[ 9.99639697e-01 -2.30286775e-02 -1.37896777e-02 1.29660525e+01] [ 2.30307203e-02 9.99734758e-01 -1.06599517e-05 -3.35494474e-02] [ 1.37862656e-02 -3.06930099e-04 9.99904918e-01 7.55886676e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.175336195 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:13.00, Y:-0.02, Z:0.08 [[ 9.99790760e-01 -1.44240394e-02 -1.45045654e-02 1.29969739e+01] [ 1.44253947e-02 9.99895949e-01 -1.11822631e-05 -1.97356270e-02] [ 1.45032175e-02 -1.98054159e-04 9.99894803e-01 7.94484802e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.205336195 meters Centerline goodness [0,1] 0.9998709982584765 Centerline is valid? [True, True] Translation: X:13.03, Y:-0.01, Z:0.08 [[ 9.99812947e-01 -1.13997216e-02 -1.56242615e-02 1.30269916e+01] [ 1.14009263e-02 9.99935007e-01 -1.19649522e-05 -1.30587579e-02] [ 1.56233824e-02 -1.66168339e-04 9.99877934e-01 8.22525424e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.235336194999999 meters Centerline goodness [0,1] 0.9999573050977714 Centerline is valid? [True, True] Translation: X:13.06, Y:0.00, Z:0.09 [[ 9.99888908e-01 -7.56972260e-03 -1.28402143e-02 1.30553124e+01] [ 7.57021691e-03 9.99971345e-01 -1.01067932e-05 9.23860589e-05] [ 1.28399228e-02 -8.70975367e-05 9.99917561e-01 9.23092757e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.265336195 meters Centerline goodness [0,1] 0.9998712833054447 Centerline is valid? [True, True] Translation: X:13.08, Y:-0.00, Z:0.09 [[ 9.99934160e-01 -4.45100346e-03 -1.05765952e-02 1.30838089e+01] [ 4.45115522e-03 9.99990094e-01 -9.19155088e-06 -3.94527351e-03] [ 1.05765314e-02 -3.78871213e-05 9.99944066e-01 8.79036666e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.295336194999999 meters Centerline goodness [0,1] 0.99991462477589 Centerline is valid? [True, True] Translation: X:13.11, Y:-0.02, Z:0.08 [[ 9.99915916e-01 -2.85455980e-03 -1.26495657e-02 1.31121733e+01] [ 2.85462790e-03 9.99995925e-01 -1.26714465e-05 -1.53200872e-02] [ 1.26495503e-02 -2.34394221e-05 9.99919991e-01 7.62910989e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.325336195 meters Centerline goodness [0,1] 0.9993147604873766 Centerline is valid? [True, True] Translation: X:13.14, Y:-0.01, Z:0.08 [[ 9.99904481e-01 -3.08660385e-03 -1.34722551e-02 1.31410748e+01] [ 3.08668203e-03 9.99995236e-01 -1.49904944e-05 -1.40572475e-02] [ 1.34722372e-02 -2.65955051e-05 9.99909245e-01 7.75398442e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.355336195 meters Centerline goodness [0,1] 0.9998294643047473 Centerline is valid? [True, True] Translation: X:13.17, Y:-0.01, Z:0.08 [[ 9.99884974e-01 -4.26164252e-03 -1.45560354e-02 1.31688685e+01] [ 4.26183114e-03 9.99990918e-01 -1.80612115e-05 -5.59971967e-03] [ 1.45559802e-02 -4.39762311e-05 9.99894055e-01 8.29121170e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.385336194999999 meters Centerline goodness [0,1] 0.9998295006500287 Centerline is valid? [True, True] Translation: X:13.20, Y:-0.00, Z:0.09 [[ 9.99864357e-01 -5.22533403e-03 -1.56193254e-02 1.31971649e+01] [ 5.22565093e-03 9.99986346e-01 -2.05239140e-05 -3.21842284e-03] [ 1.56192194e-02 -6.11000121e-05 9.99878011e-01 8.50948361e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.415336195 meters Centerline goodness [0,1] 0.999807391871937 Centerline is valid? [True, True] Translation: X:13.23, Y:-0.01, Z:0.08 [[ 9.99831394e-01 -8.04200484e-03 -1.65078546e-02 1.32258176e+01] [ 8.04272843e-03 9.99967656e-01 -2.25560075e-05 -9.08191547e-03] [ 1.65075020e-02 -1.10215987e-04 9.99863736e-01 8.22027059e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.445336195 meters Centerline goodness [0,1] 0.9995102318945508 Centerline is valid? [True, True] Translation: X:13.25, Y:-0.02, Z:0.08 [[ 9.99822933e-01 -1.00555896e-02 -1.59056097e-02 1.32536090e+01] [ 1.00565030e-02 9.99949432e-01 -2.25571233e-05 -1.66177947e-02] [ 1.59050322e-02 -1.37401682e-04 9.99873498e-01 7.95073918e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.475336194999999 meters Centerline goodness [0,1] 0.9991864697067009 Centerline is valid? [True, True] Translation: X:13.28, Y:-0.03, Z:0.08 [[ 9.99800164e-01 -1.43658054e-02 -1.39016126e-02 1.32828453e+01] [ 1.43669105e-02 9.99896790e-01 -2.03755873e-05 -2.97892073e-02] [ 1.39004706e-02 -1.79351709e-04 9.99903368e-01 7.91630372e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.505336195 meters Centerline goodness [0,1] 0.9996552318565765 Centerline is valid? [True, True] Translation: X:13.31, Y:-0.03, Z:0.09 [[ 9.99746194e-01 -1.90804362e-02 -1.19785182e-02 1.33135700e+01] [ 1.90815924e-02 9.99817930e-01 -1.77631214e-05 -3.17996217e-02] [ 1.19766762e-02 -2.10810590e-04 9.99928255e-01 8.55764386e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.535336195 meters Centerline goodness [0,1] 0.9997229385562968 Centerline is valid? [True, True] Translation: X:13.35, Y:-0.03, Z:0.09 [[ 9.99721330e-01 -2.08112800e-02 -1.11423957e-02 1.33453734e+01] [ 2.08123910e-02 9.99783399e-01 -1.62506192e-05 -3.07464615e-02] [ 1.11403204e-02 -2.15653805e-04 9.99937921e-01 8.88339647e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.565336194999999 meters Centerline goodness [0,1] 0.999575803851701 Centerline is valid? [True, True] Translation: X:13.38, Y:-0.04, Z:0.09 [[ 9.99675879e-01 -2.29217590e-02 -1.10783837e-02 1.33767704e+01] [ 2.29229919e-02 9.99737234e-01 -1.56944066e-05 -3.68858191e-02] [ 1.10758325e-02 -2.38260381e-04 9.99938633e-01 8.71955419e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.595336195 meters Centerline goodness [0,1] 0.999850647549553 Centerline is valid? [True, True] Translation: X:13.41, Y:-0.04, Z:0.08 [[ 9.99681496e-01 -2.23810177e-02 -1.16617500e-02 1.34094521e+01] [ 2.23823526e-02 9.99749484e-01 -1.60526864e-05 -3.76987928e-02] [ 1.16591878e-02 -2.44969825e-04 9.99931999e-01 8.45213443e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.625336195 meters Centerline goodness [0,1] 0.9998295297151015 Centerline is valid? [True, True] Translation: X:13.44, Y:-0.04, Z:0.08 [[ 9.99733208e-01 -1.94231518e-02 -1.25001554e-02 1.34397869e+01] [ 1.94244594e-02 9.99811327e-01 -1.68084441e-05 -3.84920287e-02] [ 1.24981234e-02 -2.26004801e-04 9.99921870e-01 8.12292843e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.655336195 meters Centerline goodness [0,1] 0.9999145664246049 Centerline is valid? [True, True] Translation: X:13.47, Y:-0.03, Z:0.08 [[ 9.99803404e-01 -1.52081527e-02 -1.27226468e-02 1.34702605e+01] [ 1.52091678e-02 9.99884334e-01 -1.69626203e-05 -3.37296267e-02] [ 1.27214332e-02 -1.76541585e-04 9.99919064e-01 8.19693189e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.685336195 meters Centerline goodness [0,1] 0.9998715808398613 Centerline is valid? [True, True] Translation: X:13.50, Y:-0.03, Z:0.09 [[ 9.99839690e-01 -1.29695110e-02 -1.23444677e-02 1.35016009e+01] [ 1.29702987e-02 9.99915882e-01 -1.62543365e-05 -2.67899337e-02] [ 1.23436401e-02 -1.43859702e-04 9.99923804e-01 8.51285176e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.715336194999999 meters Centerline goodness [0,1] 0.9997872612006978 Centerline is valid? [True, True] Translation: X:13.53, Y:-0.02, Z:0.09 [[ 9.99898634e-01 -9.37652401e-03 -1.07146215e-02 1.35311834e+01] [ 9.37691214e-03 9.99956036e-01 -1.40130367e-05 -1.62086918e-02] [ 1.07142818e-02 -8.64584482e-05 9.99942597e-01 9.09570121e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.745336195 meters Centerline goodness [0,1] 0.9998929931943672 Centerline is valid? [True, True] Translation: X:13.56, Y:-0.02, Z:0.09 [[ 9.99897318e-01 -8.42385051e-03 -1.15927325e-02 1.35613752e+01] [ 8.42423920e-03 9.99964515e-01 -1.53038267e-05 -1.68351973e-02] [ 1.15924500e-02 -8.23576961e-05 9.99932802e-01 8.54786198e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.775336195 meters Centerline goodness [0,1] 0.999615565332536 Centerline is valid? [True, True] Translation: X:13.59, Y:-0.02, Z:0.08 [[ 9.99868972e-01 -9.25660517e-03 -1.32798331e-02 1.35895432e+01] [ 9.25718350e-03 9.99957151e-01 -1.79212586e-05 -2.04474466e-02] [ 1.32794300e-02 -1.05014942e-04 9.99911819e-01 8.14110307e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.805336194999999 meters Centerline goodness [0,1] 0.9998731125491689 Centerline is valid? [True, True] Translation: X:13.62, Y:-0.02, Z:0.08 [[ 9.99822502e-01 -1.15564528e-02 -1.48799424e-02 1.36171679e+01] [ 1.15574213e-02 9.99933211e-01 -2.09017763e-05 -2.18837752e-02] [ 1.48791901e-02 -1.51075697e-04 9.99889287e-01 7.85170265e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.835336195 meters Centerline goodness [0,1] 0.9999571615224795 Centerline is valid? [True, True] Translation: X:13.65, Y:-0.02, Z:0.08 [[ 9.99807149e-01 -1.25307530e-02 -1.51209952e-02 1.36457296e+01] [ 1.25318386e-02 9.99921473e-01 -2.29553919e-05 -2.01095652e-02] [ 1.51200954e-02 -1.66542907e-04 9.99885671e-01 7.95253263e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.865336195 meters Centerline goodness [0,1] 0.9998059466568922 Centerline is valid? [True, True] Translation: X:13.67, Y:-0.02, Z:0.08 [[ 9.99809850e-01 -1.39859862e-02 -1.35888088e-02 1.36740386e+01] [ 1.39869696e-02 9.99902177e-01 -2.26737825e-05 -1.60053854e-02] [ 1.35877967e-02 -1.67396784e-04 9.99907668e-01 8.34071868e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.895336194999999 meters Centerline goodness [0,1] 0.9999572485143858 Centerline is valid? [True, True] Translation: X:13.70, Y:-0.01, Z:0.08 [[ 9.99826410e-01 -1.41078960e-02 -1.21703381e-02 1.37044594e+01] [ 1.41086819e-02 9.99900467e-01 -2.12798593e-05 -1.49997006e-02] [ 1.21694270e-02 -1.50431264e-04 9.99925938e-01 8.46127490e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.925336195 meters Centerline goodness [0,1] 0.9999146193088433 Centerline is valid? [True, True] Translation: X:13.74, Y:-0.02, Z:0.08 [[ 9.99842569e-01 -1.42883752e-02 -1.05204381e-02 1.37361919e+01] [ 1.42889734e-02 9.99897907e-01 -1.83103746e-05 -1.69246601e-02] [ 1.05196257e-02 -1.32018768e-04 9.99944658e-01 8.36044207e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.955336195 meters Centerline goodness [0,1] 0.9997449250717398 Centerline is valid? [True, True] Translation: X:13.77, Y:-0.01, Z:0.09 [[ 9.99827976e-01 -1.68571418e-02 -7.73664430e-03 1.37677640e+01] [ 1.68575432e-02 9.99857901e-01 -1.33183306e-05 -1.43256723e-02] [ 7.73576944e-03 -1.17104776e-04 9.99970072e-01 8.96949189e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.985336194999999 meters Centerline goodness [0,1] 0.9999785476777862 Centerline is valid? [True, True] Translation: X:13.80, Y:-0.01, Z:0.09 [[ 9.99811408e-01 -1.83753513e-02 -6.28443744e-03 1.37994109e+01] [ 1.83756473e-02 9.99831153e-01 -1.06453180e-05 -1.21998661e-02] [ 6.28357194e-03 -1.04837295e-04 9.99980253e-01 9.43317839e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.015336195 meters Centerline goodness [0,1] 0.9995723114428073 Centerline is valid? [True, True] Translation: X:13.83, Y:-0.01, Z:0.09 [[ 9.99764195e-01 -1.97105353e-02 -9.11315845e-03 1.38315759e+01] [ 1.97112172e-02 9.99805715e-01 -1.49943316e-05 -7.46740876e-03] [ 9.11168345e-03 -1.64640649e-04 9.99958474e-01 9.05915487e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.045336194999999 meters Centerline goodness [0,1] 0.9997211078454509 Centerline is valid? [True, True] Translation: X:13.86, Y:-0.01, Z:0.08 [[ 9.99726449e-01 -1.99519853e-02 -1.22043083e-02 1.38639760e+01] [ 1.99532345e-02 9.99800914e-01 -1.94045761e-05 -6.63349649e-03] [ 1.22022657e-02 -2.24116157e-04 9.99925524e-01 8.46788537e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.075336195 meters Centerline goodness [0,1] 0.9996798087390868 Centerline is valid? [True, True] Translation: X:13.90, Y:-0.01, Z:0.08 [[ 9.99631747e-01 -2.21157753e-02 -1.57245696e-02 1.38954181e+01] [ 2.21181282e-02 9.99755364e-01 -2.42836634e-05 -1.04759724e-02] [ 1.57212598e-02 -3.23523325e-04 9.99876361e-01 7.57596768e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.105336195 meters Centerline goodness [0,1] 0.9999145372190411 Centerline is valid? [True, True] Translation: X:13.93, Y:-0.01, Z:0.08 [[ 9.99576092e-01 -2.41599601e-02 -1.62460010e-02 1.39271320e+01] [ 2.41627507e-02 9.99708038e-01 -2.45209430e-05 -1.07225878e-02] [ 1.62418502e-02 -3.68037524e-04 9.99868025e-01 7.62711401e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.135336194999999 meters Centerline goodness [0,1] 0.9997007907672579 Centerline is valid? [True, True] Translation: X:13.96, Y:-0.01, Z:0.08 [[ 9.99454438e-01 -2.87024851e-02 -1.63399481e-02 1.39579620e+01] [ 2.87059203e-02 9.99587900e-01 -2.43179231e-05 -9.61689623e-03] [ 1.63339124e-02 -4.44748593e-04 9.99866494e-01 7.91137299e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.165336195 meters Centerline goodness [0,1] 0.9998499206723553 Centerline is valid? [True, True] Translation: X:13.99, Y:-0.01, Z:0.08 [[ 9.99374059e-01 -3.20930089e-02 -1.48838815e-02 1.39890039e+01] [ 3.20962398e-02 9.99484783e-01 -2.18092608e-05 -1.01641414e-02] [ 1.48769130e-02 -4.55921019e-04 9.99889229e-01 8.14893086e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.195336195 meters Centerline goodness [0,1] 0.9996140734546858 Centerline is valid? [True, True] Translation: X:14.02, Y:-0.02, Z:0.08 [[ 9.99246837e-01 -3.67230529e-02 -1.25369911e-02 1.40186529e+01] [ 3.67257145e-02 9.99325383e-01 -1.79381316e-05 -2.09501495e-02] [ 1.25291922e-02 -4.42505335e-04 9.99921409e-01 8.31165758e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.225336194999999 meters Centerline goodness [0,1] 0.9994459125394255 Centerline is valid? [True, True] Translation: X:14.05, Y:-0.02, Z:0.08 [[ 9.99175053e-01 -3.88693083e-02 -1.17639142e-02 1.40497681e+01] [ 3.88718047e-02 9.99244206e-01 -1.64547460e-05 -2.38527944e-02] [ 1.17556627e-02 -4.40843405e-04 9.99930803e-01 8.37041207e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.255336195 meters Centerline goodness [0,1] 0.9994459125394255 Centerline is valid? [True, True] Translation: X:14.08, Y:-0.02, Z:0.08 [[ 9.99177631e-01 -3.88030022e-02 -1.17639149e-02 1.40823420e+01] [ 3.88054997e-02 9.99246783e-01 -1.59782942e-05 -2.39201770e-02] [ 1.17556741e-02 -4.40539441e-04 9.99930803e-01 8.39275388e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.285336195 meters Centerline goodness [0,1] 0.9993146137205766 Centerline is valid? [True, True] Translation: X:14.11, Y:-0.03, Z:0.09 [[ 9.99072387e-01 -4.13760596e-02 -1.19326005e-02 1.41134855e+01] [ 4.13788186e-02 9.99143530e-01 -1.56896709e-05 -2.54948095e-02] [ 1.19230297e-02 -4.78081793e-04 9.99928804e-01 8.67207474e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.315336194999999 meters Centerline goodness [0,1] 0.9993805271927201 Centerline is valid? [True, True] Translation: X:14.15, Y:-0.02, Z:0.09 [[ 9.99073402e-01 -4.10397373e-02 -1.29644939e-02 1.41460797e+01] [ 4.10429705e-02 9.99157382e-01 -1.66893230e-05 -2.06166124e-02] [ 1.29542547e-02 -5.15427480e-04 9.99915957e-01 8.74458596e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.345336195 meters Centerline goodness [0,1] 0.9995950381516688 Centerline is valid? [True, True] Translation: X:14.18, Y:-0.02, Z:0.08 [[ 9.99178818e-01 -3.84584661e-02 -1.27529210e-02 1.41769106e+01] [ 3.84613902e-02 9.99260087e-01 -1.59814181e-05 -2.06348174e-02] [ 1.27440995e-02 -4.74526776e-04 9.99918678e-01 8.41043720e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.375336195 meters Centerline goodness [0,1] 0.9993391600937966 Centerline is valid? [True, True] Translation: X:14.21, Y:-0.02, Z:0.08 [[ 9.99258343e-01 -3.66691279e-02 -1.17532290e-02 1.42085624e+01] [ 3.66714915e-02 9.99327375e-01 -1.44238091e-05 -2.14031582e-02] [ 1.17458524e-02 -4.16595326e-04 9.99930928e-01 8.20447490e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.405336194999999 meters Centerline goodness [0,1] 0.9997646001412399 Centerline is valid? [True, True] Translation: X:14.24, Y:-0.02, Z:0.08 [[ 9.99385054e-01 -3.35204502e-02 -1.02904767e-02 1.42388085e+01] [ 3.35220973e-02 9.99437976e-01 -1.24275322e-05 -2.10076342e-02] [ 1.02851098e-02 -3.32538470e-04 9.99947052e-01 8.35545157e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.435336195 meters Centerline goodness [0,1] 0.9998290744380822 Centerline is valid? [True, True] Translation: X:14.27, Y:-0.01, Z:0.09 [[ 9.99448756e-01 -3.11788643e-02 -1.14045018e-02 1.42705441e+01] [ 3.11807368e-02 9.99513763e-01 -1.36236446e-05 -1.02782026e-02] [ 1.13993813e-02 -3.41984636e-04 9.99934966e-01 8.71451026e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.465336194999999 meters Centerline goodness [0,1] 0.9998291510945008 Centerline is valid? [True, True] Translation: X:14.30, Y:-0.01, Z:0.09 [[ 9.99483094e-01 -2.97556390e-02 -1.21715442e-02 1.43027559e+01] [ 2.97576722e-02 9.99557142e-01 -1.40659283e-05 -6.75464750e-03] [ 1.21665725e-02 -3.48138166e-04 9.99925924e-01 8.62905152e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.495336195 meters Centerline goodness [0,1] 0.9998077621376851 Centerline is valid? [True, True] Translation: X:14.34, Y:-0.00, Z:0.08 [[ 9.99512812e-01 -2.72554439e-02 -1.52078594e-02 1.43351242e+01] [ 2.72583419e-02 9.99628422e-01 -1.67266433e-05 -4.10461513e-03] [ 1.52026644e-02 -3.97822538e-04 9.99884354e-01 7.86439805e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.525336195 meters Centerline goodness [0,1] 0.9996382747834969 Centerline is valid? [True, True] Translation: X:14.37, Y:-0.00, Z:0.07 [[ 9.99502764e-01 -2.56788685e-02 -1.82981095e-02 1.43662670e+01] [ 2.56828182e-02 9.99670142e-01 -1.91419946e-05 -4.78898742e-03] [ 1.82925652e-02 -4.50814543e-04 9.99832575e-01 7.08255078e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.555336194999999 meters Centerline goodness [0,1] 0.9997211198112196 Centerline is valid? [True, True] Translation: X:14.40, Y:0.00, Z:0.07 [[ 9.99499273e-01 -2.53749193e-02 -1.89028465e-02 1.43982879e+01] [ 2.53790966e-02 9.99677899e-01 -1.89106121e-05 6.40519664e-04] [ 1.88972377e-02 -4.60836023e-04 9.99821325e-01 7.23244104e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.585336195 meters Centerline goodness [0,1] 0.9995325017531185 Centerline is valid? [True, True] Translation: X:14.43, Y:0.01, Z:0.08 [[ 9.99568887e-01 -2.45233635e-02 -1.61445148e-02 1.44302049e+01] [ 2.45263104e-02 9.99699185e-01 -1.54710194e-05 1.08950161e-02] [ 1.61400377e-02 -3.80501030e-04 9.99869669e-01 8.19060142e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.615336195 meters Centerline goodness [0,1] 0.999807651207523 Centerline is valid? [True, True] Translation: X:14.46, Y:0.01, Z:0.08 [[ 9.99615886e-01 -2.38521488e-02 -1.41122782e-02 1.44619300e+01] [ 2.38543419e-02 9.99715445e-01 -1.29278059e-05 1.25127496e-02] [ 1.41085709e-02 -3.23716270e-04 9.99900417e-01 8.48615547e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.645336194999999 meters Centerline goodness [0,1] 0.9998276270711685 Centerline is valid? [True, True] Translation: X:14.49, Y:0.01, Z:0.09 [[ 9.99599077e-01 -2.60950198e-02 -1.09879645e-02 1.44944796e+01] [ 2.60964894e-02 9.99659429e-01 -9.63201992e-06 1.42844397e-02] [ 1.09844737e-02 -2.77119142e-04 9.99939630e-01 8.86654021e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.675336195 meters Centerline goodness [0,1] 0.9995511477792502 Centerline is valid? [True, True] Translation: X:14.52, Y:0.00, Z:0.09 [[ 9.99478376e-01 -3.12399045e-02 -8.18810423e-03 1.45241647e+01] [ 3.12408950e-02 9.99511884e-01 -6.93897172e-06 1.73725773e-03] [ 8.18432426e-03 -2.48868352e-04 9.99966477e-01 8.88388729e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.705336195 meters Centerline goodness [0,1] 0.9997429471113681 Centerline is valid? [True, True] Translation: X:14.56, Y:-0.00, Z:0.09 [[ 9.99372737e-01 -3.42598360e-02 -8.96640545e-03 1.45553567e+01] [ 3.42611457e-02 9.99412915e-01 -7.53880548e-06 -2.01134183e-03] [ 8.96139968e-03 -2.99665247e-04 9.99959801e-01 8.75665686e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.735336194999999 meters Centerline goodness [0,1] 0.9997007268063275 Centerline is valid? [True, True] Translation: X:14.59, Y:-0.00, Z:0.09 [[ 9.99265068e-01 -3.68267899e-02 -1.06353898e-02 1.45869076e+01] [ 3.68287811e-02 9.99321590e-01 -8.62540076e-06 -4.22894513e-03] [ 1.06284923e-02 -3.83069381e-04 9.99943443e-01 8.52146761e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.765336195 meters Centerline goodness [0,1] 0.9981893429901707 Centerline is valid? [True, True] Translation: X:14.62, Y:-0.02, Z:0.08 [[ 9.99043339e-01 -4.12832962e-02 -1.44255710e-02 1.46163745e+01] [ 4.12874257e-02 9.99147311e-01 -1.15590491e-05 -1.77138881e-02] [ 1.44137477e-02 -5.84046701e-04 9.99895946e-01 7.85131836e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.795336194999999 meters Centerline goodness [0,1] 0.9979859444634899 Centerline is valid? [True, True] Translation: X:14.65, Y:-0.02, Z:0.08 [[ 9.98882458e-01 -4.43415842e-02 -1.63603174e-02 1.46473659e+01] [ 4.43473075e-02 9.99016174e-01 -1.29754780e-05 -2.14775049e-02] [ 1.63447971e-02 -7.12575049e-04 9.99866161e-01 7.90548673e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.825336195 meters Centerline goodness [0,1] 0.9989005303324279 Centerline is valid? [True, True] Translation: X:14.68, Y:-0.02, Z:0.08 [[ 9.98837668e-01 -4.54221041e-02 -1.61290191e-02 1.46795054e+01] [ 4.54278167e-02 9.98967624e-01 -1.22082698e-05 -1.98395641e-02] [ 1.61129224e-02 -7.20512045e-04 9.99869919e-01 8.29266831e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.855336195 meters Centerline goodness [0,1] 0.9968107194075215 Centerline is valid? [True, True] Translation: X:14.71, Y:-0.03, Z:0.08 [[ 9.98849803e-01 -4.55248546e-02 -1.50518551e-02 1.47118616e+01] [ 4.55298648e-02 9.98962978e-01 -9.82041505e-06 -2.90104336e-02] [ 1.50366930e-02 -6.75499807e-04 9.99886714e-01 8.49096236e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.885336194999999 meters Centerline goodness [0,1] 0.9900415822582365 Centerline is valid? [True, True] Translation: X:14.74, Y:-0.04, Z:0.08 [[ 9.98932310e-01 -4.37094250e-02 -1.49574933e-02 1.47424810e+01] [ 4.37141880e-02 9.99044078e-01 -8.51829461e-06 -3.61467441e-02] [ 1.49435674e-02 -6.45345474e-04 9.99888130e-01 8.38206495e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.915336195 meters Centerline goodness [0,1] 0.9994878579659425 Centerline is valid? [True, True] Translation: X:14.77, Y:-0.03, Z:0.09 [[ 9.99214592e-01 -3.80936027e-02 -1.09122416e-02 1.47732008e+01] [ 3.80958047e-02 9.99274091e-01 -6.07365699e-06 -3.00876770e-02] [ 1.09045517e-02 -4.09641739e-04 9.99940460e-01 9.02596561e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.945336195 meters Centerline goodness [0,1] 0.9998710758718494 Centerline is valid? [True, True] Translation: X:14.80, Y:-0.02, Z:0.09 [[ 9.99488271e-01 -3.05980664e-02 -9.32488570e-03 1.48036021e+01] [ 3.05993488e-02 9.99531730e-01 -5.15214437e-06 -2.05483826e-02] [ 9.32067678e-03 -2.80185922e-04 9.99956522e-01 9.26426820e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.975336194999999 meters Centerline goodness [0,1] 0.9994219281906352 Centerline is valid? [True, True] Translation: X:14.83, Y:-0.01, Z:0.09 [[ 9.99610326e-01 -2.59133874e-02 -1.03775112e-02 1.48344981e+01] [ 2.59147237e-02 9.99664157e-01 -5.70288018e-06 -1.46410779e-02] [ 1.03741738e-02 -2.63229677e-04 9.99946152e-01 9.13344088e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.005336195 meters Centerline goodness [0,1] 0.9998077621376851 Centerline is valid? [True, True] Translation: X:14.86, Y:0.00, Z:0.09 [[ 9.99814057e-01 -1.50727392e-02 -1.20276479e-02 1.48643589e+01] [ 1.50737512e-02 9.99886385e-01 -6.51382926e-06 2.09394693e-03] [ 1.20263796e-02 -1.74789155e-04 9.99927665e-01 8.91196896e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.035336195 meters Centerline goodness [0,1] 0.9995733879396771 Centerline is valid? [True, True] Translation: X:14.90, Y:0.01, Z:0.09 [[ 9.99873210e-01 -1.02902979e-02 -1.21521124e-02 1.48960774e+01] [ 1.02909801e-02 9.99947046e-01 -6.38742014e-06 1.23681874e-02] [ 1.21515347e-02 -1.18670537e-04 9.99926160e-01 8.92713348e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.065336194999999 meters Centerline goodness [0,1] 0.9998077087428425 Centerline is valid? [True, True] Translation: X:14.93, Y:0.03, Z:0.09 [[ 9.99924722e-01 -2.85843318e-03 -1.19322966e-02 1.49253107e+01] [ 2.85856323e-03 9.99995914e-01 -6.15550383e-06 3.03748760e-02] [ 1.19322654e-02 -2.79541838e-05 9.99928808e-01 9.27500338e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.095336195 meters Centerline goodness [0,1] 0.9996571967262288 Centerline is valid? [True, True] Translation: X:14.95, Y:0.04, Z:0.09 [[ 9.99919361e-01 -4.37127454e-04 -1.26917423e-02 1.49535268e+01] [ 4.37063504e-04 9.99999904e-01 -7.81236971e-06 3.81975549e-02] [ 1.26917445e-02 2.26464237e-06 9.99919457e-01 9.19315420e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.125336195 meters Centerline goodness [0,1] 0.9998081514324693 Centerline is valid? [True, True] Translation: X:14.98, Y:0.05, Z:0.08 [[ 9.99898223e-01 3.10236419e-03 -1.39254979e-02 1.49814724e+01] [-3.10280988e-03 9.99995186e-01 -1.04001478e-05 4.61834644e-02] [ 1.39253986e-02 5.36072619e-05 9.99903035e-01 8.28374655e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.155336194999999 meters Centerline goodness [0,1] 0.9995095948827292 Centerline is valid? [True, True] Translation: X:15.01, Y:0.05, Z:0.08 [[ 9.99882312e-01 3.56364738e-03 -1.49218690e-02 1.50097930e+01] [-3.56423613e-03 9.99993648e-01 -1.28614324e-05 4.82324408e-02] [ 1.49217284e-02 6.60449834e-05 9.99888663e-01 7.97578162e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.185336195 meters Centerline goodness [0,1] 0.9996387436780144 Centerline is valid? [True, True] Translation: X:15.04, Y:0.06, Z:0.08 [[ 9.99858707e-01 1.72233806e-03 -1.67212073e-02 1.50377340e+01] [-1.72284981e-03 9.99998516e-01 -1.61994972e-05 5.70934974e-02] [ 1.67211546e-02 4.50053371e-05 9.99860191e-01 7.81018560e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.215336194999999 meters Centerline goodness [0,1] 0.9996586812296009 Centerline is valid? [True, True] Translation: X:15.07, Y:0.07, Z:0.08 [[ 9.99850291e-01 -3.26202703e-03 -1.69928020e-02 1.50655645e+01] [ 3.26219974e-03 9.99994679e-01 -1.75555150e-05 6.53908286e-02] [ 1.69927688e-02 -3.78810275e-05 9.99855612e-01 8.33215253e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.245336195 meters Centerline goodness [0,1] 0.9998929588319668 Centerline is valid? [True, True] Translation: X:15.09, Y:0.06, Z:0.08 [[ 9.99805562e-01 -1.00786047e-02 -1.69487376e-02 1.50938893e+01] [ 1.00797379e-02 9.99949198e-01 -1.85624983e-05 6.43306682e-02] [ 1.69480637e-02 -1.52279944e-04 9.99856360e-01 8.32611791e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.275336195 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:15.12, Y:0.06, Z:0.08 [[ 9.99782609e-01 -1.42309794e-02 -1.52385660e-02 1.51228596e+01] [ 1.42323665e-02 9.99898715e-01 -1.74287826e-05 5.96255018e-02] [ 1.52372706e-02 -1.99455862e-04 9.99883886e-01 8.32715490e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.305336194999999 meters Centerline goodness [0,1] 0.999467178175618 Centerline is valid? [True, True] Translation: X:15.15, Y:0.06, Z:0.09 [[ 9.99749103e-01 -1.84051680e-02 -1.27664090e-02 1.51535675e+01] [ 1.84064783e-02 9.99830586e-01 -1.48645940e-05 5.53822953e-02] [ 1.27645198e-02 -2.20123766e-04 9.99918506e-01 8.52106296e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.335336195 meters Centerline goodness [0,1] 0.9998078770413065 Centerline is valid? [True, True] Translation: X:15.18, Y:0.05, Z:0.09 [[ 9.99588067e-01 -2.63450372e-02 -1.13857546e-02 1.51837452e+01] [ 2.63465942e-02 9.99652868e-01 -1.32440582e-05 5.27879996e-02] [ 1.13821512e-02 -2.86737255e-04 9.99935180e-01 8.82959705e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.365336195 meters Centerline goodness [0,1] 0.9995769613131121 Centerline is valid? [True, True] Translation: X:15.21, Y:0.05, Z:0.09 [[ 9.99502036e-01 -2.96691768e-02 -1.07433718e-02 1.52134386e+01] [ 2.96707575e-02 9.99559726e-01 -1.22561436e-05 4.83977967e-02] [ 1.07390054e-02 -3.06513939e-04 9.99942288e-01 8.91768470e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.395336194999999 meters Centerline goodness [0,1] 0.9998292641283933 Centerline is valid? [True, True] Translation: X:15.24, Y:0.05, Z:0.10 [[ 9.99355569e-01 -3.49146140e-02 -8.33161856e-03 1.52444790e+01] [ 3.49157495e-02 9.99390259e-01 -9.17959051e-06 5.20852446e-02] [ 8.32685894e-03 -2.81731031e-04 9.99965291e-01 9.79601819e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.425336195 meters Centerline goodness [0,1] 0.9995722657085419 Centerline is valid? [True, True] Translation: X:15.28, Y:0.06, Z:0.10 [[ 9.99303777e-01 -3.64734281e-02 -7.85181285e-03 1.52764498e+01] [ 3.64744864e-02 9.99334584e-01 -8.41118270e-06 5.66498595e-02] [ 7.84689492e-03 -2.77985515e-04 9.99969174e-01 9.99428092e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.455336195 meters Centerline goodness [0,1] 0.9995087149692413 Centerline is valid? [True, True] Translation: X:15.31, Y:0.06, Z:0.10 [[ 9.99301170e-01 -3.63038420e-02 -8.89963642e-03 1.53089180e+01] [ 3.63052085e-02 9.99340749e-01 -8.01258504e-06 5.66014230e-02] [ 8.89406021e-03 -3.15096170e-04 9.99960397e-01 9.72444359e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.485336194999999 meters Centerline goodness [0,1] 0.9996599651464275 Centerline is valid? [True, True] Translation: X:15.34, Y:0.06, Z:0.09 [[ 9.99413996e-01 -3.26148038e-02 -1.03894202e-02 1.53394571e+01] [ 3.26164814e-02 9.99467941e-01 -7.96878628e-06 6.30573891e-02] [ 1.03841523e-02 -3.30902215e-04 9.99946028e-01 9.29762399e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.515336195 meters Centerline goodness [0,1] 0.9995729050995131 Centerline is valid? [True, True] Translation: X:15.37, Y:0.07, Z:0.09 [[ 9.99468012e-01 -3.08784489e-02 -1.04983511e-02 1.53711503e+01] [ 3.08800679e-02 9.99523097e-01 -7.88791105e-06 6.52051255e-02] [ 1.04935880e-02 -3.16306081e-04 9.99944891e-01 9.13424395e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.545336194999999 meters Centerline goodness [0,1] 0.9997633492534744 Centerline is valid? [True, True] Translation: X:15.40, Y:0.08, Z:0.10 [[ 9.99538599e-01 -2.88456569e-02 -9.51405743e-03 1.54027605e+01] [ 2.88468978e-02 9.99583842e-01 -6.80490576e-06 7.64121711e-02] [ 9.51029437e-03 -2.67649276e-04 9.99954740e-01 9.51091839e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.575336195 meters Centerline goodness [0,1] 0.9994872233142467 Centerline is valid? [True, True] Translation: X:15.43, Y:0.08, Z:0.10 [[ 9.99567739e-01 -2.79366056e-02 -9.15868353e-03 1.54338900e+01] [ 2.79377220e-02 9.99609666e-01 -6.04899346e-06 8.06183151e-02] [ 9.15527757e-03 -2.49826375e-04 9.99958058e-01 9.74571000e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.605336195 meters Centerline goodness [0,1] 0.9992742331419301 Centerline is valid? [True, True] Translation: X:15.47, Y:0.09, Z:0.10 [[ 9.99583082e-01 -2.72605228e-02 -9.51456430e-03 1.54663716e+01] [ 2.72617084e-02 9.99628331e-01 -5.08710359e-06 8.55524105e-02] [ 9.51116671e-03 -2.54298295e-04 9.99954735e-01 9.52257494e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.635336194999999 meters Centerline goodness [0,1] 0.9995098143688327 Centerline is valid? [True, True] Translation: X:15.50, Y:0.08, Z:0.09 [[ 9.99508051e-01 -2.90778325e-02 -1.17531360e-02 1.54970258e+01] [ 2.90797731e-02 9.99577094e-01 -5.78471913e-06 8.16226816e-02] [ 1.17483337e-02 -3.35996655e-04 9.99930929e-01 8.89419404e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.665336195 meters Centerline goodness [0,1] 0.9994047365959438 Centerline is valid? [True, True] Translation: X:15.53, Y:0.08, Z:0.09 [[ 9.99460771e-01 -3.00429216e-02 -1.32510456e-02 1.55295584e+01] [ 3.00454794e-02 9.99548533e-01 -6.05680892e-06 8.10342456e-02] [ 1.32452451e-02 -3.92080474e-04 9.99912201e-01 8.61582911e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.695336195 meters Centerline goodness [0,1] 0.9994836044410018 Centerline is valid? [True, True] Translation: X:15.56, Y:0.08, Z:0.08 [[ 9.99330057e-01 -3.27138674e-02 -1.64085608e-02 1.55608595e+01] [ 3.27181590e-02 9.99464618e-01 -6.89876837e-06 7.91524825e-02] [ 1.64000016e-02 -5.29963755e-04 9.99865370e-01 8.25587913e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.725336194999999 meters Centerline goodness [0,1] 0.999657321539483 Centerline is valid? [True, True] Translation: X:15.59, Y:0.08, Z:0.08 [[ 9.99288597e-01 -3.38191356e-02 -1.66902905e-02 1.55922464e+01] [ 3.38237382e-02 9.99427814e-01 -6.52177702e-06 7.75611113e-02] [ 1.66809611e-02 -5.58010879e-04 9.99860707e-01 8.33641934e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.755336195 meters Centerline goodness [0,1] 0.9980563446464042 Centerline is valid? [True, True] Translation: X:15.62, Y:0.07, Z:0.09 [[ 9.99255166e-01 -3.53801928e-02 -1.54063190e-02 1.56233463e+01] [ 3.53843075e-02 9.99373779e-01 -5.51389329e-06 7.00171142e-02] [ 1.53968664e-02 -5.39632144e-04 9.99881316e-01 8.59014182e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.785336195 meters Centerline goodness [0,1] 0.9992244555031345 Centerline is valid? [True, True] Translation: X:15.66, Y:0.07, Z:0.09 [[ 9.99241890e-01 -3.57279576e-02 -1.54647464e-02 1.56556936e+01] [ 3.57321546e-02 9.99361403e-01 -4.91848667e-06 7.38106382e-02] [ 1.54550464e-02 -5.47673952e-04 9.99880414e-01 8.91724861e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.815336194999999 meters Centerline goodness [0,1] 0.999530416221985 Centerline is valid? [True, True] Translation: X:15.69, Y:0.08, Z:0.09 [[ 9.99307186e-01 -3.44243923e-02 -1.41460262e-02 1.56872235e+01] [ 3.44277798e-02 9.99407188e-01 -4.05562173e-06 7.81956812e-02] [ 1.41377798e-02 -4.82963461e-04 9.99899940e-01 9.25877045e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.845336195 meters Centerline goodness [0,1] 0.9994642321374995 Centerline is valid? [True, True] Translation: X:15.72, Y:0.08, Z:0.09 [[ 9.99351093e-01 -3.32684752e-02 -1.38058336e-02 1.57195618e+01] [ 3.32715980e-02 9.99446347e-01 -3.49116775e-06 7.93171315e-02] [ 1.37983061e-02 -4.55853245e-04 9.99904695e-01 9.18555304e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.875336195 meters Centerline goodness [0,1] 0.9996783255774055 Centerline is valid? [True, True] Translation: X:15.75, Y:0.08, Z:0.09 [[ 9.99439999e-01 -3.08956677e-02 -1.28509159e-02 1.57502140e+01] [ 3.08981829e-02 9.99522537e-01 -2.82289212e-06 7.74335510e-02] [ 1.28448673e-02 -3.94248639e-04 9.99917424e-01 8.99625142e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.905336194999999 meters Centerline goodness [0,1] 0.9996375111945073 Centerline is valid? [True, True] Translation: X:15.78, Y:0.08, Z:0.09 [[ 9.99530882e-01 -2.85289873e-02 -1.11406378e-02 1.57808085e+01] [ 2.85307332e-02 9.99592916e-01 -2.21673609e-06 7.93000735e-02] [ 1.11361658e-02 -3.15634868e-04 9.99937941e-01 9.17079768e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.935336195 meters Centerline goodness [0,1] 0.9993161077985082 Centerline is valid? [True, True] Translation: X:15.81, Y:0.08, Z:0.09 [[ 9.99555181e-01 -2.75932019e-02 -1.13161939e-02 1.58134373e+01] [ 2.75949474e-02 9.99619187e-01 -1.89636111e-06 8.00201079e-02] [ 1.13119369e-02 -3.10374257e-04 9.99935970e-01 9.00123328e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.965336194999999 meters Centerline goodness [0,1] 0.9994471378753084 Centerline is valid? [True, True] Translation: X:15.84, Y:0.08, Z:0.09 [[ 9.99577636e-01 -2.61607994e-02 -1.26555251e-02 1.58445141e+01] [ 2.61628746e-02 9.99657693e-01 -1.58263659e-06 7.85475471e-02] [ 1.26512344e-02 -3.29522948e-04 9.99919916e-01 8.75326804e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.995336195 meters Centerline goodness [0,1] 0.9996791169297908 Centerline is valid? [True, True] Translation: X:15.88, Y:0.08, Z:0.09 [[ 9.99560258e-01 -2.64749163e-02 -1.33554705e-02 1.58762747e+01] [ 2.64772627e-02 9.99649416e-01 -1.13429300e-06 7.93955145e-02] [ 1.33508183e-02 -3.52482507e-04 9.99910812e-01 8.98622064e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.025336195 meters Centerline goodness [0,1] 0.9991031773146567 Centerline is valid? [True, True] Translation: X:15.91, Y:0.08, Z:0.09 [[ 9.99528989e-01 -2.72059641e-02 -1.41998231e-02 1.59089014e+01] [ 2.72086997e-02 9.99629775e-01 -5.39878484e-07 7.83027932e-02] [ 1.41945806e-02 -3.85819097e-04 9.99899177e-01 8.96725974e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.055336195000002 meters Centerline goodness [0,1] 0.9995065542468516 Centerline is valid? [True, True] Translation: X:15.94, Y:0.07, Z:0.09 [[ 9.99445894e-01 -2.94442619e-02 -1.55222253e-02 1.59397136e+01] [ 2.94478089e-02 9.99566319e-01 -5.18291292e-08 7.28864089e-02] [ 1.55154952e-02 -4.57043725e-04 9.99879523e-01 9.01325002e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.085336195 meters Centerline goodness [0,1] 0.9992805450928943 Centerline is valid? [True, True] Translation: X:15.97, Y:0.07, Z:0.09 [[ 9.99439370e-01 -3.00961820e-02 -1.46685275e-02 1.59706348e+01] [ 3.00994257e-02 9.99546910e-01 3.60522729e-07 6.97299141e-02] [ 1.46618705e-02 -4.41874575e-04 9.99892411e-01 9.24833923e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.115336195 meters Centerline goodness [0,1] 0.9994855967078189 Centerline is valid? [True, True] Translation: X:16.00, Y:0.07, Z:0.09 [[ 9.99481254e-01 -2.90671812e-02 -1.38680194e-02 1.60032493e+01] [ 2.90699900e-02 9.99577379e-01 9.56537484e-07 7.12412567e-02] [ 1.38621307e-02 -4.04099227e-04 9.99903834e-01 9.25101462e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.145336195000002 meters Centerline goodness [0,1] 0.9995721559063877 Centerline is valid? [True, True] Translation: X:16.04, Y:0.07, Z:0.09 [[ 9.99513993e-01 -2.78860287e-02 -1.39337063e-02 1.60352384e+01] [ 2.78887593e-02 9.99611033e-01 1.67095943e-06 6.69035800e-02] [ 1.39282400e-02 -3.90263930e-04 9.99902921e-01 8.77572519e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.175336195 meters Centerline goodness [0,1] 0.9995721559063877 Centerline is valid? [True, True] Translation: X:16.07, Y:0.07, Z:0.09 [[ 9.99515882e-01 -2.78182073e-02 -1.39337062e-02 1.60678097e+01] [ 2.78209424e-02 9.99612923e-01 2.46095734e-06 6.67876030e-02] [ 1.39282443e-02 -3.90108604e-04 9.99902921e-01 8.79805178e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.205336195 meters Centerline goodness [0,1] 0.9997445232164527 Centerline is valid? [True, True] Translation: X:16.10, Y:0.06, Z:0.08 [[ 9.99588187e-01 -2.49292393e-02 -1.42122771e-02 1.60988190e+01] [ 2.49318021e-02 9.99689154e-01 3.15044352e-06 6.45870540e-02] [ 1.42077808e-02 -3.57486828e-04 9.99899000e-01 8.43584924e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.235336195000002 meters Centerline goodness [0,1] 0.999914920769967 Centerline is valid? [True, True] Translation: X:16.13, Y:0.07, Z:0.09 [[ 9.99659051e-01 -2.24489341e-02 -1.33351528e-02 1.61296941e+01] [ 2.24509736e-02 9.99747945e-01 3.24162375e-06 7.10249674e-02] [ 1.33317188e-02 -3.02627682e-04 9.99911083e-01 8.95646252e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.265336195 meters Centerline goodness [0,1] 0.9993597951344431 Centerline is valid? [True, True] Translation: X:16.16, Y:0.08, Z:0.09 [[ 9.99677025e-01 -2.17678246e-02 -1.31151648e-02 1.61614653e+01] [ 2.17697444e-02 9.99763011e-01 3.61536491e-06 7.58998565e-02] [ 1.31119779e-02 -2.89127982e-04 9.99913993e-01 9.27016664e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.295336195 meters Centerline goodness [0,1] 0.9996372869060574 Centerline is valid? [True, True] Translation: X:16.19, Y:0.08, Z:0.09 [[ 9.99663460e-01 -2.18043072e-02 -1.40548859e-02 1.61934864e+01] [ 2.18065248e-02 9.99762209e-01 4.53111304e-06 7.86591169e-02] [ 1.40514450e-02 -3.11017807e-04 9.99901225e-01 9.41922270e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.325336195000002 meters Centerline goodness [0,1] 0.9995955725840784 Centerline is valid? [True, True] Translation: X:16.23, Y:0.08, Z:0.09 [[ 9.99638192e-01 -2.23732730e-02 -1.49305950e-02 1.62250996e+01] [ 2.23758524e-02 9.99749629e-01 5.70468888e-06 7.80830272e-02] [ 1.49267292e-02 -3.39787414e-04 9.99888532e-01 9.30352423e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.355336195 meters Centerline goodness [0,1] 0.9997452445652174 Centerline is valid? [True, True] Translation: X:16.26, Y:0.07, Z:0.09 [[ 9.99623914e-01 -2.34186923e-02 -1.42686851e-02 1.62570196e+01] [ 2.34211657e-02 9.99725687e-01 6.24622531e-06 7.44993766e-02] [ 1.42646247e-02 -3.40433113e-04 9.99898197e-01 8.93964072e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.385336195 meters Centerline goodness [0,1] 0.9995093542675513 Centerline is valid? [True, True] Translation: X:16.29, Y:0.07, Z:0.09 [[ 9.99633057e-01 -2.36089971e-02 -1.32802749e-02 1.62891953e+01] [ 2.36111652e-02 9.99721218e-01 6.47191477e-06 7.09517121e-02] [ 1.32764198e-02 -3.20032304e-04 9.99911813e-01 8.91811489e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.415336195000002 meters Centerline goodness [0,1] 0.9995119156250664 Centerline is valid? [True, True] Translation: X:16.32, Y:0.07, Z:0.09 [[ 9.99628478e-01 -2.35302875e-02 -1.37561345e-02 1.63224187e+01] [ 2.35326184e-02 9.99723070e-01 7.58092670e-06 7.29210523e-02] [ 1.37521466e-02 -3.31295974e-04 9.99905380e-01 9.02169212e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.445336195 meters Centerline goodness [0,1] 0.9997228026781526 Centerline is valid? [True, True] Translation: X:16.35, Y:0.08, Z:0.09 [[ 9.99600665e-01 -2.40666004e-02 -1.48090711e-02 1.63546020e+01] [ 2.40693736e-02 9.99710291e-01 9.03464559e-06 7.50228868e-02] [ 1.48045633e-02 -3.65476102e-04 9.99890340e-01 9.00067509e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.475336195 meters Centerline goodness [0,1] 0.9992960450531166 Centerline is valid? [True, True] Translation: X:16.39, Y:0.07, Z:0.09 [[ 9.99550606e-01 -2.62500196e-02 -1.44749016e-02 1.63857826e+01] [ 2.62529104e-02 9.99655333e-01 9.70188460e-06 7.06515143e-02] [ 1.44696579e-02 -3.89705819e-04 9.99895233e-01 9.10111503e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.505336195 meters Centerline goodness [0,1] 0.9993620957281677 Centerline is valid? [True, True] Translation: X:16.42, Y:0.07, Z:0.09 [[ 9.99498322e-01 -2.73811291e-02 -1.59178560e-02 1.64166063e+01] [ 2.73847806e-02 9.99624967e-01 1.14292890e-05 6.92351100e-02] [ 1.59115733e-02 -4.47330550e-04 9.99873303e-01 9.01356502e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.535336195000003 meters Centerline goodness [0,1] 0.9997231155885924 Centerline is valid? [True, True] Translation: X:16.45, Y:0.07, Z:0.09 [[ 9.99472177e-01 -2.78415538e-02 -1.67396464e-02 1.64488054e+01] [ 2.78456668e-02 9.99612234e-01 1.26258550e-05 6.63340356e-02] [ 1.67328039e-02 -4.78745808e-04 9.99859882e-01 8.69219076e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.565336195 meters Centerline goodness [0,1] 0.9990197331969484 Centerline is valid? [True, True] Translation: X:16.48, Y:0.05, Z:0.08 [[ 9.99414125e-01 -3.05703071e-02 -1.53903430e-02 1.64794850e+01] [ 3.05741141e-02 9.99532502e-01 1.20811100e-05 4.95995764e-02] [ 1.53827787e-02 -4.82620134e-04 9.99881562e-01 8.31206249e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.595336195 meters Centerline goodness [0,1] 0.9994455580671301 Centerline is valid? [True, True] Translation: X:16.51, Y:0.05, Z:0.09 [[ 9.99377887e-01 -3.22342559e-02 -1.43105395e-02 1.65117291e+01] [ 3.22377246e-02 9.99480229e-01 1.17137490e-05 5.17118819e-02] [ 1.43027237e-02 -4.73045691e-04 9.99897599e-01 8.77898937e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.625336195000003 meters Centerline goodness [0,1] 0.996117747440273 Centerline is valid? [True, True] Translation: X:16.54, Y:0.04, Z:0.09 [[ 9.99248447e-01 -3.60887152e-02 -1.41473121e-02 1.65412396e+01] [ 3.60924995e-02 9.99348453e-01 1.21799476e-05 4.15534655e-02] [ 1.41376549e-02 -5.22782648e-04 9.99899922e-01 9.21422285e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.655336195 meters Centerline goodness [0,1] 0.999311116851804 Centerline is valid? [True, True] Translation: X:16.57, Y:0.05, Z:0.10 [[ 9.99175338e-01 -3.79606217e-02 -1.44095262e-02 1.65736252e+01] [ 3.79647509e-02 9.99279079e-01 1.30331409e-05 4.59224779e-02] [ 1.43986433e-02 -5.60076465e-04 9.99896177e-01 9.50060229e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.685336195 meters Centerline goodness [0,1] 0.9994440880906564 Centerline is valid? [True, True] Translation: X:16.60, Y:0.03, Z:0.09 [[ 9.99146096e-01 -3.91582590e-02 -1.31799198e-02 1.66047422e+01] [ 3.91618338e-02 9.99232881e-01 1.31528336e-05 3.44558491e-02] [ 1.31692942e-02 -5.29291433e-04 9.99913141e-01 9.49853886e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.715336195000003 meters Centerline goodness [0,1] 0.9991036175434852 Centerline is valid? [True, True] Translation: X:16.64, Y:0.03, Z:0.09 [[ 9.99296687e-01 -3.52323022e-02 -1.28381120e-02 1.66350268e+01] [ 3.52353840e-02 9.99379041e-01 1.38738077e-05 3.10497455e-02] [ 1.28296512e-02 -4.66219855e-04 9.99917588e-01 9.41081479e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.745336195 meters Centerline goodness [0,1] 0.9993621092919414 Centerline is valid? [True, True] Translation: X:16.67, Y:0.03, Z:0.09 [[ 9.99408812e-01 -3.16722385e-02 -1.33752261e-02 1.66661636e+01] [ 3.16752672e-02 9.99498213e-01 1.46038480e-05 3.27378204e-02] [ 1.33680520e-02 -4.38259074e-04 9.99910548e-01 9.21585645e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.775336195 meters Centerline goodness [0,1] 0.9996789727126806 Centerline is valid? [True, True] Translation: X:16.70, Y:0.05, Z:0.09 [[ 9.99679011e-01 -2.12733425e-02 -1.37593345e-02 1.66966669e+01] [ 2.12755652e-02 9.99773649e-01 1.51637603e-05 4.63847189e-02] [ 1.37558975e-02 -3.07896510e-04 9.99905336e-01 9.21549492e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.805336195000002 meters Centerline goodness [0,1] 0.9997429360981984 Centerline is valid? [True, True] Translation: X:16.73, Y:0.05, Z:0.09 [[ 9.99791683e-01 -1.54973221e-02 -1.32824893e-02 1.67263934e+01] [ 1.54988845e-02 9.99879885e-01 1.46981469e-05 5.18959592e-02] [ 1.32806661e-02 -2.20558853e-04 9.99911784e-01 9.26409812e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.835336195 meters Centerline goodness [0,1] 0.9997008674842955 Centerline is valid? [True, True] Translation: X:16.76, Y:0.07, Z:0.09 [[ 9.99895717e-01 -4.80003692e-03 -1.36203872e-02 1.67574205e+01] [ 4.80068698e-03 9.99988477e-01 1.50319833e-05 6.61623473e-02] [ 1.36201581e-02 -8.04176312e-05 9.99907238e-01 9.32399506e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.865336195 meters Centerline goodness [0,1] 0.9998499914280816 Centerline is valid? [True, True] Translation: X:16.78, Y:0.07, Z:0.09 [[ 9.99884545e-01 -8.23907737e-04 -1.51729369e-02 1.67842619e+01] [ 8.24240085e-04 9.99999660e-01 1.56506179e-05 7.13409573e-02] [ 1.51729189e-02 -2.81549538e-05 9.99884884e-01 9.04807171e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.895336195000002 meters Centerline goodness [0,1] 0.9995297034994335 Centerline is valid? [True, True] Translation: X:16.81, Y:0.08, Z:0.09 [[ 9.99871136e-01 2.80060696e-03 -1.58072038e-02 1.68128496e+01] [-2.80073616e-03 9.99996078e-01 1.39634305e-05 7.64081115e-02] [ 1.58071809e-02 3.03101763e-05 9.99875058e-01 8.80771285e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.925336195 meters Centerline goodness [0,1] 0.9998290342572607 Centerline is valid? [True, True] Translation: X:16.84, Y:0.08, Z:0.09 [[ 9.99884995e-01 3.00437066e-03 -1.48650584e-02 1.68406331e+01] [-3.00452967e-03 9.99995486e-01 1.16357874e-05 7.67132062e-02] [ 1.48650263e-02 3.30280599e-05 9.99889509e-01 8.88646657e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.955336195 meters Centerline goodness [0,1] 0.9996374725438765 Centerline is valid? [True, True] Translation: X:16.87, Y:0.08, Z:0.09 [[ 9.99899661e-01 1.62044673e-03 -1.40727358e-02 1.68693712e+01] [-1.62046205e-03 9.99998687e-01 1.03141996e-05 7.53349588e-02] [ 1.40727340e-02 1.24911696e-05 9.99900974e-01 9.11543863e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.985336195000002 meters Centerline goodness [0,1] 0.9998713247120891 Centerline is valid? [True, True] Translation: X:16.90, Y:0.07, Z:0.09 [[ 9.99893207e-01 4.18225720e-04 -1.46082036e-02 1.68980827e+01] [-4.18123989e-04 9.99999913e-01 1.00181655e-05 7.32839439e-02] [ 1.46082065e-02 -3.90905530e-06 9.99893294e-01 9.12746943e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.015336195 meters Centerline goodness [0,1] 0.9998933765513712 Centerline is valid? [True, True] Translation: X:16.93, Y:0.07, Z:0.09 [[ 9.99876738e-01 -3.04654707e-03 -1.54022100e-02 1.69254334e+01] [ 3.04705833e-03 9.99995358e-01 9.72681608e-06 6.84565588e-02] [ 1.54021088e-02 -5.66570492e-05 9.99881379e-01 8.93895206e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.045336195 meters Centerline goodness [0,1] 0.9999786329351937 Centerline is valid? [True, True] Translation: X:16.95, Y:0.07, Z:0.09 [[ 9.99864642e-01 -5.19006745e-03 -1.56128733e-02 1.69532963e+01] [ 5.19083996e-03 9.99986527e-01 8.95525226e-06 6.76419068e-02] [ 1.56126165e-02 -8.99979669e-05 9.99878112e-01 9.02782906e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.075336195000002 meters Centerline goodness [0,1] 0.9999785241817714 Centerline is valid? [True, True] Translation: X:16.98, Y:0.07, Z:0.09 [[ 9.99807680e-01 -1.11147201e-02 -1.61575343e-02 1.69827827e+01] [ 1.11163109e-02 9.99938212e-01 8.64447957e-06 6.57285060e-02] [ 1.61564398e-02 -1.88254992e-04 9.99869458e-01 9.37939377e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.105336195 meters Centerline goodness [0,1] 0.999766795988891 Centerline is valid? [True, True] Translation: X:17.01, Y:0.06, Z:0.09 [[ 9.99746119e-01 -1.55989125e-02 -1.62594806e-02 1.70117556e+01] [ 1.56011083e-02 9.99878295e-01 8.20884328e-06 5.94305000e-02] [ 1.62573737e-02 -2.61872677e-04 9.99867806e-01 9.36062886e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.135336195 meters Centerline goodness [0,1] 0.9998717455431576 Centerline is valid? [True, True] Translation: X:17.04, Y:0.04, Z:0.09 [[ 9.99547662e-01 -2.57404228e-02 -1.55532105e-02 1.70412935e+01] [ 2.57436558e-02 9.99668577e-01 7.66474823e-06 3.73509772e-02] [ 1.55478585e-02 -4.08057780e-04 9.99879041e-01 8.93472744e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.165336195000002 meters Centerline goodness [0,1] 0.9976861274772362 Centerline is valid? [True, True] Translation: X:17.07, Y:0.02, Z:0.09 [[ 9.99198400e-01 -3.62654432e-02 -1.69521172e-02 1.70721906e+01] [ 3.62707977e-02 9.99341998e-01 8.41126225e-06 1.65201465e-02] [ 1.69406577e-02 -6.23271334e-04 9.99856303e-01 8.57452400e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.195336195 meters Centerline goodness [0,1] 0.9963288653632716 Centerline is valid? [True, True] Translation: X:17.10, Y:0.01, Z:0.09 [[ 9.99051569e-01 -4.00904990e-02 -1.69915873e-02 1.71029034e+01] [ 4.00964320e-02 9.99195815e-01 8.50077938e-06 1.17004782e-02] [ 1.69775822e-02 -6.89794743e-04 9.99855633e-01 8.69117088e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.225336195 meters Centerline goodness [0,1] 0.996591274520313 Centerline is valid? [True, True] Translation: X:17.13, Y:0.00, Z:0.09 [[ 9.98943409e-01 -4.33581520e-02 -1.52360485e-02 1.71344187e+01] [ 4.33633048e-02 9.99059369e-01 7.84779073e-06 3.18113169e-03] [ 1.52213768e-02 -6.68524916e-04 9.99883925e-01 9.27881833e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.255336195 meters Centerline goodness [0,1] 0.9870068812240885 Centerline is valid? [True, True] Translation: X:17.17, Y:-0.01, Z:0.09 [[ 9.98939205e-01 -4.36590540e-02 -1.46407589e-02 1.71653599e+01] [ 4.36638563e-02 9.99046279e-01 8.36791269e-06 -6.10599014e-03] [ 1.46264304e-02 -6.47631029e-04 9.99892818e-01 9.42710665e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.285336195000003 meters Centerline goodness [0,1] 0.9971589088501057 Centerline is valid? [True, True] Translation: X:17.20, Y:-0.01, Z:0.09 [[ 9.99036893e-01 -4.09301684e-02 -1.58116435e-02 1.71965912e+01] [ 4.09354403e-02 9.99161794e-01 9.78169934e-06 -7.99542849e-03] [ 1.57979897e-02 -6.57028867e-04 9.99874988e-01 9.28819402e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.315336195 meters Centerline goodness [0,1] 0.9982316345662178 Centerline is valid? [True, True] Translation: X:17.23, Y:-0.01, Z:0.09 [[ 9.99169590e-01 -3.76443805e-02 -1.55894460e-02 1.72266970e+01] [ 3.76491071e-02 9.99291021e-01 9.72035222e-06 -1.25123985e-02] [ 1.55780275e-02 -5.96641002e-04 9.99878477e-01 9.06288396e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.345336195 meters Centerline goodness [0,1] 0.9992503266433911 Centerline is valid? [True, True] Translation: X:17.26, Y:-0.02, Z:0.09 [[ 9.99449562e-01 -2.99901825e-02 -1.41831657e-02 1.72566934e+01] [ 2.99933256e-02 9.99550099e-01 8.90049078e-06 -1.70557363e-02] [ 1.41765177e-02 -4.34295898e-04 9.99899414e-01 9.03036003e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.375336195000003 meters Centerline goodness [0,1] 0.9995701697829358 Centerline is valid? [True, True] Translation: X:17.29, Y:-0.01, Z:0.09 [[ 9.99563344e-01 -2.57338206e-02 -1.45220886e-02 1.72876611e+01] [ 2.57366689e-02 9.99668757e-01 9.25417119e-06 -1.06496849e-02] [ 1.45170401e-02 -3.83000317e-04 9.99894549e-01 9.29237948e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.405336195 meters Centerline goodness [0,1] 0.9995743322336916 Centerline is valid? [True, True] Translation: X:17.32, Y:-0.01, Z:0.09 [[ 9.99732110e-01 -1.61678886e-02 -1.65622361e-02 1.73174237e+01] [ 1.61702811e-02 9.99869252e-01 1.05389310e-05 -5.54500055e-03] [ 1.65599002e-02 -2.78352120e-04 9.99862837e-01 9.01299923e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.435336195 meters Centerline goodness [0,1] 0.9997218715902527 Centerline is valid? [True, True] Translation: X:17.35, Y:-0.00, Z:0.09 [[ 9.99832837e-01 -7.54663103e-03 -1.66537242e-02 1.73467880e+01] [ 7.54785122e-03 9.99971515e-01 1.04147037e-05 -3.60309196e-03] [ 1.66531712e-02 -1.36112795e-04 9.99861317e-01 8.73523725e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.465336195000003 meters Centerline goodness [0,1] 0.9997224298067684 Centerline is valid? [True, True] Translation: X:17.38, Y:-0.00, Z:0.09 [[ 9.99868019e-01 -4.31210545e-03 -1.56636771e-02 1.73755600e+01] [ 4.31276508e-03 9.99990700e-01 8.33276011e-06 -6.24372439e-04] [ 1.56634955e-02 -7.58854198e-05 9.99877317e-01 9.03113953e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.495336195 meters Centerline goodness [0,1] 0.9999573896925666 Centerline is valid? [True, True] Translation: X:17.40, Y:0.00, Z:0.09 [[ 9.99892213e-01 3.83902630e-04 -1.46770415e-02 1.74044511e+01] [-3.83862540e-04 9.99999926e-01 5.54863147e-06 4.40761993e-03] [ 1.46770425e-02 8.59330125e-08 9.99892286e-01 9.39925504e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.525336195 meters Centerline goodness [0,1] 0.9996814272061166 Centerline is valid? [True, True] Translation: X:17.43, Y:0.01, Z:0.10 [[ 9.99913882e-01 1.72380704e-03 -1.30098981e-02 1.74325494e+01] [-1.72390606e-03 9.99998514e-01 3.60341415e-06 6.23116875e-03] [ 1.30098849e-02 1.88247382e-05 9.99915368e-01 9.71650867e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.555336195000002 meters Centerline goodness [0,1] 0.9998930847196681 Centerline is valid? [True, True] Translation: X:17.46, Y:0.01, Z:0.10 [[ 9.99926567e-01 3.68625779e-03 -1.15443836e-02 1.74598951e+01] [-3.68648043e-03 9.99993205e-01 1.99487118e-06 8.20630253e-03] [ 1.15443125e-02 4.05634194e-05 9.99933361e-01 9.97178738e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.585336195 meters Centerline goodness [0,1] 0.9998291948673058 Centerline is valid? [True, True] Translation: X:17.49, Y:-0.00, Z:0.09 [[ 9.99897395e-01 2.31230234e-03 -1.41368942e-02 1.74873895e+01] [-2.31252652e-03 9.99997326e-01 4.88999626e-07 -1.05053862e-03] [ 1.41368576e-02 3.22029933e-05 9.99900069e-01 8.94777420e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.615336195 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:17.51, Y:-0.00, Z:0.09 [[ 9.99903545e-01 7.14103922e-04 -1.38704952e-02 1.75139477e+01] [-7.14183274e-04 9.99999745e-01 -7.67702769e-07 -4.75550654e-03] [ 1.38704911e-02 1.06737044e-05 9.99903800e-01 8.97118120e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.645336195000002 meters Centerline goodness [0,1] 0.999978675765007 Centerline is valid? [True, True] Translation: X:17.54, Y:-0.01, Z:0.09 [[ 9.99908992e-01 -1.42785864e-03 -1.34152680e-02 1.75427852e+01] [ 1.42796221e-03 9.99998980e-01 -1.85886498e-06 -5.37207145e-03] [ 1.34152570e-02 -1.72977999e-05 9.99910011e-01 9.31155172e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.675336195 meters Centerline goodness [0,1] 0.9999572786500054 Centerline is valid? [True, True] Translation: X:17.57, Y:-0.01, Z:0.10 [[ 9.99874409e-01 -6.63357557e-03 -1.43930985e-02 1.75710668e+01] [ 6.63422028e-03 9.99977993e-01 -2.95349938e-06 -7.04900031e-03] [ 1.43928014e-02 -9.25338576e-05 9.99896414e-01 9.64876113e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.705336195 meters Centerline goodness [0,1] 0.9998302603382063 Centerline is valid? [True, True] Translation: X:17.60, Y:-0.01, Z:0.10 [[ 9.99841928e-01 -8.97350865e-03 -1.53491093e-02 1.75988025e+01] [ 8.97449685e-03 9.99959728e-01 -4.49838485e-06 -9.95303245e-03] [ 1.53485315e-02 -1.33252859e-04 9.99882195e-01 9.51321912e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.735336195000002 meters Centerline goodness [0,1] 0.9998714735556841 Centerline is valid? [True, True] Translation: X:17.63, Y:-0.02, Z:0.09 [[ 9.99767362e-01 -1.26282671e-02 -1.74856982e-02 1.76287902e+01] [ 1.26300924e-02 9.99920237e-01 -6.04716618e-06 -1.92212198e-02] [ 1.74843799e-02 -2.14800224e-04 9.99847113e-01 8.82935393e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.765336195 meters Centerline goodness [0,1] 0.999829030603522 Centerline is valid? [True, True] Translation: X:17.66, Y:-0.02, Z:0.09 [[ 9.99755268e-01 -1.39725060e-02 -1.71514925e-02 1.76572705e+01] [ 1.39744288e-02 9.99902353e-01 -7.74707069e-06 -2.36553066e-02] [ 1.71499260e-02 -2.31937136e-04 9.99852902e-01 8.71222820e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.795336195 meters Centerline goodness [0,1] 0.9997660520215232 Centerline is valid? [True, True] Translation: X:17.69, Y:-0.03, Z:0.09 [[ 9.99777229e-01 -1.45151722e-02 -1.53232400e-02 1.76850037e+01] [ 1.45167479e-02 9.99894626e-01 -8.39904370e-06 -2.84216179e-02] [ 1.53217473e-02 -2.14046440e-04 9.99882592e-01 8.80248734e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.825336195000002 meters Centerline goodness [0,1] 0.9998071442346841 Centerline is valid? [True, True] Translation: X:17.71, Y:-0.02, Z:0.09 [[ 9.99788682e-01 -1.35565613e-02 -1.54535354e-02 1.77146149e+01] [ 1.35580418e-02 9.99908085e-01 -8.96547927e-06 -2.41442111e-02] [ 1.54522366e-02 -2.00556095e-04 9.99880587e-01 9.08679778e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.855336195 meters Centerline goodness [0,1] 0.9999573560767591 Centerline is valid? [True, True] Translation: X:17.74, Y:-0.02, Z:0.09 [[ 9.99809965e-01 -1.16002170e-02 -1.56674425e-02 1.77429069e+01] [ 1.16014756e-02 9.99932701e-01 -1.05597356e-05 -1.50861004e-02] [ 1.56665106e-02 -1.71207723e-04 9.99877258e-01 9.41608940e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.885336195 meters Centerline goodness [0,1] 0.9997449846990819 Centerline is valid? [True, True] Translation: X:17.77, Y:-0.00, Z:0.09 [[ 9.99842563e-01 -6.28468737e-03 -1.65937580e-02 1.77703622e+01] [ 6.28533909e-03 9.99980247e-01 -1.28775688e-05 -3.37742326e-03] [ 1.65935111e-02 -9.14218543e-05 9.99862314e-01 9.05732473e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.915336195000002 meters Centerline goodness [0,1] 0.9998718085674607 Centerline is valid? [True, True] Translation: X:17.80, Y:-0.00, Z:0.09 [[ 9.99838110e-01 -4.67823930e-03 -1.73743667e-02 1.77984401e+01] [ 4.67867127e-03 9.99989055e-01 -1.57851535e-05 -4.74654926e-05] [ 1.73742503e-02 -6.55063522e-05 9.99849054e-01 8.79608664e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.945336195 meters Centerline goodness [0,1] 0.9997871479959984 Centerline is valid? [True, True] Translation: X:17.83, Y:0.00, Z:0.09 [[ 9.99866416e-01 -1.99015605e-03 -1.62231425e-02 1.78276700e+01] [ 1.99013766e-03 9.99998020e-01 -1.72772764e-05 4.51997574e-03] [ 1.62231448e-02 -1.50113186e-05 9.99868396e-01 8.63995970e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.975336195 meters Centerline goodness [0,1] 0.9999572274856178 Centerline is valid? [True, True] Translation: X:17.86, Y:0.01, Z:0.09 [[ 9.99869848e-01 -6.77262162e-04 -1.61192100e-02 1.78550188e+01] [ 6.77029450e-04 9.99999771e-01 -1.98938840e-05 9.20377151e-03] [ 1.61192197e-02 8.97811493e-06 9.99870077e-01 8.73486086e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.005336195 meters Centerline goodness [0,1] 0.9995933915425441 Centerline is valid? [True, True] Translation: X:17.88, Y:0.02, Z:0.09 [[ 9.99876193e-01 -8.08081488e-04 -1.57145329e-02 1.78830835e+01] [ 8.07848847e-04 9.99999673e-01 -2.11520139e-05 1.58170327e-02] [ 1.57145449e-02 8.45442778e-06 9.99876519e-01 8.65464549e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.035336195 meters Centerline goodness [0,1] 0.9999786370433668 Centerline is valid? [True, True] Translation: X:17.91, Y:0.02, Z:0.09 [[ 9.99890533e-01 -1.82286104e-03 -1.46832872e-02 1.79115358e+01] [ 1.82275668e-03 9.99998339e-01 -2.04902449e-05 1.75459194e-02] [ 1.46833001e-02 -6.27605789e-06 9.99892195e-01 9.00386410e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.065336195 meters Centerline goodness [0,1] 0.9999786370433668 Centerline is valid? [True, True] Translation: X:17.94, Y:0.02, Z:0.09 [[ 9.99890186e-01 -2.00431659e-03 -1.46832846e-02 1.79388893e+01] [ 2.00420639e-03 9.99997991e-01 -2.22206162e-05 1.77326011e-02] [ 1.46832997e-02 -7.21015675e-06 9.99892195e-01 9.02265634e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.095336195 meters Centerline goodness [0,1] 0.9998727330575883 Centerline is valid? [True, True] Translation: X:17.97, Y:0.02, Z:0.10 [[ 9.99884266e-01 -7.74342418e-03 -1.30955939e-02 1.79680497e+01] [ 7.74381043e-03 9.99970016e-01 -2.12127096e-05 1.85677634e-02] [ 1.30953655e-02 -8.01995420e-05 9.99914249e-01 9.52230950e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.125336195000003 meters Centerline goodness [0,1] 0.9998084658111472 Centerline is valid? [True, True] Translation: X:18.00, Y:0.01, Z:0.09 [[ 9.99765074e-01 -1.67114818e-02 -1.38030035e-02 1.79964420e+01] [ 1.67127581e-02 9.99860332e-01 -2.28874098e-05 1.08151457e-02] [ 1.38014581e-02 -2.07804225e-04 9.99904734e-01 9.40448137e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.155336195 meters Centerline goodness [0,1] 0.9998716138143535 Centerline is valid? [True, True] Translation: X:18.03, Y:0.01, Z:0.09 [[ 9.99684112e-01 -2.08539963e-02 -1.40280936e-02 1.80280034e+01] [ 2.08557217e-02 9.99782496e-01 -2.32974652e-05 7.60002889e-03] [ 1.40255282e-02 -2.69275910e-04 9.99901601e-01 9.36807357e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.185336195 meters Centerline goodness [0,1] 0.9996161801394545 Centerline is valid? [True, True] Translation: X:18.06, Y:-0.00, Z:0.09 [[ 9.99469686e-01 -2.96300288e-02 -1.35058248e-02 1.80577301e+01] [ 2.96324298e-02 9.99560863e-01 -2.23429469e-05 -4.21650665e-03] [ 1.35005559e-02 -3.77879307e-04 9.99908792e-01 9.17549921e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.215336195000003 meters Centerline goodness [0,1] 0.999573678937608 Centerline is valid? [True, True] Translation: X:18.09, Y:-0.01, Z:0.09 [[ 9.99339690e-01 -3.32388266e-02 -1.46753221e-02 1.80880299e+01] [ 3.32420505e-02 9.99447330e-01 -2.42618338e-05 -1.38799239e-02] [ 1.46680180e-02 -4.63591987e-04 9.99892311e-01 8.79511989e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.245336195 meters Centerline goodness [0,1] 0.9985460765447937 Centerline is valid? [True, True] Translation: X:18.12, Y:-0.02, Z:0.09 [[ 9.99138836e-01 -3.80404526e-02 -1.65683322e-02 1.81182269e+01] [ 3.80452232e-02 9.99276018e-01 -2.72802807e-05 -1.57623366e-02] [ 1.65573748e-02 -6.03089109e-04 9.99862735e-01 8.76578817e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.275336195 meters Centerline goodness [0,1] 0.9974491964968966 Centerline is valid? [True, True] Translation: X:18.15, Y:-0.01, Z:0.09 [[ 9.99073584e-01 -3.91749400e-02 -1.78128514e-02 1.81507304e+01] [ 3.91806434e-02 9.99232143e-01 -2.88248933e-05 -1.21995403e-02] [ 1.78003029e-02 -6.69120789e-04 9.99841338e-01 8.94843539e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.305336195000002 meters Centerline goodness [0,1] 0.9976887024632439 Centerline is valid? [True, True] Translation: X:18.18, Y:-0.01, Z:0.09 [[ 9.99071757e-01 -3.87885329e-02 -1.87369549e-02 1.81838933e+01] [ 3.87947965e-02 9.99247198e-01 -2.92055720e-05 -1.24081766e-02] [ 1.87239825e-02 -6.97717892e-04 9.99824447e-01 8.71796356e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.335336195 meters Centerline goodness [0,1] 0.9986063166019855 Centerline is valid? [True, True] Translation: X:18.21, Y:-0.02, Z:0.09 [[ 9.99095278e-01 -3.91786573e-02 -1.65426232e-02 1.82149023e+01] [ 3.91836049e-02 9.99232027e-01 -2.50570338e-05 -2.09205260e-02] [ 1.65309006e-02 -6.23165248e-04 9.99863161e-01 8.61677053e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.365336195 meters Centerline goodness [0,1] 0.9992961651665743 Centerline is valid? [True, True] Translation: X:18.25, Y:-0.02, Z:0.09 [[ 9.99111237e-01 -3.99185655e-02 -1.35367714e-02 1.82472486e+01] [ 3.99219526e-02 9.99202801e-01 -2.00167902e-05 -2.15402326e-02] [ 1.35267790e-02 -5.20415348e-04 9.99908374e-01 9.28600244e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.395336195000002 meters Centerline goodness [0,1] 0.9990375978442192 Centerline is valid? [True, True] Translation: X:18.28, Y:-0.02, Z:0.09 [[ 9.99100767e-01 -4.00522329e-02 -1.39095750e-02 1.82798372e+01] [ 4.00558310e-02 9.99197443e-01 -1.99349372e-05 -1.94570255e-02] [ 1.38992103e-02 -5.37242576e-04 9.99903257e-01 9.47978978e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.425336195 meters Centerline goodness [0,1] 0.9985484972677595 Centerline is valid? [True, True] Translation: X:18.31, Y:-0.02, Z:0.10 [[ 9.99101271e-01 -3.99474037e-02 -1.41723261e-02 1.83130861e+01] [ 3.99511399e-02 9.99201634e-01 -1.95084954e-05 -1.94666517e-02] [ 1.41617907e-02 -5.46709619e-04 9.99899567e-01 9.52231005e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.455336195 meters Centerline goodness [0,1] 0.9979235088462761 Centerline is valid? [True, True] Translation: X:18.34, Y:-0.03, Z:0.09 [[ 9.99183331e-01 -3.74855439e-02 -1.50832736e-02 1.83434597e+01] [ 3.74895045e-02 9.99297021e-01 -2.01815890e-05 -2.70812646e-02] [ 1.50734269e-02 -5.45299347e-04 9.99886241e-01 9.02072667e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.485336195000002 meters Centerline goodness [0,1] 0.9994450373532551 Centerline is valid? [True, True] Translation: X:18.38, Y:-0.03, Z:0.08 [[ 9.99264922e-01 -3.34633732e-02 -1.87034223e-02 1.83752864e+01] [ 3.34687691e-02 9.99439764e-01 -2.45331949e-05 -2.81145098e-02] [ 1.86937649e-02 -6.01465362e-04 9.99825075e-01 8.07809308e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.515336195 meters Centerline goodness [0,1] 0.9997656433091164 Centerline is valid? [True, True] Translation: X:18.41, Y:-0.03, Z:0.08 [[ 9.99335725e-01 -3.14180713e-02 -1.84665488e-02 1.84070707e+01] [ 3.14229939e-02 9.99506176e-01 -2.36043536e-05 -3.17879521e-02] [ 1.84581712e-02 -5.56685577e-04 9.99829478e-01 7.99823893e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.545336195 meters Centerline goodness [0,1] 0.9996558917779642 Centerline is valid? [True, True] Translation: X:18.44, Y:-0.03, Z:0.08 [[ 9.99418866e-01 -2.93465131e-02 -1.73410640e-02 1.84385958e+01] [ 2.93505501e-02 9.99569180e-01 -2.17121943e-05 -3.31131163e-02] [ 1.73342303e-02 -4.87270190e-04 9.99849632e-01 8.31945187e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.575336195000002 meters Centerline goodness [0,1] 0.9998079057457526 Centerline is valid? [True, True] Translation: X:18.47, Y:-0.04, Z:0.09 [[ 9.99470724e-01 -2.75661357e-02 -1.72736582e-02 1.84703544e+01] [ 2.75698884e-02 9.99619878e-01 -2.08926402e-05 -3.72162358e-02] [ 1.72676680e-02 -4.55351246e-04 9.99850799e-01 8.82327768e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.605336195 meters Centerline goodness [0,1] 0.9998503729987389 Centerline is valid? [True, True] Translation: X:18.50, Y:-0.04, Z:0.09 [[ 9.99432831e-01 -2.83636458e-02 -1.81526719e-02 1.85029401e+01] [ 2.83679386e-02 9.99597549e-01 -2.10242258e-05 -4.13379928e-02] [ 1.81459626e-02 -4.93941579e-04 9.99835226e-01 8.93397019e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.635336195 meters Centerline goodness [0,1] 0.999914851948826 Centerline is valid? [True, True] Translation: X:18.53, Y:-0.05, Z:0.09 [[ 9.99422849e-01 -2.88590741e-02 -1.79198712e-02 1.85337308e+01] [ 2.88633588e-02 9.99583366e-01 -1.95347336e-05 -5.31631928e-02] [ 1.79129689e-02 -4.97704214e-04 9.99839426e-01 8.59866745e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.665336195000002 meters Centerline goodness [0,1] 0.9998710564772629 Centerline is valid? [True, True] Translation: X:18.57, Y:-0.06, Z:0.08 [[ 9.99438355e-01 -2.72486173e-02 -1.95060676e-02 1.85658891e+01] [ 2.72534107e-02 9.99628557e-01 -2.00944471e-05 -6.29693317e-02] [ 1.94993697e-02 -5.11523710e-04 9.99809738e-01 8.11463041e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.695336195 meters Centerline goodness [0,1] 0.9998073423953762 Centerline is valid? [True, True] Translation: X:18.60, Y:-0.06, Z:0.08 [[ 9.99506014e-01 -2.47816002e-02 -1.93287485e-02 1.85971021e+01] [ 2.47858571e-02 9.99692783e-01 -1.93308864e-05 -6.31817886e-02] [ 1.93232894e-02 -4.59758261e-04 9.99813182e-01 8.16040397e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.725336195 meters Centerline goodness [0,1] 0.9998293333333333 Centerline is valid? [True, True] Translation: X:18.63, Y:-0.06, Z:0.08 [[ 9.99680258e-01 -1.63343865e-02 -1.93020861e-02 1.86275532e+01] [ 1.63370607e-02 9.99866541e-01 -1.91391222e-05 -5.90527529e-02] [ 1.92998227e-02 -2.96206350e-04 9.99813697e-01 8.11507784e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.755336195 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:18.66, Y:-0.05, Z:0.08 [[ 9.99800789e-01 -4.72528337e-03 -1.93921143e-02 1.86568100e+01] [ 4.72579655e-03 9.99988833e-01 -1.93624257e-05 -4.81516223e-02] [ 1.93919892e-02 -7.22846183e-05 9.99811955e-01 8.15680572e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.785336195 meters Centerline goodness [0,1] 0.9999784987851814 Centerline is valid? [True, True] Translation: X:18.68, Y:-0.04, Z:0.08 [[ 9.99802362e-01 1.27293218e-03 -1.98397657e-02 1.86848299e+01] [-1.27360695e-03 9.99999189e-01 -2.13760188e-05 -3.82739787e-02] [ 1.98397224e-02 4.66398576e-05 9.99803172e-01 8.43137961e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.815336195 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:18.71, Y:-0.02, Z:0.08 [[ 9.99716108e-01 1.13631313e-02 -2.09423787e-02 1.87130219e+01] [-1.13661300e-02 9.99935403e-01 -2.41593495e-05 -1.87031468e-02] [ 2.09407513e-02 2.62186289e-04 9.99780684e-01 8.40203701e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.845336195 meters Centerline goodness [0,1] 0.9999356540763142 Centerline is valid? [True, True] Translation: X:18.74, Y:-0.01, Z:0.09 [[ 9.99683588e-01 1.42248446e-02 -2.07455445e-02 1.87417050e+01] [-1.42284588e-02 9.99898770e-01 -2.66130559e-05 -1.43276570e-02] [ 2.07430658e-02 3.21781759e-04 9.99784788e-01 8.59837951e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.875336195000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:18.77, Y:-0.01, Z:0.08 [[ 9.99689721e-01 1.66193070e-02 -1.85542679e-02 1.87692161e+01] [-1.66226418e-02 9.99861834e-01 -2.55155625e-05 -1.13067185e-02] [ 1.85512802e-02 3.33928594e-04 9.99827854e-01 8.46469053e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.905336195 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:18.80, Y:-0.01, Z:0.08 [[ 9.99726282e-01 1.56695874e-02 -1.73731343e-02 1.87973705e+01] [-1.56723850e-02 9.99877180e-01 -2.48860417e-05 -1.31245116e-02] [ 1.73706106e-02 2.97157681e-04 9.99849075e-01 8.42688451e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.935336195 meters Centerline goodness [0,1] 0.9998075031013389 Centerline is valid? [True, True] Translation: X:18.83, Y:-0.02, Z:0.08 [[ 9.99815566e-01 9.74010186e-03 -1.65518547e-02 1.88258382e+01] [-9.74183925e-03 9.99952547e-01 -2.43393024e-05 -1.69089579e-02] [ 1.65508322e-02 1.85580321e-04 9.99863008e-01 8.44588222e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.965336195000003 meters Centerline goodness [0,1] 0.9999785024829633 Centerline is valid? [True, True] Translation: X:18.85, Y:-0.02, Z:0.09 [[ 9.99846944e-01 5.66855557e-03 -1.65516300e-02 1.88549839e+01] [-5.66974553e-03 9.99983927e-01 -2.49691859e-05 -1.94611893e-02] [ 1.65512224e-02 1.18808894e-04 9.99863012e-01 8.71317982e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.995336195 meters Centerline goodness [0,1] 0.9997439781528024 Centerline is valid? [True, True] Translation: X:18.88, Y:-0.03, Z:0.08 [[ 9.99829962e-01 -2.95958277e-03 -1.82013400e-02 1.88825075e+01] [ 2.95955482e-03 9.99995620e-01 -2.84718087e-05 -2.61079677e-02] [ 1.82013446e-02 -2.54008963e-05 9.99834341e-01 8.36494948e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.025336195 meters Centerline goodness [0,1] 0.9998077292828302 Centerline is valid? [True, True] Translation: X:18.91, Y:-0.03, Z:0.08 [[ 9.99787148e-01 -6.71819966e-03 -1.95070338e-02 1.89114852e+01] [ 6.71886325e-03 9.99977428e-01 -3.15210769e-05 -2.97139504e-02] [ 1.95068053e-02 -9.95507253e-05 9.99809719e-01 8.22435955e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.055336195000002 meters Centerline goodness [0,1] 0.9999572247412097 Centerline is valid? [True, True] Translation: X:18.94, Y:-0.04, Z:0.08 [[ 9.99695775e-01 -1.35168273e-02 -2.06313586e-02 1.89408860e+01] [ 1.35190005e-02 9.99908614e-01 -3.41386963e-05 -3.53926920e-02] [ 2.06299346e-02 -2.44787037e-04 9.99787150e-01 8.06383012e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.085336195 meters Centerline goodness [0,1] 0.9998705194328751 Centerline is valid? [True, True] Translation: X:18.97, Y:-0.04, Z:0.08 [[ 9.99581808e-01 -1.92509305e-02 -2.15780240e-02 1.89697250e+01] [ 1.92546273e-02 9.99814612e-01 -3.64461907e-05 -4.24115532e-02] [ 2.15747253e-02 -3.79045861e-04 9.99767167e-01 7.77046440e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.115336195 meters Centerline goodness [0,1] 0.9997195798011174 Centerline is valid? [True, True] Translation: X:19.00, Y:-0.04, Z:0.08 [[ 9.99537950e-01 -2.16310589e-02 -2.13537559e-02 1.89987078e+01] [ 2.16351685e-02 9.99765932e-01 -3.85752333e-05 -4.45788737e-02] [ 2.13495920e-02 -4.23434697e-04 9.99771982e-01 7.83035436e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.145336195000002 meters Centerline goodness [0,1] 0.9996563426264015 Centerline is valid? [True, True] Translation: X:19.03, Y:-0.05, Z:0.08 [[ 9.99416227e-01 -2.69588641e-02 -2.09862965e-02 1.90291209e+01] [ 2.69639849e-02 9.99636405e-01 -3.89715911e-05 -5.11131554e-02] [ 2.09797166e-02 -5.26925342e-04 9.99779763e-01 7.90172589e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.175336195 meters Centerline goodness [0,1] 0.9996128949009656 Centerline is valid? [True, True] Translation: X:19.06, Y:-0.05, Z:0.08 [[ 9.99335095e-01 -2.99153538e-02 -2.08431912e-02 1.90594464e+01] [ 2.99210508e-02 9.99552264e-01 -3.85483633e-05 -5.26749099e-02] [ 2.08350121e-02 -5.85127449e-04 9.99782756e-01 8.09182987e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.205336195 meters Centerline goodness [0,1] 0.9993166043780032 Centerline is valid? [True, True] Translation: X:19.09, Y:-0.05, Z:0.09 [[ 9.99236941e-01 -3.43604113e-02 -1.85714421e-02 1.90900834e+01] [ 3.43657068e-02 9.99409324e-01 -3.40148369e-05 -5.25347501e-02] [ 1.85616412e-02 -6.04231855e-04 9.99827535e-01 8.94394601e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.235336195000002 meters Centerline goodness [0,1] 0.9995063848052366 Centerline is valid? [True, True] Translation: X:19.12, Y:-0.05, Z:0.09 [[ 9.99230507e-01 -3.50854289e-02 -1.75330145e-02 1.91223894e+01] [ 3.50902711e-02 9.99384146e-01 -3.14849057e-05 -5.08834067e-02] [ 1.75233214e-02 -5.83777555e-04 9.99846284e-01 9.26999444e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.265336195 meters Centerline goodness [0,1] 0.9997422569698011 Centerline is valid? [True, True] Translation: X:19.15, Y:-0.05, Z:0.09 [[ 9.99343964e-01 -3.19089701e-02 -1.71306321e-02 1.91535936e+01] [ 3.19131375e-02 9.99490646e-01 -3.01075915e-05 -5.25390504e-02] [ 1.71228672e-02 -5.16604377e-04 9.99853260e-01 8.98920360e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.295336195 meters Centerline goodness [0,1] 0.9994649888717685 Centerline is valid? [True, True] Translation: X:19.18, Y:-0.05, Z:0.09 [[ 9.99559272e-01 -2.45953237e-02 -1.66232347e-02 1.91844425e+01] [ 2.45982409e-02 9.99697417e-01 -2.89829645e-05 -4.91494255e-02] [ 1.66189176e-02 -3.79932140e-04 9.99861824e-01 8.67598101e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.325336195000002 meters Centerline goodness [0,1] 0.9995292607253664 Centerline is valid? [True, True] Translation: X:19.21, Y:-0.04, Z:0.09 [[ 9.99653758e-01 -2.07343410e-02 -1.62003223e-02 1.92145808e+01] [ 2.07366067e-02 9.99784973e-01 -2.81330515e-05 -4.35370715e-02] [ 1.61974222e-02 -3.07816403e-04 9.99868766e-01 8.90474308e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.355336195 meters Centerline goodness [0,1] 0.9998709621919223 Centerline is valid? [True, True] Translation: X:19.25, Y:-0.03, Z:0.09 [[ 9.99737831e-01 -1.63413051e-02 -1.60384242e-02 1.92455969e+01] [ 1.63429635e-02 9.99866444e-01 -2.76681436e-05 -3.20094366e-02] [ 1.60367343e-02 -2.34454492e-04 9.99871376e-01 9.17825441e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.385336195 meters Centerline goodness [0,1] 0.9997650024567925 Centerline is valid? [True, True] Translation: X:19.28, Y:-0.01, Z:0.09 [[ 9.99847104e-01 -8.71870078e-03 -1.51576102e-02 1.92754296e+01] [ 8.71930582e-03 9.99961986e-01 -2.61697793e-05 -1.48533451e-02] [ 1.51572622e-02 -1.05998061e-04 9.99885116e-01 9.45293448e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.415336195000002 meters Centerline goodness [0,1] 0.9999351603700182 Centerline is valid? [True, True] Translation: X:19.30, Y:-0.01, Z:0.09 [[ 9.99864445e-01 -6.40949880e-03 -1.51661116e-02 1.93038820e+01] [ 6.40981691e-03 9.99979457e-01 -2.76343186e-05 -1.41291389e-02] [ 1.51659772e-02 -6.95814261e-05 9.99884988e-01 9.19218901e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.445336195 meters Centerline goodness [0,1] 0.9996148002311198 Centerline is valid? [True, True] Translation: X:19.33, Y:-0.02, Z:0.09 [[ 9.99845584e-01 -4.95640943e-03 -1.68594771e-02 1.93320937e+01] [ 4.95656483e-03 9.99987716e-01 -3.25683826e-05 -1.80487563e-02] [ 1.68594314e-02 -5.10017376e-05 9.99857868e-01 8.50201874e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.475336195 meters Centerline goodness [0,1] 0.9997857892594735 Centerline is valid? [True, True] Translation: X:19.36, Y:-0.02, Z:0.08 [[ 9.99773933e-01 -5.54284938e-03 -2.05270567e-02 1.93604809e+01] [ 5.54316869e-03 9.99984636e-01 -4.13431460e-05 -1.53780822e-02] [ 2.05269704e-02 -7.24511381e-05 9.99789297e-01 8.23286635e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.505336195 meters Centerline goodness [0,1] 0.9999356940752808 Centerline is valid? [True, True] Translation: X:19.39, Y:-0.02, Z:0.08 [[ 9.99725430e-01 -5.97227183e-03 -2.26582473e-02 1.93886635e+01] [ 5.97273554e-03 9.99982162e-01 -4.72093822e-05 -1.64365719e-02] [ 2.26581250e-02 -8.81352988e-05 9.99743268e-01 7.64141137e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.535336195 meters Centerline goodness [0,1] 0.999764756201882 Centerline is valid? [True, True] Translation: X:19.42, Y:-0.01, Z:0.08 [[ 9.99712048e-01 -4.92979281e-03 -2.34844076e-02 1.94175124e+01] [ 4.92993552e-03 9.99987846e-01 -5.18196317e-05 -1.24941327e-02] [ 2.34843776e-02 -6.39719049e-05 9.99724202e-01 7.78213190e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.565336195 meters Centerline goodness [0,1] 0.9997441855507472 Centerline is valid? [True, True] Translation: X:19.44, Y:-0.01, Z:0.08 [[ 9.99727976e-01 -4.66858963e-03 -2.28512161e-02 1.94448798e+01] [ 4.66861281e-03 9.99989101e-01 -5.23347432e-05 -9.93142294e-03] [ 2.28512114e-02 -5.43629734e-05 9.99738875e-01 7.97146061e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.595336195 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:19.47, Y:-0.01, Z:0.08 [[ 9.99779788e-01 -3.78495941e-03 -2.06409489e-02 1.94729657e+01] [ 3.78476668e-03 9.99992837e-01 -4.84020807e-05 -7.12616117e-03] [ 2.06409842e-02 -2.97297536e-05 9.99786952e-01 8.16114164e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.625336195000003 meters Centerline goodness [0,1] 0.9998285726530525 Centerline is valid? [True, True] Translation: X:19.50, Y:-0.01, Z:0.08 [[ 9.99804309e-01 -3.23657318e-03 -1.95158270e-02 1.95020117e+01] [ 3.23624940e-03 9.99994762e-01 -4.81724375e-05 -6.27000327e-03] [ 1.95158807e-02 -1.49950728e-05 9.99809547e-01 8.31996950e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.655336195 meters Centerline goodness [0,1] 0.999914337723525 Centerline is valid? [True, True] Translation: X:19.53, Y:0.00, Z:0.08 [[ 9.99817092e-01 -1.02639464e-03 -1.90978962e-02 1.95293953e+01] [ 1.02564724e-03 9.99999473e-01 -4.89302256e-05 7.16747153e-04] [ 1.90979363e-02 2.93335714e-05 9.99817617e-01 8.29235794e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.685336195 meters Centerline goodness [0,1] 0.9999571972777469 Centerline is valid? [True, True] Translation: X:19.56, Y:0.01, Z:0.08 [[ 9.99798361e-01 2.73901051e-05 -2.00807693e-02 1.95577140e+01] [-2.84803886e-05 9.99999998e-01 -5.40089266e-05 7.95118037e-03] [ 2.00807678e-02 5.45699444e-05 9.99798360e-01 8.40439313e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.715336195000003 meters Centerline goodness [0,1] 0.9998931121467356 Centerline is valid? [True, True] Translation: X:19.59, Y:0.02, Z:0.08 [[ 9.99779124e-01 8.47540141e-04 -2.09996291e-02 1.95854330e+01] [-8.48954995e-04 9.99999638e-01 -5.84604498e-05 1.51201322e-02] [ 2.09995719e-02 7.62752773e-05 9.99779482e-01 8.04521863e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.745336195 meters Centerline goodness [0,1] 0.9999361308041131 Centerline is valid? [True, True] Translation: X:19.61, Y:0.01, Z:0.08 [[ 9.99784376e-01 2.17173350e-04 -2.07642574e-02 1.96133114e+01] [-2.18445397e-04 9.99999974e-01 -5.89932318e-05 1.38629073e-02] [ 2.07642441e-02 6.35163679e-05 9.99784398e-01 7.79644020e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.775336195 meters Centerline goodness [0,1] 0.9999356015884941 Centerline is valid? [True, True] Translation: X:19.64, Y:0.01, Z:0.07 [[ 9.99684587e-01 -3.37492038e-03 -2.48864806e-02 1.96414455e+01] [ 3.37417374e-03 9.99994305e-01 -7.19940371e-05 1.24338630e-02] [ 2.48865818e-02 -1.19999799e-05 9.99690281e-01 7.13400286e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.805336195000002 meters Centerline goodness [0,1] 0.9999355794627327 Centerline is valid? [True, True] Translation: X:19.67, Y:0.01, Z:0.07 [[ 9.99615099e-01 -6.03562174e-03 -2.70781358e-02 1.96703842e+01] [ 6.03561578e-03 9.99981782e-01 -8.19526295e-05 1.36270723e-02] [ 2.70781371e-02 -8.15121376e-05 9.99633317e-01 7.09123148e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.835336195 meters Centerline goodness [0,1] 0.9998925539916192 Centerline is valid? [True, True] Translation: X:19.70, Y:0.01, Z:0.07 [[ 9.99536711e-01 -1.25537353e-02 -2.77266348e-02 1.96993163e+01] [ 1.25561110e-02 9.99921165e-01 -8.84227148e-05 1.26128610e-02] [ 2.77255590e-02 -2.59756956e-04 9.99615539e-01 7.10909561e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.865336195 meters Centerline goodness [0,1] 0.9999785172613804 Centerline is valid? [True, True] Translation: X:19.73, Y:0.01, Z:0.07 [[ 9.99513326e-01 -1.56820543e-02 -2.69663385e-02 1.97268965e+01] [ 1.56853796e-02 9.99876973e-01 -8.82232102e-05 9.69521399e-03] [ 2.69644044e-02 -3.34796981e-04 9.99636338e-01 7.14080255e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.895336195000002 meters Centerline goodness [0,1] 0.9996798019041113 Centerline is valid? [True, True] Translation: X:19.76, Y:-0.00, Z:0.07 [[ 9.99413253e-01 -2.27750063e-02 -2.55822048e-02 1.97556875e+01] [ 2.27802955e-02 9.99740492e-01 -8.47006460e-05 -6.36904827e-04] [ 2.55774951e-02 -4.98119236e-04 9.99672718e-01 7.01506381e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.925336195 meters Centerline goodness [0,1] 0.9991074085093722 Centerline is valid? [True, True] Translation: X:19.78, Y:-0.01, Z:0.07 [[ 9.99273499e-01 -2.99392392e-02 -2.35820942e-02 1.97846328e+01] [ 2.99457174e-02 9.99551523e-01 -7.84632071e-05 -1.46781682e-02] [ 2.35738673e-02 -6.27776526e-04 9.99721901e-01 6.90984492e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.955336195 meters Centerline goodness [0,1] 0.9984546703296703 Centerline is valid? [True, True] Translation: X:19.82, Y:-0.01, Z:0.07 [[ 9.99156908e-01 -3.40393766e-02 -2.29519897e-02 1.98154264e+01] [ 3.40465963e-02 9.99420244e-01 -7.62554907e-05 -1.35198967e-02] [ 2.29412788e-02 -7.05245927e-04 9.99736565e-01 7.44390360e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.985336195000002 meters Centerline goodness [0,1] 0.9970151817732826 Centerline is valid? [True, True] Translation: X:19.85, Y:-0.01, Z:0.08 [[ 9.98896700e-01 -4.04283670e-02 -2.38941568e-02 1.98467338e+01] [ 4.04380273e-02 9.99182045e-01 -7.89521882e-05 -1.34266047e-02] [ 2.38778043e-02 -8.87367482e-04 9.99714491e-01 7.91453077e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.015336195 meters Centerline goodness [0,1] 0.9970151817732826 Centerline is valid? [True, True] Translation: X:19.88, Y:-0.01, Z:0.08 [[ 9.98899506e-01 -4.03589569e-02 -2.38941611e-02 1.98793142e+01] [ 4.03686290e-02 9.99184852e-01 -7.76263298e-05 -1.34295327e-02] [ 2.38778167e-02 -8.87033622e-04 9.99714491e-01 7.93687747e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.045336195 meters Centerline goodness [0,1] 0.9834016877455928 Centerline is valid? [True, True] Translation: X:19.91, Y:-0.02, Z:0.08 [[ 9.98830024e-01 -4.19286953e-02 -2.40949795e-02 1.99104685e+01] [ 4.19390274e-02 9.99120169e-01 -7.65893163e-05 -2.02295520e-02] [ 2.40769913e-02 -9.34020297e-04 9.99709671e-01 7.75067694e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.075336195000002 meters Centerline goodness [0,1] 0.9852836612010084 Centerline is valid? [True, True] Translation: X:19.94, Y:-0.03, Z:0.07 [[ 9.98729799e-01 -4.33642944e-02 -2.56578754e-02 1.99419202e+01] [ 4.33765080e-02 9.99058793e-01 -8.06177713e-05 -2.51217970e-02] [ 2.56372220e-02 -1.03243367e-03 9.99670779e-01 7.46852536e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.105336195 meters Centerline goodness [0,1] 0.9451883745963402 Centerline is valid? [True, False] Translation: X:19.94, Y:-0.03, Z:0.07 [[ 9.98754850e-01 -4.27489382e-02 -2.57153062e-02 1.99436037e+01] [ 4.27912514e-02 9.99083432e-01 1.09716624e-03 -2.99663635e-02] [ 2.56448337e-02 -2.19619024e-03 9.99668705e-01 7.23390745e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.135336195 meters Centerline goodness [0,1] 0.9765350269602097 Centerline is valid? [False, True] Translation: X:19.94, Y:-0.03, Z:0.07 [[ 9.98761300e-01 -4.26474157e-02 -2.56332341e-02 1.99428031e+01] [ 4.26900780e-02 9.99087736e-01 1.11916420e-03 -3.01433803e-02] [ 2.55621204e-02 -2.21206266e-03 9.99670788e-01 7.32658848e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.165336195000002 meters Centerline goodness [0,1] 0.9972673512521082 Centerline is valid? [True, True] Translation: X:19.97, Y:-0.02, Z:0.08 [[ 9.98893608e-01 -3.91766735e-02 -2.60143977e-02 1.99737647e+01] [ 3.91862946e-02 9.99231912e-01 -1.40044556e-04 -1.88799473e-02] [ 2.59999028e-02 -8.79518241e-04 9.99661558e-01 7.92516962e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.195336195 meters Centerline goodness [0,1] 0.9978367495555698 Centerline is valid? [True, True] Translation: X:20.00, Y:-0.02, Z:0.08 [[ 9.98988411e-01 -3.70126784e-02 -2.55385386e-02 2.00038418e+01] [ 3.70212516e-02 9.99314469e-01 -1.37195158e-04 -1.67054003e-02] [ 2.55261092e-02 -8.08412292e-04 9.99673829e-01 8.03810368e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.225336195 meters Centerline goodness [0,1] 0.9996791237940402 Centerline is valid? [True, True] Translation: X:20.03, Y:-0.01, Z:0.09 [[ 9.99277667e-01 -3.10103987e-02 -2.19658816e-02 2.00347016e+01] [ 3.10152937e-02 9.99518903e-01 -1.17882492e-04 -6.88064482e-03] [ 2.19589695e-02 -5.63480928e-04 9.99758714e-01 8.66320569e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.255336195 meters Centerline goodness [0,1] 0.999786183155509 Centerline is valid? [True, True] Translation: X:20.06, Y:-0.01, Z:0.08 [[ 9.99387270e-01 -2.73175034e-02 -2.18823724e-02 2.00648242e+01] [ 2.73214806e-02 9.99626692e-01 -1.17247692e-04 -1.00385678e-02] [ 2.18774065e-02 -4.80682962e-04 9.99760545e-01 8.13477284e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.285336195 meters Centerline goodness [0,1] 0.9998930527036276 Centerline is valid? [True, True] Translation: X:20.10, Y:-0.01, Z:0.08 [[ 9.99438384e-01 -2.33631821e-02 -2.40224721e-02 2.00957893e+01] [ 2.33668407e-02 9.99726950e-01 -1.28434934e-04 -7.17122571e-03] [ 2.40189134e-02 -4.32966475e-04 9.99711411e-01 7.65021375e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.315336195 meters Centerline goodness [0,1] 0.9998715643462626 Centerline is valid? [True, True] Translation: X:20.13, Y:0.01, Z:0.07 [[ 9.99528175e-01 -1.41193578e-02 -2.72776828e-02 2.01250634e+01] [ 1.41206250e-02 9.99900288e-01 -1.46177255e-04 6.48142282e-03] [ 2.72770268e-02 -2.39069646e-04 9.99627884e-01 7.18635816e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.345336195 meters Centerline goodness [0,1] 0.9996999699969997 Centerline is valid? [True, True] Translation: X:20.15, Y:0.01, Z:0.07 [[ 9.99581122e-01 -1.03094975e-02 -2.70424772e-02 2.01530445e+01] [ 1.03093149e-02 9.99946847e-01 -1.46176036e-04 1.48053443e-02] [ 2.70425468e-02 -1.32674606e-04 9.99634275e-01 7.30033878e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.375336195000003 meters Centerline goodness [0,1] 0.9997649924156643 Centerline is valid? [True, True] Translation: X:20.18, Y:0.03, Z:0.07 [[ 9.99606597e-01 -4.87331477e-03 -2.76206774e-02 2.01807740e+01] [ 4.87093740e-03 9.99988125e-01 -1.53353899e-04 2.69786590e-02] [ 2.76210968e-02 1.87549788e-05 9.99618465e-01 7.46768207e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.405336195 meters Centerline goodness [0,1] 0.9998702955100629 Centerline is valid? [True, True] Translation: X:20.21, Y:0.03, Z:0.07 [[ 9.99573252e-01 -2.11690390e-03 -2.91347451e-02 2.02089992e+01] [ 2.11298977e-03 9.99997754e-01 -1.65132381e-04 2.92676042e-02] [ 2.91350293e-02 1.03500492e-04 9.99575480e-01 7.02274729e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.435336195 meters Centerline goodness [0,1] 0.9999786178583647 Centerline is valid? [True, True] Translation: X:20.24, Y:0.03, Z:0.07 [[ 9.99572539e-01 -1.29348068e-03 -2.92073124e-02 2.02370582e+01] [ 1.28913933e-03 9.99999155e-01 -1.67468712e-04 3.16148417e-02] [ 2.92075043e-02 1.29744831e-04 9.99573361e-01 6.87530594e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.465336195000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:20.26, Y:0.04, Z:0.07 [[ 9.99578724e-01 -1.08879330e-03 -2.90032711e-02 2.02640959e+01] [ 1.08433577e-03 9.99999398e-01 -1.69418296e-04 3.82304181e-02] [ 2.90034381e-02 1.37897640e-04 9.99579302e-01 6.94024595e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.495336195 meters Centerline goodness [0,1] 0.9997641205987048 Centerline is valid? [True, True] Translation: X:20.29, Y:0.04, Z:0.07 [[ 9.99616020e-01 -2.01676039e-03 -2.76359282e-02 2.02926965e+01] [ 2.01295418e-03 9.99997960e-01 -1.65546446e-04 3.73271500e-02] [ 2.76362057e-02 1.09853023e-04 9.99618041e-01 7.13051495e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.525336195 meters Centerline goodness [0,1] 0.9999145481734673 Centerline is valid? [True, True] Translation: X:20.32, Y:0.03, Z:0.07 [[ 9.99627652e-01 -3.93241168e-03 -2.70017168e-02 2.03217701e+01] [ 3.92936082e-03 9.99992266e-01 -1.66046201e-04 3.40883069e-02] [ 2.70021609e-02 5.98848856e-05 9.99635373e-01 7.08535052e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.555336195000002 meters Centerline goodness [0,1] 0.9998714515265131 Centerline is valid? [True, True] Translation: X:20.35, Y:0.03, Z:0.07 [[ 9.99539495e-01 -8.02573671e-03 -2.92640698e-02 2.03507928e+01] [ 8.02376640e-03 9.99967792e-01 -1.84758861e-04 3.44705190e-02] [ 2.92646101e-02 -5.01342811e-05 9.99571698e-01 7.03018625e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.585336195 meters Centerline goodness [0,1] 0.9996571306118076 Centerline is valid? [True, True] Translation: X:20.38, Y:0.03, Z:0.07 [[ 9.99495622e-01 -1.14373952e-02 -2.96257959e-02 2.03795389e+01] [ 1.14367333e-02 9.99934580e-01 -1.91796066e-04 3.20755874e-02] [ 2.96260514e-02 -1.47122997e-04 9.99561041e-01 6.98858423e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.615336195 meters Centerline goodness [0,1] 0.9999784199054792 Centerline is valid? [True, True] Translation: X:20.41, Y:0.03, Z:0.07 [[ 9.99453021e-01 -1.43965109e-02 -2.97724617e-02 2.04084131e+01] [ 1.43970128e-02 9.99896338e-01 -1.97517319e-04 2.98900978e-02] [ 2.97722190e-02 -2.31225232e-04 9.99556682e-01 7.02284316e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.645336195000002 meters Centerline goodness [0,1] 0.9995735971345727 Centerline is valid? [True, True] Translation: X:20.44, Y:0.02, Z:0.07 [[ 9.99348576e-01 -1.97983040e-02 -3.01736736e-02 2.04371166e+01] [ 1.98012116e-02 9.99803916e-01 -2.02471822e-04 2.23713654e-02] [ 3.01717656e-02 -3.95135368e-04 9.99544651e-01 6.91458213e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.675336195 meters Centerline goodness [0,1] 0.9998706004140787 Centerline is valid? [True, True] Translation: X:20.47, Y:0.02, Z:0.07 [[ 9.99277469e-01 -2.23371271e-02 -3.07504930e-02 2.04659610e+01] [ 2.23412233e-02 9.99750382e-01 -2.10410670e-04 1.86739993e-02] [ 3.07475171e-02 -4.76744990e-04 9.99527070e-01 7.03021337e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.705336195 meters Centerline goodness [0,1] 0.9996147507651478 Centerline is valid? [True, True] Translation: X:20.49, Y:0.01, Z:0.07 [[ 9.99218766e-01 -2.65342843e-02 -2.92880525e-02 2.04938639e+01] [ 2.65397298e-02 9.99647739e-01 -2.02855412e-04 1.40244215e-02] [ 2.92831181e-02 -5.74600066e-04 9.99570992e-01 7.40902531e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.735336195000002 meters Centerline goodness [0,1] 0.9997854169348955 Centerline is valid? [True, True] Translation: X:20.52, Y:0.01, Z:0.08 [[ 9.99192961e-01 -2.83148913e-02 -2.84902495e-02 2.05220282e+01] [ 2.83207029e-02 9.99598869e-01 -1.99587742e-04 1.17687581e-02] [ 2.84844724e-02 -6.07437226e-04 9.99594051e-01 7.56356376e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.765336195 meters Centerline goodness [0,1] 0.9998712529236315 Centerline is valid? [True, True] Translation: X:20.55, Y:0.01, Z:0.07 [[ 9.99117732e-01 -2.92268444e-02 -3.01587404e-02 2.05510124e+01] [ 2.92336444e-02 9.99572582e-01 -2.15521519e-04 6.80260346e-03] [ 3.01521490e-02 -6.66318520e-04 9.99545098e-01 7.14979899e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.795336195 meters Centerline goodness [0,1] 0.9998278088678433 Centerline is valid? [True, True] Translation: X:20.58, Y:0.01, Z:0.07 [[ 9.99279749e-01 -2.53863201e-02 -2.82049195e-02 2.05807048e+01] [ 2.53906918e-02 9.99677584e-01 -2.03190101e-04 5.80225046e-03] [ 2.82009840e-02 -5.13098666e-04 9.99602141e-01 7.15723476e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.825336195000002 meters Centerline goodness [0,1] 0.9999356112637363 Centerline is valid? [True, True] Translation: X:20.61, Y:0.01, Z:0.07 [[ 9.99361131e-01 -2.24779439e-02 -2.77861741e-02 2.06084441e+01] [ 2.24810264e-02 9.99747249e-01 -2.01490021e-04 6.46008718e-03] [ 2.77836802e-02 -4.23300418e-04 9.99613869e-01 7.12800772e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.855336195 meters Centerline goodness [0,1] 0.999978427354115 Centerline is valid? [True, True] Translation: X:20.64, Y:0.01, Z:0.07 [[ 9.99365393e-01 -1.71057691e-02 -3.12442557e-02 2.06363495e+01] [ 1.71069113e-02 9.99853639e-01 -2.30774041e-04 1.27534364e-02] [ 3.12436304e-02 -3.03865121e-04 9.99511752e-01 6.67004003e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.885336195 meters Centerline goodness [0,1] 0.9998707063741757 Centerline is valid? [True, True] Translation: X:20.66, Y:0.02, Z:0.07 [[ 9.99372102e-01 -1.55827686e-02 -3.18210586e-02 2.06639127e+01] [ 1.55830014e-02 9.99878549e-01 -2.40696893e-04 1.78988362e-02] [ 3.18209446e-02 -2.55321841e-04 9.99493553e-01 7.00457185e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.915336195000002 meters Centerline goodness [0,1] 0.9999570769395858 Centerline is valid? [True, True] Translation: X:20.69, Y:0.03, Z:0.08 [[ 9.99469858e-01 -1.35665990e-02 -2.95964685e-02 2.06923468e+01] [ 1.35658472e-02 9.99907954e-01 -2.26206698e-04 2.57926311e-02] [ 2.95968131e-02 -1.75414392e-04 9.99561903e-01 7.88850862e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.945336195 meters Centerline goodness [0,1] 0.9995743503522251 Centerline is valid? [True, True] Translation: X:20.72, Y:0.03, Z:0.08 [[ 9.99504010e-01 -1.32160170e-02 -2.85844520e-02 2.07213829e+01] [ 1.32150672e-02 9.99912653e-01 -2.22146769e-04 2.51272160e-02] [ 2.85848911e-02 -1.55708868e-04 9.99591356e-01 7.98682619e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.975336195 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:20.75, Y:0.01, Z:0.08 [[ 9.99548628e-01 -1.25655859e-02 -2.72881958e-02 2.07503657e+01] [ 1.25643597e-02 9.99921042e-01 -2.16402978e-04 1.36558458e-02] [ 2.72887604e-02 -1.26553406e-04 9.99627584e-01 7.50731952e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.005336195 meters Centerline goodness [0,1] 0.9999785894745857 Centerline is valid? [True, True] Translation: X:20.78, Y:0.01, Z:0.08 [[ 9.99550812e-01 -1.22680841e-02 -2.73435142e-02 2.07781714e+01] [ 1.22666088e-02 9.99924738e-01 -2.21696234e-04 1.20921050e-02] [ 2.73441761e-02 -1.13815543e-04 9.99626072e-01 7.56600759e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.035336195 meters Centerline goodness [0,1] 0.999892844131073 Centerline is valid? [True, True] Translation: X:20.81, Y:0.02, Z:0.08 [[ 9.99546475e-01 -1.09080330e-02 -2.80688237e-02 2.08056432e+01] [ 1.09058095e-02 9.99940503e-01 -2.32306428e-04 1.71039879e-02] [ 2.80696877e-02 -7.39121735e-05 9.99605966e-01 7.67821726e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.065336195 meters Centerline goodness [0,1] 0.9999786703069343 Centerline is valid? [True, True] Translation: X:20.83, Y:0.02, Z:0.08 [[ 9.99552358e-01 -1.02648360e-02 -2.81018865e-02 2.08339308e+01] [ 1.02622146e-02 9.99947314e-01 -2.37508751e-04 1.91088163e-02] [ 2.81028439e-02 -5.09851565e-05 9.99605036e-01 7.72036556e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.095336195 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:20.86, Y:0.02, Z:0.08 [[ 9.99553470e-01 -7.93780082e-03 -2.88071542e-02 2.08625948e+01] [ 7.93393864e-03 9.99968495e-01 -2.48370280e-04 2.01032261e-02] [ 2.88082181e-02 1.97051815e-05 9.99584957e-01 7.72249465e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.125336195 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:20.89, Y:0.02, Z:0.07 [[ 9.99555507e-01 -7.35352751e-03 -2.88914345e-02 2.08898994e+01] [ 7.34928320e-03 9.99972962e-01 -2.53092241e-04 2.01175166e-02] [ 2.88925144e-02 4.06484087e-05 9.99582523e-01 7.43447349e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.155336195 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:20.92, Y:0.02, Z:0.07 [[ 9.99517934e-01 -7.52091463e-03 -3.01220075e-02 2.09184366e+01] [ 7.51624013e-03 9.99971717e-01 -2.68412011e-04 1.59882780e-02] [ 3.01231742e-02 4.18783777e-05 9.99546193e-01 7.17691249e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.185336195 meters Centerline goodness [0,1] 0.9996801296541136 Centerline is valid? [True, True] Translation: X:20.95, Y:0.01, Z:0.07 [[ 9.99458727e-01 -8.84732620e-03 -3.16856035e-02 2.09462462e+01] [ 8.84273664e-03 9.99960862e-01 -2.84975517e-04 1.13902333e-02] [ 3.16868846e-02 4.63382101e-06 9.99497845e-01 6.64397878e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.215336195000003 meters Centerline goodness [0,1] 0.9996581488761644 Centerline is valid? [True, True] Translation: X:20.97, Y:0.01, Z:0.07 [[ 9.99458415e-01 -8.81567190e-03 -3.17042582e-02 2.09743964e+01] [ 8.81090957e-03 9.99961141e-01 -2.89917463e-04 1.24681182e-02] [ 3.17055820e-02 1.04170957e-05 9.99497252e-01 7.18957571e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.245336195 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:21.00, Y:0.01, Z:0.07 [[ 9.99485758e-01 -8.90541089e-03 -3.08044311e-02 2.10035638e+01] [ 8.90081003e-03 9.99960346e-01 -2.86481526e-04 1.23921847e-02] [ 3.08057608e-02 1.21498163e-05 9.99525390e-01 7.28317537e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.275336195 meters Centerline goodness [0,1] 0.9997191800056164 Centerline is valid? [True, True] Translation: X:21.03, Y:0.01, Z:0.08 [[ 9.99527269e-01 -9.44508352e-03 -2.92579611e-02 2.10327527e+01] [ 9.44107733e-03 9.99955394e-01 -2.75069495e-04 1.01906918e-02] [ 2.92592541e-02 -1.28721224e-06 9.99571856e-01 7.65839422e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.305336195000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:21.06, Y:0.01, Z:0.08 [[ 9.99562972e-01 -8.95461211e-03 -2.81723330e-02 2.10605882e+01] [ 8.95065046e-03 9.99959907e-01 -2.66726505e-04 1.12743061e-02] [ 2.81735919e-02 1.44492327e-05 9.99603045e-01 7.56030262e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.335336195 meters Centerline goodness [0,1] 0.9995506579651225 Centerline is valid? [True, True] Translation: X:21.09, Y:0.02, Z:0.08 [[ 9.99564009e-01 -8.00905639e-03 -2.84191240e-02 2.10888865e+01] [ 8.00453536e-03 9.99967926e-01 -2.72846270e-04 1.86873526e-02] [ 2.84203977e-02 4.52454285e-05 9.99596058e-01 7.79732272e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.365336195 meters Centerline goodness [0,1] 0.999935819267056 Centerline is valid? [True, True] Translation: X:21.12, Y:0.02, Z:0.08 [[ 9.99554059e-01 -7.13664457e-03 -2.89957087e-02 2.11169046e+01] [ 7.13149830e-03 9.99974531e-01 -2.80894590e-04 2.16006940e-02] [ 2.89969748e-02 7.39864809e-05 9.99579497e-01 7.54690942e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.395336195000002 meters Centerline goodness [0,1] 0.9999786324786325 Centerline is valid? [True, True] Translation: X:21.15, Y:0.02, Z:0.07 [[ 9.99520030e-01 -6.86460334e-03 -3.02090554e-02 2.11456543e+01] [ 6.85877206e-03 9.99976434e-01 -2.96649947e-04 1.91394649e-02] [ 3.02103799e-02 8.93105383e-05 9.99543558e-01 6.95195443e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.425336195 meters Centerline goodness [0,1] 0.9999571054776305 Centerline is valid? [True, True] Translation: X:21.17, Y:0.02, Z:0.07 [[ 9.99493510e-01 -8.99919019e-03 -3.05243727e-02 2.11734290e+01] [ 8.99406280e-03 9.99959506e-01 -3.05276700e-04 2.01211711e-02] [ 3.05258839e-02 3.05839558e-05 9.99533976e-01 7.43213165e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.455336195 meters Centerline goodness [0,1] 0.9998071524995179 Centerline is valid? [True, True] Translation: X:21.20, Y:0.02, Z:0.07 [[ 9.99445889e-01 -1.13759602e-02 -3.12810267e-02 2.12009646e+01] [ 1.13716485e-02 9.99935291e-01 -3.15740398e-04 2.07626372e-02] [ 3.12825943e-02 -4.01513981e-05 9.99510579e-01 7.33551301e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.485336195000002 meters Centerline goodness [0,1] 0.9999139248133244 Centerline is valid? [True, True] Translation: X:21.23, Y:0.02, Z:0.07 [[ 9.99380790e-01 -1.48056805e-02 -3.19190795e-02 2.12290991e+01] [ 1.48028813e-02 9.99890379e-01 -3.24015115e-04 2.04159434e-02] [ 3.19203778e-02 -1.48679864e-04 9.99490404e-01 7.34283050e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.515336195 meters Centerline goodness [0,1] 0.9999570372916309 Centerline is valid? [True, True] Translation: X:21.26, Y:0.02, Z:0.08 [[ 9.99389078e-01 -1.61468299e-02 -3.09959654e-02 2.12583396e+01] [ 1.61447592e-02 9.99869615e-01 -3.17093069e-04 2.00196481e-02] [ 3.09970440e-02 -1.83523046e-04 9.99519459e-01 7.55440303e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.545336195 meters Centerline goodness [0,1] 0.9999570585077832 Centerline is valid? [True, True] Translation: X:21.29, Y:0.02, Z:0.08 [[ 9.99431053e-01 -1.75219901e-02 -2.88192643e-02 2.12870603e+01] [ 1.75206562e-02 9.99846457e-01 -2.98822567e-04 1.87312133e-02] [ 2.88200753e-02 -2.06279869e-04 9.99584594e-01 7.71426912e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.575336195000002 meters Centerline goodness [0,1] 0.9999784802771741 Centerline is valid? [True, True] Translation: X:21.32, Y:0.02, Z:0.08 [[ 9.99437962e-01 -1.78320413e-02 -2.83862468e-02 2.13157728e+01] [ 1.78307439e-02 9.99840975e-01 -2.98848016e-04 1.84109198e-02] [ 2.83870618e-02 -2.07467845e-04 9.99596985e-01 7.60686761e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.605336195 meters Centerline goodness [0,1] 0.9999145499989319 Centerline is valid? [True, True] Translation: X:21.34, Y:0.03, Z:0.08 [[ 9.99483255e-01 -1.65678105e-02 -2.75450672e-02 2.13433271e+01] [ 1.65660443e-02 9.99862731e-01 -2.92331236e-04 2.55710364e-02] [ 2.75461294e-02 -1.64132628e-04 9.99620520e-01 7.81867672e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.635336195 meters Centerline goodness [0,1] 0.9997006244119409 Centerline is valid? [True, True] Translation: X:21.37, Y:0.04, Z:0.08 [[ 9.99521066e-01 -1.35603899e-02 -2.78164485e-02 2.13716983e+01] [ 1.35573240e-02 9.99908051e-01 -2.98819695e-04 4.26117146e-02] [ 2.78179429e-02 -7.84400243e-05 9.99613003e-01 8.31918187e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.665336195000002 meters Centerline goodness [0,1] 0.9997007587902106 Centerline is valid? [True, True] Translation: X:21.40, Y:0.05, Z:0.08 [[ 9.99515493e-01 -1.26037177e-02 -2.84591760e-02 2.14007248e+01] [ 1.25999918e-02 9.99920569e-01 -3.10252654e-04 4.80267361e-02] [ 2.84608258e-02 -4.84830504e-05 9.99594907e-01 8.25708890e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.695336195 meters Centerline goodness [0,1] 0.9999572996285068 Centerline is valid? [True, True] Translation: X:21.43, Y:0.05, Z:0.08 [[ 9.99488288e-01 -1.20082807e-02 -2.96473268e-02 2.14289858e+01] [ 1.20038817e-02 9.99927898e-01 -3.26359181e-04 4.95548407e-02] [ 2.96491082e-02 -2.96908248e-05 9.99560368e-01 7.89566340e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.725336195 meters Centerline goodness [0,1] 0.999447032050873 Centerline is valid? [True, True] Translation: X:21.46, Y:0.05, Z:0.07 [[ 9.99436411e-01 -1.34597150e-02 -3.07521690e-02 2.14567312e+01] [ 1.34556077e-02 9.99909411e-01 -3.40508773e-04 4.79935984e-02] [ 3.07539663e-02 -7.34722568e-05 9.99526982e-01 7.05863275e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.755336195 meters Centerline goodness [0,1] 0.999697251475899 Centerline is valid? [True, True] Translation: X:21.48, Y:0.05, Z:0.08 [[ 9.99407762e-01 -1.55495893e-02 -3.06974870e-02 2.14843342e+01] [ 1.55463352e-02 9.99879089e-01 -3.44689521e-04 5.08950722e-02] [ 3.06991352e-02 -1.32748039e-04 9.99528662e-01 7.96176694e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.785336195 meters Centerline goodness [0,1] 0.9998708483113417 Centerline is valid? [True, True] Translation: X:21.51, Y:0.06, Z:0.09 [[ 9.99382860e-01 -2.07824690e-02 -2.83193825e-02 2.15116791e+01] [ 2.07817261e-02 9.99783985e-01 -3.20585432e-04 5.50710128e-02] [ 2.83199277e-02 -2.68138066e-04 9.99598874e-01 8.56340943e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.815336195 meters Centerline goodness [0,1] 0.9999783774433489 Centerline is valid? [True, True] Translation: X:21.54, Y:0.06, Z:0.09 [[ 9.99334286e-01 -2.41526366e-02 -2.73429136e-02 2.15405114e+01] [ 2.41531045e-02 9.99708222e-01 -3.13206634e-04 5.65304833e-02] [ 2.73425003e-02 -3.47418120e-04 9.99626064e-01 8.99405582e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.845336195 meters Centerline goodness [0,1] 0.9996590013000576 Centerline is valid? [True, True] Translation: X:21.57, Y:0.04, Z:0.08 [[ 9.99190984e-01 -3.02058484e-02 -2.65515299e-02 2.15695482e+01] [ 3.02083742e-02 9.99543576e-01 -3.06070326e-04 4.20632604e-02] [ 2.65486563e-02 -4.96255839e-04 9.99647399e-01 8.01328198e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.875336195 meters Centerline goodness [0,1] 0.9996590013000576 Centerline is valid? [True, True] Translation: X:21.60, Y:0.04, Z:0.08 [[ 9.99190984e-01 -3.02058506e-02 -2.65515267e-02 2.15995557e+01] [ 3.02083690e-02 9.99543576e-01 -3.06348683e-04 4.24096857e-02] [ 2.65486615e-02 -4.95977473e-04 9.99647399e-01 8.03701444e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.905336195 meters Centerline goodness [0,1] 0.9998076553183305 Centerline is valid? [True, True] Translation: X:21.63, Y:0.04, Z:0.08 [[ 9.99067807e-01 -3.31613467e-02 -2.76376864e-02 2.16294920e+01] [ 3.31651995e-02 9.99449833e-01 -3.19102842e-04 3.58284402e-02] [ 2.76330629e-02 -5.97804006e-04 9.99617955e-01 7.63200354e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.935336195 meters Centerline goodness [0,1] 0.9993987029162908 Centerline is valid? [True, True] Translation: X:21.66, Y:0.03, Z:0.07 [[ 9.98796591e-01 -3.76532808e-02 -3.14261120e-02 2.16605755e+01] [ 3.76604815e-02 9.99290527e-01 -3.62955094e-04 2.55586134e-02] [ 3.14174824e-02 -8.21004198e-04 9.99506012e-01 6.99284037e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.965336195000003 meters Centerline goodness [0,1] 0.998275007007784 Centerline is valid? [True, True] Translation: X:21.69, Y:0.03, Z:0.07 [[ 9.98684008e-01 -3.90176888e-02 -3.32847104e-02 2.16907055e+01] [ 3.90265339e-02 9.99238101e-01 -3.84139438e-04 2.62447362e-02] [ 3.32743391e-02 -9.15352966e-04 9.99445837e-01 7.07783281e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.995336195 meters Centerline goodness [0,1] 0.9924477149496514 Centerline is valid? [True, True] Translation: X:21.72, Y:0.03, Z:0.07 [[ 9.98539906e-01 -3.95113755e-02 -3.68362210e-02 2.17202120e+01] [ 3.95225353e-02 9.99218589e-01 -4.25454820e-04 3.08329717e-02] [ 3.68242470e-02 -1.03102723e-03 9.99321226e-01 7.22755988e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.025336195 meters Centerline goodness [0,1] 0.9962037057009124 Centerline is valid? [True, True] Translation: X:21.75, Y:0.03, Z:0.07 [[ 9.98544025e-01 -3.77426444e-02 -3.85398992e-02 2.17484718e+01] [ 3.77533577e-02 9.99286987e-01 -4.50019618e-04 3.44764296e-02] [ 3.85294046e-02 -1.00564620e-03 9.99256961e-01 7.12596591e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.055336195000002 meters Centerline goodness [0,1] 0.9995910196525819 Centerline is valid? [True, True] Translation: X:21.78, Y:0.04, Z:0.08 [[ 9.98752179e-01 -3.45461142e-02 -3.60645482e-02 2.17783826e+01] [ 3.45533649e-02 9.99402765e-01 -4.22396528e-04 3.58472382e-02] [ 3.60576013e-02 -8.24282042e-04 9.99349373e-01 7.50424077e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.085336195 meters Centerline goodness [0,1] 0.9996985162693541 Centerline is valid? [True, True] Translation: X:21.81, Y:0.03, Z:0.07 [[ 9.98873593e-01 -3.26617957e-02 -3.44202241e-02 2.18075771e+01] [ 3.26672505e-02 9.99466201e-01 -4.04035924e-04 3.27648084e-02] [ 3.44150471e-02 -7.20833267e-04 9.99407367e-01 7.41944968e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.115336195 meters Centerline goodness [0,1] 0.9996559583709629 Centerline is valid? [True, True] Translation: X:21.84, Y:0.03, Z:0.08 [[ 9.98997545e-01 -3.04098903e-02 -3.28503330e-02 2.18371314e+01] [ 3.04136146e-02 9.99537324e-01 -3.86418679e-04 3.24496509e-02] [ 3.28468849e-02 -6.13066059e-04 9.99460207e-01 7.56611997e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.145336195000002 meters Centerline goodness [0,1] 0.9998275936382053 Centerline is valid? [True, True] Translation: X:21.87, Y:0.04, Z:0.08 [[ 9.99197590e-01 -2.62765730e-02 -3.02277712e-02 2.18667214e+01] [ 2.62778142e-02 9.99654615e-01 -3.56257359e-04 3.67507979e-02] [ 3.02266923e-02 -4.38348262e-04 9.99542973e-01 8.26531867e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.175336195 meters Centerline goodness [0,1] 0.9997860916811054 Centerline is valid? [True, True] Translation: X:21.89, Y:0.04, Z:0.09 [[ 9.99311679e-01 -2.20197850e-02 -2.98545873e-02 2.18943039e+01] [ 2.20190603e-02 9.99757489e-01 -3.53071701e-04 4.45542527e-02] [ 2.98551218e-02 -3.04541285e-04 9.99554190e-01 8.57049912e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.205336195 meters Centerline goodness [0,1] 0.9998069580884561 Centerline is valid? [True, True] Translation: X:21.92, Y:0.05, Z:0.09 [[ 9.99350158e-01 -1.94775795e-02 -3.03296305e-02 2.19216886e+01] [ 1.94756110e-02 9.99810267e-01 -3.60343199e-04 5.17376595e-02] [ 3.03308946e-02 -2.30579052e-04 9.99539886e-01 8.77031128e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.235336195000002 meters Centerline goodness [0,1] 0.9998716248020882 Centerline is valid? [True, True] Translation: X:21.95, Y:0.06, Z:0.09 [[ 9.99385841e-01 -1.63825448e-02 -3.09766413e-02 2.19493586e+01] [ 1.63788611e-02 9.99865788e-01 -3.72673015e-04 5.75524122e-02] [ 3.09785892e-02 -1.34917970e-04 9.99520039e-01 8.74175087e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.265336195 meters Centerline goodness [0,1] 0.9999358960661553 Centerline is valid? [True, True] Translation: X:21.98, Y:0.06, Z:0.08 [[ 9.99462401e-01 -1.00352638e-02 -3.12122236e-02 2.19772076e+01] [ 1.00282503e-02 9.99949643e-01 -3.81239967e-04 5.99447481e-02] [ 3.12144777e-02 6.80310209e-05 9.99512707e-01 8.14962499e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.295336195 meters Centerline goodness [0,1] 0.9997231686541738 Centerline is valid? [True, True] Translation: X:22.01, Y:0.06, Z:0.08 [[ 9.99485446e-01 -8.48530939e-03 -3.09328894e-02 2.20052730e+01] [ 8.47750312e-03 9.99963992e-01 -3.83503372e-04 5.89452546e-02] [ 3.09350297e-02 1.21072373e-04 9.99521390e-01 7.96685265e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.325336195000002 meters Centerline goodness [0,1] 0.9999354755452317 Centerline is valid? [True, True] Translation: X:22.03, Y:0.06, Z:0.09 [[ 9.99541454e-01 -7.14326328e-03 -2.94254161e-02 2.20341312e+01] [ 7.13547188e-03 9.99974474e-01 -3.69782409e-04 6.28104011e-02] [ 2.94273064e-02 1.59648618e-04 9.99566910e-01 8.76007306e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.355336195 meters Centerline goodness [0,1] 0.9998298777246145 Centerline is valid? [True, True] Translation: X:22.06, Y:0.07, Z:0.09 [[ 9.99557426e-01 -7.74169273e-03 -2.87231326e-02 2.20617083e+01] [ 7.73444367e-03 9.99970023e-01 -3.63472070e-04 6.86954883e-02] [ 2.87250854e-02 1.41153756e-04 9.99587340e-01 9.00424010e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.385336195 meters Centerline goodness [0,1] 0.9999785990968819 Centerline is valid? [True, True] Translation: X:22.09, Y:0.07, Z:0.09 [[ 9.99525169e-01 -1.06089456e-02 -2.89289935e-02 2.20900606e+01] [ 1.06026749e-02 9.99943722e-01 -3.70152764e-04 6.89499629e-02] [ 2.89312923e-02 6.32522902e-05 9.99581401e-01 9.07225763e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.415336195000002 meters Centerline goodness [0,1] 0.9997020389052058 Centerline is valid? [True, True] Translation: X:22.12, Y:0.07, Z:0.09 [[ 9.99502123e-01 -1.23130834e-02 -2.90498595e-02 2.21169579e+01] [ 1.23073915e-02 9.99924191e-01 -3.74736915e-04 6.50160901e-02] [ 2.90522715e-02 1.70223484e-05 9.99577894e-01 8.72635616e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.445336195 meters Centerline goodness [0,1] 0.9998713191927424 Centerline is valid? [True, True] Translation: X:22.15, Y:0.06, Z:0.08 [[ 9.99423426e-01 -1.64758790e-02 -2.96877298e-02 2.21456934e+01] [ 1.64716443e-02 9.99864258e-01 -3.87207039e-04 5.58693552e-02] [ 2.96900795e-02 -1.02021941e-04 9.99559147e-01 8.47924417e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.475336195 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:22.17, Y:0.05, Z:0.08 [[ 9.99390933e-01 -1.87245756e-02 -2.94474704e-02 2.21731254e+01] [ 1.87213099e-02 9.99824666e-01 -3.86626304e-04 5.10245770e-02] [ 2.94495467e-02 -1.64904397e-04 9.99566254e-01 8.06590857e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.505336195 meters Centerline goodness [0,1] 0.9999358905866012 Centerline is valid? [True, True] Translation: X:22.20, Y:0.05, Z:0.09 [[ 9.99332617e-01 -2.23779173e-02 -2.88712433e-02 2.22014679e+01] [ 2.23762546e-02 9.99749548e-01 -3.80712887e-04 4.70013527e-02] [ 2.88725320e-02 -2.65571484e-04 9.99583066e-01 8.58930931e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.535336195 meters Centerline goodness [0,1] 0.9998287744531484 Centerline is valid? [True, True] Translation: X:22.23, Y:0.04, Z:0.09 [[ 9.99306264e-01 -2.40942008e-02 -2.83982269e-02 2.22291345e+01] [ 2.40932391e-02 9.99709645e-01 -3.76083391e-04 4.42168399e-02] [ 2.83990428e-02 -3.08382783e-04 9.99596618e-01 8.63911924e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.565336195 meters Centerline goodness [0,1] 0.9999786292821576 Centerline is valid? [True, True] Translation: X:22.26, Y:0.04, Z:0.09 [[ 9.99154514e-01 -2.72864779e-02 -3.07523281e-02 2.22583231e+01] [ 2.72868224e-02 9.99627562e-01 -4.08541763e-04 4.13886909e-02] [ 3.07520224e-02 -4.30936968e-04 9.99526952e-01 8.89049659e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.595336195 meters Centerline goodness [0,1] 0.9999142403842031 Centerline is valid? [True, True] Translation: X:22.29, Y:0.04, Z:0.09 [[ 9.99111004e-01 -2.81334954e-02 -3.13959908e-02 2.22858239e+01] [ 2.81342213e-02 9.99604067e-01 -4.18726341e-04 3.99057364e-02] [ 3.13953403e-02 -4.64947658e-04 9.99506937e-01 8.61475346e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.625336195 meters Centerline goodness [0,1] 0.9997420630655804 Centerline is valid? [True, True] Translation: X:22.31, Y:0.04, Z:0.09 [[ 9.99029437e-01 -3.04605566e-02 -3.18172540e-02 2.23147761e+01] [ 3.04623441e-02 9.99535823e-01 -4.28668341e-04 3.66511202e-02] [ 3.18155426e-02 -5.40975847e-04 9.99493611e-01 8.56933310e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.655336195 meters Centerline goodness [0,1] 0.9998924916143459 Centerline is valid? [True, True] Translation: X:22.34, Y:0.03, Z:0.08 [[ 9.98972108e-01 -3.16796308e-02 -3.24211183e-02 2.23420630e+01] [ 3.16820316e-02 9.99497902e-01 -4.39793160e-04 3.25554586e-02] [ 3.24187722e-02 -5.87825794e-04 9.99474201e-01 8.39284668e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.685336195 meters Centerline goodness [0,1] 0.9997645043887818 Centerline is valid? [True, True] Translation: X:22.37, Y:0.03, Z:0.08 [[ 9.99022242e-01 -3.02186892e-02 -3.22705891e-02 2.23699090e+01] [ 3.02202238e-02 9.99543168e-01 -4.40296779e-04 3.26629407e-02] [ 3.22691521e-02 -5.35358149e-04 9.99479072e-01 8.46845889e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.715336195000003 meters Centerline goodness [0,1] 0.9999570492859444 Centerline is valid? [True, True] Translation: X:22.40, Y:0.04, Z:0.09 [[ 9.99072381e-01 -2.92786581e-02 -3.15774952e-02 2.23987177e+01] [ 2.92795155e-02 9.99571168e-01 -4.35348952e-04 3.60770309e-02] [ 3.15767002e-02 -4.89628646e-04 9.99501212e-01 8.89652340e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.745336195 meters Centerline goodness [0,1] 0.9997437540038437 Centerline is valid? [True, True] Translation: X:22.43, Y:0.04, Z:0.09 [[ 9.99200456e-01 -2.61457671e-02 -3.02464436e-02 2.24270021e+01] [ 2.61450499e-02 9.99658072e-01 -4.19267775e-04 3.89635526e-02] [ 3.02470635e-02 -3.71862225e-04 9.99542384e-01 8.90097738e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.775336195 meters Centerline goodness [0,1] 0.9995311367801883 Centerline is valid? [True, True] Translation: X:22.45, Y:0.04, Z:0.09 [[ 9.99290305e-01 -2.40607300e-02 -2.89822114e-02 2.24545501e+01] [ 2.40591356e-02 9.99710456e-01 -4.03779720e-04 4.13325030e-02] [ 2.89835350e-02 -2.93793795e-04 9.99579846e-01 8.94685815e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.805336195000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:22.48, Y:0.04, Z:0.09 [[ 9.99405410e-01 -1.98246140e-02 -2.82101371e-02 2.24820273e+01] [ 1.98213665e-02 9.99803459e-01 -3.94778541e-04 4.35775443e-02] [ 2.82124190e-02 -1.64619656e-04 9.99601937e-01 8.76137910e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.835336195 meters Centerline goodness [0,1] 0.9998921111686518 Centerline is valid? [True, True] Translation: X:22.51, Y:0.05, Z:0.09 [[ 9.99382939e-01 -1.95467801e-02 -2.91832998e-02 2.25104910e+01] [ 1.95430756e-02 9.99808931e-01 -4.12185412e-04 4.55875282e-02] [ 2.91857807e-02 -1.58400367e-04 9.99573992e-01 8.65428227e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.865336195 meters Centerline goodness [0,1] 0.9998277680897328 Centerline is valid? [True, True] Translation: X:22.54, Y:0.05, Z:0.09 [[ 9.99297242e-01 -1.89697531e-02 -3.23290920e-02 2.25395386e+01] [ 1.89648332e-02 9.99820046e-01 -4.58840637e-04 4.96655403e-02] [ 3.23319784e-02 -1.54597653e-04 9.99477173e-01 8.72039384e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.895336195000002 meters Centerline goodness [0,1] 0.9999355393210142 Centerline is valid? [True, True] Translation: X:22.57, Y:0.05, Z:0.08 [[ 9.99288373e-01 -1.84667931e-02 -3.28895834e-02 2.25674219e+01] [ 1.84613476e-02 9.99829465e-01 -4.69262689e-04 5.15167804e-02] [ 3.28926403e-02 -1.38257283e-04 9.99458881e-01 8.28742304e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.925336195 meters Centerline goodness [0,1] 0.999914359731946 Centerline is valid? [True, True] Translation: X:22.60, Y:0.05, Z:0.09 [[ 9.99345195e-01 -1.85682607e-02 -3.10548106e-02 2.25963973e+01] [ 1.85633189e-02 9.99827587e-01 -4.47461339e-04 5.29638740e-02] [ 3.10577649e-02 -1.29312013e-04 9.99517583e-01 9.06534609e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.955336195 meters Centerline goodness [0,1] 0.9997426549431696 Centerline is valid? [True, True] Translation: X:22.62, Y:0.05, Z:0.09 [[ 9.99340193e-01 -1.98289684e-02 -3.04300900e-02 2.26243754e+01] [ 1.98247306e-02 9.99803373e-01 -4.40991029e-04 4.90239103e-02] [ 3.04328511e-02 -1.62568277e-04 9.99536800e-01 8.78575143e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.985336195000002 meters Centerline goodness [0,1] 0.9998496272904986 Centerline is valid? [True, True] Translation: X:22.65, Y:0.04, Z:0.08 [[ 9.99275853e-01 -2.25086947e-02 -3.06778093e-02 2.26535999e+01] [ 2.25055250e-02 9.99746618e-01 -4.48654001e-04 3.97892900e-02] [ 3.06801347e-02 -2.42091093e-04 9.99529225e-01 8.49704220e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.015336195 meters Centerline goodness [0,1] 0.9999147594084303 Centerline is valid? [True, True] Translation: X:22.68, Y:0.04, Z:0.09 [[ 9.99234054e-01 -2.45774772e-02 -3.04508251e-02 2.26826774e+01] [ 2.45751678e-02 9.99697884e-01 -4.50147807e-04 3.74979734e-02] [ 3.04526890e-02 -2.98531120e-04 9.99536165e-01 8.61658084e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.045336195 meters Centerline goodness [0,1] 0.9995947098976109 Centerline is valid? [True, True] Translation: X:22.71, Y:0.04, Z:0.09 [[ 9.99188860e-01 -2.63767980e-02 -3.04283734e-02 2.27112974e+01] [ 2.63751802e-02 9.99652011e-01 -4.54606153e-04 3.93871053e-02] [ 3.04297757e-02 -3.48316429e-04 9.99536846e-01 8.92881348e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.075336195000002 meters Centerline goodness [0,1] 0.9997839892858685 Centerline is valid? [True, True] Translation: X:22.74, Y:0.04, Z:0.09 [[ 9.99140266e-01 -2.74965781e-02 -3.10268610e-02 2.27394613e+01] [ 2.74953552e-02 9.99621823e-01 -4.66143691e-04 4.34950679e-02] [ 3.10279447e-02 -3.87351632e-04 9.99518442e-01 9.38257322e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.105336195 meters Centerline goodness [0,1] 0.9998069705093834 Centerline is valid? [True, True] Translation: X:22.77, Y:0.04, Z:0.09 [[ 9.99162068e-01 -2.68390201e-02 -3.09002897e-02 2.27673889e+01] [ 2.68374380e-02 9.99639702e-01 -4.66012961e-04 3.54124152e-02] [ 3.09016637e-02 -3.63662135e-04 9.99522363e-01 8.74342687e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.135336195 meters Centerline goodness [0,1] 0.9996150062026778 Centerline is valid? [True, True] Translation: X:22.79, Y:0.03, Z:0.08 [[ 9.99158746e-01 -2.70012858e-02 -3.08663347e-02 2.27946667e+01] [ 2.69997149e-02 9.99635332e-01 -4.67757381e-04 3.17885997e-02] [ 3.08677088e-02 -3.66018360e-04 9.99523412e-01 8.44439209e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.165336195000002 meters Centerline goodness [0,1] 0.9998720218416057 Centerline is valid? [True, True] Translation: X:22.82, Y:0.03, Z:0.09 [[ 9.99098485e-01 -2.81919821e-02 -3.17400373e-02 2.28228383e+01] [ 2.81908373e-02 9.99602442e-01 -4.83658633e-04 3.45990880e-02] [ 3.17410541e-02 -4.11555622e-04 9.99496041e-01 8.93003652e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.195336195 meters Centerline goodness [0,1] 0.999871335749362 Centerline is valid? [True, True] Translation: X:22.85, Y:0.04, Z:0.09 [[ 9.99080411e-01 -2.87786418e-02 -3.17824266e-02 2.28510417e+01] [ 2.87777040e-02 9.99585717e-01 -4.87027962e-04 3.69961218e-02] [ 3.17832757e-02 -4.28045169e-04 9.99494692e-01 9.21871537e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.225336195 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:22.88, Y:0.04, Z:0.10 [[ 9.99119929e-01 -2.95076131e-02 -2.98105250e-02 2.28799562e+01] [ 2.95069880e-02 9.99564468e-01 -4.60972562e-04 3.55325663e-02] [ 2.98111437e-02 -4.19051929e-04 9.99555461e-01 9.59194323e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.255336195 meters Centerline goodness [0,1] 0.9994663365068522 Centerline is valid? [True, True] Translation: X:22.91, Y:0.03, Z:0.10 [[ 9.99137251e-01 -2.95034181e-02 -2.92284385e-02 2.29086427e+01] [ 2.95026789e-02 9.99564597e-01 -4.56635325e-04 3.39965266e-02] [ 2.92291847e-02 -4.06075871e-04 9.99572654e-01 9.55427162e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.285336195 meters Centerline goodness [0,1] 0.9996762915965298 Centerline is valid? [True, True] Translation: X:22.94, Y:0.03, Z:0.09 [[ 9.99190390e-01 -2.69366262e-02 -2.98828076e-02 2.29377308e+01] [ 2.69345596e-02 9.99637088e-01 -4.71757868e-04 3.46644121e-02] [ 2.98846703e-02 -3.33504333e-04 9.99553298e-01 9.37602538e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.315336195 meters Centerline goodness [0,1] 0.9996566376239323 Centerline is valid? [True, True] Translation: X:22.97, Y:0.04, Z:0.09 [[ 9.99263629e-01 -2.54327964e-02 -2.87293079e-02 2.29658139e+01] [ 2.54301314e-02 9.99676497e-01 -4.58188332e-04 3.54088622e-02] [ 2.87316669e-02 -2.72739138e-04 9.99587123e-01 9.40568425e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.345336195 meters Centerline goodness [0,1] 0.9998491086633183 Centerline is valid? [True, True] Translation: X:22.99, Y:0.04, Z:0.10 [[ 9.99436554e-01 -2.05340092e-02 -2.65504835e-02 2.29947273e+01] [ 2.05298980e-02 9.99789148e-01 -4.27451625e-04 4.43489629e-02] [ 2.65536626e-02 -1.17867940e-04 9.99647382e-01 1.00357981e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.375336195 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:23.02, Y:0.05, Z:0.10 [[ 9.99467927e-01 -1.78757602e-02 -2.72822293e-02 2.30227713e+01] [ 1.78703647e-02 9.99840215e-01 -4.41588586e-04 4.83997115e-02] [ 2.72857638e-02 -4.61897602e-05 9.99627673e-01 9.76313687e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.405336195 meters Centerline goodness [0,1] 0.9998924661806138 Centerline is valid? [True, True] Translation: X:23.05, Y:0.05, Z:0.09 [[ 9.99431196e-01 -1.61261849e-02 -2.96180892e-02 2.30507970e+01] [ 1.61189862e-02 9.99869965e-01 -4.81811252e-04 5.20065745e-02] [ 2.96220076e-02 4.12362584e-06 9.99561172e-01 9.36614766e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.435336195 meters Centerline goodness [0,1] 0.9998075401492633 Centerline is valid? [True, True] Translation: X:23.08, Y:0.05, Z:0.09 [[ 9.99417617e-01 -1.43923391e-02 -3.09400687e-02 2.30794957e+01] [ 1.43835145e-02 9.99896423e-01 -5.07772987e-04 5.35090627e-02] [ 3.09441721e-02 6.24503396e-05 9.99521112e-01 9.16739197e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.465336195000003 meters Centerline goodness [0,1] 0.9999349678090654 Centerline is valid? [True, True] Translation: X:23.11, Y:0.05, Z:0.09 [[ 9.99404073e-01 -1.68487934e-02 -3.01266704e-02 2.31085979e+01] [ 1.68413973e-02 9.99858049e-01 -4.99244012e-04 4.52126307e-02] [ 3.01308055e-02 -8.42872773e-06 9.99545964e-01 9.06840543e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.495336195 meters Centerline goodness [0,1] 0.9999784719381714 Centerline is valid? [True, True] Translation: X:23.14, Y:0.04, Z:0.10 [[ 9.99360317e-01 -1.95877405e-02 -2.99211783e-02 2.31368136e+01] [ 1.95815093e-02 9.99808138e-01 -5.01282108e-04 4.35732849e-02] [ 2.99252566e-02 -8.49403867e-05 9.99552136e-01 9.55123200e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.525336195 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:23.16, Y:0.04, Z:0.10 [[ 9.99251330e-01 -2.52690421e-02 -2.92960021e-02 2.31645114e+01] [ 2.52654295e-02 9.99680656e-01 -4.93532889e-04 4.00268183e-02] [ 2.92991177e-02 -2.47012681e-04 9.99570658e-01 9.82964794e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.555336195000002 meters Centerline goodness [0,1] 0.999870939987094 Centerline is valid? [True, True] Translation: X:23.19, Y:0.03, Z:0.10 [[ 9.99192960e-01 -2.79585908e-02 -2.88399898e-02 2.31924951e+01] [ 2.79561619e-02 9.99609031e-01 -4.87508020e-04 3.42508691e-02] [ 2.88423443e-02 -3.19140843e-04 9.99583922e-01 9.74794877e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.585336195 meters Centerline goodness [0,1] 0.9999785711224446 Centerline is valid? [True, True] Translation: X:23.22, Y:0.03, Z:0.10 [[ 9.99171903e-01 -2.98865258e-02 -2.76098618e-02 2.32198044e+01] [ 2.98849550e-02 9.99553235e-01 -4.69623788e-04 2.57590378e-02] [ 2.76115621e-02 -3.55884583e-04 9.99618665e-01 9.60973832e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.615336195 meters Centerline goodness [0,1] 0.9995927466026493 Centerline is valid? [True, True] Translation: X:23.25, Y:0.02, Z:0.10 [[ 9.99137397e-01 -3.05170726e-02 -2.81632730e-02 2.32496965e+01] [ 3.05156469e-02 9.99534174e-01 -4.80515453e-04 2.44502015e-02] [ 2.81648178e-02 -3.79319537e-04 9.99603221e-01 9.58213040e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.645336195000002 meters Centerline goodness [0,1] 0.9999571596872657 Centerline is valid? [True, True] Translation: X:23.28, Y:0.03, Z:0.10 [[ 9.99153613e-01 -2.93474244e-02 -2.88233715e-02 2.32791354e+01] [ 2.93454254e-02 9.99569209e-01 -4.92449823e-04 2.56592138e-02] [ 2.88254068e-02 -3.53801077e-04 9.99584399e-01 9.79165534e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.675336195 meters Centerline goodness [0,1] 0.9995690305341867 Centerline is valid? [True, True] Translation: X:23.31, Y:0.03, Z:0.10 [[ 9.99180215e-01 -2.83884917e-02 -2.88615839e-02 2.33076473e+01] [ 2.83859815e-02 9.99596913e-01 -4.96768451e-04 3.15873591e-02] [ 2.88640527e-02 -3.22903180e-04 9.99583294e-01 1.02185680e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.705336195 meters Centerline goodness [0,1] 0.9996991576413959 Centerline is valid? [True, True] Translation: X:23.34, Y:0.04, Z:0.10 [[ 9.99241671e-01 -2.54509409e-02 -2.94674716e-02 2.33354295e+01] [ 2.54469025e-02 9.99676044e-01 -5.12109162e-04 3.70557610e-02] [ 2.94709591e-02 -2.38135060e-04 9.99565609e-01 9.83746126e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.735336195000002 meters Centerline goodness [0,1] 0.9999784964734216 Centerline is valid? [True, True] Translation: X:23.36, Y:0.04, Z:0.09 [[ 9.99270367e-01 -2.36377947e-02 -2.99998108e-02 2.33628263e+01] [ 2.36326683e-02 9.99720571e-01 -5.25484135e-04 3.69402325e-02] [ 3.00038492e-02 -1.83874854e-04 9.99549766e-01 9.45911956e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.765336195 meters Centerline goodness [0,1] 0.9997857709034041 Centerline is valid? [True, True] Translation: X:23.39, Y:0.04, Z:0.09 [[ 9.99272145e-01 -2.28157950e-02 -3.05715497e-02 2.33902256e+01] [ 2.28100165e-02 9.99739673e-01 -5.37799494e-04 3.51534306e-02] [ 3.05758614e-02 -1.59929499e-04 9.99532436e-01 9.07619574e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.795336195 meters Centerline goodness [0,1] 0.9997857709034041 Centerline is valid? [True, True] Translation: X:23.42, Y:0.04, Z:0.09 [[ 9.99268036e-01 -2.29951827e-02 -3.05714698e-02 2.34175875e+01] [ 2.29893500e-02 9.99735563e-01 -5.42315178e-04 3.57916475e-02] [ 3.05758563e-02 -1.60899997e-04 9.99532436e-01 9.09785194e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.825336195000002 meters Centerline goodness [0,1] 0.9999565595134665 Centerline is valid? [True, True] Translation: X:23.45, Y:0.03, Z:0.09 [[ 9.99239990e-01 -2.32013158e-02 -3.13231740e-02 2.34458462e+01] [ 2.31952047e-02 9.99730799e-01 -5.58495732e-04 3.45387405e-02] [ 3.13276996e-02 -1.68476164e-04 9.99509153e-01 9.35762169e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.855336195 meters Centerline goodness [0,1] 0.999827653065621 Centerline is valid? [True, True] Translation: X:23.47, Y:0.04, Z:0.09 [[ 9.99125294e-01 -2.54964088e-02 -3.31448253e-02 2.34740207e+01] [ 2.54907724e-02 9.99674882e-01 -5.92670735e-04 3.58445122e-02] [ 3.31491602e-02 -2.52734875e-04 9.99450384e-01 9.44865244e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.885336195 meters Centerline goodness [0,1] 0.9998717016636017 Centerline is valid? [True, True] Translation: X:23.50, Y:0.04, Z:0.09 [[ 9.99102344e-01 -2.66594645e-02 -3.29208099e-02 2.35008926e+01] [ 2.66544152e-02 9.99644532e-01 -5.92307484e-04 3.61056244e-02] [ 3.29248982e-02 -2.85709140e-04 9.99457788e-01 9.22990882e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.915336195000002 meters Centerline goodness [0,1] 0.9997644035125295 Centerline is valid? [True, True] Translation: X:23.53, Y:0.04, Z:0.10 [[ 9.99129624e-01 -2.80529436e-02 -3.08711197e-02 2.35295710e+01] [ 2.80490250e-02 9.99606392e-01 -5.60066863e-04 3.57674849e-02] [ 3.08746801e-02 -3.06325414e-04 9.99523216e-01 9.74781438e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.945336195 meters Centerline goodness [0,1] 0.9999143303848708 Centerline is valid? [True, True] Translation: X:23.56, Y:0.03, Z:0.10 [[ 9.99190170e-01 -2.79583960e-02 -2.89367094e-02 2.35577157e+01] [ 2.79548446e-02 9.99609048e-01 -5.27350272e-04 3.31502173e-02] [ 2.89401404e-02 -2.81998006e-04 9.99581107e-01 9.71099605e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.975336195 meters Centerline goodness [0,1] 0.9995698554714384 Centerline is valid? [True, True] Translation: X:23.59, Y:0.03, Z:0.10 [[ 9.99264233e-01 -2.79901550e-02 -2.62210719e-02 2.35870124e+01] [ 2.79871675e-02 9.99608167e-01 -4.80988349e-04 3.04384403e-02] [ 2.62242606e-02 -2.53219079e-04 9.99656053e-01 9.82420553e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.005336195 meters Centerline goodness [0,1] 0.9999569299681281 Centerline is valid? [True, True] Translation: X:23.62, Y:0.03, Z:0.10 [[ 9.99289260e-01 -2.78240113e-02 -2.54322446e-02 2.36164415e+01] [ 2.78211077e-02 9.99612808e-01 -4.68066373e-04 3.12631541e-02] [ 2.54354210e-02 -2.39819516e-04 9.99676439e-01 1.01501125e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.035336195 meters Centerline goodness [0,1] 0.9992331941722757 Centerline is valid? [True, True] Translation: X:23.65, Y:0.04, Z:0.10 [[ 9.99198310e-01 -2.89806200e-02 -2.76199422e-02 2.36456131e+01] [ 2.89776254e-02 9.99579931e-01 -5.08758530e-04 3.61346236e-02] [ 2.76230840e-02 -2.92009674e-04 9.99618367e-01 1.00549929e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.065336195 meters Centerline goodness [0,1] 0.9999784468823415 Centerline is valid? [True, True] Translation: X:23.67, Y:0.04, Z:0.10 [[ 9.99130598e-01 -3.04667805e-02 -2.84573822e-02 2.36746832e+01] [ 3.04641816e-02 9.99535721e-01 -5.24976534e-04 4.27645981e-02] [ 2.84601644e-02 -3.42410739e-04 9.99594869e-01 1.02707693e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.095336195 meters Centerline goodness [0,1] 0.9998281233215168 Centerline is valid? [True, True] Translation: X:23.71, Y:0.03, Z:0.09 [[ 9.98934989e-01 -3.29676359e-02 -3.22803667e-02 2.37051179e+01] [ 3.29655787e-02 9.99456310e-01 -5.96082190e-04 3.33741593e-02] [ 3.22824676e-02 -4.68693611e-04 9.99478675e-01 9.31305979e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.125336195 meters Centerline goodness [0,1] 0.9999352611135088 Centerline is valid? [True, True] Translation: X:23.73, Y:0.03, Z:0.09 [[ 9.98876833e-01 -3.33050617e-02 -3.37023104e-02 2.37333427e+01] [ 3.33029577e-02 9.99445108e-01 -6.23937526e-04 3.28076318e-02] [ 3.37043895e-02 -4.99149875e-04 9.99431721e-01 9.24836572e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.155336195 meters Centerline goodness [0,1] 0.9997210539867822 Centerline is valid? [True, True] Translation: X:23.76, Y:0.03, Z:0.09 [[ 9.98887169e-01 -3.28778927e-02 -3.38152018e-02 2.37614336e+01] [ 3.28754633e-02 9.99459259e-01 -6.27994286e-04 3.42305233e-02] [ 3.38175637e-02 -4.84394992e-04 9.99427905e-01 9.17408758e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.185336195 meters Centerline goodness [0,1] 0.9997860138663015 Centerline is valid? [True, True] Translation: X:23.79, Y:0.04, Z:0.09 [[ 9.98896224e-01 -3.27059677e-02 -3.37142875e-02 2.37892661e+01] [ 3.27033901e-02 9.99464904e-01 -6.28042752e-04 3.53161984e-02] [ 3.37167879e-02 -4.75221964e-04 9.99431314e-01 9.10689381e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.215336195000003 meters Centerline goodness [0,1] 0.999913552765231 Centerline is valid? [True, True] Translation: X:23.82, Y:0.04, Z:0.10 [[ 9.99080946e-01 -3.05450750e-02 -3.00709326e-02 2.38192453e+01] [ 3.05420255e-02 9.99533326e-01 -5.60829708e-04 4.42913079e-02] [ 3.00740298e-02 -3.58112915e-04 9.99547610e-01 1.00671573e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.245336195 meters Centerline goodness [0,1] 0.9996779733791327 Centerline is valid? [True, True] Translation: X:23.85, Y:0.05, Z:0.10 [[ 9.99160240e-01 -2.97987380e-02 -2.81220388e-02 2.38473669e+01] [ 2.97957466e-02 9.99555870e-01 -5.25502773e-04 4.91312169e-02] [ 2.81252083e-02 -3.12855666e-04 9.99604359e-01 1.04109766e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.275336195 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:23.88, Y:0.05, Z:0.10 [[ 9.99207742e-01 -2.92727375e-02 -2.69628439e-02 2.38770491e+01] [ 2.92697749e-02 9.99571421e-01 -5.04627762e-04 4.84400078e-02] [ 2.69660600e-02 -2.84968403e-04 9.99636309e-01 1.01811892e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.305336195000002 meters Centerline goodness [0,1] 0.9999785536587458 Centerline is valid? [True, True] Translation: X:23.91, Y:0.05, Z:0.10 [[ 9.99247969e-01 -2.89425650e-02 -2.58035565e-02 2.39060237e+01] [ 2.89397212e-02 9.99581042e-01 -4.83714584e-04 4.62817511e-02] [ 2.58067458e-02 -2.63396915e-04 9.99666916e-01 1.00941781e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.335336195 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:23.94, Y:0.06, Z:0.11 [[ 9.99295496e-01 -2.66351615e-02 -2.64401196e-02 2.39359880e+01] [ 2.66313610e-02 9.99645199e-01 -4.95923679e-04 5.58421708e-02] [ 2.64439476e-02 -2.08562071e-04 9.99650276e-01 1.06417101e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.365336195 meters Centerline goodness [0,1] 0.9999354046896195 Centerline is valid? [True, True] Translation: X:23.96, Y:0.06, Z:0.10 [[ 9.99254631e-01 -2.59914888e-02 -2.85416457e-02 2.39648229e+01] [ 2.59867768e-02 9.99662143e-01 -5.36070547e-04 6.14292104e-02] [ 2.85459360e-02 -2.06034400e-04 9.99592461e-01 1.03921122e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.395336195000002 meters Centerline goodness [0,1] 0.9999570529751551 Centerline is valid? [True, True] Translation: X:23.99, Y:0.07, Z:0.10 [[ 9.99144798e-01 -2.66410105e-02 -3.16216448e-02 2.39937735e+01] [ 2.66355155e-02 9.99645035e-01 -5.95070354e-04 6.88861014e-02] [ 3.16262734e-02 -2.47697361e-04 9.99499734e-01 1.02989618e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.425336195 meters Centerline goodness [0,1] 0.9999357931683931 Centerline is valid? [True, True] Translation: X:24.02, Y:0.07, Z:0.10 [[ 9.99143390e-01 -2.68332189e-02 -3.15034142e-02 2.40206738e+01] [ 2.68277903e-02 9.99639893e-01 -5.95068678e-04 7.12181131e-02] [ 3.15080372e-02 -2.50608055e-04 9.99503467e-01 1.00717604e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.455336195 meters Centerline goodness [0,1] 0.9997411952466193 Centerline is valid? [True, True] Translation: X:24.05, Y:0.07, Z:0.10 [[ 9.99165643e-01 -2.71472605e-02 -3.05130088e-02 2.40485048e+01] [ 2.71422563e-02 9.99631414e-01 -5.78259609e-04 7.31900220e-02] [ 3.05174603e-02 -2.50414772e-04 9.99534202e-01 9.94293844e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.485336195000002 meters Centerline goodness [0,1] 0.9998087588449034 Centerline is valid? [True, True] Translation: X:24.08, Y:0.07, Z:0.10 [[ 9.99183244e-01 -2.66125702e-02 -3.04074898e-02 2.40774443e+01] [ 2.66072313e-02 9.99645797e-01 -5.80260624e-04 7.49127363e-02] [ 3.04121616e-02 -2.29272422e-04 9.99537417e-01 9.89226311e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.515336195 meters Centerline goodness [0,1] 0.9994435169727324 Centerline is valid? [True, True] Translation: X:24.11, Y:0.08, Z:0.10 [[ 9.99211800e-01 -2.60701003e-02 -2.99353921e-02 2.41052878e+01] [ 2.60645420e-02 9.99660096e-01 -5.75940290e-04 7.83423894e-02] [ 2.99402318e-02 -2.04765950e-04 9.99551670e-01 9.50920037e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.545336195 meters Centerline goodness [0,1] 0.9998917280207882 Centerline is valid? [True, True] Translation: X:24.13, Y:0.08, Z:0.10 [[ 9.99273507e-01 -2.59465224e-02 -2.79148165e-02 2.41343256e+01] [ 2.59415233e-02 9.99663316e-01 -5.41277651e-04 8.47960516e-02] [ 2.79194623e-02 -1.83268444e-04 9.99610159e-01 1.04457387e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.575336195000002 meters Centerline goodness [0,1] 0.9997841058744792 Centerline is valid? [True, True] Translation: X:24.16, Y:0.09, Z:0.11 [[ 9.99323813e-01 -2.59734046e-02 -2.60249742e-02 2.41626365e+01] [ 2.59689624e-02 9.99662620e-01 -5.08711314e-04 8.98364295e-02] [ 2.60294069e-02 -1.67474247e-04 9.99661164e-01 1.08475291e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.605336195 meters Centerline goodness [0,1] 0.9998926600974646 Centerline is valid? [True, True] Translation: X:24.19, Y:0.10, Z:0.11 [[ 9.99368596e-01 -2.49291867e-02 -2.53168728e-02 2.41918528e+01] [ 2.49246188e-02 9.99689210e-01 -4.96018316e-04 9.59787251e-02] [ 2.53213699e-02 -1.35308274e-04 9.99679354e-01 1.07662997e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.635336195 meters Centerline goodness [0,1] 0.9999139914421485 Centerline is valid? [True, True] Translation: X:24.22, Y:0.10, Z:0.11 [[ 9.99341310e-01 -2.59560096e-02 -2.53620185e-02 2.42204455e+01] [ 2.59517423e-02 9.99663073e-01 -4.97446639e-04 1.00043858e-01] [ 2.53663850e-02 -1.61069591e-04 9.99678209e-01 1.07417759e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.665336195000002 meters Centerline goodness [0,1] 0.9999360286591606 Centerline is valid? [True, True] Translation: X:24.25, Y:0.10, Z:0.11 [[ 9.99317068e-01 -2.69057540e-02 -2.53273981e-02 2.42499607e+01] [ 2.69017959e-02 9.99637958e-01 -4.97058653e-04 9.97728913e-02] [ 2.53316022e-02 -1.84633298e-04 9.99679086e-01 1.05463985e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.695336195 meters Centerline goodness [0,1] 0.9999353406470246 Centerline is valid? [True, True] Translation: X:24.28, Y:0.10, Z:0.10 [[ 9.99168741e-01 -3.11452366e-02 -2.63021125e-02 2.42805195e+01] [ 3.11424359e-02 9.99514823e-01 -5.16199088e-04 9.64713513e-02] [ 2.63054285e-02 -3.03341862e-04 9.99653906e-01 1.04651634e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.725336195 meters Centerline goodness [0,1] 0.9995903671603821 Centerline is valid? [True, True] Translation: X:24.31, Y:0.09, Z:0.10 [[ 9.99014741e-01 -3.44577891e-02 -2.79679965e-02 2.43104884e+01] [ 3.44559201e-02 9.99406068e-01 -5.48893336e-04 9.27544605e-02] [ 2.79702991e-02 -4.15310519e-04 9.99608668e-01 1.01331312e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.755336195 meters Centerline goodness [0,1] 0.9999570723331187 Centerline is valid? [True, True] Translation: X:24.34, Y:0.09, Z:0.10 [[ 9.98680985e-01 -4.15290396e-02 -3.01931965e-02 2.43411775e+01] [ 4.15300921e-02 9.99137078e-01 -5.92518682e-04 8.78645812e-02] [ 3.01917489e-02 -6.62189091e-04 9.99543906e-01 1.01843309e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.785336195 meters Centerline goodness [0,1] 0.9998494235071417 Centerline is valid? [True, True] Translation: X:24.37, Y:0.09, Z:0.11 [[ 9.98541625e-01 -4.45875566e-02 -3.04396491e-02 2.43728393e+01] [ 4.45900709e-02 9.99005190e-01 -5.96543099e-04 9.19643774e-02] [ 3.04359658e-02 -7.61632993e-04 9.99536429e-01 1.08533275e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.815336195 meters Centerline goodness [0,1] 0.9990333805902822 Centerline is valid? [True, True] Translation: X:24.40, Y:0.08, Z:0.11 [[ 9.98421347e-01 -4.85974708e-02 -2.81620239e-02 2.44036612e+01] [ 4.86012364e-02 9.98818110e-01 -5.51167980e-04 8.20996604e-02] [ 2.81555249e-02 -8.18411306e-04 9.99603220e-01 1.07210660e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.845336195 meters Centerline goodness [0,1] 0.9998266785103018 Centerline is valid? [True, True] Translation: X:24.44, Y:0.08, Z:0.11 [[ 9.98340099e-01 -5.14288500e-02 -2.59252723e-02 2.44359349e+01] [ 5.14330204e-02 9.98676318e-01 -5.06371501e-04 7.56037617e-02] [ 2.59169976e-02 -8.27884086e-04 9.99663755e-01 1.07993855e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.875336195 meters Centerline goodness [0,1] 0.9994817310183985 Centerline is valid? [True, True] Translation: X:24.47, Y:0.08, Z:0.11 [[ 9.98340758e-01 -5.13484320e-02 -2.60589759e-02 2.44693009e+01] [ 5.13526617e-02 9.98680453e-01 -5.07313482e-04 7.57236503e-02] [ 2.60506396e-02 -8.31726046e-04 9.99660278e-01 1.08212143e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.905336195 meters Centerline goodness [0,1] 0.9998916224124851 Centerline is valid? [True, True] Translation: X:24.50, Y:0.08, Z:0.11 [[ 9.98378469e-01 -5.03830512e-02 -2.64949245e-02 2.45008840e+01] [ 5.03871459e-02 9.98729629e-01 -5.13471983e-04 7.56635627e-02] [ 2.64871364e-02 -8.22364254e-04 9.99648816e-01 1.07836334e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.935336195 meters Centerline goodness [0,1] 0.9997398655972253 Centerline is valid? [True, True] Translation: X:24.53, Y:0.08, Z:0.11 [[ 9.98437830e-01 -4.89132265e-02 -2.70073295e-02 2.45324935e+01] [ 4.89169889e-02 9.98802711e-01 -5.21746620e-04 7.90605790e-02] [ 2.70005142e-02 -8.00185672e-04 9.99635099e-01 1.10952357e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.965336195000003 meters Centerline goodness [0,1] 0.9996533570206035 Centerline is valid? [True, True] Translation: X:24.57, Y:0.09, Z:0.11 [[ 9.98456951e-01 -4.77519665e-02 -2.83454955e-02 2.45650345e+01] [ 4.77556823e-02 9.98858897e-01 -5.46246695e-04 8.57616587e-02] [ 2.83392347e-02 -8.08254665e-04 9.99598036e-01 1.13100950e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.995336195 meters Centerline goodness [0,1] 0.9997202195200688 Centerline is valid? [True, True] Translation: X:24.60, Y:0.08, Z:0.11 [[ 9.98554971e-01 -4.52272814e-02 -2.90252121e-02 2.45965665e+01] [ 4.52301446e-02 9.98976437e-01 -5.58227768e-04 8.44071479e-02] [ 2.90207501e-02 -7.55393427e-04 9.99578524e-01 1.09355867e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.025336195 meters Centerline goodness [0,1] 0.9999567230709309 Centerline is valid? [True, True] Translation: X:24.63, Y:0.08, Z:0.11 [[ 9.98774603e-01 -4.20246838e-02 -2.61384471e-02 2.46275334e+01] [ 4.20259211e-02 9.99116394e-01 -5.02246774e-04 8.06079402e-02] [ 2.61364578e-02 -5.96860992e-04 9.99658206e-01 1.09497919e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.055336195000002 meters Centerline goodness [0,1] 0.9999568788943749 Centerline is valid? [True, True] Translation: X:24.66, Y:0.08, Z:0.11 [[ 9.98810042e-01 -4.08467844e-02 -2.66465639e-02 2.46585517e+01] [ 4.08476714e-02 9.99165255e-01 -5.11259032e-04 7.91285927e-02] [ 2.66452041e-02 -5.77799430e-04 9.99644787e-01 1.06980869e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.085336195 meters Centerline goodness [0,1] 0.9997396115872844 Centerline is valid? [True, True] Translation: X:24.69, Y:0.09, Z:0.11 [[ 9.98859469e-01 -3.85094754e-02 -2.82273081e-02 2.46905010e+01] [ 3.85095741e-02 9.99258085e-01 -5.40324038e-04 9.12851114e-02] [ 2.82271734e-02 -5.47313829e-04 9.99601384e-01 1.11815342e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.115336195 meters Centerline goodness [0,1] 0.9994849011654111 Centerline is valid? [True, True] Translation: X:24.72, Y:0.09, Z:0.11 [[ 9.98918773e-01 -3.70185303e-02 -2.81231862e-02 2.47215429e+01] [ 3.70180686e-02 9.99314452e-01 -5.37232713e-04 9.40519515e-02] [ 2.81237940e-02 -5.04414194e-04 9.99604321e-01 1.11805765e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.145336195000002 meters Centerline goodness [0,1] 0.9997645396750647 Centerline is valid? [True, True] Translation: X:24.75, Y:0.09, Z:0.11 [[ 9.98985946e-01 -3.48141274e-02 -2.85491915e-02 2.47515984e+01] [ 3.48127668e-02 9.99393703e-01 -5.44847220e-04 9.24230768e-02] [ 2.85508506e-02 -4.49581631e-04 9.99592240e-01 1.07544496e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.175336195 meters Centerline goodness [0,1] 0.9996350756681335 Centerline is valid? [True, True] Translation: X:24.78, Y:0.09, Z:0.10 [[ 9.98981867e-01 -3.45521638e-02 -2.90064943e-02 2.47832087e+01] [ 3.45506655e-02 9.99402795e-01 -5.53005159e-04 8.88562507e-02] [ 2.90082790e-02 -4.49751555e-04 9.99579070e-01 1.04382334e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.205336195 meters Centerline goodness [0,1] 0.9999136889349215 Centerline is valid? [True, True] Translation: X:24.81, Y:0.08, Z:0.10 [[ 9.98933758e-01 -3.43342751e-02 -3.08626589e-02 2.48145645e+01] [ 3.43324974e-02 9.99410293e-01 -5.87675907e-04 8.47413741e-02] [ 3.08646364e-02 -4.72542852e-04 9.99523462e-01 1.02747725e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.235336195000002 meters Centerline goodness [0,1] 0.9998496725008054 Centerline is valid? [True, True] Translation: X:24.84, Y:0.09, Z:0.10 [[ 9.98913318e-01 -3.40506216e-02 -3.18235533e-02 2.48439949e+01] [ 3.40485912e-02 9.99419995e-01 -6.05868551e-04 8.69733196e-02] [ 3.18257256e-02 -4.78336991e-04 9.99493319e-01 1.03635524e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.265336195 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:24.87, Y:0.09, Z:0.11 [[ 9.98906882e-01 -3.42317141e-02 -3.18312987e-02 2.48739457e+01] [ 3.42297556e-02 9.99413806e-01 -6.06611274e-04 9.04377162e-02] [ 3.18334047e-02 -4.83629397e-04 9.99493072e-01 1.09535674e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.295336195 meters Centerline goodness [0,1] 0.9999565274094683 Centerline is valid? [True, True] Translation: X:24.90, Y:0.09, Z:0.11 [[ 9.98889418e-01 -3.48478911e-02 -3.17104980e-02 2.49040023e+01] [ 3.48462340e-02 9.99392502e-01 -6.05058655e-04 8.80933452e-02] [ 3.17123190e-02 -5.00604747e-04 9.99496913e-01 1.09937489e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.325336195000002 meters Centerline goodness [0,1] 0.9998479979154 Centerline is valid? [True, True] Translation: X:24.93, Y:0.08, Z:0.11 [[ 9.98849003e-01 -3.71303613e-02 -3.03645547e-02 2.49333880e+01] [ 3.71298822e-02 9.99310280e-01 -5.79819810e-04 7.55565936e-02] [ 3.03651406e-02 -5.48279899e-04 9.99538722e-01 1.06434986e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.355336195 meters Centerline goodness [0,1] 0.999764090246204 Centerline is valid? [True, True] Translation: X:24.96, Y:0.07, Z:0.11 [[ 9.98810418e-01 -3.87750921e-02 -2.95675635e-02 2.49634168e+01] [ 3.87753624e-02 9.99247793e-01 -5.64445770e-04 6.86774893e-02] [ 2.95672091e-02 -5.82718676e-04 9.99562625e-01 1.06136641e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.385336195 meters Centerline goodness [0,1] 0.999870803815594 Centerline is valid? [True, True] Translation: X:24.99, Y:0.06, Z:0.11 [[ 9.98721357e-01 -4.12213215e-02 -2.92652159e-02 2.49945456e+01] [ 4.12226528e-02 9.99149829e-01 -5.58086761e-04 6.31627736e-02] [ 2.92633406e-02 -6.49016670e-04 9.99571526e-01 1.09978118e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.415336195000002 meters Centerline goodness [0,1] 0.9998478095445157 Centerline is valid? [True, True] Translation: X:25.03, Y:0.06, Z:0.11 [[ 9.98692276e-01 -4.19526866e-02 -2.92183181e-02 2.50270817e+01] [ 4.19543608e-02 9.99119373e-01 -5.56018697e-04 5.96380818e-02] [ 2.92159141e-02 -6.70544281e-04 9.99572899e-01 1.09768757e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.445336195 meters Centerline goodness [0,1] 0.9997421406622687 Centerline is valid? [True, True] Translation: X:25.06, Y:0.05, Z:0.11 [[ 9.98672077e-01 -4.23623136e-02 -2.93175278e-02 2.50589463e+01] [ 4.23642332e-02 9.99102078e-01 -5.55940177e-04 4.92541905e-02] [ 2.93147539e-02 -6.86812654e-04 9.99569994e-01 1.07300620e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.475336195 meters Centerline goodness [0,1] 0.9996561284360291 Centerline is valid? [True, True] Translation: X:25.09, Y:0.05, Z:0.11 [[ 9.98645318e-01 -4.22083150e-02 -3.04300432e-02 2.50910427e+01] [ 4.22103616e-02 9.99108580e-01 -5.75406933e-04 4.91037889e-02] [ 3.04272042e-02 -7.09835688e-04 9.99536733e-01 1.07827307e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.505336195 meters Centerline goodness [0,1] 0.9996122778675283 Centerline is valid? [True, True] Translation: X:25.12, Y:0.05, Z:0.11 [[ 9.98680414e-01 -4.05436731e-02 -3.15220827e-02 2.51220586e+01] [ 4.05450779e-02 9.99177533e-01 -5.94887986e-04 4.70061604e-02] [ 3.15202758e-02 -6.83962320e-04 9.99502879e-01 1.06974596e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.535336195 meters Centerline goodness [0,1] 0.9999138191063042 Centerline is valid? [True, True] Translation: X:25.15, Y:0.05, Z:0.11 [[ 9.98754727e-01 -3.91381309e-02 -3.09386950e-02 2.51526984e+01] [ 3.91388181e-02 9.99233612e-01 -5.83616074e-04 4.55084480e-02] [ 3.09378256e-02 -6.28014645e-04 9.99521114e-01 1.08382264e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.565336195 meters Centerline goodness [0,1] 0.9996325754301029 Centerline is valid? [True, True] Translation: X:25.18, Y:0.04, Z:0.11 [[ 9.98833780e-01 -3.66437651e-02 -3.14374625e-02 2.51832773e+01] [ 3.66432400e-02 9.99328235e-01 -5.93024638e-04 3.88985792e-02] [ 3.14380745e-02 -5.59637442e-04 9.99505545e-01 1.07058319e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.595336195 meters Centerline goodness [0,1] 0.999913670306902 Centerline is valid? [True, True] Translation: X:25.21, Y:0.04, Z:0.11 [[ 9.98939974e-01 -3.47724916e-02 -3.01629135e-02 2.52123828e+01] [ 3.47711394e-02 9.99395139e-01 -5.69506944e-04 3.91240672e-02] [ 3.01644723e-02 -4.79895617e-04 9.99544834e-01 1.10437388e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.625336195 meters Centerline goodness [0,1] 0.9998911410594152 Centerline is valid? [True, True] Translation: X:25.24, Y:0.04, Z:0.11 [[ 9.98972260e-01 -3.42833178e-02 -2.96492311e-02 2.52408479e+01] [ 3.42817686e-02 9.99412050e-01 -5.60725552e-04 3.87043334e-02] [ 2.96510223e-02 -4.56278807e-04 9.99560208e-01 1.12185756e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.655336195 meters Centerline goodness [0,1] 0.9998704942801641 Centerline is valid? [True, True] Translation: X:25.27, Y:0.04, Z:0.12 [[ 9.99015852e-01 -3.34212606e-02 -2.91606993e-02 2.52705342e+01] [ 3.34193800e-02 9.99441264e-01 -5.51994475e-04 4.02137936e-02] [ 2.91628545e-02 -4.23081260e-04 9.99574584e-01 1.15517649e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.685336195 meters Centerline goodness [0,1] 0.9997231509679068 Centerline is valid? [True, True] Translation: X:25.30, Y:0.04, Z:0.11 [[ 9.99128143e-01 -2.93427147e-02 -2.96977868e-02 2.52989713e+01] [ 2.93389378e-02 9.99569362e-01 -5.63010397e-04 3.95095954e-02] [ 2.97015181e-02 -3.08781988e-04 9.99558765e-01 1.10738330e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.715336195 meters Centerline goodness [0,1] 0.9997231509679068 Centerline is valid? [True, True] Translation: X:25.33, Y:0.04, Z:0.11 [[ 9.99122875e-01 -2.95216386e-02 -2.96977073e-02 2.53263390e+01] [ 2.95178166e-02 9.99564093e-01 -5.67186635e-04 4.01841767e-02] [ 2.97015061e-02 -3.09922335e-04 9.99558765e-01 1.10954820e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.745336195 meters Centerline goodness [0,1] 0.9999784566332026 Centerline is valid? [True, True] Translation: X:25.35, Y:0.04, Z:0.11 [[ 9.99169374e-01 -2.68176585e-02 -3.06818554e-02 2.53537335e+01] [ 2.68121281e-02 9.99640315e-01 -5.91729675e-04 4.23288894e-02] [ 3.06866884e-02 -2.31407668e-04 9.99529026e-01 1.10471847e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.775336195 meters Centerline goodness [0,1] 0.9999352163772999 Centerline is valid? [True, True] Translation: X:25.38, Y:0.05, Z:0.11 [[ 9.99308593e-01 -1.98582674e-02 -3.14322305e-02 2.53819286e+01] [ 1.98488497e-02 9.99802805e-01 -6.11646030e-04 4.75987413e-02] [ 3.14381784e-02 -1.26704838e-05 9.99505698e-01 1.08772601e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.805336195000002 meters Centerline goodness [0,1] 0.9999141041058237 Centerline is valid? [True, True] Translation: X:25.41, Y:0.05, Z:0.11 [[ 9.99367264e-01 -1.59344509e-02 -3.17988044e-02 2.54091281e+01] [ 1.59227296e-02 9.99873032e-01 -6.21816497e-04 5.43691756e-02] [ 3.18046753e-02 1.15099287e-04 9.99494097e-01 1.06750247e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.835336195 meters Centerline goodness [0,1] 0.9998926992574788 Centerline is valid? [True, True] Translation: X:25.44, Y:0.07, Z:0.11 [[ 9.99488032e-01 -1.03067829e-02 -3.02893376e-02 2.54352886e+01] [ 1.02934943e-02 9.99946844e-01 -5.94621071e-04 6.95333230e-02] [ 3.02938562e-02 2.82533519e-04 9.99540996e-01 1.11478168e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.865336195 meters Centerline goodness [0,1] 0.999978300965607 Centerline is valid? [True, True] Translation: X:25.46, Y:0.08, Z:0.12 [[ 9.99498867e-01 -8.21834176e-03 -3.05691494e-02 2.54633546e+01] [ 8.20376847e-03 9.99966167e-01 -6.02123967e-04 7.79268016e-02] [ 3.05730636e-02 3.51039999e-04 9.99532473e-01 1.17450972e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.895336195000002 meters Centerline goodness [0,1] 0.999935179983579 Centerline is valid? [True, True] Translation: X:25.49, Y:0.08, Z:0.11 [[ 9.99453652e-01 -7.79422976e-03 -3.21192833e-02 2.54923871e+01] [ 7.77777291e-03 9.99969550e-01 -6.37277270e-04 8.10373046e-02] [ 3.21232724e-02 3.87112603e-04 9.99483840e-01 1.14611224e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.925336195 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:25.52, Y:0.08, Z:0.11 [[ 9.99440945e-01 -7.58762300e-03 -3.25610936e-02 2.55201698e+01] [ 7.57048365e-03 9.99971132e-01 -6.49629043e-04 8.26467202e-02] [ 3.25650828e-02 4.02762638e-04 9.99469536e-01 1.08934098e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.955336195 meters Centerline goodness [0,1] 0.9999567230709309 Centerline is valid? [True, True] Translation: X:25.55, Y:0.08, Z:0.11 [[ 9.99462447e-01 -7.61033958e-03 -3.18888775e-02 2.55489395e+01] [ 7.59376092e-03 9.99970962e-01 -6.40967005e-04 7.98599335e-02] [ 3.18928295e-02 3.98465940e-04 9.99491215e-01 1.07381857e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.985336195000002 meters Centerline goodness [0,1] 0.9999567324333679 Centerline is valid? [True, True] Translation: X:25.58, Y:0.08, Z:0.11 [[ 9.99453076e-01 -7.88407229e-03 -3.21152691e-02 2.55771907e+01] [ 7.86720495e-03 9.99968841e-01 -6.51541802e-04 8.15542714e-02] [ 3.21194053e-02 3.98528054e-04 9.99483959e-01 1.07263946e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.015336195 meters Centerline goodness [0,1] 0.9998700905036159 Centerline is valid? [True, True] Translation: X:25.61, Y:0.09, Z:0.11 [[ 9.99456065e-01 -8.76015386e-03 -3.17936148e-02 2.56057001e+01] [ 8.74388729e-03 9.99961560e-01 -6.50631764e-04 9.21404384e-02] [ 3.17980923e-02 3.72278078e-04 9.99494243e-01 1.14789422e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.045336195 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:25.63, Y:0.10, Z:0.12 [[ 9.99474532e-01 -8.88336008e-03 -3.11728466e-02 2.56336388e+01] [ 8.86769704e-03 9.99960476e-01 -6.40673997e-04 9.95072737e-02] [ 3.11773058e-02 3.63905984e-04 9.99513803e-01 1.18302069e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.075336195000002 meters Centerline goodness [0,1] 0.9999349028968211 Centerline is valid? [True, True] Translation: X:25.66, Y:0.10, Z:0.12 [[ 9.99502863e-01 -9.88040297e-03 -2.99400217e-02 2.56610150e+01] [ 9.86634820e-03 9.99951136e-01 -6.17130608e-04 1.02465870e-01] [ 2.99446562e-02 3.21425130e-04 9.99551507e-01 1.18190633e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.105336195 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:25.69, Y:0.10, Z:0.11 [[ 9.99483949e-01 -1.16403015e-02 -2.99389123e-02 2.56887121e+01] [ 1.16269832e-02 9.99932213e-01 -6.18903516e-04 1.00411103e-01] [ 2.99440871e-02 2.70484899e-04 9.99551539e-01 1.14122652e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.135336195 meters Centerline goodness [0,1] 0.9998701495444413 Centerline is valid? [True, True] Translation: X:25.72, Y:0.10, Z:0.11 [[ 9.99338532e-01 -1.86044801e-02 -3.12469378e-02 2.57170077e+01] [ 1.85932373e-02 9.99826919e-01 -6.50353812e-04 9.71436808e-02] [ 3.12536291e-02 6.89418952e-05 9.99511484e-01 1.14871359e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.165336195000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:25.74, Y:0.10, Z:0.11 [[ 9.99230683e-01 -2.27618488e-02 -3.19365202e-02 2.57444283e+01] [ 2.27521379e-02 9.99740914e-01 -6.67489317e-04 9.80417054e-02] [ 3.19434392e-02 -5.96483063e-05 9.99489676e-01 1.14933828e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.195336195 meters Centerline goodness [0,1] 0.9998488773747841 Centerline is valid? [True, True] Translation: X:25.77, Y:0.09, Z:0.11 [[ 9.98972688e-01 -3.01737329e-02 -3.38099665e-02 2.57736861e+01] [ 3.01670448e-02 9.99544620e-01 -7.08033285e-04 9.43350901e-02] [ 3.38159342e-02 -3.12640861e-04 9.99428029e-01 1.14014268e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.225336195 meters Centerline goodness [0,1] 0.9997413347128815 Centerline is valid? [True, True] Translation: X:25.80, Y:0.08, Z:0.11 [[ 9.98805772e-01 -3.69023724e-02 -3.20194344e-02 2.58023804e+01] [ 3.68996924e-02 9.99318747e-01 -6.74801990e-04 8.19731220e-02] [ 3.20225228e-02 -5.07511156e-04 9.99487019e-01 1.14866075e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.255336195 meters Centerline goodness [0,1] 0.9999133880432194 Centerline is valid? [True, True] Translation: X:25.83, Y:0.08, Z:0.12 [[ 9.98753724e-01 -3.92522987e-02 -3.08262142e-02 2.58325226e+01] [ 3.92508941e-02 9.99229175e-01 -6.50918470e-04 7.71759207e-02] [ 3.08280026e-02 -5.59849221e-04 9.99524547e-01 1.16751473e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.285336195 meters Centerline goodness [0,1] 0.999526209243227 Centerline is valid? [True, True] Translation: X:25.86, Y:0.08, Z:0.12 [[ 9.98625382e-01 -4.25505353e-02 -3.06071561e-02 2.58640037e+01] [ 4.25507148e-02 9.99094100e-01 -6.45761098e-04 7.61131298e-02] [ 3.06069065e-02 -6.57482948e-04 9.99531283e-01 1.20826098e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.315336195 meters Centerline goodness [0,1] 0.9989377384668748 Centerline is valid? [True, True] Translation: X:25.90, Y:0.08, Z:0.12 [[ 9.98552655e-01 -4.35669522e-02 -3.15359548e-02 2.58964398e+01] [ 4.35676905e-02 9.99050257e-01 -6.64059734e-04 7.79941216e-02] [ 3.15349348e-02 -7.10850106e-04 9.99502397e-01 1.21371502e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.345336195 meters Centerline goodness [0,1] 0.9990280357682837 Centerline is valid? [True, True] Translation: X:25.93, Y:0.08, Z:0.12 [[ 9.98511033e-01 -4.39249102e-02 -3.23468562e-02 2.59289760e+01] [ 4.39259248e-02 9.99034560e-01 -6.79594601e-04 7.88421238e-02] [ 3.23454784e-02 -7.42282865e-04 9.99476472e-01 1.20776634e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.375336195 meters Centerline goodness [0,1] 0.9990746519184833 Centerline is valid? [True, True] Translation: X:25.96, Y:0.07, Z:0.12 [[ 9.98534737e-01 -4.37702391e-02 -3.18205192e-02 2.59608355e+01] [ 4.37711898e-02 9.99041360e-01 -6.67043849e-04 7.43301413e-02] [ 3.18192114e-02 -7.26755529e-04 9.99493376e-01 1.18127012e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.405336195 meters Centerline goodness [0,1] 0.9994139353158238 Centerline is valid? [True, True] Translation: X:25.99, Y:0.07, Z:0.12 [[ 9.98604239e-01 -4.43383950e-02 -2.86998405e-02 2.59920419e+01] [ 4.43394258e-02 9.99016343e-01 -6.00796384e-04 6.94556666e-02] [ 2.86982480e-02 -6.72576631e-04 9.99587894e-01 1.24288244e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.435336195 meters Centerline goodness [0,1] 0.9989424156090823 Centerline is valid? [True, True] Translation: X:26.02, Y:0.07, Z:0.13 [[ 9.98603727e-01 -4.45557582e-02 -2.83792385e-02 2.60235055e+01] [ 4.45568795e-02 9.99006673e-01 -5.93173915e-04 6.96888775e-02] [ 2.83774779e-02 -6.72144627e-04 9.99597052e-01 1.26825189e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.465336195 meters Centerline goodness [0,1] 0.9990073584946376 Centerline is valid? [True, True] Translation: X:26.06, Y:0.07, Z:0.13 [[ 9.98596205e-01 -4.30906338e-02 -3.08028756e-02 2.60554845e+01] [ 4.30913014e-02 9.99070932e-01 -6.42458456e-04 7.34094443e-02] [ 3.08019416e-02 -6.85779421e-04 9.99525272e-01 1.26695652e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.495336195 meters Centerline goodness [0,1] 0.9996103136974736 Centerline is valid? [True, True] Translation: X:26.09, Y:0.07, Z:0.13 [[ 9.98747503e-01 -3.96413628e-02 -3.05284637e-02 2.60871448e+01] [ 3.96404435e-02 9.99213807e-01 -6.35571354e-04 7.44121586e-02] [ 3.05296573e-02 -5.75386538e-04 9.99533696e-01 1.25673987e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.525336195 meters Centerline goodness [0,1] 0.9997413514387327 Centerline is valid? [True, True] Translation: X:26.12, Y:0.07, Z:0.12 [[ 9.98835603e-01 -3.74558876e-02 -3.04055190e-02 2.61187348e+01] [ 3.74539881e-02 9.99298153e-01 -6.32205261e-04 7.36713873e-02] [ 3.04078588e-02 -5.07338825e-04 9.99537445e-01 1.24889175e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.555336195000002 meters Centerline goodness [0,1] 0.9999133223541649 Centerline is valid? [True, True] Translation: X:26.15, Y:0.07, Z:0.12 [[ 9.98939426e-01 -3.33358665e-02 -3.17607136e-02 2.61484988e+01] [ 3.33317097e-02 9.99444126e-01 -6.60468867e-04 7.16764693e-02] [ 3.17650759e-02 -3.98870495e-04 9.99495283e-01 1.20072852e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.585336195 meters Centerline goodness [0,1] 0.9997181999479754 Centerline is valid? [True, True] Translation: X:26.18, Y:0.07, Z:0.12 [[ 9.98978725e-01 -3.12981206e-02 -3.25873505e-02 2.61771466e+01] [ 3.12925255e-02 9.99510036e-01 -6.81812157e-04 7.36213139e-02] [ 3.25927233e-02 -3.38624656e-04 9.99468659e-01 1.19802556e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.615336195 meters Centerline goodness [0,1] 0.9999565217391304 Centerline is valid? [True, True] Translation: X:26.20, Y:0.08, Z:0.12 [[ 9.99070106e-01 -2.63809202e-02 -3.41023493e-02 2.62043822e+01] [ 2.63718093e-02 9.99651946e-01 -7.17015641e-04 8.23033747e-02] [ 3.41093954e-02 -1.82991762e-04 9.99418089e-01 1.21709844e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.645336195000002 meters Centerline goodness [0,1] 0.9999567052711332 Centerline is valid? [True, True] Translation: X:26.23, Y:0.09, Z:0.13 [[ 9.99160683e-01 -2.42174991e-02 -3.30369911e-02 2.62331666e+01] [ 2.42076090e-02 9.99706708e-01 -6.99370861e-04 8.73868047e-02] [ 3.30442386e-02 -1.00962697e-04 9.99453885e-01 1.27292394e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.675336195 meters Centerline goodness [0,1] 0.9997625779715525 Centerline is valid? [True, True] Translation: X:26.26, Y:0.09, Z:0.13 [[ 9.99376119e-01 -1.97567222e-02 -2.92753263e-02 2.62629271e+01] [ 1.97469940e-02 9.99804816e-01 -6.21402871e-04 8.84613702e-02] [ 2.92818891e-02 4.29154944e-05 9.99571193e-01 1.31870473e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.705336195 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:26.29, Y:0.09, Z:0.13 [[ 9.99522639e-01 -1.44271487e-02 -2.73194336e-02 2.62911943e+01] [ 1.44166365e-02 9.99895906e-01 -5.81726178e-04 8.72970460e-02] [ 2.73249825e-02 1.87594141e-04 9.99626585e-01 1.27686027e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.735336195000002 meters Centerline goodness [0,1] 0.9999351000540833 Centerline is valid? [True, True] Translation: X:26.32, Y:0.09, Z:0.13 [[ 9.99550080e-01 -1.20947300e-02 -2.74472978e-02 2.63198548e+01] [ 1.20831326e-02 9.99926823e-01 -5.88355197e-04 9.05685147e-02] [ 2.74524053e-02 2.56441145e-04 9.99623079e-01 1.29965146e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.765336195 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:26.35, Y:0.10, Z:0.13 [[ 9.99505876e-01 -1.00716318e-02 -2.97752555e-02 2.63493923e+01] [ 1.00570278e-02 9.99949222e-01 -6.40197468e-04 9.90729934e-02] [ 2.97801914e-02 3.40430560e-04 9.99556414e-01 1.33346832e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.795336195 meters Centerline goodness [0,1] 0.9998711201804318 Centerline is valid? [True, True] Translation: X:26.38, Y:0.10, Z:0.13 [[ 9.99468811e-01 -1.07693665e-02 -3.07589940e-02 2.63776970e+01] [ 1.07539865e-02 9.99941953e-01 -6.65409676e-04 1.02228379e-01] [ 3.07643746e-02 3.34274412e-04 9.99526609e-01 1.34098864e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.825336195000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:26.41, Y:0.10, Z:0.13 [[ 9.99406897e-01 -1.45983381e-02 -3.11888218e-02 2.64052100e+01] [ 1.45843030e-02 9.99893414e-01 -6.77457958e-04 9.73709049e-02] [ 3.11953873e-02 2.22188927e-04 9.99513281e-01 1.33602745e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.855336195 meters Centerline goodness [0,1] 0.9999351028619637 Centerline is valid? [True, True] Translation: X:26.43, Y:0.09, Z:0.13 [[ 9.99390011e-01 -1.72950435e-02 -3.03395285e-02 2.64336664e+01] [ 1.72828762e-02 9.99850420e-01 -6.63247734e-04 9.06761039e-02] [ 3.03464612e-02 1.38488843e-04 9.99539430e-01 1.33408442e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.885336195 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:26.46, Y:0.08, Z:0.13 [[ 9.99331558e-01 -2.23033660e-02 -2.89654289e-02 2.64617874e+01] [ 2.22943061e-02 9.99751249e-01 -6.35733629e-04 7.66372978e-02] [ 2.89724027e-02 -1.04554599e-05 9.99580212e-01 1.29771362e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.915336195000002 meters Centerline goodness [0,1] 0.9997413904573079 Centerline is valid? [True, True] Translation: X:26.49, Y:0.07, Z:0.13 [[ 9.99264807e-01 -2.51567488e-02 -2.89306570e-02 2.64898394e+01] [ 2.51488573e-02 9.99683515e-01 -6.36661225e-04 7.05943823e-02] [ 2.89375172e-02 -9.13798080e-05 9.99581218e-01 1.27725204e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.945336195 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:26.52, Y:0.07, Z:0.13 [[ 9.99160102e-01 -2.89576867e-02 -2.89921202e-02 2.65182669e+01] [ 2.89512473e-02 9.99580619e-01 -6.41939485e-04 6.86563956e-02] [ 2.89985506e-02 -1.97957720e-04 9.99579434e-01 1.34433762e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.975336195 meters Centerline goodness [0,1] 0.9995035292593951 Centerline is valid? [True, True] Translation: X:26.55, Y:0.07, Z:0.14 [[ 9.99157198e-01 -3.03616599e-02 -2.76236073e-02 2.65467841e+01] [ 3.03562258e-02 9.99538954e-01 -6.16151379e-04 7.38411644e-02] [ 2.76295789e-02 -2.22916375e-04 9.99618205e-01 1.42874769e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.005336195 meters Centerline goodness [0,1] 0.9996958571397536 Centerline is valid? [True, True] Translation: X:26.58, Y:0.07, Z:0.14 [[ 9.99137898e-01 -3.10309997e-02 -2.75778608e-02 2.65766626e+01] [ 3.10257894e-02 9.99518394e-01 -6.16907108e-04 7.41030042e-02] [ 2.75837224e-02 -2.39249630e-04 9.99619468e-01 1.44028336e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.035336195 meters Centerline goodness [0,1] 0.9995875930628813 Centerline is valid? [True, True] Translation: X:26.61, Y:0.07, Z:0.14 [[ 9.99119696e-01 -3.08959557e-02 -2.83773151e-02 2.66062368e+01] [ 3.08903651e-02 9.99522577e-01 -6.35472392e-04 6.93954035e-02] [ 2.83834006e-02 -2.41672641e-04 9.99597081e-01 1.39766655e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.065336195 meters Centerline goodness [0,1] 0.9999566301637212 Centerline is valid? [True, True] Translation: X:26.63, Y:0.07, Z:0.14 [[ 9.99141520e-01 -3.03283685e-02 -2.82208064e-02 2.66347642e+01] [ 3.03225873e-02 9.99539964e-01 -6.32879737e-04 6.65780693e-02] [ 2.82270180e-02 -2.23391443e-04 9.99601513e-01 1.36870690e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.095336195 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:26.66, Y:0.06, Z:0.14 [[ 9.99187459e-01 -2.99324668e-02 -2.69901850e-02 2.66631463e+01] [ 2.99270090e-02 9.99551903e-01 -6.06223412e-04 6.37824281e-02] [ 2.69962365e-02 -2.02004679e-04 9.99635515e-01 1.36650205e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.125336195 meters Centerline goodness [0,1] 0.9998918568184276 Centerline is valid? [True, True] Translation: X:26.69, Y:0.07, Z:0.14 [[ 9.99172332e-01 -3.02088591e-02 -2.72410737e-02 2.66925713e+01] [ 3.02033822e-02 9.99543586e-01 -6.12588133e-04 6.72013850e-02] [ 2.72471461e-02 -2.10691449e-04 9.99628705e-01 1.39362726e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.155336195 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:26.72, Y:0.08, Z:0.14 [[ 9.99073055e-01 -3.04487619e-02 -3.04286596e-02 2.67223314e+01] [ 3.04420171e-02 9.99536300e-01 -6.85006117e-04 7.61709059e-02] [ 3.04354074e-02 -2.41938621e-04 9.99536706e-01 1.41137671e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.185336195 meters Centerline goodness [0,1] 0.9998489002093811 Centerline is valid? [True, True] Translation: X:26.75, Y:0.08, Z:0.14 [[ 9.99042786e-01 -3.04452915e-02 -3.14101295e-02 2.67509306e+01] [ 3.04379727e-02 9.99536405e-01 -7.11241557e-04 7.61986041e-02] [ 3.14172218e-02 -2.45499916e-04 9.99506327e-01 1.38157867e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.215336195 meters Centerline goodness [0,1] 0.9998921181521997 Centerline is valid? [True, True] Translation: X:26.78, Y:0.07, Z:0.13 [[ 9.99047498e-01 -3.04381680e-02 -3.12668179e-02 2.67788382e+01] [ 3.04308274e-02 9.99536622e-01 -7.10708919e-04 7.19288496e-02] [ 3.12739622e-02 -2.41443171e-04 9.99510821e-01 1.32388353e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.245336195 meters Centerline goodness [0,1] 0.9997185903541432 Centerline is valid? [True, True] Translation: X:26.81, Y:0.07, Z:0.13 [[ 9.99000703e-01 -3.05683306e-02 -3.26063361e-02 2.68071130e+01] [ 3.05603531e-02 9.99532647e-01 -7.43109891e-04 7.26359006e-02] [ 3.26138130e-02 -2.54093842e-04 9.99467996e-01 1.32869630e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.275336195 meters Centerline goodness [0,1] 0.999978391927224 Centerline is valid? [True, True] Translation: X:26.84, Y:0.08, Z:0.13 [[ 9.98972411e-01 -3.05021534e-02 -3.35222476e-02 2.68351316e+01] [ 3.04936175e-02 9.99534668e-01 -7.65975532e-04 7.50639227e-02] [ 3.35300125e-02 -2.57026172e-04 9.99437678e-01 1.31338904e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.305336195000002 meters Centerline goodness [0,1] 0.9999568109181999 Centerline is valid? [True, True] Translation: X:26.86, Y:0.08, Z:0.13 [[ 9.98927491e-01 -3.09099113e-02 -3.44738426e-02 2.68640327e+01] [ 3.09009566e-02 9.99522137e-01 -7.92648162e-04 7.81318272e-02] [ 3.44818696e-02 -2.73476674e-04 9.99405286e-01 1.32458389e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.335336195 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:26.89, Y:0.08, Z:0.13 [[ 9.98902166e-01 -3.22065404e-02 -3.40176540e-02 2.68906731e+01] [ 3.21984544e-02 9.99481187e-01 -7.85632178e-04 7.90308434e-02] [ 3.40253076e-02 -3.10546194e-04 9.99420923e-01 1.33458067e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.365336195 meters Centerline goodness [0,1] 0.9999783028488359 Centerline is valid? [True, True] Translation: X:26.92, Y:0.08, Z:0.14 [[ 9.98887564e-01 -3.36130343e-02 -3.30726125e-02 2.69195904e+01] [ 3.36060028e-02 9.99434863e-01 -7.68614853e-04 7.93205944e-02] [ 3.30797575e-02 -3.43678490e-04 9.99452656e-01 1.35985495e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.395336195000002 meters Centerline goodness [0,1] 0.9998484028153762 Centerline is valid? [True, True] Translation: X:26.95, Y:0.08, Z:0.14 [[ 9.98810696e-01 -3.71651636e-02 -3.15585854e-02 2.69471663e+01] [ 3.71603511e-02 9.99309042e-01 -7.39194658e-04 7.73178896e-02] [ 3.15642520e-02 -4.34412582e-04 9.99501630e-01 1.40095044e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.425336195 meters Centerline goodness [0,1] 0.9999346803692737 Centerline is valid? [True, True] Translation: X:26.98, Y:0.08, Z:0.14 [[ 9.98761530e-01 -4.03321430e-02 -2.91328781e-02 2.69767320e+01] [ 4.03293498e-02 9.99186207e-01 -6.83690449e-04 7.56528529e-02] [ 2.91367446e-02 -4.92066310e-04 9.99575314e-01 1.44626547e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.455336195 meters Centerline goodness [0,1] 0.99956979995698 Centerline is valid? [True, True] Translation: X:27.01, Y:0.08, Z:0.15 [[ 9.98751425e-01 -4.07514275e-02 -2.88948314e-02 2.70084839e+01] [ 4.07488845e-02 9.99169190e-01 -6.77086794e-04 8.18903321e-02] [ 2.88984175e-02 -5.01190745e-04 9.99582228e-01 1.46581302e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.485336195000002 meters Centerline goodness [0,1] 0.9996974215997753 Centerline is valid? [True, True] Translation: X:27.04, Y:0.08, Z:0.14 [[ 9.98723141e-01 -4.00736664e-02 -3.07601974e-02 2.70395910e+01] [ 4.00705004e-02 9.99196596e-01 -7.19598823e-04 8.26442295e-02] [ 3.07643215e-02 -5.13896507e-04 9.99526534e-01 1.42387306e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.515336195 meters Centerline goodness [0,1] 0.9997621004368701 Centerline is valid? [True, True] Translation: X:27.07, Y:0.08, Z:0.14 [[ 9.98674416e-01 -4.01411255e-02 -3.22195731e-02 2.70702497e+01] [ 4.01377059e-02 9.99193874e-01 -7.53165632e-04 7.94054003e-02] [ 3.22238330e-02 -5.41052501e-04 9.99480531e-01 1.36330069e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.545336195 meters Centerline goodness [0,1] 0.9997626292052394 Centerline is valid? [True, True] Translation: X:27.10, Y:0.08, Z:0.14 [[ 9.98623723e-01 -4.17096389e-02 -3.17957009e-02 2.71009772e+01] [ 4.17071061e-02 9.99129604e-01 -7.43166504e-04 8.00988088e-02] [ 3.17990233e-02 -5.83962969e-04 9.99494113e-01 1.40002063e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.575336195000002 meters Centerline goodness [0,1] 0.9999565595134665 Centerline is valid? [True, True] Translation: X:27.13, Y:0.09, Z:0.15 [[ 9.98567106e-01 -4.25200347e-02 -3.24927949e-02 2.71320266e+01] [ 4.25178381e-02 9.99095420e-01 -7.58856426e-04 8.73450559e-02] [ 3.24956691e-02 -6.23754327e-04 9.99471682e-01 1.46178042e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.605336195 meters Centerline goodness [0,1] 0.9999565595134665 Centerline is valid? [True, True] Translation: X:27.16, Y:0.09, Z:0.15 [[ 9.98568147e-01 -4.24955615e-02 -3.24928134e-02 2.71628843e+01] [ 4.24933779e-02 9.99096461e-01 -7.58060324e-04 8.80291126e-02] [ 3.24956691e-02 -6.23754508e-04 9.99471682e-01 1.46421805e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.635336195 meters Centerline goodness [0,1] 0.9995264845784636 Centerline is valid? [True, True] Translation: X:27.19, Y:0.09, Z:0.14 [[ 9.98540376e-01 -4.24178343e-02 -3.34341718e-02 2.71931839e+01] [ 4.24154962e-02 9.99099754e-01 -7.79511808e-04 8.59964137e-02] [ 3.34371380e-02 -6.39752973e-04 9.99440618e-01 1.41651314e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.665336195000002 meters Centerline goodness [0,1] 0.9997388693040867 Centerline is valid? [True, True] Translation: X:27.22, Y:0.08, Z:0.14 [[ 9.98507899e-01 -4.25883523e-02 -3.41790450e-02 2.72242353e+01] [ 4.25860336e-02 9.99092486e-01 -7.96155864e-04 8.44739643e-02] [ 3.41819340e-02 -6.60582038e-04 9.99415409e-01 1.39692504e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.695336195 meters Centerline goodness [0,1] 0.9994415687622157 Centerline is valid? [True, True] Translation: X:27.25, Y:0.08, Z:0.14 [[ 9.98599524e-01 -4.15530818e-02 -3.27464666e-02 2.72536211e+01] [ 4.15503929e-02 9.99136118e-01 -7.62899449e-04 8.44155657e-02] [ 3.27498783e-02 -5.98797523e-04 9.99463399e-01 1.41095915e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.725336195 meters Centerline goodness [0,1] 0.9998706701442028 Centerline is valid? [True, True] Translation: X:27.29, Y:0.09, Z:0.14 [[ 9.98621439e-01 -4.07049894e-02 -3.31409988e-02 2.72853612e+01] [ 4.07017879e-02 9.99171041e-01 -7.71511539e-04 8.84759646e-02] [ 3.31449306e-02 -5.78449938e-04 9.99450388e-01 1.44052446e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.755336195 meters Centerline goodness [0,1] 0.9998707759901789 Centerline is valid? [True, True] Translation: X:27.32, Y:0.09, Z:0.14 [[ 9.98675426e-01 -3.93098358e-02 -3.31983551e-02 2.73153992e+01] [ 3.93058598e-02 9.99226927e-01 -7.72635664e-04 8.92432888e-02] [ 3.32030625e-02 -5.33277638e-04 9.99448484e-01 1.41566425e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.785336195 meters Centerline goodness [0,1] 0.9994603695389397 Centerline is valid? [True, True] Translation: X:27.34, Y:0.09, Z:0.14 [[ 9.98911709e-01 -3.45877769e-02 -3.12902920e-02 2.73439823e+01] [ 3.45819118e-02 9.99401601e-01 -7.28755398e-04 9.21232149e-02] [ 3.12967740e-02 -3.54115819e-04 9.99510073e-01 1.41518224e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.815336195 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:27.37, Y:0.10, Z:0.14 [[ 9.99135076e-01 -2.92115619e-02 -2.95936582e-02 2.73739489e+01] [ 2.92039526e-02 9.99573236e-01 -6.89408711e-04 9.58887341e-02] [ 2.96011674e-02 -1.75439365e-04 9.99561774e-01 1.43759719e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.845336195 meters Centerline goodness [0,1] 0.99989152365869 Centerline is valid? [True, True] Translation: X:27.40, Y:0.10, Z:0.15 [[ 9.99213614e-01 -2.65511556e-02 -2.94480985e-02 2.74028972e+01] [ 2.65423564e-02 9.99647452e-01 -6.89728428e-04 1.01049303e-01] [ 2.94560297e-02 -9.24358897e-05 9.99566073e-01 1.47350003e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.875336195 meters Centerline goodness [0,1] 0.9998916998787039 Centerline is valid? [True, True] Translation: X:27.43, Y:0.11, Z:0.15 [[ 9.99344542e-01 -2.14101802e-02 -2.91906063e-02 2.74305238e+01] [ 2.13992640e-02 9.99770774e-01 -6.86342850e-04 1.14026891e-01] [ 2.91986098e-02 6.12354904e-05 9.99573628e-01 1.50479274e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.905336195 meters Centerline goodness [0,1] 0.9999138655009798 Centerline is valid? [True, True] Translation: X:27.46, Y:0.12, Z:0.15 [[ 9.99384721e-01 -1.95480609e-02 -2.91213550e-02 2.74580532e+01] [ 1.95363550e-02 9.99808912e-01 -6.86466570e-04 1.20232778e-01] [ 2.91292093e-02 1.17119073e-04 9.99575648e-01 1.48451303e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.935336195 meters Centerline goodness [0,1] 0.9997636035416487 Centerline is valid? [True, True] Translation: X:27.49, Y:0.13, Z:0.15 [[ 9.99398647e-01 -1.55922985e-02 -3.09713464e-02 2.74868921e+01] [ 1.55771180e-02 9.99878402e-01 -7.31380849e-04 1.29482717e-01] [ 3.09789843e-02 2.48496714e-04 9.99520005e-01 1.46951781e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.965336195 meters Centerline goodness [0,1] 0.9998921414241646 Centerline is valid? [True, True] Translation: X:27.52, Y:0.13, Z:0.14 [[ 9.99317387e-01 -1.16275770e-02 -3.50650661e-02 2.75166203e+01] [ 1.16056505e-02 9.99932309e-01 -8.28791355e-04 1.32071268e-01] [ 3.50723293e-02 4.21272711e-04 9.99384688e-01 1.37233506e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.995336195 meters Centerline goodness [0,1] 0.9999355628584315 Centerline is valid? [True, True] Translation: X:27.54, Y:0.13, Z:0.13 [[ 9.99298190e-01 -1.08941072e-02 -3.58391713e-02 2.75443078e+01] [ 1.08706656e-02 9.99940552e-01 -8.48878350e-04 1.34871235e-01] [ 3.58462885e-02 4.58686952e-04 9.99357210e-01 1.32197819e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.025336195 meters Centerline goodness [0,1] 0.999978391927224 Centerline is valid? [True, True] Translation: X:27.57, Y:0.14, Z:0.14 [[ 9.99333842e-01 -1.11358832e-02 -3.47543403e-02 2.75725385e+01] [ 1.11138132e-02 9.99937897e-01 -8.28154819e-04 1.41035135e-01] [ 3.47614042e-02 4.41349891e-04 9.99395542e-01 1.40062511e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.055336195000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:27.60, Y:0.14, Z:0.14 [[ 9.99342973e-01 -1.19374958e-02 -3.42216210e-02 2.76017166e+01] [ 1.19164412e-02 9.99928661e-01 -8.19143754e-04 1.43611856e-01] [ 3.42289582e-02 4.10805618e-04 9.99413933e-01 1.42190982e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.085336195 meters Centerline goodness [0,1] 0.9999782981401506 Centerline is valid? [True, True] Translation: X:27.63, Y:0.15, Z:0.15 [[ 9.99341307e-01 -1.45401680e-02 -3.32496055e-02 2.76300190e+01] [ 1.45216691e-02 9.99894237e-01 -7.97798141e-04 1.48531636e-01] [ 3.32576890e-02 3.14432868e-04 9.99446761e-01 1.46970910e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.115336195 meters Centerline goodness [0,1] 0.9998267685844828 Centerline is valid? [True, True] Translation: X:27.66, Y:0.15, Z:0.15 [[ 9.99310077e-01 -1.66007518e-02 -3.32232468e-02 2.76573474e+01] [ 1.65833323e-02 9.99862167e-01 -7.99819252e-04 1.54233791e-01] [ 3.32319451e-02 2.48315298e-04 9.99447636e-01 1.48694914e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.145336195000002 meters Centerline goodness [0,1] 0.9998490598585476 Centerline is valid? [True, True] Translation: X:27.69, Y:0.15, Z:0.15 [[ 9.99251883e-01 -2.19061291e-02 -3.18715549e-02 2.76856299e+01] [ 2.18927384e-02 9.99760029e-01 -7.69092689e-04 1.53154441e-01] [ 3.18807545e-02 7.07617015e-05 9.99491677e-01 1.47187133e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.175336195 meters Centerline goodness [0,1] 0.9999565953383394 Centerline is valid? [True, True] Translation: X:27.71, Y:0.15, Z:0.15 [[ 9.99172928e-01 -2.70770152e-02 -3.03363704e-02 2.77140994e+01] [ 2.70671406e-02 9.99633347e-01 -7.36183307e-04 1.45806060e-01] [ 3.03451811e-02 -8.55443735e-05 9.99539475e-01 1.48249479e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.205336195 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:27.74, Y:0.15, Z:0.15 [[ 9.99096020e-01 -2.94189547e-02 -3.06866107e-02 2.77417056e+01] [ 2.94098721e-02 9.99567157e-01 -7.47386478e-04 1.45587749e-01] [ 3.06953156e-02 -1.55778441e-04 9.99528776e-01 1.47315725e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.235336195000002 meters Centerline goodness [0,1] 0.9997616519685381 Centerline is valid? [True, True] Translation: X:27.77, Y:0.14, Z:0.15 [[ 9.98821507e-01 -3.61842289e-02 -3.23465414e-02 2.77715386e+01] [ 3.61776479e-02 9.99345063e-01 -7.88887964e-04 1.41045240e-01] [ 3.23539018e-02 -3.82263520e-04 9.99476402e-01 1.45983339e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.265336195 meters Centerline goodness [0,1] 0.9999134873258932 Centerline is valid? [True, True] Translation: X:27.80, Y:0.14, Z:0.14 [[ 9.98703614e-01 -3.91388775e-02 -3.25459481e-02 2.78013870e+01] [ 3.91337676e-02 9.99233665e-01 -7.94226211e-04 1.35531464e-01] [ 3.25520921e-02 -4.80448981e-04 9.99469925e-01 1.42717771e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.295336195 meters Centerline goodness [0,1] 0.9995051954477981 Centerline is valid? [True, True] Translation: X:27.83, Y:0.13, Z:0.15 [[ 9.98439431e-01 -4.49008038e-02 -3.32057383e-02 2.78322191e+01] [ 4.48986752e-02 9.98991218e-01 -8.10127892e-04 1.31421741e-01] [ 3.32086163e-02 -6.82030028e-04 9.99448209e-01 1.47026230e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.325336195000002 meters Centerline goodness [0,1] 0.9944929656240589 Centerline is valid? [True, True] Translation: X:27.86, Y:0.12, Z:0.15 [[ 9.98204504e-01 -5.06178031e-02 -3.20250740e-02 2.78624181e+01] [ 5.06187648e-02 9.98717743e-01 -7.81234705e-04 1.23512901e-01] [ 3.20235540e-02 -8.41237683e-04 9.99486760e-01 1.48594171e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.355336195 meters Centerline goodness [0,1] 0.9915214014497756 Centerline is valid? [True, True] Translation: X:27.89, Y:0.12, Z:0.15 [[ 9.98124756e-01 -5.29969541e-02 -3.06316015e-02 2.78947538e+01] [ 5.29989836e-02 9.98594287e-01 -7.46227073e-04 1.19487822e-01] [ 3.06280901e-02 -8.78616031e-04 9.99530464e-01 1.50844913e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.385336195 meters Centerline goodness [0,1] 0.9951339247265524 Centerline is valid? [True, True] Translation: X:27.93, Y:0.12, Z:0.16 [[ 9.97960947e-01 -5.65606712e-02 -2.95776604e-02 2.79257325e+01] [ 5.65641579e-02 9.98398707e-01 -7.19477646e-04 1.16167679e-01] [ 2.95709921e-02 -9.55024859e-04 9.99562226e-01 1.55147109e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.415336195000002 meters Centerline goodness [0,1] 0.9947033898305084 Centerline is valid? [True, True] Translation: X:27.96, Y:0.12, Z:0.16 [[ 9.97911403e-01 -5.72607841e-02 -2.99004039e-02 2.79580395e+01] [ 5.72647004e-02 9.98358767e-01 -7.26020639e-04 1.15163399e-01] [ 2.98929028e-02 -9.87733395e-04 9.99552619e-01 1.55165750e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.445336195 meters Centerline goodness [0,1] 0.9910556107678348 Centerline is valid? [True, True] Translation: X:27.99, Y:0.11, Z:0.15 [[ 9.97886671e-01 -5.66081189e-02 -3.19016234e-02 2.79894203e+01] [ 5.66123239e-02 9.98395938e-01 -7.72141320e-04 1.08412417e-01] [ 3.18941606e-02 -1.03551550e-03 9.99490715e-01 1.48582078e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.475336195 meters Centerline goodness [0,1] 0.9785044096296778 Centerline is valid? [True, True] Translation: X:28.02, Y:0.10, Z:0.14 [[ 9.97895777e-01 -5.57149328e-02 -3.31642024e-02 2.80205836e+01] [ 5.57190379e-02 9.98446166e-01 -8.01120498e-04 1.01808935e-01] [ 3.31573051e-02 -1.04844269e-03 9.99449595e-01 1.42282594e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.505336195 meters Centerline goodness [0,1] 0.9887640449438202 Centerline is valid? [True, True] Translation: X:28.05, Y:0.11, Z:0.15 [[ 9.98083898e-01 -5.28547829e-02 -3.21699280e-02 2.80512720e+01] [ 5.28571779e-02 9.98601780e-01 -7.76569122e-04 1.06976951e-01] [ 3.21659927e-02 -9.25330469e-04 9.99482112e-01 1.48108284e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.535336195 meters Centerline goodness [0,1] 0.9929122730731601 Centerline is valid? [True, True] Translation: X:28.08, Y:0.11, Z:0.15 [[ 9.98226633e-01 -5.10515087e-02 -3.06158908e-02 2.80818586e+01] [ 5.10528478e-02 9.98695680e-01 -7.38468050e-04 1.12810385e-01] [ 3.06136578e-02 -8.25869941e-04 9.99530951e-01 1.54179594e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.565336195 meters Centerline goodness [0,1] 0.9990306320279178 Centerline is valid? [True, True] Translation: X:28.11, Y:0.12, Z:0.16 [[ 9.98421024e-01 -4.81196256e-02 -2.89820734e-02 2.81123286e+01] [ 4.81196024e-02 9.98841337e-01 -6.98654917e-04 1.20786458e-01] [ 2.89821119e-02 -6.97054091e-04 9.99579687e-01 1.60442031e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.595336195 meters Centerline goodness [0,1] 0.9999132358682921 Centerline is valid? [True, True] Translation: X:28.14, Y:0.12, Z:0.16 [[ 9.98627307e-01 -4.47036156e-02 -2.72963134e-02 2.81435885e+01] [ 4.47023279e-02 9.99000135e-01 -6.57696260e-04 1.16834941e-01] [ 2.72984222e-02 -5.63415307e-04 9.99627170e-01 1.56578917e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.625336195 meters Centerline goodness [0,1] 0.9996337785437311 Centerline is valid? [True, True] Translation: X:28.17, Y:0.11, Z:0.15 [[ 9.98717859e-01 -4.28953270e-02 -2.68817554e-02 2.81746929e+01] [ 4.28934440e-02 9.99079443e-01 -6.46940083e-04 1.12717162e-01] [ 2.68847600e-02 -5.06940455e-04 9.99638411e-01 1.52502070e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.655336195 meters Centerline goodness [0,1] 0.999783418522048 Centerline is valid? [True, True] Translation: X:28.21, Y:0.12, Z:0.15 [[ 9.98874989e-01 -3.88520206e-02 -2.71896364e-02 2.82056870e+01] [ 3.88486168e-02 9.99244894e-01 -6.53611776e-04 1.18054771e-01] [ 2.71944995e-02 -4.03403310e-04 9.99630080e-01 1.54434822e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.685336195 meters Centerline goodness [0,1] 0.9997191496716211 Centerline is valid? [True, True] Translation: X:28.24, Y:0.13, Z:0.15 [[ 9.98917719e-01 -3.66470061e-02 -2.86423997e-02 2.82370560e+01] [ 3.66423752e-02 9.99328207e-01 -6.86711855e-04 1.25304263e-01] [ 2.86483239e-02 -3.63556916e-04 9.99589486e-01 1.54725118e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.715336195 meters Centerline goodness [0,1] 0.999956617934146 Centerline is valid? [True, True] Translation: X:28.27, Y:0.14, Z:0.16 [[ 9.98841238e-01 -3.55215926e-02 -3.24714917e-02 2.82676191e+01] [ 3.55150789e-02 9.99368838e-01 -7.77522749e-04 1.37158755e-01] [ 3.24786157e-02 -3.76605802e-04 9.99472360e-01 1.57732192e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.745336195 meters Centerline goodness [0,1] 0.99991334864174 Centerline is valid? [True, True] Translation: X:28.30, Y:0.13, Z:0.15 [[ 9.98765754e-01 -3.60266073e-02 -3.41914025e-02 2.82958981e+01] [ 3.60196452e-02 9.99350746e-01 -8.19761583e-04 1.32502793e-01] [ 3.41987368e-02 -4.12812389e-04 9.99414967e-01 1.50073617e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.775336195 meters Centerline goodness [0,1] 0.9998473215843657 Centerline is valid? [True, True] Translation: X:28.32, Y:0.12, Z:0.15 [[ 9.98708596e-01 -3.65242358e-02 -3.53145826e-02 2.83244517e+01] [ 3.65170189e-02 9.99332670e-01 -8.49548558e-04 1.24077630e-01] [ 3.53220452e-02 -4.41131831e-04 9.99375885e-01 1.49052257e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.805336195 meters Centerline goodness [0,1] 0.9998695340190046 Centerline is valid? [True, True] Translation: X:28.35, Y:0.12, Z:0.15 [[ 9.98737904e-01 -3.70687375e-02 -3.38896457e-02 2.83527495e+01] [ 3.70623274e-02 9.99312622e-01 -8.17537321e-04 1.18231180e-01] [ 3.38966557e-02 -4.39523633e-04 9.99425247e-01 1.45842264e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.835336195 meters Centerline goodness [0,1] 0.9999132415139356 Centerline is valid? [True, True] Translation: X:28.38, Y:0.12, Z:0.16 [[ 9.98795379e-01 -3.88742575e-02 -2.99429998e-02 2.83825591e+01] [ 3.88700357e-02 9.99244013e-01 -7.23277619e-04 1.18956806e-01] [ 2.99484802e-02 -4.41479127e-04 9.99551346e-01 1.58733591e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.865336195 meters Centerline goodness [0,1] 0.9996748742847235 Centerline is valid? [True, True] Translation: X:28.41, Y:0.12, Z:0.16 [[ 9.98810049e-01 -3.94460684e-02 -2.86791397e-02 2.84133951e+01] [ 3.94424398e-02 9.99221604e-01 -6.92437111e-04 1.21171553e-01] [ 2.86841299e-02 -4.39562094e-04 9.99588429e-01 1.63542333e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.895336195000002 meters Centerline goodness [0,1] 0.9996530112120752 Centerline is valid? [True, True] Translation: X:28.44, Y:0.12, Z:0.17 [[ 9.98933419e-01 -3.83194958e-02 -2.57612140e-02 2.84448808e+01] [ 3.83162084e-02 9.99265471e-01 -6.21394459e-04 1.20962677e-01] [ 2.57661032e-02 -3.66340355e-04 9.99667932e-01 1.68089937e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.925336195 meters Centerline goodness [0,1] 0.9999568974806577 Centerline is valid? [True, True] Translation: X:28.48, Y:0.11, Z:0.16 [[ 9.99035682e-01 -3.64331308e-02 -2.45016951e-02 2.84768577e+01] [ 3.64296086e-02 9.99336047e-01 -5.90246681e-04 1.13766216e-01] [ 2.45069317e-02 -3.02909668e-04 9.99699614e-01 1.64809528e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.955336195 meters Centerline goodness [0,1] 0.9999354227656277 Centerline is valid? [True, True] Translation: X:28.51, Y:0.11, Z:0.16 [[ 9.99023930e-01 -3.61586873e-02 -2.53719456e-02 2.85076262e+01] [ 3.61548399e-02 9.99346014e-01 -6.10509354e-04 1.11364184e-01] [ 2.53774279e-02 -3.07405177e-04 9.99677894e-01 1.62074028e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.985336195000002 meters Centerline goodness [0,1] 0.99961229456997 Centerline is valid? [True, True] Translation: X:28.54, Y:0.12, Z:0.16 [[ 9.98956464e-01 -3.54661253e-02 -2.87773720e-02 2.85391013e+01] [ 3.54609090e-02 9.99370825e-01 -6.91747880e-04 1.16910068e-01] [ 2.87837996e-02 -3.29445753e-04 9.99585606e-01 1.62515122e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.015336195 meters Centerline goodness [0,1] 0.9998492678725237 Centerline is valid? [True, True] Translation: X:28.57, Y:0.12, Z:0.16 [[ 9.98958850e-01 -3.51073717e-02 -2.91322718e-02 2.85694623e+01] [ 3.51019028e-02 9.99383494e-01 -6.99272991e-04 1.18197100e-01] [ 2.91388612e-02 -3.24053231e-04 9.99575321e-01 1.61465548e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.045336195 meters Centerline goodness [0,1] 0.9998267310649542 Centerline is valid? [True, True] Translation: X:28.60, Y:0.11, Z:0.16 [[ 9.98944575e-01 -3.56363413e-02 -2.89790974e-02 2.85996149e+01] [ 3.56311609e-02 9.99364767e-01 -6.95293971e-04 1.13854514e-01] [ 2.89854666e-02 -3.37998742e-04 9.99579776e-01 1.61153545e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.075336195000002 meters Centerline goodness [0,1] 0.9999782438430076 Centerline is valid? [True, True] Translation: X:28.63, Y:0.11, Z:0.16 [[ 9.98936997e-01 -3.61071084e-02 -2.86557538e-02 2.86302611e+01] [ 3.61022366e-02 9.99347865e-01 -6.87536006e-04 1.09909968e-01] [ 2.86618914e-02 -3.47731652e-04 9.99589103e-01 1.60834891e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.105336195 meters Centerline goodness [0,1] 0.9999784254924381 Centerline is valid? [True, True] Translation: X:28.66, Y:0.11, Z:0.16 [[ 9.98927938e-01 -3.67614980e-02 -2.81347904e-02 2.86611780e+01] [ 3.67570680e-02 9.99324003e-01 -6.74793584e-04 1.05971148e-01] [ 2.81405778e-02 -3.60082241e-04 9.99603911e-01 1.60768500e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.135336195 meters Centerline goodness [0,1] 0.9998060261218156 Centerline is valid? [True, True] Translation: X:28.69, Y:0.10, Z:0.16 [[ 9.98879920e-01 -3.80997658e-02 -2.80590883e-02 2.86914603e+01] [ 3.80958967e-02 9.99273861e-01 -6.72645302e-04 1.03091361e-01] [ 2.80643411e-02 -3.97044244e-04 9.99606040e-01 1.62618296e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.165336195000002 meters Centerline goodness [0,1] 0.9999783605989786 Centerline is valid? [True, True] Translation: X:28.72, Y:0.11, Z:0.16 [[ 9.98865353e-01 -3.83773767e-02 -2.81990003e-02 2.87223779e+01] [ 3.83735954e-02 9.99263234e-01 -6.75434754e-04 1.05961021e-01] [ 2.82041456e-02 -4.07428654e-04 9.99602101e-01 1.64628551e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.195336195 meters Centerline goodness [0,1] 0.9999135733114386 Centerline is valid? [True, True] Translation: X:28.75, Y:0.11, Z:0.17 [[ 9.98886724e-01 -3.86200714e-02 -2.70888021e-02 2.87537659e+01] [ 3.86166882e-02 9.99253887e-01 -6.48211680e-04 1.05073702e-01] [ 2.70936248e-02 -3.98589783e-04 9.99632821e-01 1.66420915e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.225336195 meters Centerline goodness [0,1] 0.9999348901814393 Centerline is valid? [True, True] Translation: X:28.79, Y:0.10, Z:0.16 [[ 9.98845079e-01 -3.91033869e-02 -2.79183210e-02 2.87856254e+01] [ 3.91000008e-02 9.99235080e-01 -6.67393866e-04 9.66337356e-02] [ 2.79230631e-02 -4.24983295e-04 9.99609985e-01 1.62074907e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.255336195 meters Centerline goodness [0,1] 0.9998908916335705 Centerline is valid? [True, True] Translation: X:28.82, Y:0.09, Z:0.16 [[ 9.98780329e-01 -3.98599696e-02 -2.91382300e-02 2.88169899e+01] [ 3.98566238e-02 9.99205167e-01 -6.95844637e-04 9.21702989e-02] [ 2.91428063e-02 -4.66355535e-04 9.99575149e-01 1.60399158e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.285336195 meters Centerline goodness [0,1] 0.9998268023381685 Centerline is valid? [True, True] Translation: X:28.85, Y:0.08, Z:0.16 [[ 9.98586376e-01 -4.31181804e-02 -3.10816980e-02 2.88475119e+01] [ 4.31159718e-02 9.99069799e-01 -7.41585869e-04 8.35676259e-02] [ 3.10847616e-02 -5.99580070e-04 9.99516572e-01 1.56911616e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.315336195 meters Centerline goodness [0,1] 0.9994800355309054 Centerline is valid? [True, True] Translation: X:28.88, Y:0.08, Z:0.16 [[ 9.98452335e-01 -4.54180010e-02 -3.20957887e-02 2.88787274e+01] [ 4.54168574e-02 9.98967829e-01 -7.65039197e-04 8.34292757e-02] [ 3.20974070e-02 -6.93834689e-04 9.99484505e-01 1.59143600e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.345336195 meters Centerline goodness [0,1] 0.9970389262325199 Centerline is valid? [True, True] Translation: X:28.91, Y:0.07, Z:0.16 [[ 9.98236389e-01 -4.97114933e-02 -3.24480964e-02 2.89092002e+01] [ 4.97125966e-02 9.98763265e-01 -7.73246051e-04 6.99631157e-02] [ 3.24464059e-02 -8.41196784e-04 9.99473123e-01 1.57325406e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.375336195 meters Centerline goodness [0,1] 0.9983962550387933 Centerline is valid? [True, True] Translation: X:28.94, Y:0.07, Z:0.16 [[ 9.98205890e-01 -5.10816872e-02 -3.12355844e-02 2.89413822e+01] [ 5.10834137e-02 9.98694114e-01 -7.43251067e-04 6.54359228e-02] [ 3.12327608e-02 -8.53702689e-04 9.99511774e-01 1.60004000e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.405336195 meters Centerline goodness [0,1] 0.9997175632223864 Centerline is valid? [True, True] Translation: X:28.97, Y:0.06, Z:0.17 [[ 9.98314499e-01 -5.04009709e-02 -2.87733084e-02 2.89728688e+01] [ 5.04021769e-02 9.98728768e-01 -6.83815786e-04 6.41450165e-02] [ 2.87711958e-02 -7.67574165e-04 9.99585729e-01 1.67128948e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.435336195 meters Centerline goodness [0,1] 0.9986129773308483 Centerline is valid? [True, True] Translation: X:29.00, Y:0.06, Z:0.17 [[ 9.98418103e-01 -4.85832247e-02 -2.83012859e-02 2.90038593e+01] [ 4.85836807e-02 9.98818890e-01 -6.71921638e-04 6.19795807e-02] [ 2.83005031e-02 -7.04121912e-04 9.99599213e-01 1.65430655e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.465336195 meters Centerline goodness [0,1] 0.9998264830278711 Centerline is valid? [True, True] Translation: X:29.03, Y:0.07, Z:0.17 [[ 9.98758470e-01 -4.20343678e-02 -2.67325896e-02 2.90338948e+01] [ 4.20324364e-02 9.99116045e-01 -6.34412809e-04 6.80371329e-02] [ 2.67356263e-02 -4.90010706e-04 9.99642419e-01 1.66907570e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.495336195 meters Centerline goodness [0,1] 0.9998264830278711 Centerline is valid? [True, True] Translation: X:29.07, Y:0.07, Z:0.17 [[ 9.98760412e-01 -4.19881667e-02 -2.67326111e-02 2.90655956e+01] [ 4.19862430e-02 9.99117988e-01 -6.33505611e-04 6.87118223e-02] [ 2.67356324e-02 -4.89681582e-04 9.99642419e-01 1.67158095e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.525336195 meters Centerline goodness [0,1] 0.9995467495467496 Centerline is valid? [True, True] Translation: X:29.10, Y:0.08, Z:0.17 [[ 9.98933222e-01 -3.82396694e-02 -2.58871884e-02 2.90969887e+01] [ 3.82366270e-02 9.99268525e-01 -6.12696778e-04 7.52884727e-02] [ 2.58916818e-02 -3.77795599e-04 9.99664683e-01 1.69920344e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.555336195 meters Centerline goodness [0,1] 0.9999351897859102 Centerline is valid? [True, True] Translation: X:29.13, Y:0.09, Z:0.17 [[ 9.99163286e-01 -3.05880924e-02 -2.71495260e-02 2.91278778e+01] [ 3.05819456e-02 9.99532057e-01 -6.41691629e-04 8.57661411e-02] [ 2.71564497e-02 -1.89130611e-04 9.99631178e-01 1.66535771e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.585336195 meters Centerline goodness [0,1] 0.9999782835302293 Centerline is valid? [True, True] Translation: X:29.16, Y:0.08, Z:0.16 [[ 9.99216348e-01 -2.67097184e-02 -2.92109617e-02 2.91554185e+01] [ 2.67009175e-02 9.99643228e-01 -6.91378254e-04 8.38370069e-02] [ 2.92190066e-02 -8.91230260e-05 9.99573030e-01 1.59777558e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.615336195 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:29.18, Y:0.09, Z:0.16 [[ 9.99268611e-01 -2.57821903e-02 -2.82404238e-02 2.91841581e+01] [ 2.57734848e-02 9.99667583e-01 -6.72278893e-04 8.61914333e-02] [ 2.82483690e-02 -5.60669395e-05 9.99600934e-01 1.63085412e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.645336195000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:29.21, Y:0.09, Z:0.16 [[ 9.99234472e-01 -2.56413719e-02 -2.95464011e-02 2.92117881e+01] [ 2.56317016e-02 9.99671205e-01 -7.06051196e-04 8.61362973e-02] [ 2.95547905e-02 -5.18138442e-05 9.99563160e-01 1.63477408e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.675336195 meters Centerline goodness [0,1] 0.9998285506097169 Centerline is valid? [True, True] Translation: X:29.24, Y:0.08, Z:0.16 [[ 9.99203661e-01 -2.62197725e-02 -3.00760159e-02 2.92395768e+01] [ 2.62099607e-02 9.99656200e-01 -7.20491523e-04 8.47978922e-02] [ 3.00845669e-02 -6.83734264e-05 9.99547355e-01 1.62306472e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.705336195 meters Centerline goodness [0,1] 0.9999784357276864 Centerline is valid? [True, True] Translation: X:29.27, Y:0.08, Z:0.17 [[ 9.99269213e-01 -2.72753989e-02 -2.67785923e-02 2.92681013e+01] [ 2.72679648e-02 9.99627953e-01 -6.42807849e-04 8.43866614e-02] [ 2.67861622e-02 -8.78596177e-05 9.99641183e-01 1.70472786e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.735336195000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:29.30, Y:0.08, Z:0.17 [[ 9.99292450e-01 -2.78291475e-02 -2.53009385e-02 2.92974355e+01] [ 2.78226398e-02 9.99612690e-01 -6.09270628e-04 8.34770483e-02] [ 2.53080947e-02 -9.50993606e-05 9.99679694e-01 1.73021665e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.765336195 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:29.33, Y:0.08, Z:0.18 [[ 9.99358469e-01 -2.77789679e-02 -2.26048574e-02 2.93257126e+01] [ 2.77736898e-02 9.99614087e-01 -5.47473243e-04 7.82873798e-02] [ 2.26113421e-02 -8.06982741e-05 9.99744328e-01 1.75496389e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.795336195 meters Centerline goodness [0,1] 0.9999348435158438 Centerline is valid? [True, True] Translation: X:29.36, Y:0.08, Z:0.18 [[ 9.99435070e-01 -2.57722061e-02 -2.15716190e-02 2.93550480e+01] [ 2.57668974e-02 9.99667841e-01 -5.24055793e-04 8.32432420e-02] [ 2.15779599e-02 -3.20739562e-05 9.99767168e-01 1.80120468e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.825336195000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:29.38, Y:0.09, Z:0.18 [[ 9.99420246e-01 -2.50600737e-02 -2.30469946e-02 2.93840197e+01] [ 2.50538113e-02 9.99685947e-01 -5.60470487e-04 8.66305476e-02] [ 2.30538021e-02 -1.72695037e-05 9.99734226e-01 1.77570507e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.855336195 meters Centerline goodness [0,1] 0.9999782840018241 Centerline is valid? [True, True] Translation: X:29.41, Y:0.09, Z:0.17 [[ 9.99370540e-01 -2.21718601e-02 -2.76935365e-02 2.94138693e+01] [ 2.21616894e-02 9.99754172e-01 -6.74167852e-04 8.75562681e-02] [ 2.77016762e-02 6.00079360e-05 9.99616233e-01 1.66941852e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.885336195 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:29.44, Y:0.09, Z:0.16 [[ 9.99371326e-01 -2.10404896e-02 -2.85350855e-02 2.94425597e+01] [ 2.10291263e-02 9.99778620e-01 -6.98292874e-04 8.65081972e-02] [ 2.85434608e-02 9.77859590e-05 9.99592548e-01 1.63099869e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.915336195000002 meters Centerline goodness [0,1] 0.9999567548866978 Centerline is valid? [True, True] Translation: X:29.47, Y:0.09, Z:0.16 [[ 9.99409546e-01 -2.02850023e-02 -2.77322744e-02 2.94715332e+01] [ 2.02738508e-02 9.99794231e-01 -6.83256183e-04 8.77108732e-02] [ 2.77404278e-02 1.20612758e-04 9.99615153e-01 1.63067774e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.945336195 meters Centerline goodness [0,1] 0.9998277866276316 Centerline is valid? [True, True] Translation: X:29.50, Y:0.09, Z:0.16 [[ 9.99397754e-01 -2.04550853e-02 -2.80306684e-02 2.94996690e+01] [ 2.04436270e-02 9.99790765e-01 -6.95329332e-04 9.21811498e-02] [ 2.80390264e-02 1.21862044e-04 9.99606822e-01 1.64675629e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.975336195 meters Centerline goodness [0,1] 0.9999566320445823 Centerline is valid? [True, True] Translation: X:29.53, Y:0.10, Z:0.17 [[ 9.99352440e-01 -2.15093653e-02 -2.88452496e-02 2.95281490e+01] [ 2.14975277e-02 9.99768642e-01 -7.20471348e-04 1.00742607e-01] [ 2.88540729e-02 9.99032465e-05 9.99583630e-01 1.70259171e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.005336195 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:29.56, Y:0.10, Z:0.17 [[ 9.99324460e-01 -2.28117900e-02 -2.88139717e-02 2.95557656e+01] [ 2.28004442e-02 9.99739775e-01 -7.22295875e-04 1.04367378e-01] [ 2.88229505e-02 6.48365816e-05 9.99584530e-01 1.71479502e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.035336195 meters Centerline goodness [0,1] 0.9999137596481393 Centerline is valid? [True, True] Translation: X:29.58, Y:0.11, Z:0.17 [[ 9.99343784e-01 -2.48277912e-02 -2.63738743e-02 2.95832952e+01] [ 2.48189473e-02 9.99691743e-01 -6.62669079e-04 1.06184751e-01] [ 2.63821970e-02 7.66243018e-06 9.99651929e-01 1.72200207e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.065336195 meters Centerline goodness [0,1] 0.9999354727695088 Centerline is valid? [True, True] Translation: X:29.61, Y:0.10, Z:0.17 [[ 9.99359448e-01 -2.62906669e-02 -2.42794944e-02 2.96123693e+01] [ 2.62835266e-02 9.99654340e-01 -6.13220263e-04 1.00793108e-01] [ 2.42872239e-02 -2.53232714e-05 9.99705022e-01 1.72508026e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.095336195 meters Centerline goodness [0,1] 0.9999351603700182 Centerline is valid? [True, True] Translation: X:29.64, Y:0.10, Z:0.17 [[ 9.99334580e-01 -2.66148331e-02 -2.49409067e-02 2.96404840e+01] [ 2.66073454e-02 9.99645762e-01 -6.32086207e-04 1.02220651e-01] [ 2.49488946e-02 -3.19457147e-05 9.99688727e-01 1.70203058e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.125336195 meters Centerline goodness [0,1] 0.9999783933278596 Centerline is valid? [True, True] Translation: X:29.67, Y:0.11, Z:0.17 [[ 9.99229575e-01 -2.95433912e-02 -2.58349659e-02 2.96684340e+01] [ 2.95363038e-02 9.99563493e-01 -6.55971085e-04 1.07807949e-01] [ 2.58430684e-02 -1.07603694e-04 9.99666006e-01 1.70557071e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.155336195 meters Centerline goodness [0,1] 0.9998928647953718 Centerline is valid? [True, True] Translation: X:29.70, Y:0.11, Z:0.17 [[ 9.99161477e-01 -3.20456087e-02 -2.54837582e-02 2.96985109e+01] [ 3.20395067e-02 9.99486393e-01 -6.47824174e-04 1.09459995e-01] [ 2.54914295e-02 -1.69206082e-04 9.99675026e-01 1.72553938e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.185336195 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:29.73, Y:0.11, Z:0.17 [[ 9.98922935e-01 -3.76252867e-02 -2.71533942e-02 2.97287242e+01] [ 3.76204073e-02 9.99291863e-01 -6.90709775e-04 1.10288151e-01] [ 2.71601540e-02 -3.31555915e-04 9.99631040e-01 1.73940992e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.215336195 meters Centerline goodness [0,1] 0.9998704383502484 Centerline is valid? [True, True] Translation: X:29.76, Y:0.11, Z:0.17 [[ 9.98780929e-01 -4.11885710e-02 -2.72058533e-02 2.97602807e+01] [ 4.11850037e-02 9.99151298e-01 -6.91688808e-04 1.09429419e-01] [ 2.72112533e-02 -4.29627581e-04 9.99629613e-01 1.74417693e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.245336195 meters Centerline goodness [0,1] 0.9995903318312167 Centerline is valid? [True, True] Translation: X:29.79, Y:0.10, Z:0.17 [[ 9.98470975e-01 -4.76686377e-02 -2.79895164e-02 2.97916819e+01] [ 4.76674231e-02 9.98863009e-01 -7.10997415e-04 1.02707011e-01] [ 2.79915848e-02 -6.24277837e-04 9.99607964e-01 1.71064095e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.275336195 meters Centerline goodness [0,1] 0.9986331387906533 Centerline is valid? [True, True] Translation: X:29.82, Y:0.09, Z:0.17 [[ 9.98165409e-01 -5.35703168e-02 -2.82141478e-02 2.98222546e+01] [ 5.35714456e-02 9.98563762e-01 -7.16420789e-04 9.39266068e-02] [ 2.82120045e-02 -7.96366234e-04 9.99601645e-01 1.69009462e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.305336195 meters Centerline goodness [0,1] 0.991040437348143 Centerline is valid? [True, True] Translation: X:29.85, Y:0.09, Z:0.17 [[ 9.98039957e-01 -5.64196925e-02 -2.70751099e-02 2.98537982e+01] [ 5.64217982e-02 9.98406785e-01 -6.86783191e-04 8.80978026e-02] [ 2.70707215e-02 -8.42189321e-04 9.99633166e-01 1.68676438e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.335336195 meters Centerline goodness [0,1] 0.9860460069444444 Centerline is valid? [True, True] Translation: X:29.88, Y:0.09, Z:0.17 [[ 9.97933507e-01 -5.86800690e-02 -2.61794686e-02 2.98845109e+01] [ 5.86828587e-02 9.98276456e-01 -6.62361915e-04 8.60661910e-02] [ 2.61732146e-02 -8.75292911e-04 9.99657040e-01 1.70824319e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.365336195 meters Centerline goodness [0,1] 0.9894219049277381 Centerline is valid? [True, True] Translation: X:29.92, Y:0.09, Z:0.18 [[ 9.97695476e-01 -6.18563805e-02 -2.78841395e-02 2.99154190e+01] [ 6.18608095e-02 9.98084537e-01 -7.04598747e-04 9.13847088e-02] [ 2.78743124e-02 -1.02196046e-03 9.99610913e-01 1.75201811e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.395336195000002 meters Centerline goodness [0,1] 0.981614291302647 Centerline is valid? [True, True] Translation: X:29.95, Y:0.09, Z:0.17 [[ 9.97633398e-01 -6.27712546e-02 -2.80601728e-02 2.99467228e+01] [ 6.27761235e-02 9.98027383e-01 -7.08245328e-04 9.06614385e-02] [ 2.80492783e-02 -1.05493968e-03 9.99605985e-01 1.74976457e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.425336195 meters Centerline goodness [0,1] 0.9837120145552211 Centerline is valid? [True, True] Translation: X:29.98, Y:0.09, Z:0.17 [[ 9.97676788e-01 -6.23991795e-02 -2.73380500e-02 2.99787401e+01] [ 6.24036933e-02 9.98050752e-01 -6.88846988e-04 8.73238127e-02] [ 2.73277449e-02 -1.01874864e-03 9.99626008e-01 1.73234128e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.455336195 meters Centerline goodness [0,1] 0.9743888744925283 Centerline is valid? [True, True] Translation: X:30.01, Y:0.08, Z:0.17 [[ 9.97761888e-01 -6.11202883e-02 -2.71205527e-02 3.00106276e+01] [ 6.11242927e-02 9.98129929e-01 -6.82116574e-04 8.19636869e-02] [ 2.71115265e-02 -9.77134682e-04 9.99631937e-01 1.69746553e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.485336195000002 meters Centerline goodness [0,1] 0.9977706592788191 Centerline is valid? [True, True] Translation: X:30.04, Y:0.09, Z:0.17 [[ 9.98076781e-01 -5.58764351e-02 -2.68432911e-02 3.00408175e+01] [ 5.58784738e-02 9.98437350e-01 -6.74751316e-04 9.31535937e-02] [ 2.68390471e-02 -8.26508515e-04 9.99639426e-01 1.74188623e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.515336195 meters Centerline goodness [0,1] 0.9984393627397854 Centerline is valid? [True, True] Translation: X:30.07, Y:0.10, Z:0.18 [[ 9.98414272e-01 -4.93160146e-02 -2.71453858e-02 3.00705410e+01] [ 4.93156787e-02 9.98783009e-01 -6.82252193e-04 1.03397455e-01] [ 2.71459961e-02 -6.57522799e-04 9.99631263e-01 1.75673681e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.545336195 meters Centerline goodness [0,1] 0.9996771763693102 Centerline is valid? [True, True] Translation: X:30.10, Y:0.11, Z:0.18 [[ 9.98569420e-01 -4.58341797e-02 -2.75380080e-02 3.01015400e+01] [ 4.58325243e-02 9.98948898e-01 -6.91629128e-04 1.11432131e-01] [ 2.75407630e-02 -5.71496725e-04 9.99620518e-01 1.77215525e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.575336195000002 meters Centerline goodness [0,1] 0.9998066262730437 Centerline is valid? [True, True] Translation: X:30.13, Y:0.12, Z:0.17 [[ 9.98812988e-01 -4.04363796e-02 -2.71572070e-02 3.01325672e+01] [ 4.04327919e-02 9.99182028e-01 -6.81442631e-04 1.15871392e-01] [ 2.71625482e-02 -4.17407948e-04 9.99630943e-01 1.73030377e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.605336195 meters Centerline goodness [0,1] 0.9998697436120096 Centerline is valid? [True, True] Translation: X:30.16, Y:0.12, Z:0.17 [[ 9.98880232e-01 -3.88975670e-02 -2.69306925e-02 3.01637202e+01] [ 3.88934967e-02 9.99243134e-01 -6.75132601e-04 1.16666196e-01] [ 2.69365706e-02 -3.73052189e-04 9.99637075e-01 1.73058324e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.635336195 meters Centerline goodness [0,1] 0.9999782986111111 Centerline is valid? [True, True] Translation: X:30.20, Y:0.12, Z:0.17 [[ 9.98925958e-01 -3.76956591e-02 -2.69437932e-02 3.01953768e+01] [ 3.76911648e-02 9.99289208e-01 -6.74829533e-04 1.18780730e-01] [ 2.69500799e-02 -3.41438213e-04 9.99636722e-01 1.72890288e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.665336195000002 meters Centerline goodness [0,1] 0.9999136386208087 Centerline is valid? [True, True] Translation: X:30.23, Y:0.12, Z:0.17 [[ 9.98903024e-01 -3.78754259e-02 -2.75354481e-02 3.02258384e+01] [ 3.78708119e-02 9.99282406e-01 -6.89229899e-04 1.20459378e-01] [ 2.75417937e-02 -3.54315944e-04 9.99620590e-01 1.72639887e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.695336195 meters Centerline goodness [0,1] 0.999848166062946 Centerline is valid? [True, True] Translation: X:30.26, Y:0.12, Z:0.17 [[ 9.98840745e-01 -3.88187097e-02 -2.84653218e-02 3.02569299e+01] [ 3.88141779e-02 9.99246192e-01 -7.11935581e-04 1.21282076e-01] [ 2.84715009e-02 -3.93747799e-04 9.99594527e-01 1.73030092e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.725336195 meters Centerline goodness [0,1] 0.999956648964994 Centerline is valid? [True, True] Translation: X:30.29, Y:0.12, Z:0.18 [[ 9.98824503e-01 -4.14743280e-02 -2.50897051e-02 3.02871762e+01] [ 4.14716535e-02 9.99139484e-01 -6.27150897e-04 1.16937114e-01] [ 2.50941257e-02 -4.14097874e-04 9.99685007e-01 1.78331964e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.755336195 meters Centerline goodness [0,1] 0.9999783680886043 Centerline is valid? [True, True] Translation: X:30.32, Y:0.12, Z:0.18 [[ 9.98847273e-01 -4.18243899e-02 -2.35551533e-02 3.03180279e+01] [ 4.18221443e-02 9.99124898e-01 -5.88174229e-04 1.16129946e-01] [ 2.35591402e-02 -3.97630796e-04 9.99722366e-01 1.80365965e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.785336195 meters Centerline goodness [0,1] 0.9999351449510344 Centerline is valid? [True, True] Translation: X:30.35, Y:0.12, Z:0.18 [[ 9.98883501e-01 -4.16313087e-02 -2.23290432e-02 3.03497945e+01] [ 4.16292626e-02 9.99132971e-01 -5.56654229e-04 1.16499059e-01] [ 2.23328576e-02 -3.73508881e-04 9.99750521e-01 1.81307078e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.815336195 meters Centerline goodness [0,1] 0.9998270045843786 Centerline is valid? [True, True] Translation: X:30.38, Y:0.12, Z:0.18 [[ 9.98901052e-01 -4.12367436e-02 -2.22759921e-02 3.03819539e+01] [ 4.12346321e-02 9.99149337e-01 -5.54300298e-04 1.19506180e-01] [ 2.22799003e-02 -3.64851188e-04 9.99751706e-01 1.81836325e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.845336195 meters Centerline goodness [0,1] 0.9999568193104044 Centerline is valid? [True, True] Translation: X:30.41, Y:0.12, Z:0.18 [[ 9.98862749e-01 -4.16554205e-02 -2.31955872e-02 3.04135638e+01] [ 4.16532655e-02 9.99131960e-01 -5.76258870e-04 1.16237641e-01] [ 2.31994568e-02 -3.90568432e-04 9.99730780e-01 1.77127021e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.875336195 meters Centerline goodness [0,1] 0.9999135415540905 Centerline is valid? [True, True] Translation: X:30.44, Y:0.11, Z:0.17 [[ 9.98641268e-01 -4.42858464e-02 -2.74659926e-02 3.04445953e+01] [ 4.42838429e-02 9.99018757e-01 -6.81505006e-04 1.13005677e-01] [ 2.74692228e-02 -5.35720679e-04 9.99622506e-01 1.72449074e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.905336195 meters Centerline goodness [0,1] 0.993009565857248 Centerline is valid? [True, True] Translation: X:30.47, Y:0.11, Z:0.17 [[ 9.98296322e-01 -4.90998163e-02 -3.15224115e-02 3.04746670e+01] [ 4.90995763e-02 9.98793582e-01 -7.82143521e-04 1.06504121e-01] [ 3.15227854e-02 -7.66926048e-04 9.99502739e-01 1.66147504e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.935336195 meters Centerline goodness [0,1] 0.997854635287999 Centerline is valid? [True, True] Translation: X:30.51, Y:0.11, Z:0.17 [[ 9.98191904e-01 -5.12854801e-02 -3.13483920e-02 3.05059937e+01] [ 5.12863343e-02 9.98683687e-01 -7.77350246e-04 1.08791288e-01] [ 3.13469945e-02 -8.31799393e-04 9.99508216e-01 1.72714530e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.965336195 meters Centerline goodness [0,1] 0.991168066499264 Centerline is valid? [True, True] Translation: X:30.54, Y:0.10, Z:0.17 [[ 9.98179666e-01 -5.28528563e-02 -2.90504817e-02 3.05371487e+01] [ 5.28542787e-02 9.98601977e-01 -7.19455186e-04 9.69353784e-02] [ 2.90478937e-02 -8.17296720e-04 9.99577687e-01 1.72359793e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.995336195 meters Centerline goodness [0,1] 0.9988087244687994 Centerline is valid? [True, True] Translation: X:30.57, Y:0.10, Z:0.18 [[ 9.98229571e-01 -5.24524170e-02 -2.80440302e-02 3.05697566e+01] [ 5.24536251e-02 9.98623121e-01 -6.93076985e-04 9.69857034e-02] [ 2.80417705e-02 -7.79161103e-04 9.99606449e-01 1.75583811e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.025336195 meters Centerline goodness [0,1] 0.9998043350653304 Centerline is valid? [True, True] Translation: X:30.60, Y:0.09, Z:0.18 [[ 9.98481331e-01 -4.87283585e-02 -2.57017092e-02 3.05999694e+01] [ 4.87281506e-02 9.98811876e-01 -6.34763232e-04 9.47009673e-02] [ 2.57021033e-02 -6.18597517e-04 9.99669455e-01 1.76902640e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.055336195 meters Centerline goodness [0,1] 0.9999783221331021 Centerline is valid? [True, True] Translation: X:30.63, Y:0.10, Z:0.18 [[ 9.98651980e-01 -4.58699544e-02 -2.42934192e-02 3.06311815e+01] [ 4.58689326e-02 9.98947287e-01 -5.99592342e-04 1.00698334e-01] [ 2.42953485e-02 -5.15529129e-04 9.99704692e-01 1.81971398e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.085336195 meters Centerline goodness [0,1] 0.9999571459181487 Centerline is valid? [True, True] Translation: X:30.66, Y:0.11, Z:0.18 [[ 9.98995811e-01 -3.90700131e-02 -2.19294947e-02 3.06607686e+01] [ 3.90675457e-02 9.99236426e-01 -5.41081667e-04 1.09796677e-01] [ 2.19338900e-02 -3.16193219e-04 9.99759373e-01 1.84112469e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.115336195 meters Centerline goodness [0,1] 0.9997418966296001 Centerline is valid? [True, True] Translation: X:30.69, Y:0.12, Z:0.18 [[ 9.99239132e-01 -3.15024155e-02 -2.29946928e-02 3.06916737e+01] [ 3.14977111e-02 9.99503663e-01 -5.66836411e-04 1.20039324e-01] [ 2.30011364e-02 -1.57875066e-04 9.99735426e-01 1.83864476e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.145336195000002 meters Centerline goodness [0,1] 0.9999567754484547 Centerline is valid? [True, True] Translation: X:30.72, Y:0.12, Z:0.17 [[ 9.99304848e-01 -2.80864464e-02 -2.45147239e-02 3.07225625e+01] [ 2.80800943e-02 9.99605494e-01 -6.03384469e-04 1.19767823e-01] [ 2.45219996e-02 -8.54107314e-05 9.99699287e-01 1.74971546e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.175336195 meters Centerline goodness [0,1] 0.9998915118902968 Centerline is valid? [True, True] Translation: X:30.75, Y:0.12, Z:0.17 [[ 9.99268492e-01 -2.41553693e-02 -2.96479324e-02 3.07515227e+01] [ 2.41443225e-02 9.99708216e-01 -7.30589473e-04 1.22887515e-01] [ 2.96569292e-02 1.42258000e-05 9.99560136e-01 1.72615781e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.205336195 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:30.78, Y:0.13, Z:0.17 [[ 9.99241002e-01 -2.27185097e-02 -3.16431600e-02 3.07789175e+01] [ 2.27051449e-02 9.99741899e-01 -7.81663717e-04 1.30339241e-01] [ 3.16527511e-02 6.26079025e-05 9.99498924e-01 1.71602081e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.235336195000002 meters Centerline goodness [0,1] 0.9999354130336499 Centerline is valid? [True, True] Translation: X:30.81, Y:0.14, Z:0.17 [[ 9.99248126e-01 -2.13549758e-02 -3.23596743e-02 3.08076971e+01] [ 2.13401375e-02 9.99771950e-01 -8.03883127e-04 1.39123005e-01] [ 3.23694615e-02 1.12718809e-04 9.99475965e-01 1.73110687e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.265336195 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:30.84, Y:0.14, Z:0.17 [[ 9.99275637e-01 -1.88040270e-02 -3.30848920e-02 3.08361834e+01] [ 1.87869340e-02 9.99823168e-01 -8.27457252e-04 1.44002137e-01] [ 3.30946011e-02 2.05294188e-04 9.99452203e-01 1.70817603e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.295336195 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:30.87, Y:0.14, Z:0.17 [[ 9.99375477e-01 -1.69148456e-02 -3.10248845e-02 3.08650535e+01] [ 1.68987465e-02 9.99856901e-01 -7.81058966e-04 1.38671339e-01] [ 3.10336564e-02 2.56289518e-04 9.99518307e-01 1.67286791e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.325336195000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:30.89, Y:0.14, Z:0.17 [[ 9.99406184e-01 -1.68610576e-02 -3.00496912e-02 3.08932382e+01] [ 1.68458523e-02 9.99857810e-01 -7.59115061e-04 1.36353694e-01] [ 3.00582180e-02 2.52451628e-04 9.99548118e-01 1.65028580e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.355336195 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:30.92, Y:0.14, Z:0.17 [[ 9.99467952e-01 -1.86229346e-02 -2.67768455e-02 3.09223352e+01] [ 1.86114711e-02 9.99826562e-01 -6.77294171e-04 1.36185459e-01] [ 2.67848146e-02 1.78577333e-04 9.99641207e-01 1.72428228e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.385336195 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:30.95, Y:0.14, Z:0.18 [[ 9.99479659e-01 -2.04726433e-02 -2.49255311e-02 3.09512462e+01] [ 2.04632108e-02 9.99790406e-01 -6.33464533e-04 1.39195132e-01] [ 2.49332755e-02 1.23078519e-04 9.99689110e-01 1.81660409e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.415336195000002 meters Centerline goodness [0,1] 0.9999783188430935 Centerline is valid? [True, True] Translation: X:30.98, Y:0.14, Z:0.19 [[ 9.99400125e-01 -2.57035195e-02 -2.32103263e-02 3.09793784e+01] [ 2.56966637e-02 9.99669610e-01 -5.93629408e-04 1.38029216e-01] [ 2.32179163e-02 -3.15464692e-06 9.99730428e-01 1.85636442e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.445336195 meters Centerline goodness [0,1] 0.9999783188430935 Centerline is valid? [True, True] Translation: X:31.01, Y:0.14, Z:0.19 [[ 9.99399540e-01 -2.57262895e-02 -2.32102839e-02 3.10085211e+01] [ 2.57194014e-02 9.99669024e-01 -5.95284442e-04 1.38818212e-01] [ 2.32179163e-02 -2.02761218e-06 9.99730428e-01 1.85867591e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.475336195 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:31.04, Y:0.13, Z:0.19 [[ 9.99295488e-01 -2.94453804e-02 -2.32700751e-02 3.10372043e+01] [ 2.94394002e-02 9.99566387e-01 -5.99598670e-04 1.32351842e-01] [ 2.32776403e-02 -8.58808084e-05 9.99729035e-01 1.86290958e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.505336195 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:31.07, Y:0.12, Z:0.18 [[ 9.99080659e-01 -3.54793199e-02 -2.40635492e-02 3.10673960e+01] [ 3.54746642e-02 9.99370383e-01 -6.20465227e-04 1.18368994e-01] [ 2.40704121e-02 -2.33751519e-04 9.99710238e-01 1.80939027e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.535336195 meters Centerline goodness [0,1] 0.9998277272923037 Centerline is valid? [True, True] Translation: X:31.10, Y:0.11, Z:0.17 [[ 9.99153419e-01 -3.62349164e-02 -1.94801660e-02 3.10959311e+01] [ 3.63963655e-02 9.99305426e-01 7.99810608e-03 1.05920047e-01] [ 1.91768249e-02 -8.70034227e-03 9.99778252e-01 1.70535516e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.565336195 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:31.13, Y:0.12, Z:0.18 [[ 9.98801125e-01 -3.98059410e-02 -2.84921021e-02 3.11285388e+01] [ 3.95672817e-02 9.99177344e-01 -8.89190263e-03 1.20430586e-01] [ 2.88226134e-02 7.75388732e-03 9.99554468e-01 1.81066588e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.595336195 meters Centerline goodness [0,1] 0.9999354574987629 Centerline is valid? [True, True] Translation: X:31.16, Y:0.12, Z:0.18 [[ 9.98879471e-01 -3.68283833e-02 -2.97232587e-02 3.11579116e+01] [ 3.68220440e-02 9.99321549e-01 -7.60790821e-04 1.24039029e-01] [ 2.97311116e-02 -3.34532808e-04 9.99557877e-01 1.77215240e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.625336195 meters Centerline goodness [0,1] 0.9999565510199648 Centerline is valid? [True, True] Translation: X:31.19, Y:0.13, Z:0.18 [[ 9.98956765e-01 -3.44808716e-02 -2.99407781e-02 3.11876717e+01] [ 3.44733695e-02 9.99405323e-01 -7.66876824e-04 1.28507261e-01] [ 2.99494156e-02 -2.66082717e-04 9.99551380e-01 1.78108826e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.655336195 meters Centerline goodness [0,1] 0.9998051779374838 Centerline is valid? [True, True] Translation: X:31.22, Y:0.13, Z:0.18 [[ 9.99030981e-01 -3.21640863e-02 -3.00428113e-02 3.12169295e+01] [ 3.21554154e-02 9.99482583e-01 -7.71826675e-04 1.29972612e-01] [ 3.00520917e-02 -1.94960317e-04 9.99548315e-01 1.75129664e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.685336195 meters Centerline goodness [0,1] 0.9999355559374463 Centerline is valid? [True, True] Translation: X:31.24, Y:0.13, Z:0.17 [[ 9.99165808e-01 -2.80413118e-02 -2.96879245e-02 3.12446112e+01] [ 2.80309642e-02 9.99606763e-01 -7.64753008e-04 1.30688444e-01] [ 2.96976948e-02 -6.80660922e-05 9.99558924e-01 1.69049959e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.715336195 meters Centerline goodness [0,1] 0.9999783146116147 Centerline is valid? [True, True] Translation: X:31.27, Y:0.13, Z:0.18 [[ 9.99233984e-01 -2.76347710e-02 -2.77085484e-02 3.12729660e+01] [ 2.76254954e-02 9.99618086e-01 -7.17577474e-04 1.34887089e-01] [ 2.77177962e-02 -4.84345779e-05 9.99615787e-01 1.76862165e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.745336195 meters Centerline goodness [0,1] 0.9999568081200735 Centerline is valid? [True, True] Translation: X:31.30, Y:0.15, Z:0.18 [[ 9.99273588e-01 -2.81675375e-02 -2.56687621e-02 3.13016007e+01] [ 2.81596450e-02 9.99603215e-01 -6.68965760e-04 1.45817810e-01] [ 2.56774203e-02 -5.43434144e-05 9.99670279e-01 1.84782240e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.775336195 meters Centerline goodness [0,1] 0.9999131001520747 Centerline is valid? [True, True] Translation: X:31.33, Y:0.15, Z:0.18 [[ 9.99177240e-01 -3.10223309e-02 -2.61238992e-02 3.13292891e+01] [ 3.10150690e-02 9.99518684e-01 -6.83216317e-04 1.45849601e-01] [ 2.61325203e-02 -1.27580342e-04 9.99658479e-01 1.82195296e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.805336195 meters Centerline goodness [0,1] 0.9999782740940297 Centerline is valid? [True, True] Translation: X:31.36, Y:0.15, Z:0.18 [[ 9.99164478e-01 -3.19667829e-02 -2.54650693e-02 3.13587051e+01] [ 3.19601673e-02 9.99488921e-01 -6.66852233e-04 1.47408971e-01] [ 2.54733717e-02 -1.47572813e-04 9.99675490e-01 1.84298685e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.835336195 meters Centerline goodness [0,1] 0.9998915965657792 Centerline is valid? [True, True] Translation: X:31.39, Y:0.14, Z:0.18 [[ 9.99052925e-01 -3.51189116e-02 -2.56888283e-02 3.13895336e+01] [ 3.51132163e-02 9.99383114e-01 -6.72894553e-04 1.43740389e-01] [ 2.56966125e-02 -2.29760113e-04 9.99669761e-01 1.79472211e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.865336195 meters Centerline goodness [0,1] 0.9998694516971279 Centerline is valid? [True, True] Translation: X:31.42, Y:0.14, Z:0.18 [[ 9.98941371e-01 -3.76113091e-02 -2.64863558e-02 3.14197052e+01] [ 3.76061364e-02 9.99292398e-01 -6.93557893e-04 1.38938880e-01] [ 2.64936997e-02 -3.03225837e-04 9.99648934e-01 1.75396524e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.895336195000002 meters Centerline goodness [0,1] 0.9998259280212368 Centerline is valid? [True, True] Translation: X:31.45, Y:0.14, Z:0.17 [[ 9.98750949e-01 -4.07133680e-02 -2.89648652e-02 3.14508884e+01] [ 4.07085035e-02 9.99170778e-01 -7.57851973e-04 1.38924177e-01] [ 2.89717016e-02 -4.22210941e-04 9.99580143e-01 1.74871899e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.925336195 meters Centerline goodness [0,1] 0.9994794039174856 Centerline is valid? [True, True] Translation: X:31.48, Y:0.14, Z:0.18 [[ 9.98640935e-01 -4.32022493e-02 -2.91521473e-02 3.14824405e+01] [ 4.31984017e-02 9.99066223e-01 -7.62061377e-04 1.42930396e-01] [ 2.91578484e-02 -4.98300483e-04 9.99574695e-01 1.77912047e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.955336195 meters Centerline goodness [0,1] 0.9996324562731066 Centerline is valid? [True, True] Translation: X:31.51, Y:0.15, Z:0.18 [[ 9.98415567e-01 -4.84359347e-02 -2.86411699e-02 3.15134676e+01] [ 4.84343846e-02 9.98826086e-01 -7.48276238e-04 1.45280297e-01] [ 2.86437911e-02 -6.40126794e-04 9.99589477e-01 1.83032666e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.985336195000002 meters Centerline goodness [0,1] 0.9993236019288255 Centerline is valid? [True, True] Translation: X:31.54, Y:0.14, Z:0.18 [[ 9.98348188e-01 -4.98838600e-02 -2.85043273e-02 3.15448403e+01] [ 4.98829383e-02 9.98754794e-01 -7.43862476e-04 1.40634447e-01] [ 2.85059403e-02 -6.79245844e-04 9.99593392e-01 1.80293331e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.015336194999996 meters Centerline goodness [0,1] 0.9978473581213307 Centerline is valid? [True, True] Translation: X:31.58, Y:0.13, Z:0.18 [[ 9.98172307e-01 -5.41561437e-02 -2.68171158e-02 3.15756360e+01] [ 5.41568916e-02 9.98532194e-01 -6.98942261e-04 1.27598840e-01] [ 2.68156055e-02 -7.54666823e-04 9.99640112e-01 1.77140014e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.045336195 meters Centerline goodness [0,1] 0.9988918584186168 Centerline is valid? [True, True] Translation: X:31.61, Y:0.13, Z:0.18 [[ 9.98134935e-01 -5.50466041e-02 -2.63917309e-02 3.16075093e+01] [ 5.50476694e-02 9.98483491e-01 -6.86713493e-04 1.31443761e-01] [ 2.63895089e-02 -7.67370550e-04 9.99651442e-01 1.81494830e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.075336195 meters Centerline goodness [0,1] 0.9987651378929353 Centerline is valid? [True, True] Translation: X:31.64, Y:0.15, Z:0.18 [[ 9.98217463e-01 -5.27686466e-02 -2.78813042e-02 3.16382554e+01] [ 5.27689789e-02 9.98606484e-01 -7.24372063e-04 1.45089145e-01] [ 2.78806753e-02 -7.48187108e-04 9.99610978e-01 1.83605015e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.105336195 meters Centerline goodness [0,1] 0.9951294153143251 Centerline is valid? [True, True] Translation: X:31.67, Y:0.15, Z:0.18 [[ 9.98270961e-01 -5.14524862e-02 -2.84206020e-02 3.16690695e+01] [ 5.14523565e-02 9.98675179e-01 -7.36349744e-04 1.47540851e-01] [ 2.84208368e-02 -7.27230382e-04 9.99595782e-01 1.81370095e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.135336194999994 meters Centerline goodness [0,1] 0.9998262644689122 Centerline is valid? [True, True] Translation: X:31.70, Y:0.16, Z:0.19 [[ 9.98560644e-01 -4.67588739e-02 -2.62725891e-02 3.16999384e+01] [ 4.67571600e-02 9.98906055e-01 -6.79889913e-04 1.61875610e-01] [ 2.62756392e-02 -5.49520344e-04 9.99654585e-01 1.86308779e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.165336194999995 meters Centerline goodness [0,1] 0.9998479913137893 Centerline is valid? [True, True] Translation: X:31.73, Y:0.16, Z:0.18 [[ 9.98643236e-01 -4.48017177e-02 -2.65422904e-02 3.17317070e+01] [ 4.47993034e-02 9.98995772e-01 -6.85895998e-04 1.62092541e-01] [ 2.65463652e-02 -5.04110722e-04 9.99647456e-01 1.82676758e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.195336194999996 meters Centerline goodness [0,1] 0.9998050724480735 Centerline is valid? [True, True] Translation: X:31.76, Y:0.16, Z:0.18 [[ 9.98632401e-01 -4.42169952e-02 -2.78959602e-02 3.17632060e+01] [ 4.42141302e-02 9.99021818e-01 -7.19812531e-04 1.60672418e-01] [ 2.79005008e-02 -5.14567500e-04 9.99610573e-01 1.78706000e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.225336195 meters Centerline goodness [0,1] 0.9997192770303829 Centerline is valid? [True, True] Translation: X:31.79, Y:0.16, Z:0.18 [[ 9.98631596e-01 -4.48017344e-02 -2.69766681e-02 3.17943781e+01] [ 4.47992928e-02 9.98995766e-01 -6.95182705e-04 1.62774663e-01] [ 2.69807226e-02 -5.14304238e-04 9.99635822e-01 1.80552600e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.255336195 meters Centerline goodness [0,1] 0.9996529886353778 Centerline is valid? [True, True] Translation: X:31.83, Y:0.17, Z:0.19 [[ 9.98628418e-01 -4.62016749e-02 -2.46310239e-02 3.18267840e+01] [ 4.62000953e-02 9.98932005e-01 -6.33496829e-04 1.71828233e-01] [ 2.46339867e-02 -5.05327716e-04 9.99696410e-01 1.90098674e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.285336195 meters Centerline goodness [0,1] 0.999608933692535 Centerline is valid? [True, True] Translation: X:31.86, Y:0.17, Z:0.19 [[ 9.98603785e-01 -4.70387170e-02 -2.40383084e-02 3.18589674e+01] [ 4.70374838e-02 9.98892934e-01 -6.17041385e-04 1.71674270e-01] [ 2.40407213e-02 -5.14521681e-04 9.99710848e-01 1.90959141e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.315336195 meters Centerline goodness [0,1] 0.9998702029161078 Centerline is valid? [True, True] Translation: X:31.89, Y:0.17, Z:0.19 [[ 9.98489766e-01 -4.97408590e-02 -2.33245329e-02 3.18914706e+01] [ 4.97404602e-02 9.98761998e-01 -5.97619793e-04 1.69139305e-01] [ 2.33253832e-02 -5.63455752e-04 9.99727767e-01 1.91525915e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.345336194999994 meters Centerline goodness [0,1] 0.999092343267132 Centerline is valid? [True, True] Translation: X:31.92, Y:0.16, Z:0.19 [[ 9.98255290e-01 -5.38637571e-02 -2.41882346e-02 3.19217593e+01] [ 5.38645658e-02 9.98548059e-01 -6.18577681e-04 1.61817714e-01] [ 2.41864336e-02 -6.85390311e-04 9.99707230e-01 1.87287873e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.375336194999996 meters Centerline goodness [0,1] 0.9919747344740315 Centerline is valid? [True, True] Translation: X:31.95, Y:0.15, Z:0.18 [[ 9.98175342e-01 -5.47342370e-02 -2.54980561e-02 3.19528842e+01] [ 5.47354455e-02 9.98500680e-01 -6.51063716e-04 1.54372559e-01] [ 2.54954619e-02 -7.45771714e-04 9.99674660e-01 1.81716806e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.405336195 meters Centerline goodness [0,1] 0.998230317679558 Centerline is valid? [True, True] Translation: X:31.98, Y:0.17, Z:0.19 [[ 9.98164626e-01 -5.40556309e-02 -2.73014403e-02 3.19845542e+01] [ 5.40567962e-02 9.98537620e-01 -6.95908836e-04 1.67118083e-01] [ 2.72991330e-02 -7.81196812e-04 9.99627004e-01 1.86549152e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.435336195 meters Centerline goodness [0,1] 0.9962458226639469 Centerline is valid? [True, True] Translation: X:32.02, Y:0.17, Z:0.19 [[ 9.98228834e-01 -5.27357361e-02 -2.75342870e-02 3.20154100e+01] [ 5.27364486e-02 9.98608219e-01 -7.00795474e-04 1.70743548e-01] [ 2.75329223e-02 -7.52506261e-04 9.99620614e-01 1.85738717e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.465336195 meters Centerline goodness [0,1] 0.9997407311381903 Centerline is valid? [True, True] Translation: X:32.05, Y:0.18, Z:0.18 [[ 9.98357619e-01 -5.02485538e-02 -2.75163226e-02 3.20467826e+01] [ 5.02483417e-02 9.98736509e-01 -6.99602882e-04 1.76378827e-01] [ 2.75167100e-02 -6.84195714e-04 9.99621109e-01 1.84422446e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.495336195 meters Centerline goodness [0,1] 0.9994187548437097 Centerline is valid? [True, True] Translation: X:32.08, Y:0.18, Z:0.18 [[ 9.98401270e-01 -4.92077803e-02 -2.78118251e-02 3.20780278e+01] [ 4.92071850e-02 9.98788343e-01 -7.06219951e-04 1.75745615e-01] [ 2.78128782e-02 -6.63450726e-04 9.99612927e-01 1.81762185e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.525336194999994 meters Centerline goodness [0,1] 0.9979730895290667 Centerline is valid? [True, True] Translation: X:32.11, Y:0.18, Z:0.18 [[ 9.98430909e-01 -4.81016801e-02 -2.86696391e-02 3.21094261e+01] [ 4.81006211e-02 9.98842231e-01 -7.26991072e-04 1.77757548e-01] [ 2.86714158e-02 -6.53177092e-04 9.99588677e-01 1.79269136e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.555336194999995 meters Centerline goodness [0,1] 0.9996543455248548 Centerline is valid? [True, True] Translation: X:32.14, Y:0.18, Z:0.18 [[ 9.98445143e-01 -4.80263084e-02 -2.82978898e-02 3.21417256e+01] [ 4.80252810e-02 9.98845864e-01 -7.16343338e-04 1.81927731e-01] [ 2.82996335e-02 -6.43784580e-04 9.99599278e-01 1.82402529e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.585336195 meters Centerline goodness [0,1] 0.9985201949860725 Centerline is valid? [True, True] Translation: X:32.17, Y:0.18, Z:0.18 [[ 9.98447705e-01 -4.84409252e-02 -2.74892231e-02 3.21733895e+01] [ 4.84401407e-02 9.98825846e-01 -6.94843572e-04 1.80857816e-01] [ 2.74906053e-02 -6.37816865e-04 9.99621858e-01 1.82936016e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.615336195 meters Centerline goodness [0,1] 0.9991426979296155 Centerline is valid? [True, True] Translation: X:32.21, Y:0.19, Z:0.19 [[ 9.98542596e-01 -4.83051923e-02 -2.40684796e-02 3.22050770e+01] [ 4.83045701e-02 9.98832468e-01 -6.07583823e-04 1.85794509e-01] [ 2.40697284e-02 -5.55919233e-04 9.99710128e-01 1.91390168e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.645336195 meters Centerline goodness [0,1] 0.9996768703819392 Centerline is valid? [True, True] Translation: X:32.24, Y:0.18, Z:0.19 [[ 9.98581881e-01 -4.84957369e-02 -2.19633667e-02 3.22367991e+01] [ 4.84952840e-02 9.98823258e-01 -5.53555403e-04 1.83924882e-01] [ 2.19643666e-02 -5.12349311e-04 9.99758623e-01 1.93703054e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.675336195 meters Centerline goodness [0,1] 0.9996959760255381 Centerline is valid? [True, True] Translation: X:32.27, Y:0.19, Z:0.19 [[ 9.98596251e-01 -4.80913741e-02 -2.21979086e-02 3.22686764e+01] [ 4.80908470e-02 9.98842810e-01 -5.57876094e-04 1.86412328e-01] [ 2.21990504e-02 -5.10423251e-04 9.99753440e-01 1.94587007e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.705336194999994 meters Centerline goodness [0,1] 0.9998054853141413 Centerline is valid? [True, True] Translation: X:32.30, Y:0.19, Z:0.19 [[ 9.98612445e-01 -4.61144022e-02 -2.54292320e-02 3.23000347e+01] [ 4.61131305e-02 9.98936021e-01 -6.36721981e-04 1.90314511e-01] [ 2.54315379e-02 -5.36783001e-04 9.99676422e-01 1.90869249e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.735336194999995 meters Centerline goodness [0,1] 0.9997840825668265 Centerline is valid? [True, True] Translation: X:32.33, Y:0.20, Z:0.19 [[ 9.98670521e-01 -4.47458631e-02 -2.55929182e-02 3.23319931e+01] [ 4.47441652e-02 9.98998274e-01 -6.39288504e-04 1.97003339e-01] [ 2.55958866e-02 -5.06695175e-04 9.99672243e-01 1.92378009e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.765336194999996 meters Centerline goodness [0,1] 0.999891894229314 Centerline is valid? [True, True] Translation: X:32.37, Y:0.20, Z:0.20 [[ 9.98882384e-01 -4.09447529e-02 -2.36116448e-02 3.23651510e+01] [ 4.07494641e-02 9.99131573e-01 -8.69374120e-03 2.04865178e-01] [ 2.39471029e-02 7.72186306e-03 9.99683404e-01 1.95253913e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.795336195 meters Centerline goodness [0,1] 0.9999349847214095 Centerline is valid? [True, True] Translation: X:32.39, Y:0.19, Z:0.18 [[ 9.98769724e-01 -4.04202604e-02 -2.87270142e-02 3.23938505e+01] [ 4.06512542e-02 9.99145227e-01 7.50275488e-03 1.91681924e-01] [ 2.83991958e-02 -8.66131357e-03 9.99559136e-01 1.78756601e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.825336195 meters Centerline goodness [0,1] 0.9996524912036836 Centerline is valid? [True, True] Translation: X:32.43, Y:0.19, Z:0.18 [[ 9.98725916e-01 -4.00225600e-02 -3.07366241e-02 3.24253480e+01] [ 4.00179454e-02 9.99198668e-01 -7.65519468e-04 1.93044101e-01] [ 3.07426319e-02 -4.65472414e-04 9.99527225e-01 1.79012039e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.855336195 meters Centerline goodness [0,1] 0.9996973169307937 Centerline is valid? [True, True] Translation: X:32.46, Y:0.19, Z:0.18 [[ 9.98742439e-01 -3.99282174e-02 -3.03195951e-02 3.24558102e+01] [ 3.99236970e-02 9.99202446e-01 -7.54691081e-04 1.92172304e-01] [ 3.03255471e-02 -4.56728317e-04 9.99539970e-01 1.77951287e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.885336194999994 meters Centerline goodness [0,1] 0.9998480935743582 Centerline is valid? [True, True] Translation: X:32.49, Y:0.21, Z:0.19 [[ 9.98889005e-01 -3.78768039e-02 -2.80375429e-02 3.24868877e+01] [ 3.76952459e-02 9.99264930e-01 -6.97619029e-03 2.05494131e-01] [ 2.82811691e-02 5.91155770e-03 9.99582527e-01 1.90342051e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.915336194999995 meters Centerline goodness [0,1] 0.9998703907718229 Centerline is valid? [True, True] Translation: X:32.52, Y:0.20, Z:0.18 [[ 9.98830104e-01 -3.77120275e-02 -3.02692300e-02 3.25160839e+01] [ 3.78991731e-02 9.99265693e-01 5.63277656e-03 1.99918496e-01] [ 3.00345797e-02 -6.77336559e-03 9.99525910e-01 1.84180192e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.945336194999996 meters Centerline goodness [0,1] 0.9999784021943371 Centerline is valid? [True, True] Translation: X:32.55, Y:0.20, Z:0.19 [[ 9.98930894e-01 -3.55578552e-02 -2.95416254e-02 3.25470435e+01] [ 3.55516815e-02 9.99367569e-01 -7.34364903e-04 2.04280052e-01] [ 2.95490548e-02 -3.16674668e-04 9.99563281e-01 1.89006231e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.975336195 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:32.58, Y:0.20, Z:0.19 [[ 9.98996767e-01 -3.39809615e-02 -2.91676931e-02 3.25764131e+01] [ 3.39742782e-02 9.99422445e-01 -7.24828766e-04 2.02408292e-01] [ 2.91754775e-02 -2.66849725e-04 9.99574270e-01 1.86460554e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.005336195 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:32.61, Y:0.20, Z:0.19 [[ 9.99134848e-01 -3.10509185e-02 -2.76657834e-02 3.26057536e+01] [ 3.10437708e-02 9.99517789e-01 -6.87932468e-04 2.02223500e-01] [ 2.76738036e-02 -1.71512937e-04 9.99616992e-01 1.87231864e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.035336195 meters Centerline goodness [0,1] 0.9998484586075511 Centerline is valid? [True, True] Translation: X:32.64, Y:0.21, Z:0.19 [[ 9.99201630e-01 -2.85972850e-02 -2.78979790e-02 3.26355743e+01] [ 2.85890420e-02 9.99591009e-01 -6.94373711e-04 2.10212251e-01] [ 2.79064261e-02 -1.03757148e-04 9.99610534e-01 1.90189679e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.065336195 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:32.66, Y:0.22, Z:0.19 [[ 9.99229113e-01 -2.73524736e-02 -2.81606584e-02 3.26633576e+01] [ 2.73435406e-02 9.99625849e-01 -7.02322313e-04 2.16068855e-01] [ 2.81693323e-02 -6.82312053e-05 9.99603163e-01 1.90789231e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.095336194999994 meters Centerline goodness [0,1] 0.9995235620235621 Centerline is valid? [True, True] Translation: X:32.69, Y:0.23, Z:0.19 [[ 9.99323490e-01 -2.37945908e-02 -2.80424571e-02 3.26912200e+01] [ 2.37842092e-02 9.99716868e-01 -7.03749680e-04 2.25966743e-01] [ 2.80512628e-02 3.63059208e-05 9.99606485e-01 1.92264729e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.125336194999996 meters Centerline goodness [0,1] 0.9999784245614792 Centerline is valid? [True, True] Translation: X:32.72, Y:0.23, Z:0.19 [[ 9.99506569e-01 -2.05173435e-02 -2.37835392e-02 3.27201425e+01] [ 2.04948175e-02 9.99789250e-01 -1.19051989e-03 2.28364571e-01] [ 2.38029531e-02 7.02493157e-04 9.99716423e-01 1.91414822e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.155336195 meters Centerline goodness [0,1] 0.9998491444334296 Centerline is valid? [True, True] Translation: X:32.75, Y:0.23, Z:0.19 [[ 9.99407421e-01 -2.09998736e-02 -2.72729362e-02 3.27480277e+01] [ 2.10052990e-02 9.99779361e-01 -8.75765150e-05 2.30323532e-01] [ 2.72687578e-02 -4.85351561e-04 9.99628020e-01 1.87809396e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.185336195 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:32.78, Y:0.23, Z:0.19 [[ 9.99399530e-01 -2.14955533e-02 -2.71757521e-02 3.27756863e+01] [ 2.14846868e-02 9.99768938e-01 -6.91815160e-04 2.33943185e-01] [ 2.71843437e-02 1.07537223e-04 9.99630432e-01 1.90943563e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.215336195 meters Centerline goodness [0,1] 0.9998271503575827 Centerline is valid? [True, True] Translation: X:32.80, Y:0.24, Z:0.19 [[ 9.99364376e-01 -2.34989917e-02 -2.68074832e-02 3.28031198e+01] [ 2.34890697e-02 9.99723859e-01 -6.85001521e-04 2.41461858e-01] [ 2.68161774e-02 5.48832771e-05 9.99640380e-01 1.91039685e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.245336195 meters Centerline goodness [0,1] 0.9999350888201312 Centerline is valid? [True, True] Translation: X:32.83, Y:0.24, Z:0.20 [[ 9.99360290e-01 -2.49573641e-02 -2.56152262e-02 3.28320848e+01] [ 2.49486963e-02 9.99688516e-01 -6.57964191e-04 2.43975130e-01] [ 2.56236686e-02 1.84767842e-05 9.99671660e-01 1.95401431e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.275336194999994 meters Centerline goodness [0,1] 0.9998070408644569 Centerline is valid? [True, True] Translation: X:32.86, Y:0.25, Z:0.20 [[ 9.99407301e-01 -2.70295307e-02 -2.13178517e-02 3.28618321e+01] [ 2.69203040e-02 9.99623029e-01 -5.39421372e-03 2.46862293e-01] [ 2.14556185e-02 4.81713353e-03 9.99758197e-01 1.99057844e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.305336194999995 meters Centerline goodness [0,1] 0.9998070408644569 Centerline is valid? [True, True] Translation: X:32.89, Y:0.24, Z:0.20 [[ 9.99406126e-01 -2.69662433e-02 -2.14526919e-02 3.28928084e+01] [ 2.69560034e-02 9.99636327e-01 -7.66408086e-04 2.44371625e-01] [ 2.14655573e-02 1.87674100e-04 9.99769571e-01 1.96196924e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.335336195 meters Centerline goodness [0,1] 0.9999135714440051 Centerline is valid? [True, True] Translation: X:32.92, Y:0.24, Z:0.19 [[ 9.99263130e-01 -3.02057790e-02 -2.36813684e-02 3.29225981e+01] [ 3.03149871e-02 9.99531291e-01 4.26612431e-03 2.40821918e-01] [ 2.35414071e-02 -4.98088111e-03 9.99710455e-01 1.91562658e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.365336195 meters Centerline goodness [0,1] 0.9999783362218371 Centerline is valid? [True, True] Translation: X:32.95, Y:0.25, Z:0.20 [[ 9.99096867e-01 -3.47876803e-02 -2.43981258e-02 3.29536191e+01] [ 3.47826640e-02 9.99394701e-01 -6.30079878e-04 2.48356098e-01] [ 2.44052767e-02 -2.19120980e-04 9.99702123e-01 1.98604826e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.395336195 meters Centerline goodness [0,1] 0.9999354311049891 Centerline is valid? [True, True] Translation: X:32.98, Y:0.25, Z:0.20 [[ 9.99019638e-01 -3.67597170e-02 -2.46675034e-02 3.29842864e+01] [ 3.67552305e-02 9.99324096e-01 -6.35408497e-04 2.50691546e-01] [ 2.46741880e-02 -2.71874205e-04 9.99695509e-01 1.98298062e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.425336195 meters Centerline goodness [0,1] 0.9999567558217475 Centerline is valid? [True, True] Translation: X:33.02, Y:0.25, Z:0.20 [[ 9.98894585e-01 -3.99357713e-02 -2.47939850e-02 3.30156686e+01] [ 3.99322473e-02 9.99202186e-01 -6.37427216e-04 2.54386011e-01] [ 2.47996602e-02 -3.53356946e-04 9.99692379e-01 1.96747654e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.455336194999994 meters Centerline goodness [0,1] 0.999739572030036 Centerline is valid? [True, True] Translation: X:33.05, Y:0.25, Z:0.19 [[ 9.98738546e-01 -4.28280660e-02 -2.62120868e-02 3.30473665e+01] [ 4.28251471e-02 9.99082356e-01 -6.72970297e-04 2.51231146e-01] [ 2.62168554e-02 -4.50415095e-04 9.99656178e-01 1.90264920e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.485336194999995 meters Centerline goodness [0,1] 0.9995702806067638 Centerline is valid? [True, True] Translation: X:33.08, Y:0.25, Z:0.19 [[ 9.98638780e-01 -4.42331074e-02 -2.76409147e-02 3.30785099e+01] [ 4.42304261e-02 9.99021104e-01 -7.08699144e-04 2.51670322e-01] [ 2.76452051e-02 -5.14834986e-04 9.99617666e-01 1.87735851e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.515336194999996 meters Centerline goodness [0,1] 0.9996104064759102 Centerline is valid? [True, True] Translation: X:33.11, Y:0.26, Z:0.19 [[ 9.98460258e-01 -4.62439633e-02 -3.06367177e-02 3.31096501e+01] [ 4.62416411e-02 9.98929975e-01 -7.84687018e-04 2.63152534e-01] [ 3.06402227e-02 -6.33213301e-04 9.99530278e-01 1.90400925e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.545336195 meters Centerline goodness [0,1] 0.9978379780770977 Centerline is valid? [True, True] Translation: X:33.14, Y:0.27, Z:0.19 [[ 9.98392376e-01 -4.72606022e-02 -3.12905462e-02 3.31408591e+01] [ 4.72587323e-02 9.98882362e-01 -7.99726962e-04 2.65588112e-01] [ 3.12933702e-02 -6.80310244e-04 9.99510011e-01 1.89329362e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.575336195 meters Centerline goodness [0,1] 0.9991089474713668 Centerline is valid? [True, True] Translation: X:33.17, Y:0.27, Z:0.20 [[ 9.98345487e-01 -4.91142860e-02 -2.99010842e-02 3.31729567e+01] [ 4.91134544e-02 9.98792915e-01 -7.62691109e-04 2.72711236e-01] [ 2.99024501e-02 -7.07116308e-04 9.99552572e-01 1.95850238e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.605336195 meters Centerline goodness [0,1] 0.998135582196978 Centerline is valid? [True, True] Translation: X:33.20, Y:0.27, Z:0.19 [[ 9.98353423e-01 -4.97670574e-02 -2.85251122e-02 3.32042701e+01] [ 4.97665973e-02 9.98760611e-01 -7.26511124e-04 2.70642010e-01] [ 2.85259148e-02 -6.94282902e-04 9.99592812e-01 1.94294774e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.635336194999994 meters Centerline goodness [0,1] 0.9995246532129122 Centerline is valid? [True, True] Translation: X:33.24, Y:0.27, Z:0.19 [[ 9.98370375e-01 -5.02380980e-02 -2.70689540e-02 3.32363108e+01] [ 5.02378880e-02 9.98737043e-01 -6.88253269e-04 2.72934779e-01] [ 2.70693436e-02 -6.72755406e-04 9.99633332e-01 1.93619894e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.665336194999995 meters Centerline goodness [0,1] 0.9996097391756824 Centerline is valid? [True, True] Translation: X:33.27, Y:0.27, Z:0.19 [[ 9.98367349e-01 -5.04283616e-02 -2.68256728e-02 3.32689700e+01] [ 5.04282702e-02 9.98727454e-01 -6.80344801e-04 2.73939319e-01] [ 2.68258446e-02 -6.73538242e-04 9.99639895e-01 1.92759421e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.695336194999996 meters Centerline goodness [0,1] 0.9994810474192921 Centerline is valid? [True, True] Translation: X:33.30, Y:0.28, Z:0.20 [[ 9.98424000e-01 -5.02066983e-02 -2.50759717e-02 3.32998686e+01] [ 5.02065764e-02 9.98738653e-01 -6.34847121e-04 2.82077711e-01] [ 2.50762157e-02 -6.25132084e-04 9.99685347e-01 1.98821056e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.725336195 meters Centerline goodness [0,1] 0.9993555455307083 Centerline is valid? [True, True] Translation: X:33.33, Y:0.29, Z:0.20 [[ 9.98424707e-01 -5.00470409e-02 -2.53653054e-02 3.33316643e+01] [ 5.00468981e-02 9.98746663e-01 -6.40860827e-04 2.88381623e-01] [ 2.53655873e-02 -6.29603569e-04 9.99678043e-01 2.00387146e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.755336195 meters Centerline goodness [0,1] 0.9989596202613954 Centerline is valid? [True, True] Translation: X:33.36, Y:0.29, Z:0.20 [[ 9.98389507e-01 -5.01543752e-02 -2.65128455e-02 3.33634426e+01] [ 5.01542925e-02 9.98741258e-01 -6.68520918e-04 2.93665217e-01] [ 2.65130019e-02 -6.62288740e-04 9.99648249e-01 2.00697032e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.785336195 meters Centerline goodness [0,1] 0.9993930723544457 Centerline is valid? [True, True] Translation: X:33.40, Y:0.30, Z:0.20 [[ 9.98325875e-01 -5.09792544e-02 -2.73233047e-02 3.33950490e+01] [ 5.09795314e-02 9.98699462e-01 -6.86907290e-04 2.98216931e-01] [ 2.73227877e-02 -7.07171947e-04 9.99626413e-01 2.00677288e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.815336195 meters Centerline goodness [0,1] 0.998483929654336 Centerline is valid? [True, True] Translation: X:33.43, Y:0.29, Z:0.20 [[ 9.98294928e-01 -5.13752458e-02 -2.77095727e-02 3.34263661e+01] [ 5.13757512e-02 9.98679153e-01 -6.94168952e-04 2.94264076e-01] [ 2.77086356e-02 -7.30614766e-04 9.99615775e-01 1.95856059e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.845336194999994 meters Centerline goodness [0,1] 0.9950367368170094 Centerline is valid? [True, True] Translation: X:33.46, Y:0.28, Z:0.19 [[ 9.98152934e-01 -5.36223468e-02 -2.85545706e-02 3.34563529e+01] [ 5.36238221e-02 9.98560952e-01 -7.14643557e-04 2.84611375e-01] [ 2.85518000e-02 -8.17881647e-04 9.99591980e-01 1.89067818e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.875336194999996 meters Centerline goodness [0,1] 0.9939757730730058 Centerline is valid? [True, True] Translation: X:33.49, Y:0.29, Z:0.19 [[ 9.97967280e-01 -5.58548562e-02 -3.06845596e-02 3.34875828e+01] [ 5.58576312e-02 9.98438449e-01 -7.67412691e-04 2.89848910e-01] [ 3.06795078e-02 -9.48114057e-04 9.99528823e-01 1.92681562e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.905336195 meters Centerline goodness [0,1] 0.981880223743602 Centerline is valid? [True, True] Translation: X:33.52, Y:0.29, Z:0.19 [[ 9.97988998e-01 -5.59125359e-02 -2.98621418e-02 3.35188920e+01] [ 5.59152179e-02 9.98435242e-01 -7.45892487e-04 2.88102706e-01] [ 2.98571195e-02 -9.25355670e-04 9.99553748e-01 1.92748521e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.935336195 meters Centerline goodness [0,1] 0.9978753997038436 Centerline is valid? [True, True] Translation: X:33.55, Y:0.30, Z:0.20 [[ 9.98242844e-01 -5.26410552e-02 -2.72055816e-02 3.35491154e+01] [ 5.26420730e-02 9.98613214e-01 -6.79297627e-04 2.95640876e-01] [ 2.72036122e-02 -7.54054215e-04 9.99629629e-01 1.99348897e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.965336195 meters Centerline goodness [0,1] 0.9989808751463637 Centerline is valid? [True, True] Translation: X:33.58, Y:0.30, Z:0.20 [[ 9.98332995e-01 -5.06222289e-02 -2.77240076e-02 3.35814326e+01] [ 5.06225341e-02 9.98717618e-01 -6.91305553e-04 2.97412273e-01] [ 2.77234503e-02 -7.13306380e-04 9.99615377e-01 1.98524592e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.995336195 meters Centerline goodness [0,1] 0.9996112143073135 Centerline is valid? [True, True] Translation: X:33.61, Y:0.30, Z:0.20 [[ 9.98470089e-01 -4.80415738e-02 -2.73767974e-02 3.36126587e+01] [ 4.80409241e-02 9.98845135e-01 -6.81838527e-04 3.01275693e-01] [ 2.73779375e-02 -6.34411270e-04 9.99624953e-01 1.99588054e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.025336194999994 meters Centerline goodness [0,1] 0.9993501148130497 Centerline is valid? [True, True] Translation: X:33.64, Y:0.31, Z:0.20 [[ 9.98719103e-01 -4.25969420e-02 -2.73066734e-02 3.36425287e+01] [ 4.25942660e-02 9.99092221e-01 -6.79916086e-04 3.12685676e-01] [ 2.73108473e-02 -4.84062528e-04 9.99626872e-01 2.00581045e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.055336194999995 meters Centerline goodness [0,1] 0.9996743236788397 Centerline is valid? [True, True] Translation: X:33.67, Y:0.32, Z:0.20 [[ 9.98922507e-01 -3.70481990e-02 -2.79509633e-02 3.36738157e+01] [ 3.70432370e-02 9.99313422e-01 -6.95480544e-04 3.22000311e-01] [ 2.79575391e-02 -3.40662991e-04 9.99609054e-01 1.98837558e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.085336195 meters Centerline goodness [0,1] 0.9999567997235183 Centerline is valid? [True, True] Translation: X:33.70, Y:0.32, Z:0.20 [[ 9.99043679e-01 -3.43587757e-02 -2.70407472e-02 3.37044658e+01] [ 3.43531635e-02 9.99409530e-01 -6.72206688e-04 3.24833335e-01] [ 2.70478766e-02 -2.57371367e-04 9.99634106e-01 1.97372365e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.115336195 meters Centerline goodness [0,1] 0.9998276864755422 Centerline is valid? [True, True] Translation: X:33.74, Y:0.33, Z:0.20 [[ 9.99115801e-01 -3.26587999e-02 -2.64767502e-02 3.37367647e+01] [ 3.26528505e-02 9.99466537e-01 -6.57133940e-04 3.28643800e-01] [ 2.64840871e-02 -2.07988463e-04 9.99649213e-01 1.98532542e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.145336195 meters Centerline goodness [0,1] 0.9998056952870312 Centerline is valid? [True, True] Translation: X:33.77, Y:0.33, Z:0.20 [[ 9.99178768e-01 -3.20700445e-02 -2.47649512e-02 3.37674817e+01] [ 3.20646816e-02 9.99485607e-01 -6.13724343e-04 3.32225941e-01] [ 2.47718944e-02 -1.80859941e-04 9.99693113e-01 1.99743240e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.175336195 meters Centerline goodness [0,1] 0.9999782357934142 Centerline is valid? [True, True] Translation: X:33.80, Y:0.33, Z:0.20 [[ 9.99051066e-01 -3.44260695e-02 -2.66798180e-02 3.37990902e+01] [ 3.44207107e-02 9.99407214e-01 -6.60219972e-04 3.34390424e-01] [ 2.66867313e-02 -2.58744827e-04 9.99643812e-01 2.01191455e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.205336194999994 meters Centerline goodness [0,1] 0.999827041985558 Centerline is valid? [True, True] Translation: X:33.83, Y:0.33, Z:0.20 [[ 9.98942879e-01 -3.68357447e-02 -2.75000389e-02 3.38307671e+01] [ 3.68309909e-02 9.99321278e-01 -6.79539840e-04 3.32290667e-01] [ 2.75064054e-02 -3.34032200e-04 9.99621571e-01 1.98719116e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.235336194999995 meters Centerline goodness [0,1] 0.9996781046803579 Centerline is valid? [True, True] Translation: X:33.86, Y:0.32, Z:0.20 [[ 9.98780477e-01 -4.20336417e-02 -2.58984822e-02 3.38620845e+01] [ 4.20312093e-02 9.99116094e-01 -6.38517217e-04 3.22017762e-01] [ 2.59024296e-02 -4.50805997e-04 9.99664374e-01 1.96866029e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.265336194999996 meters Centerline goodness [0,1] 0.9995895796431503 Centerline is valid? [True, True] Translation: X:33.89, Y:0.32, Z:0.20 [[ 9.98692725e-01 -4.47561865e-02 -2.46925969e-02 3.38939721e+01] [ 4.47548378e-02 9.98997816e-01 -6.07534218e-04 3.20143921e-01] [ 2.46950413e-02 -4.98373167e-04 9.99694907e-01 2.01041228e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.295336195 meters Centerline goodness [0,1] 0.9997186938740181 Centerline is valid? [True, True] Translation: X:33.93, Y:0.32, Z:0.20 [[ 9.98589294e-01 -4.68775234e-02 -2.49383054e-02 3.39260161e+01] [ 4.68768376e-02 9.98900489e-01 -6.12426462e-04 3.17016710e-01] [ 2.49395945e-02 -5.57466384e-04 9.99688805e-01 2.02625921e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.325336195 meters Centerline goodness [0,1] 0.9971622909626549 Centerline is valid? [True, True] Translation: X:33.96, Y:0.31, Z:0.20 [[ 9.98331689e-01 -5.05914075e-02 -2.78271070e-02 3.39562123e+01] [ 5.05920281e-02 9.98719170e-01 -6.82198795e-04 3.07624814e-01] [ 2.78259786e-02 -7.26769105e-04 9.99612518e-01 1.97095088e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.355336195 meters Centerline goodness [0,1] 0.9985291572936494 Centerline is valid? [True, True] Translation: X:33.99, Y:0.31, Z:0.20 [[ 9.98261683e-01 -5.20010242e-02 -2.77399734e-02 3.39883923e+01] [ 5.20022190e-02 9.98646739e-01 -6.78822274e-04 3.11168790e-01] [ 2.77377334e-02 -7.64897905e-04 9.99614942e-01 2.01642359e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.385336194999994 meters Centerline goodness [0,1] 0.9976048416415388 Centerline is valid? [True, True] Translation: X:34.02, Y:0.31, Z:0.20 [[ 9.98306639e-01 -5.13461575e-02 -2.73391190e-02 3.40192038e+01] [ 5.13471012e-02 9.98680644e-01 -6.67967072e-04 3.13921706e-01] [ 2.73373466e-02 -7.36948549e-04 9.99625993e-01 2.04530305e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.415336194999995 meters Centerline goodness [0,1] 0.9997190282700786 Centerline is valid? [True, True] Translation: X:34.05, Y:0.32, Z:0.20 [[ 9.98430737e-01 -4.79240589e-02 -2.89715135e-02 3.40513427e+01] [ 4.79237171e-02 9.98850749e-01 -7.06555401e-04 3.20237792e-01] [ 2.89720789e-02 -6.82975986e-04 9.99579988e-01 2.04490356e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.445336194999996 meters Centerline goodness [0,1] 0.9997847796143251 Centerline is valid? [True, True] Translation: X:34.08, Y:0.32, Z:0.20 [[ 9.98545887e-01 -4.59115196e-02 -2.82532231e-02 3.40821460e+01] [ 4.59104129e-02 9.98945324e-01 -6.88199436e-04 3.18995648e-01] [ 2.82550214e-02 -6.09918422e-04 9.99600561e-01 2.01795846e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.475336195 meters Centerline goodness [0,1] 0.9996573949165971 Centerline is valid? [True, True] Translation: X:34.11, Y:0.32, Z:0.20 [[ 9.98631258e-01 -4.45119153e-02 -2.74645089e-02 3.41133582e+01] [ 4.45103641e-02 9.99008699e-01 -6.68123795e-04 3.17895913e-01] [ 2.74670228e-02 -5.55245986e-04 9.99622556e-01 2.00652228e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.505336195 meters Centerline goodness [0,1] 0.9999784756451925 Centerline is valid? [True, True] Translation: X:34.15, Y:0.32, Z:0.20 [[ 9.98726789e-01 -4.16705663e-02 -2.84317614e-02 3.41456886e+01] [ 4.16677888e-02 9.99131282e-01 -6.90407415e-04 3.24158097e-01] [ 2.84358319e-02 -4.95160246e-04 9.99595497e-01 2.03051693e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.535336195 meters Centerline goodness [0,1] 0.9995220300686538 Centerline is valid? [True, True] Translation: X:34.18, Y:0.34, Z:0.21 [[ 9.98865562e-01 -3.90722095e-02 -2.72204165e-02 3.41773643e+01] [ 3.90687273e-02 9.99236308e-01 -6.59951733e-04 3.36161785e-01] [ 2.72254143e-02 -4.04263969e-04 9.99629238e-01 2.09905007e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.565336195 meters Centerline goodness [0,1] 0.9999135022921892 Centerline is valid? [True, True] Translation: X:34.21, Y:0.34, Z:0.21 [[ 9.98946585e-01 -3.73702802e-02 -2.66304913e-02 3.42093471e+01] [ 3.73663738e-02 9.99301425e-01 -6.44481928e-04 3.40089977e-01] [ 2.66359723e-02 -3.51281869e-04 9.99645138e-01 2.10673311e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.595336194999994 meters Centerline goodness [0,1] 0.9999782825869782 Centerline is valid? [True, True] Translation: X:34.24, Y:0.34, Z:0.21 [[ 9.99007597e-01 -3.52886782e-02 -2.71759313e-02 3.42404906e+01] [ 3.52838751e-02 9.99377115e-01 -6.56392479e-04 3.42051006e-01] [ 2.71821671e-02 -3.03131094e-04 9.99630451e-01 2.07501646e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.625336194999996 meters Centerline goodness [0,1] 0.9999785144919752 Centerline is valid? [True, True] Translation: X:34.27, Y:0.35, Z:0.20 [[ 9.99123440e-01 -3.07690120e-02 -2.83834256e-02 3.42712154e+01] [ 3.07619806e-02 9.99526504e-01 -6.84451575e-04 3.45706150e-01] [ 2.83910461e-02 -1.89278776e-04 9.99596875e-01 2.00710347e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.655336195 meters Centerline goodness [0,1] 0.9998702590494313 Centerline is valid? [True, True] Translation: X:34.30, Y:0.35, Z:0.20 [[ 9.99220871e-01 -2.66546688e-02 -2.91063514e-02 3.43020655e+01] [ 2.66455522e-02 9.99644698e-01 -7.01100301e-04 3.53179388e-01] [ 2.91146975e-02 -7.50007509e-05 9.99576075e-01 1.99455536e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.685336195 meters Centerline goodness [0,1] 0.9996525742079778 Centerline is valid? [True, True] Translation: X:34.33, Y:0.36, Z:0.20 [[ 9.99254136e-01 -2.51756199e-02 -2.92807190e-02 3.43302727e+01] [ 2.51656573e-02 9.99683043e-01 -7.08767134e-04 3.57776008e-01] [ 2.92892819e-02 -2.86300481e-05 9.99570977e-01 1.99353204e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.715336195 meters Centerline goodness [0,1] 0.9996570130120689 Centerline is valid? [True, True] Translation: X:34.36, Y:0.36, Z:0.20 [[ 9.99298740e-01 -2.39717700e-02 -2.87642413e-02 3.43580434e+01] [ 2.39615849e-02 9.99712636e-01 -6.98779438e-04 3.63816953e-01] [ 2.87727265e-02 9.05260334e-06 9.99585979e-01 2.01899523e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.745336195 meters Centerline goodness [0,1] 0.9999567875893957 Centerline is valid? [True, True] Translation: X:34.39, Y:0.37, Z:0.20 [[ 9.99296139e-01 -2.26900059e-02 -2.98728953e-02 3.43852474e+01] [ 2.26783946e-02 9.99742547e-01 -7.27487915e-04 3.72675626e-01] [ 2.98817111e-02 4.95065580e-05 9.99553441e-01 2.02382664e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.775336194999994 meters Centerline goodness [0,1] 0.9999569772194377 Centerline is valid? [True, True] Translation: X:34.41, Y:0.38, Z:0.20 [[ 9.99229103e-01 -2.24380058e-02 -3.22139114e-02 3.44142674e+01] [ 2.24243287e-02 9.99748234e-01 -7.85836933e-04 3.75049825e-01] [ 3.22234336e-02 6.28557968e-05 9.99480688e-01 1.98203265e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.805336194999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:34.44, Y:0.38, Z:0.20 [[ 9.99228079e-01 -2.31284816e-02 -3.17540443e-02 3.44429961e+01] [ 2.31154021e-02 9.99732500e-01 -7.78984211e-04 3.75176602e-01] [ 3.17635668e-02 4.43753941e-05 9.99495410e-01 2.00873982e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.835336195 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:34.47, Y:0.38, Z:0.20 [[ 9.99300331e-01 -2.51521407e-02 -2.76806443e-02 3.44722326e+01] [ 2.51429340e-02 9.99683635e-01 -6.80660001e-04 3.76626115e-01] [ 2.76890072e-02 -1.57888484e-05 9.99616586e-01 2.02445898e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.865336195 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:34.50, Y:0.38, Z:0.21 [[ 9.99294956e-01 -2.63241536e-02 -2.67699479e-02 3.45016072e+01] [ 2.63159464e-02 9.99653458e-01 -6.58898738e-04 3.80096909e-01] [ 2.67780160e-02 -4.60423285e-05 9.99641404e-01 2.08568099e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.895336195 meters Centerline goodness [0,1] 0.9999133730373578 Centerline is valid? [True, True] Translation: X:34.53, Y:0.38, Z:0.21 [[ 9.99198654e-01 -2.96021867e-02 -2.69399294e-02 3.45319128e+01] [ 2.95950611e-02 9.99561750e-01 -6.63263591e-04 3.82486232e-01] [ 2.69477570e-02 -1.34556767e-04 9.99636834e-01 2.08625573e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.925336195 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:34.56, Y:0.38, Z:0.21 [[ 9.99151341e-01 -3.12266442e-02 -2.68606430e-02 3.45633701e+01] [ 3.12201660e-02 9.99512313e-01 -6.60617726e-04 3.83291636e-01] [ 2.68681723e-02 -1.78536646e-04 9.99638970e-01 2.08351093e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.955336194999994 meters Centerline goodness [0,1] 0.999611029475322 Centerline is valid? [True, True] Translation: X:34.59, Y:0.39, Z:0.21 [[ 9.99059857e-01 -3.36720588e-02 -2.73055867e-02 3.45938876e+01] [ 3.36662977e-02 9.99432904e-01 -6.70814500e-04 3.89068846e-01] [ 2.73126895e-02 -2.49094171e-04 9.99626908e-01 2.08382345e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.985336194999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:34.62, Y:0.39, Z:0.21 [[ 9.98996899e-01 -3.48912005e-02 -2.80677577e-02 3.46248230e+01] [ 3.48856197e-02 9.99391074e-01 -6.88635230e-04 3.91324465e-01] [ 2.80746938e-02 -2.91216660e-04 9.99605786e-01 2.06728138e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.015336194999996 meters Centerline goodness [0,1] 0.9996330037563145 Centerline is valid? [True, True] Translation: X:34.66, Y:0.39, Z:0.20 [[ 9.98740879e-01 -3.95156221e-02 -3.09058655e-02 3.46550012e+01] [ 3.95110777e-02 9.99218845e-01 -7.57975429e-04 3.91771806e-01] [ 3.09116751e-02 -4.64103006e-04 9.99522012e-01 2.00380792e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.045336195 meters Centerline goodness [0,1] 0.9994365342522159 Centerline is valid? [True, True] Translation: X:34.69, Y:0.39, Z:0.20 [[ 9.98592691e-01 -4.27582182e-02 -3.13747030e-02 3.46866986e+01] [ 4.27551602e-02 9.99085284e-01 -7.68648075e-04 3.92141242e-01] [ 3.13788701e-02 -5.73864104e-04 9.99507397e-01 2.00637225e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.075336195 meters Centerline goodness [0,1] 0.9981191629194051 Centerline is valid? [True, True] Translation: X:34.72, Y:0.39, Z:0.20 [[ 9.98246435e-01 -5.10988064e-02 -2.98825698e-02 3.47174974e+01] [ 5.10997756e-02 9.98693285e-01 -7.31730969e-04 3.87646817e-01] [ 2.98809124e-02 -7.96544780e-04 9.99553148e-01 2.02747701e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.105336195 meters Centerline goodness [0,1] 0.9976232660645608 Centerline is valid? [True, True] Translation: X:34.75, Y:0.39, Z:0.20 [[ 9.98051664e-01 -5.48638184e-02 -2.97125662e-02 3.47484649e+01] [ 5.48664518e-02 9.98493437e-01 -7.27267900e-04 3.85122998e-01] [ 2.97077030e-02 -9.04372144e-04 9.99558220e-01 2.03255708e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.135336194999994 meters Centerline goodness [0,1] 0.9843600660352767 Centerline is valid? [True, True] Translation: X:34.78, Y:0.38, Z:0.20 [[ 9.97640400e-01 -6.14251358e-02 -3.06689737e-02 3.47788732e+01] [ 6.14310443e-02 9.98111048e-01 -7.50435364e-04 3.78755295e-01] [ 3.06571371e-02 -1.13536245e-03 9.99529315e-01 2.02384008e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.165336194999995 meters Centerline goodness [0,1] 0.9842016296809986 Centerline is valid? [True, True] Translation: X:34.81, Y:0.38, Z:0.21 [[ 9.97545686e-01 -6.32937652e-02 -2.99416647e-02 3.48112949e+01] [ 6.33002696e-02 9.97994259e-01 -7.31533740e-04 3.80904993e-01] [ 2.99279110e-02 -1.16557712e-03 9.99551380e-01 2.05991560e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.195336194999996 meters Centerline goodness [0,1] 0.9664826242286456 Centerline is valid? [True, True] Translation: X:34.84, Y:0.38, Z:0.21 [[ 9.97440591e-01 -6.61257486e-02 -2.71965544e-02 3.48426966e+01] [ 6.61322547e-02 9.97810647e-01 -6.61141572e-04 3.75178361e-01] [ 2.71807300e-02 -1.13912002e-03 9.99629887e-01 2.06524183e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.225336195 meters Centerline goodness [0,1] 0.9664826242286456 Centerline is valid? [True, True] Translation: X:34.88, Y:0.38, Z:0.21 [[ 9.97452549e-01 -6.59450759e-02 -2.71966683e-02 3.48753772e+01] [ 6.59516432e-02 9.97822604e-01 -6.56431848e-04 3.75840956e-01] [ 2.71807389e-02 -1.13890535e-03 9.99629887e-01 2.06770845e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.255336195 meters Centerline goodness [0,1] 0.9777936652367953 Centerline is valid? [True, True] Translation: X:34.91, Y:0.38, Z:0.21 [[ 9.97441488e-01 -6.61973905e-02 -2.69885873e-02 3.49071574e+01] [ 6.62040713e-02 9.97805894e-01 -6.46904407e-04 3.78761546e-01] [ 2.69721949e-02 -1.14150506e-03 9.99635532e-01 2.09001131e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.285336195 meters Centerline goodness [0,1] 0.9663371049044848 Centerline is valid? [True, True] Translation: X:34.94, Y:0.38, Z:0.21 [[ 9.97459030e-01 -6.53606349e-02 -2.83455732e-02 3.49390379e+01] [ 6.53678062e-02 9.97861010e-01 -6.74552193e-04 3.78995766e-01] [ 2.83290314e-02 -1.18004976e-03 9.99597956e-01 2.07435687e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.31533619499999 meters Centerline goodness [0,1] 0.9824078687956324 Centerline is valid? [True, True] Translation: X:34.97, Y:0.39, Z:0.21 [[ 9.97449663e-01 -6.49037343e-02 -2.96930080e-02 3.49710764e+01] [ 6.49115516e-02 9.97890775e-01 -7.01592933e-04 3.85332663e-01] [ 2.96759147e-02 -1.22761559e-03 9.99558819e-01 2.07943908e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.345336194999994 meters Centerline goodness [0,1] 0.9706009886393201 Centerline is valid? [True, True] Translation: X:35.00, Y:0.38, Z:0.20 [[ 9.97527019e-01 -6.24527282e-02 -3.22413197e-02 3.50024933e+01] [ 6.24607878e-02 9.98047131e-01 -7.58118353e-04 3.83397007e-01] [ 3.22257032e-02 -1.25757469e-03 9.99479826e-01 2.02477646e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.375336194999996 meters Centerline goodness [0,1] 0.9795341351486548 Centerline is valid? [True, True] Translation: X:35.03, Y:0.39, Z:0.20 [[ 9.97622402e-01 -6.03270195e-02 -3.33195645e-02 3.50342439e+01] [ 6.03345094e-02 9.98177908e-01 -7.81520836e-04 3.88653508e-01] [ 3.33060000e-02 -1.23065688e-03 9.99444444e-01 2.02741858e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.405336195 meters Centerline goodness [0,1] 0.9774680653986171 Centerline is valid? [True, True] Translation: X:35.06, Y:0.39, Z:0.20 [[ 9.97844822e-01 -5.56605069e-02 -3.47508113e-02 3.50638596e+01] [ 5.56658419e-02 9.98449123e-01 -8.14719438e-04 3.92066926e-01] [ 3.47422647e-02 -1.12146959e-03 9.99395676e-01 1.97670136e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.435336195 meters Centerline goodness [0,1] 0.98402118929246 Centerline is valid? [True, True] Translation: X:35.10, Y:0.40, Z:0.20 [[ 9.97964623e-01 -5.29351640e-02 -3.55595237e-02 3.50953494e+01] [ 5.29390453e-02 9.98597398e-01 -8.33044887e-04 3.95366060e-01] [ 3.55537452e-02 -1.05113791e-03 9.99367213e-01 1.95610291e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.465336195 meters Centerline goodness [0,1] 0.9976549268250314 Centerline is valid? [True, True] Translation: X:35.13, Y:0.40, Z:0.20 [[ 9.98279650e-01 -4.75725896e-02 -3.42722933e-02 3.51255081e+01] [ 4.75730434e-02 9.98867439e-01 -8.02679569e-04 4.02080341e-01] [ 3.42716634e-02 -8.29138616e-04 9.99412210e-01 1.98267802e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.495336195 meters Centerline goodness [0,1] 0.9997819973403675 Centerline is valid? [True, True] Translation: X:35.16, Y:0.41, Z:0.21 [[ 9.98434141e-01 -4.51922456e-02 -3.29685754e-02 3.51565958e+01] [ 4.51913888e-02 9.98978049e-01 -7.71519929e-04 4.09818098e-01] [ 3.29697499e-02 -7.19583874e-04 9.99456091e-01 2.05489227e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.525336194999994 meters Centerline goodness [0,1] 0.999326920989209 Centerline is valid? [True, True] Translation: X:35.19, Y:0.41, Z:0.21 [[ 9.98509730e-01 -4.34268164e-02 -3.30519274e-02 3.51875884e+01] [ 4.34250251e-02 9.99056390e-01 -7.72368552e-04 4.14468118e-01] [ 3.30542807e-02 -6.64063261e-04 9.99453337e-01 2.07038614e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.555336194999995 meters Centerline goodness [0,1] 0.9998052453908076 Centerline is valid? [True, True] Translation: X:35.22, Y:0.42, Z:0.21 [[ 9.98587045e-01 -4.09222923e-02 -3.39010322e-02 3.52201119e+01] [ 4.09190177e-02 9.99162153e-01 -7.90677466e-04 4.19406315e-01] [ 3.39049846e-02 -5.97636661e-04 9.99424882e-01 2.06092334e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.585336195 meters Centerline goodness [0,1] 0.999588111600078 Centerline is valid? [True, True] Translation: X:35.25, Y:0.42, Z:0.21 [[ 9.98711212e-01 -3.96622309e-02 -3.16673857e-02 3.52503831e+01] [ 3.96587597e-02 9.99213009e-01 -7.37958208e-04 4.21086904e-01] [ 3.16717328e-02 -5.18882102e-04 9.99498190e-01 2.06635448e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.615336195 meters Centerline goodness [0,1] 0.9998704719139934 Centerline is valid? [True, True] Translation: X:35.28, Y:0.42, Z:0.21 [[ 9.98771349e-01 -3.89904255e-02 -3.05865988e-02 3.52825623e+01] [ 3.89869085e-02 9.99239468e-01 -7.11582029e-04 4.22704150e-01] [ 3.05910816e-02 -4.81769187e-04 9.99531867e-01 2.08679437e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.645336195 meters Centerline goodness [0,1] 0.9999782792849541 Centerline is valid? [True, True] Translation: X:35.31, Y:0.42, Z:0.21 [[ 9.98805930e-01 -3.85314889e-02 -3.00339459e-02 3.53145097e+01] [ 3.85279333e-02 9.99257280e-01 -6.97295788e-04 4.21400005e-01] [ 3.00385070e-02 -4.60682699e-04 9.99548636e-01 2.06604080e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.675336195 meters Centerline goodness [0,1] 0.9997824431632764 Centerline is valid? [True, True] Translation: X:35.35, Y:0.42, Z:0.20 [[ 9.98802596e-01 -3.87942897e-02 -2.98056617e-02 3.53455536e+01] [ 3.87909391e-02 9.99247109e-01 -6.90844799e-04 4.18774291e-01] [ 2.98100221e-02 -4.66172031e-04 9.99555474e-01 2.03187449e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.705336194999994 meters Centerline goodness [0,1] 0.9998268473226267 Centerline is valid? [True, True] Translation: X:35.38, Y:0.42, Z:0.21 [[ 9.98805895e-01 -3.94878137e-02 -2.87662448e-02 3.53770166e+01] [ 3.94850090e-02 9.99219941e-01 -6.65752231e-04 4.19255234e-01] [ 2.87700946e-02 -4.70878182e-04 9.99585944e-01 2.05031041e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.735336194999995 meters Centerline goodness [0,1] 0.9998047849380735 Centerline is valid? [True, True] Translation: X:35.41, Y:0.42, Z:0.21 [[ 9.98760370e-01 -4.17360103e-02 -2.71261475e-02 3.54095580e+01] [ 4.17343760e-02 9.99128545e-01 -6.26642864e-04 4.21279462e-01] [ 2.71286618e-02 -5.06226781e-04 9.99631822e-01 2.12284807e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.765336194999996 meters Centerline goodness [0,1] 0.9993287718690456 Centerline is valid? [True, True] Translation: X:35.44, Y:0.42, Z:0.21 [[ 9.98622810e-01 -4.38293176e-02 -2.88352783e-02 3.54412776e+01] [ 4.38283752e-02 9.99038854e-01 -6.65015512e-04 4.18934614e-01] [ 2.88367106e-02 -5.99703738e-04 9.99583956e-01 2.11429500e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.795336195 meters Centerline goodness [0,1] 0.999848307545616 Centerline is valid? [True, True] Translation: X:35.47, Y:0.42, Z:0.21 [[ 9.98596451e-01 -4.41220728e-02 -2.92979690e-02 3.54736324e+01] [ 4.41212643e-02 9.99025955e-01 -6.74380550e-04 4.16790911e-01] [ 2.92991866e-02 -6.19229409e-04 9.99570495e-01 2.10034619e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.825336195 meters Centerline goodness [0,1] 0.9994366075104553 Centerline is valid? [True, True] Translation: X:35.50, Y:0.41, Z:0.21 [[ 9.98567469e-01 -4.49894857e-02 -2.89647356e-02 3.55046306e+01] [ 4.49890925e-02 9.98987256e-01 -6.65589860e-04 4.13921201e-01] [ 2.89653463e-02 -6.38460789e-04 9.99580212e-01 2.09272967e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.855336195 meters Centerline goodness [0,1] 0.9993057815381278 Centerline is valid? [True, True] Translation: X:35.54, Y:0.42, Z:0.22 [[ 9.98559273e-01 -4.54733379e-02 -2.84877932e-02 3.55361939e+01] [ 4.54731968e-02 9.98965346e-01 -6.53137508e-04 4.17980314e-01] [ 2.84880185e-02 -6.43234511e-04 9.99593927e-01 2.15037650e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.885336194999994 meters Centerline goodness [0,1] 0.9993694007132295 Centerline is valid? [True, True] Translation: X:35.57, Y:0.42, Z:0.22 [[ 9.98561975e-01 -4.50603733e-02 -2.90438368e-02 3.55686169e+01] [ 4.50600953e-02 9.98984057e-01 -6.64403546e-04 4.24345916e-01] [ 2.90442682e-02 -6.45269937e-04 9.99577918e-01 2.18828729e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.915336194999995 meters Centerline goodness [0,1] 0.9993967077479962 Centerline is valid? [True, True] Translation: X:35.60, Y:0.42, Z:0.21 [[ 9.98652440e-01 -4.27808477e-02 -2.93786228e-02 3.56003117e+01] [ 4.27796187e-02 9.99084308e-01 -6.70659067e-04 4.24450469e-01] [ 2.93804124e-02 -5.87050966e-04 9.99568130e-01 2.12633039e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.945336194999996 meters Centerline goodness [0,1] 0.9996763754045307 Centerline is valid? [True, True] Translation: X:35.63, Y:0.43, Z:0.21 [[ 9.98695011e-01 -4.15398282e-02 -2.97105683e-02 3.56327821e+01] [ 4.15380641e-02 9.99136693e-01 -6.76836618e-04 4.25677779e-01] [ 2.97130346e-02 -5.58166137e-04 9.99558314e-01 2.11621073e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.975336195 meters Centerline goodness [0,1] 0.9996316359696641 Centerline is valid? [True, True] Translation: X:35.66, Y:0.42, Z:0.21 [[ 9.98731689e-01 -4.10918822e-02 -2.90941832e-02 3.56638272e+01] [ 4.10900324e-02 9.99155229e-01 -6.61695249e-04 4.20494156e-01] [ 2.90967956e-02 -5.34624917e-04 9.99576456e-01 2.07288345e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.005336195 meters Centerline goodness [0,1] 0.9998492516420803 Centerline is valid? [True, True] Translation: X:35.70, Y:0.42, Z:0.21 [[ 9.98761196e-01 -4.15706320e-02 -2.73487855e-02 3.56954465e+01] [ 4.15692084e-02 9.99135434e-01 -6.20838922e-04 4.20347830e-01] [ 2.73509493e-02 -5.16797539e-04 9.99625759e-01 2.10354810e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.035336195 meters Centerline goodness [0,1] 0.9998066179630426 Centerline is valid? [True, True] Translation: X:35.73, Y:0.43, Z:0.22 [[ 9.98705781e-01 -4.40556555e-02 -2.54138224e-02 3.57278329e+01] [ 4.40552588e-02 9.99028930e-01 -5.75777831e-04 4.25747363e-01] [ 2.54145100e-02 -5.44579875e-04 9.99676851e-01 2.20808481e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.06533619499999 meters Centerline goodness [0,1] 0.9990087061460219 Centerline is valid? [True, True] Translation: X:35.76, Y:0.42, Z:0.22 [[ 9.98583848e-01 -4.71383012e-02 -2.46633051e-02 3.57600849e+01] [ 4.71388943e-02 9.98888189e-01 -5.57662562e-04 4.24341014e-01] [ 2.46621714e-02 -6.05728106e-04 9.99695659e-01 2.24220382e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.095336194999994 meters Centerline goodness [0,1] 0.9996974804442715 Centerline is valid? [True, True] Translation: X:35.79, Y:0.43, Z:0.23 [[ 9.98588172e-01 -4.75417323e-02 -2.36948745e-02 3.57925060e+01] [ 4.75424191e-02 9.98869077e-01 -5.34665528e-04 4.25474578e-01] [ 2.36934964e-02 -5.92600984e-04 9.99719094e-01 2.26863691e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.125336194999996 meters Centerline goodness [0,1] 0.9991834278837889 Centerline is valid? [True, True] Translation: X:35.82, Y:0.42, Z:0.22 [[ 9.98617426e-01 -4.73516404e-02 -2.28267100e-02 3.58236006e+01] [ 4.73522896e-02 9.98878120e-01 -5.12381994e-04 4.21658176e-01] [ 2.28253633e-02 -5.69223396e-04 9.99739305e-01 2.24213676e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.155336195 meters Centerline goodness [0,1] 0.9994135279551675 Centerline is valid? [True, True] Translation: X:35.86, Y:0.42, Z:0.22 [[ 9.98640134e-01 -4.54953562e-02 -2.54569164e-02 3.58556829e+01] [ 4.54956731e-02 9.98964375e-01 -5.67035389e-04 4.23027253e-01] [ 2.54563501e-02 -5.91915251e-04 9.99675759e-01 2.17932267e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.185336195 meters Centerline goodness [0,1] 0.9992875340040589 Centerline is valid? [True, True] Translation: X:35.89, Y:0.43, Z:0.22 [[ 9.98673143e-01 -4.38538859e-02 -2.69961054e-02 3.58876903e+01] [ 4.38537050e-02 9.99037784e-01 -5.99034589e-04 4.27018233e-01] [ 2.69963993e-02 -5.85639486e-04 9.99635359e-01 2.16233225e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.215336195 meters Centerline goodness [0,1] 0.9997826181470371 Centerline is valid? [True, True] Translation: X:35.92, Y:0.44, Z:0.22 [[ 9.98820092e-01 -3.94630637e-02 -2.83035403e-02 3.59187775e+01] [ 3.94611343e-02 9.99220909e-01 -6.26939986e-04 4.36671937e-01] [ 2.83062303e-02 -4.90689550e-04 9.99599178e-01 2.16276370e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.245336195 meters Centerline goodness [0,1] 0.9999347868617264 Centerline is valid? [True, True] Translation: X:35.95, Y:0.44, Z:0.22 [[ 9.98869788e-01 -3.74147547e-02 -2.93135132e-02 3.59498251e+01] [ 3.74118345e-02 9.99299722e-01 -6.48257133e-04 4.41621327e-01] [ 2.93172399e-02 -4.49147838e-04 9.99570056e-01 2.15846501e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.275336194999994 meters Centerline goodness [0,1] 0.9999138617912441 Centerline is valid? [True, True] Translation: X:35.98, Y:0.45, Z:0.22 [[ 9.98941498e-01 -3.49469740e-02 -2.99097531e-02 3.59809520e+01] [ 3.49428600e-02 9.99389094e-01 -6.60379243e-04 4.47290743e-01] [ 2.99145593e-02 -3.85452084e-04 9.99552385e-01 2.15377806e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.305336194999995 meters Centerline goodness [0,1] 0.9999782603969651 Centerline is valid? [True, True] Translation: X:36.01, Y:0.45, Z:0.22 [[ 9.98949817e-01 -3.49064643e-02 -2.96783194e-02 3.60129858e+01] [ 3.49024338e-02 9.99390510e-01 -6.53992216e-04 4.49410633e-01] [ 2.96830593e-02 -3.82540171e-04 9.99559288e-01 2.17228804e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.335336195 meters Centerline goodness [0,1] 0.9997619099153698 Centerline is valid? [True, True] Translation: X:36.05, Y:0.45, Z:0.22 [[ 9.98889043e-01 -3.76616191e-02 -2.83245771e-02 3.60456375e+01] [ 3.76590913e-02 9.99290451e-01 -6.22874985e-04 4.49668824e-01] [ 2.83279379e-02 -4.44494836e-04 9.99598585e-01 2.20938772e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.365336195 meters Centerline goodness [0,1] 0.999655580669465 Centerline is valid? [True, True] Translation: X:36.08, Y:0.45, Z:0.22 [[ 9.98826982e-01 -3.99148711e-02 -2.74128182e-02 3.60777021e+01] [ 3.99133859e-02 9.99202962e-01 -6.01568727e-04 4.48637451e-01] [ 2.74149807e-02 -4.93275315e-04 9.99624017e-01 2.22252655e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.395336195 meters Centerline goodness [0,1] 0.9995689840955131 Centerline is valid? [True, True] Translation: X:36.11, Y:0.44, Z:0.22 [[ 9.98688265e-01 -4.40222975e-02 -2.61493058e-02 3.61094367e+01] [ 4.40223982e-02 9.99030380e-01 -5.72105098e-04 4.40334250e-01] [ 2.61491363e-02 -5.79800505e-04 9.99657885e-01 2.19519152e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.425336195 meters Centerline goodness [0,1] 0.9992444194982946 Centerline is valid? [True, True] Translation: X:36.14, Y:0.44, Z:0.22 [[ 9.98594596e-01 -4.59543896e-02 -2.64012557e-02 3.61412348e+01] [ 4.59551992e-02 9.98943335e-01 -5.76397745e-04 4.37687453e-01] [ 2.63998464e-02 -6.37687290e-04 9.99651260e-01 2.18594126e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.455336194999994 meters Centerline goodness [0,1] 0.999349240780911 Centerline is valid? [True, True] Translation: X:36.17, Y:0.44, Z:0.22 [[ 9.98407196e-01 -4.88862559e-02 -2.81638874e-02 3.61726301e+01] [ 4.88883646e-02 9.98804060e-01 -6.14115455e-04 4.36529141e-01] [ 2.81602269e-02 -7.63749105e-04 9.99603130e-01 2.18097665e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.485336194999995 meters Centerline goodness [0,1] 0.9975715524718126 Centerline is valid? [True, True] Translation: X:36.20, Y:0.43, Z:0.22 [[ 9.98320645e-01 -5.02109509e-02 -2.88920326e-02 3.62040412e+01] [ 5.02137517e-02 9.98738296e-01 -6.29049799e-04 4.33136497e-01] [ 2.88871646e-02 -8.22783952e-04 9.99582340e-01 2.16754500e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.515336194999996 meters Centerline goodness [0,1] 0.9956061557109154 Centerline is valid? [True, True] Translation: X:36.24, Y:0.43, Z:0.22 [[ 9.98206473e-01 -5.17184453e-02 -3.01502816e-02 3.62357493e+01] [ 5.17222144e-02 9.98661295e-01 -6.55395004e-04 4.34821785e-01] [ 3.01438153e-02 -9.05219794e-04 9.99545162e-01 2.19616525e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.545336195 meters Centerline goodness [0,1] 0.9962862201494148 Centerline is valid? [True, True] Translation: X:36.27, Y:0.44, Z:0.22 [[ 9.98157534e-01 -5.22313140e-02 -3.08776017e-02 3.62680093e+01] [ 5.22355546e-02 9.98634567e-01 -6.69847389e-04 4.36654839e-01] [ 3.08704274e-02 -9.44295430e-04 9.99522949e-01 2.20648067e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.575336195 meters Centerline goodness [0,1] 0.9865742839258348 Centerline is valid? [True, True] Translation: X:36.30, Y:0.43, Z:0.22 [[ 9.98236221e-01 -5.11663283e-02 -3.01073684e-02 3.62997977e+01] [ 5.11699178e-02 9.98689749e-01 -6.51739545e-04 4.29557288e-01] [ 3.01012673e-02 -8.90001546e-04 9.99546458e-01 2.15758059e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.605336195 meters Centerline goodness [0,1] 0.9944941054540744 Centerline is valid? [True, True] Translation: X:36.33, Y:0.43, Z:0.22 [[ 9.98253280e-01 -5.09659880e-02 -2.98807105e-02 3.63322613e+01] [ 5.09694747e-02 9.98700003e-01 -6.45468551e-04 4.32428087e-01] [ 2.98747626e-02 -8.78663018e-04 9.99553263e-01 2.17862067e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.635336194999994 meters Centerline goodness [0,1] 0.9947629249713259 Centerline is valid? [True, True] Translation: X:36.36, Y:0.43, Z:0.22 [[ 9.98262726e-01 -5.17236095e-02 -2.82169686e-02 3.63642266e+01] [ 5.17270562e-02 9.98661074e-01 -6.08260078e-04 4.27456838e-01] [ 2.82106496e-02 -8.52377357e-04 9.99601637e-01 2.17468934e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.665336194999995 meters Centerline goodness [0,1] 0.9972768532526475 Centerline is valid? [True, True] Translation: X:36.40, Y:0.43, Z:0.22 [[ 9.98232516e-01 -5.24597227e-02 -2.79253014e-02 3.63965861e+01] [ 5.24634225e-02 9.98622666e-01 -6.00673121e-04 4.25752984e-01] [ 2.79183501e-02 -8.65445445e-04 9.99609832e-01 2.18250619e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.695336194999996 meters Centerline goodness [0,1] 0.9950527275094389 Centerline is valid? [True, True] Translation: X:36.43, Y:0.42, Z:0.22 [[ 9.98144392e-01 -5.30351622e-02 -2.99172797e-02 3.64273902e+01] [ 5.30396948e-02 9.98592198e-01 -6.42613579e-04 4.22937712e-01] [ 2.99092432e-02 -9.45382245e-04 9.99552171e-01 2.18435506e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.725336195 meters Centerline goodness [0,1] 0.9977089997406415 Centerline is valid? [True, True] Translation: X:36.46, Y:0.43, Z:0.22 [[ 9.98145135e-01 -5.29748145e-02 -2.99992975e-02 3.64604418e+01] [ 5.29793981e-02 9.98595399e-01 -6.42599532e-04 4.26993647e-01] [ 2.99912020e-02 -9.47937127e-04 9.99549713e-01 2.22827866e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.755336195 meters Centerline goodness [0,1] 0.9990646277000718 Centerline is valid? [True, True] Translation: X:36.49, Y:0.43, Z:0.22 [[ 9.98191942e-01 -5.10042097e-02 -3.18027996e-02 3.64926594e+01] [ 5.10084186e-02 9.98697992e-01 -6.79481276e-04 4.29392958e-01] [ 3.17960485e-02 -9.43957780e-04 9.99493932e-01 2.22875186e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.785336195 meters Centerline goodness [0,1] 0.9966976754225033 Centerline is valid? [True, True] Translation: X:36.52, Y:0.42, Z:0.22 [[ 9.98310956e-01 -4.84059225e-02 -3.21263284e-02 3.65228897e+01] [ 4.84088950e-02 9.98827367e-01 -6.85725373e-04 4.23024788e-01] [ 3.21218492e-02 -8.70632906e-04 9.99483581e-01 2.15433459e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.81533619499999 meters Centerline goodness [0,1] 0.9995462206664074 Centerline is valid? [True, True] Translation: X:36.55, Y:0.43, Z:0.22 [[ 9.98683965e-01 -4.21455423e-02 -2.92248528e-02 3.65533508e+01] [ 4.21453242e-02 9.99111296e-01 -6.23713921e-04 4.29160743e-01] [ 2.92251673e-02 -6.08797803e-04 9.99572668e-01 2.20998830e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.845336194999994 meters Centerline goodness [0,1] 0.9998268660592551 Centerline is valid? [True, True] Translation: X:36.58, Y:0.43, Z:0.22 [[ 9.98836386e-01 -3.84657305e-02 -2.90905609e-02 3.65845292e+01] [ 3.84639692e-02 9.99259795e-01 -6.20336160e-04 4.33447342e-01] [ 2.90928896e-02 -4.99324112e-04 9.99576588e-01 2.22187614e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.875336194999996 meters Centerline goodness [0,1] 0.9999136945217598 Centerline is valid? [True, True] Translation: X:36.62, Y:0.44, Z:0.22 [[ 9.98980231e-01 -3.34233337e-02 -3.03542115e-02 3.66169415e+01] [ 3.34191278e-02 9.99441216e-01 -6.46012627e-04 4.39903010e-01] [ 3.03588419e-02 -3.69057430e-04 9.99538996e-01 2.21886059e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.905336195 meters Centerline goodness [0,1] 0.9998271017938188 Centerline is valid? [True, True] Translation: X:36.65, Y:0.44, Z:0.22 [[ 9.99038491e-01 -3.21911364e-02 -2.97627958e-02 3.66491719e+01] [ 3.21865882e-02 9.99481678e-01 -6.32014868e-04 4.41667160e-01] [ 2.97677144e-02 -3.26555673e-04 9.99556790e-01 2.23851829e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.935336195 meters Centerline goodness [0,1] 0.9999139044339217 Centerline is valid? [True, True] Translation: X:36.68, Y:0.45, Z:0.23 [[ 9.99124624e-01 -3.02306874e-02 -2.89152511e-02 3.66795108e+01] [ 3.02255911e-02 9.99542914e-01 -6.13413071e-04 4.46184483e-01] [ 2.89205782e-02 -2.61104453e-04 9.99581678e-01 2.27199051e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.965336195 meters Centerline goodness [0,1] 0.9999140524280189 Centerline is valid? [True, True] Translation: X:36.71, Y:0.45, Z:0.23 [[ 9.99120111e-01 -3.00483448e-02 -2.92592129e-02 3.67113130e+01] [ 3.00430655e-02 9.99548413e-01 -6.20125182e-04 4.46994054e-01] [ 2.92646335e-02 -2.59456910e-04 9.99571665e-01 2.27362737e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.995336195 meters Centerline goodness [0,1] 0.9997398430386333 Centerline is valid? [True, True] Translation: X:36.74, Y:0.44, Z:0.22 [[ 9.99095029e-01 -3.01611518e-02 -2.99904534e-02 3.67428081e+01] [ 3.01556770e-02 9.99545012e-01 -6.34930309e-04 4.39686255e-01] [ 2.99959583e-02 -2.70026710e-04 9.99549984e-01 2.20418110e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.025336194999994 meters Centerline goodness [0,1] 0.9998711948821433 Centerline is valid? [True, True] Translation: X:36.77, Y:0.44, Z:0.22 [[ 9.99108088e-01 -3.04014251e-02 -2.93049776e-02 3.67722464e+01] [ 3.03962987e-02 9.99537733e-01 -6.20497129e-04 4.35456505e-01] [ 2.93102949e-02 -2.70819154e-04 9.99570324e-01 2.17560342e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.055336194999995 meters Centerline goodness [0,1] 0.9998484060984061 Centerline is valid? [True, True] Translation: X:36.80, Y:0.44, Z:0.23 [[ 9.99193062e-01 -3.05436535e-02 -2.60827578e-02 3.68032392e+01] [ 3.05396502e-02 9.99533404e-01 -5.51908991e-04 4.36318142e-01] [ 2.60874450e-02 -2.45094665e-04 9.99659635e-01 2.25923703e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.085336195 meters Centerline goodness [0,1] 0.9999784254924381 Centerline is valid? [True, True] Translation: X:36.83, Y:0.44, Z:0.23 [[ 9.99205726e-01 -3.03113514e-02 -2.58677136e-02 3.68348040e+01] [ 3.03073573e-02 9.99540477e-01 -5.46534165e-04 4.39806538e-01] [ 2.58723930e-02 -2.37881974e-04 9.99665225e-01 2.28798874e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.115336195 meters Centerline goodness [0,1] 0.9999784254924381 Centerline is valid? [True, True] Translation: X:36.87, Y:0.44, Z:0.23 [[ 9.99207120e-01 -3.02653476e-02 -2.58677371e-02 3.68665108e+01] [ 3.02613669e-02 9.99541871e-01 -5.45424635e-04 4.40399614e-01] [ 2.58723938e-02 -2.37800903e-04 9.99665225e-01 2.29038810e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.145336195 meters Centerline goodness [0,1] 0.9996544052530402 Centerline is valid? [True, True] Translation: X:36.90, Y:0.44, Z:0.22 [[ 9.99102788e-01 -3.10152855e-02 -2.88387144e-02 3.68977873e+01] [ 3.10106826e-02 9.99518869e-01 -6.06947953e-04 4.41643340e-01] [ 2.88436638e-02 -2.87904826e-04 9.99583894e-01 2.23760786e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.175336195 meters Centerline goodness [0,1] 0.9999351197041458 Centerline is valid? [True, True] Translation: X:36.93, Y:0.44, Z:0.22 [[ 9.99057641e-01 -3.19531619e-02 -2.93738892e-02 3.69290892e+01] [ 3.19488143e-02 9.99489316e-01 -6.17451219e-04 4.38629645e-01] [ 2.93786179e-02 -3.21591571e-04 9.99568304e-01 2.21781442e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.205336194999994 meters Centerline goodness [0,1] 0.9998267047916125 Centerline is valid? [True, True] Translation: X:36.96, Y:0.43, Z:0.23 [[ 9.98961874e-01 -3.61597642e-02 -2.77064059e-02 3.69615237e+01] [ 3.61575436e-02 9.99345933e-01 -5.81300261e-04 4.33670334e-01] [ 2.77093037e-02 -4.21098779e-04 9.99615935e-01 2.25897808e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.235336194999995 meters Centerline goodness [0,1] 0.9999784129177101 Centerline is valid? [True, True] Translation: X:36.99, Y:0.43, Z:0.23 [[ 9.98862212e-01 -3.84081428e-02 -2.82682953e-02 3.69932855e+01] [ 3.84067797e-02 9.99262012e-01 -5.91376161e-04 4.32308251e-01] [ 2.82701473e-02 -4.94990889e-04 9.99600197e-01 2.27392428e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.265336194999996 meters Centerline goodness [0,1] 0.999741301254689 Centerline is valid? [True, True] Translation: X:37.02, Y:0.43, Z:0.23 [[ 9.98706900e-01 -4.17782298e-02 -2.89673568e-02 3.70232347e+01] [ 4.17782298e-02 9.99126725e-01 -6.05493502e-04 4.28667540e-01] [ 2.89673567e-02 -6.05494349e-04 9.99580175e-01 2.26503968e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.295336195 meters Centerline goodness [0,1] 0.999827280970681 Centerline is valid? [True, True] Translation: X:37.06, Y:0.43, Z:0.23 [[ 9.98692884e-01 -4.23690014e-02 -2.85900598e-02 3.70557146e+01] [ 4.23692706e-02 9.99101841e-01 -5.96650529e-04 4.27670437e-01] [ 2.85896608e-02 -6.15469342e-04 9.99591043e-01 2.25558072e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.325336195 meters Centerline goodness [0,1] 0.9993713963671045 Centerline is valid? [True, True] Translation: X:37.09, Y:0.43, Z:0.23 [[ 9.98625131e-01 -4.39831613e-02 -2.85189369e-02 3.70882664e+01] [ 4.39841249e-02 9.99032054e-01 -5.93833723e-04 4.26695200e-01] [ 2.85174508e-02 -6.61363203e-04 9.99593076e-01 2.25977143e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.355336195 meters Centerline goodness [0,1] 0.9996983083719426 Centerline is valid? [True, True] Translation: X:37.12, Y:0.43, Z:0.23 [[ 9.98641270e-01 -4.37400731e-02 -2.83270253e-02 3.71204572e+01] [ 4.37409638e-02 9.99042733e-01 -5.88502546e-04 4.28215577e-01] [ 2.83256499e-02 -6.51348458e-04 9.99598536e-01 2.26748580e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.385336194999994 meters Centerline goodness [0,1] 0.9995452576873105 Centerline is valid? [True, True] Translation: X:37.15, Y:0.43, Z:0.23 [[ 9.98683637e-01 -4.33773818e-02 -2.73750905e-02 3.71518530e+01] [ 4.33781057e-02 9.99058566e-01 -5.67685641e-04 4.28737645e-01] [ 2.73739434e-02 -6.20541212e-04 9.99625071e-01 2.27054835e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.415336194999995 meters Centerline goodness [0,1] 0.999913374913375 Centerline is valid? [True, True] Translation: X:37.18, Y:0.44, Z:0.23 [[ 9.98748395e-01 -4.16263793e-02 -2.77288196e-02 3.71841638e+01] [ 4.16264815e-02 9.99133078e-01 -5.73804994e-04 4.35435886e-01] [ 2.77286663e-02 -5.81166379e-04 9.99615318e-01 2.29844654e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.445336194999996 meters Centerline goodness [0,1] 0.9996774124174713 Centerline is valid? [True, True] Translation: X:37.22, Y:0.44, Z:0.23 [[ 9.98673892e-01 -4.12498441e-02 -3.08043588e-02 3.72150777e+01] [ 4.12498295e-02 9.99148661e-01 -6.36234463e-04 4.42592457e-01] [ 3.08043784e-02 -6.35283799e-04 9.99525231e-01 2.27404070e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.475336195 meters Centerline goodness [0,1] 0.9997847008418197 Centerline is valid? [True, True] Translation: X:37.25, Y:0.44, Z:0.23 [[ 9.98691556e-01 -4.13135129e-02 -3.01391641e-02 3.72478425e+01] [ 4.13135747e-02 9.99146037e-01 -6.20936931e-04 4.42678470e-01] [ 3.01390794e-02 -6.25032136e-04 9.99545519e-01 2.25835418e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.505336195 meters Centerline goodness [0,1] 0.9997394363138924 Centerline is valid? [True, True] Translation: X:37.28, Y:0.44, Z:0.23 [[ 9.98711435e-01 -4.15010758e-02 -2.92084011e-02 3.72797673e+01] [ 4.15012561e-02 9.99138271e-01 -6.00309835e-04 4.41747666e-01] [ 2.92081449e-02 -6.12649037e-04 9.99573163e-01 2.25125018e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.535336195 meters Centerline goodness [0,1] 0.999592178411213 Centerline is valid? [True, True] Translation: X:37.31, Y:0.44, Z:0.22 [[ 9.98711486e-01 -4.13121318e-02 -2.94732933e-02 3.73115410e+01] [ 4.13122964e-02 9.99146100e-01 -6.03614491e-04 4.39131026e-01] [ 2.94730627e-02 -6.14772703e-04 9.99565386e-01 2.20891078e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.56533619499999 meters Centerline goodness [0,1] 0.9997385336093256 Centerline is valid? [True, True] Translation: X:37.34, Y:0.45, Z:0.22 [[ 9.98687469e-01 -4.06385060e-02 -3.11745106e-02 3.73438685e+01] [ 4.06384183e-02 9.99173715e-01 -6.36670869e-04 4.47154592e-01] [ 3.11746249e-02 -6.31047581e-04 9.99513754e-01 2.24109567e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.595336194999994 meters Centerline goodness [0,1] 0.9998923179635173 Centerline is valid? [True, True] Translation: X:37.38, Y:0.45, Z:0.22 [[ 9.98758920e-01 -3.87358319e-02 -3.13074137e-02 3.73755328e+01] [ 3.87348563e-02 9.99249320e-01 -6.37884252e-04 4.52068437e-01] [ 3.13086208e-02 -5.75595583e-04 9.99509599e-01 2.22477664e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.625336194999996 meters Centerline goodness [0,1] 0.9998484126640391 Centerline is valid? [True, True] Translation: X:37.41, Y:0.46, Z:0.23 [[ 9.98827414e-01 -3.84618802e-02 -2.94020530e-02 3.74081707e+01] [ 3.84609558e-02 9.99259925e-01 -5.97186483e-04 4.57614588e-01] [ 2.94032622e-02 -5.34344829e-04 9.99567488e-01 2.29824377e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.655336195 meters Centerline goodness [0,1] 0.9998265507447477 Centerline is valid? [True, True] Translation: X:37.44, Y:0.46, Z:0.24 [[ 9.98906988e-01 -3.87715012e-02 -2.61074627e-02 3.74382676e+01] [ 3.87709237e-02 9.99247985e-01 -5.28504169e-04 4.62626726e-01] [ 2.61083204e-02 -4.84283935e-04 9.99659002e-01 2.37605425e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.685336195 meters Centerline goodness [0,1] 0.9999138525155066 Centerline is valid? [True, True] Translation: X:37.47, Y:0.46, Z:0.24 [[ 9.98900366e-01 -3.92102928e-02 -2.57023876e-02 3.74704869e+01] [ 3.92099191e-02 9.99230861e-01 -5.18708906e-04 4.62879707e-01] [ 2.57029577e-02 -4.89650025e-04 9.99669504e-01 2.36655384e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.715336195 meters Centerline goodness [0,1] 0.9998919316143255 Centerline is valid? [True, True] Translation: X:37.50, Y:0.45, Z:0.23 [[ 9.98826416e-01 -4.11438338e-02 -2.55534022e-02 3.75020574e+01] [ 4.11441459e-02 9.99153089e-01 -5.13780894e-04 4.52896947e-01] [ 2.55528997e-02 -5.38194981e-04 9.99673326e-01 2.28283728e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.745336195 meters Centerline goodness [0,1] 0.9999352233714076 Centerline is valid? [True, True] Translation: X:37.53, Y:0.46, Z:0.23 [[ 9.98803604e-01 -4.07713886e-02 -2.70010221e-02 3.75334824e+01] [ 4.07716371e-02 9.99168344e-01 -5.41562458e-04 4.56268433e-01] [ 2.70006468e-02 -5.59961339e-04 9.99635259e-01 2.29330790e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.775336194999994 meters Centerline goodness [0,1] 0.9998701916836139 Centerline is valid? [True, True] Translation: X:37.57, Y:0.46, Z:0.23 [[ 9.98815221e-01 -3.93303227e-02 -2.86579855e-02 3.75653199e+01] [ 3.93300462e-02 9.99226110e-01 -5.73542661e-04 4.63379950e-01] [ 2.86583650e-02 -5.54256754e-04 9.99589111e-01 2.31395058e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.805336194999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:37.60, Y:0.47, Z:0.23 [[ 9.98867594e-01 -3.73885217e-02 -2.94215727e-02 3.75961837e+01] [ 3.73874213e-02 9.99300673e-01 -5.87711151e-04 4.67414330e-01] [ 2.94229711e-02 -5.12951113e-04 9.99566919e-01 2.30939001e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.835336195 meters Centerline goodness [0,1] 0.9999140616607584 Centerline is valid? [True, True] Translation: X:37.63, Y:0.47, Z:0.23 [[ 9.99031236e-01 -3.18641062e-02 -3.03524012e-02 3.76280319e+01] [ 3.18604186e-02 9.99492145e-01 -6.05239300e-04 4.74319294e-01] [ 3.03562719e-02 -3.62387239e-04 9.99539076e-01 2.28548185e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.865336195 meters Centerline goodness [0,1] 0.9996100604406317 Centerline is valid? [True, True] Translation: X:37.66, Y:0.48, Z:0.23 [[ 9.99068459e-01 -2.97727540e-02 -3.12377606e-02 3.76586640e+01] [ 2.97678433e-02 9.99556646e-01 -6.22347185e-04 4.77383607e-01] [ 3.12424402e-02 -3.08113321e-04 9.99511788e-01 2.26249570e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.895336195 meters Centerline goodness [0,1] 0.9996542633648818 Centerline is valid? [True, True] Translation: X:37.69, Y:0.49, Z:0.23 [[ 9.99165230e-01 -2.64345853e-02 -3.11457188e-02 3.76881454e+01] [ 2.64280764e-02 9.99650525e-01 -6.20696563e-04 4.87111514e-01] [ 3.11512420e-02 -2.02943011e-04 9.99514662e-01 2.26196199e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.925336195 meters Centerline goodness [0,1] 0.9999782566154247 Centerline is valid? [True, True] Translation: X:37.72, Y:0.49, Z:0.23 [[ 9.99218272e-01 -2.48949298e-02 -3.07097253e-02 3.77178426e+01] [ 2.48878555e-02 9.99690062e-01 -6.12636722e-04 4.93252617e-01] [ 3.07154587e-02 -1.52141398e-04 9.99528157e-01 2.29519401e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.955336194999994 meters Centerline goodness [0,1] 0.9997405237096461 Centerline is valid? [True, True] Translation: X:37.75, Y:0.50, Z:0.23 [[ 9.99314572e-01 -2.32216427e-02 -2.88295254e-02 3.77468386e+01] [ 2.32146128e-02 9.99730337e-01 -5.78566933e-04 5.02567122e-01] [ 2.88351864e-02 -9.10959013e-05 9.99584175e-01 2.34751702e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.985336194999995 meters Centerline goodness [0,1] 0.9999566395663957 Centerline is valid? [True, True] Translation: X:37.78, Y:0.51, Z:0.24 [[ 9.99344688e-01 -2.32225972e-02 -2.77651848e-02 3.77757905e+01] [ 2.32160263e-02 9.99730315e-01 -5.59041217e-04 5.05686817e-01] [ 2.77706793e-02 -8.59223874e-05 9.99614317e-01 2.35469294e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.015336194999996 meters Centerline goodness [0,1] 0.9998489914788049 Centerline is valid? [True, True] Translation: X:37.81, Y:0.51, Z:0.23 [[ 9.99309090e-01 -2.49796364e-02 -2.75201747e-02 3.78050877e+01] [ 2.49738272e-02 9.99687951e-01 -5.54828375e-04 5.05247847e-01] [ 2.75254464e-02 -1.32839049e-04 9.99621094e-01 2.34010891e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.045336195 meters Centerline goodness [0,1] 0.9999354380528117 Centerline is valid? [True, True] Translation: X:37.84, Y:0.51, Z:0.23 [[ 9.99259286e-01 -2.59319024e-02 -2.84326470e-02 3.78355743e+01] [ 2.59260819e-02 9.99663698e-01 -5.73403188e-04 5.06412147e-01] [ 2.84379544e-02 -1.64168673e-04 9.99595546e-01 2.34815609e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.075336195 meters Centerline goodness [0,1] 0.9998060470228218 Centerline is valid? [True, True] Translation: X:37.87, Y:0.51, Z:0.23 [[ 9.99204819e-01 -2.83567915e-02 -2.80289673e-02 3.78659796e+01] [ 2.83520956e-02 9.99597839e-01 -5.65020250e-04 5.05572089e-01] [ 2.80337173e-02 -2.30109005e-04 9.99606952e-01 2.33443077e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.105336195 meters Centerline goodness [0,1] 0.9996553803739123 Centerline is valid? [True, True] Translation: X:37.90, Y:0.50, Z:0.23 [[ 9.99167470e-01 -3.07535665e-02 -2.68064547e-02 3.78982908e+01] [ 3.07501598e-02 9.99526956e-01 -5.39398381e-04 5.03901983e-01] [ 2.68103625e-02 -2.85353450e-04 9.99640497e-01 2.34957567e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.135336194999994 meters Centerline goodness [0,1] 0.9998051357554237 Centerline is valid? [True, True] Translation: X:37.93, Y:0.50, Z:0.24 [[ 9.99006839e-01 -3.60267793e-02 -2.62184324e-02 3.79299504e+01] [ 3.60253620e-02 9.99350737e-01 -5.26553658e-04 5.02665675e-01] [ 2.62203798e-02 -4.18497814e-04 9.99656099e-01 2.39566533e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.165336194999995 meters Centerline goodness [0,1] 0.9996113905740625 Centerline is valid? [True, True] Translation: X:37.96, Y:0.50, Z:0.24 [[ 9.98917317e-01 -3.83484556e-02 -2.63360896e-02 3.79616157e+01] [ 3.83478570e-02 9.99264311e-01 -5.27970649e-04 5.01935518e-01] [ 2.63369613e-02 -4.82533574e-04 9.99653006e-01 2.39665988e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.195336194999996 meters Centerline goodness [0,1] 0.9992220757611773 Centerline is valid? [True, True] Translation: X:37.99, Y:0.50, Z:0.24 [[ 9.98778896e-01 -4.15691570e-02 -2.66968531e-02 3.79923231e+01] [ 4.15697112e-02 9.99135463e-01 -5.34471989e-04 4.98300632e-01] [ 2.66959903e-02 -5.75961130e-04 9.99643433e-01 2.36509171e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.225336195 meters Centerline goodness [0,1] 0.9998915354245304 Centerline is valid? [True, True] Translation: X:38.02, Y:0.50, Z:0.23 [[ 9.98721284e-01 -4.25495590e-02 -2.73007791e-02 3.80234531e+01] [ 4.25505287e-02 9.99094167e-01 -5.45683722e-04 4.95210915e-01] [ 2.72992677e-02 -6.16676637e-04 9.99627115e-01 2.34426509e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.255336195 meters Centerline goodness [0,1] 0.999113475177305 Centerline is valid? [True, True] Translation: X:38.05, Y:0.49, Z:0.23 [[ 9.98553823e-01 -4.59002892e-02 -2.79897412e-02 3.80536651e+01] [ 4.59026313e-02 9.98945762e-01 -5.59181472e-04 4.92375857e-01] [ 2.79858999e-02 -7.26429973e-04 9.99608054e-01 2.34276141e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.285336195 meters Centerline goodness [0,1] 0.9996320585243382 Centerline is valid? [True, True] Translation: X:38.09, Y:0.50, Z:0.24 [[ 9.98483775e-01 -4.72535663e-02 -2.82356444e-02 3.80859924e+01] [ 4.72565179e-02 9.98882628e-01 -5.63124154e-04 4.96976750e-01] [ 2.82307043e-02 -7.72047901e-04 9.99601136e-01 2.38104455e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.31533619499999 meters Centerline goodness [0,1] 0.9994612997759007 Centerline is valid? [True, True] Translation: X:38.12, Y:0.49, Z:0.23 [[ 9.98409176e-01 -4.82973347e-02 -2.90943946e-02 3.81167548e+01] [ 4.83009733e-02 9.98832660e-01 -5.78129180e-04 4.93846960e-01] [ 2.90883536e-02 -8.28078097e-04 9.99576501e-01 2.34547958e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.345336194999994 meters Centerline goodness [0,1] 0.9986793392366148 Centerline is valid? [True, True] Translation: X:38.15, Y:0.49, Z:0.23 [[ 9.98414078e-01 -4.85612710e-02 -2.84803783e-02 3.81478157e+01] [ 4.85649026e-02 9.98819869e-01 -5.64595766e-04 4.88732918e-01] [ 2.84741852e-02 -8.19446436e-04 9.99594192e-01 2.31549364e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.375336194999996 meters Centerline goodness [0,1] 0.9990027748872702 Centerline is valid? [True, True] Translation: X:38.18, Y:0.49, Z:0.24 [[ 9.98411376e-01 -5.00778837e-02 -2.58249783e-02 3.81797493e+01] [ 5.00814035e-02 9.98745009e-01 -5.10875524e-04 4.87106675e-01] [ 2.58181518e-02 -7.83287227e-04 9.99666349e-01 2.36195570e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.405336195 meters Centerline goodness [0,1] 0.9991778806628878 Centerline is valid? [True, True] Translation: X:38.21, Y:0.49, Z:0.24 [[ 9.98399002e-01 -5.05335088e-02 -2.54125414e-02 3.82121348e+01] [ 5.05370946e-02 9.98722059e-01 -5.01532584e-04 4.90026839e-01] [ 2.54054099e-02 -7.83546378e-04 9.99676923e-01 2.39723857e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.435336195 meters Centerline goodness [0,1] 0.9994137698938272 Centerline is valid? [True, True] Translation: X:38.24, Y:0.49, Z:0.24 [[ 9.98385112e-01 -5.09101118e-02 -2.52057378e-02 3.82434655e+01] [ 5.09138357e-02 9.98702927e-01 -4.94416078e-04 4.90499191e-01] [ 2.51982149e-02 -7.89703140e-04 9.99682163e-01 2.41395142e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.465336195 meters Centerline goodness [0,1] 0.9986615142160143 Centerline is valid? [True, True] Translation: X:38.28, Y:0.49, Z:0.24 [[ 9.98403528e-01 -5.01722874e-02 -2.59448803e-02 3.82751138e+01] [ 5.01760588e-02 9.98740260e-01 -5.06042937e-04 4.87531895e-01] [ 2.59375858e-02 -7.96576785e-04 9.99663247e-01 2.38641020e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.495336195 meters Centerline goodness [0,1] 0.9995471112165455 Centerline is valid? [True, True] Translation: X:38.31, Y:0.49, Z:0.24 [[ 9.98522236e-01 -4.73820839e-02 -2.66135701e-02 3.83066968e+01] [ 4.73850930e-02 9.98876561e-01 -5.17931409e-04 4.88932137e-01] [ 2.66082121e-02 -7.43920469e-04 9.99645662e-01 2.38622352e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.525336194999994 meters Centerline goodness [0,1] 0.9990276157137301 Centerline is valid? [True, True] Translation: X:38.34, Y:0.49, Z:0.23 [[ 9.98607372e-01 -4.51160039e-02 -2.73470722e-02 3.83384495e+01] [ 4.51183622e-02 9.98981507e-01 -5.31115734e-04 4.85539995e-01] [ 2.73431812e-02 -7.03479022e-04 9.99625858e-01 2.33642223e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.555336194999995 meters Centerline goodness [0,1] 0.9997614969319832 Centerline is valid? [True, True] Translation: X:38.37, Y:0.49, Z:0.24 [[ 9.98690815e-01 -4.26200372e-02 -2.82876151e-02 3.83702377e+01] [ 4.26215983e-02 9.99091136e-01 -5.48038598e-04 4.93372755e-01] [ 2.82852629e-02 -6.58342252e-04 9.99599675e-01 2.36657665e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.585336195 meters Centerline goodness [0,1] 0.9998705501618123 Centerline is valid? [True, True] Translation: X:38.40, Y:0.50, Z:0.24 [[ 9.98940279e-01 -3.66074184e-02 -2.78965209e-02 3.83995111e+01] [ 3.66066296e-02 9.99329607e-01 -5.39146053e-04 5.01576480e-01] [ 2.78975560e-02 -4.82622898e-04 9.99610671e-01 2.39737450e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.615336195 meters Centerline goodness [0,1] 0.9997390793850971 Centerline is valid? [True, True] Translation: X:38.43, Y:0.51, Z:0.24 [[ 9.99051718e-01 -3.35127820e-02 -2.77949301e-02 3.84312326e+01] [ 3.35108386e-02 9.99438210e-01 -5.35854960e-04 5.08439375e-01] [ 2.77972732e-02 -3.96084597e-04 9.99613503e-01 2.42968187e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.645336195 meters Centerline goodness [0,1] 0.9998047171653611 Centerline is valid? [True, True] Translation: X:38.46, Y:0.51, Z:0.24 [[ 9.99215307e-01 -2.77183026e-02 -2.82924895e-02 3.84625993e+01] [ 2.77139978e-02 9.99615745e-01 -5.44345543e-04 5.13333413e-01] [ 2.82967063e-02 -2.40179590e-04 9.99599539e-01 2.38227381e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.675336195 meters Centerline goodness [0,1] 0.9997181510710259 Centerline is valid? [True, True] Translation: X:38.49, Y:0.51, Z:0.24 [[ 9.99244386e-01 -2.60496982e-02 -2.88456211e-02 3.84942156e+01] [ 2.60445508e-02 9.99660630e-01 -5.54211881e-04 5.14869194e-01] [ 2.88502688e-02 -1.97478132e-04 9.99583725e-01 2.37405620e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.705336194999994 meters Centerline goodness [0,1] 0.9996135597586895 Centerline is valid? [True, True] Translation: X:38.52, Y:0.52, Z:0.24 [[ 9.99293412e-01 -2.53188897e-02 -2.77782272e-02 3.85239598e+01] [ 2.53138320e-02 9.99679411e-01 -5.33769748e-04 5.15171820e-01] [ 2.77828362e-02 -1.69780782e-04 9.99613968e-01 2.36248082e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.735336194999995 meters Centerline goodness [0,1] 0.999674189274311 Centerline is valid? [True, True] Translation: X:38.55, Y:0.51, Z:0.24 [[ 9.99291443e-01 -2.63199882e-02 -2.69048243e-02 3.85545175e+01] [ 2.63156040e-02 9.99653551e-01 -5.17073368e-04 5.12968800e-01] [ 2.69091125e-02 -1.91309708e-04 9.99637866e-01 2.39760635e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.765336194999996 meters Centerline goodness [0,1] 0.9997641560000857 Centerline is valid? [True, True] Translation: X:38.58, Y:0.51, Z:0.24 [[ 9.99251451e-01 -2.91726931e-02 -2.54065436e-02 3.85846681e+01] [ 2.91697107e-02 9.99574354e-01 -4.88067362e-04 5.05993282e-01] [ 2.54099676e-02 -2.53399507e-04 9.99677083e-01 2.41235156e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.795336195 meters Centerline goodness [0,1] 0.9998701130016885 Centerline is valid? [True, True] Translation: X:38.62, Y:0.50, Z:0.24 [[ 9.99202735e-01 -3.05993402e-02 -2.56432384e-02 3.86162247e+01] [ 3.05967900e-02 9.99531688e-01 -4.91897727e-04 5.04765252e-01] [ 2.56462811e-02 -2.93095226e-04 9.99671037e-01 2.42410118e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.825336195 meters Centerline goodness [0,1] 0.9994396430957564 Centerline is valid? [True, True] Translation: X:38.65, Y:0.50, Z:0.25 [[ 9.99113405e-01 -3.36301198e-02 -2.53262432e-02 3.86481569e+01] [ 3.36286328e-02 9.99434280e-01 -4.84745005e-04 5.00780612e-01] [ 2.53282176e-02 -3.67371697e-04 9.99679122e-01 2.45057802e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.855336195 meters Centerline goodness [0,1] 0.9997410276884563 Centerline is valid? [True, True] Translation: X:38.68, Y:0.50, Z:0.25 [[ 9.99116993e-01 -3.43143658e-02 -2.42437320e-02 3.86807796e+01] [ 3.43132311e-02 9.99411020e-01 -4.62925980e-04 4.98869071e-01] [ 2.42453380e-02 -3.69363566e-04 9.99705970e-01 2.47048730e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.885336194999994 meters Centerline goodness [0,1] 0.999849176936999 Centerline is valid? [True, True] Translation: X:38.71, Y:0.49, Z:0.25 [[ 9.99160674e-01 -3.36860025e-02 -2.33066825e-02 3.87123630e+01] [ 3.36848223e-02 9.99432407e-01 -4.43341078e-04 4.94001880e-01] [ 2.33083882e-02 -3.42112488e-04 9.99728264e-01 2.45055106e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.915336194999995 meters Centerline goodness [0,1] 0.9997625420948104 Centerline is valid? [True, True] Translation: X:38.74, Y:0.49, Z:0.24 [[ 9.99157971e-01 -3.30377445e-02 -2.43280985e-02 3.87442161e+01] [ 3.30363025e-02 9.99454046e-01 -4.61293959e-04 4.93801258e-01] [ 2.43300566e-02 -3.42804886e-04 9.99703922e-01 2.44436088e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.945336194999996 meters Centerline goodness [0,1] 0.9995471405158285 Centerline is valid? [True, True] Translation: X:38.78, Y:0.49, Z:0.24 [[ 9.99152574e-01 -3.23624771e-02 -2.54323543e-02 3.87753998e+01] [ 3.23607083e-02 9.99476139e-01 -4.81222768e-04 4.92746290e-01] [ 2.54346049e-02 -3.42194033e-04 9.99676430e-01 2.42200122e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.975336195 meters Centerline goodness [0,1] 0.9998705585399004 Centerline is valid? [True, True] Translation: X:38.81, Y:0.50, Z:0.24 [[ 9.99253610e-01 -2.98293322e-02 -2.45445478e-02 3.88065720e+01] [ 2.98269414e-02 9.99554970e-01 -4.63583834e-04 4.96934918e-01] [ 2.45474531e-02 -2.68850968e-04 9.99698630e-01 2.44948034e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.005336195 meters Centerline goodness [0,1] 0.9998271092669433 Centerline is valid? [True, True] Translation: X:38.84, Y:0.50, Z:0.24 [[ 9.99247544e-01 -2.87104393e-02 -2.60779081e-02 3.88388728e+01] [ 2.87073889e-02 9.99587737e-01 -4.91419495e-04 4.95407328e-01] [ 2.60812660e-02 -2.57578927e-04 9.99659793e-01 2.40032134e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.035336195 meters Centerline goodness [0,1] 0.9998271092669433 Centerline is valid? [True, True] Translation: X:38.87, Y:0.50, Z:0.24 [[ 9.99248860e-01 -2.86645692e-02 -2.60779307e-02 3.88705818e+01] [ 2.86615344e-02 9.99589054e-01 -4.90222501e-04 4.95927577e-01] [ 2.60812660e-02 -2.57579232e-04 9.99659793e-01 2.40272009e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.06533619499999 meters Centerline goodness [0,1] 0.9996781184953113 Centerline is valid? [True, True] Translation: X:38.90, Y:0.50, Z:0.24 [[ 9.99196005e-01 -2.87247750e-02 -2.79684043e-02 3.89023248e+01] [ 2.87213315e-02 9.99587320e-01 -5.24918796e-04 4.95523424e-01] [ 2.79719404e-02 -2.78793048e-04 9.99608670e-01 2.37434233e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.095336194999994 meters Centerline goodness [0,1] 0.9997202977752916 Centerline is valid? [True, True] Translation: X:38.93, Y:0.49, Z:0.23 [[ 9.99186628e-01 -2.93585440e-02 -2.76434273e-02 3.89322951e+01] [ 2.93554337e-02 9.99568902e-01 -5.18417466e-04 4.91799955e-01] [ 2.76467302e-02 -2.93488996e-04 9.99617713e-01 2.34633963e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.125336194999996 meters Centerline goodness [0,1] 0.999610735061958 Centerline is valid? [True, True] Translation: X:38.96, Y:0.49, Z:0.24 [[ 9.99179870e-01 -3.06100501e-02 -2.65068244e-02 3.89636989e+01] [ 3.06076441e-02 9.99531353e-01 -4.96585371e-04 4.89897205e-01] [ 2.65096026e-02 -3.15133342e-04 9.99648509e-01 2.37725494e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.155336195 meters Centerline goodness [0,1] 0.9999783563837846 Centerline is valid? [True, True] Translation: X:38.99, Y:0.48, Z:0.24 [[ 9.99020254e-01 -3.51665300e-02 -2.68672039e-02 3.89946903e+01] [ 3.51657157e-02 9.99381368e-01 -5.02940595e-04 4.84209524e-01] [ 2.68682696e-02 -4.42356612e-04 9.99638885e-01 2.40538130e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.185336195 meters Centerline goodness [0,1] 0.9998042329193222 Centerline is valid? [True, True] Translation: X:39.03, Y:0.48, Z:0.24 [[ 9.98838251e-01 -3.88155074e-02 -2.85570333e-02 3.90254948e+01] [ 3.88160877e-02 9.99246229e-01 -5.34239058e-04 4.82136480e-01] [ 2.85562446e-02 -5.74853902e-04 9.99592022e-01 2.41867312e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.215336195 meters Centerline goodness [0,1] 0.9998701186249892 Centerline is valid? [True, True] Translation: X:39.06, Y:0.48, Z:0.24 [[ 9.98707396e-01 -4.19042984e-02 -2.87674614e-02 3.90562790e+01] [ 4.19061843e-02 9.99121405e-01 -5.37599501e-04 4.78476687e-01] [ 2.87647142e-02 -6.68629940e-04 9.99585986e-01 2.41771935e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.245336195 meters Centerline goodness [0,1] 0.9994573121757441 Centerline is valid? [True, True] Translation: X:39.09, Y:0.47, Z:0.24 [[ 9.98490511e-01 -4.67636458e-02 -2.88072981e-02 3.90870767e+01] [ 4.67675692e-02 9.98905654e-01 -5.37922989e-04 4.69218158e-01] [ 2.88009281e-02 -8.10136306e-04 9.99584839e-01 2.41102130e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.275336194999994 meters Centerline goodness [0,1] 0.9995657554769091 Centerline is valid? [True, True] Translation: X:39.12, Y:0.47, Z:0.24 [[ 9.98448588e-01 -4.75949470e-02 -2.88987595e-02 3.91195658e+01] [ 4.75992750e-02 9.98866367e-01 -5.38528059e-04 4.68002612e-01] [ 2.88916301e-02 -8.37867423e-04 9.99582199e-01 2.42383518e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.305336194999995 meters Centerline goodness [0,1] 0.9992682349396294 Centerline is valid? [True, True] Translation: X:39.15, Y:0.46, Z:0.24 [[ 9.98460267e-01 -4.76075057e-02 -2.84714014e-02 3.91513409e+01] [ 4.76117498e-02 9.98865777e-01 -5.29224336e-04 4.63491512e-01] [ 2.84643035e-02 -8.27163766e-04 9.99594467e-01 2.42256925e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.335336195 meters Centerline goodness [0,1] 0.9996096714734902 Centerline is valid? [True, True] Translation: X:39.18, Y:0.46, Z:0.24 [[ 9.98530612e-01 -4.60362533e-02 -2.85881120e-02 3.91835990e+01] [ 4.60399267e-02 9.98939460e-01 -5.30076743e-04 4.64437476e-01] [ 2.85821959e-02 -7.86896727e-04 9.99591136e-01 2.40981663e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.365336195 meters Centerline goodness [0,1] 0.9996961739621085 Centerline is valid? [True, True] Translation: X:39.21, Y:0.46, Z:0.24 [[ 9.98647812e-01 -4.31182847e-02 -2.90406911e-02 3.92140162e+01] [ 4.31208953e-02 9.99069717e-01 -5.36653628e-04 4.62135623e-01] [ 2.90368146e-02 -7.16332629e-04 9.99578086e-01 2.35612552e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.395336195 meters Centerline goodness [0,1] 0.9996532067537984 Centerline is valid? [True, True] Translation: X:39.25, Y:0.46, Z:0.24 [[ 9.98764587e-01 -4.05970304e-02 -2.86562693e-02 3.92457719e+01] [ 4.05985702e-02 9.99175399e-01 -5.28325414e-04 4.63064183e-01] [ 2.86540877e-02 -6.35730848e-04 9.99589185e-01 2.35647975e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.425336195 meters Centerline goodness [0,1] 0.999935268097961 Centerline is valid? [True, True] Translation: X:39.28, Y:0.47, Z:0.24 [[ 9.98828543e-01 -3.86758741e-02 -2.90812370e-02 3.92784824e+01] [ 3.86766894e-02 9.99251634e-01 -5.34677263e-04 4.66329469e-01] [ 2.90801527e-02 -5.90715058e-04 9.99576908e-01 2.36660166e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.455336194999994 meters Centerline goodness [0,1] 0.9998918591573666 Centerline is valid? [True, True] Translation: X:39.31, Y:0.47, Z:0.24 [[ 9.98874270e-01 -3.71851222e-02 -2.94526611e-02 3.93091863e+01] [ 3.71853456e-02 9.99308240e-01 -5.40328249e-04 4.69277490e-01] [ 2.94523791e-02 -5.55487398e-04 9.99566030e-01 2.37774832e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.485336194999995 meters Centerline goodness [0,1] 0.9996548227730675 Centerline is valid? [True, True] Translation: X:39.34, Y:0.47, Z:0.24 [[ 9.98977604e-01 -3.46701113e-02 -2.90125835e-02 3.93402604e+01] [ 3.46692894e-02 9.99398698e-01 -5.31508782e-04 4.73376736e-01] [ 2.90135656e-02 -4.74880283e-04 9.99578905e-01 2.42309091e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.515336194999996 meters Centerline goodness [0,1] 0.999935095841807 Centerline is valid? [True, True] Translation: X:39.37, Y:0.47, Z:0.24 [[ 9.99019535e-01 -3.35993135e-02 -2.88280243e-02 3.93726431e+01] [ 3.35980900e-02 9.99435286e-01 -5.26961722e-04 4.74075631e-01] [ 2.88294503e-02 -4.42121502e-04 9.99584247e-01 2.43993948e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.545336195 meters Centerline goodness [0,1] 0.9997402091316491 Centerline is valid? [True, True] Translation: X:39.40, Y:0.48, Z:0.24 [[ 9.99097053e-01 -3.02900919e-02 -2.97924483e-02 3.94034839e+01] [ 3.02873484e-02 9.99541085e-01 -5.43452651e-04 4.76861525e-01] [ 2.97952373e-02 -3.59372320e-04 9.99555959e-01 2.42849965e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.575336195 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:39.43, Y:0.48, Z:0.24 [[ 9.99130853e-01 -2.89232866e-02 -3.00163650e-02 3.94339210e+01] [ 2.89198931e-02 9.99581583e-01 -5.47271969e-04 4.80160948e-01] [ 3.00196346e-02 -3.21273760e-04 9.99549258e-01 2.43913045e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.605336195 meters Centerline goodness [0,1] 0.9996998735181255 Centerline is valid? [True, True] Translation: X:39.46, Y:0.48, Z:0.24 [[ 9.99165900e-01 -2.73084160e-02 -3.03604092e-02 3.94630765e+01] [ 2.73041749e-02 9.99627018e-01 -5.54338837e-04 4.79872495e-01] [ 3.03642234e-02 -2.75089459e-04 9.99538863e-01 2.36998796e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.635336194999994 meters Centerline goodness [0,1] 0.9999138877526856 Centerline is valid? [True, True] Translation: X:39.49, Y:0.48, Z:0.24 [[ 9.99193629e-01 -2.59167358e-02 -3.06661842e-02 3.94916975e+01] [ 2.59116334e-02 9.99664078e-01 -5.63840233e-04 4.81634874e-01] [ 3.06704956e-02 -2.31225352e-04 9.99529523e-01 2.37298235e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.665336194999995 meters Centerline goodness [0,1] 0.9998923944389446 Centerline is valid? [True, True] Translation: X:39.52, Y:0.49, Z:0.24 [[ 9.99248126e-01 -2.35611407e-02 -3.07905081e-02 3.95206862e+01] [ 2.35547235e-02 9.99722386e-01 -5.71166053e-04 4.85351857e-01] [ 3.07954175e-02 -1.54525297e-04 9.99525697e-01 2.39587838e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.695336194999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:39.55, Y:0.49, Z:0.24 [[ 9.99266776e-01 -2.26530272e-02 -3.08666527e-02 3.95474559e+01] [ 2.26460472e-02 9.99743380e-01 -5.75747948e-04 4.88316405e-01] [ 3.08717742e-02 -1.23681878e-04 9.99523346e-01 2.38293911e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.725336195 meters Centerline goodness [0,1] 0.9996528229831185 Centerline is valid? [True, True] Translation: X:39.58, Y:0.49, Z:0.24 [[ 9.99278861e-01 -2.19588467e-02 -3.09768669e-02 3.95751868e+01] [ 2.19513353e-02 9.99758871e-01 -5.82577626e-04 4.92227936e-01] [ 3.09821902e-02 -9.78260855e-05 9.99519932e-01 2.42104683e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.755336195 meters Centerline goodness [0,1] 0.9998490012511325 Centerline is valid? [True, True] Translation: X:39.60, Y:0.49, Z:0.24 [[ 9.99316856e-01 -2.10971899e-02 -3.03435222e-02 3.96036956e+01] [ 2.10894310e-02 9.99777427e-01 -5.75753117e-04 4.91538277e-01] [ 3.03489154e-02 -6.45678234e-05 9.99539363e-01 2.41777290e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.785336195 meters Centerline goodness [0,1] 0.9998065722452664 Centerline is valid? [True, True] Translation: X:39.63, Y:0.49, Z:0.24 [[ 9.99361286e-01 -2.12371840e-02 -2.87402600e-02 3.96318184e+01] [ 2.12302114e-02 9.99774464e-01 -5.47762570e-04 4.89408793e-01] [ 2.87454109e-02 -6.27490891e-05 9.99586763e-01 2.42884829e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.81533619499999 meters Centerline goodness [0,1] 0.9999569114098587 Centerline is valid? [True, True] Translation: X:39.66, Y:0.49, Z:0.24 [[ 9.99327564e-01 -2.26002571e-02 -2.88729666e-02 3.96596308e+01] [ 2.25937202e-02 9.99744577e-01 -5.52665114e-04 4.88021610e-01] [ 2.88780821e-02 -1.00054245e-04 9.99582936e-01 2.42130476e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.845336194999994 meters Centerline goodness [0,1] 0.9998702309888399 Centerline is valid? [True, True] Translation: X:39.69, Y:0.49, Z:0.25 [[ 9.99287254e-01 -2.43231760e-02 -2.88681007e-02 3.96879079e+01] [ 2.43172379e-02 9.99704137e-01 -5.56802665e-04 4.87238265e-01] [ 2.88731029e-02 -1.45586665e-04 9.99583074e-01 2.46303297e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.875336194999996 meters Centerline goodness [0,1] 0.9997199422650208 Centerline is valid? [True, True] Translation: X:39.72, Y:0.48, Z:0.24 [[ 9.99265480e-01 -2.59458500e-02 -2.82013072e-02 3.97162665e+01] [ 2.59407600e-02 9.99663333e-01 -5.46391965e-04 4.83308598e-01] [ 2.82059894e-02 -1.85572712e-04 9.99602115e-01 2.44245945e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.905336195 meters Centerline goodness [0,1] 0.9997634052438001 Centerline is valid? [True, True] Translation: X:39.75, Y:0.48, Z:0.25 [[ 9.99273740e-01 -2.60357478e-02 -2.78232483e-02 3.97457088e+01] [ 2.60308024e-02 9.99660995e-01 -5.39991637e-04 4.80648972e-01] [ 2.78278752e-02 -1.84662016e-04 9.99612713e-01 2.45958731e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.935336195 meters Centerline goodness [0,1] 0.9998922529899795 Centerline is valid? [True, True] Translation: X:39.78, Y:0.48, Z:0.25 [[ 9.99242047e-01 -2.60683446e-02 -2.89097438e-02 3.97751212e+01] [ 2.60629988e-02 9.99660144e-01 -5.61777144e-04 4.80636169e-01] [ 2.89145632e-02 -1.92123274e-04 9.99581868e-01 2.45435162e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.965336195 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:39.80, Y:0.48, Z:0.25 [[ 9.99205187e-01 -2.53690582e-02 -3.07474391e-02 3.98048505e+01] [ 2.53626571e-02 9.99678137e-01 -5.98237302e-04 4.83848509e-01] [ 3.07527193e-02 -1.82074939e-04 9.99527007e-01 2.45125537e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.995336195 meters Centerline goodness [0,1] 0.9998925793838354 Centerline is valid? [True, True] Translation: X:39.83, Y:0.48, Z:0.24 [[ 9.99180107e-01 -2.53921463e-02 -3.15333659e-02 3.98331114e+01] [ 2.53853743e-02 9.99677550e-01 -6.15143293e-04 4.82475174e-01] [ 3.15388178e-02 -1.85847356e-04 9.99502510e-01 2.40053316e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.025336194999994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:39.86, Y:0.48, Z:0.24 [[ 9.99172072e-01 -2.52628882e-02 -3.18897758e-02 3.98608280e+01] [ 2.52558373e-02 9.99680826e-01 -6.23950941e-04 4.78878625e-01] [ 3.18953602e-02 -1.81968635e-04 9.99491197e-01 2.35033144e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.055336194999995 meters Centerline goodness [0,1] 0.9998504561088679 Centerline is valid? [True, True] Translation: X:39.89, Y:0.48, Z:0.24 [[ 9.99197341e-01 -2.45975937e-02 -3.16169631e-02 3.98896937e+01] [ 2.45901920e-02 9.99697421e-01 -6.22972624e-04 4.78690556e-01] [ 3.16227202e-02 -1.54994606e-04 9.99499865e-01 2.38446390e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.085336195 meters Centerline goodness [0,1] 0.9995662452015875 Centerline is valid? [True, True] Translation: X:39.92, Y:0.48, Z:0.24 [[ 9.99203997e-01 -2.52182981e-02 -3.09097141e-02 3.99186759e+01] [ 2.52113660e-02 9.99681954e-01 -6.14043502e-04 4.82609049e-01] [ 3.09153686e-02 -1.65721393e-04 9.99521992e-01 2.42305475e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.115336195 meters Centerline goodness [0,1] 0.9999139784946236 Centerline is valid? [True, True] Translation: X:39.95, Y:0.48, Z:0.24 [[ 9.99200205e-01 -2.58583107e-02 -3.05007776e-02 3.99468883e+01] [ 2.58516882e-02 9.99665602e-01 -6.11510891e-04 4.82723484e-01] [ 3.05063908e-02 -1.77474785e-04 9.99534556e-01 2.44626695e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.145336195 meters Centerline goodness [0,1] 0.9998710038053877 Centerline is valid? [True, True] Translation: X:39.97, Y:0.48, Z:0.24 [[ 9.99161516e-01 -2.74378079e-02 -3.03880058e-02 3.99749036e+01] [ 2.74318799e-02 9.99623488e-01 -6.12036871e-04 4.80957217e-01] [ 3.03933573e-02 -2.22076436e-04 9.99537991e-01 2.42935353e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.175336195 meters Centerline goodness [0,1] 0.999935591910344 Centerline is valid? [True, True] Translation: X:40.00, Y:0.48, Z:0.24 [[ 9.99164144e-01 -2.86593147e-02 -2.91488672e-02 4.00038198e+01] [ 2.86542676e-02 9.99589208e-01 -5.90927798e-04 4.79827594e-01] [ 2.91538287e-02 -2.44805575e-04 9.99574907e-01 2.44797732e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.205336194999994 meters Centerline goodness [0,1] 0.9999352778736624 Centerline is valid? [True, True] Translation: X:40.03, Y:0.48, Z:0.25 [[ 9.99164330e-01 -3.01943456e-02 -2.75489140e-02 4.00341397e+01] [ 3.01903894e-02 9.99544010e-01 -5.59625790e-04 4.77398888e-01] [ 2.75532495e-02 -2.72554312e-04 9.99620300e-01 2.49352432e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.235336194999995 meters Centerline goodness [0,1] 0.9998703683698823 Centerline is valid? [True, True] Translation: X:40.07, Y:0.47, Z:0.25 [[ 9.99041125e-01 -3.39866439e-02 -2.75996224e-02 4.00654216e+01] [ 3.39841327e-02 9.99422216e-01 -5.60180888e-04 4.68118901e-01] [ 2.76027145e-02 -3.78305486e-04 9.99618901e-01 2.48044117e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.265336194999996 meters Centerline goodness [0,1] 0.9999567847882455 Centerline is valid? [True, True] Translation: X:40.10, Y:0.46, Z:0.25 [[ 9.98890594e-01 -3.79272940e-02 -2.79123976e-02 4.00965956e+01] [ 3.79262885e-02 9.99280379e-01 -5.65624973e-04 4.63296448e-01] [ 2.79137639e-02 -4.93616179e-04 9.99610213e-01 2.49626953e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.295336195 meters Centerline goodness [0,1] 0.9998916670277765 Centerline is valid? [True, True] Translation: X:40.13, Y:0.46, Z:0.25 [[ 9.98856631e-01 -3.92004048e-02 -2.73634530e-02 4.01273804e+01] [ 3.91999419e-02 9.99231234e-01 -5.53544857e-04 4.63267670e-01] [ 2.73641161e-02 -5.19733818e-04 9.99625397e-01 2.52014388e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.325336195 meters Centerline goodness [0,1] 0.9995447055762726 Centerline is valid? [True, True] Translation: X:40.16, Y:0.46, Z:0.25 [[ 9.98815271e-01 -3.95485394e-02 -2.83543180e-02 4.01590340e+01] [ 3.95482335e-02 9.99217499e-01 -5.71805475e-04 4.61308386e-01] [ 2.83547448e-02 -5.50235146e-04 9.99597772e-01 2.50554282e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.355336195 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:40.19, Y:0.46, Z:0.25 [[ 9.98847619e-01 -3.87673458e-02 -2.82935843e-02 4.01915864e+01] [ 3.87667703e-02 9.99248124e-01 -5.69081524e-04 4.59096407e-01] [ 2.82943729e-02 -5.28425159e-04 9.99599494e-01 2.48295094e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.385336194999994 meters Centerline goodness [0,1] 0.9997415464139565 Centerline is valid? [True, True] Translation: X:40.22, Y:0.46, Z:0.25 [[ 9.98912965e-01 -3.76331502e-02 -2.75069947e-02 4.02229591e+01] [ 3.76322044e-02 9.99291505e-01 -5.52240585e-04 4.56873369e-01] [ 2.75082887e-02 -4.83508566e-04 9.99621458e-01 2.46883622e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.415336194999995 meters Centerline goodness [0,1] 0.9999568993384048 Centerline is valid? [True, True] Translation: X:40.26, Y:0.46, Z:0.25 [[ 9.99027128e-01 -3.40936558e-02 -2.79717600e-02 4.02552261e+01] [ 3.40913251e-02 9.99418565e-01 -5.60347959e-04 4.61418759e-01] [ 2.79746005e-02 -3.93791552e-04 9.99608557e-01 2.50318230e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.445336194999996 meters Centerline goodness [0,1] 0.9996129281981808 Centerline is valid? [True, True] Translation: X:40.29, Y:0.46, Z:0.25 [[ 9.99027636e-01 -3.24814819e-02 -2.98116644e-02 4.02865824e+01] [ 3.24781519e-02 9.99472268e-01 -5.96043430e-04 4.63852533e-01] [ 2.98152922e-02 -3.72763906e-04 9.99555356e-01 2.48075753e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.475336195 meters Centerline goodness [0,1] 0.9995714499989287 Centerline is valid? [True, True] Translation: X:40.32, Y:0.47, Z:0.25 [[ 9.99099502e-01 -2.99916279e-02 -3.00114479e-02 4.03176080e+01] [ 2.99871537e-02 9.99550105e-01 -5.99253388e-04 4.68583199e-01] [ 3.00159185e-02 -3.01244140e-04 9.99549375e-01 2.48247700e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.505336195 meters Centerline goodness [0,1] 0.9999567670391907 Centerline is valid? [True, True] Translation: X:40.35, Y:0.47, Z:0.25 [[ 9.99090671e-01 -2.89514418e-02 -3.12992709e-02 4.03471081e+01] [ 2.89460534e-02 9.99580780e-01 -6.25344235e-04 4.68067531e-01] [ 3.13042542e-02 -2.81214776e-04 9.99509862e-01 2.45265544e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.535336195 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:40.38, Y:0.47, Z:0.24 [[ 9.99099007e-01 -2.90121677e-02 -3.09752757e-02 4.03751605e+01] [ 2.90068478e-02 9.99579020e-01 -6.21183600e-04 4.66172642e-01] [ 3.09802576e-02 -2.77871190e-04 9.99519958e-01 2.43004248e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.56533619499999 meters Centerline goodness [0,1] 0.999869997616623 Centerline is valid? [True, True] Translation: X:40.40, Y:0.47, Z:0.25 [[ 9.99150814e-01 -2.90964268e-02 -2.91727358e-02 4.04049030e+01] [ 2.90917097e-02 9.99576575e-01 -5.86205773e-04 4.68448193e-01] [ 2.91774398e-02 -2.62976785e-04 9.99574213e-01 2.51637791e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.595336194999994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:40.43, Y:0.47, Z:0.25 [[ 9.99188632e-01 -2.81374036e-02 -2.88160248e-02 4.04335640e+01] [ 2.81323754e-02 9.99604038e-01 -5.79974564e-04 4.66553640e-01] [ 2.88209337e-02 -2.31159237e-04 9.99584564e-01 2.49220982e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.625336194999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:40.46, Y:0.47, Z:0.25 [[ 9.99153501e-01 -2.79344855e-02 -3.01984399e-02 4.04629424e+01] [ 2.79288459e-02 9.99609728e-01 -6.08617604e-04 4.65649680e-01] [ 3.02036557e-02 -2.35305163e-04 9.99543738e-01 2.48918188e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.655336195 meters Centerline goodness [0,1] 0.99991370941646 Centerline is valid? [True, True] Translation: X:40.49, Y:0.46, Z:0.25 [[ 9.99210993e-01 -2.81522604e-02 -2.80150428e-02 4.04916835e+01] [ 2.81474673e-02 9.99603622e-01 -5.65506353e-04 4.63383240e-01] [ 2.80198585e-02 -2.23492337e-04 9.99607342e-01 2.50446092e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.685336195 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:40.52, Y:0.46, Z:0.25 [[ 9.99232072e-01 -2.87996457e-02 -2.65677766e-02 4.05218697e+01] [ 2.87955513e-02 9.99585178e-01 -5.36762409e-04 4.60666413e-01] [ 2.65722143e-02 -2.28683559e-04 9.99646870e-01 2.53039721e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.715336195 meters Centerline goodness [0,1] 0.9998060595612637 Centerline is valid? [True, True] Translation: X:40.55, Y:0.46, Z:0.25 [[ 9.99204414e-01 -2.89895335e-02 -2.73887792e-02 4.05527590e+01] [ 2.89852511e-02 9.99579686e-01 -5.53437994e-04 4.60440332e-01] [ 2.73933112e-02 -2.40872955e-04 9.99624704e-01 2.53909533e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.745336195 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:40.58, Y:0.46, Z:0.25 [[ 9.99184540e-01 -2.89904757e-02 -2.81035181e-02 4.05837476e+01] [ 2.89859672e-02 9.99579657e-01 -5.67880538e-04 4.58786641e-01] [ 2.81081681e-02 -2.47190200e-04 9.99604857e-01 2.51914839e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.775336194999994 meters Centerline goodness [0,1] 0.9999139488856381 Centerline is valid? [True, True] Translation: X:40.61, Y:0.46, Z:0.25 [[ 9.99186763e-01 -2.81762493e-02 -2.88428817e-02 4.06144699e+01] [ 2.81711614e-02 9.99602944e-01 -5.82820667e-04 4.58005754e-01] [ 2.88478511e-02 -2.30190778e-04 9.99583788e-01 2.52252023e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.805336194999995 meters Centerline goodness [0,1] 0.9998917655208243 Centerline is valid? [True, True] Translation: X:40.64, Y:0.46, Z:0.25 [[ 9.99193228e-01 -2.74363792e-02 -2.93281121e-02 4.06433811e+01] [ 2.74307851e-02 9.99623529e-01 -5.93136181e-04 4.59344089e-01] [ 2.93333444e-02 -2.11835483e-04 9.99569662e-01 2.50127117e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.835336195 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:40.67, Y:0.47, Z:0.25 [[ 9.99187741e-01 -2.53020183e-02 -3.13634390e-02 4.06720260e+01] [ 2.52944412e-02 9.99679841e-01 -6.38387668e-04 4.65745691e-01] [ 3.13695502e-02 -1.55451532e-04 9.99507842e-01 2.51455001e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.865336195 meters Centerline goodness [0,1] 0.9997645195127695 Centerline is valid? [True, True] Translation: X:40.70, Y:0.47, Z:0.25 [[ 9.99207844e-01 -2.39513168e-02 -3.17807809e-02 4.07003205e+01] [ 2.39426697e-02 9.99713120e-01 -6.52667242e-04 4.67684387e-01] [ 3.17872959e-02 -1.08766512e-04 9.99494650e-01 2.50187712e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.895336195 meters Centerline goodness [0,1] 0.9999138784825389 Centerline is valid? [True, True] Translation: X:40.73, Y:0.47, Z:0.25 [[ 9.99364584e-01 -2.07374891e-02 -2.89893810e-02 4.07279082e+01] [ 2.07288691e-02 9.99784955e-01 -5.97872657e-04 4.68264724e-01] [ 2.89955453e-02 -3.42432600e-06 9.99579541e-01 2.48349250e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.925336195 meters Centerline goodness [0,1] 0.9999138784825389 Centerline is valid? [True, True] Translation: X:40.76, Y:0.47, Z:0.25 [[ 9.99360790e-01 -2.09196662e-02 -2.89892910e-02 4.07552559e+01] [ 2.09109969e-02 9.99781160e-01 -6.02213915e-04 4.68978431e-01] [ 2.89955451e-02 -4.36600073e-06 9.99579541e-01 2.48556726e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.955336194999994 meters Centerline goodness [0,1] 0.999849436462187 Centerline is valid? [True, True] Translation: X:40.78, Y:0.47, Z:0.25 [[ 9.99392744e-01 -2.02617899e-02 -2.83478798e-02 4.07835242e+01] [ 2.02531028e-02 9.99794709e-01 -5.93563241e-04 4.70690536e-01] [ 2.83540869e-02 1.90702709e-05 9.99597942e-01 2.49636727e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.985336194999995 meters Centerline goodness [0,1] 0.9999567894566275 Centerline is valid? [True, True] Translation: X:40.81, Y:0.48, Z:0.26 [[ 9.99402454e-01 -1.98290496e-02 -2.83115402e-02 4.08115281e+01] [ 1.98200653e-02 9.99803384e-01 -5.97955791e-04 4.80198552e-01] [ 2.83178306e-02 3.64619105e-05 9.99598969e-01 2.57892629e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.015336194999996 meters Centerline goodness [0,1] 0.9999356029708496 Centerline is valid? [True, True] Translation: X:40.84, Y:0.48, Z:0.26 [[ 9.99411219e-01 -2.04599226e-02 -2.75428037e-02 4.08392534e+01] [ 2.04515882e-02 9.99790674e-01 -5.84292992e-04 4.84274809e-01] [ 2.75489929e-02 2.06548918e-05 9.99620454e-01 2.58324080e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.045336195 meters Centerline goodness [0,1] 0.9999784895351589 Centerline is valid? [True, True] Translation: X:40.87, Y:0.48, Z:0.26 [[ 9.99364485e-01 -2.23206073e-02 -2.77923931e-02 4.08678796e+01] [ 2.23127380e-02 9.99750864e-01 -5.93274433e-04 4.82528678e-01] [ 2.77987113e-02 -2.72269881e-05 9.99613541e-01 2.55259421e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.075336195 meters Centerline goodness [0,1] 0.9999784663752449 Centerline is valid? [True, True] Translation: X:40.90, Y:0.48, Z:0.25 [[ 9.99296756e-01 -2.34889739e-02 -2.92277615e-02 4.08963651e+01] [ 2.34806295e-02 9.99724094e-01 -6.28726113e-04 4.80293931e-01] [ 2.92344655e-02 -5.80022738e-05 9.99572580e-01 2.51539816e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.105336195 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:40.93, Y:0.48, Z:0.24 [[ 9.99107625e-01 -2.64913993e-02 -3.28962009e-02 4.09257624e+01] [ 2.64823803e-02 9.99649028e-01 -7.09913680e-04 4.76907050e-01] [ 3.29034618e-02 -1.61889531e-04 9.99458521e-01 2.43735248e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.135336194999994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:40.95, Y:0.48, Z:0.24 [[ 9.99061463e-01 -2.79812457e-02 -3.30642265e-02 4.09539652e+01] [ 2.79728923e-02 9.99608426e-01 -7.15281204e-04 4.77942808e-01] [ 3.30712939e-02 -2.10292162e-04 9.99452973e-01 2.43004151e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.165336194999995 meters Centerline goodness [0,1] 0.999957152344838 Centerline is valid? [True, True] Translation: X:40.98, Y:0.48, Z:0.25 [[ 9.99052575e-01 -3.06922439e-02 -3.08534905e-02 4.09820909e+01] [ 3.06861366e-02 9.99528844e-01 -6.71537179e-04 4.80977527e-01] [ 3.08595647e-02 -2.75873478e-04 9.99523692e-01 2.48978678e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.195336194999996 meters Centerline goodness [0,1] 0.9999784626650299 Centerline is valid? [True, True] Translation: X:41.01, Y:0.48, Z:0.26 [[ 9.99041177e-01 -3.18770629e-02 -3.00096482e-02 4.10121602e+01] [ 3.18717846e-02 9.99491751e-01 -6.54331598e-04 4.84251319e-01] [ 3.00152541e-02 -3.02756835e-04 9.99549395e-01 2.56770602e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.225336195 meters Centerline goodness [0,1] 0.9996760609005507 Centerline is valid? [True, True] Translation: X:41.04, Y:0.48, Z:0.25 [[ 9.98944407e-01 -3.35310459e-02 -3.13965008e-02 4.10422869e+01] [ 3.35260851e-02 9.99437608e-01 -6.84570589e-04 4.76848416e-01] [ 3.14017981e-02 -3.68753796e-04 9.99506774e-01 2.46973870e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.255336195 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:41.07, Y:0.48, Z:0.25 [[ 9.98918454e-01 -3.41147016e-02 -3.15928812e-02 4.10730197e+01] [ 3.41099703e-02 9.99417848e-01 -6.88852475e-04 4.77598216e-01] [ 3.15979894e-02 -3.89524792e-04 9.99500583e-01 2.49113639e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.285336195 meters Centerline goodness [0,1] 0.999956942949408 Centerline is valid? [True, True] Translation: X:41.10, Y:0.49, Z:0.26 [[ 9.98973684e-01 -3.42994522e-02 -2.95825360e-02 4.11034341e+01] [ 3.42953923e-02 9.99411532e-01 -6.44762080e-04 4.85853435e-01] [ 2.95872426e-02 -3.70444326e-04 9.99562133e-01 2.56892657e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.31533619499999 meters Centerline goodness [0,1] 0.9997204721869826 Centerline is valid? [True, True] Translation: X:41.14, Y:0.49, Z:0.26 [[ 9.99005345e-01 -3.33742342e-02 -2.95716245e-02 4.11356206e+01] [ 3.33698053e-02 9.99442866e-01 -6.43401936e-04 4.91307946e-01] [ 2.95766222e-02 -3.44037380e-04 9.99562457e-01 2.59933513e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.345336194999994 meters Centerline goodness [0,1] 0.9998071401020014 Centerline is valid? [True, True] Translation: X:41.17, Y:0.50, Z:0.25 [[ 9.98974126e-01 -3.18283498e-02 -3.22125931e-02 4.11654377e+01] [ 3.18223038e-02 9.99493297e-01 -7.00475093e-04 4.96458588e-01] [ 3.22185659e-02 -3.25322430e-04 9.99480794e-01 2.53784528e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.375336194999996 meters Centerline goodness [0,1] 0.9999351168977226 Centerline is valid? [True, True] Translation: X:41.19, Y:0.50, Z:0.25 [[ 9.98973485e-01 -3.12194433e-02 -3.28225979e-02 4.11943787e+01] [ 3.12128088e-02 9.99512506e-01 -7.14616334e-04 4.97996160e-01] [ 3.28289070e-02 -3.10602703e-04 9.99460938e-01 2.49483502e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.405336195 meters Centerline goodness [0,1] 0.9998494526528593 Centerline is valid? [True, True] Translation: X:41.22, Y:0.50, Z:0.25 [[ 9.99016311e-01 -3.06490854e-02 -3.20475387e-02 4.12240453e+01] [ 3.06424411e-02 9.99530166e-01 -6.98552858e-04 4.97801097e-01] [ 3.20538916e-02 -2.84149118e-04 9.99486102e-01 2.45228519e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.435336195 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:41.25, Y:0.50, Z:0.25 [[ 9.99026215e-01 -3.09397547e-02 -3.14539765e-02 4.12535564e+01] [ 3.09334752e-02 9.99521210e-01 -6.86350172e-04 5.00835325e-01] [ 3.14601522e-02 -2.87298987e-04 9.99504966e-01 2.49597700e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.465336195 meters Centerline goodness [0,1] 0.9999785084891468 Centerline is valid? [True, True] Translation: X:41.28, Y:0.51, Z:0.26 [[ 9.99090111e-01 -3.17921803e-02 -2.84289830e-02 4.12825865e+01] [ 3.17873767e-02 9.99494461e-01 -6.20997935e-04 5.09143378e-01] [ 2.84343540e-02 -2.83249899e-04 9.99595622e-01 2.59033173e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.495336195 meters Centerline goodness [0,1] 0.9996993320877091 Centerline is valid? [True, True] Translation: X:41.31, Y:0.51, Z:0.26 [[ 9.99101489e-01 -3.22860465e-02 -2.74558849e-02 4.13139697e+01] [ 3.22817670e-02 9.99478628e-01 -5.99217261e-04 5.14445037e-01] [ 2.74609165e-02 -2.87645619e-04 9.99622837e-01 2.62930501e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.525336194999994 meters Centerline goodness [0,1] 0.9999783559153284 Centerline is valid? [True, True] Translation: X:41.35, Y:0.52, Z:0.27 [[ 9.99145823e-01 -3.16493759e-02 -2.65695502e-02 4.13458417e+01] [ 3.16451739e-02 9.99498999e-01 -5.78714812e-04 5.22561877e-01] [ 2.65745548e-02 -2.62577550e-04 9.99646800e-01 2.67896590e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.555336194999995 meters Centerline goodness [0,1] 0.9999570132828955 Centerline is valid? [True, True] Translation: X:41.38, Y:0.52, Z:0.26 [[ 9.99147388e-01 -3.11629631e-02 -2.70807502e-02 4.13770147e+01] [ 3.11584479e-02 9.99514284e-01 -5.88789853e-04 5.22815683e-01] [ 2.70859451e-02 -2.55506301e-04 9.99633076e-01 2.63526573e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.585336195 meters Centerline goodness [0,1] 0.9999135695764909 Centerline is valid? [True, True] Translation: X:41.41, Y:0.52, Z:0.26 [[ 9.99113237e-01 -3.16021518e-02 -2.78216478e-02 4.14089340e+01] [ 3.15975908e-02 9.99500489e-01 -6.03665669e-04 5.23109460e-01] [ 2.78268277e-02 -2.75966682e-04 9.99612721e-01 2.58342575e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.615336195 meters Centerline goodness [0,1] 0.9996770651682491 Centerline is valid? [True, True] Translation: X:41.44, Y:0.52, Z:0.26 [[ 9.99062003e-01 -3.25339623e-02 -2.85771953e-02 4.14402489e+01] [ 3.25295630e-02 9.99470582e-01 -6.18950540e-04 5.24618070e-01] [ 2.85822029e-02 -3.11233707e-04 9.99591397e-01 2.56050047e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.645336195 meters Centerline goodness [0,1] 0.9998490826380355 Centerline is valid? [True, True] Translation: X:41.47, Y:0.53, Z:0.26 [[ 9.98937892e-01 -3.51399629e-02 -2.98038842e-02 4.14716869e+01] [ 3.51363859e-02 9.99382319e-01 -6.43886852e-04 5.32850747e-01] [ 2.98081011e-02 -4.03997803e-04 9.99555558e-01 2.60166149e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.675336195 meters Centerline goodness [0,1] 0.9999132584464587 Centerline is valid? [True, True] Translation: X:41.50, Y:0.54, Z:0.26 [[ 9.98879111e-01 -3.65254427e-02 -3.01067202e-02 4.15032379e+01] [ 3.65224601e-02 9.99332622e-01 -6.49155119e-04 5.37923063e-01] [ 3.01103383e-02 -4.51144001e-04 9.99546479e-01 2.64639499e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.705336194999994 meters Centerline goodness [0,1] 0.9999567474048443 Centerline is valid? [True, True] Translation: X:41.53, Y:0.54, Z:0.26 [[ 9.98769032e-01 -3.85656678e-02 -3.11947051e-02 4.15344960e+01] [ 3.85635174e-02 9.99255926e-01 -6.70790697e-04 5.35801920e-01] [ 3.11973634e-02 -5.33012579e-04 9.99513102e-01 2.59225371e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.735336194999995 meters Centerline goodness [0,1] 0.9999784918484106 Centerline is valid? [True, True] Translation: X:41.57, Y:0.53, Z:0.25 [[ 9.98743278e-01 -3.95911444e-02 -3.07311779e-02 4.15655671e+01] [ 3.95895827e-02 9.99215808e-01 -6.59518029e-04 5.30490124e-01] [ 3.07331898e-02 -5.57945309e-04 9.99527468e-01 2.53892807e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.765336194999996 meters Centerline goodness [0,1] 0.9996997383434135 Centerline is valid? [True, True] Translation: X:41.60, Y:0.52, Z:0.25 [[ 9.98692500e-01 -4.31926802e-02 -2.73437772e-02 4.15970395e+01] [ 4.31928172e-02 9.99066583e-01 -5.85902860e-04 5.21097626e-01] [ 2.73435608e-02 -5.95917980e-04 9.99625917e-01 2.53635056e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.795336195 meters Centerline goodness [0,1] 0.9999785117218557 Centerline is valid? [True, True] Translation: X:41.63, Y:0.53, Z:0.27 [[ 9.98589932e-01 -4.55252327e-02 -2.73056944e-02 4.16292358e+01] [ 4.55262730e-02 9.98962971e-01 -5.83904950e-04 5.29470785e-01] [ 2.73039600e-02 -6.60044894e-04 9.99626959e-01 2.65199167e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.825336195 meters Centerline goodness [0,1] 0.9999785103365282 Centerline is valid? [True, True] Translation: X:41.66, Y:0.53, Z:0.27 [[ 9.98510521e-01 -4.45776867e-02 -3.14574215e-02 4.16557441e+01] [ 4.42534773e-02 9.98960557e-01 -1.09286775e-02 5.33766516e-01] [ 3.19118984e-02 9.52029916e-03 9.99445343e-01 2.71818297e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.855336195 meters Centerline goodness [0,1] 0.9995928862224127 Centerline is valid? [True, True] Translation: X:41.69, Y:0.52, Z:0.26 [[ 9.98432664e-01 -4.85429735e-02 -2.78531156e-02 4.16925307e+01] [ 4.88228057e-02 9.98762695e-01 9.45577770e-03 5.19266034e-01] [ 2.73596412e-02 -1.08008246e-02 9.99567302e-01 2.59016308e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.885336194999994 meters Centerline goodness [0,1] 0.9995931129004626 Centerline is valid? [True, True] Translation: X:41.72, Y:0.52, Z:0.26 [[ 9.98396573e-01 -4.93518300e-02 -2.77250654e-02 4.17234798e+01] [ 4.93544720e-02 9.98781152e-01 -5.89425714e-04 5.21118390e-01] [ 2.77203620e-02 -7.79875350e-04 9.99615413e-01 2.64254214e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.915336194999995 meters Centerline goodness [0,1] 0.999978416179232 Centerline is valid? [True, True] Translation: X:41.76, Y:0.52, Z:0.26 [[ 9.98414362e-01 -4.89413162e-02 -2.78120197e-02 4.17554416e+01] [ 4.89438486e-02 9.98801357e-01 -5.90091530e-04 5.18233940e-01] [ 2.78075628e-02 -7.72071421e-04 9.99612997e-01 2.61761614e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.945336194999996 meters Centerline goodness [0,1] 0.9997413625880983 Centerline is valid? [True, True] Translation: X:41.79, Y:0.51, Z:0.26 [[ 9.98529743e-01 -4.70255258e-02 -2.69620597e-02 4.17864759e+01] [ 4.70272286e-02 9.98893444e-01 -5.71284570e-04 5.12810326e-01] [ 2.69590896e-02 -6.97506309e-04 9.99636294e-01 2.59831605e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.975336195 meters Centerline goodness [0,1] 0.9998707425838558 Centerline is valid? [True, True] Translation: X:41.82, Y:0.52, Z:0.27 [[ 9.98728075e-01 -4.35877412e-02 -2.53444535e-02 4.18172191e+01] [ 4.35881491e-02 9.99049441e-01 -5.36616679e-04 5.21765977e-01] [ 2.53437520e-02 -5.68783676e-04 9.99678634e-01 2.70432361e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.005336195 meters Centerline goodness [0,1] 0.9998064016520393 Centerline is valid? [True, True] Translation: X:41.85, Y:0.53, Z:0.27 [[ 9.98832444e-01 -4.12435989e-02 -2.51537981e-02 4.18488970e+01] [ 4.12432810e-02 9.99148992e-01 -5.31652558e-04 5.26062400e-01] [ 2.51543193e-02 -5.06393337e-04 9.99683452e-01 2.72946281e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.035336195 meters Centerline goodness [0,1] 0.9996778350515464 Centerline is valid? [True, True] Translation: X:41.88, Y:0.53, Z:0.27 [[ 9.98922504e-01 -3.86809056e-02 -2.56440787e-02 4.18805774e+01] [ 3.86797670e-02 9.99251512e-01 -5.40621059e-04 5.29796913e-01] [ 2.56457962e-02 -4.51868448e-04 9.99670990e-01 2.72448939e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.06533619499999 meters Centerline goodness [0,1] 0.9996770373560125 Centerline is valid? [True, True] Translation: X:41.91, Y:0.53, Z:0.27 [[ 9.99134044e-01 -3.19963733e-02 -2.65968881e-02 4.19117577e+01] [ 3.19928041e-02 9.99487942e-01 -5.59825667e-04 5.32877508e-01] [ 2.66011813e-02 -2.91568147e-04 9.99646083e-01 2.65147044e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.095336194999994 meters Centerline goodness [0,1] 0.9996134269699117 Centerline is valid? [True, True] Translation: X:41.94, Y:0.54, Z:0.26 [[ 9.99231333e-01 -2.76266266e-02 -2.78120988e-02 4.19435419e+01] [ 2.76210623e-02 9.99618295e-01 -5.84294071e-04 5.36963349e-01] [ 2.78176249e-02 -1.84354770e-04 9.99612998e-01 2.62920423e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.125336194999996 meters Centerline goodness [0,1] 0.9998488577967786 Centerline is valid? [True, True] Translation: X:41.97, Y:0.54, Z:0.26 [[ 9.99390962e-01 -2.04661670e-02 -2.82637812e-02 4.19731031e+01] [ 2.04575672e-02 9.99790546e-01 -5.93428850e-04 5.44605684e-01] [ 2.82700064e-02 1.48592271e-05 9.99600323e-01 2.58443772e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.155336195 meters Centerline goodness [0,1] 0.9998491574365383 Centerline is valid? [True, True] Translation: X:42.00, Y:0.55, Z:0.26 [[ 9.99434277e-01 -1.85996474e-02 -2.80210577e-02 4.20006034e+01] [ 1.85903556e-02 9.99827009e-01 -5.92097414e-04 5.48579126e-01] [ 2.80272231e-02 7.08410234e-05 9.99607158e-01 2.59589438e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.185336195 meters Centerline goodness [0,1] 0.9998501968840952 Centerline is valid? [True, True] Translation: X:42.03, Y:0.55, Z:0.27 [[ 9.99499857e-01 -1.75780696e-02 -2.62877793e-02 4.20290651e+01] [ 1.75694253e-02 9.99845489e-01 -5.59783672e-04 5.53806349e-01] [ 2.62935575e-02 9.76425248e-05 9.99654260e-01 2.66131801e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.215336195 meters Centerline goodness [0,1] 0.9998496014438262 Centerline is valid? [True, True] Translation: X:42.06, Y:0.56, Z:0.27 [[ 9.99496654e-01 -1.87859964e-02 -2.55641336e-02 4.20579034e+01] [ 1.87781117e-02 9.99823525e-01 -5.48476570e-04 5.56917200e-01] [ 2.55699259e-02 6.81543404e-05 9.99673034e-01 2.72007471e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.24533619499999 meters Centerline goodness [0,1] 0.9999359904412393 Centerline is valid? [True, True] Translation: X:42.09, Y:0.56, Z:0.27 [[ 9.99458530e-01 -2.04533422e-02 -2.57741787e-02 4.20851144e+01] [ 2.04458119e-02 9.99790808e-01 -5.55688132e-04 5.59070850e-01] [ 2.57801527e-02 2.84132329e-05 9.99667636e-01 2.74117062e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.275336194999994 meters Centerline goodness [0,1] 0.9998918310834198 Centerline is valid? [True, True] Translation: X:42.11, Y:0.55, Z:0.27 [[ 9.99357070e-01 -2.48250820e-02 -2.58681689e-02 4.21138153e+01] [ 2.48188666e-02 9.99691807e-01 -5.61357178e-04 5.52102394e-01] [ 2.58741322e-02 -8.10223672e-05 9.99665205e-01 2.71246201e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.305336194999995 meters Centerline goodness [0,1] 0.9998922529899795 Centerline is valid? [True, True] Translation: X:42.14, Y:0.55, Z:0.26 [[ 9.99282855e-01 -2.72305517e-02 -2.63110861e-02 4.21442844e+01] [ 2.72249390e-02 9.99629169e-01 -5.71584290e-04 5.45487496e-01] [ 2.63168936e-02 -1.45143331e-04 9.99653640e-01 2.64693613e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.335336195 meters Centerline goodness [0,1] 0.9999783310580944 Centerline is valid? [True, True] Translation: X:42.18, Y:0.54, Z:0.26 [[ 9.99083099e-01 -3.21660323e-02 -2.82543475e-02 4.21752887e+01] [ 3.21615476e-02 9.99482495e-01 -6.13271060e-04 5.35298924e-01] [ 2.82594523e-02 -2.95994793e-04 9.99600578e-01 2.58390904e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.365336195 meters Centerline goodness [0,1] 0.9996976764273992 Centerline is valid? [True, True] Translation: X:42.21, Y:0.53, Z:0.26 [[ 9.98971597e-01 -3.45965711e-02 -2.93057222e-02 4.22066540e+01] [ 3.45928166e-02 9.99401288e-01 -6.35248682e-04 5.31447816e-01] [ 2.93101539e-02 -3.79172083e-04 9.99570293e-01 2.55271397e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.395336195 meters Centerline goodness [0,1] 0.9996546141392336 Centerline is valid? [True, True] Translation: X:42.24, Y:0.53, Z:0.26 [[ 9.98797866e-01 -3.94412741e-02 -2.91068484e-02 4.22373447e+01] [ 3.94396411e-02 9.99221756e-01 -6.30430070e-04 5.26342718e-01] [ 2.91090612e-02 -5.18291447e-04 9.99576107e-01 2.58375475e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.425336195 meters Centerline goodness [0,1] 0.9998277569650778 Centerline is valid? [True, True] Translation: X:42.27, Y:0.53, Z:0.27 [[ 9.98761528e-01 -4.06295959e-02 -2.87166387e-02 4.22695373e+01] [ 4.06285275e-02 9.99174128e-01 -6.20920366e-04 5.30622671e-01] [ 2.87181501e-02 -5.46563370e-04 9.99587399e-01 2.66776328e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.455336194999994 meters Centerline goodness [0,1] 0.9995939476833646 Centerline is valid? [True, True] Translation: X:42.30, Y:0.53, Z:0.27 [[ 9.98801782e-01 -4.06284247e-02 -2.72824383e-02 4.23002954e+01] [ 4.06275133e-02 9.99174189e-01 -5.87945901e-04 5.34612319e-01] [ 2.72837954e-02 -5.21176209e-04 9.99627592e-01 2.72461262e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.485336194999995 meters Centerline goodness [0,1] 0.9998703599671579 Centerline is valid? [True, True] Translation: X:42.33, Y:0.54, Z:0.27 [[ 9.98871492e-01 -3.96553403e-02 -2.61380081e-02 4.23329727e+01] [ 3.96542215e-02 9.99213304e-01 -5.61335802e-04 5.35033038e-01] [ 2.61397054e-02 -4.75780035e-04 9.99658186e-01 2.72250152e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.515336194999996 meters Centerline goodness [0,1] 0.9998709788405299 Centerline is valid? [True, True] Translation: X:42.36, Y:0.53, Z:0.27 [[ 9.98941381e-01 -3.82655829e-02 -2.55316172e-02 4.23643232e+01] [ 3.82640914e-02 9.99267512e-01 -5.47144594e-04 5.33306627e-01] [ 2.55338524e-02 -4.30378759e-04 9.99673865e-01 2.69464901e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.545336195 meters Centerline goodness [0,1] 0.9999354380528117 Centerline is valid? [True, True] Translation: X:42.39, Y:0.54, Z:0.27 [[ 9.99094437e-01 -3.40455711e-02 -2.55187178e-02 4.23943263e+01] [ 3.40427430e-02 9.99420229e-01 -5.45375797e-04 5.36943528e-01] [ 2.55224905e-02 -3.23845228e-04 9.99674196e-01 2.66168578e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.575336195 meters Centerline goodness [0,1] 0.9998497241364505 Centerline is valid? [True, True] Translation: X:42.43, Y:0.54, Z:0.27 [[ 9.99158789e-01 -3.23606903e-02 -2.51892788e-02 4.24264703e+01] [ 3.23574324e-02 9.99476217e-01 -5.37028388e-04 5.41730894e-01] [ 2.51934636e-02 -2.78483751e-04 9.99682556e-01 2.68002981e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.605336195 meters Centerline goodness [0,1] 0.9996765219641587 Centerline is valid? [True, True] Translation: X:42.46, Y:0.55, Z:0.27 [[ 9.99271690e-01 -2.99478039e-02 -2.36477881e-02 4.24589750e+01] [ 2.99442866e-02 9.99551443e-01 -5.02911564e-04 5.48910218e-01] [ 2.36522418e-02 -2.05570856e-04 9.99720225e-01 2.73909457e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.635336194999994 meters Centerline goodness [0,1] 0.9999784724016189 Centerline is valid? [True, True] Translation: X:42.49, Y:0.55, Z:0.27 [[ 9.99283842e-01 -2.90789633e-02 -2.42119340e-02 4.24900257e+01] [ 2.90750609e-02 9.99577099e-01 -5.13269798e-04 5.52564727e-01] [ 2.42166201e-02 -1.91061240e-04 9.99706716e-01 2.74456927e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.665336194999995 meters Centerline goodness [0,1] 0.9996982238316952 Centerline is valid? [True, True] Translation: X:42.52, Y:0.56, Z:0.27 [[ 9.99169222e-01 -2.92025173e-02 -2.84267334e-02 4.25213129e+01] [ 2.91972199e-02 9.99573489e-01 -6.01499811e-04 5.58395815e-01] [ 2.84321744e-02 -2.28981488e-04 9.99595698e-01 2.70268232e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.695336194999996 meters Centerline goodness [0,1] 0.9999567520813061 Centerline is valid? [True, True] Translation: X:42.55, Y:0.56, Z:0.27 [[ 9.99136045e-01 -2.96984159e-02 -2.90717730e-02 4.25530433e+01] [ 2.96931053e-02 9.99558874e-01 -6.14454731e-04 5.58988804e-01] [ 2.90771970e-02 -2.49307349e-04 9.99577138e-01 2.68411491e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.725336195 meters Centerline goodness [0,1] 0.9999569049106855 Centerline is valid? [True, True] Translation: X:42.58, Y:0.56, Z:0.26 [[ 9.99107720e-01 -3.10002718e-02 -2.86835629e-02 4.25834244e+01] [ 3.09956508e-02 9.99519336e-01 -6.05819003e-04 5.57536869e-01] [ 2.86885563e-02 -2.83787256e-04 9.99588358e-01 2.63004893e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.755336195 meters Centerline goodness [0,1] 0.9997410835652794 Centerline is valid? [True, True] Translation: X:42.62, Y:0.56, Z:0.26 [[ 9.99087938e-01 -3.18424807e-02 -2.84490448e-02 4.26150595e+01] [ 3.18382927e-02 9.99492853e-01 -6.00288511e-04 5.59165090e-01] [ 2.84537316e-02 -3.06028003e-04 9.99595064e-01 2.64474161e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.785336195 meters Centerline goodness [0,1] 0.9998051905885409 Centerline is valid? [True, True] Translation: X:42.65, Y:0.56, Z:0.26 [[ 9.99073735e-01 -3.42784896e-02 -2.60126481e-02 4.26466819e+01] [ 3.42758345e-02 9.99412261e-01 -5.48072071e-04 5.56951482e-01] [ 2.60161465e-02 -3.44040810e-04 9.99661464e-01 2.64890642e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.81533619499999 meters Centerline goodness [0,1] 0.9999359740481475 Centerline is valid? [True, True] Translation: X:42.68, Y:0.56, Z:0.27 [[ 9.99021975e-01 -3.54625345e-02 -2.64102502e-02 4.26783534e+01] [ 3.54602354e-02 9.99370934e-01 -5.55533306e-04 5.56393275e-01] [ 2.64133371e-02 -3.81523710e-04 9.99651034e-01 2.65241926e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.845336194999994 meters Centerline goodness [0,1] 0.9999359740481475 Centerline is valid? [True, True] Translation: X:42.71, Y:0.56, Z:0.27 [[ 9.99023598e-01 -3.54167645e-02 -2.64102738e-02 4.27100625e+01] [ 3.54144791e-02 9.99372557e-01 -5.54410894e-04 5.56983680e-01] [ 2.64133383e-02 -3.81436522e-04 9.99651034e-01 2.65482614e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.875336194999996 meters Centerline goodness [0,1] 0.9996351696461145 Centerline is valid? [True, True] Translation: X:42.74, Y:0.56, Z:0.27 [[ 9.98917346e-01 -3.74743672e-02 -2.75646167e-02 4.27424770e+01] [ 3.74726961e-02 9.99297485e-01 -5.77364991e-04 5.59823515e-01] [ 2.75668886e-02 -4.56180600e-04 9.99619857e-01 2.69480417e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.905336195 meters Centerline goodness [0,1] 0.9997426549431696 Centerline is valid? [True, True] Translation: X:42.77, Y:0.56, Z:0.27 [[ 9.98903764e-01 -3.86701832e-02 -2.63796571e-02 4.27747015e+01] [ 3.86691063e-02 9.99251918e-01 -5.51139899e-04 5.60147698e-01] [ 2.63812356e-02 -4.69542044e-04 9.99651844e-01 2.72788679e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.935336195 meters Centerline goodness [0,1] 0.9997422458974139 Centerline is valid? [True, True] Translation: X:42.81, Y:0.56, Z:0.28 [[ 9.98826605e-01 -4.12183615e-02 -2.54255871e-02 4.28068845e+01] [ 4.12182182e-02 9.99150028e-01 -5.29942064e-04 5.60406232e-01] [ 2.54258194e-02 -5.18677163e-04 9.99676577e-01 2.76981939e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.965336195 meters Centerline goodness [0,1] 0.9994813165913855 Centerline is valid? [True, True] Translation: X:42.84, Y:0.56, Z:0.27 [[ 9.98770101e-01 -4.24302765e-02 -2.56506593e-02 4.28379926e+01] [ 4.24305558e-02 9.99099276e-01 -5.33630505e-04 5.56290624e-01] [ 2.56501972e-02 -5.55397536e-04 9.99670825e-01 2.74312625e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.99533619499999 meters Centerline goodness [0,1] 0.9999784941611648 Centerline is valid? [True, True] Translation: X:42.87, Y:0.56, Z:0.28 [[ 9.98809941e-01 -4.20514364e-02 -2.47058478e-02 4.28703573e+01] [ 4.20516056e-02 9.99115308e-01 -5.12920705e-04 5.58421612e-01] [ 2.47055598e-02 -5.26610269e-04 9.99694632e-01 2.77037295e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.025336194999994 meters Centerline goodness [0,1] 0.9999785306367813 Centerline is valid? [True, True] Translation: X:42.90, Y:0.56, Z:0.28 [[ 9.98852195e-01 -4.16134743e-02 -2.37194166e-02 4.29014395e+01] [ 4.16135281e-02 9.99133661e-01 -4.91541583e-04 5.57872451e-01] [ 2.37193223e-02 -4.96071221e-04 9.99718534e-01 2.76866220e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.055336194999995 meters Centerline goodness [0,1] 0.9997852971487461 Centerline is valid? [True, True] Translation: X:42.93, Y:0.56, Z:0.28 [[ 9.98927537e-01 -3.93760727e-02 -2.43577848e-02 4.29339661e+01] [ 3.93755046e-02 9.99224357e-01 -5.03130143e-04 5.63807358e-01] [ 2.43587031e-02 -4.56509511e-04 9.99703179e-01 2.77147781e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.085336195 meters Centerline goodness [0,1] 0.9998495626571533 Centerline is valid? [True, True] Translation: X:42.97, Y:0.57, Z:0.27 [[ 9.98978811e-01 -3.70851809e-02 -2.58074499e-02 4.29650147e+01] [ 3.70838121e-02 9.99312017e-01 -5.31799116e-04 5.67351170e-01] [ 2.58094167e-02 -4.25782576e-04 9.99666791e-01 2.73541115e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.115336195 meters Centerline goodness [0,1] 0.9998918053361608 Centerline is valid? [True, True] Translation: X:43.00, Y:0.57, Z:0.27 [[ 9.99090835e-01 -3.32975702e-02 -2.66228368e-02 4.29961149e+01] [ 3.32947935e-02 9.99445425e-01 -5.47693962e-04 5.71148436e-01] [ 2.66263093e-02 -3.39205836e-04 9.99645399e-01 2.69791500e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.145336195 meters Centerline goodness [0,1] 0.999805430646835 Centerline is valid? [True, True] Translation: X:43.03, Y:0.57, Z:0.27 [[ 9.99100376e-01 -3.25943066e-02 -2.71302572e-02 4.30279308e+01] [ 3.25911952e-02 9.99468611e-01 -5.56976787e-04 5.74752344e-01] [ 2.71339947e-02 -3.27731791e-04 9.99631752e-01 2.72849615e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.175336195 meters Centerline goodness [0,1] 0.9998280087715526 Centerline is valid? [True, True] Translation: X:43.06, Y:0.57, Z:0.27 [[ 9.99022134e-01 -3.38651622e-02 -2.84240613e-02 4.30600508e+01] [ 3.38622995e-02 9.99426338e-01 -5.82193583e-04 5.74242725e-01] [ 2.84274716e-02 -3.80879803e-04 9.99595785e-01 2.73326923e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.205336194999994 meters Centerline goodness [0,1] 0.9998919292785199 Centerline is valid? [True, True] Translation: X:43.09, Y:0.57, Z:0.27 [[ 9.98990060e-01 -3.49462350e-02 -2.82421851e-02 4.30914891e+01] [ 3.49438712e-02 9.99389110e-01 -5.77386799e-04 5.71105406e-01] [ 2.82451097e-02 -4.10087606e-04 9.99600943e-01 2.71185008e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.235336194999995 meters Centerline goodness [0,1] 0.9996155160628845 Centerline is valid? [True, True] Translation: X:43.12, Y:0.57, Z:0.27 [[ 9.98971964e-01 -3.61178882e-02 -2.73954889e-02 4.31230188e+01] [ 3.61161513e-02 9.99347443e-01 -5.58361943e-04 5.65649135e-01] [ 2.73977787e-02 -4.31631696e-04 9.99624517e-01 2.69784273e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.265336194999996 meters Centerline goodness [0,1] 0.999699034761485 Centerline is valid? [True, True] Translation: X:43.16, Y:0.57, Z:0.27 [[ 9.99001875e-01 -3.61004950e-02 -2.63060367e-02 4.31554116e+01] [ 3.60989244e-02 9.99348078e-01 -5.34750168e-04 5.67655480e-01] [ 2.63081919e-02 -4.15403208e-04 9.99653793e-01 2.73316495e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.295336195 meters Centerline goodness [0,1] 0.9998061096988238 Centerline is valid? [True, True] Translation: X:43.19, Y:0.57, Z:0.27 [[ 9.99028555e-01 -3.58080800e-02 -2.56851527e-02 4.31865322e+01] [ 3.58065339e-02 9.99358605e-01 -5.20264706e-04 5.68259246e-01] [ 2.56873080e-02 -3.99936992e-04 9.99669947e-01 2.74677542e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.325336195 meters Centerline goodness [0,1] 0.9999567894566275 Centerline is valid? [True, True] Translation: X:43.22, Y:0.57, Z:0.27 [[ 9.99091694e-01 -3.39495301e-02 -2.57530044e-02 4.32182250e+01] [ 3.39473964e-02 9.99423486e-01 -5.20170817e-04 5.70080879e-01] [ 2.57558170e-02 -3.54549107e-04 9.99668201e-01 2.73093085e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.355336195 meters Centerline goodness [0,1] 0.9997645951035782 Centerline is valid? [True, True] Translation: X:43.25, Y:0.58, Z:0.28 [[ 9.99137338e-01 -3.22485608e-02 -2.61650376e-02 4.32498754e+01] [ 3.22458069e-02 9.99479830e-01 -5.27282887e-04 5.75307041e-01] [ 2.61684314e-02 -3.16884731e-04 9.99657498e-01 2.75801156e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.385336194999994 meters Centerline goodness [0,1] 0.9998274002157498 Centerline is valid? [True, True] Translation: X:43.28, Y:0.58, Z:0.28 [[ 9.99160230e-01 -3.15930928e-02 -2.60904314e-02 4.32807743e+01] [ 3.15901569e-02 9.99500769e-01 -5.24791322e-04 5.78132966e-01] [ 2.60939860e-02 -2.99850203e-04 9.99659449e-01 2.77037369e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.415336194999995 meters Centerline goodness [0,1] 0.9997849184841054 Centerline is valid? [True, True] Translation: X:43.31, Y:0.58, Z:0.28 [[ 9.99163315e-01 -3.08427923e-02 -2.68587559e-02 4.33133309e+01] [ 3.08394416e-02 9.99524206e-01 -5.39072733e-04 5.81538835e-01] [ 2.68626032e-02 -2.89687336e-04 9.99639093e-01 2.77251637e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.445336194999996 meters Centerline goodness [0,1] 0.9998055987558321 Centerline is valid? [True, True] Translation: X:43.35, Y:0.58, Z:0.27 [[ 9.99110274e-01 -2.99496613e-02 -2.96930652e-02 4.33452560e+01] [ 2.99452262e-02 9.99551365e-01 -5.94132586e-04 5.79475433e-01] [ 2.96975379e-02 -2.95561584e-04 9.99558887e-01 2.69331764e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.475336195 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:43.38, Y:0.58, Z:0.26 [[ 9.99085264e-01 -2.98046612e-02 -3.06645991e-02 4.33758828e+01] [ 2.97998869e-02 9.99555697e-01 -6.12791130e-04 5.75596382e-01] [ 3.06692388e-02 -3.01570999e-04 9.99529543e-01 2.61179894e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.505336195 meters Centerline goodness [0,1] 0.9999783052024125 Centerline is valid? [True, True] Translation: X:43.41, Y:0.58, Z:0.27 [[ 9.99050171e-01 -3.13353710e-02 -3.02795512e-02 4.34063014e+01] [ 3.13314213e-02 9.99508867e-01 -6.05007884e-04 5.79203763e-01] [ 3.02836381e-02 -3.44268147e-04 9.99541286e-01 2.70997217e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.535336195 meters Centerline goodness [0,1] 0.999957070490255 Centerline is valid? [True, True] Translation: X:43.44, Y:0.58, Z:0.28 [[ 9.99018099e-01 -3.37962467e-02 -2.86470034e-02 4.34374508e+01] [ 3.37937444e-02 9.99428665e-01 -5.71627387e-04 5.80813914e-01] [ 2.86499552e-02 -3.97023406e-04 9.99589427e-01 2.76835610e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.56533619499999 meters Centerline goodness [0,1] 0.9997197490676267 Centerline is valid? [True, True] Translation: X:43.47, Y:0.58, Z:0.28 [[ 9.99025202e-01 -3.46877276e-02 -2.73021339e-02 4.34699894e+01] [ 3.46858199e-02 9.99398118e-01 -5.43602456e-04 5.81293126e-01] [ 2.73045576e-02 -4.03924346e-04 9.99627079e-01 2.80000455e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.595336194999994 meters Centerline goodness [0,1] 0.999763471380037 Centerline is valid? [True, True] Translation: X:43.50, Y:0.58, Z:0.28 [[ 9.99032821e-01 -3.52170468e-02 -2.63283638e-02 4.35013658e+01] [ 3.52154827e-02 9.99379606e-01 -5.23213816e-04 5.77101597e-01] [ 2.63304559e-02 -4.04458265e-04 9.99653212e-01 2.76854560e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.625336194999996 meters Centerline goodness [0,1] 0.9996763335059554 Centerline is valid? [True, True] Translation: X:43.53, Y:0.57, Z:0.27 [[ 9.99023674e-01 -3.55967900e-02 -2.61642316e-02 4.35339844e+01] [ 3.55954052e-02 9.99366148e-01 -5.18813221e-04 5.69126315e-01] [ 2.61661155e-02 -4.13019738e-04 9.99657523e-01 2.70877398e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.655336195 meters Centerline goodness [0,1] 0.9997192406539533 Centerline is valid? [True, True] Translation: X:43.57, Y:0.57, Z:0.27 [[ 9.99025090e-01 -3.56682314e-02 -2.60124278e-02 4.35659926e+01] [ 3.56669189e-02 9.99363601e-01 -5.14573276e-04 5.69736283e-01] [ 2.60142274e-02 -4.13711541e-04 9.99661487e-01 2.72615891e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.685336195 meters Centerline goodness [0,1] 0.9999353336782204 Centerline is valid? [True, True] Translation: X:43.60, Y:0.57, Z:0.28 [[ 9.98989499e-01 -3.69924177e-02 -2.55253321e-02 4.35970771e+01] [ 3.69916112e-02 9.99315449e-01 -5.03947954e-04 5.72790736e-01] [ 2.55265009e-02 -4.40784445e-04 9.99674049e-01 2.79358605e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.715336195 meters Centerline goodness [0,1] 0.9999147103349751 Centerline is valid? [True, True] Translation: X:43.63, Y:0.57, Z:0.28 [[ 9.98936469e-01 -3.79122591e-02 -2.62410302e-02 4.36285970e+01] [ 3.79117483e-02 9.99280957e-01 -5.17151612e-04 5.72748000e-01] [ 2.62417682e-02 -4.78241727e-04 9.99655511e-01 2.80409083e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.74533619499999 meters Centerline goodness [0,1] 0.9998491379310345 Centerline is valid? [True, True] Translation: X:43.66, Y:0.57, Z:0.28 [[ 9.98793751e-01 -3.96569693e-02 -2.89545815e-02 4.36599826e+01] [ 3.96571031e-02 9.99213185e-01 -5.69852298e-04 5.68474050e-01] [ 2.89543982e-02 -5.79089909e-04 9.99580566e-01 2.75000103e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.775336194999994 meters Centerline goodness [0,1] 0.9998075278015398 Centerline is valid? [True, True] Translation: X:43.69, Y:0.56, Z:0.27 [[ 9.98710003e-01 -4.12259522e-02 -2.96437451e-02 4.36922980e+01] [ 4.12268181e-02 9.99149644e-01 -5.82239491e-04 5.63983575e-01] [ 2.96425407e-02 -6.40628885e-04 9.99560358e-01 2.72289508e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.805336194999995 meters Centerline goodness [0,1] 0.9998271316824409 Centerline is valid? [True, True] Translation: X:43.73, Y:0.56, Z:0.28 [[ 9.98750871e-01 -4.18456660e-02 -2.73063895e-02 4.37250919e+01] [ 4.18466761e-02 9.99123901e-01 -5.34704203e-04 5.59678548e-01] [ 2.73048415e-02 -6.08645349e-04 9.99626968e-01 2.76013647e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.835336195 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:43.76, Y:0.56, Z:0.28 [[ 9.98819476e-01 -4.07465547e-02 -2.64456477e-02 4.37573413e+01] [ 4.07471533e-02 9.99169356e-01 -5.16475447e-04 5.64869711e-01] [ 2.64447254e-02 -5.61719128e-04 9.99650119e-01 2.81647581e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.865336195 meters Centerline goodness [0,1] 0.9998708566508825 Centerline is valid? [True, True] Translation: X:43.79, Y:0.57, Z:0.29 [[ 9.98909789e-01 -3.81340361e-02 -2.69263503e-02 4.37889791e+01] [ 3.81337422e-02 9.99272507e-01 -5.24594779e-04 5.68643289e-01] [ 2.69267665e-02 -5.02779641e-04 9.99637282e-01 2.85449704e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.895336195 meters Centerline goodness [0,1] 0.9999354283254412 Centerline is valid? [True, True] Translation: X:43.82, Y:0.56, Z:0.28 [[ 9.98928370e-01 -3.76698344e-02 -2.68904373e-02 4.38203983e+01] [ 3.76694006e-02 9.99290119e-01 -5.22876039e-04 5.64638594e-01] [ 2.68910449e-02 -4.90630945e-04 9.99638250e-01 2.79605589e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.925336195 meters Centerline goodness [0,1] 0.9998707119462161 Centerline is valid? [True, True] Translation: X:43.85, Y:0.56, Z:0.28 [[ 9.98998109e-01 -3.64431346e-02 -2.59745105e-02 4.38532293e+01] [ 3.64423492e-02 9.99335630e-01 -5.03759604e-04 5.60746063e-01] [ 2.59756124e-02 -4.43317291e-04 9.99662479e-01 2.78978906e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.955336194999994 meters Centerline goodness [0,1] 0.9999135508969095 Centerline is valid? [True, True] Translation: X:43.89, Y:0.56, Z:0.28 [[ 9.99045351e-01 -3.55528149e-02 -2.53847146e-02 4.38855956e+01] [ 3.55518096e-02 9.99367714e-01 -4.91052709e-04 5.62481595e-01] [ 2.53861225e-02 -4.11888613e-04 9.99677636e-01 2.81214908e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.985336194999995 meters Centerline goodness [0,1] 0.9998702225682954 Centerline is valid? [True, True] Translation: X:43.92, Y:0.56, Z:0.28 [[ 9.99097403e-01 -3.42413679e-02 -2.51377901e-02 4.39176127e+01] [ 3.42399969e-02 9.99413522e-01 -4.85090310e-04 5.63828948e-01] [ 2.51396574e-02 -3.76065385e-04 9.99683878e-01 2.82438194e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.015336194999996 meters Centerline goodness [0,1] 0.9999351000540833 Centerline is valid? [True, True] Translation: X:43.95, Y:0.57, Z:0.28 [[ 9.99142234e-01 -3.14882963e-02 -2.68939477e-02 4.39498614e+01] [ 3.14857653e-02 9.99504066e-01 -5.17678287e-04 5.69389501e-01] [ 2.68969109e-02 -3.29542284e-04 9.99638158e-01 2.84575206e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.045336195 meters Centerline goodness [0,1] 0.9999349508879204 Centerline is valid? [True, True] Translation: X:43.98, Y:0.57, Z:0.29 [[ 9.99187414e-01 -3.00157573e-02 -2.68991952e-02 4.39810804e+01] [ 3.00127199e-02 9.99549383e-01 -5.16733761e-04 5.73675111e-01] [ 2.69025842e-02 -2.91004142e-04 9.99638018e-01 2.85119635e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.075336195 meters Centerline goodness [0,1] 0.9999785656106658 Centerline is valid? [True, True] Translation: X:44.01, Y:0.58, Z:0.28 [[ 9.99268989e-01 -2.59477508e-02 -2.80749465e-02 4.40119296e+01] [ 2.59428914e-02 9.99663282e-01 -5.37376940e-04 5.75509553e-01] [ 2.80794369e-02 -1.91361179e-04 9.99605677e-01 2.77529687e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.105336195 meters Centerline goodness [0,1] 0.999784445594068 Centerline is valid? [True, True] Translation: X:44.04, Y:0.58, Z:0.27 [[ 9.99288542e-01 -2.37815970e-02 -2.92719355e-02 4.40415246e+01] [ 2.37753893e-02 9.99717169e-01 -5.60151358e-04 5.75079261e-01] [ 2.92769778e-02 -1.36198828e-04 9.99571328e-01 2.74357013e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.135336194999994 meters Centerline goodness [0,1] 0.999869681370952 Centerline is valid? [True, True] Translation: X:44.07, Y:0.58, Z:0.27 [[ 9.99279929e-01 -2.15730160e-02 -3.12126481e-02 4.40699074e+01] [ 2.15647521e-02 9.99767273e-01 -6.01404056e-04 5.76263767e-01] [ 3.12183582e-02 -7.21220166e-05 9.99512586e-01 2.70924502e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.165336194999995 meters Centerline goodness [0,1] 0.999978454776576 Centerline is valid? [True, True] Translation: X:44.10, Y:0.58, Z:0.27 [[ 9.99284809e-01 -2.07594219e-02 -3.16056513e-02 4.40980372e+01] [ 2.07504563e-02 9.99784499e-01 -6.11675684e-04 5.80759799e-01] [ 3.16115383e-02 -4.45934682e-05 9.99500229e-01 2.73175124e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.195336194999996 meters Centerline goodness [0,1] 0.9998284991532146 Centerline is valid? [True, True] Translation: X:44.13, Y:0.59, Z:0.28 [[ 9.99327597e-01 -2.00933538e-02 -3.06693684e-02 4.41263620e+01] [ 2.00844690e-02 9.99798108e-01 -5.97760293e-04 5.86428664e-01] [ 3.06751875e-02 -1.86196230e-05 9.99529406e-01 2.78731110e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.225336195 meters Centerline goodness [0,1] 0.9997638420747548 Centerline is valid? [True, True] Translation: X:44.16, Y:0.59, Z:0.28 [[ 9.99415363e-01 -1.92884256e-02 -2.82292272e-02 4.41553757e+01] [ 1.92804553e-02 9.99813961e-01 -5.54530854e-04 5.88539996e-01] [ 2.82346715e-02 9.93430148e-06 9.99601322e-01 2.84333566e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.255336195 meters Centerline goodness [0,1] 0.9997202676823101 Centerline is valid? [True, True] Translation: X:44.18, Y:0.58, Z:0.28 [[ 9.99364295e-01 -2.05957060e-02 -2.91002067e-02 4.41829329e+01] [ 2.05877181e-02 9.99787886e-01 -5.74118178e-04 5.82632561e-01] [ 2.91058585e-02 -2.53536451e-05 9.99576334e-01 2.79748906e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.285336195 meters Centerline goodness [0,1] 0.9996543380573799 Centerline is valid? [True, True] Translation: X:44.21, Y:0.58, Z:0.28 [[ 9.99309263e-01 -2.21180579e-02 -2.98628288e-02 4.42112469e+01] [ 2.21102002e-02 9.99755364e-01 -5.93354176e-04 5.80124238e-01] [ 2.98686471e-02 -6.73287986e-05 9.99553830e-01 2.81221249e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.31533619499999 meters Centerline goodness [0,1] 0.9999142385454858 Centerline is valid? [True, True] Translation: X:44.24, Y:0.58, Z:0.28 [[ 9.99168618e-01 -2.61136807e-02 -3.13073282e-02 4.42387213e+01] [ 2.61068965e-02 9.99658961e-01 -6.25514953e-04 5.77562742e-01] [ 3.13129856e-02 -1.92342267e-04 9.99509610e-01 2.81945358e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.345336194999994 meters Centerline goodness [0,1] 0.9996750222068159 Centerline is valid? [True, True] Translation: X:44.27, Y:0.58, Z:0.28 [[ 9.99118059e-01 -2.81007540e-02 -3.12001992e-02 4.42670429e+01] [ 2.80948422e-02 9.99605065e-01 -6.27939023e-04 5.76452882e-01] [ 3.12055227e-02 -2.49179457e-04 9.99512958e-01 2.83259278e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.375336194999996 meters Centerline goodness [0,1] 0.9995952365735711 Centerline is valid? [True, True] Translation: X:44.30, Y:0.57, Z:0.28 [[ 9.99096234e-01 -2.96132283e-02 -3.04921528e-02 4.42961397e+01] [ 2.96082242e-02 9.99561391e-01 -6.15712822e-04 5.66298282e-01] [ 3.04970119e-02 -2.87662134e-04 9.99534817e-01 2.75868895e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.405336195 meters Centerline goodness [0,1] 0.9997405910201258 Centerline is valid? [True, True] Translation: X:44.33, Y:0.56, Z:0.27 [[ 9.99133349e-01 -2.96742987e-02 -2.91888057e-02 4.43263810e+01] [ 2.96697247e-02 9.99559583e-01 -5.89892624e-04 5.61598642e-01] [ 2.91934551e-02 -2.76642435e-04 9.99573742e-01 2.74580710e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.435336195 meters Centerline goodness [0,1] 0.999828469735629 Centerline is valid? [True, True] Translation: X:44.36, Y:0.56, Z:0.28 [[ 9.99213701e-01 -2.83616791e-02 -2.77054907e-02 4.43568879e+01] [ 2.83570513e-02 9.99597701e-01 -5.59996544e-04 5.62274364e-01] [ 2.77102272e-02 -2.26089801e-04 9.99615972e-01 2.77611031e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.465336195 meters Centerline goodness [0,1] 0.9999136404853405 Centerline is valid? [True, True] Translation: X:44.39, Y:0.57, Z:0.28 [[ 9.99270264e-01 -2.73523336e-02 -2.66606323e-02 4.43870773e+01] [ 2.73476892e-02 9.99625837e-01 -5.38877370e-04 5.65191719e-01] [ 2.66653964e-02 -1.90622553e-04 9.99644397e-01 2.81420551e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.49533619499999 meters Centerline goodness [0,1] 0.999978410587448 Centerline is valid? [True, True] Translation: X:44.42, Y:0.57, Z:0.29 [[ 9.99321382e-01 -2.61924439e-02 -2.58984916e-02 4.44170295e+01] [ 2.61876718e-02 9.99656907e-01 -5.23472620e-04 5.69146972e-01] [ 2.59033170e-02 -1.55103815e-04 9.99664441e-01 2.87232705e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.525336194999994 meters Centerline goodness [0,1] 0.9999351925860318 Centerline is valid? [True, True] Translation: X:44.45, Y:0.57, Z:0.29 [[ 9.99280434e-01 -2.62354759e-02 -2.73918651e-02 4.44470380e+01] [ 2.62301601e-02 9.99655777e-01 -5.53425601e-04 5.72829650e-01] [ 2.73969556e-02 -1.65465632e-04 9.99624619e-01 2.87327184e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.555336194999995 meters Centerline goodness [0,1] 0.9999353294962168 Centerline is valid? [True, True] Translation: X:44.48, Y:0.58, Z:0.29 [[ 9.99199503e-01 -2.63382018e-02 -3.01106788e-02 4.44771108e+01] [ 2.63318197e-02 9.99653072e-01 -6.08528871e-04 5.76829879e-01] [ 3.01162601e-02 -1.84827218e-04 9.99546385e-01 2.88083629e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.585336195 meters Centerline goodness [0,1] 0.9998057581905296 Centerline is valid? [True, True] Translation: X:44.51, Y:0.57, Z:0.27 [[ 9.99057676e-01 -2.80723803e-02 -3.31013764e-02 4.45062120e+01] [ 2.80655855e-02 9.99605859e-01 -6.69979212e-04 5.67493748e-01] [ 3.31071377e-02 -2.59661636e-04 9.99451775e-01 2.73093341e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.615336195 meters Centerline goodness [0,1] 0.9998488382136996 Centerline is valid? [True, True] Translation: X:44.53, Y:0.56, Z:0.27 [[ 9.99071488e-01 -2.85672175e-02 -3.22502080e-02 4.45346207e+01] [ 2.85608899e-02 9.99591839e-01 -6.56945791e-04 5.64620409e-01] [ 3.22558119e-02 -2.64758833e-04 9.99479611e-01 2.74032981e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.645336195 meters Centerline goodness [0,1] 0.9997646303626833 Centerline is valid? [True, True] Translation: X:44.56, Y:0.57, Z:0.27 [[ 9.99108511e-01 -2.78483950e-02 -3.17277502e-02 4.45624801e+01] [ 2.78418082e-02 9.99612131e-01 -6.49460042e-04 5.68328773e-01] [ 3.17335304e-02 -2.34476878e-04 9.99496337e-01 2.74778527e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.675336195 meters Centerline goodness [0,1] 0.9998071442346841 Centerline is valid? [True, True] Translation: X:44.59, Y:0.57, Z:0.28 [[ 9.99086436e-01 -2.67173746e-02 -3.33537937e-02 4.45907383e+01] [ 2.67093016e-02 9.99643006e-01 -6.87650437e-04 5.73433606e-01] [ 3.33602588e-02 -2.03834311e-04 9.99443371e-01 2.78447400e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.705336194999994 meters Centerline goodness [0,1] 0.9998062307576377 Centerline is valid? [True, True] Translation: X:44.62, Y:0.57, Z:0.27 [[ 9.99120923e-01 -2.66039676e-02 -3.23976814e-02 4.46184102e+01] [ 2.65962045e-02 9.99646033e-01 -6.70613470e-04 5.70635317e-01] [ 3.24040547e-02 -1.91631410e-04 9.99474832e-01 2.74178186e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.735336194999995 meters Centerline goodness [0,1] 0.9998062307576377 Centerline is valid? [True, True] Translation: X:44.65, Y:0.57, Z:0.27 [[ 9.99116060e-01 -2.67860902e-02 -3.23975782e-02 4.46457559e+01] [ 2.67782618e-02 9.99641170e-01 -6.75578748e-04 5.71349724e-01] [ 3.24040490e-02 -1.92569251e-04 9.99474832e-01 2.74386295e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.765336194999996 meters Centerline goodness [0,1] 0.9998701298701299 Centerline is valid? [True, True] Translation: X:44.68, Y:0.57, Z:0.28 [[ 9.99215040e-01 -2.70655757e-02 -2.89267766e-02 4.46752227e+01] [ 2.70594017e-02 9.99633644e-01 -6.04940891e-04 5.74733611e-01] [ 2.89325522e-02 -1.78275229e-04 9.99581350e-01 2.84641477e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.795336195 meters Centerline goodness [0,1] 0.9999783404448873 Centerline is valid? [True, True] Translation: X:44.70, Y:0.57, Z:0.29 [[ 9.99121416e-01 -3.06278517e-02 -2.86064672e-02 4.47046893e+01] [ 3.06232539e-02 9.99530819e-01 -5.98916406e-04 5.72481221e-01] [ 2.86113891e-02 -2.77632899e-04 9.99590572e-01 2.86718198e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.825336195 meters Centerline goodness [0,1] 0.9998498176357005 Centerline is valid? [True, True] Translation: X:44.74, Y:0.57, Z:0.28 [[ 9.99070109e-01 -3.26540108e-02 -2.81537292e-02 4.47355202e+01] [ 3.26503634e-02 9.99466661e-01 -5.89372273e-04 5.66859221e-01] [ 2.81579590e-02 -3.30405267e-04 9.99603431e-01 2.84490580e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.855336195 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:44.77, Y:0.56, Z:0.29 [[ 9.99036316e-01 -3.43989662e-02 -2.72608040e-02 4.47672374e+01] [ 3.43962166e-02 9.99408113e-01 -5.69916804e-04 5.62861869e-01] [ 2.72642732e-02 -3.68300935e-04 9.99628193e-01 2.85183400e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.885336194999994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:44.80, Y:0.56, Z:0.29 [[ 9.98893266e-01 -3.75723470e-02 -2.82941989e-02 4.47991521e+01] [ 3.75706922e-02 9.99293798e-01 -5.90293648e-04 5.63046801e-01] [ 2.82963962e-02 -4.73392285e-04 9.99599465e-01 2.89905324e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.915336194999995 meters Centerline goodness [0,1] 0.9998487500270089 Centerline is valid? [True, True] Translation: X:44.83, Y:0.56, Z:0.29 [[ 9.98805133e-01 -3.87013955e-02 -2.98413741e-02 4.48303030e+01] [ 3.87001106e-02 9.99250677e-01 -6.20835141e-04 5.60777102e-01] [ 2.98430404e-02 -5.34771151e-04 9.99554454e-01 2.86489559e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.945336194999996 meters Centerline goodness [0,1] 0.999784068579819 Centerline is valid? [True, True] Translation: X:44.86, Y:0.55, Z:0.28 [[ 9.98709231e-01 -3.99930987e-02 -3.13117294e-02 4.48616953e+01] [ 3.99923596e-02 9.99199774e-01 -6.50124452e-04 5.52042770e-01] [ 3.13126734e-02 -6.02944648e-04 9.99509456e-01 2.79416966e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.975336195 meters Centerline goodness [0,1] 0.9999566066391842 Centerline is valid? [True, True] Translation: X:44.89, Y:0.55, Z:0.28 [[ 9.98734809e-01 -3.94728000e-02 -3.11557357e-02 4.48939114e+01] [ 3.94718577e-02 9.99220474e-01 -6.45519473e-04 5.51486956e-01] [ 3.11569295e-02 -5.85072001e-04 9.99514334e-01 2.81016471e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.005336195 meters Centerline goodness [0,1] 0.9999566527232927 Centerline is valid? [True, True] Translation: X:44.93, Y:0.55, Z:0.28 [[ 9.98777334e-01 -3.73072558e-02 -3.24346271e-02 4.49255697e+01] [ 3.73051340e-02 9.99303696e-01 -6.70773926e-04 5.47857840e-01] [ 3.24370674e-02 -5.40024315e-04 9.99473634e-01 2.78888443e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.035336195 meters Centerline goodness [0,1] 0.9998706059952556 Centerline is valid? [True, True] Translation: X:44.96, Y:0.55, Z:0.28 [[ 9.98808492e-01 -3.57299227e-02 -3.32410763e-02 4.49572686e+01] [ 3.57268606e-02 9.99361356e-01 -6.86264554e-04 5.53762694e-01] [ 3.32443673e-02 -5.02152437e-04 9.99447127e-01 2.83881745e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.06533619499999 meters Centerline goodness [0,1] 0.9999569827716001 Centerline is valid? [True, True] Translation: X:44.99, Y:0.56, Z:0.29 [[ 9.99022922e-01 -3.05199851e-02 -3.19645427e-02 4.49868472e+01] [ 3.05144956e-02 9.99534107e-01 -6.59650176e-04 5.62288611e-01] [ 3.19697831e-02 -3.16376251e-04 9.99488786e-01 2.88650924e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.095336194999994 meters Centerline goodness [0,1] 0.9998917139515745 Centerline is valid? [True, True] Translation: X:45.02, Y:0.57, Z:0.29 [[ 9.99141748e-01 -2.84938338e-02 -3.00644036e-02 4.50167262e+01] [ 2.84880524e-02 9.99593940e-01 -6.20701940e-04 5.65588851e-01] [ 3.00698819e-02 -2.36307085e-04 9.99547771e-01 2.92798693e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.125336194999996 meters Centerline goodness [0,1] 0.9998058336209872 Centerline is valid? [True, True] Translation: X:45.05, Y:0.56, Z:0.29 [[ 9.99177392e-01 -2.72496093e-02 -3.00332813e-02 4.50459975e+01] [ 2.72432595e-02 9.99628641e-01 -6.20675047e-04 5.61961303e-01] [ 3.00390413e-02 -1.98040001e-04 9.99548707e-01 2.85329235e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.155336195 meters Centerline goodness [0,1] 0.9999135695764909 Centerline is valid? [True, True] Translation: X:45.07, Y:0.56, Z:0.28 [[ 9.99202098e-01 -2.70529834e-02 -2.93820353e-02 4.50742395e+01] [ 2.70467784e-02 9.99633984e-01 -6.08666898e-04 5.60727002e-01] [ 2.93877472e-02 -1.86508155e-04 9.99568069e-01 2.84487476e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.185336195 meters Centerline goodness [0,1] 0.9999568221070811 Centerline is valid? [True, True] Translation: X:45.10, Y:0.56, Z:0.29 [[ 9.99231795e-01 -2.82145236e-02 -2.71985378e-02 4.51033153e+01] [ 2.82095443e-02 9.99601871e-01 -5.66828980e-04 5.61544080e-01] [ 2.72037021e-02 -2.00864820e-04 9.99629891e-01 2.90718181e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.215336195 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:45.13, Y:0.56, Z:0.29 [[ 9.99194779e-01 -2.89051001e-02 -2.78260407e-02 4.51326488e+01] [ 2.89001215e-02 9.99582135e-01 -5.81150453e-04 5.61162660e-01] [ 2.78312114e-02 -2.23493459e-04 9.99612612e-01 2.89252393e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.24533619499999 meters Centerline goodness [0,1] 0.9996783738582272 Centerline is valid? [True, True] Translation: X:45.16, Y:0.56, Z:0.29 [[ 9.99094080e-01 -3.03522042e-02 -2.98288999e-02 4.51633471e+01] [ 3.03471272e-02 9.99539226e-01 -6.23005493e-04 5.61672882e-01] [ 2.98340651e-02 -2.82780319e-04 9.99554825e-01 2.90554281e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.275336194999994 meters Centerline goodness [0,1] 0.9996535746763089 Centerline is valid? [True, True] Translation: X:45.19, Y:0.56, Z:0.29 [[ 9.99061163e-01 -3.12805063e-02 -2.99720151e-02 4.51934739e+01] [ 3.12757981e-02 9.99510597e-01 -6.25994593e-04 5.60424944e-01] [ 2.99769281e-02 -3.11991805e-04 9.99550542e-01 2.90301191e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.305336194999995 meters Centerline goodness [0,1] 0.9997176368375326 Centerline is valid? [True, True] Translation: X:45.22, Y:0.56, Z:0.29 [[ 9.99003926e-01 -3.23450277e-02 -3.07401147e-02 4.52240525e+01] [ 3.23405789e-02 9.99476700e-01 -6.42037098e-04 5.55256357e-01] [ 3.07447951e-02 -3.52755524e-04 9.99527205e-01 2.88011188e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.335336195 meters Centerline goodness [0,1] 0.999869681370952 Centerline is valid? [True, True] Translation: X:45.25, Y:0.55, Z:0.29 [[ 9.99006165e-01 -3.22629403e-02 -3.07536106e-02 4.52536280e+01] [ 3.22584402e-02 9.99479355e-01 -6.42596546e-04 5.52959014e-01] [ 3.07583309e-02 -3.50105595e-04 9.99526789e-01 2.85567775e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.365336195 meters Centerline goodness [0,1] 0.9999785697447656 Centerline is valid? [True, True] Translation: X:45.28, Y:0.55, Z:0.29 [[ 9.99025853e-01 -3.19298322e-02 -3.04603131e-02 4.52831892e+01] [ 3.19252519e-02 9.99490056e-01 -6.36822428e-04 5.53541702e-01] [ 3.04651137e-02 -3.36251099e-04 9.99535774e-01 2.86004122e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.395336195 meters Centerline goodness [0,1] 0.9998921925871623 Centerline is valid? [True, True] Translation: X:45.31, Y:0.55, Z:0.29 [[ 9.99104993e-01 -3.07514538e-02 -2.90441306e-02 4.53133488e+01] [ 3.07467891e-02 9.99527021e-01 -6.07298463e-04 5.54924781e-01] [ 2.90490687e-02 -2.86258834e-04 9.99577946e-01 2.89764271e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.425336195 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:45.34, Y:0.55, Z:0.29 [[ 9.99088131e-01 -3.05811783e-02 -2.97942639e-02 4.53441243e+01] [ 3.05761939e-02 9.99532245e-01 -6.22983381e-04 5.54238045e-01] [ 2.97993791e-02 -2.88579890e-04 9.99555858e-01 2.90292160e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.455336194999994 meters Centerline goodness [0,1] 0.9999349931742832 Centerline is valid? [True, True] Translation: X:45.37, Y:0.55, Z:0.29 [[ 9.99075545e-01 -3.01446754e-02 -3.06488663e-02 4.53736258e+01] [ 3.01391937e-02 9.99545506e-01 -6.40916225e-04 5.54180792e-01] [ 3.06542568e-02 -2.83408392e-04 9.99530008e-01 2.89541183e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.485336194999995 meters Centerline goodness [0,1] 0.9998261285344809 Centerline is valid? [True, True] Translation: X:45.40, Y:0.56, Z:0.29 [[ 9.99158049e-01 -2.83729174e-02 -2.96339473e-02 4.54037468e+01] [ 2.83670054e-02 9.99597383e-01 -6.19972306e-04 5.56728093e-01] [ 2.96396066e-02 -2.21176022e-04 9.99560626e-01 2.93341377e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.515336194999996 meters Centerline goodness [0,1] 0.9999352093816816 Centerline is valid? [True, True] Translation: X:45.43, Y:0.56, Z:0.29 [[ 9.99153279e-01 -2.84405423e-02 -2.97297826e-02 4.54334497e+01] [ 2.84346035e-02 9.99595461e-01 -6.22598163e-04 5.55301160e-01] [ 2.97354627e-02 -2.23283582e-04 9.99557778e-01 2.91391089e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.545336195 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:45.46, Y:0.55, Z:0.30 [[ 9.99156429e-01 -2.99336336e-02 -2.81142085e-02 4.54619015e+01] [ 2.99288880e-02 9.99551857e-01 -5.89675485e-04 5.52346776e-01] [ 2.81192604e-02 -2.52248945e-04 9.99604544e-01 2.95467695e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.575336195 meters Centerline goodness [0,1] 0.9999783568522206 Centerline is valid? [True, True] Translation: X:45.49, Y:0.55, Z:0.30 [[ 9.99131830e-01 -3.09221520e-02 -2.79178655e-02 4.54911411e+01] [ 3.09178499e-02 9.99521757e-01 -5.85854846e-04 5.51530501e-01] [ 2.79226299e-02 -2.77814151e-04 9.99610049e-01 2.95485271e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.605336195 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:45.52, Y:0.55, Z:0.30 [[ 9.99071984e-01 -3.22591147e-02 -2.85397886e-02 4.55220505e+01] [ 3.22551778e-02 9.99479487e-01 -5.98426790e-04 5.54012724e-01] [ 2.85442380e-02 -3.22684513e-04 9.99592478e-01 2.98271139e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.635336194999994 meters Centerline goodness [0,1] 0.9999353615444282 Centerline is valid? [True, True] Translation: X:45.55, Y:0.55, Z:0.30 [[ 9.99075034e-01 -3.28519620e-02 -2.77457237e-02 4.55538164e+01] [ 3.28484874e-02 9.99460174e-01 -5.81132984e-04 5.52681969e-01] [ 2.77498372e-02 -3.30809599e-04 9.99614844e-01 2.98469931e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.665336194999995 meters Centerline goodness [0,1] 0.9998496757290727 Centerline is valid? [True, True] Translation: X:45.58, Y:0.55, Z:0.30 [[ 9.99108828e-01 -3.32244080e-02 -2.60324618e-02 4.55847858e+01] [ 3.32214911e-02 9.99447866e-01 -5.44654304e-04 5.49830437e-01] [ 2.60361842e-02 -3.20668274e-04 9.99660950e-01 2.96378810e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.695336194999996 meters Centerline goodness [0,1] 0.9999569475836831 Centerline is valid? [True, True] Translation: X:45.62, Y:0.55, Z:0.30 [[ 9.99104890e-01 -3.36983841e-02 -2.55702657e-02 4.56174554e+01] [ 3.36957504e-02 9.99431994e-01 -5.33988901e-04 5.49695644e-01] [ 2.55737362e-02 -3.28098368e-04 9.99672885e-01 2.96991787e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.725336195 meters Centerline goodness [0,1] 0.9997842921547057 Centerline is valid? [True, True] Translation: X:45.65, Y:0.55, Z:0.30 [[ 9.99003477e-01 -3.49047751e-02 -2.78156296e-02 4.56486454e+01] [ 3.49021559e-02 9.99390566e-01 -5.79812419e-04 5.50223536e-01] [ 2.78189160e-02 -3.91590818e-04 9.99612902e-01 2.95150717e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.755336195 meters Centerline goodness [0,1] 0.9999353378596831 Centerline is valid? [True, True] Translation: X:45.68, Y:0.55, Z:0.30 [[ 9.98979372e-01 -3.47027915e-02 -2.89124764e-02 4.56804628e+01] [ 3.46999130e-02 9.99397596e-01 -6.01438759e-04 5.52838542e-01] [ 2.89159310e-02 -4.02435500e-04 9.99581766e-01 2.96087691e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.785336195 meters Centerline goodness [0,1] 0.9998706450500172 Centerline is valid? [True, True] Translation: X:45.71, Y:0.55, Z:0.29 [[ 9.98912928e-01 -3.59046444e-02 -2.97290903e-02 4.57122777e+01] [ 3.59021586e-02 9.99355119e-01 -6.17571057e-04 5.52412332e-01] [ 2.97320922e-02 -4.50438803e-04 9.99557802e-01 2.90993905e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.81533619499999 meters Centerline goodness [0,1] 0.9999565887434612 Centerline is valid? [True, True] Translation: X:45.74, Y:0.55, Z:0.29 [[ 9.98856539e-01 -3.69752652e-02 -3.03058406e-02 4.57436041e+01] [ 3.69731961e-02 9.99316060e-01 -6.28841695e-04 5.50785029e-01] [ 3.03083649e-02 -4.92381151e-04 9.99540475e-01 2.90714675e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.845336194999994 meters Centerline goodness [0,1] 0.9998492419021364 Centerline is valid? [True, True] Translation: X:45.77, Y:0.54, Z:0.28 [[ 9.98639974e-01 -4.04865447e-02 -3.28487719e-02 4.57737101e+01] [ 4.04860471e-02 9.99179872e-01 -6.80558670e-04 5.40416185e-01] [ 3.28493852e-02 -6.50283833e-04 9.99460102e-01 2.83671671e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.875336194999996 meters Centerline goodness [0,1] 0.999978301436445 Centerline is valid? [True, True] Translation: X:45.81, Y:0.54, Z:0.28 [[ 9.98565053e-01 -4.24271021e-02 -3.26768360e-02 4.58052052e+01] [ 4.24276850e-02 9.99099312e-01 -6.75860277e-04 5.37360640e-01] [ 3.26760792e-02 -7.11512051e-04 9.99465741e-01 2.83471700e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.905336195 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:45.84, Y:0.54, Z:0.30 [[ 9.98510524e-01 -4.52865583e-02 -3.04279523e-02 4.58377938e+01] [ 4.52884299e-02 9.98973755e-01 -6.28016808e-04 5.37589996e-01] [ 3.04251665e-02 -7.50952793e-04 9.99536765e-01 2.95008892e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.935336195 meters Centerline goodness [0,1] 0.9999783788458628 Centerline is valid? [True, True] Translation: X:45.87, Y:0.53, Z:0.29 [[ 9.98513365e-01 -4.55106819e-02 -2.99973075e-02 4.58687662e+01] [ 4.55126657e-02 9.98963571e-01 -6.16998052e-04 5.33746424e-01] [ 2.99942974e-02 -7.49176626e-04 9.99549789e-01 2.94751770e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.965336195 meters Centerline goodness [0,1] 0.9998914152930701 Centerline is valid? [True, True] Translation: X:45.90, Y:0.53, Z:0.30 [[ 9.98579404e-01 -4.32359099e-02 -3.11420984e-02 4.59012242e+01] [ 4.32369970e-02 9.99064640e-01 -6.38817047e-04 5.33460792e-01] [ 3.11405891e-02 -7.08581266e-04 9.99514763e-01 2.96010355e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.99533619499999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:45.93, Y:0.54, Z:0.30 [[ 9.98663848e-01 -4.10719428e-02 -3.13626174e-02 4.59330467e+01] [ 4.10720175e-02 9.99155982e-01 -6.42112066e-04 5.35180806e-01] [ 3.13625196e-02 -6.46871866e-04 9.99507866e-01 2.97239797e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.025336194999994 meters Centerline goodness [0,1] 0.9996968318932848 Centerline is valid? [True, True] Translation: X:45.96, Y:0.54, Z:0.29 [[ 9.98803037e-01 -3.57877194e-02 -3.33426429e-02 4.59637991e+01] [ 3.57848913e-02 9.99359283e-01 -6.81752322e-04 5.37517361e-01] [ 3.33456781e-02 -5.12226562e-04 9.99443747e-01 2.91323438e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.055336194999995 meters Centerline goodness [0,1] 0.9999349903569029 Centerline is valid? [True, True] Translation: X:45.99, Y:0.54, Z:0.29 [[ 9.98878816e-01 -3.27667276e-02 -3.41680047e-02 4.59933374e+01] [ 3.27619760e-02 9.99462938e-01 -6.99075944e-04 5.40933016e-01] [ 3.41725607e-02 -4.21119197e-04 9.99415859e-01 2.91050388e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.085336195 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:46.02, Y:0.54, Z:0.29 [[ 9.98969944e-01 -3.02112204e-02 -3.38575496e-02 4.60218966e+01] [ 3.02049329e-02 9.99543484e-01 -6.97285065e-04 5.44140752e-01] [ 3.38631589e-02 -3.26098192e-04 9.99426426e-01 2.91846520e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.115336195 meters Centerline goodness [0,1] 0.999912928013235 Centerline is valid? [True, True] Translation: X:46.05, Y:0.55, Z:0.29 [[ 9.99098086e-01 -2.62255541e-02 -3.33951338e-02 4.60495469e+01] [ 2.62170936e-02 9.99656034e-01 -6.91277690e-04 5.47286940e-01] [ 3.34017762e-02 -1.84869133e-04 9.99441988e-01 2.90844921e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.145336195 meters Centerline goodness [0,1] 0.999913329866528 Centerline is valid? [True, True] Translation: X:46.08, Y:0.55, Z:0.29 [[ 9.99104618e-01 -2.52508025e-02 -3.39464241e-02 4.60783429e+01] [ 2.52413255e-02 9.99681136e-01 -7.07764199e-04 5.47392894e-01] [ 3.39534714e-02 -1.49722261e-04 9.99423403e-01 2.91363199e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.175336195 meters Centerline goodness [0,1] 0.999956609463476 Centerline is valid? [True, True] Translation: X:46.11, Y:0.55, Z:0.29 [[ 9.99124034e-01 -2.58051345e-02 -3.29432928e-02 4.61075900e+01] [ 2.57963410e-02 9.99666980e-01 -6.91992622e-04 5.46883105e-01] [ 3.29501790e-02 -1.58429956e-04 9.99456983e-01 2.92483117e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.205336194999994 meters Centerline goodness [0,1] 0.9997833152762731 Centerline is valid? [True, True] Translation: X:46.14, Y:0.54, Z:0.29 [[ 9.99135126e-01 -2.77325689e-02 -3.09823267e-02 4.61361494e+01] [ 2.77255603e-02 9.99615358e-01 -6.55878480e-04 5.37496226e-01] [ 3.09885988e-02 -2.03691138e-04 9.99519717e-01 2.92909947e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.235336194999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:46.16, Y:0.53, Z:0.29 [[ 9.99117772e-01 -2.90999834e-02 -3.02798230e-02 4.61637792e+01] [ 2.90938373e-02 9.99576477e-01 -6.43629304e-04 5.32356851e-01] [ 3.02857284e-02 -2.37894770e-04 9.99541254e-01 2.89809811e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.265336194999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:46.19, Y:0.53, Z:0.29 [[ 9.98935729e-01 -3.25745676e-02 -3.26543681e-02 4.61923128e+01] [ 3.25692317e-02 9.99469240e-01 -6.95438972e-04 5.29923686e-01] [ 3.26596901e-02 -3.68828847e-04 9.99466462e-01 2.89556579e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.295336195 meters Centerline goodness [0,1] 0.9999784941611648 Centerline is valid? [True, True] Translation: X:46.22, Y:0.53, Z:0.29 [[ 9.98866139e-01 -3.34733831e-02 -3.38521531e-02 4.62207489e+01] [ 3.34680170e-02 9.99439526e-01 -7.25308527e-04 5.30423353e-01] [ 3.38574584e-02 -4.08478307e-04 9.99426588e-01 2.89348873e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.325336195 meters Centerline goodness [0,1] 0.9999566066391842 Centerline is valid? [True, True] Translation: X:46.25, Y:0.53, Z:0.29 [[ 9.98908908e-01 -3.21982785e-02 -3.38269891e-02 4.62495611e+01] [ 3.21919995e-02 9.99481436e-01 -7.30379810e-04 5.29212339e-01] [ 3.38329646e-02 -3.59375519e-04 9.99427437e-01 2.91382995e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.355336195 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:46.28, Y:0.52, Z:0.28 [[ 9.98915001e-01 -3.13587604e-02 -3.44303402e-02 4.62775198e+01] [ 3.13516568e-02 9.99508137e-01 -7.46317445e-04 5.23611966e-01] [ 3.44368088e-02 -3.33940517e-04 9.99406821e-01 2.82431534e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.385336194999994 meters Centerline goodness [0,1] 0.9999784166450834 Centerline is valid? [True, True] Translation: X:46.31, Y:0.52, Z:0.28 [[ 9.98959301e-01 -3.00420026e-02 -3.43189767e-02 4.63066884e+01] [ 3.00340085e-02 9.99548597e-01 -7.48546904e-04 5.21098925e-01] [ 3.43259729e-02 -2.82968547e-04 9.99410650e-01 2.82095888e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.415336194999995 meters Centerline goodness [0,1] 0.9998049964249345 Centerline is valid? [True, True] Translation: X:46.34, Y:0.53, Z:0.29 [[ 9.99032039e-01 -2.91010629e-02 -3.29865523e-02 4.63357681e+01] [ 2.90929995e-02 9.99576447e-01 -7.24489613e-04 5.25177210e-01] [ 3.29936641e-02 -2.35889413e-04 9.99455533e-01 2.89906951e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.445336194999996 meters Centerline goodness [0,1] 0.9999783084965619 Centerline is valid? [True, True] Translation: X:46.36, Y:0.53, Z:0.30 [[ 9.99125994e-01 -2.78695559e-02 -3.11534205e-02 4.63649318e+01] [ 2.78616191e-02 9.99611552e-01 -6.88919650e-04 5.30498483e-01] [ 3.11605189e-02 -1.79667204e-04 9.99514377e-01 2.98319174e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.475336195 meters Centerline goodness [0,1] 0.9999354213755247 Centerline is valid? [True, True] Translation: X:46.39, Y:0.53, Z:0.30 [[ 9.99136316e-01 -2.80322441e-02 -3.06726973e-02 4.63939570e+01] [ 2.80244758e-02 9.99607004e-01 -6.83213681e-04 5.30994917e-01] [ 3.06797951e-02 -1.76962662e-04 9.99529249e-01 2.99671934e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.505336195 meters Centerline goodness [0,1] 0.9999133242323778 Centerline is valid? [True, True] Translation: X:46.42, Y:0.53, Z:0.30 [[ 9.99172326e-01 -2.76979146e-02 -2.97907322e-02 4.64224656e+01] [ 2.76902929e-02 9.99616327e-01 -6.68438905e-04 5.30946112e-01] [ 2.97978166e-02 -1.57028444e-04 9.99555934e-01 3.00947069e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.535336195 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:46.45, Y:0.53, Z:0.30 [[ 9.99163274e-01 -2.76278571e-02 -3.01571401e-02 4.64502471e+01] [ 2.76199366e-02 9.99618266e-01 -6.79254398e-04 5.28317395e-01] [ 3.01643944e-02 -1.54252248e-04 9.99544939e-01 2.95608910e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.56533619499999 meters Centerline goodness [0,1] 0.9999570797029915 Centerline is valid? [True, True] Translation: X:46.48, Y:0.52, Z:0.29 [[ 9.99208156e-01 -2.69190238e-02 -2.92989181e-02 4.64785904e+01] [ 2.69111943e-02 9.99637609e-01 -6.61583772e-04 5.21887913e-01] [ 2.93061096e-02 -1.27408978e-04 9.99570476e-01 2.90507623e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.595336194999994 meters Centerline goodness [0,1] 0.9997187608168917 Centerline is valid? [True, True] Translation: X:46.51, Y:0.53, Z:0.30 [[ 9.99236207e-01 -2.62573682e-02 -2.89405293e-02 4.65071570e+01] [ 2.62493362e-02 9.99655211e-01 -6.57479567e-04 5.25702592e-01] [ 2.89478146e-02 -1.02692295e-04 9.99580919e-01 2.96520215e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.625336194999996 meters Centerline goodness [0,1] 0.999870034224321 Centerline is valid? [True, True] Translation: X:46.54, Y:0.52, Z:0.29 [[ 9.99172289e-01 -2.74728619e-02 -2.99996385e-02 4.65386938e+01] [ 2.78995546e-02 9.99514106e-01 1.38984633e-02 5.22458750e-01] [ 2.96032313e-02 -1.47239359e-02 9.99453278e-01 2.90537300e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.655336195 meters Centerline goodness [0,1] 0.999870034224321 Centerline is valid? [True, True] Translation: X:46.57, Y:0.53, Z:0.30 [[ 9.99177105e-01 -2.77141584e-02 -2.96148177e-02 4.65676124e+01] [ 2.77261221e-02 9.99615557e-01 -6.66734731e-06 5.33045225e-01] [ 2.96036173e-02 -8.14442193e-04 9.99561385e-01 3.00023012e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.685336195 meters Centerline goodness [0,1] 0.9999352443446727 Centerline is valid? [True, True] Translation: X:46.59, Y:0.56, Z:0.32 [[ 9.99363637e-01 -2.26236790e-02 -2.75769760e-02 4.65942686e+01] [ 2.22165264e-02 9.99640914e-01 -1.49823011e-02 5.55592015e-01] [ 2.79060283e-02 1.43601023e-02 9.99507399e-01 3.16245284e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.715336195 meters Centerline goodness [0,1] 0.9999783699602007 Centerline is valid? [True, True] Translation: X:46.62, Y:0.55, Z:0.30 [[ 9.99316843e-01 -2.00430957e-02 -3.10502999e-02 4.66240715e+01] [ 2.00306159e-02 9.99799113e-01 -7.12951537e-04 5.49789306e-01] [ 3.10583520e-02 9.05078475e-05 9.99517569e-01 3.00454283e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.74533619499999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:46.65, Y:0.55, Z:0.30 [[ 9.99321345e-01 -1.90356477e-02 -3.15355956e-02 4.66520027e+01] [ 1.90221971e-02 9.99818798e-01 -7.26506736e-04 5.49697370e-01] [ 3.15437108e-02 1.26137373e-04 9.99502365e-01 2.95062636e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.775336194999994 meters Centerline goodness [0,1] 0.9999568798240697 Centerline is valid? [True, True] Translation: X:46.68, Y:0.55, Z:0.30 [[ 9.99358607e-01 -1.90638336e-02 -3.03140933e-02 4.66809316e+01] [ 1.90512811e-02 9.99818261e-01 -7.02879785e-04 5.48319082e-01] [ 3.03219836e-02 1.24906650e-04 9.99540175e-01 2.96444262e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.805336194999995 meters Centerline goodness [0,1] 0.9998922042083477 Centerline is valid? [True, True] Translation: X:46.71, Y:0.55, Z:0.30 [[ 9.99408174e-01 -2.02175968e-02 -2.78307465e-02 4.67086760e+01] [ 2.02073983e-02 9.99795600e-01 -6.47675928e-04 5.52208188e-01] [ 2.78381524e-02 8.49056374e-05 9.99612440e-01 3.01895159e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.835336195 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:46.74, Y:0.56, Z:0.31 [[ 9.99387313e-01 -2.15245675e-02 -2.75987584e-02 4.67362374e+01] [ 2.15149181e-02 9.99768318e-01 -6.46566965e-04 5.57140161e-01] [ 2.76062814e-02 5.23857946e-05 9.99618873e-01 3.07535119e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.865336195 meters Centerline goodness [0,1] 0.999892380542402 Centerline is valid? [True, True] Translation: X:46.76, Y:0.56, Z:0.31 [[ 9.99388154e-01 -2.39176982e-02 -2.55198033e-02 4.67642536e+01] [ 2.39101176e-02 9.99713931e-01 -6.02191316e-04 5.61151775e-01] [ 2.55269059e-02 -8.35863001e-06 9.99674135e-01 3.12938490e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.895336195 meters Centerline goodness [0,1] 0.9999784566332026 Centerline is valid? [True, True] Translation: X:46.79, Y:0.56, Z:0.31 [[ 9.99384371e-01 -2.35730177e-02 -2.59844403e-02 4.67932131e+01] [ 2.35649921e-02 9.99722118e-01 -6.15075497e-04 5.57613668e-01] [ 2.59917189e-02 2.37370768e-06 9.99662158e-01 3.06744607e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.925336195 meters Centerline goodness [0,1] 0.9999783535727428 Centerline is valid? [True, True] Translation: X:46.82, Y:0.56, Z:0.30 [[ 9.99352367e-01 -2.30629299e-02 -2.76215003e-02 4.68223112e+01] [ 2.30535659e-02 9.99734015e-01 -6.57452999e-04 5.56644555e-01] [ 2.76293162e-02 2.02531330e-05 9.99618237e-01 3.03807001e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.955336194999994 meters Centerline goodness [0,1] 0.9999350817969359 Centerline is valid? [True, True] Translation: X:46.85, Y:0.56, Z:0.30 [[ 9.99339448e-01 -2.21813531e-02 -2.87863571e-02 4.68506948e+01] [ 2.21706763e-02 9.99753962e-01 -6.90058295e-04 5.57315602e-01] [ 2.87945810e-02 5.13894716e-05 9.99585349e-01 3.01244603e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.985336194999995 meters Centerline goodness [0,1] 0.9998929290333634 Centerline is valid? [True, True] Translation: X:46.88, Y:0.57, Z:0.30 [[ 9.99396446e-01 -1.99727306e-02 -2.84224262e-02 4.68768309e+01] [ 1.99612798e-02 9.99800518e-01 -6.86581094e-04 5.67250020e-01] [ 2.84304694e-02 1.18818701e-04 9.99595765e-01 3.03266502e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.015336194999996 meters Centerline goodness [0,1] 0.9998495755882669 Centerline is valid? [True, True] Translation: X:46.91, Y:0.57, Z:0.31 [[ 9.99388251e-01 -1.86676398e-02 -2.95743735e-02 4.69051958e+01] [ 1.86545179e-02 9.99825730e-01 -7.19564452e-04 5.73135096e-01] [ 2.95826522e-02 1.67428580e-04 9.99562324e-01 3.05790167e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.045336195 meters Centerline goodness [0,1] 0.9999569901722544 Centerline is valid? [True, True] Translation: X:46.93, Y:0.58, Z:0.30 [[ 9.99346200e-01 -1.66178338e-02 -3.21094956e-02 4.69337477e+01] [ 1.66012357e-02 9.99861883e-01 -7.83466322e-04 5.78902103e-01] [ 3.21180802e-02 2.49896785e-04 9.99484050e-01 3.00889390e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.075336195 meters Centerline goodness [0,1] 0.9998273443401317 Centerline is valid? [True, True] Translation: X:46.96, Y:0.58, Z:0.30 [[ 9.99403729e-01 -1.60526164e-02 -3.05696041e-02 4.69612766e+01] [ 1.60372594e-02 9.99871115e-01 -7.47493072e-04 5.80345301e-01] [ 3.05776633e-02 2.56794692e-04 9.99532361e-01 2.98677278e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.105336195 meters Centerline goodness [0,1] 0.9997851633832471 Centerline is valid? [True, True] Translation: X:46.99, Y:0.58, Z:0.30 [[ 9.99396481e-01 -1.67786275e-02 -3.04162971e-02 4.69897208e+01] [ 1.67636350e-02 9.99859201e-01 -7.47864575e-04 5.79649649e-01] [ 3.04245626e-02 2.37525522e-04 9.99537038e-01 2.98313491e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.135336194999994 meters Centerline goodness [0,1] 0.9997394815683209 Centerline is valid? [True, True] Translation: X:47.02, Y:0.58, Z:0.30 [[ 9.99408209e-01 -1.76597895e-02 -2.95188754e-02 4.70180094e+01] [ 1.76459106e-02 9.99844032e-01 -7.30623291e-04 5.78140242e-01] [ 2.95271741e-02 2.09303478e-04 9.99563956e-01 3.01266085e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.165336194999995 meters Centerline goodness [0,1] 0.9998923179635173 Centerline is valid? [True, True] Translation: X:47.05, Y:0.58, Z:0.31 [[ 9.99493374e-01 -1.89757280e-02 -2.55522472e-02 4.70465311e+01] [ 1.89657154e-02 9.99819934e-01 -6.34162221e-04 5.75887327e-01] [ 2.55596798e-02 1.49224291e-04 9.99673287e-01 3.05506672e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.195336194999996 meters Centerline goodness [0,1] 0.9996374493495415 Centerline is valid? [True, True] Translation: X:47.07, Y:0.57, Z:0.30 [[ 9.99454263e-01 -2.04581717e-02 -2.59353036e-02 4.70740109e+01] [ 2.04483101e-02 9.99790703e-01 -6.45421866e-04 5.74717203e-01] [ 2.59430796e-02 1.14736505e-04 9.99663415e-01 3.04518514e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.225336195 meters Centerline goodness [0,1] 0.9999571036376115 Centerline is valid? [True, True] Translation: X:47.10, Y:0.58, Z:0.31 [[ 9.99325989e-01 -2.36346579e-02 -2.80886067e-02 4.71029896e+01] [ 2.36242327e-02 9.99720662e-01 -7.02994359e-04 5.76107179e-01] [ 2.80973755e-02 3.89487530e-05 9.99605190e-01 3.09150963e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.255336195 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:47.13, Y:0.58, Z:0.31 [[ 9.99280702e-01 -2.54079515e-02 -2.81516441e-02 4.71312342e+01] [ 2.53980395e-02 9.99677166e-01 -7.09664688e-04 5.77938302e-01] [ 2.81605869e-02 -5.84234097e-06 9.99603412e-01 3.12566810e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.285336195 meters Centerline goodness [0,1] 0.9999567146412726 Centerline is valid? [True, True] Translation: X:47.16, Y:0.57, Z:0.31 [[ 9.99189239e-01 -2.81246352e-02 -2.88074423e-02 4.71601063e+01] [ 2.81152421e-02 9.99604421e-01 -7.31141603e-04 5.71339955e-01] [ 2.88166097e-02 -7.93793924e-05 9.99584712e-01 3.09356085e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.31533619499999 meters Centerline goodness [0,1] 0.9998481759423936 Centerline is valid? [True, True] Translation: X:47.19, Y:0.57, Z:0.31 [[ 9.99160556e-01 -2.83818565e-02 -2.95407163e-02 4.71883815e+01] [ 2.83720235e-02 9.99597150e-01 -7.52049849e-04 5.67211944e-01] [ 2.95501604e-02 -8.67113527e-05 9.99563295e-01 3.05427348e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.345336194999994 meters Centerline goodness [0,1] 0.9999568006566301 Centerline is valid? [True, True] Translation: X:47.22, Y:0.57, Z:0.30 [[ 9.99221991e-01 -2.56864374e-02 -2.99268910e-02 4.72161190e+01] [ 2.56750872e-02 9.99670049e-01 -7.63540409e-04 5.68848484e-01] [ 2.99366292e-02 -5.42916573e-06 9.99551799e-01 3.03045457e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.375336194999996 meters Centerline goodness [0,1] 0.9999784199054792 Centerline is valid? [True, True] Translation: X:47.24, Y:0.57, Z:0.30 [[ 9.99258633e-01 -2.40589490e-02 -3.00557986e-02 4.72442990e+01] [ 2.40467121e-02 9.99710541e-01 -7.68578439e-04 5.72951137e-01] [ 3.00655899e-02 4.52655032e-05 9.99547927e-01 3.03582793e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.405336195 meters Centerline goodness [0,1] 0.9998705278149411 Centerline is valid? [True, True] Translation: X:47.27, Y:0.58, Z:0.31 [[ 9.99348450e-01 -2.08115175e-02 -2.94882224e-02 4.72708913e+01] [ 2.07982599e-02 9.99783407e-01 -7.56272164e-04 5.82183069e-01] [ 2.94975747e-02 1.42475701e-04 9.99564842e-01 3.07315992e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.435336195 meters Centerline goodness [0,1] 0.9999786119131644 Centerline is valid? [True, True] Translation: X:47.30, Y:0.59, Z:0.31 [[ 9.99402126e-01 -1.93690558e-02 -2.86396713e-02 4.72986391e+01] [ 1.93559064e-02 9.99812386e-01 -7.36317135e-04 5.90241196e-01] [ 2.86485598e-02 1.81530113e-04 9.99589529e-01 3.11014629e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.465336195 meters Centerline goodness [0,1] 0.9999569522169608 Centerline is valid? [True, True] Translation: X:47.33, Y:0.60, Z:0.32 [[ 9.99480231e-01 -1.76386281e-02 -2.69841980e-02 4.73270909e+01] [ 1.76262258e-02 9.99844403e-01 -6.97420918e-04 5.99873562e-01] [ 2.69923009e-02 2.21428853e-04 9.99635617e-01 3.19588306e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.49533619499999 meters Centerline goodness [0,1] 0.9999129753720303 Centerline is valid? [True, True] Translation: X:47.36, Y:0.60, Z:0.32 [[ 9.99461441e-01 -1.78575554e-02 -2.75306149e-02 4.73557225e+01] [ 1.78446016e-02 9.99840516e-01 -7.16156065e-04 5.99064662e-01] [ 2.75390130e-02 2.24497520e-04 9.99620704e-01 3.15284631e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.525336194999994 meters Centerline goodness [0,1] 0.999913728027607 Centerline is valid? [True, True] Translation: X:47.38, Y:0.60, Z:0.31 [[ 9.99428295e-01 -1.83133815e-02 -2.84201262e-02 4.73838610e+01] [ 1.82996725e-02 9.99832271e-01 -7.42406912e-04 5.95793592e-01] [ 2.84289554e-02 2.21903470e-04 9.99595791e-01 3.09350982e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.555336194999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:47.41, Y:0.59, Z:0.30 [[ 9.99397774e-01 -1.87690684e-02 -2.91858012e-02 4.74115456e+01] [ 1.87547479e-02 9.99823822e-01 -7.64356599e-04 5.93170655e-01] [ 2.91950056e-02 2.16523939e-04 9.99573712e-01 3.04120509e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.585336195 meters Centerline goodness [0,1] 0.9999783540413005 Centerline is valid? [True, True] Translation: X:47.44, Y:0.59, Z:0.31 [[ 9.99359768e-01 -2.06914219e-02 -2.91876575e-02 4.74401847e+01] [ 2.06778023e-02 9.99785896e-01 -7.68410468e-04 5.94232185e-01] [ 2.91973078e-02 1.64381895e-04 9.99573654e-01 3.05502428e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.615336195 meters Centerline goodness [0,1] 0.9999141465089825 Centerline is valid? [True, True] Translation: X:47.47, Y:0.59, Z:0.31 [[ 9.99327964e-01 -2.26418124e-02 -2.88265388e-02 4.74686299e+01] [ 2.26292013e-02 9.99743635e-01 -7.63676401e-04 5.94467981e-01] [ 2.88364397e-02 1.10841632e-04 9.99584137e-01 3.08938743e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.645336195 meters Centerline goodness [0,1] 0.9999354241556708 Centerline is valid? [True, True] Translation: X:47.50, Y:0.60, Z:0.31 [[ 9.99314544e-01 -2.44500330e-02 -2.77963527e-02 4.74960522e+01] [ 2.44389399e-02 9.99701052e-01 -7.38788157e-04 5.95751465e-01] [ 2.78061064e-02 5.89683580e-05 9.99613334e-01 3.10621485e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.675336195 meters Centerline goodness [0,1] 0.9999784635927035 Centerline is valid? [True, True] Translation: X:47.52, Y:0.59, Z:0.32 [[ 9.99254063e-01 -2.84026527e-02 -2.61649963e-02 4.75246642e+01] [ 2.83940897e-02 9.99596562e-01 -6.98814963e-04 5.93818436e-01] [ 2.61742886e-02 -4.46375610e-05 9.99657394e-01 3.15277163e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.705336194999994 meters Centerline goodness [0,1] 0.9998487075300424 Centerline is valid? [True, True] Translation: X:47.56, Y:0.59, Z:0.31 [[ 9.99170880e-01 -2.98458227e-02 -2.76907926e-02 4.75550321e+01] [ 2.98367507e-02 9.99554511e-01 -7.40833052e-04 5.89494197e-01] [ 2.77005674e-02 -8.59844636e-05 9.99616262e-01 3.12464371e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.735336194999995 meters Centerline goodness [0,1] 0.9999351953859115 Centerline is valid? [True, True] Translation: X:47.59, Y:0.58, Z:0.30 [[ 9.98957740e-01 -3.27100608e-02 -3.18353034e-02 4.75853672e+01] [ 3.26995142e-02 9.99464865e-01 -8.52001703e-04 5.82019374e-01] [ 3.18461362e-02 -1.89885259e-04 9.99492765e-01 3.02578301e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.765336194999996 meters Centerline goodness [0,1] 0.9998040539069474 Centerline is valid? [True, True] Translation: X:47.61, Y:0.58, Z:0.31 [[ 9.98930586e-01 -3.38096072e-02 -3.15371966e-02 4.76148654e+01] [ 3.37997841e-02 9.99428267e-01 -8.44684416e-04 5.83846151e-01] [ 3.15477242e-02 -2.22169339e-04 9.99502222e-01 3.06066855e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.795336195 meters Centerline goodness [0,1] 0.9999785587169536 Centerline is valid? [True, True] Translation: X:47.64, Y:0.59, Z:0.31 [[ 9.98860239e-01 -3.56133622e-02 -3.17791114e-02 4.76447461e+01] [ 3.56042920e-02 9.99365604e-01 -8.51427870e-04 5.85653387e-01] [ 3.17892730e-02 -2.81015317e-04 9.99494554e-01 3.08009365e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.825336195 meters Centerline goodness [0,1] 0.9998916787625381 Centerline is valid? [True, True] Translation: X:47.68, Y:0.59, Z:0.31 [[ 9.98815807e-01 -3.64837462e-02 -3.21857043e-02 4.76751755e+01] [ 3.64748933e-02 9.99334198e-01 -8.62347500e-04 5.85548549e-01] [ 3.21957367e-02 -3.12643817e-04 9.99481534e-01 3.08943249e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.855336195 meters Centerline goodness [0,1] 0.9999783179029076 Centerline is valid? [True, True] Translation: X:47.71, Y:0.58, Z:0.31 [[ 9.98907004e-01 -3.65799786e-02 -2.90981410e-02 4.77054217e+01] [ 3.65727835e-02 9.99330688e-01 -7.79622806e-04 5.84619947e-01] [ 2.91071838e-02 -2.85429330e-04 9.99576255e-01 3.13532704e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.885336194999994 meters Centerline goodness [0,1] 0.99993538938663 Centerline is valid? [True, True] Translation: X:47.74, Y:0.58, Z:0.32 [[ 9.98990478e-01 -3.61146692e-02 -2.67161918e-02 4.77373928e+01] [ 3.61084536e-02 9.99347621e-01 -7.15197829e-04 5.84472203e-01] [ 2.67245919e-02 -2.50204553e-04 9.99642803e-01 3.16454521e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.915336194999995 meters Centerline goodness [0,1] 0.9997648064998931 Centerline is valid? [True, True] Translation: X:47.77, Y:0.58, Z:0.31 [[ 9.99019194e-01 -3.63356297e-02 -2.53055569e-02 4.77688912e+01] [ 3.63301454e-02 9.99339613e-01 -6.76590791e-04 5.81639333e-01] [ 2.53134298e-02 -2.43427373e-04 9.99679534e-01 3.14659725e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.945336194999996 meters Centerline goodness [0,1] 0.9999142311898278 Centerline is valid? [True, True] Translation: X:47.80, Y:0.58, Z:0.32 [[ 9.99027373e-01 -3.59297604e-02 -2.55609151e-02 4.78008833e+01] [ 3.59240603e-02 9.99354290e-01 -6.82314486e-04 5.82984477e-01] [ 2.55689256e-02 -2.36601010e-04 9.99673034e-01 3.17770901e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.975336195 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:47.83, Y:0.59, Z:0.32 [[ 9.99168541e-01 -3.23836966e-02 -2.47693829e-02 4.78335208e+01] [ 3.23772883e-02 9.99475500e-01 -6.59823842e-04 5.88658447e-01] [ 2.47777589e-02 -1.42690225e-04 9.99692974e-01 3.19067032e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.005336195 meters Centerline goodness [0,1] 0.9997623933470137 Centerline is valid? [True, True] Translation: X:47.86, Y:0.59, Z:0.32 [[ 9.99226550e-01 -3.08262958e-02 -2.44139603e-02 4.78649142e+01] [ 3.08196307e-02 9.99524751e-01 -6.49316639e-04 5.88258183e-01] [ 2.44223736e-02 -1.03614814e-04 9.99701724e-01 3.16091805e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.035336195 meters Centerline goodness [0,1] 0.9999568099855314 Centerline is valid? [True, True] Translation: X:47.90, Y:0.59, Z:0.32 [[ 9.99272307e-01 -2.90389009e-02 -2.47305303e-02 4.78974566e+01] [ 2.90315413e-02 9.99578280e-01 -6.56654799e-04 5.89108501e-01] [ 2.47391695e-02 -6.17884560e-05 9.99693938e-01 3.16039169e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.06533619499999 meters Centerline goodness [0,1] 0.9999567894566275 Centerline is valid? [True, True] Translation: X:47.93, Y:0.60, Z:0.32 [[ 9.99325466e-01 -2.49970035e-02 -2.69028444e-02 4.79282093e+01] [ 2.49868460e-02 9.99687525e-01 -7.13720385e-04 5.97273237e-01] [ 2.69122789e-02 4.10217264e-05 9.99637798e-01 3.16919680e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.095336194999994 meters Centerline goodness [0,1] 0.9998070077625767 Centerline is valid? [True, True] Translation: X:47.96, Y:0.61, Z:0.32 [[ 9.99382852e-01 -2.10796319e-02 -2.80991708e-02 4.79563982e+01] [ 2.10669763e-02 9.99777788e-01 -7.46387709e-04 6.07530234e-01] [ 2.81086604e-02 1.53962511e-04 9.99604862e-01 3.16608687e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.125336194999996 meters Centerline goodness [0,1] 0.9999142422228415 Centerline is valid? [True, True] Translation: X:47.98, Y:0.61, Z:0.32 [[ 9.99420557e-01 -1.94857331e-02 -2.79080076e-02 4.79847527e+01] [ 1.94725244e-02 9.99810115e-01 -7.45013117e-04 6.11589962e-01] [ 2.79172254e-02 2.01142065e-04 9.99610218e-01 3.16546616e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.155336195 meters Centerline goodness [0,1] 0.9996574242586447 Centerline is valid? [True, True] Translation: X:48.01, Y:0.61, Z:0.31 [[ 9.99476270e-01 -1.66713512e-02 -2.77353892e-02 4.80126355e+01] [ 1.66571556e-02 9.99860984e-01 -7.42800436e-04 6.14723653e-01] [ 2.77439170e-02 2.80418716e-04 9.99615024e-01 3.10132150e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.185336195 meters Centerline goodness [0,1] 0.9999361525528337 Centerline is valid? [True, True] Translation: X:48.04, Y:0.62, Z:0.31 [[ 9.99488004e-01 -1.51655572e-02 -2.81732988e-02 4.80415887e+01] [ 1.51502057e-02 9.99884942e-01 -7.58286630e-04 6.15424879e-01] [ 2.81815571e-02 3.31067118e-04 9.99602766e-01 3.08658876e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.215336195 meters Centerline goodness [0,1] 0.9999569975703627 Centerline is valid? [True, True] Translation: X:48.07, Y:0.62, Z:0.31 [[ 9.99512189e-01 -1.36047743e-02 -2.81121705e-02 4.80705696e+01] [ 1.35887453e-02 9.99907379e-01 -7.61152218e-04 6.18476624e-01] [ 2.81199220e-02 3.78771795e-04 9.99604485e-01 3.09178715e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.24533619499999 meters Centerline goodness [0,1] 0.999807115302186 Centerline is valid? [True, True] Translation: X:48.10, Y:0.63, Z:0.32 [[ 9.99577953e-01 -1.09893944e-02 -2.68914238e-02 4.80989025e+01] [ 1.09736665e-02 9.99939519e-01 -7.32376973e-04 6.27987033e-01] [ 2.68978458e-02 4.36970359e-04 9.99638092e-01 3.15623541e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.275336194999994 meters Centerline goodness [0,1] 0.9999354380528117 Centerline is valid? [True, True] Translation: X:48.13, Y:0.63, Z:0.32 [[ 9.99568625e-01 -1.02349837e-02 -2.75283253e-02 4.81278248e+01] [ 1.02180905e-02 9.99947509e-01 -7.54267507e-04 6.32049805e-01] [ 2.75346003e-02 4.72655214e-04 9.99620739e-01 3.17608095e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.305336194999995 meters Centerline goodness [0,1] 0.9998927038626609 Centerline is valid? [True, True] Translation: X:48.16, Y:0.64, Z:0.32 [[ 9.99600443e-01 -9.67386185e-03 -2.65588193e-02 4.81553520e+01] [ 9.65781146e-03 9.99953094e-01 -7.32543067e-04 6.38511724e-01] [ 2.65646600e-02 4.75750305e-04 9.99646984e-01 3.20882591e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.335336195 meters Centerline goodness [0,1] 0.9996586375370698 Centerline is valid? [True, True] Translation: X:48.18, Y:0.64, Z:0.32 [[ 9.99637356e-01 -1.04866688e-02 -2.48029651e-02 4.81831097e+01] [ 1.04728624e-02 9.99944922e-01 -6.86481130e-04 6.42861390e-01] [ 2.48087979e-02 4.26474141e-04 9.99692123e-01 3.22176494e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.365336195 meters Centerline goodness [0,1] 0.9998923017274803 Centerline is valid? [True, True] Translation: X:48.21, Y:0.64, Z:0.32 [[ 9.99625000e-01 -1.19026184e-02 -2.46614678e-02 4.82121107e+01] [ 1.18893194e-02 9.99929084e-01 -6.85825019e-04 6.43151669e-01] [ 2.46678820e-02 3.92359768e-04 9.99695625e-01 3.22277646e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.395336195 meters Centerline goodness [0,1] 0.9999352079823766 Centerline is valid? [True, True] Translation: X:48.24, Y:0.64, Z:0.32 [[ 9.99562424e-01 -1.28051646e-02 -2.66643620e-02 4.82410739e+01] [ 1.27898181e-02 9.99917929e-01 -7.46019459e-04 6.42583738e-01] [ 2.66717266e-02 4.04660679e-04 9.99644164e-01 3.16524698e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.425336195 meters Centerline goodness [0,1] 0.9995307667697558 Centerline is valid? [True, True] Translation: X:48.27, Y:0.64, Z:0.31 [[ 9.99507315e-01 -1.38454406e-02 -2.81679215e-02 4.82702194e+01] [ 1.38285935e-02 9.99904066e-01 -7.92818655e-04 6.42838277e-01] [ 2.81761961e-02 4.02905311e-04 9.99602891e-01 3.11241246e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.455336194999994 meters Centerline goodness [0,1] 0.9998067881754363 Centerline is valid? [True, True] Translation: X:48.30, Y:0.65, Z:0.31 [[ 9.99528452e-01 -1.39332065e-02 -2.73630911e-02 4.82983884e+01] [ 1.39172765e-02 9.99902852e-01 -7.72541791e-04 6.45010947e-01] [ 2.73711968e-02 3.91357797e-04 9.99625262e-01 3.11682666e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.485336194999995 meters Centerline goodness [0,1] 0.9998721282127786 Centerline is valid? [True, True] Translation: X:48.33, Y:0.65, Z:0.32 [[ 9.99505161e-01 -1.58201928e-02 -2.71874123e-02 4.83263906e+01] [ 1.58050660e-02 9.99874795e-01 -7.71203373e-04 6.49424392e-01] [ 2.71962088e-02 3.41122905e-04 9.99630057e-01 3.15205728e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.515336194999996 meters Centerline goodness [0,1] 0.9998489458578796 Centerline is valid? [True, True] Translation: X:48.35, Y:0.65, Z:0.32 [[ 9.99494579e-01 -1.61784718e-02 -2.73650128e-02 4.83544041e+01] [ 1.61631452e-02 9.99869063e-01 -7.81197413e-04 6.52067024e-01] [ 2.73740682e-02 3.38497905e-04 9.99625203e-01 3.19343768e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.545336195 meters Centerline goodness [0,1] 0.9998489458578796 Centerline is valid? [True, True] Translation: X:48.38, Y:0.65, Z:0.32 [[ 9.99491510e-01 -1.63672411e-02 -2.73648648e-02 4.83817391e+01] [ 1.63518440e-02 9.99865990e-01 -7.86356816e-04 6.53001502e-01] [ 2.73740682e-02 3.38490961e-04 9.99625203e-01 3.19550585e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.575336195 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:48.41, Y:0.66, Z:0.32 [[ 9.99520929e-01 -1.57131544e-02 -2.66647508e-02 4.84096179e+01] [ 1.56982356e-02 9.99876480e-01 -7.68745701e-04 6.57754827e-01] [ 2.66735366e-02 3.49787876e-04 9.99644137e-01 3.20027674e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.605336195 meters Centerline goodness [0,1] 0.9999355005159959 Centerline is valid? [True, True] Translation: X:48.44, Y:0.66, Z:0.32 [[ 9.99565086e-01 -1.54338084e-02 -2.51284044e-02 4.84375088e+01] [ 1.54204245e-02 9.99880834e-01 -7.26321329e-04 6.58105594e-01] [ 2.51366198e-02 3.38514780e-04 9.99683968e-01 3.20261818e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.635336194999994 meters Centerline goodness [0,1] 0.9997846822987317 Centerline is valid? [True, True] Translation: X:48.47, Y:0.66, Z:0.32 [[ 9.99636470e-01 -1.38456957e-02 -2.31349247e-02 4.84660475e+01] [ 1.38338520e-02 9.99904082e-01 -6.71911723e-04 6.59439531e-01] [ 2.31420087e-02 3.51622339e-04 9.99732126e-01 3.24471419e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.665336194999995 meters Centerline goodness [0,1] 0.9997868848965327 Centerline is valid? [True, True] Translation: X:48.49, Y:0.66, Z:0.32 [[ 9.99648064e-01 -1.40031146e-02 -2.25313319e-02 4.84940870e+01] [ 1.39918727e-02 9.99901893e-01 -6.56521447e-04 6.60755973e-01] [ 2.25383148e-02 3.41034864e-04 9.99745922e-01 3.22099957e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.695336194999996 meters Centerline goodness [0,1] 0.9998493457300276 Centerline is valid? [True, True] Translation: X:48.52, Y:0.66, Z:0.33 [[ 9.99632077e-01 -1.50904781e-02 -2.25386101e-02 4.85229628e+01] [ 1.50794388e-02 9.99886081e-01 -6.59684386e-04 6.62082980e-01] [ 2.25459975e-02 3.19572081e-04 9.99745756e-01 3.26087952e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.725336195 meters Centerline goodness [0,1] 0.9999145791957631 Centerline is valid? [True, True] Translation: X:48.55, Y:0.67, Z:0.33 [[ 9.99613509e-01 -1.54764092e-02 -2.30935723e-02 4.85505158e+01] [ 1.54648715e-02 9.99880182e-01 -6.78130130e-04 6.69004812e-01] [ 2.31013003e-02 3.20728911e-04 9.99733078e-01 3.27144502e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.755336195 meters Centerline goodness [0,1] 0.9998923921231034 Centerline is valid? [True, True] Translation: X:48.58, Y:0.67, Z:0.33 [[ 9.99589942e-01 -1.52677471e-02 -2.42248710e-02 4.85793837e+01] [ 1.52549111e-02 9.99883382e-01 -7.14592083e-04 6.72700377e-01] [ 2.42329562e-02 3.44750805e-04 9.99706279e-01 3.26485332e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.785336195 meters Centerline goodness [0,1] 0.9999138265328106 Centerline is valid? [True, True] Translation: X:48.61, Y:0.67, Z:0.32 [[ 9.99572562e-01 -1.44926101e-02 -2.53901077e-02 4.86078370e+01] [ 1.44781507e-02 9.99894902e-01 -7.53233957e-04 6.73466756e-01] [ 2.53983556e-02 3.85310189e-04 9.99677335e-01 3.20577144e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.81533619499999 meters Centerline goodness [0,1] 0.999913481712197 Centerline is valid? [True, True] Translation: X:48.64, Y:0.68, Z:0.32 [[ 9.99625447e-01 -1.13134954e-02 -2.49192964e-02 4.86364533e+01] [ 1.12984768e-02 9.99935894e-01 -7.43409634e-04 6.75616402e-01] [ 2.49261095e-02 4.61581096e-04 9.99689190e-01 3.15588829e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.845336194999994 meters Centerline goodness [0,1] 0.999850158403973 Centerline is valid? [True, True] Translation: X:48.66, Y:0.68, Z:0.31 [[ 9.99639934e-01 -9.81877781e-03 -2.49718663e-02 4.86635435e+01] [ 9.80316672e-03 9.99951668e-01 -7.47494035e-04 6.83612456e-01] [ 2.49779989e-02 5.02421519e-04 9.99687875e-01 3.14324472e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.875336194999996 meters Centerline goodness [0,1] 0.999785633132543 Centerline is valid? [True, True] Translation: X:48.69, Y:0.70, Z:0.32 [[ 9.99613920e-01 -9.17385635e-03 -2.62269189e-02 4.86911261e+01] [ 9.15635705e-03 9.99957770e-01 -7.87243539e-04 6.95715659e-01] [ 2.62330334e-02 5.46796566e-04 9.99655705e-01 3.15131402e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.905336195 meters Centerline goodness [0,1] 0.9998273443401317 Centerline is valid? [True, True] Translation: X:48.72, Y:0.69, Z:0.32 [[ 9.99587018e-01 -1.06152421e-02 -2.67041395e-02 4.87197145e+01] [ 1.05975119e-02 9.99943520e-01 -8.05389709e-04 6.94637856e-01] [ 2.67111807e-02 5.22059661e-04 9.99643056e-01 3.18904397e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.935336195 meters Centerline goodness [0,1] 0.9999137670848963 Centerline is valid? [True, True] Translation: X:48.75, Y:0.69, Z:0.32 [[ 9.99543128e-01 -1.30220961e-02 -2.72756227e-02 4.87480800e+01] [ 1.30043699e-02 9.99915097e-01 -8.27183913e-04 6.93249184e-01] [ 2.72840786e-02 4.72103709e-04 9.99627609e-01 3.17745627e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.965336195 meters Centerline goodness [0,1] 0.9999786657564056 Centerline is valid? [True, True] Translation: X:48.78, Y:0.69, Z:0.31 [[ 9.99423186e-01 -1.87096447e-02 -2.83415796e-02 4.87763490e+01] [ 1.86927263e-02 9.99824904e-01 -8.61798379e-04 6.91329081e-01] [ 2.83527410e-02 3.31519893e-04 9.99597925e-01 3.14651333e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.99533619499999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:48.81, Y:0.69, Z:0.32 [[ 9.99340668e-01 -2.38675225e-02 -2.73600365e-02 4.88055353e+01] [ 2.38535980e-02 9.99715114e-01 -8.35249590e-04 6.90568043e-01] [ 2.73721773e-02 1.82063573e-04 9.99625295e-01 3.15236051e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.025336194999994 meters Centerline goodness [0,1] 0.9999134349030471 Centerline is valid? [True, True] Translation: X:48.83, Y:0.69, Z:0.31 [[ 9.99310136e-01 -2.56295406e-02 -2.68771017e-02 4.88339269e+01] [ 2.56166266e-02 9.99671500e-01 -8.24741912e-04 6.89706466e-01] [ 2.68894104e-02 1.35672274e-04 9.99638405e-01 3.14688507e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.055336194999995 meters Centerline goodness [0,1] 0.9996142967343791 Centerline is valid? [True, True] Translation: X:48.86, Y:0.69, Z:0.31 [[ 9.99280411e-01 -2.66271586e-02 -2.70121269e-02 4.88649151e+01] [ 2.66144458e-02 9.99645428e-01 -8.30109218e-04 6.89205594e-01] [ 2.70246526e-02 1.10599095e-04 9.99634761e-01 3.12945408e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.085336195 meters Centerline goodness [0,1] 0.9998287377975681 Centerline is valid? [True, True] Translation: X:48.89, Y:0.69, Z:0.31 [[ 9.99217252e-01 -2.76545839e-02 -2.82861628e-02 4.88942982e+01] [ 2.76410482e-02 9.99617535e-01 -8.69498673e-04 6.91721152e-01] [ 2.82993900e-02 8.69588865e-05 9.99599488e-01 3.06087394e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.115336195 meters Centerline goodness [0,1] 0.9997637913633532 Centerline is valid? [True, True] Translation: X:48.92, Y:0.69, Z:0.31 [[ 9.99204118e-01 -2.75205027e-02 -2.88747867e-02 4.89244268e+01] [ 2.75063391e-02 9.99621235e-01 -8.87680209e-04 6.94904422e-01] [ 2.88882794e-02 9.27340446e-05 9.99582642e-01 3.08584847e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.145336195 meters Centerline goodness [0,1] 0.9999136311618768 Centerline is valid? [True, True] Translation: X:48.95, Y:0.70, Z:0.31 [[ 9.99208178e-01 -2.83315662e-02 -2.79345519e-02 4.89549254e+01] [ 2.83186271e-02 9.99598578e-01 -8.58775134e-04 6.99962548e-01] [ 2.79476688e-02 6.70269786e-05 9.99609385e-01 3.11686895e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.175336195 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:48.98, Y:0.70, Z:0.31 [[ 9.99199438e-01 -2.86992751e-02 -2.78717468e-02 4.89849248e+01] [ 2.86865372e-02 9.99588089e-01 -8.56844355e-04 7.04269351e-01] [ 2.78848569e-02 5.66144971e-05 9.99611140e-01 3.14467978e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.205336194999994 meters Centerline goodness [0,1] 0.9998498659517426 Centerline is valid? [True, True] Translation: X:49.02, Y:0.71, Z:0.31 [[ 9.99132560e-01 -2.96867388e-02 -2.92031563e-02 4.90150030e+01] [ 2.96731835e-02 9.99559251e-01 -8.97527209e-04 7.08525611e-01] [ 2.92169297e-02 3.01980426e-05 9.99573094e-01 3.12790639e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.235336194999995 meters Centerline goodness [0,1] 0.9999138061068373 Centerline is valid? [True, True] Translation: X:49.05, Y:0.71, Z:0.31 [[ 9.99088331e-01 -3.10981180e-02 -2.92474711e-02 4.90460664e+01] [ 3.10851286e-02 9.99516337e-01 -8.98803112e-04 7.06287682e-01] [ 2.92612763e-02 -1.11777018e-05 9.99571797e-01 3.10310519e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.265336194999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:49.08, Y:0.70, Z:0.31 [[ 9.99069481e-01 -3.23606210e-02 -2.85125050e-02 4.90779238e+01] [ 3.23488043e-02 9.99476257e-01 -8.75729473e-04 7.04342629e-01] [ 2.85259109e-02 -4.74308517e-05 9.99593052e-01 3.11089944e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.295336195 meters Centerline goodness [0,1] 0.9996977547495682 Centerline is valid? [True, True] Translation: X:49.11, Y:0.70, Z:0.31 [[ 9.99037443e-01 -3.34041001e-02 -2.84315587e-02 4.91094297e+01] [ 3.33927985e-02 9.99441924e-01 -8.72342395e-04 7.04489634e-01] [ 2.84448315e-02 -7.79065936e-05 9.99595361e-01 3.09514088e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.325336195 meters Centerline goodness [0,1] 0.999719954331014 Centerline is valid? [True, True] Translation: X:49.14, Y:0.71, Z:0.31 [[ 9.99009321e-01 -3.36446397e-02 -2.91275769e-02 4.91402431e+01] [ 3.36329090e-02 9.99433855e-01 -8.92704863e-04 7.06212423e-01] [ 2.91411212e-02 -8.78246658e-05 9.99575303e-01 3.07824115e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.355336195 meters Centerline goodness [0,1] 0.9997206703910615 Centerline is valid? [True, True] Translation: X:49.17, Y:0.71, Z:0.31 [[ 9.99042446e-01 -3.28106056e-02 -2.89422688e-02 4.91725195e+01] [ 3.27987105e-02 9.99461585e-01 -8.85758640e-04 7.12027727e-01] [ 2.89557481e-02 -6.43586180e-05 9.99580692e-01 3.14503367e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.385336194999994 meters Centerline goodness [0,1] 0.9998919689734892 Centerline is valid? [True, True] Translation: X:49.20, Y:0.72, Z:0.31 [[ 9.99081693e-01 -3.18209186e-02 -2.86914681e-02 4.92040316e+01] [ 3.18088802e-02 9.99493586e-01 -8.76015321e-04 7.16226491e-01] [ 2.87048139e-02 -3.74325999e-05 9.99587931e-01 3.14230987e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.415336194999995 meters Centerline goodness [0,1] 0.9997410500420794 Centerline is valid? [True, True] Translation: X:49.24, Y:0.72, Z:0.32 [[ 9.99186572e-01 -2.93668108e-02 -2.76366544e-02 4.92362763e+01] [ 2.93547448e-02 9.99568702e-01 -8.42290619e-04 7.24865325e-01] [ 2.76494702e-02 3.03385379e-05 9.99617680e-01 3.16038921e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.445336194999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:49.27, Y:0.73, Z:0.32 [[ 9.99275625e-01 -2.70517676e-02 -2.67661674e-02 4.92670442e+01] [ 2.70396405e-02 9.99634030e-01 -8.14976415e-04 7.30576807e-01] [ 2.67784183e-02 9.06385238e-05 9.99641390e-01 3.17248631e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.475336195 meters Centerline goodness [0,1] 0.9999136591262303 Centerline is valid? [True, True] Translation: X:49.30, Y:0.74, Z:0.32 [[ 9.99350320e-01 -2.43929252e-02 -2.65315605e-02 4.92980297e+01] [ 2.43800894e-02 9.99702436e-01 -8.07208940e-04 7.35823173e-01] [ 2.65433559e-02 1.59842693e-04 9.99647650e-01 3.17721545e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.505336195 meters Centerline goodness [0,1] 0.9996117510029766 Centerline is valid? [True, True] Translation: X:49.33, Y:0.74, Z:0.31 [[ 9.99393586e-01 -2.04182646e-02 -2.82055626e-02 4.93277763e+01] [ 2.04021662e-02 9.99791486e-01 -8.58448667e-04 7.40869134e-01] [ 2.82172094e-02 2.82473515e-04 9.99601775e-01 3.13002196e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.535336195 meters Centerline goodness [0,1] 0.9996784359122773 Centerline is valid? [True, True] Translation: X:49.36, Y:0.75, Z:0.31 [[ 9.99352043e-01 -2.22247245e-02 -2.83117702e-02 4.93552858e+01] [ 2.22091888e-02 9.99752973e-01 -8.63113828e-04 7.45387069e-01] [ 2.83239589e-02 2.33773118e-04 9.99598769e-01 3.11560811e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.56533619499999 meters Centerline goodness [0,1] 0.9998714873200822 Centerline is valid? [True, True] Translation: X:49.38, Y:0.74, Z:0.32 [[ 9.99287789e-01 -2.51033320e-02 -2.81733589e-02 4.93836813e+01] [ 2.50889819e-02 9.99684850e-01 -8.62781018e-04 7.44762782e-01] [ 2.81861388e-02 1.55325645e-04 9.99602680e-01 3.15949012e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.595336194999994 meters Centerline goodness [0,1] 0.9999355697779305 Centerline is valid? [True, True] Translation: X:49.41, Y:0.74, Z:0.32 [[ 9.99201454e-01 -2.82030238e-02 -2.83027299e-02 4.94129956e+01] [ 2.81897515e-02 9.99602213e-01 -8.67911180e-04 7.44521556e-01] [ 2.83159492e-02 6.93711878e-05 9.99599021e-01 3.15106016e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.625336194999996 meters Centerline goodness [0,1] 0.9999569475836831 Centerline is valid? [True, True] Translation: X:49.44, Y:0.74, Z:0.32 [[ 9.98980302e-01 -3.42199672e-02 -2.94508220e-02 4.94445250e+01] [ 3.42082260e-02 9.99414320e-01 -9.02566442e-04 7.42781281e-01] [ 2.94644590e-02 -1.05814278e-04 9.99565823e-01 3.18368281e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.655336195 meters Centerline goodness [0,1] 0.999828204522516 Centerline is valid? [True, True] Translation: X:49.48, Y:0.74, Z:0.31 [[ 9.98771331e-01 -3.83278111e-02 -3.14134773e-02 4.94758793e+01] [ 3.83165159e-02 9.99265190e-01 -9.61684242e-04 7.39187909e-01] [ 3.14272536e-02 -2.43152353e-04 9.99506012e-01 3.10493588e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.685336195 meters Centerline goodness [0,1] 0.9997838071559831 Centerline is valid? [True, True] Translation: X:49.51, Y:0.74, Z:0.31 [[ 9.98706081e-01 -3.95659881e-02 -3.19483261e-02 4.95077196e+01] [ 3.95549827e-02 9.99216918e-01 -9.76667799e-04 7.38528055e-01] [ 3.19619507e-02 -2.88311414e-04 9.99489045e-01 3.08277857e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.715336195 meters Centerline goodness [0,1] 0.9998913917066707 Centerline is valid? [True, True] Translation: X:49.54, Y:0.74, Z:0.31 [[ 9.98689014e-01 -3.98506390e-02 -3.21275663e-02 4.95400590e+01] [ 3.98397047e-02 9.99205603e-01 -9.80664615e-04 7.38976000e-01] [ 3.21411243e-02 -3.00573776e-04 9.99483295e-01 3.06474441e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.74533619499999 meters Centerline goodness [0,1] 0.9999135022921892 Centerline is valid? [True, True] Translation: X:49.57, Y:0.74, Z:0.31 [[ 9.98713029e-01 -3.96710969e-02 -3.15988762e-02 4.95719107e+01] [ 3.96604768e-02 9.99212750e-01 -9.63039575e-04 7.41453951e-01] [ 3.16122048e-02 -2.91426324e-04 9.99500167e-01 3.07277977e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.775336194999994 meters Centerline goodness [0,1] 0.9999783526355667 Centerline is valid? [True, True] Translation: X:49.60, Y:0.74, Z:0.31 [[ 9.98745371e-01 -3.91543135e-02 -3.12189669e-02 4.96027577e+01] [ 3.91437321e-02 9.99233139e-01 -9.50267001e-04 7.43277323e-01] [ 3.12322333e-02 -2.72952106e-04 9.99512118e-01 3.05610996e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.805336194999995 meters Centerline goodness [0,1] 0.9997191739393416 Centerline is valid? [True, True] Translation: X:49.63, Y:0.75, Z:0.32 [[ 9.98809682e-01 -3.86377795e-02 -2.97714661e-02 4.96349441e+01] [ 3.86279666e-02 9.99253252e-01 -9.04886768e-04 7.53389231e-01] [ 2.97841971e-02 -2.46201531e-04 9.99556322e-01 3.16578959e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.835336195 meters Centerline goodness [0,1] 0.999914050581233 Centerline is valid? [True, True] Translation: X:49.67, Y:0.76, Z:0.32 [[ 9.98830935e-01 -3.84998967e-02 -2.92321850e-02 4.96658987e+01] [ 3.84904419e-02 9.99258575e-01 -8.86280710e-04 7.56242414e-01] [ 2.92446332e-02 -2.39915127e-04 9.99572255e-01 3.15939551e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.865336195 meters Centerline goodness [0,1] 0.999892355056083 Centerline is valid? [True, True] Translation: X:49.70, Y:0.76, Z:0.32 [[ 9.98811274e-01 -3.84209453e-02 -2.99978437e-02 4.96982826e+01] [ 3.84110035e-02 9.99261613e-01 -9.07811607e-04 7.61222744e-01] [ 3.00105726e-02 -2.45514810e-04 9.99549551e-01 3.15818660e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.895336195 meters Centerline goodness [0,1] 0.999762275242047 Centerline is valid? [True, True] Translation: X:49.73, Y:0.77, Z:0.32 [[ 9.98807174e-01 -3.79392204e-02 -3.07383251e-02 4.97301969e+01] [ 3.79285979e-02 9.99280020e-01 -9.28782835e-04 7.65288270e-01] [ 3.07514314e-02 -2.38186614e-04 9.99527035e-01 3.17208435e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.925336195 meters Centerline goodness [0,1] 0.9999569661108123 Centerline is valid? [True, True] Translation: X:49.76, Y:0.77, Z:0.31 [[ 9.98850006e-01 -3.53215107e-02 -3.24199960e-02 4.97613231e+01] [ 3.53083557e-02 9.99375987e-01 -9.78354391e-04 7.68046187e-01] [ 3.24343225e-02 -1.67467464e-04 9.99473855e-01 3.09062273e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.955336194999994 meters Centerline goodness [0,1] 0.9997421406622687 Centerline is valid? [True, True] Translation: X:49.79, Y:0.77, Z:0.30 [[ 9.98803917e-01 -3.49007794e-02 -3.42442730e-02 4.97913802e+01] [ 3.48858750e-02 9.99390769e-01 -1.03282024e-03 7.68606038e-01] [ 3.42594566e-02 -1.63056526e-04 9.99412959e-01 3.04194467e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.985336194999995 meters Centerline goodness [0,1] 0.999677523379555 Centerline is valid? [True, True] Translation: X:49.82, Y:0.77, Z:0.30 [[ 9.98744250e-01 -3.51499515e-02 -3.56988057e-02 4.98217145e+01] [ 3.51339277e-02 9.99382033e-01 -1.07627737e-03 7.70023861e-01] [ 3.57145762e-02 -1.79313423e-04 9.99362015e-01 3.02193406e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.015336194999996 meters Centerline goodness [0,1] 0.9996565934065934 Centerline is valid? [True, True] Translation: X:49.85, Y:0.78, Z:0.31 [[ 9.98699162e-01 -3.71598698e-02 -3.49160089e-02 4.98530931e+01] [ 3.71457940e-02 9.99309303e-01 -1.05196090e-03 7.77151968e-01] [ 3.49309833e-02 -2.46390403e-04 9.99389697e-01 3.12915513e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.045336195 meters Centerline goodness [0,1] 0.9998914200091207 Centerline is valid? [True, True] Translation: X:49.89, Y:0.78, Z:0.32 [[ 9.98649774e-01 -4.03804166e-02 -3.26810346e-02 4.98858337e+01] [ 4.03698638e-02 9.99184321e-01 -9.82950139e-04 7.77233459e-01] [ 3.26940694e-02 -3.37705981e-04 9.99465349e-01 3.18706420e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.075336195 meters Centerline goodness [0,1] 0.9998702197612044 Centerline is valid? [True, True] Translation: X:49.92, Y:0.77, Z:0.31 [[ 9.98589405e-01 -4.23076155e-02 -3.20821755e-02 4.99176473e+01] [ 4.22984826e-02 9.99104554e-01 -9.63613612e-04 7.71570942e-01] [ 3.20942158e-02 -3.94772995e-04 9.99484770e-01 3.12848451e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.105336195 meters Centerline goodness [0,1] 0.9997394249978285 Centerline is valid? [True, True] Translation: X:49.95, Y:0.77, Z:0.31 [[ 9.98538561e-01 -4.35895852e-02 -3.19482315e-02 4.99498898e+01] [ 4.35812303e-02 9.99049427e-01 -9.58147719e-04 7.69221966e-01] [ 3.19596276e-02 -4.35595788e-04 9.99489066e-01 3.13480476e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.135336194999994 meters Centerline goodness [0,1] 0.9996969172151022 Centerline is valid? [True, True] Translation: X:49.98, Y:0.77, Z:0.31 [[ 9.98504720e-01 -4.42341185e-02 -3.21195645e-02 4.99821514e+01] [ 4.42260568e-02 9.99021086e-01 -9.61739984e-04 7.69173186e-01] [ 3.21306640e-02 -4.60219771e-04 9.99483571e-01 3.12167190e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.165336194999995 meters Centerline goodness [0,1] 0.9998921786384318 Centerline is valid? [True, True] Translation: X:50.01, Y:0.78, Z:0.32 [[ 9.98528834e-01 -4.30892361e-02 -3.29163475e-02 5.00130883e+01] [ 4.30801899e-02 9.99071133e-01 -9.84315517e-04 7.81080210e-01] [ 3.29281860e-02 -4.35175076e-04 9.99457626e-01 3.17252683e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.195336194999996 meters Centerline goodness [0,1] 0.9995673898466397 Centerline is valid? [True, True] Translation: X:50.04, Y:0.79, Z:0.32 [[ 9.98550513e-01 -4.21986010e-02 -3.34088400e-02 5.00439388e+01] [ 4.21888611e-02 9.99109156e-01 -9.96736817e-04 7.86011121e-01] [ 3.34211388e-02 -4.14188848e-04 9.99441272e-01 3.17263906e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.225336195 meters Centerline goodness [0,1] 0.9998706199460916 Centerline is valid? [True, True] Translation: X:50.08, Y:0.79, Z:0.31 [[ 9.98655628e-01 -3.93228709e-02 -3.37734783e-02 5.00763042e+01] [ 3.93113341e-02 9.99226505e-01 -1.00581007e-03 7.89930638e-01] [ 3.37869060e-02 -3.23222605e-04 9.99429007e-01 3.13571995e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.255336195 meters Centerline goodness [0,1] 0.9994171739411993 Centerline is valid? [True, True] Translation: X:50.11, Y:0.79, Z:0.31 [[ 9.98649573e-01 -3.79658307e-02 -3.54630216e-02 5.01083127e+01] [ 3.79523151e-02 9.99278995e-01 -1.05444749e-03 7.91305209e-01] [ 3.54774855e-02 -2.92880235e-04 9.99370433e-01 3.09918380e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.285336195 meters Centerline goodness [0,1] 0.9998704131660223 Centerline is valid? [True, True] Translation: X:50.14, Y:0.79, Z:0.30 [[ 9.98643905e-01 -3.69966637e-02 -3.66278221e-02 5.01393217e+01] [ 3.69816854e-02 9.99315353e-01 -1.08658722e-03 7.92200168e-01] [ 3.66429451e-02 -2.69444887e-04 9.99328385e-01 3.04584999e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.31533619499999 meters Centerline goodness [0,1] 0.9996761797849834 Centerline is valid? [True, True] Translation: X:50.17, Y:0.80, Z:0.31 [[ 9.98676938e-01 -3.76269187e-02 -3.50512234e-02 5.01711138e+01] [ 3.76136431e-02 9.99291817e-01 -1.03830881e-03 7.95433100e-01] [ 3.50654691e-02 -2.81469149e-04 9.99384978e-01 3.09381698e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.345336194999994 meters Centerline goodness [0,1] 0.9997830520241247 Centerline is valid? [True, True] Translation: X:50.20, Y:0.80, Z:0.31 [[ 9.98677691e-01 -3.82131918e-02 -3.43892670e-02 5.02030157e+01] [ 3.82008135e-02 9.99269565e-01 -1.01715937e-03 7.97130835e-01] [ 3.44030168e-02 -2.97883605e-04 9.99407997e-01 3.12274108e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.375336194999996 meters Centerline goodness [0,1] 0.9998270868456318 Centerline is valid? [True, True] Translation: X:50.23, Y:0.80, Z:0.31 [[ 9.98673754e-01 -3.82687381e-02 -3.44418021e-02 5.02343248e+01] [ 3.82564003e-02 9.99267438e-01 -1.01739723e-03 7.99923917e-01] [ 3.44555059e-02 -3.01571463e-04 9.99406187e-01 3.13831855e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.405336195 meters Centerline goodness [0,1] 0.9996364647263862 Centerline is valid? [True, True] Translation: X:50.27, Y:0.80, Z:0.31 [[ 9.98680998e-01 -3.87620254e-02 -3.36715040e-02 5.02652792e+01] [ 3.87505535e-02 9.99248421e-01 -9.93460268e-04 8.02109469e-01] [ 3.36847057e-02 -3.12639524e-04 9.99432460e-01 3.14974797e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.435336195 meters Centerline goodness [0,1] 0.999608124877539 Centerline is valid? [True, True] Translation: X:50.30, Y:0.80, Z:0.32 [[ 9.98636114e-01 -4.07442139e-02 -3.26468993e-02 5.02980077e+01] [ 4.07345457e-02 9.99169541e-01 -9.61471225e-04 8.01691165e-01] [ 3.26589618e-02 -3.69696722e-04 9.99466485e-01 3.17585099e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.465336195 meters Centerline goodness [0,1] 0.999608124877539 Centerline is valid? [True, True] Translation: X:50.33, Y:0.80, Z:0.32 [[ 9.98639030e-01 -4.06726252e-02 -3.26469654e-02 5.03305745e+01] [ 4.06629923e-02 9.99172458e-01 -9.59221825e-04 8.02537963e-01] [ 3.26589628e-02 -3.69606950e-04 9.99466485e-01 3.17829827e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.49533619499999 meters Centerline goodness [0,1] 0.9998486650091882 Centerline is valid? [True, True] Translation: X:50.36, Y:0.80, Z:0.31 [[ 9.98556482e-01 -4.20699476e-02 -3.33926996e-02 5.03622362e+01] [ 4.20606998e-02 9.99114577e-01 -9.79659514e-04 7.95986899e-01] [ 3.34043472e-02 -4.26274958e-04 9.99441828e-01 3.09725596e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.525336194999994 meters Centerline goodness [0,1] 0.9996744721022591 Centerline is valid? [True, True] Translation: X:50.39, Y:0.79, Z:0.31 [[ 9.98347511e-01 -4.50105596e-02 -3.57252901e-02 5.03933595e+01] [ 4.50018962e-02 9.98986353e-01 -1.04698088e-03 7.90107246e-01] [ 3.57362024e-02 -5.62455036e-04 9.99361100e-01 3.05670043e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.555336194999995 meters Centerline goodness [0,1] 0.9995238095238095 Centerline is valid? [True, True] Translation: X:50.43, Y:0.79, Z:0.31 [[ 9.98189674e-01 -4.78130105e-02 -3.64868634e-02 5.04250340e+01] [ 4.78058902e-02 9.98856074e-01 -1.06805515e-03 7.90190771e-01] [ 3.64961921e-02 -6.78165362e-04 9.99333562e-01 3.07934277e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.585336195 meters Centerline goodness [0,1] 0.9995891447724078 Centerline is valid? [True, True] Translation: X:50.46, Y:0.79, Z:0.31 [[ 9.98163686e-01 -4.84127398e-02 -3.64069078e-02 5.04563271e+01] [ 4.84060956e-02 9.98827171e-01 -1.06444260e-03 7.89857367e-01] [ 3.64157413e-02 -6.99828314e-04 9.99336482e-01 3.07613511e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.615336195 meters Centerline goodness [0,1] 0.9998484586075511 Centerline is valid? [True, True] Translation: X:50.49, Y:0.79, Z:0.31 [[ 9.98183557e-01 -4.77522414e-02 -3.67329544e-02 5.04892570e+01] [ 4.77451179e-02 9.98858977e-01 -1.07160918e-03 7.92968869e-01] [ 3.67422129e-02 -6.84156575e-04 9.99324543e-01 3.10224127e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.645336195 meters Centerline goodness [0,1] 0.9996749940415575 Centerline is valid? [True, True] Translation: X:50.52, Y:0.80, Z:0.31 [[ 9.98291605e-01 -4.54093440e-02 -3.67676764e-02 5.05219873e+01] [ 4.54007180e-02 9.98968283e-01 -1.06992782e-03 7.95892769e-01] [ 3.67783273e-02 -6.01178952e-04 9.99323268e-01 3.09246920e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.67533619499999 meters Centerline goodness [0,1] 0.9996336601659304 Centerline is valid? [True, True] Translation: X:50.55, Y:0.80, Z:0.31 [[ 9.98424239e-01 -4.34660904e-02 -3.54927893e-02 5.05528808e+01] [ 4.34568674e-02 9.99054771e-01 -1.03162437e-03 7.99279237e-01] [ 3.55040812e-02 -5.12406664e-04 9.99369400e-01 3.08287783e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.705336194999994 meters Centerline goodness [0,1] 0.9998707843390618 Centerline is valid? [True, True] Translation: X:50.58, Y:0.81, Z:0.32 [[ 9.98737041e-01 -3.89514239e-02 -3.17349873e-02 5.05832371e+01] [ 3.89417852e-02 9.99241056e-01 -9.21965829e-04 8.10564889e-01] [ 3.17468141e-02 -3.15015635e-04 9.99495893e-01 3.16422195e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.735336194999995 meters Centerline goodness [0,1] 0.9999784719381714 Centerline is valid? [True, True] Translation: X:50.62, Y:0.81, Z:0.32 [[ 9.98795031e-01 -3.73685972e-02 -3.18131187e-02 5.06153133e+01] [ 3.73581474e-02 9.99301514e-01 -9.23009579e-04 8.14414747e-01] [ 3.18253893e-02 -2.66581797e-04 9.99493408e-01 3.17444939e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.765336194999996 meters Centerline goodness [0,1] 0.9997400008666638 Centerline is valid? [True, True] Translation: X:50.65, Y:0.82, Z:0.32 [[ 9.98842693e-01 -3.54326142e-02 -3.25238959e-02 5.06464615e+01] [ 3.54207064e-02 9.99372046e-01 -9.42395302e-04 8.21187998e-01] [ 3.25368639e-02 -2.10714706e-04 9.99470514e-01 3.16646040e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.795336195 meters Centerline goodness [0,1] 0.9993112947658402 Centerline is valid? [True, True] Translation: X:50.68, Y:0.82, Z:0.32 [[ 9.98859075e-01 -3.66530455e-02 -3.06121162e-02 5.06787015e+01] [ 3.66431108e-02 9.99328023e-01 -8.85655576e-04 8.24193940e-01] [ 3.06240075e-02 -2.37078053e-04 9.99530947e-01 3.21563099e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.825336195 meters Centerline goodness [0,1] 0.9997836340819594 Centerline is valid? [True, True] Translation: X:50.71, Y:0.82, Z:0.32 [[ 9.98672358e-01 -4.22510944e-02 -2.94680532e-02 5.07094569e+01] [ 4.22443495e-02 9.99106946e-01 -8.51693459e-04 8.21070155e-01] [ 2.94777216e-02 -3.94296021e-04 9.99565360e-01 3.21635251e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.855336195 meters Centerline goodness [0,1] 0.9998277495478426 Centerline is valid? [True, True] Translation: X:50.74, Y:0.82, Z:0.32 [[ 9.98487159e-01 -4.51115831e-02 -3.14378569e-02 5.07404482e+01] [ 4.51053380e-02 9.98981824e-01 -9.08164340e-04 8.20095494e-01] [ 3.14468164e-02 -5.11224732e-04 9.99505296e-01 3.19655862e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.885336194999994 meters Centerline goodness [0,1] 0.9996973300183764 Centerline is valid? [True, True] Translation: X:50.77, Y:0.81, Z:0.31 [[ 9.98198631e-01 -4.95613535e-02 -3.38107395e-02 5.07708929e+01] [ 4.95567186e-02 9.98770834e-01 -9.75599589e-04 8.13530267e-01] [ 3.38175325e-02 -7.01707129e-04 9.99427777e-01 3.10419742e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.915336194999995 meters Centerline goodness [0,1] 0.9995005211952745 Centerline is valid? [True, True] Translation: X:50.80, Y:0.81, Z:0.31 [[ 9.98107515e-01 -5.11664195e-02 -3.41084544e-02 5.08027591e+01] [ 5.11626799e-02 9.98689849e-01 -9.82995936e-04 8.09954846e-01] [ 3.41140636e-02 -7.63944307e-04 9.99417654e-01 3.06062223e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.945336194999996 meters Centerline goodness [0,1] 0.999590861129654 Centerline is valid? [True, True] Translation: X:50.83, Y:0.81, Z:0.31 [[ 9.98049541e-01 -5.19881147e-02 -3.45593745e-02 5.08345207e+01] [ 5.19848104e-02 9.98647380e-01 -9.94763701e-04 8.10259274e-01] [ 3.45643447e-02 -8.03739074e-04 9.99402151e-01 3.07243666e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.975336195 meters Centerline goodness [0,1] 0.9995011495250076 Centerline is valid? [True, True] Translation: X:50.87, Y:0.81, Z:0.31 [[ 9.98043879e-01 -5.16885961e-02 -3.51668081e-02 5.08652858e+01] [ 5.16850333e-02 9.98662924e-01 -1.01099215e-03 8.13453280e-01] [ 3.51720442e-02 -8.08583120e-04 9.99380945e-01 3.07914548e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.005336195 meters Centerline goodness [0,1] 0.9998912641628428 Centerline is valid? [True, True] Translation: X:50.90, Y:0.82, Z:0.31 [[ 9.98092898e-01 -5.05555730e-02 -3.54217616e-02 5.08976371e+01] [ 5.05512999e-02 9.98720948e-01 -1.01678596e-03 8.21862628e-01] [ 3.54278595e-02 -7.75769242e-04 9.99371935e-01 3.13160768e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.035336195 meters Centerline goodness [0,1] 0.9999782357934142 Centerline is valid? [True, True] Translation: X:50.93, Y:0.84, Z:0.32 [[ 9.98282598e-01 -4.77880938e-02 -3.38843973e-02 5.09289066e+01] [ 4.77826330e-02 9.98857285e-01 -9.71378671e-04 8.35167062e-01] [ 3.38920974e-02 -6.49375299e-04 9.99425287e-01 3.21073394e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.06533619499999 meters Centerline goodness [0,1] 0.9999130963761189 Centerline is valid? [True, True] Translation: X:50.96, Y:0.83, Z:0.31 [[ 9.98449820e-01 -4.47146032e-02 -3.31445522e-02 5.09591754e+01] [ 4.47077045e-02 9.98999659e-01 -9.49595213e-04 8.33592974e-01] [ 3.31538571e-02 -5.33693675e-04 9.99450117e-01 3.11857678e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.095336194999994 meters Centerline goodness [0,1] 0.9996780286769125 Centerline is valid? [True, True] Translation: X:50.99, Y:0.83, Z:0.31 [[ 9.98513662e-01 -4.32506230e-02 -3.31639837e-02 5.09900133e+01] [ 4.32429421e-02 9.99064136e-01 -9.49155047e-04 8.34197300e-01] [ 3.31739983e-02 -4.86363946e-04 9.99449473e-01 3.08534231e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.125336194999996 meters Centerline goodness [0,1] 0.9996321301826365 Centerline is valid? [True, True] Translation: X:51.02, Y:0.84, Z:0.32 [[ 9.98565461e-01 -4.17810721e-02 -3.34867373e-02 5.10217700e+01] [ 4.17724653e-02 9.99126691e-01 -9.56892866e-04 8.43271272e-01] [ 3.34974731e-02 -4.43303408e-04 9.99438704e-01 3.15803223e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.155336195 meters Centerline goodness [0,1] 0.999739538114256 Centerline is valid? [True, True] Translation: X:51.05, Y:0.85, Z:0.32 [[ 9.98619750e-01 -4.00490098e-02 -3.39804735e-02 5.10529865e+01] [ 4.00391893e-02 9.99197640e-01 -9.69699710e-04 8.54045864e-01] [ 3.39920445e-02 -3.92189330e-04 9.99422027e-01 3.18688403e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.185336195 meters Centerline goodness [0,1] 0.9996550906464895 Centerline is valid? [True, True] Translation: X:51.08, Y:0.85, Z:0.31 [[ 9.98616594e-01 -3.93706992e-02 -3.48546483e-02 5.10840098e+01] [ 3.93599968e-02 9.99224601e-01 -9.93419216e-04 8.53335383e-01] [ 3.48667337e-02 -3.79833933e-04 9.99391898e-01 3.10874619e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.215336195 meters Centerline goodness [0,1] 0.9999783094375637 Centerline is valid? [True, True] Translation: X:51.12, Y:0.86, Z:0.31 [[ 9.98654207e-01 -3.67100913e-02 -3.66352707e-02 5.11157364e+01] [ 3.66965246e-02 9.99325912e-01 -1.04289599e-03 8.56148444e-01] [ 3.66488601e-02 -3.02894644e-04 9.99328159e-01 3.08526361e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.24533619499999 meters Centerline goodness [0,1] 0.9999783783783783 Centerline is valid? [True, True] Translation: X:51.15, Y:0.86, Z:0.31 [[ 9.98720112e-01 -3.60387013e-02 -3.54873176e-02 5.11472770e+01] [ 3.60255796e-02 9.99350358e-01 -1.00932337e-03 8.58744167e-01] [ 3.55006383e-02 -2.70419634e-04 9.99369617e-01 3.11387416e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.275336194999994 meters Centerline goodness [0,1] 0.9997196463230537 Centerline is valid? [True, True] Translation: X:51.18, Y:0.86, Z:0.31 [[ 9.98821082e-01 -3.52072191e-02 -3.34200136e-02 5.11789620e+01] [ 3.51951527e-02 9.99380008e-01 -9.49444147e-04 8.60017203e-01] [ 3.34327207e-02 -2.27897649e-04 9.99440944e-01 3.14305828e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.305336194999995 meters Centerline goodness [0,1] 0.9999567576917255 Centerline is valid? [True, True] Translation: X:51.21, Y:0.86, Z:0.31 [[ 9.98798619e-01 -3.43800086e-02 -3.49189446e-02 5.12108541e+01] [ 3.43663850e-02 9.99408811e-01 -9.90455878e-04 8.61752189e-01] [ 3.49323528e-02 -2.10771930e-04 9.99389657e-01 3.12832648e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.335336195 meters Centerline goodness [0,1] 0.9995684819193924 Centerline is valid? [True, True] Translation: X:51.24, Y:0.87, Z:0.31 [[ 9.98758166e-01 -3.39002705e-02 -3.65088622e-02 5.12413659e+01] [ 3.38850833e-02 9.99425200e-01 -1.03484188e-03 8.65369118e-01] [ 3.65229583e-02 -2.03549065e-04 9.99332793e-01 3.10992161e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.365336195 meters Centerline goodness [0,1] 0.9999567829206102 Centerline is valid? [True, True] Translation: X:51.27, Y:0.87, Z:0.32 [[ 9.98750732e-01 -3.42290963e-02 -3.64052793e-02 5.12729432e+01] [ 3.42142413e-02 9.99413990e-01 -1.03114676e-03 8.71519863e-01] [ 3.64192407e-02 -2.15720425e-04 9.99336576e-01 3.16539133e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.395336195 meters Centerline goodness [0,1] 0.9998921181521997 Centerline is valid? [True, True] Translation: X:51.30, Y:0.87, Z:0.31 [[ 9.98711468e-01 -3.58282589e-02 -3.59407795e-02 5.13038628e+01] [ 3.58148337e-02 9.99357925e-01 -1.01748922e-03 8.68961712e-01] [ 3.59541577e-02 -2.71034890e-04 9.99353403e-01 3.12980281e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.42533619499999 meters Centerline goodness [0,1] 0.9998697803628788 Centerline is valid? [True, True] Translation: X:51.34, Y:0.86, Z:0.31 [[ 9.98526967e-01 -3.94332443e-02 -3.72681486e-02 5.13357329e+01] [ 3.94213487e-02 9.99222120e-01 -1.05425717e-03 8.62222734e-01] [ 3.72807313e-02 -4.16456463e-04 9.99304745e-01 3.14204840e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.455336194999994 meters Centerline goodness [0,1] 0.9996553135569487 Centerline is valid? [True, True] Translation: X:51.37, Y:0.86, Z:0.31 [[ 9.98490284e-01 -4.05934389e-02 -3.70043916e-02 5.13671371e+01] [ 4.05825537e-02 9.99175642e-01 -1.04554706e-03 8.59753519e-01] [ 3.70163290e-02 -4.57764126e-04 9.99314556e-01 3.12990396e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.485336194999995 meters Centerline goodness [0,1] 0.9999568118508282 Centerline is valid? [True, True] Translation: X:51.40, Y:0.86, Z:0.32 [[ 9.98511234e-01 -4.17296609e-02 -3.51276401e-02 5.13981815e+01] [ 4.17205978e-02 9.99128825e-01 -9.91283593e-04 8.59170622e-01] [ 3.51384037e-02 -4.75738341e-04 9.99382342e-01 3.15615506e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.515336194999996 meters Centerline goodness [0,1] 0.999499096195309 Centerline is valid? [True, True] Translation: X:51.43, Y:0.86, Z:0.32 [[ 9.98480865e-01 -4.21765510e-02 -3.54556203e-02 5.14303134e+01] [ 4.21676569e-02 9.99110049e-01 -9.98920871e-04 8.59972990e-01] [ 3.54661976e-02 -4.97677058e-04 9.99370753e-01 3.17714719e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.545336195 meters Centerline goodness [0,1] 0.9993702086998068 Centerline is valid? [True, True] Translation: X:51.46, Y:0.86, Z:0.31 [[ 9.98494078e-01 -4.19213329e-02 -3.53861395e-02 5.14617823e+01] [ 4.19123619e-02 9.99120795e-01 -9.95596930e-04 8.57914018e-01] [ 3.53967646e-02 -4.89019046e-04 9.99373219e-01 3.14737264e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.575336195 meters Centerline goodness [0,1] 0.9996738917755505 Centerline is valid? [True, True] Translation: X:51.49, Y:0.86, Z:0.31 [[ 9.98542930e-01 -4.11275048e-02 -3.49363123e-02 5.14934576e+01] [ 4.11183297e-02 9.99153802e-01 -9.81368135e-04 8.58033568e-01] [ 3.49471104e-02 -4.56584593e-04 9.99389059e-01 3.12183412e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.605336195 meters Centerline goodness [0,1] 0.9998484389208852 Centerline is valid? [True, True] Translation: X:51.53, Y:0.86, Z:0.31 [[ 9.98578796e-01 -4.01208535e-02 -3.50814116e-02 5.15250589e+01] [ 4.01110690e-02 9.99194744e-01 -9.82940697e-04 8.61964193e-01] [ 3.50925985e-02 -4.25609184e-04 9.99383974e-01 3.13749121e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.635336194999994 meters Centerline goodness [0,1] 0.9999567913236977 Centerline is valid? [True, True] Translation: X:51.56, Y:0.87, Z:0.32 [[ 9.98630208e-01 -3.89749716e-02 -3.49093078e-02 5.15572699e+01] [ 3.89646479e-02 9.99240113e-01 -9.76261199e-04 8.66786766e-01] [ 3.49208304e-02 -3.85304963e-04 9.99390008e-01 3.16885753e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.665336194999995 meters Centerline goodness [0,1] 0.9998914647911783 Centerline is valid? [True, True] Translation: X:51.59, Y:0.87, Z:0.32 [[ 9.98646443e-01 -3.67384656e-02 -3.68180290e-02 5.15882554e+01] [ 3.67255140e-02 9.99324862e-01 -1.02824873e-03 8.73810756e-01] [ 3.68309480e-02 -3.25304104e-04 9.99321458e-01 3.16110691e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.695336194999996 meters Centerline goodness [0,1] 0.9996979373435747 Centerline is valid? [True, True] Translation: X:51.62, Y:0.87, Z:0.31 [[ 9.98673785e-01 -3.62517746e-02 -3.65578962e-02 5.16200232e+01] [ 3.62387732e-02 9.99342641e-01 -1.01842321e-03 8.73199400e-01] [ 3.65707842e-02 -3.07740740e-04 9.99331018e-01 3.09897265e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.725336195 meters Centerline goodness [0,1] 0.999611071498023 Centerline is valid? [True, True] Translation: X:51.65, Y:0.87, Z:0.32 [[ 9.98763274e-01 -3.66202224e-02 -3.36285864e-02 5.16516445e+01] [ 3.66094787e-02 9.99329211e-01 -9.35368365e-04 8.74361267e-01] [ 3.36402821e-02 -2.96913447e-04 9.99433961e-01 3.17500177e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.755336195 meters Centerline goodness [0,1] 0.9998926324378878 Centerline is valid? [True, True] Translation: X:51.68, Y:0.87, Z:0.32 [[ 9.98712047e-01 -3.78209466e-02 -3.38204665e-02 5.16841689e+01] [ 3.78108177e-02 9.99284474e-01 -9.39241324e-04 8.72129381e-01] [ 3.38317901e-02 -3.40747869e-04 9.99427483e-01 3.16283403e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.785336195 meters Centerline goodness [0,1] 0.9996110378805886 Centerline is valid? [True, True] Translation: X:51.72, Y:0.87, Z:0.32 [[ 9.98503963e-01 -4.19764691e-02 -3.50401555e-02 5.17158259e+01] [ 4.19681892e-02 9.99118475e-01 -9.72099571e-04 8.67852505e-01] [ 3.50500720e-02 -4.99926601e-04 9.99385432e-01 3.18714403e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.81533619499999 meters Centerline goodness [0,1] 0.9996763614395443 Centerline is valid? [True, True] Translation: X:51.75, Y:0.86, Z:0.32 [[ 9.98358569e-01 -4.49960040e-02 -3.54334181e-02 5.17469632e+01] [ 4.49894796e-02 9.98986978e-01 -9.81830403e-04 8.64055416e-01] [ 3.54417018e-02 -6.13912246e-04 9.99371557e-01 3.16701846e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.845336194999994 meters Centerline goodness [0,1] 0.9996522343940184 Centerline is valid? [True, True] Translation: X:51.78, Y:0.85, Z:0.31 [[ 9.97954441e-01 -5.14988861e-02 -3.78787458e-02 5.17775116e+01] [ 5.14961232e-02 9.98672643e-01 -1.04923893e-03 8.54228314e-01] [ 3.78825018e-02 -9.03515910e-04 9.99281792e-01 3.12763657e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.875336194999996 meters Centerline goodness [0,1] 0.9995473845291721 Centerline is valid? [True, True] Translation: X:51.81, Y:0.85, Z:0.31 [[ 9.97769712e-01 -5.37911560e-02 -3.95235813e-02 5.18082813e+01] [ 5.37899828e-02 9.98551672e-01 -1.09385608e-03 8.46913108e-01] [ 3.95251780e-02 -1.03455629e-03 9.99218039e-01 3.06442605e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.905336195 meters Centerline goodness [0,1] 0.9997166953603417 Centerline is valid? [True, True] Translation: X:51.84, Y:0.85, Z:0.31 [[ 9.97584611e-01 -5.63333682e-02 -4.06385936e-02 5.18389217e+01] [ 5.63342602e-02 9.98411332e-01 -1.12410467e-03 8.46623707e-01] [ 4.06373569e-02 -1.16795559e-03 9.99173279e-01 3.11408679e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.935336195 meters Centerline goodness [0,1] 0.9991169502476847 Centerline is valid? [True, True] Translation: X:51.87, Y:0.84, Z:0.31 [[ 9.97555983e-01 -5.71152698e-02 -4.02480729e-02 5.18704748e+01] [ 5.71168295e-02 9.98366882e-01 -1.11207452e-03 8.43288638e-01] [ 4.02458595e-02 -1.18948573e-03 9.99189099e-01 3.09265253e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.965336195 meters Centerline goodness [0,1] 0.9994378743000454 Centerline is valid? [True, True] Translation: X:51.90, Y:0.84, Z:0.31 [[ 9.97593004e-01 -5.71943810e-02 -3.92046153e-02 5.19026209e+01] [ 5.71959879e-02 9.98362384e-01 -1.08153610e-03 8.41253027e-01] [ 3.92022710e-02 -1.16341385e-03 9.99230618e-01 3.12268884e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.99533619499999 meters Centerline goodness [0,1] 0.9996309883001585 Centerline is valid? [True, True] Translation: X:51.93, Y:0.84, Z:0.31 [[ 9.97605987e-01 -5.69876990e-02 -3.91752077e-02 5.19340944e+01] [ 5.69892691e-02 9.98374209e-01 -1.07754055e-03 8.37839944e-01] [ 3.91729236e-02 -1.15760555e-03 9.99231776e-01 3.09579050e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.025336194999994 meters Centerline goodness [0,1] 0.9997836574865326 Centerline is valid? [True, True] Translation: X:51.97, Y:0.84, Z:0.31 [[ 9.97710466e-01 -5.40055746e-02 -4.07090233e-02 5.19664043e+01] [ 5.40048848e-02 9.98540046e-01 -1.11744630e-03 8.40963410e-01] [ 4.07099384e-02 -1.08359825e-03 9.99170419e-01 3.10317522e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.055336194999995 meters Centerline goodness [0,1] 0.9995238610539985 Centerline is valid? [True, True] Translation: X:52.00, Y:0.83, Z:0.30 [[ 9.97763242e-01 -5.27240618e-02 -4.10936350e-02 5.19975766e+01] [ 5.27223539e-02 9.98608575e-01 -1.12604886e-03 8.32669646e-01] [ 4.10958261e-02 -1.04302301e-03 9.99154665e-01 2.97092147e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.085336195 meters Centerline goodness [0,1] 0.9999351323300467 Centerline is valid? [True, True] Translation: X:52.03, Y:0.84, Z:0.30 [[ 9.98037096e-01 -4.80472294e-02 -4.01673791e-02 5.20281189e+01] [ 4.80418401e-02 9.98844719e-01 -1.09996415e-03 8.38251041e-01] [ 4.01738247e-02 -8.31909779e-04 9.99192360e-01 3.01120820e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.115336195 meters Centerline goodness [0,1] 0.9996335022097661 Centerline is valid? [True, True] Translation: X:52.06, Y:0.85, Z:0.31 [[ 9.98222242e-01 -4.28609448e-02 -4.14161081e-02 5.20595812e+01] [ 4.28508238e-02 9.99080840e-01 -1.13248923e-03 8.51144786e-01] [ 4.14265796e-02 -6.44238409e-04 9.99141343e-01 3.13004904e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.145336195 meters Centerline goodness [0,1] 0.9995904554566422 Centerline is valid? [True, True] Translation: X:52.09, Y:0.85, Z:0.31 [[ 9.98278276e-01 -4.17584987e-02 -4.11911548e-02 5.20903717e+01] [ 4.17475962e-02 9.99127555e-01 -1.12520313e-03 8.54524196e-01] [ 4.12022046e-02 -5.96365852e-04 9.99150651e-01 3.13170820e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.17533619499999 meters Centerline goodness [0,1] 0.9996113654028845 Centerline is valid? [True, True] Translation: X:52.12, Y:0.86, Z:0.32 [[ 9.98356445e-01 -4.04748070e-02 -4.05733714e-02 5.21215047e+01] [ 4.04632077e-02 9.99180415e-01 -1.10738336e-03 8.58590641e-01] [ 4.05849393e-02 -5.36165442e-04 9.99175948e-01 3.17522947e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.205336194999994 meters Centerline goodness [0,1] 0.999784352626585 Centerline is valid? [True, True] Translation: X:52.15, Y:0.85, Z:0.31 [[ 9.98386810e-01 -3.82806045e-02 -4.19329640e-02 5.21520055e+01] [ 3.82663219e-02 9.99266922e-01 -1.14350989e-03 8.54943714e-01] [ 4.19459981e-02 -4.62955108e-04 9.99119772e-01 3.05675582e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.235336194999995 meters Centerline goodness [0,1] 0.9996130363745808 Centerline is valid? [True, True] Translation: X:52.18, Y:0.85, Z:0.30 [[ 9.98354113e-01 -3.76424821e-02 -4.32678612e-02 5.21808296e+01] [ 3.76264352e-02 9.99291172e-01 -1.18549177e-03 8.53497317e-01] [ 4.32818166e-02 -4.44474795e-04 9.99062804e-01 3.01367059e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.265336194999996 meters Centerline goodness [0,1] 0.99972016531772 Centerline is valid? [True, True] Translation: X:52.21, Y:0.86, Z:0.30 [[ 9.98377255e-01 -3.72408753e-02 -4.30810068e-02 5.22081875e+01] [ 3.72244097e-02 9.99306229e-01 -1.18462142e-03 8.55721534e-01] [ 4.30952348e-02 -4.20965971e-04 9.99070880e-01 3.01636122e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.295336195 meters Centerline goodness [0,1] 0.9998916482468686 Centerline is valid? [True, True] Translation: X:52.24, Y:0.86, Z:0.31 [[ 9.98365892e-01 -3.83747040e-02 -4.23429719e-02 5.22367525e+01] [ 3.83595452e-02 9.99263316e-01 -1.17073585e-03 8.60144900e-01] [ 4.23567052e-02 -4.55434402e-04 9.99102448e-01 3.09506967e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.325336195 meters Centerline goodness [0,1] 0.9999353281020954 Centerline is valid? [True, True] Translation: X:52.27, Y:0.86, Z:0.31 [[ 9.98312511e-01 -4.23151906e-02 -3.97687710e-02 5.22655851e+01] [ 4.23048510e-02 9.99104141e-01 -1.10187329e-03 8.57717007e-01] [ 3.97797698e-02 -5.82398044e-04 9.99208302e-01 3.14856018e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.355336195 meters Centerline goodness [0,1] 0.9999353281020954 Centerline is valid? [True, True] Translation: X:52.30, Y:0.86, Z:0.32 [[ 9.98314467e-01 -4.22689797e-02 -3.97688050e-02 5.22973036e+01] [ 4.22586523e-02 9.99106098e-01 -1.10064697e-03 8.58519282e-01] [ 3.97797788e-02 -5.81784304e-04 9.99208302e-01 3.15094952e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.385336194999994 meters Centerline goodness [0,1] 0.99991334864174 Centerline is valid? [True, True] Translation: X:52.33, Y:0.86, Z:0.32 [[ 9.98313868e-01 -4.41290773e-02 -3.77100170e-02 5.23294770e+01] [ 4.41211837e-02 9.99025643e-01 -1.04190417e-03 8.57158013e-01] [ 3.77192522e-02 -6.23663205e-04 9.99288181e-01 3.21643630e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.415336194999995 meters Centerline goodness [0,1] 0.999654629050014 Centerline is valid? [True, True] Translation: X:52.36, Y:0.85, Z:0.32 [[ 9.98186684e-01 -4.67845355e-02 -3.78754709e-02 5.23616435e+01] [ 4.67785504e-02 9.98904738e-01 -1.04468862e-03 8.50781650e-01] [ 3.78828626e-02 -7.28965352e-04 9.99281921e-01 3.20332364e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.445336194999996 meters Centerline goodness [0,1] 0.9997176674991856 Centerline is valid? [True, True] Translation: X:52.39, Y:0.85, Z:0.32 [[ 9.98085552e-01 -4.82795392e-02 -3.86564082e-02 5.23941407e+01] [ 4.82744966e-02 9.98833540e-01 -1.06438869e-03 8.47039331e-01] [ 3.86627053e-02 -8.03767674e-04 9.99251995e-01 3.17438335e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.475336195 meters Centerline goodness [0,1] 0.9996967202460899 Centerline is valid? [True, True] Translation: X:52.42, Y:0.84, Z:0.31 [[ 9.97909116e-01 -5.05068701e-02 -4.03292930e-02 5.24244331e+01] [ 5.05032147e-02 9.98723282e-01 -1.11007846e-03 8.41584675e-01] [ 4.03338705e-02 -9.29001532e-04 9.99185826e-01 3.13572497e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.505336195 meters Centerline goodness [0,1] 0.9994574417292417 Centerline is valid? [True, True] Translation: X:52.46, Y:0.84, Z:0.31 [[ 9.97895234e-01 -5.02697409e-02 -4.09640730e-02 5.24556712e+01] [ 5.02658181e-02 9.98735240e-01 -1.12638802e-03 8.40868756e-01] [ 4.09688865e-02 -9.35075406e-04 9.99159985e-01 3.11967664e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.535336195 meters Centerline goodness [0,1] 0.999652400608299 Centerline is valid? [True, True] Translation: X:52.49, Y:0.84, Z:0.31 [[ 9.97786711e-01 -5.06425467e-02 -4.30930613e-02 5.24865736e+01] [ 5.06385846e-02 9.98716342e-01 -1.18423417e-03 8.43033421e-01] [ 4.30977171e-02 -1.00055851e-03 9.99070361e-01 3.13633866e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.56533619499999 meters Centerline goodness [0,1] 0.9998275155774994 Centerline is valid? [True, True] Translation: X:52.52, Y:0.84, Z:0.31 [[ 9.97722338e-01 -5.04161043e-02 -4.48146477e-02 5.25182002e+01] [ 5.04116558e-02 9.98727767e-01 -1.23013793e-03 8.39845578e-01] [ 4.48196517e-02 -1.03184450e-03 9.98994562e-01 3.08345199e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.595336194999994 meters Centerline goodness [0,1] 0.9998050259965338 Centerline is valid? [True, True] Translation: X:52.55, Y:0.84, Z:0.30 [[ 9.97692995e-01 -4.82453465e-02 -4.77605914e-02 5.25485314e+01] [ 4.82378482e-02 9.98835018e-01 -1.31025083e-03 8.42193628e-01] [ 4.77681647e-02 -9.96640076e-04 9.98857952e-01 3.03471390e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.625336194999996 meters Centerline goodness [0,1] 0.9997609371264643 Centerline is valid? [True, True] Translation: X:52.58, Y:0.85, Z:0.30 [[ 9.97803413e-01 -4.63174164e-02 -4.73608129e-02 5.25782596e+01] [ 4.63078769e-02 9.98926370e-01 -1.29919652e-03 8.46596012e-01] [ 4.73701404e-02 -8.96835972e-04 9.98877002e-01 3.04704988e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.655336195 meters Centerline goodness [0,1] 0.999913130347913 Centerline is valid? [True, True] Translation: X:52.61, Y:0.85, Z:0.31 [[ 9.97984822e-01 -4.50008892e-02 -4.47349384e-02 5.26080097e+01] [ 4.49910061e-02 9.98986637e-01 -1.22825168e-03 8.49564246e-01] [ 4.47448781e-02 -7.86893354e-04 9.98998136e-01 3.09221383e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.685336195 meters Centerline goodness [0,1] 0.9997192891537647 Centerline is valid? [True, True] Translation: X:52.64, Y:0.85, Z:0.30 [[ 9.98098485e-01 -4.42288988e-02 -4.29327294e-02 5.26380030e+01] [ 4.42190722e-02 9.99021163e-01 -1.17898067e-03 8.46738694e-01] [ 4.29428503e-02 -7.21706648e-04 9.99077270e-01 3.03461380e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.715336195 meters Centerline goodness [0,1] 0.9996320027708027 Centerline is valid? [True, True] Translation: X:52.67, Y:0.86, Z:0.32 [[ 9.98357007e-01 -4.19622771e-02 -3.90186363e-02 5.26678290e+01] [ 4.19524333e-02 9.99119035e-01 -1.07138496e-03 8.55652487e-01] [ 3.90292200e-02 -5.67302053e-04 9.99237909e-01 3.17302251e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.74533619499999 meters Centerline goodness [0,1] 0.9999566592987474 Centerline is valid? [True, True] Translation: X:52.70, Y:0.86, Z:0.32 [[ 9.98425470e-01 -4.11542463e-02 -3.81170461e-02 5.26995253e+01] [ 4.11443058e-02 9.99152668e-01 -1.04551926e-03 8.58848567e-01] [ 3.81277758e-02 -5.24426342e-04 9.99272734e-01 3.21976203e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.775336194999994 meters Centerline goodness [0,1] 0.9997402260033771 Centerline is valid? [True, True] Translation: X:52.73, Y:0.86, Z:0.32 [[ 9.98424981e-01 -4.12878273e-02 -3.79851508e-02 5.27305312e+01] [ 4.12781031e-02 9.99147154e-01 -1.04056222e-03 8.55532454e-01] [ 3.79957179e-02 -5.29031650e-04 9.99277762e-01 3.19071664e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.805336194999995 meters Centerline goodness [0,1] 0.9997409606044253 Centerline is valid? [True, True] Translation: X:52.76, Y:0.85, Z:0.32 [[ 9.98332358e-01 -4.26408314e-02 -3.89135177e-02 5.27610636e+01] [ 4.26316781e-02 9.99090289e-01 -1.06535851e-03 8.52814497e-01] [ 3.89235454e-02 -5.95366680e-04 9.99242014e-01 3.16000519e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.835336195 meters Centerline goodness [0,1] 0.9997600663089473 Centerline is valid? [True, True] Translation: X:52.79, Y:0.85, Z:0.32 [[ 9.98212312e-01 -4.42411692e-02 -4.01858195e-02 5.27932762e+01] [ 4.42327710e-02 9.99020648e-01 -1.09852048e-03 8.54357343e-01] [ 4.01950633e-02 -6.80973483e-04 9.99191620e-01 3.21395489e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.865336195 meters Centerline goodness [0,1] 0.9996117761242317 Centerline is valid? [True, True] Translation: X:52.82, Y:0.84, Z:0.31 [[ 9.97846393e-01 -4.86547450e-02 -4.39919500e-02 5.28232071e+01] [ 4.86489684e-02 9.98815214e-01 -1.20253702e-03 8.43482384e-01] [ 4.39983380e-02 -9.40215757e-04 9.99031162e-01 3.09391951e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.895336195 meters Centerline goodness [0,1] 0.9983950009629994 Centerline is valid? [True, True] Translation: X:52.85, Y:0.83, Z:0.31 [[ 9.97633368e-01 -5.31715177e-02 -4.35941911e-02 5.28538099e+01] [ 5.31701659e-02 9.98584756e-01 -1.19133527e-03 8.29872064e-01] [ 4.35958397e-02 -1.12939456e-03 9.99048611e-01 3.05462606e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.92533619499999 meters Centerline goodness [0,1] 0.9998048568950564 Centerline is valid? [True, True] Translation: X:52.89, Y:0.83, Z:0.32 [[ 9.97586365e-01 -5.49088820e-02 -4.25024671e-02 5.28858811e+01] [ 5.49092442e-02 9.98490676e-01 -1.15977880e-03 8.33603596e-01] [ 4.25019993e-02 -1.17679882e-03 9.99095689e-01 3.18298694e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.955336194999994 meters Centerline goodness [0,1] 0.9994118287768217 Centerline is valid? [True, True] Translation: X:52.92, Y:0.83, Z:0.32 [[ 9.97547589e-01 -5.60428328e-02 -4.19286030e-02 5.29182276e+01] [ 5.60442670e-02 9.98427632e-01 -1.14216442e-03 8.31127664e-01] [ 4.19266860e-02 -1.21049446e-03 9.99119957e-01 3.20777355e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.985336194999995 meters Centerline goodness [0,1] 0.999804279749478 Centerline is valid? [True, True] Translation: X:52.95, Y:0.83, Z:0.32 [[ 9.97590062e-01 -5.61976169e-02 -4.06927026e-02 5.29501959e+01] [ 5.61991731e-02 9.98418964e-01 -1.10658454e-03 8.26853250e-01] [ 4.06905534e-02 -1.18297850e-03 9.99171096e-01 3.23057093e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.015336194999996 meters Centerline goodness [0,1] 0.9998918217221981 Centerline is valid? [True, True] Translation: X:52.98, Y:0.82, Z:0.32 [[ 9.97816770e-01 -5.38950251e-02 -3.81709169e-02 5.29797221e+01] [ 5.38947082e-02 9.98546085e-01 -1.03803299e-03 8.24133747e-01] [ 3.81713644e-02 -1.02144370e-03 9.99270686e-01 3.23975553e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.045336195 meters Centerline goodness [0,1] 0.9997619768901199 Centerline is valid? [True, True] Translation: X:53.01, Y:0.83, Z:0.33 [[ 9.97893304e-01 -5.22264594e-02 -3.84883092e-02 5.30114710e+01] [ 5.22249506e-02 9.98634799e-01 -1.04528580e-03 8.26541081e-01] [ 3.84903565e-02 -9.66966351e-04 9.99258504e-01 3.25528294e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.075336195 meters Centerline goodness [0,1] 0.9999131869085858 Centerline is valid? [True, True] Translation: X:53.04, Y:0.83, Z:0.33 [[ 9.97921512e-01 -5.02084529e-02 -4.03951283e-02 5.30437715e+01] [ 5.02052189e-02 9.98738322e-01 -1.09513358e-03 8.31366871e-01] [ 4.03991476e-02 -9.35188897e-04 9.99183184e-01 3.25618467e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.105336195 meters Centerline goodness [0,1] 0.999870214146658 Centerline is valid? [True, True] Translation: X:53.07, Y:0.84, Z:0.32 [[ 9.98010867e-01 -4.47661734e-02 -4.43880521e-02 5.30744148e+01] [ 4.47569685e-02 9.98997182e-01 -1.20167819e-03 8.42927965e-01] [ 4.43973335e-02 -7.87386757e-04 9.99013642e-01 3.20184144e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.135336194999994 meters Centerline goodness [0,1] 0.999782144568864 Centerline is valid? [True, True] Translation: X:53.10, Y:0.85, Z:0.32 [[ 9.98130170e-01 -4.18602313e-02 -4.45408229e-02 5.31047178e+01] [ 4.18480835e-02 9.99123258e-01 -1.20554556e-03 8.49115368e-01] [ 4.45522365e-02 -6.60656680e-04 9.99006838e-01 3.20865978e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.165336194999995 meters Centerline goodness [0,1] 0.9998923504209098 Centerline is valid? [True, True] Translation: X:53.13, Y:0.85, Z:0.31 [[ 9.98214264e-01 -3.98824801e-02 -4.44710216e-02 5.31329187e+01] [ 3.98683110e-02 9.99204215e-01 -1.20585469e-03 8.47231404e-01] [ 4.44837247e-02 -5.69283172e-04 9.99009947e-01 3.09279858e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.195336194999996 meters Centerline goodness [0,1] 0.9996296699705914 Centerline is valid? [True, True] Translation: X:53.16, Y:0.85, Z:0.31 [[ 9.98199446e-01 -4.02604155e-02 -4.44630652e-02 5.31609139e+01] [ 4.02462902e-02 9.99189053e-01 -1.21318413e-03 8.48210456e-01] [ 4.44758513e-02 -5.78473697e-04 9.99010292e-01 3.12402115e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.225336195 meters Centerline goodness [0,1] 0.9995668088977452 Centerline is valid? [True, True] Translation: X:53.19, Y:0.85, Z:0.31 [[ 9.98013355e-01 -4.32009621e-02 -4.58587061e-02 5.31891979e+01] [ 4.31888767e-02 9.99066137e-01 -1.25478057e-03 8.47949232e-01] [ 4.58700881e-02 -7.28298236e-04 9.98947148e-01 3.10040439e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.255336195 meters Centerline goodness [0,1] 0.999784315417134 Centerline is valid? [True, True] Translation: X:53.22, Y:0.85, Z:0.32 [[ 9.97855246e-01 -4.66293463e-02 -4.59414066e-02 5.32179803e+01] [ 4.66207381e-02 9.98911868e-01 -1.25941772e-03 8.54588049e-01] [ 4.59501421e-02 -8.85105701e-04 9.98943342e-01 3.18802712e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.285336195 meters Centerline goodness [0,1] 0.9998694914516901 Centerline is valid? [True, True] Translation: X:53.25, Y:0.86, Z:0.32 [[ 9.97791157e-01 -4.75622745e-02 -4.63749588e-02 5.32490216e+01] [ 4.75545345e-02 9.98867835e-01 -1.27077428e-03 8.57524204e-01] [ 4.63828956e-02 -9.37372239e-04 9.98923295e-01 3.21893458e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.31533619499999 meters Centerline goodness [0,1] 0.9996983083719426 Centerline is valid? [True, True] Translation: X:53.28, Y:0.85, Z:0.31 [[ 9.97607676e-01 -5.05644260e-02 -4.71398293e-02 5.32788895e+01] [ 5.05597636e-02 9.98720202e-01 -1.29201717e-03 8.48971673e-01] [ 4.71448300e-02 -1.09445238e-03 9.98887465e-01 3.12041583e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.345336194999994 meters Centerline goodness [0,1] 0.9995005320419553 Centerline is valid? [True, True] Translation: X:53.31, Y:0.84, Z:0.31 [[ 9.97530670e-01 -5.25510151e-02 -4.65934886e-02 5.33099365e+01] [ 5.25486804e-02 9.98617549e-01 -1.27583266e-03 8.43336317e-01] [ 4.65961217e-02 -1.17574414e-03 9.98913119e-01 3.10229396e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.375336194999996 meters Centerline goodness [0,1] 0.9989834980643207 Centerline is valid? [True, True] Translation: X:53.34, Y:0.83, Z:0.30 [[ 9.97413760e-01 -5.43219931e-02 -4.70628590e-02 5.33401024e+01] [ 5.43216907e-02 9.98522658e-01 -1.28634791e-03 8.33795169e-01] [ 4.70632080e-02 -1.27351296e-03 9.98891101e-01 3.01824926e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.405336195 meters Centerline goodness [0,1] 0.9990700692041522 Centerline is valid? [True, True] Translation: X:53.37, Y:0.83, Z:0.31 [[ 9.97313337e-01 -5.53728211e-02 -4.79578748e-02 5.33717653e+01] [ 5.53737856e-02 9.98464836e-01 -1.30947840e-03 8.34626142e-01] [ 4.79567611e-02 -1.34964880e-03 9.98848501e-01 3.05291335e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.435336195 meters Centerline goodness [0,1] 0.999869822741967 Centerline is valid? [True, True] Translation: X:53.40, Y:0.84, Z:0.32 [[ 9.97422923e-01 -5.46011452e-02 -4.65427451e-02 5.34034395e+01] [ 5.46012852e-02 9.98507430e-01 -1.26927863e-03 8.43360054e-01] [ 4.65425809e-02 -1.27528609e-03 9.98915493e-01 3.15989540e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.465336195 meters Centerline goodness [0,1] 0.9996533795493934 Centerline is valid? [True, True] Translation: X:53.43, Y:0.85, Z:0.32 [[ 9.97514445e-01 -5.24665998e-02 -4.70339033e-02 5.34349811e+01] [ 5.24644738e-02 9.98621970e-01 -1.28053832e-03 8.50397943e-01] [ 4.70362747e-02 -1.19025351e-03 9.98892473e-01 3.17257332e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.49533619499999 meters Centerline goodness [0,1] 0.9996319390317832 Centerline is valid? [True, True] Translation: X:53.46, Y:0.84, Z:0.30 [[ 9.97552695e-01 -4.99363988e-02 -4.89384910e-02 5.34646791e+01] [ 4.99310764e-02 9.98751778e-01 -1.33202359e-03 8.43203594e-01] [ 4.89439213e-02 -1.11478781e-03 9.98800906e-01 3.00753616e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.525336194999994 meters Centerline goodness [0,1] 0.9996744721022591 Centerline is valid? [True, True] Translation: X:53.49, Y:0.84, Z:0.30 [[ 9.97557573e-01 -4.90983603e-02 -4.96813804e-02 5.34942244e+01] [ 4.90917900e-02 9.98793354e-01 -1.35320460e-03 8.42966119e-01] [ 4.96878727e-02 -1.08904840e-03 9.98764201e-01 2.99394810e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.555336194999995 meters Centerline goodness [0,1] 0.9997624190064794 Centerline is valid? [True, True] Translation: X:53.52, Y:0.84, Z:0.30 [[ 9.97577645e-01 -4.85117843e-02 -4.98542719e-02 5.35232772e+01] [ 4.85040893e-02 9.98822051e-01 -1.36487072e-03 8.44364313e-01] [ 4.98617584e-02 -1.05657154e-03 9.98755570e-01 3.00607715e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.585336195 meters Centerline goodness [0,1] 0.9998920948701902 Centerline is valid? [True, True] Translation: X:53.55, Y:0.85, Z:0.31 [[ 9.97664252e-01 -4.76155109e-02 -4.89775853e-02 5.35514276e+01] [ 4.76068542e-02 9.98865247e-01 -1.34393172e-03 8.49579009e-01] [ 4.89859998e-02 -9.90876132e-04 9.98798974e-01 3.07377805e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.615336195 meters Centerline goodness [0,1] 0.9998045050720072 Centerline is valid? [True, True] Translation: X:53.58, Y:0.85, Z:0.31 [[ 9.97607751e-01 -4.76428278e-02 -5.00892887e-02 5.35799759e+01] [ 4.76334394e-02 9.98863928e-01 -1.38180827e-03 8.53601008e-01] [ 5.00982169e-02 -1.00742246e-03 9.98743788e-01 3.12809027e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.645336195 meters Centerline goodness [0,1] 0.999762275242047 Centerline is valid? [True, True] Translation: X:53.61, Y:0.85, Z:0.31 [[ 9.97634329e-01 -4.76660427e-02 -4.95347755e-02 5.36080365e+01] [ 4.76566461e-02 9.98862835e-01 -1.37140969e-03 8.52130189e-01] [ 4.95438160e-02 -9.92495882e-04 9.98771458e-01 3.11615660e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.67533619499999 meters Centerline goodness [0,1] 0.9999128141415462 Centerline is valid? [True, True] Translation: X:53.64, Y:0.86, Z:0.32 [[ 9.97811525e-01 -4.57760403e-02 -4.77149217e-02 5.36375923e+01] [ 4.57650845e-02 9.98951354e-01 -1.32261911e-03 8.57633536e-01] [ 4.77254299e-02 -8.63952834e-04 9.98860119e-01 3.21691243e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.705336194999994 meters Centerline goodness [0,1] 0.9997837183147331 Centerline is valid? [True, True] Translation: X:53.67, Y:0.86, Z:0.31 [[ 9.97937456e-01 -4.46365925e-02 -4.61346731e-02 5.36667293e+01] [ 4.46250823e-02 9.99002985e-01 -1.27990482e-03 8.55504283e-01] [ 4.61458068e-02 -7.81498627e-04 9.98934409e-01 3.14376424e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.735336194999995 meters Centerline goodness [0,1] 0.999739989599584 Centerline is valid? [True, True] Translation: X:53.70, Y:0.86, Z:0.32 [[ 9.98127535e-01 -4.10292393e-02 -4.53654596e-02 5.36965832e+01] [ 4.10143384e-02 9.99157764e-01 -1.25960274e-03 8.55723278e-01] [ 4.53789318e-02 -6.03390133e-04 9.98969663e-01 3.15098918e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.765336194999996 meters Centerline goodness [0,1] 0.9998265770648168 Centerline is valid? [True, True] Translation: X:53.73, Y:0.85, Z:0.31 [[ 9.98184235e-01 -3.91064941e-02 -4.58139160e-02 5.37251975e+01] [ 3.90889758e-02 9.99234916e-01 -1.27853983e-03 8.54991680e-01] [ 4.58288637e-02 -5.14600752e-04 9.98949173e-01 3.13419603e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.795336195 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:53.75, Y:0.86, Z:0.31 [[ 9.98318517e-01 -3.45787787e-02 -4.65236071e-02 5.37530999e+01] [ 3.45556343e-02 9.99401928e-01 -1.30188848e-03 8.60227715e-01] [ 4.65408004e-02 -3.07953377e-04 9.98916342e-01 3.07608227e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.825336195 meters Centerline goodness [0,1] 0.9996532668761513 Centerline is valid? [True, True] Translation: X:53.78, Y:0.87, Z:0.31 [[ 9.98343513e-01 -3.32889959e-02 -4.69262451e-02 5.37819414e+01] [ 3.32637115e-02 9.99445738e-01 -1.31982693e-03 8.66323658e-01] [ 4.69441714e-02 -2.43300424e-04 9.98897485e-01 3.09755001e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.855336195 meters Centerline goodness [0,1] 0.9997171761122593 Centerline is valid? [True, True] Translation: X:53.81, Y:0.87, Z:0.31 [[ 9.98189259e-01 -3.28373444e-02 -5.03975329e-02 5.38123477e+01] [ 3.28075399e-02 9.99460681e-01 -1.41873401e-03 8.72928493e-01] [ 5.04169400e-02 -2.37254024e-04 9.98728229e-01 3.14921891e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.885336194999994 meters Centerline goodness [0,1] 0.9998490338164251 Centerline is valid? [True, True] Translation: X:53.84, Y:0.87, Z:0.31 [[ 9.98104262e-01 -3.43471055e-02 -5.10701241e-02 5.38396721e+01] [ 3.43182432e-02 9.99409915e-01 -1.44219196e-03 8.72453285e-01] [ 5.10895235e-02 -3.13178997e-04 9.98694028e-01 3.13058778e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.915336194999995 meters Centerline goodness [0,1] 0.9999566574202496 Centerline is valid? [True, True] Translation: X:53.87, Y:0.86, Z:0.31 [[ 9.97968224e-01 -4.00059006e-02 -4.95878281e-02 5.38681766e+01] [ 3.99852949e-02 9.99199276e-01 -1.40787184e-03 8.61234629e-01] [ 4.96044451e-02 -5.77772571e-04 9.98768775e-01 3.11783760e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.945336194999996 meters Centerline goodness [0,1] 0.9998701692127927 Centerline is valid? [True, True] Translation: X:53.90, Y:0.85, Z:0.31 [[ 9.97876102e-01 -4.33257320e-02 -4.86432445e-02 5.38961970e+01] [ 4.33094108e-02 9.99060740e-01 -1.38995422e-03 8.52860394e-01] [ 4.86577766e-02 -7.19708155e-04 9.98815250e-01 3.13142022e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.975336195 meters Centerline goodness [0,1] 0.9998696049028557 Centerline is valid? [True, True] Translation: X:53.93, Y:0.83, Z:0.30 [[ 9.97667912e-01 -4.83922264e-02 -4.81344984e-02 5.39257725e+01] [ 4.83819990e-02 9.98827954e-01 -1.37823287e-03 8.33863404e-01] [ 4.81447783e-02 -9.53824540e-04 9.98839912e-01 3.03275274e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.005336195 meters Centerline goodness [0,1] 0.9996951153117446 Centerline is valid? [True, True] Translation: X:53.95, Y:0.84, Z:0.32 [[ 9.97596008e-01 -5.05927580e-02 -4.73558669e-02 5.39542734e+01] [ 5.05850131e-02 9.98718829e-01 -1.36272294e-03 8.36069652e-01] [ 4.73641399e-02 -1.03605018e-03 9.98877152e-01 3.15216578e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.035336195 meters Centerline goodness [0,1] 0.9995902258071473 Centerline is valid? [True, True] Translation: X:53.98, Y:0.84, Z:0.33 [[ 9.97638134e-01 -5.23977767e-02 -4.44142546e-02 5.39843939e+01] [ 5.23926970e-02 9.98625740e-01 -1.27922881e-03 8.35450555e-01] [ 4.44202466e-02 -1.05077514e-03 9.99012381e-01 3.26422732e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.06533619499999 meters Centerline goodness [0,1] 0.9996535746763089 Centerline is valid? [True, True] Translation: X:54.02, Y:0.84, Z:0.33 [[ 9.97707706e-01 -5.18382847e-02 -4.34985811e-02 5.40162208e+01] [ 5.18329358e-02 9.98654986e-01 -1.25158146e-03 8.35048560e-01] [ 4.35049547e-02 -1.00594669e-03 9.99052705e-01 3.29355081e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.095336194999994 meters Centerline goodness [0,1] 0.9999132960506351 Centerline is valid? [True, True] Translation: X:54.05, Y:0.83, Z:0.33 [[ 9.97873783e-01 -5.10033155e-02 -4.05780088e-02 5.40458528e+01] [ 5.09980414e-02 9.98698073e-01 -1.16576349e-03 8.26391834e-01] [ 4.05846370e-02 -9.06114150e-04 9.99175693e-01 3.29092276e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.125336194999996 meters Centerline goodness [0,1] 0.9994575241401757 Centerline is valid? [True, True] Translation: X:54.08, Y:0.83, Z:0.34 [[ 9.98048265e-01 -4.95326821e-02 -3.80285897e-02 5.40764443e+01] [ 4.95270212e-02 9.98772188e-01 -1.09148571e-03 8.28443493e-01] [ 3.80359620e-02 -7.94087347e-04 9.99276055e-01 3.35088626e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.155336195 meters Centerline goodness [0,1] 0.9998930618530242 Centerline is valid? [True, True] Translation: X:54.11, Y:0.83, Z:0.34 [[ 9.98253056e-01 -4.64018539e-02 -3.65746423e-02 5.41071616e+01] [ 4.63945475e-02 9.98922643e-01 -1.04891525e-03 8.32047357e-01] [ 3.65839099e-02 -6.49781125e-04 9.99330373e-01 3.38277062e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.185336195 meters Centerline goodness [0,1] 0.9999133092043953 Centerline is valid? [True, True] Translation: X:54.14, Y:0.84, Z:0.34 [[ 9.98235841e-01 -4.54285949e-02 -3.82289066e-02 5.41387235e+01] [ 4.54199467e-02 9.98967381e-01 -1.09513701e-03 8.36299377e-01] [ 3.82391812e-02 -6.43149882e-04 9.99268408e-01 3.40910805e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.215336195 meters Centerline goodness [0,1] 0.9996095614073142 Centerline is valid? [True, True] Translation: X:54.17, Y:0.83, Z:0.34 [[ 9.98223906e-01 -4.54809478e-02 -3.84774820e-02 5.41710434e+01] [ 4.54722924e-02 9.98964994e-01 -1.10052430e-03 8.32602110e-01] [ 3.84877104e-02 -6.51089652e-04 9.99258861e-01 3.38772894e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.24533619499999 meters Centerline goodness [0,1] 0.9998506539224681 Centerline is valid? [True, True] Translation: X:54.20, Y:0.82, Z:0.33 [[ 9.98268514e-01 -4.52946979e-02 -3.75281688e-02 5.42020904e+01] [ 4.52863590e-02 9.98973471e-01 -1.07266682e-03 8.23844891e-01] [ 3.75382312e-02 -6.28704608e-04 9.99294994e-01 3.26529492e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.275336194999994 meters Centerline goodness [0,1] 0.9998506539224681 Centerline is valid? [True, True] Translation: X:54.23, Y:0.82, Z:0.33 [[ 9.98269482e-01 -4.52733572e-02 -3.75281897e-02 5.42329477e+01] [ 4.52650307e-02 9.98974438e-01 -1.07193672e-03 8.24685288e-01] [ 3.75382324e-02 -6.28632949e-04 9.99294994e-01 3.26761669e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.305336194999995 meters Centerline goodness [0,1] 0.9999783056730664 Centerline is valid? [True, True] Translation: X:54.26, Y:0.83, Z:0.33 [[ 9.98226599e-01 -4.37072689e-02 -4.04145035e-02 5.42642980e+01] [ 4.36963677e-02 9.99044192e-01 -1.15346342e-03 8.25473929e-01] [ 4.04262897e-02 -6.14549142e-04 9.99182334e-01 3.26407711e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.335336195 meters Centerline goodness [0,1] 0.9998282782750553 Centerline is valid? [True, True] Translation: X:54.29, Y:0.83, Z:0.33 [[ 9.98197074e-01 -4.30982452e-02 -4.17749070e-02 5.42947717e+01] [ 4.30860725e-02 9.99070653e-01 -1.19211488e-03 8.29816687e-01] [ 4.17874617e-02 -6.09951084e-04 9.99126336e-01 3.31358696e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.365336195 meters Centerline goodness [0,1] 0.9996745144841055 Centerline is valid? [True, True] Translation: X:54.32, Y:0.84, Z:0.34 [[ 9.98284814e-01 -4.25929139e-02 -4.01655863e-02 5.43245248e+01] [ 4.25812518e-02 9.99092350e-01 -1.14619030e-03 8.36289935e-01] [ 4.01779496e-02 -5.66076575e-04 9.99192380e-01 3.39250116e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.395336195 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:54.36, Y:0.84, Z:0.34 [[ 9.98313143e-01 -4.25492889e-02 -3.95022354e-02 5.43556960e+01] [ 4.25380046e-02 9.99094214e-01 -1.12650097e-03 8.36868028e-01] [ 3.95143866e-02 -5.55745549e-04 9.99218847e-01 3.41917757e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.42533619499999 meters Centerline goodness [0,1] 0.9998710952606024 Centerline is valid? [True, True] Translation: X:54.39, Y:0.83, Z:0.34 [[ 9.98184493e-01 -4.39661249e-02 -4.11667032e-02 5.43856479e+01] [ 4.39551509e-02 9.99032818e-01 -1.17210214e-03 8.30055938e-01] [ 4.11784203e-02 -6.39514475e-04 9.99151604e-01 3.37300279e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.455336194999994 meters Centerline goodness [0,1] 0.9998918334234721 Centerline is valid? [True, True] Translation: X:54.42, Y:0.83, Z:0.34 [[ 9.98120675e-01 -4.55351407e-02 -4.10081608e-02 5.44160920e+01] [ 4.55255896e-02 9.98962491e-01 -1.16721451e-03 8.27375228e-01] [ 4.10187637e-02 -7.01899765e-04 9.99158130e-01 3.38593395e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.485336194999995 meters Centerline goodness [0,1] 0.99958710911185 Centerline is valid? [True, True] Translation: X:54.45, Y:0.82, Z:0.34 [[ 9.97951180e-01 -4.95459209e-02 -4.04801736e-02 5.44470802e+01] [ 4.95399261e-02 9.98771480e-01 -1.15179851e-03 8.21992521e-01] [ 4.04875098e-02 -8.55946125e-04 9.99179678e-01 3.40136005e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.515336194999996 meters Centerline goodness [0,1] 0.9998484159466424 Centerline is valid? [True, True] Translation: X:54.48, Y:0.82, Z:0.34 [[ 9.97839666e-01 -5.13335302e-02 -4.09983988e-02 5.44778331e+01] [ 5.13289084e-02 9.98681122e-01 -1.16606311e-03 8.17480748e-01] [ 4.10041850e-02 -9.40859028e-04 9.99158532e-01 3.36534012e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.545336195 meters Centerline goodness [0,1] 0.9996526119240957 Centerline is valid? [True, True] Translation: X:54.51, Y:0.81, Z:0.33 [[ 9.97707111e-01 -5.33227910e-02 -4.16797356e-02 5.45089245e+01] [ 5.33197693e-02 9.98576786e-01 -1.18494740e-03 8.09921352e-01] [ 4.16836011e-02 -1.04012344e-03 9.99130320e-01 3.34361090e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.575336195 meters Centerline goodness [0,1] 0.9997390737116765 Centerline is valid? [True, True] Translation: X:54.54, Y:0.81, Z:0.33 [[ 9.97779418e-01 -5.23364313e-02 -4.11962581e-02 5.45405813e+01] [ 5.23326753e-02 9.98629021e-01 -1.17032188e-03 8.08348498e-01] [ 4.12010293e-02 -9.88187311e-04 9.99150388e-01 3.34044359e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.605336195 meters Centerline goodness [0,1] 0.9997830190726236 Centerline is valid? [True, True] Translation: X:54.57, Y:0.81, Z:0.33 [[ 9.97915703e-01 -5.04502747e-02 -4.02370433e-02 5.45709707e+01] [ 5.04451815e-02 9.98726178e-01 -1.14251237e-03 8.08730481e-01] [ 4.02434285e-02 -8.89633920e-04 9.99189509e-01 3.34221903e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.635336194999994 meters Centerline goodness [0,1] 0.9999138506601193 Centerline is valid? [True, True] Translation: X:54.60, Y:0.81, Z:0.34 [[ 9.98144866e-01 -4.65063241e-02 -3.92936274e-02 5.46007782e+01] [ 4.64984155e-02 9.98917741e-01 -1.11563769e-03 8.10213719e-01] [ 3.93029858e-02 -7.13523385e-04 9.99227084e-01 3.35568380e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.665336194999995 meters Centerline goodness [0,1] 0.9999785297148747 Centerline is valid? [True, True] Translation: X:54.63, Y:0.81, Z:0.34 [[ 9.98217370e-01 -4.45622671e-02 -3.97024654e-02 5.46316494e+01] [ 4.45526856e-02 9.99006401e-01 -1.12651567e-03 8.11200992e-01] [ 3.97132171e-02 -6.44343951e-04 9.99210911e-01 3.35284617e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.695336194999996 meters Centerline goodness [0,1] 0.9997641610565585 Centerline is valid? [True, True] Translation: X:54.66, Y:0.82, Z:0.34 [[ 9.98319138e-01 -4.21025873e-02 -3.98280064e-02 5.46625706e+01] [ 4.20910103e-02 9.99113142e-01 -1.12953626e-03 8.15735025e-01] [ 3.98402411e-02 -5.48763365e-04 9.99205912e-01 3.38412570e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.725336195 meters Centerline goodness [0,1] 0.9997836153546544 Centerline is valid? [True, True] Translation: X:54.69, Y:0.82, Z:0.35 [[ 9.98547173e-01 -3.81335382e-02 -3.80706831e-02 5.46920334e+01] [ 3.81200524e-02 9.99272583e-01 -1.08032306e-03 8.24311951e-01] [ 3.80841864e-02 -3.72502899e-04 9.99274465e-01 3.46154015e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.755336195 meters Centerline goodness [0,1] 0.9999570916736392 Centerline is valid? [True, True] Translation: X:54.72, Y:0.82, Z:0.34 [[ 9.98657957e-01 -3.49757649e-02 -3.81966017e-02 5.47208630e+01] [ 3.49598334e-02 9.99388129e-01 -1.08513314e-03 8.23766172e-01] [ 3.82111837e-02 -2.51669993e-04 9.99269654e-01 3.42568065e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.785336195 meters Centerline goodness [0,1] 0.9998263512046885 Centerline is valid? [True, True] Translation: X:54.75, Y:0.83, Z:0.35 [[ 9.98703963e-01 -3.36919851e-02 -3.81476776e-02 5.47495210e+01] [ 3.36749569e-02 9.99432244e-01 -1.08901585e-03 8.25446990e-01] [ 3.81627102e-02 -1.97016957e-04 9.99271519e-01 3.45201158e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.81533619499999 meters Centerline goodness [0,1] 0.9996997319034853 Centerline is valid? [True, True] Translation: X:54.78, Y:0.83, Z:0.34 [[ 9.98779311e-01 -3.24424190e-02 -3.72475267e-02 5.47769022e+01] [ 3.24252071e-02 9.99473596e-01 -1.06625146e-03 8.27360854e-01] [ 3.72625112e-02 -1.42808870e-04 9.99305501e-01 3.42857210e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.845336194999994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:54.81, Y:0.83, Z:0.35 [[ 9.98779701e-01 -3.17666772e-02 -3.78151786e-02 5.48051479e+01] [ 3.17483672e-02 9.99495305e-01 -1.08475023e-03 8.28643333e-01] [ 3.78305524e-02 -1.17143667e-04 9.99284162e-01 3.46908525e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.875336194999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:54.83, Y:0.83, Z:0.34 [[ 9.98651900e-01 -3.24977737e-02 -4.04756371e-02 5.48341444e+01] [ 3.24773294e-02 9.99471796e-01 -1.16271277e-03 8.25000384e-01] [ 4.04920433e-02 -1.53395278e-04 9.99179849e-01 3.38235563e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.905336195 meters Centerline goodness [0,1] 0.9999567137044412 Centerline is valid? [True, True] Translation: X:54.86, Y:0.83, Z:0.34 [[ 9.98641372e-01 -3.29551777e-02 -4.03654226e-02 5.48615927e+01] [ 3.29349550e-02 9.99456817e-01 -1.16605730e-03 8.25414478e-01] [ 4.03819244e-02 -1.64960313e-04 9.99184304e-01 3.41105375e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.935336195 meters Centerline goodness [0,1] 0.999828421910522 Centerline is valid? [True, True] Translation: X:54.89, Y:0.83, Z:0.34 [[ 9.98696586e-01 -3.24254668e-02 -3.94172220e-02 5.48897162e+01] [ 3.24055078e-02 9.99474147e-01 -1.14533236e-03 8.26688030e-01] [ 3.94336322e-02 -1.33495574e-04 9.99222183e-01 3.40288695e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.965336195 meters Centerline goodness [0,1] 0.9999782263156749 Centerline is valid? [True, True] Translation: X:54.92, Y:0.83, Z:0.35 [[ 9.98769534e-01 -3.13322081e-02 -3.84410092e-02 5.49184079e+01] [ 3.13121705e-02 9.99509023e-01 -1.12335125e-03 8.28896080e-01] [ 3.84573326e-02 -8.17024304e-05 9.99260240e-01 3.45145016e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.99533619499999 meters Centerline goodness [0,1] 0.9999353281020954 Centerline is valid? [True, True] Translation: X:54.95, Y:0.84, Z:0.35 [[ 9.98884686e-01 -2.78943938e-02 -3.80957461e-02 5.49459279e+01] [ 2.78720981e-02 9.99610874e-01 -1.11632980e-03 8.38645402e-01] [ 3.81120614e-02 5.32763721e-05 9.99273470e-01 3.48379634e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.025336194999994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:54.97, Y:0.84, Z:0.35 [[ 9.98907048e-01 -2.66039710e-02 -3.84309464e-02 5.49731932e+01] [ 2.65802394e-02 9.99646046e-01 -1.12841210e-03 8.43884992e-01] [ 3.84473638e-02 1.05675040e-04 9.99260621e-01 3.46846802e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.055336194999995 meters Centerline goodness [0,1] 0.9999566461458423 Centerline is valid? [True, True] Translation: X:55.00, Y:0.85, Z:0.35 [[ 9.98972499e-01 -2.50993471e-02 -3.77355166e-02 5.50017550e+01] [ 2.50751901e-02 9.99684948e-01 -1.11338475e-03 8.46097414e-01] [ 3.77515732e-02 1.66015496e-04 9.99287141e-01 3.46265342e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.085336195 meters Centerline goodness [0,1] 0.9999783488860502 Centerline is valid? [True, True] Translation: X:55.03, Y:0.85, Z:0.34 [[ 9.99009228e-01 -2.44984469e-02 -3.71535832e-02 5.50293893e+01] [ 2.44744726e-02 9.99699850e-01 -1.10002045e-03 8.47368449e-01] [ 3.71693803e-02 1.89616229e-04 9.99308962e-01 3.43518482e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.115336195 meters Centerline goodness [0,1] 0.9999568946937368 Centerline is valid? [True, True] Translation: X:55.06, Y:0.85, Z:0.35 [[ 9.99025672e-01 -2.42014708e-02 -3.69052283e-02 5.50574125e+01] [ 2.41773841e-02 9.99707080e-01 -1.09887514e-03 8.48780227e-01] [ 3.69210124e-02 2.05532592e-04 9.99318166e-01 3.46183492e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.145336195 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:55.08, Y:0.85, Z:0.35 [[ 9.98965595e-01 -2.59139565e-02 -3.73658626e-02 5.50847410e+01] [ 2.58903426e-02 9.99664166e-01 -1.11578446e-03 8.51088708e-01] [ 3.73822283e-02 1.47215306e-04 9.99301029e-01 3.45268751e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.17533619499999 meters Centerline goodness [0,1] 0.9998278236914601 Centerline is valid? [True, True] Translation: X:55.11, Y:0.85, Z:0.35 [[ 9.98938350e-01 -2.71304678e-02 -3.72305133e-02 5.51135219e+01] [ 2.71076711e-02 9.99631895e-01 -1.11705777e-03 8.52297347e-01] [ 3.72471149e-02 1.06639335e-04 9.99306080e-01 3.45884297e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.205336194999994 meters Centerline goodness [0,1] 0.9999347059591694 Centerline is valid? [True, True] Translation: X:55.14, Y:0.85, Z:0.35 [[ 9.98832121e-01 -3.01440352e-02 -3.77588595e-02 5.51420982e+01] [ 3.01225014e-02 9.99545565e-01 -1.13919648e-03 8.52609025e-01] [ 3.77760405e-02 4.74737310e-07 9.99286231e-01 3.49139980e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.235336194999995 meters Centerline goodness [0,1] 0.9999784705477093 Centerline is valid? [True, True] Translation: X:55.17, Y:0.85, Z:0.35 [[ 9.98750143e-01 -3.21556190e-02 -3.82644419e-02 5.51700794e+01] [ 3.21348621e-02 9.99482872e-01 -1.15752974e-03 8.52432860e-01] [ 3.82818754e-02 -7.35395751e-05 9.99266978e-01 3.47100586e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.265336194999996 meters Centerline goodness [0,1] 0.9999352862504853 Centerline is valid? [True, True] Translation: X:55.20, Y:0.85, Z:0.35 [[ 9.98665277e-01 -3.40213040e-02 -3.88614901e-02 5.51989588e+01] [ 3.40010890e-02 9.99421098e-01 -1.18117075e-03 8.52256179e-01] [ 3.88791780e-02 -1.41738772e-04 9.99243909e-01 3.47852305e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.295336195 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:55.23, Y:0.85, Z:0.34 [[ 9.98538234e-01 -3.56513732e-02 -4.06248020e-02 5.52271842e+01] [ 3.56305090e-02 9.99364265e-01 -1.23773742e-03 8.48441052e-01] [ 4.06431024e-02 -2.11554234e-04 9.99173705e-01 3.40517325e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.325336195 meters Centerline goodness [0,1] 0.9998713412672885 Centerline is valid? [True, True] Translation: X:55.26, Y:0.85, Z:0.34 [[ 9.98468240e-01 -3.61591898e-02 -4.18770413e-02 5.52563427e+01] [ 3.61372176e-02 9.99346015e-01 -1.28180501e-03 8.46625801e-01] [ 4.18960034e-02 -2.33478165e-04 9.99121950e-01 3.37887850e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.355336195 meters Centerline goodness [0,1] 0.999544754926402 Centerline is valid? [True, True] Translation: X:55.29, Y:0.85, Z:0.34 [[ 9.98404587e-01 -3.55147120e-02 -4.38974435e-02 5.52859196e+01] [ 3.54898522e-02 9.99369131e-01 -1.34576536e-03 8.50819639e-01] [ 4.39175444e-02 -2.14295468e-04 9.99035136e-01 3.39093649e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.385336194999994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:55.31, Y:0.85, Z:0.34 [[ 9.98401018e-01 -3.52662325e-02 -4.41780603e-02 5.53141317e+01] [ 3.52407079e-02 9.99377932e-01 -1.35668978e-03 8.52806111e-01] [ 4.41984239e-02 -2.02345663e-04 9.99022752e-01 3.38068418e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.415336194999995 meters Centerline goodness [0,1] 0.9998912996217226 Centerline is valid? [True, True] Translation: X:55.34, Y:0.85, Z:0.34 [[ 9.98396309e-01 -3.58517556e-02 -4.38116704e-02 5.53424456e+01] [ 3.58269310e-02 9.99357095e-01 -1.35193731e-03 8.52569986e-01] [ 4.38319730e-02 -2.19868478e-04 9.99038893e-01 3.40719353e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.445336194999996 meters Centerline goodness [0,1] 0.9999568891188136 Centerline is valid? [True, True] Translation: X:55.37, Y:0.85, Z:0.34 [[ 9.98466689e-01 -3.55196433e-02 -4.24573461e-02 5.53700657e+01] [ 3.54958900e-02 9.99368959e-01 -1.31343925e-03 8.50578240e-01] [ 4.24772067e-02 -1.95635955e-04 9.99097417e-01 3.38036606e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.475336195 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:55.40, Y:0.85, Z:0.34 [[ 9.98518303e-01 -3.45158181e-02 -4.20696751e-02 5.53991426e+01] [ 3.44913625e-02 9.99404141e-01 -1.30723084e-03 8.54217229e-01] [ 4.20897276e-02 -1.45746492e-04 9.99113824e-01 3.42380004e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.505336195 meters Centerline goodness [0,1] 0.9998493424875707 Centerline is valid? [True, True] Translation: X:55.43, Y:0.86, Z:0.34 [[ 9.98560037e-01 -3.25172679e-02 -4.26670876e-02 5.54266900e+01] [ 3.24901500e-02 9.99471172e-01 -1.32904527e-03 8.58336801e-01] [ 4.26877410e-02 -5.91285843e-05 9.99088461e-01 3.39760865e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.535336195 meters Centerline goodness [0,1] 0.9998915918650536 Centerline is valid? [True, True] Translation: X:55.45, Y:0.86, Z:0.34 [[ 9.98601544e-01 -3.14599440e-02 -4.24879846e-02 5.54541098e+01] [ 3.14319462e-02 9.99505013e-01 -1.32700455e-03 8.61717831e-01] [ 4.25087011e-02 -1.03312542e-05 9.99096097e-01 3.39637746e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.56533619499999 meters Centerline goodness [0,1] 0.9998701888751866 Centerline is valid? [True, True] Translation: X:55.48, Y:0.87, Z:0.34 [[ 9.98742292e-01 -2.83221420e-02 -4.13725844e-02 5.54829043e+01] [ 2.82926681e-02 9.99598840e-01 -1.29786657e-03 8.71985021e-01] [ 4.13927457e-02 1.25693433e-04 9.99142945e-01 3.43275589e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.595336194999994 meters Centerline goodness [0,1] 0.9999135957143475 Centerline is valid? [True, True] Translation: X:55.51, Y:0.88, Z:0.35 [[ 9.98797683e-01 -2.76069200e-02 -4.05098376e-02 5.55118101e+01] [ 2.75778076e-02 9.99618844e-01 -1.27739495e-03 8.75709759e-01] [ 4.05296619e-02 1.58686609e-04 9.99178323e-01 3.47757761e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.625336194999996 meters Centerline goodness [0,1] 0.999956771711408 Centerline is valid? [True, True] Translation: X:55.54, Y:0.88, Z:0.35 [[ 9.98836824e-01 -2.76903953e-02 -3.94745644e-02 5.55394683e+01] [ 2.76626949e-02 9.99616536e-01 -1.24785960e-03 8.76871222e-01] [ 3.94939810e-02 1.54435284e-04 9.99219796e-01 3.47696435e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.655336195 meters Centerline goodness [0,1] 0.9999784631288766 Centerline is valid? [True, True] Translation: X:55.57, Y:0.88, Z:0.35 [[ 9.98875281e-01 -2.84859944e-02 -3.79040962e-02 5.55672975e+01] [ 2.84609144e-02 9.99594184e-01 -1.20120251e-03 8.77908297e-01] [ 3.79229315e-02 1.21066256e-04 9.99280660e-01 3.47207552e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.685336195 meters Centerline goodness [0,1] 0.9998055987558321 Centerline is valid? [True, True] Translation: X:55.60, Y:0.87, Z:0.34 [[ 9.98838142e-01 -3.07870186e-02 -3.70746015e-02 5.55958377e+01] [ 3.07644080e-02 9.99525967e-01 -1.18033456e-03 8.73550490e-01] [ 3.70933659e-02 3.83850099e-05 9.99311804e-01 3.43566120e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.715336195 meters Centerline goodness [0,1] 0.9998271764960035 Centerline is valid? [True, True] Translation: X:55.62, Y:0.87, Z:0.34 [[ 9.98794257e-01 -3.23428116e-02 -3.69320190e-02 5.56237421e+01] [ 3.23211868e-02 9.99476834e-01 -1.18258298e-03 8.72559003e-01] [ 3.69509455e-02 -1.25296004e-05 9.99317081e-01 3.44738492e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.74533619499999 meters Centerline goodness [0,1] 0.9999564384039031 Centerline is valid? [True, True] Translation: X:55.65, Y:0.88, Z:0.35 [[ 9.98740486e-01 -3.34626222e-02 -3.73857417e-02 5.56523421e+01] [ 3.34410051e-02 9.99439968e-01 -1.20357171e-03 8.77026921e-01] [ 3.74050792e-02 -4.81609812e-05 9.99300184e-01 3.48368161e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.775336194999994 meters Centerline goodness [0,1] 0.9998264227906876 Centerline is valid? [True, True] Translation: X:55.68, Y:0.89, Z:0.35 [[ 9.98566962e-01 -3.68208516e-02 -3.88361476e-02 5.56801146e+01] [ 3.67998975e-02 9.99321867e-01 -1.25451127e-03 8.86022120e-01] [ 3.88560037e-02 -1.76452741e-04 9.99244805e-01 3.51530738e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.805336194999995 meters Centerline goodness [0,1] 0.999978310378484 Centerline is valid? [True, True] Translation: X:55.71, Y:0.88, Z:0.35 [[ 9.98394964e-01 -3.98032712e-02 -4.02889064e-02 5.57083056e+01] [ 3.97830550e-02 9.99207490e-01 -1.30370880e-03 8.83792175e-01] [ 4.03088689e-02 -3.01199478e-04 9.99187222e-01 3.46614306e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.835336195 meters Centerline goodness [0,1] 0.999869337979094 Centerline is valid? [True, True] Translation: X:55.74, Y:0.88, Z:0.34 [[ 9.98095893e-01 -4.56711569e-02 -4.14576110e-02 5.57383963e+01] [ 4.56547601e-02 9.98956375e-01 -1.34269355e-03 8.76498302e-01] [ 4.14756672e-02 -5.52600362e-04 9.99139361e-01 3.43338943e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.865336195 meters Centerline goodness [0,1] 0.9999350565008442 Centerline is valid? [True, True] Translation: X:55.77, Y:0.88, Z:0.34 [[ 9.98022346e-01 -4.80196317e-02 -4.05649132e-02 5.57683836e+01] [ 4.80058805e-02 9.98846189e-01 -1.31356668e-03 8.75271232e-01] [ 4.05811860e-02 -6.36385480e-04 9.99176042e-01 3.42982259e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.895336195 meters Centerline goodness [0,1] 0.9997616003120868 Centerline is valid? [True, True] Translation: X:55.80, Y:0.88, Z:0.35 [[ 9.97937023e-01 -4.99450626e-02 -4.03384276e-02 5.58003981e+01] [ 4.99331022e-02 9.98751713e-01 -1.30459661e-03 8.77937259e-01] [ 4.03532318e-02 -7.12317572e-04 9.99185223e-01 3.47084661e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.92533619499999 meters Centerline goodness [0,1] 0.9998048907388137 Centerline is valid? [True, True] Translation: X:55.83, Y:0.88, Z:0.34 [[ 9.97765786e-01 -5.21559671e-02 -4.17515423e-02 5.58303524e+01] [ 5.21451039e-02 9.98638606e-01 -1.34993168e-03 8.80141977e-01] [ 4.17651090e-02 -8.30222864e-04 9.99127112e-01 3.44588148e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.955336194999994 meters Centerline goodness [0,1] 0.9999127951339685 Centerline is valid? [True, True] Translation: X:55.86, Y:0.88, Z:0.34 [[ 9.97787600e-01 -5.16151447e-02 -4.19020495e-02 5.58624842e+01] [ 5.16037936e-02 9.98666720e-01 -1.35320055e-03 8.82137141e-01] [ 4.19160280e-02 -8.12097983e-04 9.99120807e-01 3.42288131e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.985336194999995 meters Centerline goodness [0,1] 0.9998488414778984 Centerline is valid? [True, True] Translation: X:55.89, Y:0.88, Z:0.34 [[ 9.97807779e-01 -5.13888327e-02 -4.16992041e-02 5.58938667e+01] [ 5.13774578e-02 9.98678400e-01 -1.34511312e-03 8.80165630e-01] [ 4.17132182e-02 -8.00234763e-04 9.99129304e-01 3.36976628e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.015336194999996 meters Centerline goodness [0,1] 0.9999568137159638 Centerline is valid? [True, True] Translation: X:55.93, Y:0.88, Z:0.34 [[ 9.97805540e-01 -5.13344495e-02 -4.18195939e-02 5.59261114e+01] [ 5.13230380e-02 9.98681196e-01 -1.34715984e-03 8.83320806e-01] [ 4.18335977e-02 -8.02105060e-04 9.99124270e-01 3.41487296e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.045336195 meters Centerline goodness [0,1] 0.9998703235427608 Centerline is valid? [True, True] Translation: X:55.96, Y:0.89, Z:0.35 [[ 9.97809261e-01 -5.16474317e-02 -4.13427225e-02 5.59584279e+01] [ 5.16366265e-02 9.98665054e-01 -1.32988515e-03 8.90669012e-01] [ 4.13562173e-02 -8.07826997e-04 9.99144139e-01 3.48832062e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.075336195 meters Centerline goodness [0,1] 0.9999348619072433 Centerline is valid? [True, True] Translation: X:55.99, Y:0.89, Z:0.35 [[ 9.97821591e-01 -5.18811299e-02 -4.07482626e-02 5.59900540e+01] [ 5.18709060e-02 9.98652941e-01 -1.30884000e-03 8.94414257e-01] [ 4.07612764e-02 -8.07660484e-04 9.99168587e-01 3.52651142e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.105336195 meters Centerline goodness [0,1] 0.9995445574616669 Centerline is valid? [True, True] Translation: X:56.02, Y:0.89, Z:0.34 [[ 9.97800338e-01 -5.24543788e-02 -4.05342329e-02 5.60212751e+01] [ 5.24447965e-02 9.98622978e-01 -1.30044039e-03 8.86241956e-01] [ 4.05466302e-02 -8.28229736e-04 9.99177304e-01 3.43118572e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.135336194999994 meters Centerline goodness [0,1] 0.9999563652230828 Centerline is valid? [True, True] Translation: X:56.05, Y:0.89, Z:0.35 [[ 9.97835126e-01 -5.14829138e-02 -4.09215226e-02 5.60533403e+01] [ 5.14724073e-02 9.98673557e-01 -1.31101083e-03 8.88177594e-01] [ 4.09347372e-02 -7.98156621e-04 9.99161504e-01 3.46003130e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.165336194999995 meters Centerline goodness [0,1] 0.9999563652230828 Centerline is valid? [True, True] Translation: X:56.09, Y:0.89, Z:0.35 [[ 9.97837559e-01 -5.14356781e-02 -4.09215846e-02 5.60850557e+01] [ 5.14252113e-02 9.98675990e-01 -1.30907434e-03 8.89117985e-01] [ 4.09347371e-02 -7.98157588e-04 9.99161504e-01 3.46241579e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.195336194999996 meters Centerline goodness [0,1] 0.9997615486332401 Centerline is valid? [True, True] Translation: X:56.12, Y:0.89, Z:0.34 [[ 9.97914169e-01 -5.00698007e-02 -4.07471069e-02 5.61160823e+01] [ 5.00584168e-02 9.98745445e-01 -1.30026448e-03 8.88726114e-01] [ 4.07610915e-02 -7.42183313e-04 9.99168646e-01 3.41676999e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.225336195 meters Centerline goodness [0,1] 0.9998486060946861 Centerline is valid? [True, True] Translation: X:56.15, Y:0.89, Z:0.34 [[ 9.98062550e-01 -4.77783055e-02 -3.98544723e-02 5.61471168e+01] [ 4.77656435e-02 9.98857762e-01 -1.27040622e-03 8.93449816e-01] [ 3.98696469e-02 -6.35729648e-04 9.99204687e-01 3.44225052e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.255336195 meters Centerline goodness [0,1] 0.9999348421006907 Centerline is valid? [True, True] Translation: X:56.18, Y:0.90, Z:0.34 [[ 9.98022664e-01 -4.52564191e-02 -4.36190195e-02 5.61769462e+01] [ 4.52389208e-02 9.98975231e-01 -1.38869454e-03 8.98723595e-01] [ 4.36371674e-02 -5.87328741e-04 9.99047272e-01 3.40458253e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.285336195 meters Centerline goodness [0,1] 0.9998916928408967 Centerline is valid? [True, True] Translation: X:56.21, Y:0.90, Z:0.35 [[ 9.98005424e-01 -4.48134620e-02 -4.44626433e-02 5.62074641e+01] [ 4.47948555e-02 9.98995204e-01 -1.41522976e-03 9.04176083e-01] [ 4.44813888e-02 -5.79290701e-04 9.99010045e-01 3.47040633e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.31533619499999 meters Centerline goodness [0,1] 0.9997611810681719 Centerline is valid? [True, True] Translation: X:56.24, Y:0.90, Z:0.34 [[ 9.98018086e-01 -4.48981137e-02 -4.40914921e-02 5.62360200e+01] [ 4.48798414e-02 9.98991405e-01 -1.40472192e-03 9.04428208e-01] [ 4.41100910e-02 -5.76881292e-04 9.99026510e-01 3.43351087e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.345336194999994 meters Centerline goodness [0,1] 0.9997839519509139 Centerline is valid? [True, True] Translation: X:56.27, Y:0.90, Z:0.35 [[ 9.98012347e-01 -4.71477854e-02 -4.18143723e-02 5.62660680e+01] [ 4.71332971e-02 9.98887719e-01 -1.33282897e-03 9.02916901e-01] [ 4.18307029e-02 -6.40669463e-04 9.99124508e-01 3.51102566e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.375336194999996 meters Centerline goodness [0,1] 0.9998050640039854 Centerline is valid? [True, True] Translation: X:56.30, Y:0.90, Z:0.35 [[ 9.97978697e-01 -4.83934634e-02 -4.11897130e-02 5.62970897e+01] [ 4.83805094e-02 9.98828116e-01 -1.31183452e-03 8.99433781e-01] [ 4.12049276e-02 -6.83596389e-04 9.99150482e-01 3.48815831e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.405336195 meters Centerline goodness [0,1] 0.9996116085877657 Centerline is valid? [True, True] Translation: X:56.33, Y:0.89, Z:0.33 [[ 9.97704084e-01 -5.17316001e-02 -4.37081437e-02 5.63275794e+01] [ 5.17202604e-02 9.98660643e-01 -1.39099806e-03 8.87371220e-01] [ 4.37215615e-02 -8.72792129e-04 9.99043374e-01 3.34632032e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.435336195 meters Centerline goodness [0,1] 0.9999565368567455 Centerline is valid? [True, True] Translation: X:56.36, Y:0.89, Z:0.34 [[ 9.97626845e-01 -5.32570415e-02 -4.36390412e-02 5.63585092e+01] [ 5.32472391e-02 9.98580395e-01 -1.38780467e-03 8.88586889e-01] [ 4.36510014e-02 -9.39147267e-04 9.99046399e-01 3.42294773e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.465336195 meters Centerline goodness [0,1] 0.9998264905545796 Centerline is valid? [True, True] Translation: X:56.39, Y:0.89, Z:0.35 [[ 9.97646202e-01 -5.43828699e-02 -4.17679095e-02 5.63899405e+01] [ 5.43749155e-02 9.98519708e-01 -1.32732086e-03 8.88451211e-01] [ 4.17782644e-02 -9.46929939e-04 9.99126458e-01 3.47938558e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.49533619499999 meters Centerline goodness [0,1] 0.9997186695232531 Centerline is valid? [True, True] Translation: X:56.42, Y:0.89, Z:0.35 [[ 9.97580747e-01 -5.62866936e-02 -4.07978178e-02 5.64220948e+01] [ 5.62807661e-02 9.98414142e-01 -1.29473242e-03 8.86948312e-01] [ 4.08059945e-02 -1.00453231e-03 9.99166584e-01 3.53571300e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.525336194999994 meters Centerline goodness [0,1] 0.9993940967714013 Centerline is valid? [True, True] Translation: X:56.45, Y:0.88, Z:0.35 [[ 9.97448663e-01 -5.79792846e-02 -4.16481246e-02 5.64534509e+01] [ 5.79746477e-02 9.98317183e-01 -1.32013822e-03 8.82807636e-01] [ 4.16545790e-02 -1.09776524e-03 9.99131468e-01 3.49970942e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.555336194999995 meters Centerline goodness [0,1] 0.9995253915519696 Centerline is valid? [True, True] Translation: X:56.49, Y:0.88, Z:0.35 [[ 9.97303527e-01 -6.07542121e-02 -4.11655362e-02 5.64852996e+01] [ 6.07521488e-02 9.98152033e-01 -1.30225545e-03 8.81974503e-01] [ 4.11685812e-02 -1.20215083e-03 9.99151491e-01 3.54998603e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.585336195 meters Centerline goodness [0,1] 0.9986204815381631 Centerline is valid? [True, True] Translation: X:56.52, Y:0.88, Z:0.35 [[ 9.97268993e-01 -6.12144792e-02 -4.13199984e-02 5.65170785e+01] [ 6.12128656e-02 9.98123881e-01 -1.30543681e-03 8.78077456e-01] [ 4.13223887e-02 -1.22744385e-03 9.99145111e-01 3.51176449e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.615336195 meters Centerline goodness [0,1] 0.997943544895662 Centerline is valid? [True, True] Translation: X:56.55, Y:0.87, Z:0.34 [[ 9.97323643e-01 -6.01888109e-02 -4.15073262e-02 5.65487749e+01] [ 6.01863551e-02 9.98186299e-01 -1.30992623e-03 8.70374121e-01] [ 4.15108872e-02 -1.19175427e-03 9.99137341e-01 3.44358673e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.645336195 meters Centerline goodness [0,1] 0.9975609229640182 Centerline is valid? [True, True] Translation: X:56.58, Y:0.87, Z:0.35 [[ 9.97345019e-01 -6.00463712e-02 -4.11988652e-02 5.65807631e+01] [ 6.00439028e-02 9.98194893e-01 -1.29842614e-03 8.70710895e-01] [ 4.12024627e-02 -1.17876181e-03 9.99150123e-01 3.47604179e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.67533619499999 meters Centerline goodness [0,1] 0.9999566799514815 Centerline is valid? [True, True] Translation: X:56.61, Y:0.88, Z:0.36 [[ 9.97503597e-01 -5.75781007e-02 -4.08819802e-02 5.66115842e+01] [ 5.75736448e-02 9.98340432e-01 -1.28731920e-03 8.80582237e-01] [ 4.08882551e-02 -1.06961907e-03 9.99163153e-01 3.56663779e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.705336194999994 meters Centerline goodness [0,1] 0.9996772944365561 Centerline is valid? [True, True] Translation: X:56.64, Y:0.88, Z:0.35 [[ 9.97519428e-01 -5.60498509e-02 -4.25841011e-02 5.66430762e+01] [ 5.60436871e-02 9.98427419e-01 -1.33949855e-03 8.79894690e-01] [ 4.25922128e-02 -1.05039421e-03 9.99091988e-01 3.49719025e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.735336194999995 meters Centerline goodness [0,1] 0.999848727146994 Centerline is valid? [True, True] Translation: X:56.67, Y:0.88, Z:0.35 [[ 9.97520183e-01 -5.45337439e-02 -4.44921885e-02 5.66747092e+01] [ 5.45255796e-02 9.98511395e-01 -1.39796603e-03 8.81772867e-01] [ 4.45021936e-02 -1.03146304e-03 9.99008754e-01 3.45960965e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.765336194999996 meters Centerline goodness [0,1] 0.9997181632918527 Centerline is valid? [True, True] Translation: X:56.70, Y:0.88, Z:0.34 [[ 9.97637669e-01 -5.24982122e-02 -4.43059695e-02 5.67047364e+01] [ 5.24881404e-02 9.98620578e-01 -1.39143653e-03 8.84462773e-01] [ 4.43179008e-02 -9.37388454e-04 9.99017039e-01 3.43889072e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.795336195 meters Centerline goodness [0,1] 0.9998055609566401 Centerline is valid? [True, True] Translation: X:56.74, Y:0.89, Z:0.35 [[ 9.97694273e-01 -5.22597069e-02 -4.33019738e-02 5.67359464e+01] [ 5.22499015e-02 9.98633116e-01 -1.35897968e-03 8.90916758e-01] [ 4.33138049e-02 -9.06677627e-04 9.99061105e-01 3.50234938e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.825336195 meters Centerline goodness [0,1] 0.9998920086393088 Centerline is valid? [True, True] Translation: X:56.77, Y:0.89, Z:0.35 [[ 9.97632060e-01 -5.37279288e-02 -4.29369625e-02 5.67674479e+01] [ 5.37197074e-02 9.98555147e-01 -1.34610037e-03 8.89969990e-01] [ 4.29472481e-02 -9.63648175e-04 9.99076877e-01 3.47748121e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.855336195 meters Centerline goodness [0,1] 0.9995255246188022 Centerline is valid? [True, True] Translation: X:56.80, Y:0.89, Z:0.35 [[ 9.97546188e-01 -5.49310662e-02 -4.34071440e-02 5.67992725e+01] [ 5.49238871e-02 9.98489619e-01 -1.35888188e-03 8.91353256e-01] [ 4.34162275e-02 -1.02854164e-03 9.99056542e-01 3.50959284e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.885336194999994 meters Centerline goodness [0,1] 0.9989135394711111 Centerline is valid? [True, True] Translation: X:56.83, Y:0.89, Z:0.35 [[ 9.97389735e-01 -5.85517675e-02 -4.22540762e-02 5.68302027e+01] [ 5.85482579e-02 9.98283705e-01 -1.32162268e-03 8.85377163e-01] [ 4.22589390e-02 -1.15572965e-03 9.99106024e-01 3.50387798e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.915336194999995 meters Centerline goodness [0,1] 0.9984096207054313 Centerline is valid? [True, True] Translation: X:56.86, Y:0.88, Z:0.35 [[ 9.97265319e-01 -6.09915320e-02 -4.17362763e-02 5.68625856e+01] [ 6.09903137e-02 9.98137507e-01 -1.30368539e-03 8.83709502e-01] [ 4.17380566e-02 -1.24538836e-03 9.99127811e-01 3.52209252e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.945336194999996 meters Centerline goodness [0,1] 0.9963229694741194 Centerline is valid? [True, True] Translation: X:56.89, Y:0.88, Z:0.35 [[ 9.97088252e-01 -6.33464112e-02 -4.24529089e-02 5.68941592e+01] [ 6.33473316e-02 9.97990661e-01 -1.32492047e-03 8.81349829e-01] [ 4.24515356e-02 -1.36821586e-03 9.99097590e-01 3.51226052e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.975336195 meters Centerline goodness [0,1] 0.9906406709320422 Centerline is valid? [True, True] Translation: X:56.92, Y:0.88, Z:0.35 [[ 9.96593211e-01 -6.88857352e-02 -4.53511656e-02 5.69247048e+01] [ 6.88925336e-02 9.97623084e-01 -1.41492061e-03 8.75208246e-01] [ 4.53408375e-02 -1.71425643e-03 9.98970105e-01 3.48455305e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.005336195 meters Centerline goodness [0,1] 0.976962807684827 Centerline is valid? [True, True] Translation: X:56.96, Y:0.87, Z:0.34 [[ 9.96523993e-01 -6.97332928e-02 -4.55763034e-02 5.69555742e+01] [ 6.97411889e-02 9.97564110e-01 -1.41876842e-03 8.70359640e-01] [ 4.55642200e-02 -1.76470882e-03 9.98959853e-01 3.44715867e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.035336195 meters Centerline goodness [0,1] 0.9722354262996413 Centerline is valid? [True, True] Translation: X:56.99, Y:0.87, Z:0.34 [[ 9.96359052e-01 -7.03093176e-02 -4.82207315e-02 5.69871657e+01] [ 7.03189116e-02 9.97523434e-01 -1.49951748e-03 8.69375513e-01] [ 4.82067398e-02 -1.89677154e-03 9.98835578e-01 3.41328709e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.06533619499999 meters Centerline goodness [0,1] 0.9829972752043596 Centerline is valid? [True, True] Translation: X:57.02, Y:0.87, Z:0.34 [[ 9.96332930e-01 -6.92118042e-02 -5.03032770e-02 5.70189058e+01] [ 6.92209635e-02 9.97600129e-01 -1.56211437e-03 8.73553047e-01] [ 5.02906724e-02 -1.92565532e-03 9.98732767e-01 3.40921712e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.095336194999994 meters Centerline goodness [0,1] 0.9764519145050119 Centerline is valid? [True, True] Translation: X:57.05, Y:0.87, Z:0.34 [[ 9.96369349e-01 -6.79429180e-02 -5.13018590e-02 5.70505566e+01] [ 6.79508655e-02 9.97687400e-01 -1.59124153e-03 8.72994456e-01] [ 5.12913319e-02 -1.90054144e-03 9.98681925e-01 3.37294794e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.125336194999996 meters Centerline goodness [0,1] 0.9937669670974048 Centerline is valid? [True, True] Translation: X:57.08, Y:0.88, Z:0.34 [[ 9.96601787e-01 -6.49423426e-02 -5.06692262e-02 5.70808346e+01] [ 6.49462352e-02 9.97887527e-01 -1.57136028e-03 8.77704212e-01] [ 5.06642367e-02 -1.72475502e-03 9.98714254e-01 3.42356249e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.155336195 meters Centerline goodness [0,1] 0.9897910935350757 Centerline is valid? [True, True] Translation: X:57.11, Y:0.88, Z:0.34 [[ 9.96750148e-01 -6.32745932e-02 -4.98544762e-02 5.71118939e+01] [ 6.32763262e-02 9.97994849e-01 -1.54510821e-03 8.75355651e-01] [ 4.98522766e-02 -1.61452126e-03 9.98755297e-01 3.39691204e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.185336195 meters Centerline goodness [0,1] 0.9995435080320849 Centerline is valid? [True, True] Translation: X:57.14, Y:0.89, Z:0.35 [[ 9.97082602e-01 -5.93259297e-02 -4.80283116e-02 5.71418424e+01] [ 5.93229738e-02 9.98237732e-01 -1.48821487e-03 8.85818644e-01] [ 4.80319626e-02 -1.36530912e-03 9.98844866e-01 3.51123856e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.215336195 meters Centerline goodness [0,1] 0.9995663674602142 Centerline is valid? [True, True] Translation: X:57.17, Y:0.89, Z:0.35 [[ 9.97162978e-01 -5.80953325e-02 -4.78636400e-02 5.71721589e+01] [ 5.80910049e-02 9.98310191e-01 -1.48260832e-03 8.86605523e-01] [ 4.78688922e-02 -1.30204481e-03 9.98852779e-01 3.50332872e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.24533619499999 meters Centerline goodness [0,1] 0.9977835241965275 Centerline is valid? [True, True] Translation: X:57.20, Y:0.88, Z:0.34 [[ 9.97197340e-01 -5.66274159e-02 -4.88958149e-02 5.72027969e+01] [ 5.66211668e-02 9.98394587e-01 -1.51400668e-03 8.83641504e-01] [ 4.89030512e-02 -1.25877466e-03 9.98802737e-01 3.42094118e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.275336194999994 meters Centerline goodness [0,1] 0.9984432095829099 Centerline is valid? [True, True] Translation: X:57.23, Y:0.88, Z:0.34 [[ 9.97278428e-01 -5.63087085e-02 -4.75927209e-02 5.72321051e+01] [ 5.63023850e-02 9.98412674e-01 -1.47447337e-03 8.84001207e-01] [ 4.76002015e-02 -1.20912322e-03 9.98865736e-01 3.44262650e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.305336194999995 meters Centerline goodness [0,1] 0.9997826559443599 Centerline is valid? [True, True] Translation: X:57.26, Y:0.88, Z:0.35 [[ 9.97387380e-01 -5.65639105e-02 -4.49326017e-02 5.72631289e+01] [ 5.65585273e-02 9.98398315e-01 -1.39211974e-03 8.83503846e-01] [ 4.49393776e-02 -1.15283912e-03 9.98989051e-01 3.51671241e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.335336195 meters Centerline goodness [0,1] 0.9993077339102218 Centerline is valid? [True, True] Translation: X:57.29, Y:0.88, Z:0.35 [[ 9.97347991e-01 -5.68670381e-02 -4.54216259e-02 5.72932508e+01] [ 5.68618728e-02 9.98381064e-01 -1.40680661e-03 8.80276817e-01] [ 4.54280921e-02 -1.17968297e-03 9.98966915e-01 3.47374154e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.365336195 meters Centerline goodness [0,1] 0.9987168054981622 Centerline is valid? [True, True] Translation: X:57.32, Y:0.88, Z:0.34 [[ 9.97036424e-01 -5.88573052e-02 -4.95397519e-02 5.73233149e+01] [ 5.88536308e-02 9.98265444e-01 -1.53412900e-03 8.79538492e-01] [ 4.95441171e-02 -1.38601177e-03 9.98770974e-01 3.43625826e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.395336195 meters Centerline goodness [0,1] 0.9980683248686895 Centerline is valid? [True, True] Translation: X:57.35, Y:0.88, Z:0.34 [[ 9.96865376e-01 -6.04808110e-02 -5.10048401e-02 5.73537962e+01] [ 6.04790415e-02 9.98168218e-01 -1.57947559e-03 8.77854201e-01] [ 5.10069383e-02 -1.51019931e-03 9.98697157e-01 3.42276237e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.42533619499999 meters Centerline goodness [0,1] 0.9890986149342421 Centerline is valid? [True, True] Translation: X:57.38, Y:0.87, Z:0.34 [[ 9.96573582e-01 -6.50200825e-02 -5.11222490e-02 5.73832921e+01] [ 6.50242308e-02 9.97882428e-01 -1.58379602e-03 8.68401226e-01] [ 5.11169725e-02 -1.74581565e-03 9.98691147e-01 3.39597647e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.455336194999994 meters Centerline goodness [0,1] 0.992637796985623 Centerline is valid? [True, True] Translation: X:57.41, Y:0.87, Z:0.35 [[ 9.96498159e-01 -6.72304734e-02 -4.97140043e-02 5.74141791e+01] [ 6.72372111e-02 9.97735832e-01 -1.53870593e-03 8.66487407e-01] [ 4.97048914e-02 -1.80931337e-03 9.98762309e-01 3.45036346e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.485336194999995 meters Centerline goodness [0,1] 0.9686882075574195 Centerline is valid? [True, True] Translation: X:57.44, Y:0.86, Z:0.34 [[ 9.96396216e-01 -6.95327065e-02 -4.85775928e-02 5.74448399e+01] [ 6.95419041e-02 9.97577899e-01 -1.50277469e-03 8.55635798e-01] [ 4.85644250e-02 -1.88081928e-03 9.98818281e-01 3.40174317e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.515336194999996 meters Centerline goodness [0,1] 0.9249892008639309 Centerline is valid? [True, False] Translation: X:57.45, Y:0.85, Z:0.34 [[ 9.96422269e-01 -6.92566835e-02 -4.84373104e-02 5.74450822e+01] [ 6.93337148e-02 9.97593518e-01 -9.00366774e-05 8.48299460e-01] [ 4.83269826e-02 -3.26862411e-03 9.98826221e-01 3.39261055e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.545336195 meters Centerline goodness [0,1] 0.8848445314198738 Centerline is valid? [False, False] Translation: X:57.45, Y:0.85, Z:0.34 [[ 9.96421382e-01 -6.90593403e-02 -4.87363960e-02 5.74462997e+01] [ 6.91551563e-02 9.97605877e-01 2.80541972e-04 8.46709772e-01] [ 4.86003410e-02 -3.64991110e-03 9.98811636e-01 3.38964954e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.575336195 meters Centerline goodness [0,1] 0.8986253176102678 Centerline is valid? [False, False] Translation: X:57.45, Y:0.84, Z:0.33 [[ 9.96501782e-01 -6.75578027e-02 -4.91949403e-02 5.74516297e+01] [ 6.77887213e-02 9.97695071e-01 3.03882419e-03 8.36003098e-01] [ 4.88762531e-02 -6.36305581e-03 9.98784573e-01 3.33353203e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.60533619499999 meters Centerline goodness [0,1] 0.9266759472745465 Centerline is valid? [False, False] Translation: X:57.45, Y:0.83, Z:0.33 [[ 9.96520003e-01 -6.71311493e-02 -4.94094462e-02 5.74533703e+01] [ 6.74034801e-02 9.97718316e-01 3.86442236e-03 8.32575136e-01] [ 4.90372864e-02 -7.18134280e-03 9.98771131e-01 3.31705193e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.635336194999994 meters Centerline goodness [0,1] 0.9325113279888463 Centerline is valid? [False, False] Translation: X:57.44, Y:0.84, Z:0.34 [[ 9.96614224e-01 -6.29690747e-02 -5.28676049e-02 5.74448596e+01] [ 6.24853247e-02 9.97987928e-01 -1.07554147e-02 8.37329544e-01] [ 5.34384900e-02 7.41554983e-03 9.98543608e-01 3.43848833e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.665336194999995 meters Centerline goodness [0,1] 0.9743172951885566 Centerline is valid? [False, True] Translation: X:57.45, Y:0.83, Z:0.34 [[ 9.96919045e-01 -5.77940082e-02 -5.30308399e-02 5.74458973e+01] [ 5.76186971e-02 9.98326979e-01 -4.83003965e-03 8.30035249e-01] [ 5.32212656e-02 1.75959061e-03 9.98581194e-01 3.41814655e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.695336194999996 meters Centerline goodness [0,1] 0.9861375844740946 Centerline is valid? [True, True] Translation: X:57.48, Y:0.83, Z:0.34 [[ 9.97365260e-01 -5.15957350e-02 -5.09943041e-02 5.74753746e+01] [ 5.16122682e-02 9.98666705e-01 -9.93430461e-04 8.29346979e-01] [ 5.09775704e-02 -1.64111867e-03 9.98698450e-01 3.40404006e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.725336195 meters Centerline goodness [0,1] 0.9916679258315885 Centerline is valid? [True, True] Translation: X:57.51, Y:0.83, Z:0.34 [[ 9.97534204e-01 -4.90359919e-02 -5.02093901e-02 5.75053239e+01] [ 4.90487529e-02 9.98795906e-01 -9.78686095e-04 8.32339567e-01] [ 5.01969241e-02 -1.48643511e-03 9.98738234e-01 3.41699737e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.755336195 meters Centerline goodness [0,1] 0.9930381929476679 Centerline is valid? [True, True] Translation: X:57.53, Y:0.83, Z:0.34 [[ 9.97752978e-01 -4.65765689e-02 -4.81624050e-02 5.75348744e+01] [ 4.65854131e-02 9.98913869e-01 -9.39444972e-04 8.31185057e-01] [ 4.81538504e-02 -1.30633151e-03 9.98839076e-01 3.38977402e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.785336195 meters Centerline goodness [0,1] 0.9992617201919527 Centerline is valid? [True, True] Translation: X:57.56, Y:0.84, Z:0.35 [[ 9.98063590e-01 -4.28809900e-02 -4.50587556e-02 5.75644084e+01] [ 4.28849253e-02 9.99079631e-01 -8.79766553e-04 8.36422147e-01] [ 4.50550102e-02 -1.05427840e-03 9.98983951e-01 3.46987078e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.81533619499999 meters Centerline goodness [0,1] 0.999502261464217 Centerline is valid? [True, True] Translation: X:57.59, Y:0.84, Z:0.35 [[ 9.98150357e-01 -4.16694282e-02 -4.42665002e-02 5.75924360e+01] [ 4.16719523e-02 9.99130971e-01 -8.66166712e-04 8.42165456e-01] [ 4.42641240e-02 -9.80106871e-04 9.99019383e-01 3.50284352e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.845336194999994 meters Centerline goodness [0,1] 0.9998700623700624 Centerline is valid? [True, True] Translation: X:57.62, Y:0.85, Z:0.36 [[ 9.98155913e-01 -4.24007255e-02 -4.34390685e-02 5.76209690e+01] [ 4.24035581e-02 9.99100197e-01 -8.56623445e-04 8.46449836e-01] [ 4.34363034e-02 -9.86927310e-04 9.99055711e-01 3.57689709e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.875336194999996 meters Centerline goodness [0,1] 0.9998060762766645 Centerline is valid? [True, True] Translation: X:57.65, Y:0.85, Z:0.36 [[ 9.98117561e-01 -4.33752426e-02 -4.33580773e-02 5.76490009e+01] [ 4.33788538e-02 9.99058326e-01 -8.58006949e-04 8.45841345e-01] [ 4.33544643e-02 -1.02443189e-03 9.99059228e-01 3.57131906e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.905336195 meters Centerline goodness [0,1] 0.99881003894418 Centerline is valid? [True, True] Translation: X:57.68, Y:0.85, Z:0.35 [[ 9.97839143e-01 -4.61621997e-02 -4.67557161e-02 5.76787870e+01] [ 4.61694229e-02 9.98933194e-01 -9.26009006e-04 8.46318653e-01] [ 4.67485835e-02 -1.23467640e-03 9.98905924e-01 3.54066795e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.935336195 meters Centerline goodness [0,1] 0.9978692872983432 Centerline is valid? [True, True] Translation: X:57.71, Y:0.85, Z:0.35 [[ 9.97685942e-01 -4.77394831e-02 -4.84118152e-02 5.77091411e+01] [ 4.77490817e-02 9.98858902e-01 -9.58860249e-04 8.48099239e-01] [ 4.84023481e-02 -1.35497833e-03 9.98827000e-01 3.54079316e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.965336195 meters Centerline goodness [0,1] 0.996268089999783 Centerline is valid? [True, True] Translation: X:57.74, Y:0.84, Z:0.35 [[ 9.97504930e-01 -5.06064165e-02 -4.92230196e-02 5.77397613e+01] [ 5.06198259e-02 9.98717519e-01 -9.74927227e-04 8.43698371e-01] [ 4.92092296e-02 -1.51916597e-03 9.98787337e-01 3.50276990e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.99533619499999 meters Centerline goodness [0,1] 0.994936377327193 Centerline is valid? [True, True] Translation: X:57.77, Y:0.84, Z:0.34 [[ 9.97417504e-01 -5.14948603e-02 -5.00659761e-02 5.77698889e+01] [ 5.15097984e-02 9.98671996e-01 -9.92697639e-04 8.36291549e-01] [ 5.00506071e-02 -1.58875433e-03 9.98745419e-01 3.44094473e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.025336194999994 meters Centerline goodness [0,1] 0.983081322299727 Centerline is valid? [True, True] Translation: X:57.80, Y:0.83, Z:0.34 [[ 9.97362452e-01 -5.22500308e-02 -5.03793050e-02 5.77982608e+01] [ 5.22659782e-02 9.98632697e-01 -1.00170184e-03 8.26125109e-01] [ 5.03627602e-02 -1.63406385e-03 9.98729654e-01 3.35458259e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.055336194999995 meters Centerline goodness [0,1] 0.9930642854046556 Centerline is valid? [True, True] Translation: X:57.83, Y:0.82, Z:0.34 [[ 9.97581625e-01 -5.03779390e-02 -4.78849171e-02 5.78286886e+01] [ 5.03901663e-02 9.98729154e-01 -9.52541647e-04 8.24195512e-01] [ 4.78720499e-02 -1.46269089e-03 9.98852405e-01 3.40926560e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.085336195 meters Centerline goodness [0,1] 0.9930642854046556 Centerline is valid? [True, True] Translation: X:57.86, Y:0.82, Z:0.34 [[ 9.97572371e-01 -5.05610092e-02 -4.78847569e-02 5.78560836e+01] [ 5.05730627e-02 9.98719902e-01 -9.60557957e-04 8.24886558e-01] [ 4.78720265e-02 -1.46345274e-03 9.98852405e-01 3.41043440e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.115336195 meters Centerline goodness [0,1] 0.9934636250735343 Centerline is valid? [True, True] Translation: X:57.88, Y:0.83, Z:0.35 [[ 9.97684762e-01 -4.91573065e-02 -4.69965340e-02 5.78848677e+01] [ 4.91672783e-02 9.98790111e-01 -9.44479974e-04 8.28816618e-01] [ 4.69861015e-02 -1.36839839e-03 9.98894606e-01 3.46008187e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.145336195 meters Centerline goodness [0,1] 0.9983232437611602 Centerline is valid? [True, True] Translation: X:57.91, Y:0.84, Z:0.36 [[ 9.97903085e-01 -4.52489705e-02 -4.62813558e-02 5.79142109e+01] [ 4.52543928e-02 9.98975061e-01 -9.31150492e-04 8.42374593e-01] [ 4.62760538e-02 -1.16523671e-03 9.98928010e-01 3.56817727e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.17533619499999 meters Centerline goodness [0,1] 0.9995257291913683 Centerline is valid? [True, True] Translation: X:57.94, Y:0.85, Z:0.36 [[ 9.97970072e-01 -4.27885024e-02 -4.71686173e-02 5.79424426e+01] [ 4.27910562e-02 9.99083586e-01 -9.56079048e-04 8.47315626e-01] [ 4.71663005e-02 -1.06425668e-03 9.98886484e-01 3.59305208e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.205336194999994 meters Centerline goodness [0,1] 0.9999570585077832 Centerline is valid? [True, True] Translation: X:57.97, Y:0.85, Z:0.34 [[ 9.98163445e-01 -3.60366154e-02 -4.86939330e-02 5.79707611e+01] [ 3.60309488e-02 9.99350180e-01 -9.94417592e-04 8.47104853e-01] [ 4.86981262e-02 -7.61897317e-04 9.98813252e-01 3.44894044e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.235336194999995 meters Centerline goodness [0,1] 0.9996324880558618 Centerline is valid? [True, True] Translation: X:58.00, Y:0.85, Z:0.35 [[ 9.98306276e-01 -3.26949563e-02 -4.81208799e-02 5.79994140e+01] [ 3.26854159e-02 9.99465203e-01 -9.85337864e-04 8.50640954e-01] [ 4.81273606e-02 -5.89181996e-04 9.98841033e-01 3.49323609e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.265336194999996 meters Centerline goodness [0,1] 0.9997614193380471 Centerline is valid? [True, True] Translation: X:58.03, Y:0.85, Z:0.35 [[ 9.98512573e-01 -2.90819374e-02 -4.61181294e-02 5.80291993e+01] [ 2.90692676e-02 9.99576952e-01 -9.45511069e-04 8.47423532e-01] [ 4.61261165e-02 -3.96515554e-04 9.98935546e-01 3.53600830e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.295336195 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:58.06, Y:0.85, Z:0.36 [[ 9.98575097e-01 -2.88629854e-02 -4.48854465e-02 5.80583532e+01] [ 2.88504701e-02 9.99583309e-01 -9.26747997e-04 8.46725620e-01] [ 4.48934919e-02 -3.69538761e-04 9.98991711e-01 3.58463725e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.325336195 meters Centerline goodness [0,1] 0.9997603224752152 Centerline is valid? [True, True] Translation: X:58.09, Y:0.85, Z:0.36 [[ 9.98638514e-01 -2.89999309e-02 -4.33603699e-02 5.80866867e+01] [ 2.89882704e-02 9.99579349e-01 -8.97794420e-04 8.47215814e-01] [ 4.33681663e-02 -3.60370042e-04 9.99059093e-01 3.61976527e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.35533619499999 meters Centerline goodness [0,1] 0.9998475908467417 Centerline is valid? [True, True] Translation: X:58.11, Y:0.85, Z:0.37 [[ 9.98623845e-01 -2.96646930e-02 -4.32483872e-02 5.81140721e+01] [ 2.96533825e-02 9.99559834e-01 -9.03171454e-04 8.50988412e-01] [ 4.32561430e-02 -3.80532420e-04 9.99063943e-01 3.68130749e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.385336194999994 meters Centerline goodness [0,1] 0.9999783141413484 Centerline is valid? [True, True] Translation: X:58.14, Y:0.85, Z:0.37 [[ 9.98564873e-01 -3.06841123e-02 -4.38939498e-02 5.81419124e+01] [ 3.06733060e-02 9.99529040e-01 -9.19838410e-04 8.49636869e-01] [ 4.39015019e-02 -4.27854229e-04 9.99035773e-01 3.65930123e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.415336194999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:58.17, Y:0.84, Z:0.36 [[ 9.98457261e-01 -3.31958069e-02 -4.45099494e-02 5.81703570e+01] [ 3.31870716e-02 9.99448720e-01 -9.35388834e-04 8.37498808e-01] [ 4.45164629e-02 -5.43209103e-04 9.99008503e-01 3.58733306e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.445336194999996 meters Centerline goodness [0,1] 0.999934378896253 Centerline is valid? [True, True] Translation: X:58.20, Y:0.83, Z:0.36 [[ 9.98473140e-01 -3.38285656e-02 -4.36694001e-02 5.81991350e+01] [ 3.38204589e-02 9.99427497e-01 -9.24647127e-04 8.34521789e-01] [ 4.36756787e-02 -5.53683831e-04 9.99045609e-01 3.61935392e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.475336195 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:58.23, Y:0.84, Z:0.36 [[ 9.98557846e-01 -3.33991359e-02 -4.20324452e-02 5.82272364e+01] [ 3.33911390e-02 9.99441962e-01 -8.92503907e-04 8.35459766e-01] [ 4.20387984e-02 -5.12294441e-04 9.99115848e-01 3.60930353e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.505336195 meters Centerline goodness [0,1] 0.999978192127358 Centerline is valid? [True, True] Translation: X:58.26, Y:0.84, Z:0.37 [[ 9.98600808e-01 -3.34947717e-02 -4.09209816e-02 5.82560231e+01] [ 3.34870184e-02 9.99438769e-01 -8.75096226e-04 8.37612838e-01] [ 4.09273267e-02 -4.96449865e-04 9.99162003e-01 3.66244202e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.535336195 meters Centerline goodness [0,1] 0.9999131397798093 Centerline is valid? [True, True] Translation: X:58.28, Y:0.84, Z:0.37 [[ 9.98660832e-01 -3.37981642e-02 -3.91692139e-02 5.82835465e+01] [ 3.37911875e-02 9.99428561e-01 -8.40333549e-04 8.36503109e-01] [ 3.91752328e-02 -4.84366050e-04 9.99232239e-01 3.68623863e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.56533619499999 meters Centerline goodness [0,1] 0.999760677066336 Centerline is valid? [True, True] Translation: X:58.31, Y:0.84, Z:0.37 [[ 9.98661379e-01 -3.49143096e-02 -3.81633419e-02 5.83121495e+01] [ 3.49082752e-02 9.99390180e-01 -8.24663521e-04 8.37000589e-01] [ 3.81688617e-02 -5.08656831e-04 9.99271174e-01 3.72272262e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.595336194999994 meters Centerline goodness [0,1] 0.9999784152474692 Centerline is valid? [True, True] Translation: X:58.34, Y:0.84, Z:0.37 [[ 9.98610433e-01 -3.53526661e-02 -3.90818766e-02 5.83399440e+01] [ 3.53465641e-02 9.99374756e-01 -8.47309739e-04 8.36253709e-01] [ 3.90873955e-02 -5.35277711e-04 9.99235652e-01 3.68955979e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.625336194999996 meters Centerline goodness [0,1] 0.9998915260120623 Centerline is valid? [True, True] Translation: X:58.37, Y:0.84, Z:0.37 [[ 9.98591941e-01 -3.58182882e-02 -3.91303674e-02 5.83689747e+01] [ 3.58122941e-02 9.99358169e-01 -8.54340808e-04 8.36494892e-01] [ 3.91358534e-02 -5.48210381e-04 9.99233749e-01 3.66992863e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.655336195 meters Centerline goodness [0,1] 0.9999564403014332 Centerline is valid? [True, True] Translation: X:58.40, Y:0.84, Z:0.37 [[ 9.98583117e-01 -3.61265710e-02 -3.90720964e-02 5.83969591e+01] [ 3.61205442e-02 9.99347070e-01 -8.60389117e-04 8.38738775e-01] [ 3.90776679e-02 -5.52135337e-04 9.99236024e-01 3.68803891e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.685336195 meters Centerline goodness [0,1] 0.9999783113193225 Centerline is valid? [True, True] Translation: X:58.43, Y:0.84, Z:0.37 [[ 9.98497253e-01 -3.87039670e-02 -3.87974000e-02 5.84252542e+01] [ 3.86997147e-02 9.99250515e-01 -8.60885356e-04 8.39809145e-01] [ 3.88016416e-02 -6.41856649e-04 9.99246727e-01 3.70342721e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.715336195 meters Centerline goodness [0,1] 0.9998254418503164 Centerline is valid? [True, True] Translation: X:58.45, Y:0.84, Z:0.37 [[ 9.98408909e-01 -4.16003897e-02 -3.80664833e-02 5.84536817e+01] [ 4.15981600e-02 9.99134060e-01 -8.50950257e-04 8.38448519e-01] [ 3.80689199e-02 -7.33899348e-04 9.99274846e-01 3.72039212e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.74533619499999 meters Centerline goodness [0,1] 0.9998698792045282 Centerline is valid? [True, True] Translation: X:58.48, Y:0.84, Z:0.37 [[ 9.98286099e-01 -4.47628799e-02 -3.76981268e-02 5.84817697e+01] [ 4.47628455e-02 9.98997284e-01 -8.45374135e-04 8.36908655e-01] [ 3.76981676e-02 -8.43550175e-04 9.99288815e-01 3.72956940e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.775336194999994 meters Centerline goodness [0,1] 0.9968393214216603 Centerline is valid? [True, True] Translation: X:58.51, Y:0.83, Z:0.37 [[ 9.97866828e-01 -5.13077549e-02 -4.03646750e-02 5.85117020e+01] [ 5.13130381e-02 9.98682208e-01 -9.05825280e-04 8.30162382e-01] [ 4.03579586e-02 -1.16734111e-03 9.99184604e-01 3.67201151e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.805336194999995 meters Centerline goodness [0,1] 0.9811954042772925 Centerline is valid? [True, True] Translation: X:58.54, Y:0.82, Z:0.37 [[ 9.97602338e-01 -5.62930251e-02 -4.02575649e-02 5.85411518e+01] [ 5.63022996e-02 9.98413358e-01 -9.04242370e-04 8.23719250e-01] [ 4.02445931e-02 -1.36451918e-03 9.99188926e-01 3.65923731e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.835336195 meters Centerline goodness [0,1] 0.9868475401639166 Centerline is valid? [True, True] Translation: X:58.57, Y:0.82, Z:0.37 [[ 9.97533867e-01 -5.77328283e-02 -3.99137251e-02 5.85726398e+01] [ 5.77431239e-02 9.98331072e-01 -8.95799219e-04 8.24815338e-01] [ 3.98988290e-02 -1.41115311e-03 9.99202728e-01 3.68077575e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.865336195 meters Centerline goodness [0,1] 0.979287633243782 Centerline is valid? [True, True] Translation: X:58.60, Y:0.82, Z:0.37 [[ 9.97493399e-01 -5.83654016e-02 -4.00049907e-02 5.86028123e+01] [ 5.83762724e-02 9.98294248e-01 -8.97345644e-04 8.22237416e-01] [ 3.99891260e-02 -1.44024588e-03 9.99199077e-01 3.65700863e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.895336195 meters Centerline goodness [0,1] 0.9880934241744846 Centerline is valid? [True, True] Translation: X:58.63, Y:0.82, Z:0.37 [[ 9.97447261e-01 -5.85185763e-02 -4.09211178e-02 5.86338657e+01] [ 5.85301173e-02 9.98285222e-01 -9.17003553e-04 8.23406281e-01] [ 4.09046089e-02 -1.48045514e-03 9.99161959e-01 3.65898778e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.92533619499999 meters Centerline goodness [0,1] 0.994936653845318 Centerline is valid? [True, True] Translation: X:58.66, Y:0.83, Z:0.37 [[ 9.97501657e-01 -5.72298730e-02 -4.14148077e-02 5.86648700e+01] [ 5.72406262e-02 9.98359981e-01 -9.27093617e-04 8.29549636e-01] [ 4.13999440e-02 -1.44583211e-03 9.99141609e-01 3.68637513e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.955336194999994 meters Centerline goodness [0,1] 0.9927129922548271 Centerline is valid? [True, True] Translation: X:58.70, Y:0.83, Z:0.37 [[ 9.97540763e-01 -5.56467123e-02 -4.26130110e-02 5.86951714e+01] [ 5.56566799e-02 9.98449511e-01 -9.53362987e-04 8.31080619e-01] [ 4.25999915e-02 -1.42068027e-03 9.99091198e-01 3.66133175e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.985336194999995 meters Centerline goodness [0,1] 0.9772560369778392 Centerline is valid? [True, True] Translation: X:58.72, Y:0.83, Z:0.36 [[ 9.97502242e-01 -5.44931263e-02 -4.49419128e-02 5.87249392e+01] [ 5.45030295e-02 9.98513099e-01 -1.00588151e-03 8.29864517e-01] [ 4.49299022e-02 -1.44610134e-03 9.98989095e-01 3.58028883e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.015336194999996 meters Centerline goodness [0,1] 0.9839459962353145 Centerline is valid? [True, True] Translation: X:58.75, Y:0.83, Z:0.35 [[ 9.97552527e-01 -5.19612332e-02 -4.67866051e-02 5.87526443e+01] [ 5.19690773e-02 9.98648143e-01 -1.04954623e-03 8.34193204e-01] [ 4.67778920e-02 -1.38447920e-03 9.98904356e-01 3.52851572e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.045336195 meters Centerline goodness [0,1] 0.9950992136960641 Centerline is valid? [True, True] Translation: X:58.78, Y:0.84, Z:0.36 [[ 9.97593797e-01 -5.09331648e-02 -4.70364676e-02 5.87815609e+01] [ 5.09396224e-02 9.98701170e-01 -1.06215312e-03 8.36239589e-01] [ 4.70294740e-02 -1.33642253e-03 9.98892608e-01 3.55096150e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.075336195 meters Centerline goodness [0,1] 0.996621402118121 Centerline is valid? [True, True] Translation: X:58.81, Y:0.84, Z:0.35 [[ 9.97805964e-01 -4.79792968e-02 -4.56206570e-02 5.88101706e+01] [ 4.79821920e-02 9.98847658e-01 -1.03222733e-03 8.35025452e-01] [ 4.56176119e-02 -1.15901654e-03 9.98958303e-01 3.52166022e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.10533619499999 meters Centerline goodness [0,1] 0.9979338393614476 Centerline is valid? [True, True] Translation: X:58.84, Y:0.84, Z:0.36 [[ 9.97972186e-01 -4.65038182e-02 -4.34616115e-02 5.88386285e+01] [ 4.65050128e-02 9.98917572e-01 -9.84130879e-04 8.37161606e-01] [ 4.34603333e-02 -1.03904755e-03 9.99054613e-01 3.55384308e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.135336194999994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:58.87, Y:0.85, Z:0.37 [[ 9.98345295e-01 -4.17545920e-02 -3.95376468e-02 5.88686277e+01] [ 4.17518168e-02 9.99127611e-01 -8.96256341e-04 8.53255832e-01] [ 3.95405774e-02 -7.55995283e-04 9.99217680e-01 3.74569228e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.165336194999995 meters Centerline goodness [0,1] 0.9999782962561041 Centerline is valid? [True, True] Translation: X:58.90, Y:0.86, Z:0.37 [[ 9.98467288e-01 -3.93868067e-02 -3.88812834e-02 5.88978075e+01] [ 3.93821177e-02 9.99223830e-01 -8.86793422e-04 8.57838288e-01] [ 3.88860329e-02 -6.45793056e-04 9.99243444e-01 3.74719430e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.195336194999996 meters Centerline goodness [0,1] 0.9998696020689805 Centerline is valid? [True, True] Translation: X:58.93, Y:0.86, Z:0.37 [[ 9.98565719e-01 -3.62656308e-02 -3.93866670e-02 5.89265773e+01] [ 3.62581362e-02 9.99342048e-01 -9.04822003e-04 8.58840129e-01] [ 3.93935664e-02 -5.24562901e-04 9.99223635e-01 3.70048975e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.225336195 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:58.95, Y:0.86, Z:0.36 [[ 9.98544541e-01 -3.57775471e-02 -4.03579877e-02 5.89538844e+01] [ 3.57691474e-02 9.99359646e-01 -9.30421730e-04 8.57272522e-01] [ 4.03654326e-02 -5.14503271e-04 9.99184851e-01 3.61915859e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.255336195 meters Centerline goodness [0,1] 0.9999785370879121 Centerline is valid? [True, True] Translation: X:58.98, Y:0.86, Z:0.36 [[ 9.98506744e-01 -3.59991701e-02 -4.10894499e-02 5.89826252e+01] [ 3.59903976e-02 9.99351681e-01 -9.53444624e-04 8.59543488e-01] [ 4.10971340e-02 -5.26804749e-04 9.99155017e-01 3.61673097e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.285336195 meters Centerline goodness [0,1] 0.999913728027607 Centerline is valid? [True, True] Translation: X:59.01, Y:0.87, Z:0.36 [[ 9.98370415e-01 -3.79582137e-02 -4.26108873e-02 5.90115076e+01] [ 3.79504508e-02 9.99279130e-01 -9.91377114e-04 8.65419850e-01] [ 4.26178013e-02 -6.27340799e-04 9.99091252e-01 3.64083577e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.31533619499999 meters Centerline goodness [0,1] 0.9999782599243445 Centerline is valid? [True, True] Translation: X:59.04, Y:0.87, Z:0.37 [[ 9.98257455e-01 -3.93803923e-02 -4.39458668e-02 5.90412205e+01] [ 3.93734618e-02 9.99224040e-01 -1.02359900e-03 8.67104544e-01] [ 4.39520764e-02 -7.08485581e-04 9.99033389e-01 3.65306119e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.345336194999994 meters Centerline goodness [0,1] 0.9999782471558156 Centerline is valid? [True, True] Translation: X:59.07, Y:0.87, Z:0.36 [[ 9.98117564e-01 -4.08111716e-02 -4.57796628e-02 5.90701992e+01] [ 4.08050831e-02 9.99166555e-01 -1.06789063e-03 8.65733224e-01] [ 4.57850899e-02 -8.02162552e-04 9.98950991e-01 3.58772461e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.375336194999996 meters Centerline goodness [0,1] 0.9999563956657291 Centerline is valid? [True, True] Translation: X:59.10, Y:0.87, Z:0.36 [[ 9.98103386e-01 -4.14859418e-02 -4.54812857e-02 5.90984655e+01] [ 4.14802696e-02 9.99138751e-01 -1.06889209e-03 8.68914298e-01] [ 4.54864590e-02 -8.19711175e-04 9.98964619e-01 3.61415126e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.405336195 meters Centerline goodness [0,1] 0.9998689355381288 Centerline is valid? [True, True] Translation: X:59.13, Y:0.88, Z:0.37 [[ 9.98291118e-01 -4.14304886e-02 -4.12111515e-02 5.91290332e+01] [ 4.14257475e-02 9.99141115e-01 -9.69369503e-04 8.76950257e-01] [ 4.12159173e-02 -7.39489789e-04 9.99149989e-01 3.71092764e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.435336195 meters Centerline goodness [0,1] 0.9999564810583806 Centerline is valid? [True, True] Translation: X:59.16, Y:0.88, Z:0.37 [[ 9.98325678e-01 -4.13237479e-02 -4.04745313e-02 5.91571342e+01] [ 4.13189994e-02 9.99145550e-01 -9.54196981e-04 8.78939767e-01] [ 4.04793788e-02 -7.19767786e-04 9.99180115e-01 3.70740116e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.465336195 meters Centerline goodness [0,1] 0.9998920855545723 Centerline is valid? [True, True] Translation: X:59.19, Y:0.88, Z:0.37 [[ 9.98321895e-01 -4.11876438e-02 -4.07059304e-02 5.91851110e+01] [ 4.11826306e-02 9.99151172e-01 -9.62041040e-04 8.79773680e-01] [ 4.07110023e-02 -7.15950663e-04 9.99170707e-01 3.67620597e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.49533619499999 meters Centerline goodness [0,1] 0.9999130699352371 Centerline is valid? [True, True] Translation: X:59.21, Y:0.89, Z:0.37 [[ 9.98364113e-01 -4.10458023e-02 -3.98037782e-02 5.92134310e+01] [ 4.10406502e-02 9.99157029e-01 -9.46885237e-04 8.85811709e-01] [ 3.98090904e-02 -6.88236696e-04 9.99207067e-01 3.70554095e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.525336194999994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:59.24, Y:0.89, Z:0.37 [[ 9.98456477e-01 -4.13110894e-02 -3.71221870e-02 5.92434473e+01] [ 4.13067511e-02 9.99146121e-01 -8.84148538e-04 8.92687232e-01] [ 3.71270143e-02 -6.50613107e-04 9.99310343e-01 3.74930848e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.555336194999995 meters Centerline goodness [0,1] 0.9999134667387777 Centerline is valid? [True, True] Translation: X:59.27, Y:0.90, Z:0.37 [[ 9.98464663e-01 -4.12431277e-02 -3.69772960e-02 5.92720272e+01] [ 4.12387232e-02 9.99148933e-01 -8.82140884e-04 8.95439393e-01] [ 3.69822081e-02 -6.44109974e-04 9.99315717e-01 3.73369230e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.585336195 meters Centerline goodness [0,1] 0.9998474812619836 Centerline is valid? [True, True] Translation: X:59.30, Y:0.90, Z:0.38 [[ 9.98432101e-01 -4.13040042e-02 -3.77798674e-02 5.93017173e+01] [ 4.12994130e-02 9.99146408e-01 -9.02271874e-04 9.00783676e-01] [ 3.77848863e-02 -6.59429145e-04 9.99285679e-01 3.75660022e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.615336195 meters Centerline goodness [0,1] 0.9998053969901401 Centerline is valid? [True, True] Translation: X:59.33, Y:0.90, Z:0.37 [[ 9.98385027e-01 -4.22499142e-02 -3.79773969e-02 5.93305664e+01] [ 4.22459095e-02 9.99106830e-01 -9.08286303e-04 9.03555489e-01] [ 3.79818516e-02 -6.97570226e-04 9.99278186e-01 3.72710044e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.645336195 meters Centerline goodness [0,1] 0.9998698509793714 Centerline is valid? [True, True] Translation: X:59.36, Y:0.91, Z:0.37 [[ 9.98304347e-01 -4.31535123e-02 -3.90666864e-02 5.93594840e+01] [ 4.31499128e-02 9.99068171e-01 -9.35711335e-04 9.05841716e-01] [ 3.90706621e-02 -7.51599418e-04 9.99236168e-01 3.68082272e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.67533619499999 meters Centerline goodness [0,1] 0.9999354672173464 Centerline is valid? [True, True] Translation: X:59.39, Y:0.91, Z:0.37 [[ 9.98198159e-01 -4.44618258e-02 -4.02936891e-02 5.93886662e+01] [ 4.44590058e-02 9.99010742e-01 -9.66499959e-04 9.09256693e-01] [ 4.02968006e-02 -8.26658878e-04 9.99187412e-01 3.69499475e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.705336194999994 meters Centerline goodness [0,1] 0.9995020028147668 Centerline is valid? [True, True] Translation: X:59.42, Y:0.91, Z:0.37 [[ 9.98094460e-01 -4.60644257e-02 -4.10550587e-02 5.94173719e+01] [ 4.60627949e-02 9.98938059e-01 -9.86179581e-04 9.08879276e-01] [ 4.10568884e-02 -9.06810371e-04 9.99156399e-01 3.66357673e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.735336194999995 meters Centerline goodness [0,1] 0.9984687385424978 Centerline is valid? [True, True] Translation: X:59.45, Y:0.91, Z:0.37 [[ 9.97950410e-01 -4.83716932e-02 -4.18946190e-02 5.94471797e+01] [ 4.83719845e-02 9.98828882e-01 -1.00734800e-03 9.09978633e-01] [ 4.18942826e-02 -1.02124251e-03 9.99121527e-01 3.65906409e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.765336194999996 meters Centerline goodness [0,1] 0.9988300545974521 Centerline is valid? [True, True] Translation: X:59.48, Y:0.91, Z:0.37 [[ 9.97934935e-01 -4.90515022e-02 -4.14706642e-02 5.94776537e+01] [ 4.90523698e-02 9.98795710e-01 -9.97249534e-04 9.13080482e-01] [ 4.14696381e-02 -1.03904421e-03 9.99139224e-01 3.69342767e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.795336195 meters Centerline goodness [0,1] 0.9986756117154085 Centerline is valid? [True, True] Translation: X:59.51, Y:0.92, Z:0.37 [[ 9.97953938e-01 -5.00238182e-02 -3.98190193e-02 5.95067638e+01] [ 5.00253999e-02 9.98747487e-01 -9.57278680e-04 9.17514013e-01] [ 3.98170322e-02 -1.03664233e-03 9.99206450e-01 3.73268644e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.825336195 meters Centerline goodness [0,1] 0.9996516134651395 Centerline is valid? [True, True] Translation: X:59.54, Y:0.92, Z:0.38 [[ 9.97997395e-01 -4.93944988e-02 -3.95143412e-02 5.95377563e+01] [ 4.93955979e-02 9.98778841e-01 -9.49081108e-04 9.24948635e-01] [ 3.95129673e-02 -1.00465404e-03 9.99218553e-01 3.79020516e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.85533619499999 meters Centerline goodness [0,1] 0.9995443103897231 Centerline is valid? [True, True] Translation: X:59.57, Y:0.93, Z:0.37 [[ 9.98111784e-01 -4.75024686e-02 -3.89407444e-02 5.95681215e+01] [ 4.75021169e-02 9.98870700e-01 -9.34791009e-04 9.25685739e-01] [ 3.89411734e-02 -9.16741868e-04 9.99241084e-01 3.73481742e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.885336194999994 meters Centerline goodness [0,1] 0.9995870911659241 Centerline is valid? [True, True] Translation: X:59.60, Y:0.94, Z:0.38 [[ 9.98452064e-01 -4.05266703e-02 -3.80928460e-02 5.95980471e+01] [ 4.05212709e-02 9.99178258e-01 -9.14114736e-04 9.41873302e-01] [ 3.80985895e-02 -6.30870786e-04 9.99273786e-01 3.78860564e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.915336194999995 meters Centerline goodness [0,1] 0.9998919059149083 Centerline is valid? [True, True] Translation: X:59.63, Y:0.95, Z:0.37 [[ 9.98635097e-01 -3.38254602e-02 -3.97967435e-02 5.96278024e+01] [ 3.38142498e-02 9.99427678e-01 -9.54967346e-04 9.54004871e-01] [ 3.98062692e-02 -3.92033118e-04 9.99207339e-01 3.69352077e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.945336194999996 meters Centerline goodness [0,1] 0.9999784017278618 Centerline is valid? [True, True] Translation: X:59.66, Y:0.96, Z:0.37 [[ 9.98705698e-01 -3.15448762e-02 -3.98979775e-02 5.96559036e+01] [ 3.15317089e-02 9.99502292e-01 -9.59412888e-04 9.58544722e-01] [ 3.99083845e-02 -2.99880295e-04 9.99203298e-01 3.66629800e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.975336195 meters Centerline goodness [0,1] 0.9999784017278618 Centerline is valid? [True, True] Translation: X:59.68, Y:0.96, Z:0.37 [[ 9.98700005e-01 -3.17248110e-02 -3.98978168e-02 5.96832603e+01] [ 3.17115213e-02 9.99496596e-01 -9.66069471e-04 9.59361139e-01] [ 3.99083805e-02 -3.00406884e-04 9.99203298e-01 3.66746697e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.005336195 meters Centerline goodness [0,1] 0.9998490370721819 Centerline is valid? [True, True] Translation: X:59.71, Y:0.97, Z:0.37 [[ 9.98734700e-01 -3.02765355e-02 -4.01538340e-02 5.97106789e+01] [ 3.02616017e-02 9.99541533e-01 -9.79807973e-04 9.65593275e-01] [ 4.01650900e-02 -2.36551109e-04 9.99193029e-01 3.71155665e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.035336195 meters Centerline goodness [0,1] 0.9997841012133512 Centerline is valid? [True, True] Translation: X:59.74, Y:0.97, Z:0.37 [[ 9.98708291e-01 -2.91316505e-02 -4.16304720e-02 5.97386535e+01] [ 2.91144770e-02 9.99575564e-01 -1.01887926e-03 9.74028151e-01] [ 4.16424842e-02 -1.94486255e-04 9.99132557e-01 3.71317440e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.06533619499999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:59.77, Y:0.98, Z:0.37 [[ 9.98688413e-01 -2.95295207e-02 -4.18265508e-02 5.97675583e+01] [ 2.95122623e-02 9.99563887e-01 -1.03016049e-03 9.77290242e-01] [ 4.18387298e-02 -2.05586791e-04 9.99124356e-01 3.71958626e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.095336194999994 meters Centerline goodness [0,1] 0.9999568472608799 Centerline is valid? [True, True] Translation: X:59.80, Y:0.98, Z:0.37 [[ 9.98660911e-01 -3.04529724e-02 -4.18210517e-02 5.97951395e+01] [ 3.04362007e-02 9.99536173e-01 -1.03783972e-03 9.80819703e-01] [ 4.18332593e-02 -2.36423958e-04 9.99124578e-01 3.72256579e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.125336194999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:59.82, Y:0.98, Z:0.37 [[ 9.98598618e-01 -3.17994454e-02 -4.23036140e-02 5.98233110e+01] [ 3.17833631e-02 9.99494227e-01 -1.05285689e-03 9.80914780e-01] [ 4.23156983e-02 -2.93169688e-04 9.99104247e-01 3.67955521e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.155336195 meters Centerline goodness [0,1] 0.9999353545801279 Centerline is valid? [True, True] Translation: X:59.85, Y:0.98, Z:0.36 [[ 9.98393371e-01 -3.64221455e-02 -4.34062738e-02 5.98524168e+01] [ 3.64095088e-02 9.99336368e-01 -1.08192422e-03 9.77431122e-01] [ 4.34168740e-02 -5.00215141e-04 9.99056918e-01 3.64600654e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.185336195 meters Centerline goodness [0,1] 0.9996973692743347 Centerline is valid? [True, True] Translation: X:59.88, Y:0.97, Z:0.36 [[ 9.98241204e-01 -3.86367240e-02 -4.49633387e-02 5.98812179e+01] [ 3.86253391e-02 9.99253133e-01 -1.12230309e-03 9.74062433e-01] [ 4.49731192e-02 -6.16395010e-04 9.98988007e-01 3.56869511e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.215336195 meters Centerline goodness [0,1] 0.999023331524688 Centerline is valid? [True, True] Translation: X:59.91, Y:0.97, Z:0.35 [[ 9.97983702e-01 -4.07462184e-02 -4.86649397e-02 5.99107188e+01] [ 4.07353562e-02 9.99169232e-01 -1.21537499e-03 9.74688435e-01] [ 4.86740323e-02 -7.69459223e-04 9.98814420e-01 3.46365811e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.24533619499999 meters Centerline goodness [0,1] 0.9998258294870679 Centerline is valid? [True, True] Translation: X:59.94, Y:0.98, Z:0.35 [[ 9.97883560e-01 -4.10210426e-02 -5.04546798e-02 5.99399479e+01] [ 4.10096367e-02 9.99157954e-01 -1.26170013e-03 9.81227096e-01] [ 5.04639510e-02 -8.10098269e-04 9.98725555e-01 3.52790222e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.275336194999994 meters Centerline goodness [0,1] 0.9998687692745128 Centerline is valid? [True, True] Translation: X:59.97, Y:0.99, Z:0.36 [[ 9.97787839e-01 -4.11462834e-02 -5.22150499e-02 5.99697340e+01] [ 4.11341729e-02 9.99152777e-01 -1.30701537e-03 9.86016228e-01] [ 5.22245909e-02 -8.43698847e-04 9.98635009e-01 3.56426949e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.305336194999995 meters Centerline goodness [0,1] 0.9998696417320269 Centerline is valid? [True, True] Translation: X:60.00, Y:0.99, Z:0.35 [[ 9.97751986e-01 -3.87645312e-02 -5.46652169e-02 5.99981105e+01] [ 3.87475837e-02 9.99248091e-01 -1.37025383e-03 9.93133816e-01] [ 5.46772308e-02 -7.50971583e-04 9.98503799e-01 3.46256206e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.335336195 meters Centerline goodness [0,1] 0.9998912523380747 Centerline is valid? [True, True] Translation: X:60.03, Y:1.00, Z:0.35 [[ 9.97981126e-01 -3.67165736e-02 -5.18224320e-02 6.00286099e+01] [ 3.66985660e-02 9.99325536e-01 -1.29930910e-03 9.98733018e-01] [ 5.18351858e-02 -6.05122977e-04 9.98655470e-01 3.51959926e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.365336195 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:60.06, Y:1.00, Z:0.35 [[ 9.98038588e-01 -3.61022255e-02 -5.11430016e-02 6.00569619e+01] [ 3.60835106e-02 9.99347946e-01 -1.28949970e-03 9.98040037e-01] [ 5.11562074e-02 -5.58448585e-04 9.98690508e-01 3.48598837e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.395336195 meters Centerline goodness [0,1] 0.9999567633006896 Centerline is valid? [True, True] Translation: X:60.09, Y:1.00, Z:0.34 [[ 9.98030747e-01 -3.56540488e-02 -5.16083038e-02 6.00851316e+01] [ 3.56342145e-02 9.99364048e-01 -1.30469114e-03 9.97534977e-01] [ 5.16220009e-02 -5.36899494e-04 9.98666551e-01 3.41350163e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.42533619499999 meters Centerline goodness [0,1] 0.9999565849740595 Centerline is valid? [True, True] Translation: X:60.11, Y:1.00, Z:0.33 [[ 9.97862782e-01 -3.57587370e-02 -5.46916878e-02 6.01136419e+01] [ 3.57365693e-02 9.99360287e-01 -1.38355971e-03 1.00456101e+00] [ 5.47061751e-02 -5.73890550e-04 9.98502331e-01 3.33951360e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.455336194999994 meters Centerline goodness [0,1] 0.999761077324066 Centerline is valid? [True, True] Translation: X:60.14, Y:1.01, Z:0.34 [[ 9.97815531e-01 -3.68450757e-02 -5.48325298e-02 6.01421126e+01] [ 3.68239845e-02 9.99320793e-01 -1.39527921e-03 1.00988815e+00] [ 5.48466963e-02 -6.26920960e-04 9.98494590e-01 3.40210165e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.485336194999995 meters Centerline goodness [0,1] 0.9998912499728125 Centerline is valid? [True, True] Translation: X:60.17, Y:1.01, Z:0.34 [[ 9.97788773e-01 -3.77588203e-02 -5.46976811e-02 6.01702378e+01] [ 3.77386530e-02 9.99286660e-01 -1.40190789e-03 1.01184249e+00] [ 5.47115974e-02 -6.65408856e-04 9.98501977e-01 3.41663486e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.515336194999996 meters Centerline goodness [0,1] 0.9997605780950722 Centerline is valid? [True, True] Translation: X:60.20, Y:1.01, Z:0.34 [[ 9.97781557e-01 -3.82260021e-02 -5.45044673e-02 6.01985852e+01] [ 3.82064723e-02 9.99268885e-01 -1.40063870e-03 1.00948312e+00] [ 5.45181590e-02 -6.84891953e-04 9.98512544e-01 3.35372136e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.545336195 meters Centerline goodness [0,1] 0.9998259204456437 Centerline is valid? [True, True] Translation: X:60.23, Y:1.01, Z:0.34 [[ 9.97844615e-01 -3.97923956e-02 -5.21794062e-02 6.02287087e+01] [ 3.97765940e-02 9.99207697e-01 -1.34167601e-03 1.01107612e+00] [ 5.21914528e-02 -7.36734876e-04 9.98636826e-01 3.41507081e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.575336195 meters Centerline goodness [0,1] 0.9996975784675869 Centerline is valid? [True, True] Translation: X:60.26, Y:1.02, Z:0.35 [[ 9.97865325e-01 -4.02124535e-02 -5.14563045e-02 6.02567095e+01] [ 4.01975029e-02 9.99190874e-01 -1.32582764e-03 1.01632100e+00] [ 5.14679847e-02 -7.45417525e-04 9.98674367e-01 3.45594725e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.60533619499999 meters Centerline goodness [0,1] 0.999956429862972 Centerline is valid? [True, True] Translation: X:60.29, Y:1.03, Z:0.35 [[ 9.97937837e-01 -3.87085619e-02 -5.12027415e-02 6.02851631e+01] [ 3.86913845e-02 9.99250327e-01 -1.32700961e-03 1.02689554e+00] [ 5.12157228e-02 -6.56831859e-04 9.98687398e-01 3.47011539e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.635336194999994 meters Centerline goodness [0,1] 0.9997194769323724 Centerline is valid? [True, True] Translation: X:60.31, Y:1.03, Z:0.33 [[ 9.97908679e-01 -3.71770345e-02 -5.28785080e-02 6.03132893e+01] [ 3.71564091e-02 9.99308518e-01 -1.37341649e-03 1.02643723e+00] [ 5.28930031e-02 -5.94231243e-04 9.98600009e-01 3.28112438e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.665336194999995 meters Centerline goodness [0,1] 0.999956390911866 Centerline is valid? [True, True] Translation: X:60.34, Y:1.03, Z:0.33 [[ 9.97873880e-01 -3.71894633e-02 -5.35225438e-02 6.03418715e+01] [ 3.71679067e-02 9.99308056e-01 -1.39842105e-03 1.02695401e+00] [ 5.35375157e-02 -5.93873074e-04 9.98565662e-01 3.32339848e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.695336194999996 meters Centerline goodness [0,1] 0.9998703459601962 Centerline is valid? [True, True] Translation: X:60.37, Y:1.02, Z:0.33 [[ 9.97801871e-01 -3.86804858e-02 -5.38074963e-02 6.03696512e+01] [ 3.86606712e-02 9.99251403e-01 -1.40946265e-03 1.02425901e+00] [ 5.38217349e-02 -6.73869455e-04 9.98550333e-01 3.26736519e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.725336195 meters Centerline goodness [0,1] 0.9993030751807649 Centerline is valid? [True, True] Translation: X:60.40, Y:1.03, Z:0.33 [[ 9.97610805e-01 -4.29087140e-02 -5.41435481e-02 6.03986731e+01] [ 4.28947641e-02 9.99078587e-01 -1.42024577e-03 1.02725765e+00] [ 5.41546005e-02 -9.05622202e-04 9.98532152e-01 3.31922484e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.755336195 meters Centerline goodness [0,1] 0.9984123877253648 Centerline is valid? [True, True] Translation: X:60.43, Y:1.03, Z:0.34 [[ 9.97474171e-01 -4.47692701e-02 -5.51451690e-02 6.04276795e+01] [ 4.47575346e-02 9.98996829e-01 -1.44843452e-03 1.03278750e+00] [ 5.51546943e-02 -1.02338578e-03 9.98477297e-01 3.36238864e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.785336195 meters Centerline goodness [0,1] 0.9855402852862633 Centerline is valid? [True, True] Translation: X:60.46, Y:1.03, Z:0.33 [[ 9.97290464e-01 -4.90179582e-02 -5.48540811e-02 6.04566944e+01] [ 4.90126598e-02 9.98797115e-01 -1.44268276e-03 1.02685139e+00] [ 5.48588153e-02 -1.24977066e-03 9.98493339e-01 3.26536757e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.81533619499999 meters Centerline goodness [0,1] 0.9963911474411931 Centerline is valid? [True, True] Translation: X:60.48, Y:1.03, Z:0.34 [[ 9.97216924e-01 -5.09840520e-02 -5.43970028e-02 6.04849884e+01] [ 5.09812975e-02 9.98698571e-01 -1.43918316e-03 1.02964422e+00] [ 5.43995843e-02 -1.33805198e-03 9.98518350e-01 3.39005258e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.845336194999994 meters Centerline goodness [0,1] 0.989645576719805 Centerline is valid? [True, True] Translation: X:60.51, Y:1.02, Z:0.33 [[ 9.97148731e-01 -5.33117441e-02 -5.34066160e-02 6.05128908e+01] [ 5.33122269e-02 9.98576887e-01 -1.41660400e-03 1.02430017e+00] [ 5.34061340e-02 -1.43466075e-03 9.98571843e-01 3.34928825e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.875336194999996 meters Centerline goodness [0,1] 0.9871895254252033 Centerline is valid? [True, True] Translation: X:60.54, Y:1.03, Z:0.34 [[ 9.97206597e-01 -5.32708335e-02 -5.23566769e-02 6.05403290e+01] [ 5.32710820e-02 9.98579118e-01 -1.39175168e-03 1.02542378e+00] [ 5.23564240e-02 -1.40123287e-03 9.98627479e-01 3.36121170e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.905336195 meters Centerline goodness [0,1] 0.9875622968580715 Centerline is valid? [True, True] Translation: X:60.57, Y:1.03, Z:0.34 [[ 9.97233821e-01 -5.19562979e-02 -5.31530676e-02 6.05675824e+01] [ 5.19545307e-02 9.98648448e-01 -1.41592904e-03 1.03347869e+00] [ 5.31547949e-02 -1.34953036e-03 9.98585373e-01 3.37596094e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.935336195 meters Centerline goodness [0,1] 0.989325224817235 Centerline is valid? [True, True] Translation: X:60.60, Y:1.04, Z:0.34 [[ 9.97238613e-01 -5.06746817e-02 -5.42883536e-02 6.05956316e+01] [ 5.06707031e-02 9.98714361e-01 -1.45060134e-03 1.03984249e+00] [ 5.42920672e-02 -1.30423338e-03 9.98524246e-01 3.36965064e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.965336195 meters Centerline goodness [0,1] 0.9973842532042898 Centerline is valid? [True, True] Translation: X:60.62, Y:1.05, Z:0.34 [[ 9.97382747e-01 -4.74244408e-02 -5.45763522e-02 6.06240795e+01] [ 4.74154120e-02 9.98874188e-01 -1.46099808e-03 1.04998771e+00] [ 5.45841965e-02 -1.13058595e-03 9.98508531e-01 3.37738252e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.99533619499999 meters Centerline goodness [0,1] 0.9964795619010366 Centerline is valid? [True, True] Translation: X:60.65, Y:1.05, Z:0.33 [[ 9.97361317e-01 -4.65010200e-02 -5.57499680e-02 6.06522838e+01] [ 4.64899809e-02 9.98917637e-01 -1.49561475e-03 1.05066014e+00] [ 5.57591739e-02 -1.10014665e-03 9.98443641e-01 3.29485490e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.025336194999994 meters Centerline goodness [0,1] 0.9975033650297426 Centerline is valid? [True, True] Translation: X:60.68, Y:1.06, Z:0.32 [[ 9.97492519e-01 -4.45621671e-02 -5.49807919e-02 6.06819981e+01] [ 4.45484106e-02 9.99006136e-01 -1.47637237e-03 1.05580534e+00] [ 5.49919388e-02 -9.76636498e-04 9.98486321e-01 3.24737914e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.055336194999995 meters Centerline goodness [0,1] 0.9986789674289674 Centerline is valid? [True, True] Translation: X:60.71, Y:1.06, Z:0.33 [[ 9.97479961e-01 -4.42555790e-02 -5.54542343e-02 6.07100753e+01] [ 4.42409420e-02 9.99019776e-01 -1.49214211e-03 1.06290672e+00] [ 5.54659124e-02 -9.64965708e-04 9.98460115e-01 3.29662464e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.085336195 meters Centerline goodness [0,1] 0.9989372315967553 Centerline is valid? [True, True] Translation: X:60.74, Y:1.08, Z:0.34 [[ 9.97552911e-01 -4.38965229e-02 -5.44176992e-02 6.07381636e+01] [ 4.38816634e-02 9.99035657e-01 -1.46846534e-03 1.07979357e+00] [ 5.44296823e-02 -9.23067282e-04 9.98517179e-01 3.40376535e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.115336195 meters Centerline goodness [0,1] 0.9983798846477869 Centerline is valid? [True, True] Translation: X:60.77, Y:1.09, Z:0.34 [[ 9.97642147e-01 -4.38904055e-02 -5.27615286e-02 6.07671325e+01] [ 4.38763500e-02 9.99035953e-01 -1.42522572e-03 1.08629147e+00] [ 5.27732177e-02 -8.93118051e-04 9.98606123e-01 3.44138529e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.145336195 meters Centerline goodness [0,1] 0.998674690942273 Centerline is valid? [True, True] Translation: X:60.79, Y:1.09, Z:0.34 [[ 9.97600765e-01 -4.46160969e-02 -5.29350239e-02 6.07944970e+01] [ 4.46027324e-02 9.99003773e-01 -1.43438418e-03 1.08851819e+00] [ 5.29462852e-02 -9.30103947e-04 9.98596929e-01 3.40045556e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.17533619499999 meters Centerline goodness [0,1] 0.9990871351257362 Centerline is valid? [True, True] Translation: X:60.82, Y:1.09, Z:0.34 [[ 9.97592146e-01 -4.49795229e-02 -5.27897055e-02 6.08224781e+01] [ 4.49662414e-02 9.98987469e-01 -1.43987471e-03 1.08752926e+00] [ 5.28010192e-02 -9.37346942e-04 9.98604613e-01 3.37303790e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.205336194999994 meters Centerline goodness [0,1] 0.9941268598277212 Centerline is valid? [True, True] Translation: X:60.85, Y:1.08, Z:0.33 [[ 9.97587261e-01 -4.63652588e-02 -5.16712683e-02 6.08501373e+01] [ 4.63542078e-02 9.98924067e-01 -1.41288871e-03 1.07951892e+00] [ 5.16811824e-02 -9.85700927e-04 9.98663148e-01 3.25122660e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.235336194999995 meters Centerline goodness [0,1] 0.9984980736161598 Centerline is valid? [True, True] Translation: X:60.88, Y:1.09, Z:0.34 [[ 9.97544198e-01 -4.75087612e-02 -5.14634935e-02 6.08783257e+01] [ 4.74989079e-02 9.98870287e-01 -1.41517829e-03 1.08677880e+00] [ 5.14725879e-02 -1.03275685e-03 9.98673874e-01 3.39273748e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.265336194999996 meters Centerline goodness [0,1] 0.9943361980362571 Centerline is valid? [True, True] Translation: X:60.91, Y:1.09, Z:0.34 [[ 9.97337382e-01 -4.92499208e-02 -5.37828132e-02 6.09076511e+01] [ 4.92415899e-02 9.98785799e-01 -1.48082890e-03 1.09022135e+00] [ 5.37904408e-02 -1.17146522e-03 9.98551559e-01 3.37259693e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.295336195 meters Centerline goodness [0,1] 0.9953447900804873 Centerline is valid? [True, True] Translation: X:60.94, Y:1.09, Z:0.34 [[ 9.97344231e-01 -4.96230889e-02 -5.33107332e-02 6.09364944e+01] [ 4.96150080e-02 9.98767327e-01 -1.47583526e-03 1.09420726e+00] [ 5.33182540e-02 -1.17309668e-03 9.98576881e-01 3.40149633e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.325336195 meters Centerline goodness [0,1] 0.9893066649349525 Centerline is valid? [True, True] Translation: X:60.96, Y:1.10, Z:0.33 [[ 9.97352259e-01 -4.95616670e-02 -5.32175992e-02 6.09640017e+01] [ 4.95533405e-02 9.98770387e-01 -1.47675251e-03 1.09540995e+00] [ 5.32253525e-02 -1.16426736e-03 9.98581848e-01 3.34918724e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.35533619499999 meters Centerline goodness [0,1] 0.993899669024596 Centerline is valid? [True, True] Translation: X:60.99, Y:1.10, Z:0.33 [[ 9.97436018e-01 -4.66015684e-02 -5.43109859e-02 6.09914133e+01] [ 4.65883520e-02 9.98913032e-01 -1.51007532e-03 1.10389377e+00] [ 5.43223234e-02 -1.02405581e-03 9.98522927e-01 3.30768071e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.385336194999994 meters Centerline goodness [0,1] 0.9993304535637149 Centerline is valid? [True, True] Translation: X:61.02, Y:1.12, Z:0.33 [[ 9.97555637e-01 -4.13381710e-02 -5.63374441e-02 6.10196683e+01] [ 4.13150775e-02 9.99144926e-01 -1.57506911e-03 1.11623463e+00] [ 5.63543819e-02 -7.56366797e-04 9.98410543e-01 3.32988617e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.415336194999995 meters Centerline goodness [0,1] 0.9995635379612858 Centerline is valid? [True, True] Translation: X:61.05, Y:1.12, Z:0.34 [[ 9.97742004e-01 -3.78226262e-02 -5.55008248e-02 6.10497095e+01] [ 3.77947069e-02 9.99284318e-01 -1.55296209e-03 1.12457330e+00] [ 5.55198410e-02 -5.48181893e-04 9.98457434e-01 3.37475330e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.445336194999996 meters Centerline goodness [0,1] 0.9998697944923071 Centerline is valid? [True, True] Translation: X:61.08, Y:1.14, Z:0.34 [[ 9.97992564e-01 -3.43353252e-02 -5.32158603e-02 6.10782892e+01] [ 3.43046385e-02 9.99410312e-01 -1.49023184e-03 1.13806882e+00] [ 5.32356472e-02 -3.38310557e-04 9.98581920e-01 3.40235147e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.475336195 meters Centerline goodness [0,1] 0.9998047679993058 Centerline is valid? [True, True] Translation: X:61.11, Y:1.14, Z:0.34 [[ 9.98060846e-01 -3.38206589e-02 -5.22562014e-02 6.11069658e+01] [ 3.37902462e-02 9.99427872e-01 -1.46561477e-03 1.14238730e+00] [ 5.22758722e-02 -3.02977189e-04 9.98632636e-01 3.42765915e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.505336195 meters Centerline goodness [0,1] 0.999804522056428 Centerline is valid? [True, True] Translation: X:61.14, Y:1.14, Z:0.34 [[ 9.98133279e-01 -3.40369175e-02 -5.07094239e-02 6.11359902e+01] [ 3.40081974e-02 9.99420532e-01 -1.42933343e-03 1.14130090e+00] [ 5.07286895e-02 -2.97870828e-04 9.98712427e-01 3.43561436e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.535336195 meters Centerline goodness [0,1] 0.9999567511460946 Centerline is valid? [True, True] Translation: X:61.17, Y:1.13, Z:0.34 [[ 9.98170433e-01 -3.76150341e-02 -4.73380973e-02 6.11658691e+01] [ 3.75939521e-02 9.99292205e-01 -1.33589777e-03 1.13464355e+00] [ 4.73548414e-02 -4.46172510e-04 9.98878031e-01 3.44743708e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.56533619499999 meters Centerline goodness [0,1] 0.9998260037409196 Centerline is valid? [True, True] Translation: X:61.19, Y:1.14, Z:0.35 [[ 9.97978773e-01 -4.21804813e-02 -4.75307849e-02 6.11948644e+01] [ 4.21643227e-02 9.99109787e-01 -1.34297487e-03 1.13889014e+00] [ 4.75451197e-02 -6.63842938e-04 9.98868871e-01 3.54528598e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.595336194999994 meters Centerline goodness [0,1] 0.9982592044564366 Centerline is valid? [True, True] Translation: X:61.22, Y:1.14, Z:0.35 [[ 9.97858300e-01 -4.42879826e-02 -4.81392563e-02 6.12230336e+01] [ 4.42737511e-02 9.99018508e-01 -1.36238708e-03 1.13923976e+00] [ 4.81523454e-02 -7.71836195e-04 9.98839705e-01 3.48129891e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.625336194999996 meters Centerline goodness [0,1] 0.9977591158297798 Centerline is valid? [True, True] Translation: X:61.25, Y:1.14, Z:0.35 [[ 9.97691178e-01 -4.85255686e-02 -4.75140243e-02 6.12524458e+01] [ 4.85164476e-02 9.98821477e-01 -1.34588498e-03 1.13766654e+00] [ 4.75233378e-02 -9.62434101e-04 9.98869664e-01 3.52000252e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.655336195 meters Centerline goodness [0,1] 0.9966332160389244 Centerline is valid? [True, True] Translation: X:61.28, Y:1.13, Z:0.35 [[ 9.97613848e-01 -5.05270203e-02 -4.70492255e-02 6.12842852e+01] [ 5.05203416e-02 9.98722144e-01 -1.33183034e-03 1.13404583e+00] [ 4.70563967e-02 -1.04829055e-03 9.98891684e-01 3.48820483e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.685336195 meters Centerline goodness [0,1] 0.9863436313427684 Centerline is valid? [True, True] Translation: X:61.31, Y:1.13, Z:0.34 [[ 9.97489182e-01 -5.24663144e-02 -4.75669711e-02 6.13143423e+01] [ 5.24616956e-02 9.98622029e-01 -1.34638707e-03 1.12617589e+00] [ 4.75720652e-02 -1.15243742e-03 9.98867144e-01 3.37223586e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.715336195 meters Centerline goodness [0,1] 0.994218648119974 Centerline is valid? [True, True] Translation: X:61.35, Y:1.13, Z:0.34 [[ 9.97409394e-01 -5.31508136e-02 -4.84715603e-02 6.13467023e+01] [ 5.31469251e-02 9.98585764e-01 -1.36994674e-03 1.13133029e+00] [ 4.84758238e-02 -1.20971663e-03 9.98823624e-01 3.42567930e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.74533619499999 meters Centerline goodness [0,1] 0.9887287988923503 Centerline is valid? [True, True] Translation: X:61.38, Y:1.14, Z:0.34 [[ 9.97660728e-01 -5.07309046e-02 -4.58197279e-02 6.13758204e+01] [ 5.07248691e-02 9.98711825e-01 -1.29517462e-03 1.13593493e+00] [ 4.58264095e-02 -1.03205485e-03 9.98948885e-01 3.39378627e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.775336194999994 meters Centerline goodness [0,1] 0.9978582091166736 Centerline is valid? [True, True] Translation: X:61.41, Y:1.15, Z:0.35 [[ 9.97787023e-01 -4.83103647e-02 -4.56854986e-02 6.14070231e+01] [ 4.83018714e-02 9.98831950e-01 -1.29045991e-03 1.15081994e+00] [ 4.56944782e-02 -9.19090923e-04 9.98955039e-01 3.52610468e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.805336194999995 meters Centerline goodness [0,1] 0.9989412044339765 Centerline is valid? [True, True] Translation: X:61.44, Y:1.17, Z:0.36 [[ 9.97858629e-01 -4.49935888e-02 -4.74734997e-02 6.14388747e+01] [ 4.49807686e-02 9.98986956e-01 -1.33885740e-03 1.16849747e+00] [ 4.74856469e-02 -7.99404093e-04 9.98871601e-01 3.56664654e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.835336195 meters Centerline goodness [0,1] 0.9988093434070098 Centerline is valid? [True, True] Translation: X:61.47, Y:1.17, Z:0.35 [[ 9.97751773e-01 -4.52464567e-02 -4.94384137e-02 6.14684890e+01] [ 4.52328749e-02 9.98975497e-01 -1.39406651e-03 1.17255600e+00] [ 4.94508405e-02 -8.45309247e-04 9.98776201e-01 3.51928322e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.865336195 meters Centerline goodness [0,1] 0.9929383732264703 Centerline is valid? [True, True] Translation: X:61.50, Y:1.17, Z:0.33 [[ 9.97684807e-01 -4.50820457e-02 -5.09179305e-02 6.14973719e+01] [ 4.50673455e-02 9.98982917e-01 -1.43736346e-03 1.16922781e+00] [ 5.09309420e-02 -8.60700282e-04 9.98701807e-01 3.28689629e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.895336195 meters Centerline goodness [0,1] 0.9929383732264703 Centerline is valid? [True, True] Translation: X:61.52, Y:1.17, Z:0.33 [[ 9.97677377e-01 -4.52464212e-02 -5.09177091e-02 6.15247259e+01] [ 4.52315359e-02 9.98975485e-01 -1.44518494e-03 1.17017250e+00] [ 5.09309325e-02 -8.61257869e-04 9.98701807e-01 3.28806482e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.92533619499999 meters Centerline goodness [0,1] 0.998587632002086 Centerline is valid? [True, True] Translation: X:61.55, Y:1.18, Z:0.34 [[ 9.97594474e-01 -4.63190717e-02 -5.15733280e-02 6.15542700e+01] [ 4.63051397e-02 9.98926267e-01 -1.46559916e-03 1.17818901e+00] [ 5.15858372e-02 -9.26036535e-04 9.98668135e-01 3.44574284e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.955336194999994 meters Centerline goodness [0,1] 0.9951829188907695 Centerline is valid? [True, True] Translation: X:61.58, Y:1.18, Z:0.33 [[ 9.97573344e-01 -4.67363713e-02 -5.16055641e-02 6.15828345e+01] [ 4.67228675e-02 9.98906811e-01 -1.46868618e-03 1.17572592e+00] [ 5.16177905e-02 -9.46037751e-04 9.98666465e-01 3.32437674e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.985336194999995 meters Centerline goodness [0,1] 0.9988240418118467 Centerline is valid? [True, True] Translation: X:61.61, Y:1.19, Z:0.35 [[ 9.97630888e-01 -4.73687500e-02 -4.98880043e-02 6.16129882e+01] [ 4.73569096e-02 9.98877023e-01 -1.41998487e-03 1.18929826e+00] [ 4.98992441e-02 -9.45920948e-04 9.98753809e-01 3.52842316e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.015336194999996 meters Centerline goodness [0,1] 0.9962355588248021 Centerline is valid? [True, True] Translation: X:61.64, Y:1.20, Z:0.35 [[ 9.97720577e-01 -4.85486207e-02 -4.68687785e-02 6.16428284e+01] [ 4.85394683e-02 9.98820374e-01 -1.33404727e-03 1.19686544e+00] [ 4.68782570e-02 -9.43979171e-04 9.98900164e-01 3.54501579e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.045336195 meters Centerline goodness [0,1] 0.9971588444521559 Centerline is valid? [True, True] Translation: X:61.67, Y:1.20, Z:0.35 [[ 9.97730212e-01 -4.87143470e-02 -4.64901655e-02 6.16748561e+01] [ 4.87056099e-02 9.98812303e-01 -1.32136824e-03 1.19959158e+00] [ 4.64993189e-02 -9.45962850e-04 9.98917874e-01 3.54574721e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.075336195 meters Centerline goodness [0,1] 0.9978561219628395 Centerline is valid? [True, True] Translation: X:61.71, Y:1.20, Z:0.35 [[ 9.97746246e-01 -4.86829895e-02 -4.61778620e-02 6.17076087e+01] [ 4.86744558e-02 9.98813837e-01 -1.30989193e-03 1.20008415e+00] [ 4.61868570e-02 -9.40742541e-04 9.98932375e-01 3.52105542e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.10533619499999 meters Centerline goodness [0,1] 0.9879481641468683 Centerline is valid? [True, True] Translation: X:61.74, Y:1.20, Z:0.34 [[ 9.97662791e-01 -4.93690318e-02 -4.72403901e-02 6.17386872e+01] [ 4.93609287e-02 9.98780109e-01 -1.33879416e-03 1.19643744e+00] [ 4.72488570e-02 -9.96164414e-04 9.98882652e-01 3.35411541e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.135336194999994 meters Centerline goodness [0,1] 0.9986843807962731 Centerline is valid? [True, True] Translation: X:61.77, Y:1.22, Z:0.36 [[ 9.97727757e-01 -4.75588990e-02 -4.77228907e-02 6.17699726e+01] [ 4.75486618e-02 9.98868010e-01 -1.35036156e-03 1.22297504e+00] [ 4.77330906e-02 -9.21866383e-04 9.98859701e-01 3.60167637e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.165336194999995 meters Centerline goodness [0,1] 0.9986327828294885 Centerline is valid? [True, True] Translation: X:61.80, Y:1.23, Z:0.36 [[ 9.97776339e-01 -4.64604849e-02 -4.77891291e-02 6.18006916e+01] [ 4.64490418e-02 9.98919748e-01 -1.35053677e-03 1.23073097e+00] [ 4.78002514e-02 -8.72225620e-04 9.98856534e-01 3.61457791e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.195336194999996 meters Centerline goodness [0,1] 0.9993713146028442 Centerline is valid? [True, True] Translation: X:61.83, Y:1.24, Z:0.36 [[ 9.97842362e-01 -4.64431413e-02 -4.64074924e-02 6.18317646e+01] [ 4.64323834e-02 9.98920576e-01 -1.31035656e-03 1.23553225e+00] [ 4.64182561e-02 -8.47281192e-04 9.98921732e-01 3.59623359e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.225336195 meters Centerline goodness [0,1] 0.9987363834422658 Centerline is valid? [True, True] Translation: X:61.86, Y:1.23, Z:0.35 [[ 9.97849175e-01 -4.69584824e-02 -4.57375562e-02 6.18629895e+01] [ 4.69486444e-02 9.98896472e-01 -1.28988811e-03 1.23110869e+00] [ 4.57476547e-02 -8.60202475e-04 9.98952658e-01 3.50208069e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.255336195 meters Centerline goodness [0,1] 0.9989346436491716 Centerline is valid? [True, True] Translation: X:61.89, Y:1.23, Z:0.35 [[ 9.97802239e-01 -4.84198233e-02 -4.52350709e-02 6.18948507e+01] [ 4.84117933e-02 9.98826650e-01 -1.27365853e-03 1.22938290e+00] [ 4.52436646e-02 -9.19051568e-04 9.98975558e-01 3.48496454e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.285336195 meters Centerline goodness [0,1] 0.9967925639850757 Centerline is valid? [True, True] Translation: X:61.93, Y:1.23, Z:0.35 [[ 9.97706447e-01 -5.10328452e-02 -4.44690164e-02 6.19259493e+01] [ 5.10277480e-02 9.98696453e-01 -1.25049577e-03 1.23130173e+00] [ 4.44748653e-02 -1.02152607e-03 9.99009981e-01 3.48794316e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.31533619499999 meters Centerline goodness [0,1] 0.9939092630853994 Centerline is valid? [True, True] Translation: X:61.96, Y:1.24, Z:0.36 [[ 9.97664500e-01 -5.49401525e-02 -4.05847797e-02 6.19575910e+01] [ 5.49392061e-02 9.98489051e-01 -1.13947115e-03 1.24190282e+00] [ 4.05860609e-02 -1.09288566e-03 9.99175449e-01 3.64664092e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.345336194999994 meters Centerline goodness [0,1] 0.9927760577915377 Centerline is valid? [True, True] Translation: X:61.99, Y:1.24, Z:0.37 [[ 9.97671302e-01 -5.62798917e-02 -3.85298282e-02 6.19884145e+01] [ 5.62802365e-02 9.98414431e-01 -1.07654907e-03 1.24447825e+00] [ 3.85293246e-02 -1.09442573e-03 9.99256871e-01 3.68861309e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.375336194999996 meters Centerline goodness [0,1] 0.9883888757243489 Centerline is valid? [True, True] Translation: X:62.02, Y:1.24, Z:0.36 [[ 9.97722111e-01 -5.63022365e-02 -3.71570614e-02 6.20195902e+01] [ 5.63027727e-02 9.98413207e-01 -1.03278517e-03 1.24240626e+00] [ 3.71562489e-02 -1.06161298e-03 9.99308904e-01 3.63371690e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.405336195 meters Centerline goodness [0,1] 0.9940106813120284 Centerline is valid? [True, True] Translation: X:62.05, Y:1.25, Z:0.36 [[ 9.97757236e-01 -5.51026975e-02 -3.80024998e-02 6.20520064e+01] [ 5.51024719e-02 9.98480148e-01 -1.05412590e-03 1.24850951e+00] [ 3.80028269e-02 -1.04226993e-03 9.99277088e-01 3.64841839e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.435336195 meters Centerline goodness [0,1] 0.9973201357221586 Centerline is valid? [True, True] Translation: X:62.08, Y:1.27, Z:0.37 [[ 9.97803993e-01 -5.23295964e-02 -4.06054791e-02 6.20840277e+01] [ 5.23271234e-02 9.98629365e-01 -1.12445263e-03 1.26502770e+00] [ 4.06086660e-02 -1.00278460e-03 9.99174625e-01 3.67277736e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.465336195 meters Centerline goodness [0,1] 0.9981969848372941 Centerline is valid? [True, True] Translation: X:62.12, Y:1.27, Z:0.37 [[ 9.97891845e-01 -5.05122254e-02 -4.07477739e-02 6.21162785e+01] [ 5.05082977e-02 9.98723006e-01 -1.12652245e-03 1.27108122e+00] [ 4.07526424e-02 -9.33953124e-04 9.99168830e-01 3.66015496e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.49533619499999 meters Centerline goodness [0,1] 0.9988092918533914 Centerline is valid? [True, True] Translation: X:62.15, Y:1.28, Z:0.36 [[ 9.97870650e-01 -4.86862751e-02 -4.34029139e-02 6.21478586e+01] [ 4.86801627e-02 9.98813699e-01 -1.19837370e-03 1.27835092e+00] [ 4.34097694e-02 -9.17038969e-04 9.99056931e-01 3.60664392e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.525336194999994 meters Centerline goodness [0,1] 0.9996736647449146 Centerline is valid? [True, True] Translation: X:62.18, Y:1.28, Z:0.36 [[ 9.97857869e-01 -4.82265271e-02 -4.42026682e-02 6.21800058e+01] [ 4.82198280e-02 9.98836004e-01 -1.21840749e-03 1.28417750e+00] [ 4.42099760e-02 -9.15647552e-04 9.99021841e-01 3.64280132e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.555336194999995 meters Centerline goodness [0,1] 0.9965558066946507 Centerline is valid? [True, True] Translation: X:62.21, Y:1.28, Z:0.36 [[ 9.97828309e-01 -5.15656971e-02 -4.09834664e-02 6.22116710e+01] [ 5.15628108e-02 9.98669116e-01 -1.12818156e-03 1.28008825e+00] [ 4.09870976e-02 -9.87491223e-04 9.99159188e-01 3.59929412e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.585336195 meters Centerline goodness [0,1] 0.9973619340051031 Centerline is valid? [True, True] Translation: X:62.24, Y:1.28, Z:0.37 [[ 9.97797611e-01 -5.32260577e-02 -3.95842761e-02 6.22436471e+01] [ 5.32247395e-02 9.98581966e-01 -1.08789383e-03 1.28212028e+00] [ 3.95860485e-02 -1.02136492e-03 9.99215643e-01 3.65659874e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.615336195 meters Centerline goodness [0,1] 0.9899151662049861 Centerline is valid? [True, True] Translation: X:62.27, Y:1.29, Z:0.37 [[ 9.97691410e-01 -5.57570847e-02 -3.87685223e-02 6.22743873e+01] [ 5.57577663e-02 9.98443758e-01 -1.06449200e-03 1.28530896e+00] [ 3.87675421e-02 -1.09961168e-03 9.99247651e-01 3.68354458e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.645336195 meters Centerline goodness [0,1] 0.9930982258762441 Centerline is valid? [True, True] Translation: X:62.31, Y:1.29, Z:0.37 [[ 9.97619639e-01 -5.67135020e-02 -3.92254436e-02 6.23063341e+01] [ 5.67151549e-02 9.98389825e-01 -1.07152321e-03 1.29072096e+00] [ 3.92230536e-02 -1.15570451e-03 9.99229812e-01 3.70418251e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.67533619499999 meters Centerline goodness [0,1] 0.9830180151094466 Centerline is valid? [True, True] Translation: X:62.34, Y:1.29, Z:0.36 [[ 9.97265082e-01 -5.92710310e-02 -4.41508928e-02 6.23362316e+01] [ 5.92757511e-02 9.98240921e-01 -1.20341548e-03 1.29196572e+00] [ 4.41445556e-02 -1.41695310e-03 9.99024149e-01 3.58143809e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.705336194999994 meters Centerline goodness [0,1] 0.9819408698661245 Centerline is valid? [True, True] Translation: X:62.37, Y:1.30, Z:0.36 [[ 9.97175945e-01 -5.99152444e-02 -4.52802250e-02 6.23681440e+01] [ 5.99209680e-02 9.98202364e-01 -1.23212221e-03 1.29537626e+00] [ 4.52726506e-02 -1.48459229e-03 9.98973565e-01 3.56681071e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.735336194999995 meters Centerline goodness [0,1] 0.9868126128870803 Centerline is valid? [True, True] Translation: X:62.40, Y:1.31, Z:0.36 [[ 9.97255173e-01 -5.84307793e-02 -4.54748719e-02 6.24004057e+01] [ 5.84351060e-02 9.98290445e-01 -1.23534076e-03 1.30652752e+00] [ 4.54693120e-02 -1.42537900e-03 9.98964719e-01 3.58878761e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.765336194999996 meters Centerline goodness [0,1] 0.9862028506865983 Centerline is valid? [True, True] Translation: X:62.43, Y:1.31, Z:0.36 [[ 9.97154506e-01 -5.84001654e-02 -4.76687720e-02 6.24318906e+01] [ 5.84049455e-02 9.98292136e-01 -1.29374565e-03 1.31148220e+00] [ 4.76629151e-02 -1.49402772e-03 9.98862360e-01 3.55247296e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.795336195 meters Centerline goodness [0,1] 0.9783118915159944 Centerline is valid? [True, True] Translation: X:62.46, Y:1.32, Z:0.34 [[ 9.96854872e-01 -5.94059357e-02 -5.24528296e-02 6.24613701e+01] [ 5.94132591e-02 9.98232461e-01 -1.42101995e-03 1.31701850e+00] [ 5.24445342e-02 -1.69984290e-03 9.98622392e-01 3.44441115e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.825336195 meters Centerline goodness [0,1] 0.972874136855465 Centerline is valid? [True, True] Translation: X:62.49, Y:1.32, Z:0.34 [[ 9.96832945e-01 -5.98804297e-02 -5.23298618e-02 6.24923033e+01] [ 5.98884679e-02 9.98204071e-01 -1.41584304e-03 1.31988641e+00] [ 5.23206623e-02 -1.72259626e-03 9.98628850e-01 3.42276779e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.85533619499999 meters Centerline goodness [0,1] 0.9822920725635363 Centerline is valid? [True, True] Translation: X:62.52, Y:1.33, Z:0.35 [[ 9.96945179e-01 -6.11500990e-02 -4.85898682e-02 6.25231436e+01] [ 6.11585579e-02 9.98127198e-01 -1.31400839e-03 1.32723649e+00] [ 4.85792207e-02 -1.66169194e-03 9.98817950e-01 3.50430345e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.885336194999994 meters Centerline goodness [0,1] 0.9768386746333514 Centerline is valid? [True, True] Translation: X:62.55, Y:1.33, Z:0.35 [[ 9.96999219e-01 -6.17460354e-02 -4.66903001e-02 6.25539921e+01] [ 6.17545423e-02 9.98090569e-01 -1.26161656e-03 1.32797827e+00] [ 4.66790481e-02 -1.62550738e-03 9.98908617e-01 3.51713378e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.915336194999995 meters Centerline goodness [0,1] 0.9550959607953197 Centerline is valid? [True, True] Translation: X:62.58, Y:1.33, Z:0.36 [[ 9.97079491e-01 -6.25651447e-02 -4.37960119e-02 6.25846466e+01] [ 6.25734570e-02 9.98039661e-01 -1.18241704e-03 1.33138464e+00] [ 4.37841350e-02 -1.56150409e-03 9.99039795e-01 3.55703856e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.945336194999996 meters Centerline goodness [0,1] 0.9800038827412153 Centerline is valid? [True, True] Translation: X:62.62, Y:1.35, Z:0.36 [[ 9.97164762e-01 -6.18227402e-02 -4.28997251e-02 6.26153586e+01] [ 6.18300705e-02 9.98086020e-01 -1.15723799e-03 1.34580887e+00] [ 4.28891595e-02 -1.49853608e-03 9.99078713e-01 3.64083144e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.975336195 meters Centerline goodness [0,1] 0.9802823600631311 Centerline is valid? [True, True] Translation: X:62.65, Y:1.35, Z:0.37 [[ 9.97259386e-01 -6.08886707e-02 -4.20272223e-02 6.26460878e+01] [ 6.08949167e-02 9.98143540e-01 -1.13274472e-03 1.35152698e+00] [ 4.20181718e-02 -1.42960390e-03 9.99115824e-01 3.66958125e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.005336195 meters Centerline goodness [0,1] 0.9828630331142894 Centerline is valid? [True, True] Translation: X:62.68, Y:1.36, Z:0.37 [[ 9.97414747e-01 -6.06530770e-02 -3.85360317e-02 6.26763111e+01] [ 6.06581523e-02 9.98158059e-01 -1.03855880e-03 1.35716539e+00] [ 3.85280424e-02 -1.30165062e-03 9.99256672e-01 3.73807541e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.035336195 meters Centerline goodness [0,1] 0.9864211389836363 Centerline is valid? [True, True] Translation: X:62.71, Y:1.36, Z:0.38 [[ 9.97525129e-01 -6.21894615e-02 -3.28037792e-02 6.27071002e+01] [ 6.21939752e-02 9.98063690e-01 -8.83748754e-04 1.35805451e+00] [ 3.27952208e-02 -1.15863584e-03 9.99461420e-01 3.77382228e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.06533619499999 meters Centerline goodness [0,1] 0.9878553027514991 Centerline is valid? [True, True] Translation: X:62.74, Y:1.36, Z:0.38 [[ 9.97402045e-01 -6.39461764e-02 -3.31669621e-02 6.27391214e+01] [ 6.39518063e-02 9.97952589e-01 -8.92149129e-04 1.36111890e+00] [ 3.31561052e-02 -1.23125577e-03 9.99449427e-01 3.79653776e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.095336194999994 meters Centerline goodness [0,1] 0.9725899763818768 Centerline is valid? [True, True] Translation: X:62.77, Y:1.37, Z:0.38 [[ 9.97034990e-01 -6.82480825e-02 -3.55447353e-02 6.27704604e+01] [ 6.82573062e-02 9.97667293e-01 -9.55333069e-04 1.36531919e+00] [ 3.55270195e-02 -1.47368739e-03 9.99367630e-01 3.80320053e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.125336194999996 meters Centerline goodness [0,1] 0.9378602071326428 Centerline is valid? [True, False] Translation: X:62.78, Y:1.36, Z:0.37 [[ 9.97051074e-01 -6.76773685e-02 -3.61791357e-02 6.27758516e+01] [ 6.77186502e-02 9.97704454e-01 -8.45542936e-05 1.36480720e+00] [ 3.61018072e-02 -2.36569728e-03 9.99345317e-01 3.74860385e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.155336195 meters Centerline goodness [0,1] 0.9109435588108574 Centerline is valid? [False, False] Translation: X:62.78, Y:1.36, Z:0.37 [[ 9.97073458e-01 -6.70889045e-02 -3.66551308e-02 6.27798720e+01] [ 6.71609507e-02 9.97741883e-01 7.36362179e-04 1.36347507e+00] [ 3.65229575e-02 -3.19600061e-03 9.99327704e-01 3.71016991e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.185336195 meters Centerline goodness [0,1] 0.9133610785971301 Centerline is valid? [False, False] Translation: X:62.78, Y:1.37, Z:0.37 [[ 9.97043778e-01 -6.72867560e-02 -3.70971372e-02 6.27819430e+01] [ 6.73351293e-02 9.97730413e-01 5.46871518e-05 1.36840704e+00] [ 3.70092623e-02 -2.55246602e-03 9.99311663e-01 3.69941671e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.215336195 meters Centerline goodness [0,1] 0.8898618408250633 Centerline is valid? [False, False] Translation: X:62.78, Y:1.37, Z:0.37 [[ 9.97309260e-01 -6.32167891e-02 -3.71197762e-02 6.27819655e+01] [ 6.34278012e-02 9.97976132e-01 4.53361387e-03 1.36685129e+00] [ 3.67580502e-02 -6.87584087e-03 9.99300540e-01 3.67951668e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.24533619499999 meters Centerline goodness [0,1] 0.8973686492110282 Centerline is valid? [False, False] Translation: X:62.78, Y:1.37, Z:0.37 [[ 9.97287730e-01 -6.35349365e-02 -3.71550060e-02 6.27821079e+01] [ 6.37237807e-02 9.97959878e-01 3.91944930e-03 1.37006146e+00] [ 3.68301833e-02 -6.27647616e-03 9.99301828e-01 3.67808829e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.275336194999994 meters Centerline goodness [0,1] 0.8764309473411378 Centerline is valid? [False, False] Translation: X:62.78, Y:1.37, Z:0.37 [[ 9.97278768e-01 -6.37254367e-02 -3.70692320e-02 6.27815848e+01] [ 6.39034629e-02 9.97949459e-01 3.63648155e-03 1.37114879e+00] [ 3.67614837e-02 -5.99543813e-03 9.99306083e-01 3.68168660e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.305336194999995 meters Centerline goodness [0,1] 0.8546695665281336 Centerline is valid? [False, False] Translation: X:62.78, Y:1.37, Z:0.37 [[ 9.97255098e-01 -6.41431928e-02 -3.69854041e-02 6.27803921e+01] [ 6.42919857e-02 9.97927070e-01 2.84658397e-03 1.37436043e+00] [ 3.67261470e-02 -5.21663545e-03 9.99311752e-01 3.69611167e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.335336195 meters Centerline goodness [0,1] 0.8867323039555864 Centerline is valid? [False, False] Translation: X:62.75, Y:1.38, Z:0.37 [[ 9.97332038e-01 -6.04719293e-02 -4.08895101e-02 6.27503654e+01] [ 6.03881946e-02 9.98169575e-01 -3.28100768e-03 1.38282598e+00] [ 4.10130738e-02 8.03010378e-04 9.99158287e-01 3.72443177e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.365336195 meters Centerline goodness [0,1] 0.8968915516193453 Centerline is valid? [False, False] Translation: X:62.76, Y:1.39, Z:0.36 [[ 9.97383846e-01 -5.87809691e-02 -4.20744759e-02 6.27595559e+01] [ 5.87514492e-02 9.98270759e-01 -1.93885433e-03 1.38526564e+00] [ 4.21156868e-02 -5.38154447e-04 9.99112596e-01 3.64619600e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.395336195 meters Centerline goodness [0,1] 0.9360034546043399 Centerline is valid? [False, False] Translation: X:62.76, Y:1.39, Z:0.36 [[ 9.97647669e-01 -5.39791008e-02 -4.22538296e-02 6.27614092e+01] [ 5.41405137e-02 9.98529719e-01 2.68427549e-03 1.38563356e+00] [ 4.20468098e-02 -4.96560523e-03 9.99103302e-01 3.61320302e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.42533619499999 meters Centerline goodness [0,1] 0.9434847469353339 Centerline is valid? [False, False] Translation: X:62.76, Y:1.39, Z:0.36 [[ 9.97880858e-01 -4.96442700e-02 -4.20623230e-02 6.27602038e+01] [ 4.99814290e-02 9.98725604e-01 7.00169987e-03 1.38518067e+00] [ 4.16611247e-02 -9.08919729e-03 9.99090455e-01 3.60977398e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.455336194999994 meters Centerline goodness [0,1] 0.9545904958855715 Centerline is valid? [False, True] Translation: X:62.75, Y:1.39, Z:0.37 [[ 9.97842766e-01 -5.07639549e-02 -4.16273325e-02 6.27548966e+01] [ 5.10083413e-02 9.98686552e-01 4.82916773e-03 1.39234752e+00] [ 4.13275095e-02 -6.94209127e-03 9.99121536e-01 3.67301002e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.485336194999995 meters Centerline goodness [0,1] 0.9639143995841275 Centerline is valid? [True, True] Translation: X:62.78, Y:1.40, Z:0.37 [[ 9.98049793e-01 -4.93453169e-02 -3.82315355e-02 6.27839234e+01] [ 4.93647786e-02 9.98780721e-01 -4.35350517e-04 1.40137196e+00] [ 3.82064031e-02 -1.45278979e-03 9.99268813e-01 3.74563777e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.515336194999996 meters Centerline goodness [0,1] 0.9612003963979491 Centerline is valid? [True, True] Translation: X:62.82, Y:1.40, Z:0.37 [[ 9.98096604e-01 -4.99037022e-02 -3.62324292e-02 6.28156869e+01] [ 4.99215957e-02 9.98753055e-01 -4.11229557e-04 1.40286395e+00] [ 3.62077712e-02 -1.39833386e-03 9.99343305e-01 3.72969587e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.545336195 meters Centerline goodness [0,1] 0.9588762214983714 Centerline is valid? [True, True] Translation: X:62.85, Y:1.41, Z:0.38 [[ 9.98164965e-01 -5.03426765e-02 -3.36499210e-02 6.28469961e+01] [ 5.03583810e-02 9.98731139e-01 -3.81190929e-04 1.40753612e+00] [ 3.36264141e-02 -1.31406411e-03 9.99433608e-01 3.78847696e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.575336195 meters Centerline goodness [0,1] 0.9718361691994631 Centerline is valid? [True, True] Translation: X:62.88, Y:1.42, Z:0.38 [[ 9.98174945e-01 -5.09755344e-02 -3.23770645e-02 6.28789932e+01] [ 5.09905865e-02 9.98699069e-01 -3.61146361e-04 1.41643512e+00] [ 3.23533538e-02 -1.29043826e-03 9.99475660e-01 3.84385509e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.60533619499999 meters Centerline goodness [0,1] 0.9582545141874462 Centerline is valid? [True, True] Translation: X:62.91, Y:1.42, Z:0.38 [[ 9.98110522e-01 -5.11033771e-02 -3.41149729e-02 6.29105986e+01] [ 5.11203347e-02 9.98692430e-01 -3.75551943e-04 1.41507504e+00] [ 3.40895571e-02 -1.36912648e-03 9.99417844e-01 3.76649348e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.635336194999994 meters Centerline goodness [0,1] 0.9597755514468762 Centerline is valid? [True, True] Translation: X:62.94, Y:1.42, Z:0.38 [[ 9.98145607e-01 -5.04089414e-02 -3.41216318e-02 6.29425030e+01] [ 5.04256834e-02 9.98727747e-01 -3.70266436e-04 1.41996265e+00] [ 3.40968852e-02 -1.35102679e-03 9.99417619e-01 3.78638548e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.665336194999995 meters Centerline goodness [0,1] 0.9624374676556839 Centerline is valid? [True, True] Translation: X:62.97, Y:1.43, Z:0.38 [[ 9.98077222e-01 -5.16263075e-02 -3.43013484e-02 6.29743332e+01] [ 5.16441171e-02 9.98665485e-01 -3.67171532e-04 1.42750476e+00] [ 3.42745285e-02 -1.40499731e-03 9.99411468e-01 3.84531800e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.695336194999996 meters Centerline goodness [0,1] 0.9459535023764974 Centerline is valid? [True, False] Translation: X:62.97, Y:1.42, Z:0.38 [[ 9.98285208e-01 -4.78582647e-02 -3.37080211e-02 6.29714342e+01] [ 4.80191303e-02 9.98838492e-01 3.97859308e-03 1.42466431e+00] [ 3.34784604e-02 -5.59040047e-03 9.99423804e-01 3.84345552e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.725336195 meters Centerline goodness [0,1] 0.9288046886827137 Centerline is valid? [False, False] Translation: X:62.96, Y:1.43, Z:0.39 [[ 9.98248533e-01 -4.94466369e-02 -3.24791595e-02 6.29630435e+01] [ 4.95340901e-02 9.98770640e-01 1.89301862e-03 1.42937097e+00] [ 3.23456275e-02 -3.49852868e-03 9.99470620e-01 3.91104371e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.755336195 meters Centerline goodness [0,1] 0.9733781002924293 Centerline is valid? [False, True] Translation: X:62.96, Y:1.43, Z:0.39 [[ 9.98238648e-01 -4.98638042e-02 -3.21434641e-02 6.29609934e+01] [ 4.99310421e-02 9.98751832e-01 1.29202664e-03 1.43116807e+00] [ 3.20389183e-02 -2.89470758e-03 9.99482430e-01 3.92646098e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.785336195 meters Centerline goodness [0,1] 0.9733781002924293 Centerline is valid? [True, True] Translation: X:62.99, Y:1.43, Z:0.39 [[ 9.98247897e-01 -4.96825715e-02 -3.21368605e-02 6.29937583e+01] [ 4.97036590e-02 9.98763999e-01 -1.42847735e-04 1.43225385e+00] [ 3.21042364e-02 -1.45472211e-03 9.99483467e-01 3.94439242e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.81533619499999 meters Centerline goodness [0,1] 0.9352912003794984 Centerline is valid? [True, False] Translation: X:62.99, Y:1.43, Z:0.39 [[ 9.98446108e-01 -4.57396582e-02 -3.18316416e-02 6.29933272e+01] [ 4.59024091e-02 9.98936236e-01 4.40064379e-03 1.43007285e+00] [ 3.15964963e-02 -5.85495470e-03 9.99483557e-01 3.91717651e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.845336194999994 meters Centerline goodness [0,1] 0.9192553260098458 Centerline is valid? [False, False] Translation: X:63.00, Y:1.43, Z:0.39 [[ 9.98455163e-01 -4.53792384e-02 -3.20626437e-02 6.29957129e+01] [ 4.55559140e-02 9.98950253e-01 4.80109598e-03 1.42988290e+00] [ 3.18111160e-02 -6.25432211e-03 9.99474330e-01 3.89206695e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.875336194999996 meters Centerline goodness [0,1] 0.9529503678465244 Centerline is valid? [False, True] Translation: X:62.97, Y:1.44, Z:0.40 [[ 9.98325439e-01 -4.47834431e-02 -3.66163931e-02 6.29692633e+01] [ 4.44997195e-02 9.98973000e-01 -8.52756057e-03 1.44340864e+00] [ 3.69606816e-02 6.88386143e-03 9.99293010e-01 4.03925271e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.905336195 meters Centerline goodness [0,1] 0.9362834155203738 Centerline is valid? [True, False] Translation: X:62.97, Y:1.44, Z:0.40 [[ 9.98500408e-01 -4.01910168e-02 -3.71701146e-02 6.29721864e+01] [ 4.00829156e-02 9.99189693e-01 -3.64922629e-03 1.44215394e+00] [ 3.72866615e-02 2.15386737e-03 9.99302289e-01 4.00864132e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.935336195 meters Centerline goodness [0,1] 0.8981344006197147 Centerline is valid? [False, False] Translation: X:62.97, Y:1.44, Z:0.40 [[ 9.98671873e-01 -3.56045940e-02 -3.72397955e-02 6.29737299e+01] [ 3.56891804e-02 9.99361643e-01 1.60889795e-03 1.43805756e+00] [ 3.71587390e-02 -2.93581890e-03 9.99305063e-01 3.97465176e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.965336195 meters Centerline goodness [0,1] 0.9314641744548287 Centerline is valid? [False, False] Translation: X:62.97, Y:1.44, Z:0.40 [[ 9.98658374e-01 -3.59892735e-02 -3.72320215e-02 6.29726263e+01] [ 3.60444383e-02 9.99349859e-01 8.11259675e-04 1.44129170e+00] [ 3.71786188e-02 -2.15217857e-03 9.99306319e-01 3.99166493e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.99533619499999 meters Centerline goodness [0,1] 0.9522213089933815 Centerline is valid? [False, True] Translation: X:62.97, Y:1.44, Z:0.40 [[ 9.98678256e-01 -3.57083302e-02 -3.69683088e-02 6.29730615e+01] [ 3.57778200e-02 9.99359025e-01 1.21966357e-03 1.44002858e+00] [ 3.69010608e-02 -2.54069698e-03 9.99315694e-01 3.97066008e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.025336195 meters Centerline goodness [0,1] 0.9505277471993784 Centerline is valid? [True, True] Translation: X:63.00, Y:1.44, Z:0.40 [[ 9.98821448e-01 -3.35884274e-02 -3.50361686e-02 6.30028141e+01] [ 3.36200574e-02 9.99434637e-01 3.13865842e-04 1.44011944e+00] [ 3.50058182e-02 -1.49141393e-03 9.99385996e-01 3.97831220e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.055336195 meters Centerline goodness [0,1] 0.9602243201108609 Centerline is valid? [True, True] Translation: X:63.03, Y:1.45, Z:0.41 [[ 9.99077329e-01 -2.94907736e-02 -3.12215539e-02 6.30326147e+01] [ 2.95138883e-02 9.99564331e-01 2.79655915e-04 1.44857979e+00] [ 3.11997043e-02 -1.20086734e-03 9.99512449e-01 4.07588525e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.085336195 meters Centerline goodness [0,1] 0.9908935192211791 Centerline is valid? [True, True] Translation: X:63.06, Y:1.46, Z:0.42 [[ 9.99180915e-01 -2.78192827e-02 -2.93868423e-02 6.30638987e+01] [ 2.78390466e-02 9.99612384e-01 2.63538854e-04 1.46113108e+00] [ 2.93681201e-02 -1.08142466e-03 9.99568079e-01 4.18678592e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.115336195 meters Centerline goodness [0,1] 0.9833272614276836 Centerline is valid? [True, True] Translation: X:63.09, Y:1.46, Z:0.42 [[ 9.99259694e-01 -2.75008796e-02 -2.69028795e-02 6.30941845e+01] [ 2.75173353e-02 9.99621297e-01 2.41577245e-04 1.46121517e+00] [ 2.68860477e-02 -9.81693959e-04 9.99638023e-01 4.20387288e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.145336195 meters Centerline goodness [0,1] 0.9713732242789497 Centerline is valid? [True, True] Translation: X:63.12, Y:1.45, Z:0.40 [[ 9.99121528e-01 -2.92937325e-02 -2.99674778e-02 6.31241517e+01] [ 2.93149597e-02 9.99570188e-01 2.69147406e-04 1.45051451e+00] [ 2.99467131e-02 -1.14740637e-03 9.99550838e-01 4.04095207e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.175336195 meters Centerline goodness [0,1] 0.9604221066488271 Centerline is valid? [True, True] Translation: X:63.15, Y:1.44, Z:0.40 [[ 9.99044502e-01 -3.03770311e-02 -3.14216393e-02 6.31543406e+01] [ 3.04009139e-02 9.99537745e-01 2.82503160e-04 1.44401839e+00] [ 3.13985329e-02 -1.23747978e-03 9.99506178e-01 3.97190093e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.205336195 meters Centerline goodness [0,1] 0.9621661399939396 Centerline is valid? [True, True] Translation: X:63.19, Y:1.45, Z:0.40 [[ 9.98920837e-01 -3.12266999e-02 -3.43810283e-02 6.31859027e+01] [ 3.12558241e-02 9.99511369e-01 3.09833197e-04 1.44556517e+00] [ 3.43545536e-02 -1.38410621e-03 9.99408750e-01 3.98583892e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.235336195 meters Centerline goodness [0,1] 0.9518176137220677 Centerline is valid? [True, True] Translation: X:63.22, Y:1.45, Z:0.40 [[ 9.98875640e-01 -3.11015069e-02 -3.57792021e-02 6.32166472e+01] [ 3.11329988e-02 9.99515198e-01 3.23240765e-04 1.44535234e+00] [ 3.57518030e-02 -1.43679118e-03 9.99359667e-01 3.99402910e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.26533619499999 meters Centerline goodness [0,1] 0.9668594114093381 Centerline is valid? [True, True] Translation: X:63.25, Y:1.45, Z:0.41 [[ 9.98992124e-01 -2.78853332e-02 -3.51730769e-02 6.32479781e+01] [ 2.79137917e-02 9.99610284e-01 3.18201876e-04 1.45340647e+00] [ 3.51504962e-02 -1.29969511e-03 9.99381185e-01 4.08589563e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.29533619499999 meters Centerline goodness [0,1] 0.9966573332465108 Centerline is valid? [True, True] Translation: X:63.28, Y:1.47, Z:0.42 [[ 9.99096107e-01 -2.49689334e-02 -3.44023505e-02 6.32784988e+01] [ 2.49944326e-02 9.99687542e-01 3.11277899e-04 1.46578521e+00] [ 3.43838289e-02 -1.17086377e-03 9.99408015e-01 4.18121289e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.32533619499999 meters Centerline goodness [0,1] 0.9988336429219404 Centerline is valid? [True, True] Translation: X:63.31, Y:1.47, Z:0.41 [[ 9.99312734e-01 -1.85646470e-02 -3.20844802e-02 6.33083146e+01] [ 1.85835255e-02 9.99827269e-01 2.90276683e-04 1.46723377e+00] [ 3.20735493e-02 -8.86319942e-04 9.99485118e-01 4.14406451e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.35533619499999 meters Centerline goodness [0,1] 0.9991138775421988 Centerline is valid? [True, True] Translation: X:63.34, Y:1.47, Z:0.41 [[ 9.99410696e-01 -1.57223817e-02 -3.05133912e-02 6.33377327e+01] [ 1.57381136e-02 9.99876110e-01 2.75460260e-04 1.46751521e+00] [ 3.05052800e-02 -7.55521148e-04 9.99534320e-01 4.12707261e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.385336195 meters Centerline goodness [0,1] 0.9999132640891645 Centerline is valid? [True, True] Translation: X:63.37, Y:1.48, Z:0.42 [[ 9.99526019e-01 -1.04191837e-02 -2.89685616e-02 6.33681253e+01] [ 1.04311302e-02 9.99945560e-01 2.61302696e-04 1.47707295e+00] [ 2.89642620e-02 -5.63353682e-04 9.99580289e-01 4.17115476e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.415336195 meters Centerline goodness [0,1] 0.9997635832187071 Centerline is valid? [True, True] Translation: X:63.40, Y:1.49, Z:0.42 [[ 9.99597552e-01 -4.69358826e-03 -2.79768407e-02 6.33969381e+01] [ 4.70246500e-03 9.99988912e-01 2.51503997e-04 1.48854114e+00] [ 2.79753500e-02 -3.82962894e-04 9.99608540e-01 4.19578512e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.445336195 meters Centerline goodness [0,1] 0.9999351309274115 Centerline is valid? [True, True] Translation: X:63.43, Y:1.50, Z:0.42 [[ 9.99621294e-01 -1.58549567e-03 -2.74728139e-02 6.34255579e+01] [ 1.59277116e-03 9.99998702e-01 2.42944010e-04 1.49702029e+00] [ 2.74723930e-02 -2.86609911e-04 9.99622521e-01 4.24421476e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.475336195 meters Centerline goodness [0,1] 0.9996967530920354 Centerline is valid? [True, True] Translation: X:63.45, Y:1.50, Z:0.42 [[ 9.99619506e-01 2.14887998e-03 -2.74995540e-02 6.34531216e+01] [-2.14306184e-03 9.99997675e-01 2.41042729e-04 1.50181889e+00] [ 2.75000081e-02 -1.82017769e-04 9.99621787e-01 4.17290456e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.505336195 meters Centerline goodness [0,1] 0.9996536946452534 Centerline is valid? [True, True] Translation: X:63.48, Y:1.50, Z:0.42 [[ 9.99603798e-01 2.52748568e-03 -2.80331789e-02 6.34806877e+01] [-2.52163342e-03 9.99996791e-01 2.44111968e-04 1.50399820e+00] [ 2.80337059e-02 -1.73325849e-04 9.99606963e-01 4.16438012e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.535336195 meters Centerline goodness [0,1] 0.9998708899982786 Centerline is valid? [True, True] Translation: X:63.51, Y:1.51, Z:0.42 [[ 9.99541947e-01 8.39751439e-04 -3.02521100e-02 6.35106688e+01] [-8.32188831e-04 9.99999619e-01 2.62575907e-04 1.50764303e+00] [ 3.02523190e-02 -2.37280166e-04 9.99542266e-01 4.16119579e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.565336195 meters Centerline goodness [0,1] 0.9999784096552022 Centerline is valid? [True, True] Translation: X:63.54, Y:1.51, Z:0.41 [[ 9.99527291e-01 -3.13558347e-04 -3.07424017e-02 6.35383586e+01] [ 3.21864905e-04 9.99999913e-01 2.65250460e-04 1.50758422e+00] [ 3.07423158e-02 -2.75019974e-04 9.99527305e-01 4.14503930e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.595336195 meters Centerline goodness [0,1] 0.9998704607280107 Centerline is valid? [True, True] Translation: X:63.57, Y:1.50, Z:0.41 [[ 9.99498348e-01 -2.92866075e-03 -3.15353144e-02 6.35670306e+01] [ 2.93855086e-03 9.99995647e-01 2.67279212e-04 1.50447406e+00] [ 3.15343944e-02 -3.59813256e-04 9.99502603e-01 4.13946615e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.625336195 meters Centerline goodness [0,1] 0.999804924570834 Centerline is valid? [True, True] Translation: X:63.59, Y:1.50, Z:0.41 [[ 9.99494616e-01 -4.26891512e-03 -3.15006340e-02 6.35945262e+01] [ 4.27937400e-03 9.99990808e-01 2.64610091e-04 1.50135824e+00] [ 3.14992149e-02 -3.99279355e-04 9.99503697e-01 4.10365677e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.65533619499999 meters Centerline goodness [0,1] 0.9998700116989471 Centerline is valid? [True, True] Translation: X:63.62, Y:1.50, Z:0.42 [[ 9.99564438e-01 -6.95242829e-03 -2.86809605e-02 6.36235591e+01] [ 6.96209005e-03 9.99975736e-01 2.37022342e-04 1.50496477e+00] [ 2.86786167e-02 -4.36598533e-04 9.99588589e-01 4.23406971e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.68533619499999 meters Centerline goodness [0,1] 0.9998704047691045 Centerline is valid? [True, True] Translation: X:63.65, Y:1.50, Z:0.43 [[ 9.99602445e-01 -1.01565410e-02 -2.63020152e-02 6.36513604e+01] [ 1.01656486e-02 9.99948306e-01 2.12578417e-04 1.50462931e+00] [ 2.62984965e-02 -4.79870950e-04 9.99654020e-01 4.29043255e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.71533619499999 meters Centerline goodness [0,1] 0.9998487892337935 Centerline is valid? [True, True] Translation: X:63.68, Y:1.50, Z:0.43 [[ 9.99584004e-01 -1.19576486e-02 -2.62456498e-02 6.36803718e+01] [ 1.19672203e-02 9.99928369e-01 2.07649417e-04 1.50204342e+00] [ 2.62412867e-02 -5.21650508e-04 9.99655502e-01 4.27511124e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.745336195 meters Centerline goodness [0,1] 0.9998062474435426 Centerline is valid? [True, True] Translation: X:63.71, Y:1.49, Z:0.42 [[ 9.99542272e-01 -1.53301729e-02 -2.60812571e-02 6.37092644e+01] [ 1.53407330e-02 9.99882303e-01 2.04839622e-04 1.49396121e+00] [ 2.60750472e-02 -6.04851462e-04 9.99659805e-01 4.20199012e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.775336195 meters Centerline goodness [0,1] 0.9998273741449626 Centerline is valid? [True, True] Translation: X:63.74, Y:1.49, Z:0.42 [[ 9.99523625e-01 -1.68525854e-02 -2.58556436e-02 6.37385393e+01] [ 1.68634554e-02 9.99857781e-01 2.02409326e-04 1.49265140e+00] [ 2.58485553e-02 -6.38328396e-04 9.99665666e-01 4.20783590e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.805336195 meters Centerline goodness [0,1] 0.9984335772375169 Centerline is valid? [True, True] Translation: X:63.77, Y:1.49, Z:0.43 [[ 9.99437255e-01 -2.06281603e-02 -2.64509353e-02 6.37683142e+01] [ 2.06408549e-02 9.99786933e-01 2.06961284e-04 1.49195374e+00] [ 2.64410302e-02 -7.52814735e-04 9.99650091e-01 4.25009465e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.835336195 meters Centerline goodness [0,1] 0.9995436766623207 Centerline is valid? [True, True] Translation: X:63.80, Y:1.50, Z:0.43 [[ 9.99463029e-01 -1.99345587e-02 -2.60051391e-02 6.38007450e+01] [ 1.99466215e-02 9.99801025e-01 2.04517975e-04 1.49795752e+00] [ 2.59958877e-02 -7.23122822e-04 9.99661788e-01 4.30482306e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.865336195 meters Centerline goodness [0,1] 0.9988367584335014 Centerline is valid? [True, True] Translation: X:63.83, Y:1.50, Z:0.43 [[ 9.99448689e-01 -2.03912124e-02 -2.62014786e-02 6.38319871e+01] [ 2.04036413e-02 9.99791803e-01 2.07070203e-04 1.49712904e+00] [ 2.61918011e-02 -7.41561615e-04 9.99656661e-01 4.27542977e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.895336195 meters Centerline goodness [0,1] 0.9991191509474499 Centerline is valid? [True, True] Translation: X:63.86, Y:1.50, Z:0.42 [[ 9.99453943e-01 -2.02088737e-02 -2.61422462e-02 6.38644760e+01] [ 2.02212149e-02 9.99795509e-01 2.07778248e-04 1.49596421e+00] [ 2.61327014e-02 -7.36292769e-04 9.99658211e-01 4.24936697e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.925336195 meters Centerline goodness [0,1] 0.999935175781672 Centerline is valid? [True, True] Translation: X:63.90, Y:1.50, Z:0.43 [[ 9.99583098e-01 -1.83634957e-02 -2.22803311e-02 6.38956535e+01] [ 1.83720096e-02 9.99831205e-01 1.77475586e-04 1.49589518e+00] [ 2.22733112e-02 -5.86736053e-04 9.99751747e-01 4.26186354e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.955336195 meters Centerline goodness [0,1] 0.999374460742019 Centerline is valid? [True, True] Translation: X:63.93, Y:1.50, Z:0.43 [[ 9.99615328e-01 -1.83243415e-02 -2.08186243e-02 6.39272501e+01] [ 1.83317793e-02 9.99831945e-01 1.66463492e-04 1.49564104e+00] [ 2.08120753e-02 -5.48041884e-04 9.99783255e-01 4.29234761e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.985336195 meters Centerline goodness [0,1] 0.9994395464637538 Centerline is valid? [True, True] Translation: X:63.96, Y:1.50, Z:0.44 [[ 9.99578345e-01 -1.86826426e-02 -2.22281494e-02 6.39598641e+01] [ 1.86912331e-02 9.99825288e-01 1.78751769e-04 1.50074576e+00] [ 2.22209263e-02 -5.94147918e-04 9.99752908e-01 4.35476835e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.01533619499999 meters Centerline goodness [0,1] 0.9997615331252168 Centerline is valid? [True, True] Translation: X:63.99, Y:1.50, Z:0.44 [[ 9.99573502e-01 -1.87327095e-02 -2.24031153e-02 6.39912140e+01] [ 1.87414676e-02 9.99824347e-01 1.81015407e-04 1.50073474e+00] [ 2.23957892e-02 -6.00805463e-04 9.99749002e-01 4.35813436e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.04533619499999 meters Centerline goodness [0,1] 0.9955730447614363 Centerline is valid? [True, True] Translation: X:64.02, Y:1.49, Z:0.42 [[ 9.99507727e-01 -2.14089338e-02 -2.29338480e-02 6.40210760e+01] [ 2.14188195e-02 9.99770574e-01 1.85468906e-04 1.48821966e+00] [ 2.29246157e-02 -6.76593555e-04 9.99736968e-01 4.23075146e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.07533619499999 meters Centerline goodness [0,1] 0.9989400592701551 Centerline is valid? [True, True] Translation: X:64.05, Y:1.49, Z:0.42 [[ 9.99474970e-01 -2.16677085e-02 -2.40893240e-02 6.40534074e+01] [ 2.16787127e-02 9.99764970e-01 1.95720977e-04 1.49068604e+00] [ 2.40794215e-02 -7.17843753e-04 9.99709791e-01 4.22816586e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.10533619499999 meters Centerline goodness [0,1] 0.9985963245297688 Centerline is valid? [True, True] Translation: X:64.09, Y:1.50, Z:0.43 [[ 9.99436472e-01 -2.29086505e-02 -2.45343026e-02 6.40854487e+01] [ 2.29204669e-02 9.99737271e-01 2.00488082e-04 1.49510605e+00] [ 2.45232639e-02 -7.62712773e-04 9.99698969e-01 4.29178981e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.135336195 meters Centerline goodness [0,1] 0.9927033929222912 Centerline is valid? [True, True] Translation: X:64.12, Y:1.49, Z:0.43 [[ 9.99412546e-01 -2.38810685e-02 -2.45816433e-02 6.41169585e+01] [ 2.38932468e-02 9.99714495e-01 2.01789853e-04 1.49098207e+00] [ 2.45698061e-02 -7.89006580e-04 9.99697805e-01 4.28264453e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.165336195 meters Centerline goodness [0,1] 0.9977368738684369 Centerline is valid? [True, True] Translation: X:64.15, Y:1.50, Z:0.43 [[ 9.99466501e-01 -2.33595585e-02 -2.28263991e-02 6.41493371e+01] [ 2.33699459e-02 9.99726868e-01 1.88369006e-04 1.49534378e+00] [ 2.28157642e-02 -7.21720223e-04 9.99739426e-01 4.31224240e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.195336195 meters Centerline goodness [0,1] 0.9994175385611045 Centerline is valid? [True, True] Translation: X:64.18, Y:1.50, Z:0.44 [[ 9.99550211e-01 -2.14396698e-02 -2.09694081e-02 6.41810481e+01] [ 2.14480296e-02 9.99769949e-01 1.73823254e-04 1.50127018e+00] [ 2.09608573e-02 -6.23497556e-04 9.99780103e-01 4.36538605e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.225336195 meters Centerline goodness [0,1] 0.9995695592286501 Centerline is valid? [True, True] Translation: X:64.21, Y:1.50, Z:0.44 [[ 9.99570820e-01 -2.09157607e-02 -2.05111398e-02 6.42129620e+01] [ 2.09236678e-02 9.99781061e-01 1.70948475e-04 1.50250424e+00] [ 2.05030736e-02 -6.00043382e-04 9.99789610e-01 4.37862865e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.255336195 meters Centerline goodness [0,1] 0.9996117761242317 Centerline is valid? [True, True] Translation: X:64.24, Y:1.50, Z:0.44 [[ 9.99644275e-01 -1.92128793e-02 -1.84983560e-02 6.42439694e+01] [ 1.92190288e-02 9.99815285e-01 1.54701717e-04 1.50031405e+00] [ 1.84919668e-02 -5.10167123e-04 9.99828879e-01 4.35431106e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.285336195 meters Centerline goodness [0,1] 0.9996328769489915 Centerline is valid? [True, True] Translation: X:64.28, Y:1.50, Z:0.43 [[ 9.99653267e-01 -1.80620181e-02 -1.91601212e-02 6.42752657e+01] [ 1.80684164e-02 9.99836740e-01 1.60867676e-04 1.49822745e+00] [ 1.91540875e-02 -5.07004946e-04 9.99816415e-01 4.31525895e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.315336195 meters Centerline goodness [0,1] 0.9998711063372717 Centerline is valid? [True, True] Translation: X:64.31, Y:1.50, Z:0.43 [[ 9.99684301e-01 -1.53752945e-02 -1.98720368e-02 6.43067498e+01] [ 1.53816574e-02 9.99881681e-01 1.67375329e-04 1.50357784e+00] [ 1.98671122e-02 -4.72987351e-04 9.99802518e-01 4.33573191e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.345336195 meters Centerline goodness [0,1] 0.9997222103508697 Centerline is valid? [True, True] Translation: X:64.34, Y:1.51, Z:0.44 [[ 9.99771622e-01 -1.12558002e-02 -1.81661786e-02 6.43367867e+01] [ 1.12604394e-02 9.99936588e-01 1.53105369e-04 1.51429338e+00] [ 1.81633033e-02 -3.57629556e-04 9.99834970e-01 4.43774575e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.375336195 meters Centerline goodness [0,1] 0.9999352792699502 Centerline is valid? [True, True] Translation: X:64.37, Y:1.52, Z:0.45 [[ 9.99812530e-01 -8.41317586e-03 -1.74391582e-02 6.43670515e+01] [ 8.41701885e-03 9.99964565e-01 1.46978009e-04 1.52234459e+00] [ 1.74373037e-02 -2.93736178e-04 9.99847916e-01 4.47965311e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.40533619499999 meters Centerline goodness [0,1] 0.9999784724016189 Centerline is valid? [True, True] Translation: X:64.40, Y:1.53, Z:0.44 [[ 9.99819186e-01 -6.41325770e-03 -1.79015452e-02 6.43953113e+01] [ 6.41694631e-03 9.99979400e-01 1.48615397e-04 1.52565071e+00] [ 1.79002233e-02 -2.63461779e-04 9.99839743e-01 4.40060241e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.43533619499999 meters Centerline goodness [0,1] 0.9998706952286539 Centerline is valid? [True, True] Translation: X:64.42, Y:1.52, Z:0.43 [[ 9.99848388e-01 -6.65340397e-03 -1.60914046e-02 6.44233678e+01] [ 6.65637299e-03 9.99977838e-01 1.30957463e-04 1.52140258e+00] [ 1.60901767e-02 -2.38047999e-04 9.99870516e-01 4.31820217e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.46533619499999 meters Centerline goodness [0,1] 0.9997860276024393 Centerline is valid? [True, True] Translation: X:64.45, Y:1.52, Z:0.43 [[ 9.99866664e-01 -7.10997943e-03 -1.47004291e-02 6.44522929e+01] [ 7.11247149e-03 9.99974699e-01 1.17248305e-04 1.52321808e+00] [ 1.46992236e-02 -2.21789055e-04 9.99891936e-01 4.34635597e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.495336195 meters Centerline goodness [0,1] 0.9999354227656277 Centerline is valid? [True, True] Translation: X:64.48, Y:1.53, Z:0.44 [[ 9.99817250e-01 -8.47480566e-03 -1.71360715e-02 6.44807211e+01] [ 8.47834113e-03 9.99964049e-01 1.33678324e-04 1.53109392e+00] [ 1.71343225e-02 -2.78939354e-04 9.99853158e-01 4.40663748e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.525336195 meters Centerline goodness [0,1] 0.9997415074424315 Centerline is valid? [True, True] Translation: X:64.51, Y:1.53, Z:0.44 [[ 9.99767826e-01 -8.81187593e-03 -1.96633115e-02 6.45094672e+01] [ 8.81656876e-03 9.99961122e-01 1.51980525e-04 1.53381393e+00] [ 1.96612078e-02 -3.25308177e-04 9.99806647e-01 4.39931344e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.555336195 meters Centerline goodness [0,1] 0.9998488838996589 Centerline is valid? [True, True] Translation: X:64.54, Y:1.54, Z:0.43 [[ 9.99711191e-01 -7.79359259e-03 -2.27331068e-02 6.45374941e+01] [ 7.79956050e-03 9.99969568e-01 1.73865626e-04 1.53709029e+00] [ 2.27310599e-02 -3.51123654e-04 9.99741554e-01 4.33536713e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.585336195 meters Centerline goodness [0,1] 0.9998711644585686 Centerline is valid? [True, True] Translation: X:64.57, Y:1.54, Z:0.43 [[ 9.99703312e-01 -7.59214323e-03 -2.31440578e-02 6.45656997e+01] [ 7.59818363e-03 9.99971118e-01 1.73063286e-04 1.54063055e+00] [ 2.31420754e-02 -3.48864741e-04 9.99732125e-01 4.34046417e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.615336195 meters Centerline goodness [0,1] 0.999935406080441 Centerline is valid? [True, True] Translation: X:64.59, Y:1.55, Z:0.43 [[ 9.99699886e-01 -6.71342674e-03 -2.35598680e-02 6.45938283e+01] [ 6.71939537e-03 9.99977409e-01 1.74182447e-04 1.54526505e+00] [ 2.35581664e-02 -3.32438240e-04 9.99722413e-01 4.32425774e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.645336195 meters Centerline goodness [0,1] 0.9997408375267262 Centerline is valid? [True, True] Translation: X:64.62, Y:1.55, Z:0.43 [[ 9.99730280e-01 -6.57992892e-03 -2.22726548e-02 6.46224282e+01] [ 6.58515728e-03 9.99978305e-01 1.61407132e-04 1.54912219e+00] [ 2.22711095e-02 -3.08032532e-04 9.99751921e-01 4.34206295e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.675336195 meters Centerline goodness [0,1] 0.9997851449197517 Centerline is valid? [True, True] Translation: X:64.65, Y:1.55, Z:0.44 [[ 9.99776682e-01 -8.61055614e-03 -1.92987947e-02 6.46506083e+01] [ 8.61482948e-03 9.99962882e-01 1.38304132e-04 1.55091469e+00] [ 1.92968875e-02 -3.04529071e-04 9.99813751e-01 4.37762866e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.705336195 meters Centerline goodness [0,1] 0.9997851449197517 Centerline is valid? [True, True] Translation: X:64.68, Y:1.55, Z:0.44 [[ 9.99775063e-01 -8.79651823e-03 -1.92988160e-02 6.46778613e+01] [ 8.80076791e-03 9.99961263e-01 1.35283482e-04 1.55084587e+00] [ 1.92968784e-02 -3.05097453e-04 9.99813751e-01 4.37886322e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.735336195 meters Centerline goodness [0,1] 0.9998490728762398 Centerline is valid? [True, True] Translation: X:64.71, Y:1.56, Z:0.45 [[ 9.99778759e-01 -1.07913329e-02 -1.80549335e-02 6.47063849e+01] [ 1.07953227e-02 9.99941721e-01 1.23532251e-04 1.56033161e+00] [ 1.80525482e-02 -3.18413754e-04 9.99836989e-01 4.48764263e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.76533619499999 meters Centerline goodness [0,1] 0.999849540022354 Centerline is valid? [True, True] Translation: X:64.74, Y:1.56, Z:0.45 [[ 9.99765846e-01 -1.20360320e-02 -1.79829840e-02 6.47365035e+01] [ 1.20401808e-02 9.99927507e-01 1.22452358e-04 1.56000569e+00] [ 1.79802065e-02 -3.38942064e-04 9.99838286e-01 4.46342325e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.79533619499999 meters Centerline goodness [0,1] 0.9998705752928234 Centerline is valid? [True, True] Translation: X:64.77, Y:1.56, Z:0.44 [[ 9.99678271e-01 -1.40364457e-02 -2.11266016e-02 6.47676205e+01] [ 1.40426241e-02 9.99901387e-01 1.44117601e-04 1.56240207e+00] [ 2.11224953e-02 -4.40744159e-04 9.99776798e-01 4.36998088e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.82533619499999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:64.80, Y:1.56, Z:0.43 [[ 9.99613136e-01 -1.51287440e-02 -2.33388115e-02 6.47986884e+01] [ 1.51365990e-02 9.99885422e-01 1.59934332e-04 1.55937371e+00] [ 2.33337178e-02 -5.13142691e-04 9.99727600e-01 4.29190170e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.85533619499999 meters Centerline goodness [0,1] 0.9999138729194927 Centerline is valid? [True, True] Translation: X:64.83, Y:1.57, Z:0.43 [[ 9.99577610e-01 -1.54054359e-02 -2.46429163e-02 6.48305670e+01] [ 1.54143155e-02 9.99881178e-01 1.70405356e-04 1.56733101e+00] [ 2.46373630e-02 -5.50187065e-04 9.99696303e-01 4.29668430e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.885336195 meters Centerline goodness [0,1] 0.9998495173807426 Centerline is valid? [True, True] Translation: X:64.86, Y:1.57, Z:0.43 [[ 9.99592703e-01 -1.55663427e-02 -2.39189571e-02 6.48613764e+01] [ 1.55747667e-02 9.99878692e-01 1.65924396e-04 1.56959614e+00] [ 2.39134727e-02 -5.38388992e-04 9.99713887e-01 4.31969068e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.915336195 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:64.89, Y:1.58, Z:0.44 [[ 9.99651330e-01 -1.50336980e-02 -2.17072926e-02 6.48916280e+01] [ 1.50405155e-02 9.99886874e-01 1.50827684e-04 1.57968999e+00] [ 2.17025694e-02 -4.77263966e-04 9.99764358e-01 4.41264170e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.945336195 meters Centerline goodness [0,1] 0.99982874879589 Centerline is valid? [True, True] Translation: X:64.92, Y:1.59, Z:0.45 [[ 9.99656676e-01 -1.48612361e-02 -2.15794906e-02 6.49240195e+01] [ 1.48679519e-02 9.99889455e-01 1.50795956e-04 1.58782493e+00] [ 2.15748641e-02 -4.71587012e-04 9.99767124e-01 4.46289761e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.975336195 meters Centerline goodness [0,1] 0.9999784807402625 Centerline is valid? [True, True] Translation: X:64.96, Y:1.59, Z:0.44 [[ 9.99648164e-01 -1.51628872e-02 -2.17631682e-02 6.49553439e+01] [ 1.51698071e-02 9.99884920e-01 1.52901434e-04 1.59310941e+00] [ 2.17583452e-02 -4.82990702e-04 9.99763143e-01 4.40436278e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.005336195 meters Centerline goodness [0,1] 0.9999785867237687 Centerline is valid? [True, True] Translation: X:64.99, Y:1.60, Z:0.44 [[ 9.99669175e-01 -1.67730356e-02 -1.94988727e-02 6.49874411e+01] [ 1.67789130e-02 9.99859215e-01 1.37845422e-04 1.59907621e+00] [ 1.94938155e-02 -4.64969708e-04 9.99809869e-01 4.38655813e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.035336195 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:65.02, Y:1.61, Z:0.44 [[ 9.99645253e-01 -1.93245530e-02 -1.83283720e-02 6.50195835e+01] [ 1.93301901e-02 9.99813146e-01 1.30433518e-04 1.60875306e+00] [ 1.83224267e-02 -4.84678163e-04 9.99832013e-01 4.43897916e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.065336195 meters Centerline goodness [0,1] 0.9999136367561966 Centerline is valid? [True, True] Translation: X:65.05, Y:1.61, Z:0.44 [[ 9.99619033e-01 -2.05649939e-02 -1.84084295e-02 6.50507749e+01] [ 2.05709167e-02 9.99788388e-01 1.32424256e-04 1.60940264e+00] [ 1.84018108e-02 -5.11052077e-04 9.99830542e-01 4.42567123e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.095336195 meters Centerline goodness [0,1] 0.99942102328773 Centerline is valid? [True, True] Translation: X:65.08, Y:1.61, Z:0.43 [[ 9.99488123e-01 -2.47962748e-02 -2.02147762e-02 6.50820092e+01] [ 2.48042958e-02 9.99692315e-01 1.46112228e-04 1.60803521e+00] [ 2.02049334e-02 -6.47450725e-04 9.99795650e-01 4.32926690e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.125336195 meters Centerline goodness [0,1] 0.9990963661008198 Centerline is valid? [True, True] Translation: X:65.11, Y:1.61, Z:0.43 [[ 9.99406247e-01 -2.72216280e-02 -2.11219335e-02 6.51134107e+01] [ 2.72309361e-02 9.99629158e-01 1.53140238e-04 1.60827823e+00] [ 2.11099318e-02 -7.28219331e-04 9.99776895e-01 4.30520491e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.15533619499999 meters Centerline goodness [0,1] 0.9793053110643596 Centerline is valid? [True, True] Translation: X:65.14, Y:1.61, Z:0.44 [[ 9.99174158e-01 -3.36165963e-02 -2.28237927e-02 6.51429608e+01] [ 3.36291319e-02 9.99434367e-01 1.65527980e-04 1.60709218e+00] [ 2.28053183e-02 -9.32935615e-04 9.99739490e-01 4.36539689e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.18533619499999 meters Centerline goodness [0,1] 0.9667254961043433 Centerline is valid? [True, True] Translation: X:65.17, Y:1.61, Z:0.44 [[ 9.99061872e-01 -3.61706031e-02 -2.38130834e-02 6.51735270e+01] [ 3.61849783e-02 9.99345094e-01 1.72906739e-04 1.61268592e+00] [ 2.37912339e-02 -1.03442043e-03 9.99716413e-01 4.43996342e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.21533619499999 meters Centerline goodness [0,1] 0.9239973362548602 Centerline is valid? [True, False] Translation: X:65.17, Y:1.61, Z:0.44 [[ 9.99190712e-01 -3.26309181e-02 -2.35190234e-02 6.51725574e+01] [ 3.27417003e-02 9.99454421e-01 4.34063280e-03 1.61255694e+00] [ 2.33645531e-02 -5.10717280e-03 9.99713966e-01 4.41876571e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.245336195 meters Centerline goodness [0,1] 0.9170585443720609 Centerline is valid? [False, False] Translation: X:65.17, Y:1.61, Z:0.44 [[ 9.99207727e-01 -3.21490934e-02 -2.34596431e-02 6.51749245e+01] [ 3.22820186e-02 9.99464697e-01 5.30947790e-03 1.60973192e+00] [ 2.32763902e-02 -6.06259598e-03 9.99710685e-01 4.37528896e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.275336195 meters Centerline goodness [0,1] 0.889944097904211 Centerline is valid? [False, False] Translation: X:65.18, Y:1.61, Z:0.43 [[ 9.99084949e-01 -3.55848654e-02 -2.37272445e-02 6.51799708e+01] [ 3.56430485e-02 9.99362516e-01 2.03364147e-03 1.60914947e+00] [ 2.36397519e-02 -2.87749191e-03 9.99716401e-01 4.31626223e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.305336195 meters Centerline goodness [0,1] 0.944053225039962 Centerline is valid? [False, False] Translation: X:65.18, Y:1.62, Z:0.44 [[ 9.99200679e-01 -3.22800613e-02 -2.35796841e-02 6.51764705e+01] [ 3.23946806e-02 9.99465046e-01 4.49513939e-03 1.61615277e+00] [ 2.34219666e-02 -5.25540266e-03 9.99711855e-01 4.35677996e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.335336195 meters Centerline goodness [0,1] 0.9286218778759926 Centerline is valid? [False, False] Translation: X:65.18, Y:1.62, Z:0.44 [[ 9.99308268e-01 -2.85471346e-02 -2.38337223e-02 6.51751579e+01] [ 2.87372407e-02 9.99557556e-01 7.67224526e-03 1.62078734e+00] [ 2.36041566e-02 -8.35185354e-03 9.99686496e-01 4.38353582e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.365336195 meters Centerline goodness [0,1] 0.9710559727990703 Centerline is valid? [False, True] Translation: X:65.15, Y:1.64, Z:0.45 [[ 9.99313505e-01 -2.42709668e-02 -2.79899637e-02 6.51468014e+01] [ 2.42299035e-02 9.99704783e-01 -1.80535241e-03 1.63581571e+00] [ 2.80255183e-02 1.12591893e-03 9.99606574e-01 4.52541625e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.395336195 meters Centerline goodness [0,1] 0.96880230013303 Centerline is valid? [True, True] Translation: X:65.18, Y:1.63, Z:0.45 [[ 9.99328240e-01 -2.42007127e-02 -2.75208132e-02 6.51791131e+01] [ 2.42269915e-02 9.99706290e-01 6.21785152e-04 1.63413533e+00] [ 2.74976824e-02 -1.28811397e-03 9.99621037e-01 4.46259109e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.425336195 meters Centerline goodness [0,1] 0.9503359438524415 Centerline is valid? [True, True] Translation: X:65.21, Y:1.64, Z:0.45 [[ 9.99340107e-01 -2.39940652e-02 -2.72696633e-02 6.52102064e+01] [ 2.40198178e-02 9.99711292e-01 6.17148252e-04 1.63691267e+00] [ 2.72469824e-02 -1.27175334e-03 9.99627923e-01 4.45410651e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.455336195 meters Centerline goodness [0,1] 0.9525368248772504 Centerline is valid? [True, True] Translation: X:65.24, Y:1.64, Z:0.44 [[ 9.99282156e-01 -2.28631410e-02 -3.02067889e-02 6.52419284e+01] [ 2.28942982e-02 9.99737656e-01 6.85959807e-04 1.64137121e+00] [ 3.01831811e-02 -1.37703063e-03 9.99543435e-01 4.43064232e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.485336195 meters Centerline goodness [0,1] 0.949902630058422 Centerline is valid? [True, False] Translation: X:65.25, Y:1.65, Z:0.44 [[ 9.99255053e-01 -2.19956372e-02 -3.17101137e-02 6.52486925e+01] [ 2.20197820e-02 9.99757450e-01 4.12369851e-04 1.65205721e+00] [ 3.16933521e-02 -1.11031245e-03 9.99497023e-01 4.40892662e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.51533619499999 meters Centerline goodness [0,1] 0.9974083752672613 Centerline is valid? [False, True] Translation: X:65.25, Y:1.66, Z:0.44 [[ 9.99327501e-01 -1.79935958e-02 -3.19496042e-02 6.52490387e+01] [ 1.81075573e-02 9.99830661e-01 3.28114461e-03 1.66080273e+00] [ 3.18851543e-02 -3.85746733e-03 9.99484095e-01 4.41404953e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.54533619499999 meters Centerline goodness [0,1] 0.9912949795302737 Centerline is valid? [True, True] Translation: X:65.28, Y:1.66, Z:0.44 [[ 9.99382133e-01 -1.66862239e-02 -3.09341625e-02 6.52797944e+01] [ 1.67135508e-02 9.99860124e-01 6.25009350e-04 1.66182816e+00] [ 3.09194065e-02 -1.14164287e-03 9.99521229e-01 4.40519677e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.57533619499999 meters Centerline goodness [0,1] 0.9955428276129366 Centerline is valid? [True, True] Translation: X:65.31, Y:1.67, Z:0.44 [[ 9.99449752e-01 -1.60685599e-02 -2.90171563e-02 6.53102624e+01] [ 1.60923471e-02 9.99870338e-01 5.86408181e-04 1.66859293e+00] [ 2.90039711e-02 -1.05303966e-03 9.99578742e-01 4.36990666e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.60533619499999 meters Centerline goodness [0,1] 0.997773598772237 Centerline is valid? [True, True] Translation: X:65.34, Y:1.67, Z:0.44 [[ 9.99443290e-01 -1.56412131e-02 -2.94696870e-02 6.53414015e+01] [ 1.56655797e-02 9.99877110e-01 5.96124178e-04 1.67350274e+00] [ 2.94567413e-02 -1.05745204e-03 9.99565497e-01 4.35656230e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.635336195 meters Centerline goodness [0,1] 0.9920513208199235 Centerline is valid? [True, True] Translation: X:65.37, Y:1.68, Z:0.43 [[ 9.99332649e-01 -1.53136040e-02 -3.31624870e-02 6.53721763e+01] [ 1.53442999e-02 9.99882044e-01 6.71308881e-04 1.68008429e+00] [ 3.31482951e-02 -1.17971603e-03 9.99449748e-01 4.30121949e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.665336195 meters Centerline goodness [0,1] 0.9897016968301214 Centerline is valid? [True, True] Translation: X:65.40, Y:1.69, Z:0.43 [[ 9.99249715e-01 -1.48741915e-02 -3.57598249e-02 6.54011341e+01] [ 1.49095722e-02 9.99888585e-01 7.22919059e-04 1.68620629e+00] [ 3.57450878e-02 -1.25554035e-03 9.99360151e-01 4.28823248e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.695336195 meters Centerline goodness [0,1] 0.9902480528830421 Centerline is valid? [True, True] Translation: X:65.43, Y:1.70, Z:0.42 [[ 9.99101196e-01 -1.42804138e-02 -3.99107708e-02 6.54315395e+01] [ 1.43239926e-02 9.99897081e-01 8.06149005e-04 1.69939332e+00] [ 3.98951511e-02 -1.37710602e-03 9.99202923e-01 4.23132635e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.725336195 meters Centerline goodness [0,1] 0.9954142464078264 Centerline is valid? [True, True] Translation: X:65.46, Y:1.71, Z:0.43 [[ 9.99067864e-01 -1.44202950e-02 -4.06873332e-02 6.54599298e+01] [ 1.44655732e-02 9.99895033e-01 8.18631868e-04 1.70824106e+00] [ 4.06712575e-02 -1.40643439e-03 9.99171592e-01 4.25260145e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.755336195 meters Centerline goodness [0,1] 0.9938998784396066 Centerline is valid? [True, True] Translation: X:65.49, Y:1.73, Z:0.42 [[ 9.99096600e-01 -1.40788928e-02 -4.00969904e-02 6.54876572e+01] [ 1.41224893e-02 9.99899949e-01 8.04218984e-04 1.72559049e+00] [ 4.00816562e-02 -1.36976177e-03 9.99195469e-01 4.22292059e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.785336195 meters Centerline goodness [0,1] 0.992740311192758 Centerline is valid? [True, True] Translation: X:65.52, Y:1.73, Z:0.42 [[ 9.99123966e-01 -1.38024245e-02 -3.95068776e-02 6.55158533e+01] [ 1.38442984e-02 9.99903854e-01 7.86518987e-04 1.73153202e+00] [ 3.94922233e-02 -1.33277497e-03 9.99218989e-01 4.21827149e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.815336195 meters Centerline goodness [0,1] 0.9922856952849638 Centerline is valid? [True, True] Translation: X:65.54, Y:1.74, Z:0.42 [[ 9.99189722e-01 -1.35782986e-02 -3.78883700e-02 6.55439357e+01] [ 1.36165434e-02 9.99907008e-01 7.51529573e-04 1.73728552e+00] [ 3.78746422e-02 -1.26682926e-03 9.99281695e-01 4.21329539e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.845336195 meters Centerline goodness [0,1] 0.9826162829720115 Centerline is valid? [True, True] Translation: X:65.57, Y:1.75, Z:0.42 [[ 9.99192049e-01 -1.42915082e-02 -3.75633011e-02 6.55722978e+01] [ 1.43295216e-02 9.99897051e-01 7.42938657e-04 1.74921229e+00] [ 3.75488163e-02 -1.28060254e-03 9.99293974e-01 4.22894187e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.875336195 meters Centerline goodness [0,1] 0.9672112625132759 Centerline is valid? [True, True] Translation: X:65.60, Y:1.76, Z:0.44 [[ 9.99071802e-01 -1.95405680e-02 -3.83887965e-02 6.56027904e+01] [ 1.95841275e-02 9.99807925e-01 7.58940221e-04 1.76498297e+00] [ 3.83665928e-02 -1.51004686e-03 9.99262590e-01 4.36600520e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.90533619499999 meters Centerline goodness [0,1] 0.9281308114482696 Centerline is valid? [True, False] Translation: X:65.60, Y:1.77, Z:0.44 [[ 9.99049712e-01 -2.04383168e-02 -3.84960803e-02 6.56005118e+01] [ 2.04150878e-02 9.99791094e-01 -9.96451534e-04 1.77231321e+00] [ 3.85084040e-02 2.09603757e-04 9.99258254e-01 4.41234429e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.93533619499999 meters Centerline goodness [0,1] 0.902214783565664 Centerline is valid? [False, False] Translation: X:65.60, Y:1.78, Z:0.44 [[ 9.99065978e-01 -2.12136073e-02 -3.76451086e-02 6.55994474e+01] [ 2.11778754e-02 9.99774815e-01 -1.34773233e-03 1.77803667e+00] [ 3.76652217e-02 5.49230096e-04 9.99290263e-01 4.36650111e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.96533619499999 meters Centerline goodness [0,1] 0.9037544696066746 Centerline is valid? [False, False] Translation: X:65.60, Y:1.78, Z:0.44 [[ 9.99059301e-01 -2.12548900e-02 -3.77987130e-02 6.56009111e+01] [ 2.12113966e-02 9.99773809e-01 -1.55135680e-03 1.78104130e+00] [ 3.78231372e-02 7.48133949e-04 9.99284169e-01 4.35177714e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.995336195 meters Centerline goodness [0,1] 0.8861811196741419 Centerline is valid? [False, False] Translation: X:65.63, Y:1.79, Z:0.43 [[ 9.99044311e-01 -2.69827887e-02 -3.43859498e-02 6.56282458e+01] [ 2.71615554e-02 9.99619808e-01 4.74226809e-03 1.78968290e+00] [ 3.42449169e-02 -5.67171184e-03 9.99397377e-01 4.25471757e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.025336195 meters Centerline goodness [0,1] 0.8622778297474275 Centerline is valid? [False, False] Translation: X:65.63, Y:1.80, Z:0.42 [[ 9.99030329e-01 -2.76074212e-02 -3.42962508e-02 6.56282003e+01] [ 2.77429099e-02 9.99609031e-01 3.48086956e-03 1.79897735e+00] [ 3.41867442e-02 -4.42897206e-03 9.99405649e-01 4.24847463e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.055336195 meters Centerline goodness [0,1] 0.8253817015639887 Centerline is valid? [False, False] Translation: X:65.63, Y:1.80, Z:0.43 [[ 9.99013193e-01 -2.77236969e-02 -3.46992201e-02 6.56294883e+01] [ 2.78342552e-02 9.99608886e-01 2.70710410e-03 1.80433280e+00] [ 3.46105978e-02 -3.67025966e-03 9.99394134e-01 4.25573818e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.085336195 meters Centerline goodness [0,1] 0.8402534758346732 Centerline is valid? [False, False] Translation: X:65.63, Y:1.81, Z:0.42 [[ 9.99114159e-01 -2.37017950e-02 -3.47724323e-02 6.56302845e+01] [ 2.39434431e-02 9.99691860e-01 6.54948360e-03 1.80943742e+00] [ 3.46064830e-02 -7.37625355e-03 9.99373795e-01 4.23229576e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.115336195 meters Centerline goodness [0,1] 0.8389201028473479 Centerline is valid? [False, False] Translation: X:65.63, Y:1.81, Z:0.43 [[ 9.99109876e-01 -2.45594199e-02 -3.42971044e-02 6.56266344e+01] [ 2.47767332e-02 9.99675448e-01 5.92556511e-03 1.80906878e+00] [ 3.41404448e-02 -6.77006083e-03 9.99394115e-01 4.25820132e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.145336195 meters Centerline goodness [0,1] 0.7825574820957406 Centerline is valid? [False, False] Translation: X:65.65, Y:1.81, Z:0.43 [[ 9.99038510e-01 -3.21816389e-02 -2.97724203e-02 6.56468378e+01] [ 3.24856624e-02 9.99424304e-01 9.78474912e-03 1.80780229e+00] [ 2.94403912e-02 -1.07425180e-02 9.99508810e-01 4.26714854e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.175336195 meters Centerline goodness [0,1] 0.7734143975775354 Centerline is valid? [False, False] Translation: X:65.65, Y:1.81, Z:0.43 [[ 9.98878794e-01 -3.66621241e-02 -2.99506692e-02 6.56467908e+01] [ 3.68258656e-02 9.99309519e-01 4.93366734e-03 1.80922656e+00] [ 2.97491101e-02 -6.03109500e-03 9.99539202e-01 4.29316210e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.205336195 meters Centerline goodness [0,1] 0.7912408759124088 Centerline is valid? [False, False] Translation: X:65.63, Y:1.81, Z:0.44 [[ 9.98927168e-01 -3.22768397e-02 -3.32072130e-02 6.56327355e+01] [ 3.20865976e-02 9.99465575e-01 -6.24611462e-03 1.80598163e+00] [ 3.33910711e-02 5.17390711e-03 9.99428970e-01 4.36664387e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.235336195 meters Centerline goodness [0,1] 0.8063498787921579 Centerline is valid? [False, False] Translation: X:65.63, Y:1.80, Z:0.43 [[ 9.99087560e-01 -2.73224285e-02 -3.28257895e-02 6.56340921e+01] [ 2.73254197e-02 9.99626527e-01 -3.57567555e-04 1.80181997e+00] [ 3.28232995e-02 -5.39737177e-04 9.99461025e-01 4.30117727e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.26533619499999 meters Centerline goodness [0,1] 0.8518615501809179 Centerline is valid? [False, False] Translation: X:65.63, Y:1.81, Z:0.43 [[ 9.99287595e-01 -1.87544724e-02 -3.27501399e-02 6.56329942e+01] [ 1.90072864e-02 9.99791773e-01 7.42525818e-03 1.80649113e+00] [ 3.26040636e-02 -8.04245968e-03 9.99435988e-01 4.30646154e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.29533619499999 meters Centerline goodness [0,1] 0.8654057148308925 Centerline is valid? [False, False] Translation: X:65.63, Y:1.81, Z:0.43 [[ 9.99352286e-01 -1.43148519e-02 -3.30165649e-02 6.56341003e+01] [ 1.46981447e-02 9.99827036e-01 1.13957534e-02 1.80933135e+00] [ 3.28477257e-02 -1.18736545e-02 9.99389835e-01 4.30109832e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.32533619499999 meters Centerline goodness [0,1] 0.8383589792602504 Centerline is valid? [False, False] Translation: X:65.63, Y:1.81, Z:0.44 [[ 9.99356226e-01 -1.52072521e-02 -3.24941944e-02 6.56293518e+01] [ 1.55408793e-02 9.99828830e-01 1.00394994e-02 1.81190929e+00] [ 3.23359592e-02 -1.05380246e-02 9.99421501e-01 4.35338738e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.35533619499999 meters Centerline goodness [0,1] 0.8460862126324794 Centerline is valid? [False, False] Translation: X:65.63, Y:1.81, Z:0.44 [[ 9.99281476e-01 -1.95680033e-02 -3.24595939e-02 6.56292920e+01] [ 1.97573584e-02 9.99789549e-01 5.52308174e-03 1.81233024e+00] [ 3.23446871e-02 -6.16042910e-03 9.99457788e-01 4.36275584e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.385336195 meters Centerline goodness [0,1] 0.8361659378324076 Centerline is valid? [False, False] Translation: X:65.63, Y:1.81, Z:0.43 [[ 9.99213123e-01 -2.33857340e-02 -3.20350018e-02 6.56306633e+01] [ 2.34772526e-02 9.99721286e-01 2.48362147e-03 1.80833681e+00] [ 3.19679919e-02 -3.23376100e-03 9.99483662e-01 4.31642476e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.415336195 meters Centerline goodness [0,1] 0.8309365217595971 Centerline is valid? [False, False] Translation: X:65.63, Y:1.81, Z:0.44 [[ 9.99207970e-01 -2.38134210e-02 -3.18803104e-02 6.56281934e+01] [ 2.38727994e-02 9.99713904e-01 1.48315277e-03 1.81071672e+00] [ 3.18358706e-02 -2.24305033e-03 9.99490593e-01 4.35664245e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.445336195 meters Centerline goodness [0,1] 0.7889400702820781 Centerline is valid? [False, False] Translation: X:65.62, Y:1.82, Z:0.44 [[ 9.99287894e-01 -2.05317709e-02 -3.16567614e-02 6.56230472e+01] [ 2.06527167e-02 9.99780590e-01 3.49826350e-03 1.81690512e+00] [ 3.15779900e-02 -4.14957049e-03 9.99492677e-01 4.43534942e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.475336195 meters Centerline goodness [0,1] 0.8529321097436627 Centerline is valid? [False, False] Translation: X:65.62, Y:1.82, Z:0.45 [[ 9.99272029e-01 -2.07004600e-02 -3.20453194e-02 6.56230802e+01] [ 2.07917167e-02 9.99780660e-01 2.51710315e-03 1.82096046e+00] [ 3.19861854e-02 -3.18154798e-03 9.99483247e-01 4.46767273e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.505336195 meters Centerline goodness [0,1] 0.8374544076547772 Centerline is valid? [False, False] Translation: X:65.62, Y:1.82, Z:0.45 [[ 9.99270138e-01 -2.06891145e-02 -3.21115569e-02 6.56233991e+01] [ 2.07653526e-02 9.99782291e-01 2.04245699e-03 1.82387058e+00] [ 3.20623093e-02 -2.70777408e-03 9.99482204e-01 4.47225805e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.535336195 meters Centerline goodness [0,1] 0.8767805415240238 Centerline is valid? [False, False] Translation: X:65.62, Y:1.82, Z:0.45 [[ 9.99271732e-01 -2.06718807e-02 -3.20730123e-02 6.56235426e+01] [ 2.07501043e-02 9.99782471e-01 2.10796221e-03 1.82385621e+00] [ 3.20224599e-02 -2.77194540e-03 9.99483306e-01 4.46678729e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.565336195 meters Centerline goodness [0,1] 0.8584683462993362 Centerline is valid? [False, False] Translation: X:65.62, Y:1.82, Z:0.44 [[ 9.99274885e-01 -2.05240155e-02 -3.20697458e-02 6.56242429e+01] [ 2.06225838e-02 9.99783561e-01 2.74578820e-03 1.82148753e+00] [ 3.20064500e-02 -3.40515821e-03 9.99481862e-01 4.44903119e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.595336195 meters Centerline goodness [0,1] 0.8584683462993362 Centerline is valid? [False, False] Translation: X:65.62, Y:1.82, Z:0.44 [[ 9.99274885e-01 -2.05240155e-02 -3.20697458e-02 6.56242429e+01] [ 2.06225838e-02 9.99783561e-01 2.74578820e-03 1.82148753e+00] [ 3.20064500e-02 -3.40515821e-03 9.99481862e-01 4.44903119e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.625336195 meters Centerline goodness [0,1] 0.7850469517136184 Centerline is valid? [False, False] Translation: X:65.62, Y:1.82, Z:0.44 [[ 9.99294096e-01 -2.05357642e-02 -3.14577979e-02 6.56234323e+01] [ 2.06612731e-02 9.99779798e-01 3.66986910e-03 1.81673253e+00] [ 3.13755073e-02 -4.31723667e-03 9.99498344e-01 4.41631614e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.65533619499999 meters Centerline goodness [0,1] 0.7784458068028499 Centerline is valid? [False, False] Translation: X:65.62, Y:1.82, Z:0.44 [[ 9.99288470e-01 -2.04878831e-02 -3.16670085e-02 6.56238958e+01] [ 2.06104697e-02 9.99781281e-01 3.54952003e-03 1.81722542e+00] [ 3.15873602e-02 -4.19966636e-03 9.99492172e-01 4.42360130e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.68533619499999 meters Centerline goodness [0,1] 0.8553199563588065 Centerline is valid? [False, False] Translation: X:65.62, Y:1.82, Z:0.45 [[ 9.99276522e-01 -2.08026019e-02 -3.18384008e-02 6.56228444e+01] [ 2.08914567e-02 9.99778722e-01 2.46065944e-03 1.82122006e+00] [ 3.17801675e-02 -3.12402977e-03 9.99490001e-01 4.45918246e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.71533619499999 meters Centerline goodness [0,1] 0.792535361939855 Centerline is valid? [False, False] Translation: X:65.62, Y:1.82, Z:0.44 [[ 9.99286630e-01 -2.06684686e-02 -3.16076756e-02 6.56231138e+01] [ 2.07648436e-02 9.99780677e-01 2.72386502e-03 1.82101638e+00] [ 3.15444452e-02 -3.37825034e-03 9.99496641e-01 4.44048623e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.745336195 meters Centerline goodness [0,1] 0.8659784094658936 Centerline is valid? [False, False] Translation: X:65.63, Y:1.82, Z:0.44 [[ 9.99301764e-01 -1.99380427e-02 -3.15984053e-02 6.56257429e+01] [ 2.00575422e-02 9.99792808e-01 3.46933918e-03 1.82047490e+00] [ 3.15226865e-02 -4.10070311e-03 9.99494625e-01 4.40189246e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.775336195 meters Centerline goodness [0,1] 0.8066982935636904 Centerline is valid? [False, False] Translation: X:65.62, Y:1.82, Z:0.44 [[ 9.99302767e-01 -2.01317536e-02 -3.14434945e-02 6.56245023e+01] [ 2.02338225e-02 9.99790978e-01 2.93126438e-03 1.82224864e+00] [ 3.13779107e-02 -3.56544270e-03 9.99501233e-01 4.41719269e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.805336195 meters Centerline goodness [0,1] 0.8049584816132859 Centerline is valid? [False, False] Translation: X:65.62, Y:1.82, Z:0.44 [[ 9.99303712e-01 -2.04044372e-02 -3.12369864e-02 6.56226592e+01] [ 2.04863858e-02 9.99787473e-01 2.30561960e-03 1.82373957e+00] [ 3.11833028e-02 -2.94394718e-03 9.99509347e-01 4.44008394e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.835336195 meters Centerline goodness [0,1] 0.8912480087496136 Centerline is valid? [False, False] Translation: X:65.62, Y:1.82, Z:0.44 [[ 9.99389835e-01 -1.64844300e-02 -3.07931992e-02 6.56198736e+01] [ 1.66932634e-02 9.99839288e-01 6.53705883e-03 1.82177122e+00] [ 3.06804907e-02 -7.04710913e-03 9.99504400e-01 4.44849081e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.865336195 meters Centerline goodness [0,1] 0.8908944093478364 Centerline is valid? [False, False] Translation: X:65.62, Y:1.82, Z:0.45 [[ 9.99382415e-01 -1.66255460e-02 -3.09577206e-02 6.56196217e+01] [ 1.68248713e-02 9.99839295e-01 6.18929012e-03 1.82245350e+00] [ 3.08498452e-02 -6.70632737e-03 9.99501532e-01 4.46449031e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.895336195 meters Centerline goodness [0,1] 0.8807230630545144 Centerline is valid? [False, False] Translation: X:65.62, Y:1.82, Z:0.45 [[ 9.99384334e-01 -1.64789051e-02 -3.09741594e-02 6.56202956e+01] [ 1.66882202e-02 9.99839540e-01 6.51139229e-03 1.82131273e+00] [ 3.08618886e-02 -7.02428704e-03 9.99498976e-01 4.45284744e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.925336195 meters Centerline goodness [0,1] 0.8144606330976223 Centerline is valid? [False, False] Translation: X:65.62, Y:1.82, Z:0.44 [[ 9.99392022e-01 -1.62651668e-02 -3.08387890e-02 6.56208256e+01] [ 1.64852530e-02 9.99840329e-01 6.89588071e-03 1.82020890e+00] [ 3.07217023e-02 -7.40007341e-03 9.99500583e-01 4.43537484e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.955336195 meters Centerline goodness [0,1] 0.9068535091851154 Centerline is valid? [False, False] Translation: X:65.63, Y:1.82, Z:0.44 [[ 9.99391066e-01 -1.53470100e-02 -3.13363440e-02 6.56254304e+01] [ 1.55988392e-02 9.99847846e-01 7.80772878e-03 1.81987696e+00] [ 3.12117508e-02 -8.29178498e-03 9.99478400e-01 4.39147840e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.985336195 meters Centerline goodness [0,1] 0.962770768864556 Centerline is valid? [False, True] Translation: X:65.61, Y:1.82, Z:0.44 [[ 9.99663769e-01 -6.86486694e-03 -2.50044542e-02 6.56105095e+01] [ 6.87826553e-03 9.99976243e-01 4.49879347e-04 1.82072425e+00] [ 2.50007718e-02 -6.21715359e-04 9.99687239e-01 4.38746454e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.01533619499999 meters Centerline goodness [0,1] 0.8900533536585366 Centerline is valid? [True, False] Translation: X:65.62, Y:1.83, Z:0.45 [[ 9.99625614e-01 -6.27404267e-03 -2.66320779e-02 6.56150214e+01] [ 6.23653843e-03 9.99979441e-01 -1.49106362e-03 1.82769259e+00] [ 2.66408853e-02 1.32441341e-03 9.99644191e-01 4.45880828e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.04533619499999 meters Centerline goodness [0,1] 0.9810970383772974 Centerline is valid? [False, True] Translation: X:65.62, Y:1.83, Z:0.45 [[ 9.99608257e-01 -6.44117447e-03 -2.72368060e-02 6.56153170e+01] [ 6.37231812e-03 9.99976280e-01 -2.61410483e-03 1.83220243e+00] [ 2.72529978e-02 2.43951918e-03 9.99625591e-01 4.50017306e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.07533619499999 meters Centerline goodness [0,1] 0.9786661587180647 Centerline is valid? [True, True] Translation: X:65.64, Y:1.83, Z:0.44 [[ 9.99594553e-01 -5.35459821e-03 -2.79652896e-02 6.56427291e+01] [ 5.37867758e-03 9.99985226e-01 7.85892432e-04 1.83072386e+00] [ 2.79606683e-02 -9.35990070e-04 9.99608586e-01 4.44193264e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.10533619499999 meters Centerline goodness [0,1] 0.998520851226262 Centerline is valid? [True, True] Translation: X:65.68, Y:1.86, Z:0.46 [[ 9.99641767e-01 7.82845765e-03 -2.55940066e-02 6.56807794e+01] [-7.72185906e-03 9.99961107e-01 4.26116737e-03 1.86046502e+00] [ 2.56263695e-02 -4.06200757e-03 9.99663338e-01 4.61470283e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.135336195 meters Centerline goodness [0,1] 0.8938946566339652 Centerline is valid? [True, False] Translation: X:65.71, Y:1.86, Z:0.45 [[ 9.99773879e-01 1.72321903e-03 -2.11948476e-02 6.57071049e+01] [-1.51039561e-03 9.99948325e-01 1.00531937e-02 1.85635557e+00] [ 2.12110762e-02 -1.00189078e-02 9.99724818e-01 4.52827584e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.165336195 meters Centerline goodness [0,1] 0.9943354912414318 Centerline is valid? [False, True] Translation: X:65.71, Y:1.86, Z:0.46 [[ 9.99761645e-01 -3.03839715e-03 -2.16199172e-02 6.57058018e+01] [ 3.12342967e-03 9.99987516e-01 3.90038335e-03 1.86126804e+00] [ 2.16077964e-02 -3.96698197e-03 9.99758654e-01 4.59931943e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.195336195 meters Centerline goodness [0,1] 0.9893829271768562 Centerline is valid? [True, True] Translation: X:65.73, Y:1.86, Z:0.46 [[ 9.99748474e-01 -3.47423587e-03 -2.21566693e-02 6.57335900e+01] [ 3.49011671e-03 9.99993680e-01 6.78123129e-04 1.86034800e+00] [ 2.21541733e-02 -7.55281926e-04 9.99754281e-01 4.63458724e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.225336195 meters Centerline goodness [0,1] 0.888122332859175 Centerline is valid? [True, False] Translation: X:65.73, Y:1.86, Z:0.47 [[ 9.99747005e-01 -3.61879523e-03 -2.21997949e-02 6.57329110e+01] [ 3.62422943e-03 9.99993412e-01 2.04557077e-04 1.86177119e+00] [ 2.21989084e-02 -2.84962475e-04 9.99753533e-01 4.65349503e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.255336195 meters Centerline goodness [0,1] 0.9976878337147216 Centerline is valid? [False, True] Translation: X:65.73, Y:1.87, Z:0.47 [[ 9.99744860e-01 -4.17729824e-03 -2.21983116e-02 6.57297397e+01] [ 4.13412558e-03 9.99989474e-01 -1.99039791e-03 1.86778541e+00] [ 2.22063924e-02 1.89811947e-03 9.99751606e-01 4.73595695e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.285336195 meters Centerline goodness [0,1] 0.9815523594437181 Centerline is valid? [True, True] Translation: X:65.77, Y:1.84, Z:0.47 [[ 9.99678266e-01 -2.02294178e-02 -1.53014969e-02 6.57667852e+01] [ 2.01841500e-02 9.99791451e-01 -3.10707700e-03 1.84047550e+00] [ 1.53611602e-02 2.79722964e-03 9.99878098e-01 4.65678477e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.315336195 meters Centerline goodness [0,1] 0.999832170514757 Centerline is valid? [True, True] Translation: X:65.79, Y:1.85, Z:0.46 [[ 9.99800311e-01 -5.56998357e-03 -1.91915020e-02 6.57915728e+01] [ 5.66264211e-03 9.99972556e-01 4.77714755e-03 1.84717485e+00] [ 1.91643667e-02 -4.88486822e-03 9.99804413e-01 4.56738821e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.345336195 meters Centerline goodness [0,1] 0.9200641593450001 Centerline is valid? [True, False] Translation: X:65.80, Y:1.85, Z:0.45 [[ 9.99764414e-01 -9.24950304e-03 -1.96357574e-02 6.57952491e+01] [ 9.27380927e-03 9.99956339e-01 1.14715664e-03 1.84712886e+00] [ 1.96242894e-02 -1.32898465e-03 9.99806542e-01 4.53477055e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.375336195 meters Centerline goodness [0,1] 0.9984228636971898 Centerline is valid? [False, True] Translation: X:65.80, Y:1.84, Z:0.45 [[ 9.99772199e-01 -8.62228993e-03 -1.95245074e-02 6.57980843e+01] [ 8.68346502e-03 9.99957645e-01 3.05063712e-03 1.84175790e+00] [ 1.94973770e-02 -3.21948256e-03 9.99804725e-01 4.46076663e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.40533619499999 meters Centerline goodness [0,1] 0.997843346368053 Centerline is valid? [True, True] Translation: X:65.83, Y:1.84, Z:0.45 [[ 9.99728438e-01 -1.22106341e-02 -1.98481737e-02 6.58285831e+01] [ 1.22199297e-02 9.99925274e-01 3.47113661e-04 1.83718241e+00] [ 1.98424520e-02 -5.89562685e-04 9.99802945e-01 4.49085203e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.43533619499999 meters Centerline goodness [0,1] 0.9971551518049246 Centerline is valid? [True, True] Translation: X:65.86, Y:1.84, Z:0.45 [[ 9.99721377e-01 -1.15810550e-02 -2.05681171e-02 6.58597634e+01] [ 1.15909146e-02 9.99932758e-01 3.60211234e-04 1.83634036e+00] [ 2.05625624e-02 -5.98514160e-04 9.99788389e-01 4.53261736e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.46533619499999 meters Centerline goodness [0,1] 0.996761364989403 Centerline is valid? [True, True] Translation: X:65.89, Y:1.84, Z:0.47 [[ 9.99728142e-01 -1.24875976e-02 -1.96901627e-02 6.58914252e+01] [ 1.24968220e-02 9.99921852e-01 3.45497964e-04 1.83839993e+00] [ 1.96843095e-02 -5.91468496e-04 9.99806070e-01 4.65075427e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.495336195 meters Centerline goodness [0,1] 0.9980500796613797 Centerline is valid? [True, True] Translation: X:65.93, Y:1.86, Z:0.47 [[ 9.99800898e-01 -5.26724472e-04 -1.99471264e-02 6.59256715e+01] [ 7.72236980e-04 9.99924024e-01 1.23024624e-02 1.86415602e+00] [ 1.99391309e-02 -1.23154168e-02 9.99725343e-01 4.66600220e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.525336195 meters Centerline goodness [0,1] 0.9994530321046373 Centerline is valid? [True, True] Translation: X:65.95, Y:1.86, Z:0.49 [[ 9.99743148e-01 -6.88806388e-03 -2.15914862e-02 6.59514751e+01] [ 6.64368776e-03 9.99913294e-01 -1.13695430e-02 1.85505690e+00] [ 2.16679282e-02 1.12231756e-02 9.99702226e-01 4.87130445e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.555336195 meters Centerline goodness [0,1] 0.9996411483253589 Centerline is valid? [True, True] Translation: X:65.98, Y:1.85, Z:0.46 [[ 9.99730132e-01 -7.65758002e-04 -2.32180466e-02 6.59815604e+01] [ 7.75407556e-04 9.99999617e-01 4.06605683e-04 1.85190878e+00] [ 2.32177264e-02 -4.24499402e-04 9.99730342e-01 4.56254366e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.585336195 meters Centerline goodness [0,1] 0.9990764640412987 Centerline is valid? [True, True] Translation: X:66.01, Y:1.86, Z:0.47 [[ 9.99764021e-01 -6.48056363e-03 -2.07341208e-02 6.60116383e+01] [ 6.25016802e-03 9.99918220e-01 -1.11574800e-02 1.85815777e+00] [ 2.08047319e-02 1.10252554e-02 9.99722765e-01 4.73305182e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.615336195 meters Centerline goodness [0,1] 0.9997617061837245 Centerline is valid? [True, True] Translation: X:66.04, Y:1.85, Z:0.44 [[ 9.99714131e-01 1.39244009e-03 -2.38687386e-02 6.60384538e+01] [-1.12537182e-03 9.99936658e-01 1.11988230e-02 1.84739785e+00] [ 2.38828204e-02 -1.11687604e-02 9.99652374e-01 4.39887509e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.645336195 meters Centerline goodness [0,1] 0.9997361540860138 Centerline is valid? [True, True] Translation: X:66.07, Y:1.86, Z:0.48 [[ 9.99743164e-01 -6.94865261e-03 -2.15713421e-02 6.60745527e+01] [ 6.77856563e-03 9.99945439e-01 -7.94799093e-03 1.86053727e+00] [ 2.16253930e-02 7.79972684e-03 9.99735718e-01 4.78786721e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.675336195 meters Centerline goodness [0,1] 0.9997617459258553 Centerline is valid? [True, True] Translation: X:66.10, Y:1.84, Z:0.45 [[ 9.99713529e-01 -3.25024544e-03 -2.37127845e-02 6.60984379e+01] [ 3.46334248e-03 9.99953941e-01 8.95106172e-03 1.84301004e+00] [ 2.36825992e-02 -9.03062299e-03 9.99678740e-01 4.47118250e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.705336195 meters Centerline goodness [0,1] 0.9994109330819981 Centerline is valid? [True, True] Translation: X:66.13, Y:1.84, Z:0.45 [[ 9.99755882e-01 -4.83000616e-03 -2.15603033e-02 6.61274735e+01] [ 4.83898946e-03 9.99988226e-01 3.64507420e-04 1.84289483e+00] [ 2.15582888e-02 -4.68748518e-04 9.99767483e-01 4.54926961e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.735336195 meters Centerline goodness [0,1] 0.999881173059556 Centerline is valid? [True, True] Translation: X:66.16, Y:1.85, Z:0.46 [[ 9.99778357e-01 -3.62956486e-03 -2.07379533e-02 6.61558296e+01] [ 3.63755175e-03 9.99993324e-01 3.47425127e-04 1.84559424e+00] [ 2.07365538e-02 -4.22783501e-04 9.99784885e-01 4.57276285e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.76533619499999 meters Centerline goodness [0,1] 0.9996649114408808 Centerline is valid? [True, True] Translation: X:66.18, Y:1.85, Z:0.46 [[ 9.99807685e-01 -1.78384377e-03 -1.95297633e-02 6.61844029e+01] [ 1.79054544e-03 9.99998344e-01 3.25671069e-04 1.84966039e+00] [ 1.95291501e-02 -3.60577366e-04 9.99809223e-01 4.61007940e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.79533619499999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:66.21, Y:1.85, Z:0.47 [[ 9.99856304e-01 -3.30048446e-03 -1.66276543e-02 6.62134757e+01] [ 3.30553987e-03 9.99994498e-01 2.76561885e-04 1.85097628e+00] [ 1.66266501e-02 -3.31485518e-04 9.99861713e-01 4.70719682e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.82533619499999 meters Centerline goodness [0,1] 0.978981271621138 Centerline is valid? [True, True] Translation: X:66.27, Y:1.84, Z:0.47 [[ 9.99653684e-01 -2.44909307e-02 -9.62841496e-03 6.62682481e+01] [ 2.45229979e-02 9.99694059e-01 3.22662305e-03 1.84435355e+00] [ 9.54644623e-03 -3.46162322e-03 9.99948440e-01 4.71670407e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.85533619499999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:66.27, Y:1.85, Z:0.48 [[ 9.99855364e-01 -5.85862640e-03 -1.59664750e-02 6.62721287e+01] [ 5.81654188e-03 9.99979490e-01 -2.68097068e-03 1.85159738e+00] [ 1.59818543e-02 2.58771325e-03 9.99868933e-01 4.80610136e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.885336195 meters Centerline goodness [0,1] 0.9979678684135029 Centerline is valid? [True, True] Translation: X:66.31, Y:1.85, Z:0.48 [[ 9.99803314e-01 -1.54841720e-02 -1.23924855e-02 6.63104600e+01] [ 1.54346184e-02 9.99872537e-01 -4.08438461e-03 1.84799867e+00] [ 1.24541492e-02 3.89230798e-03 9.99914868e-01 4.83225530e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.915336195 meters Centerline goodness [0,1] 0.9998572074537709 Centerline is valid? [True, True] Translation: X:66.33, Y:1.84, Z:0.46 [[ 9.99813147e-01 -6.20480224e-03 -1.83077155e-02 6.63313625e+01] [ 6.30664251e-03 9.99964931e-01 5.51021509e-03 1.83900989e+00] [ 1.82728837e-02 -5.62464571e-03 9.99817216e-01 4.58363793e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.945336195 meters Centerline goodness [0,1] 0.9999042099717419 Centerline is valid? [True, True] Translation: X:66.36, Y:1.85, Z:0.47 [[ 9.99779738e-01 -6.05933853e-03 -2.00937604e-02 6.63602493e+01] [ 6.06701612e-03 9.99981544e-01 3.21148909e-04 1.84552189e+00] [ 2.00914436e-02 -4.42987340e-04 9.99798048e-01 4.67365925e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.975336195 meters Centerline goodness [0,1] 0.9987846146513513 Centerline is valid? [True, True] Translation: X:66.39, Y:1.85, Z:0.49 [[ 9.99717664e-01 -1.29665715e-02 -1.99113221e-02 6.63923682e+01] [ 1.27280135e-02 9.99846249e-01 -1.20613732e-02 1.84826516e+00] [ 2.00646553e-02 1.18045363e-02 9.99728995e-01 4.87668541e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.005336195 meters Centerline goodness [0,1] 0.9998102871777846 Centerline is valid? [True, True] Translation: X:66.42, Y:1.83, Z:0.45 [[ 9.99693801e-01 -7.24715269e-03 -2.36597287e-02 6.64224012e+01] [ 7.51802537e-03 9.99906985e-01 1.13798754e-02 1.83491292e+00] [ 2.35750563e-02 -1.15542654e-02 9.99655298e-01 4.48065068e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.035336195 meters Centerline goodness [0,1] 0.9999519854035627 Centerline is valid? [True, True] Translation: X:66.45, Y:1.86, Z:0.49 [[ 9.99707074e-01 -6.72334133e-03 -2.32499982e-02 6.64520849e+01] [ 6.40554895e-03 9.99885413e-01 -1.37160582e-02 1.85548720e+00] [ 2.33395518e-02 1.35631114e-02 9.99635587e-01 4.90023463e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.065336195 meters Centerline goodness [0,1] 0.9998572753871405 Centerline is valid? [True, True] Translation: X:66.48, Y:1.83, Z:0.43 [[ 9.99719066e-01 -2.41329698e-03 -2.35789054e-02 6.64795348e+01] [ 2.75511940e-03 9.99891432e-01 1.44752445e-02 1.83139845e+00] [ 2.35414124e-02 -1.45361406e-02 9.99617178e-01 4.30542746e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.095336195 meters Centerline goodness [0,1] 0.9998813338079982 Centerline is valid? [True, True] Translation: X:66.51, Y:1.84, Z:0.45 [[ 9.99712186e-01 -2.09819373e-03 -2.38985952e-02 6.65086464e+01] [ 2.10769834e-03 9.99997709e-01 3.72523479e-04 1.83907010e+00] [ 2.38977588e-02 -4.22787290e-04 9.99714318e-01 4.48051353e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.125336195 meters Centerline goodness [0,1] 0.9998340563734206 Centerline is valid? [True, True] Translation: X:66.54, Y:1.84, Z:0.46 [[ 9.99744148e-01 1.89427404e-04 -2.26186457e-02 6.65360956e+01] [-1.81537894e-04 9.99999922e-01 3.50858386e-04 1.84339193e+00] [ 2.26187104e-02 -3.46662476e-04 9.99744104e-01 4.55724181e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.15533619499999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:66.56, Y:1.85, Z:0.47 [[ 9.99757660e-01 1.52969615e-03 -2.19609125e-02 6.65645303e+01] [-1.52264395e-03 9.99998784e-01 3.37843052e-04 1.84951714e+00] [ 2.19614026e-02 -3.04322529e-04 9.99758773e-01 4.65509336e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.18533619499999 meters Centerline goodness [0,1] 0.9999043474102062 Centerline is valid? [True, True] Translation: X:66.59, Y:1.86, Z:0.48 [[ 9.99816975e-01 4.27934661e-03 -1.86468111e-02 6.65931997e+01] [-4.27476389e-03 9.99990822e-01 2.85616411e-04 1.85564203e+00] [ 1.86478622e-02 -2.05853421e-04 9.99826092e-01 4.78805576e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.21533619499999 meters Centerline goodness [0,1] 0.9999761199732544 Centerline is valid? [True, True] Translation: X:66.63, Y:1.86, Z:0.50 [[ 9.99913501e-01 3.11524827e-05 -1.31525538e-02 6.66271379e+01] [-1.05740776e-04 9.99983918e-01 -5.67035489e-03 1.86302880e+00] [ 1.31521656e-02 5.67125517e-03 9.99897423e-01 4.96946360e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.245336195 meters Centerline goodness [0,1] 0.9998806226721421 Centerline is valid? [True, True] Translation: X:66.65, Y:1.86, Z:0.47 [[ 9.99863883e-01 9.00486836e-03 -1.38249068e-02 6.66497760e+01] [-8.92064305e-03 9.99941348e-01 6.14191515e-03 1.85711381e+00] [ 1.38794031e-02 -6.01775207e-03 9.99885568e-01 4.73448326e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.275336195 meters Centerline goodness [0,1] 0.9999762052063008 Centerline is valid? [True, True] Translation: X:66.68, Y:1.86, Z:0.48 [[ 9.99874430e-01 7.24428068e-03 -1.40941631e-02 6.66777752e+01] [-7.24201696e-03 9.99973754e-01 2.11645273e-04 1.85601163e+00] [ 1.40953264e-02 -1.09548528e-04 9.99900650e-01 4.77945280e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.305336195 meters Centerline goodness [0,1] 0.999952340101039 Centerline is valid? [True, True] Translation: X:66.71, Y:1.86, Z:0.48 [[ 9.99931168e-01 4.42060747e-04 -1.17244599e-02 6.67112352e+01] [-4.66448831e-04 9.99997733e-01 -2.07745006e-03 1.85542981e+00] [ 1.17235150e-02 2.08277593e-03 9.99929108e-01 4.81363636e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.335336195 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:66.73, Y:1.85, Z:0.47 [[ 9.99852077e-01 2.52449937e-03 -1.70132856e-02 6.67345377e+01] [-2.48236594e-03 9.99993801e-01 2.49716509e-03 1.84609212e+00] [ 1.70194842e-02 -2.45456250e-03 9.99852145e-01 4.66606102e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.365336195 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:66.77, Y:1.85, Z:0.47 [[ 9.99818746e-01 -6.35355083e-03 -1.79473760e-02 6.67686332e+01] [ 6.32432870e-03 9.99978582e-01 -1.68450054e-03 1.84514131e+00] [ 1.79576941e-02 1.57069012e-03 9.99837514e-01 4.70396965e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.395336195 meters Centerline goodness [0,1] 0.9999763083702528 Centerline is valid? [True, True] Translation: X:66.80, Y:1.84, Z:0.46 [[ 9.99739257e-01 -3.03493055e-03 -2.26319976e-02 6.67951038e+01] [ 3.08900713e-03 9.99992456e-01 2.35480919e-03 1.83956433e+00] [ 2.26246802e-02 -2.42410560e-03 9.99741090e-01 4.64316440e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.425336195 meters Centerline goodness [0,1] 0.9998331466164517 Centerline is valid? [True, True] Translation: X:66.82, Y:1.84, Z:0.47 [[ 9.99747651e-01 -2.16757673e-03 -2.23592458e-02 6.68225464e+01] [ 2.17541950e-03 9.99997580e-01 3.26444651e-04 1.84147383e+00] [ 2.23584841e-02 -3.75003013e-04 9.99749948e-01 4.69534623e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.455336195 meters Centerline goodness [0,1] 0.9998817155969814 Centerline is valid? [True, True] Translation: X:66.85, Y:1.84, Z:0.47 [[ 9.99731379e-01 -2.65942166e-03 -2.30238479e-02 6.68512812e+01] [ 2.66779824e-03 9.99996386e-01 3.33113982e-04 1.84161276e+00] [ 2.30228788e-02 -3.94447481e-04 9.99734861e-01 4.70536969e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.485336195 meters Centerline goodness [0,1] 0.999952340101039 Centerline is valid? [True, True] Translation: X:66.87, Y:1.85, Z:0.49 [[ 9.99763997e-01 -3.11086689e-03 -2.15005115e-02 6.68710973e+01] [ 2.89146843e-03 9.99943513e-01 -1.02279025e-02 1.84729761e+00] [ 2.15311146e-02 1.01633207e-02 9.99716519e-01 4.86062311e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.51533619499999 meters Centerline goodness [0,1] 0.999952340101039 Centerline is valid? [True, True] Translation: X:66.90, Y:1.84, Z:0.47 [[ 9.99765525e-01 -3.16675722e-03 -2.14211548e-02 6.68984330e+01] [ 3.15657564e-03 9.99994888e-01 -5.09100893e-04 1.84044276e+00] [ 2.14226575e-02 4.41364026e-04 9.99770411e-01 4.70376481e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.54533619499999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:66.94, Y:1.83, Z:0.44 [[ 9.99732062e-01 -1.11207020e-03 -2.31207007e-02 6.69356723e+01] [ 1.36880903e-03 9.99937551e-01 1.10914248e-02 1.83027761e+00] [ 2.31069224e-02 -1.11201009e-02 9.99671153e-01 4.42936940e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.57533619499999 meters Centerline goodness [0,1] 0.9999049542592373 Centerline is valid? [True, True] Translation: X:66.96, Y:1.84, Z:0.46 [[ 9.99714888e-01 -1.35470435e-03 -2.38392046e-02 6.69638295e+01] [ 1.36299108e-03 9.99999016e-01 3.31364151e-04 1.84014893e+00] [ 2.38387323e-02 -3.63762298e-04 9.99715751e-01 4.62403758e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.60533619499999 meters Centerline goodness [0,1] 0.9999761825370361 Centerline is valid? [True, True] Translation: X:66.99, Y:1.84, Z:0.46 [[ 9.99643292e-01 -3.30642503e-03 -2.65019946e-02 6.69922976e+01] [ 3.31730397e-03 9.99994431e-01 3.66540319e-04 1.83656817e+00] [ 2.65006350e-02 -4.54324743e-04 9.99648693e-01 4.60505271e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.635336195 meters Centerline goodness [0,1] 0.999976198976556 Centerline is valid? [True, True] Translation: X:67.01, Y:1.84, Z:0.48 [[ 9.99664773e-01 -6.83093067e-03 -2.49735811e-02 6.70126521e+01] [ 6.61692229e-03 9.99940764e-01 -8.64200915e-03 1.84214832e+00] [ 2.50311347e-02 8.47386387e-03 9.99650757e-01 4.80680828e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.665336195 meters Centerline goodness [0,1] 0.9999524206018794 Centerline is valid? [True, True] Translation: X:67.05, Y:1.83, Z:0.45 [[ 9.99558237e-01 -8.13856992e-03 -2.85848713e-02 6.70496524e+01] [ 8.39596779e-03 9.99925180e-01 8.89623648e-03 1.82515002e+00] [ 2.85103300e-02 -9.13230411e-03 9.99551781e-01 4.51138198e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.695336195 meters Centerline goodness [0,1] 0.9999521405154467 Centerline is valid? [True, True] Translation: X:67.08, Y:1.83, Z:0.47 [[ 9.99545904e-01 -8.34513194e-03 -2.89541783e-02 6.70786818e+01] [ 8.36004729e-03 9.99964977e-01 3.94117894e-04 1.83150808e+00] [ 2.89498753e-02 -6.35997226e-04 9.99580662e-01 4.65672544e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.725336195 meters Centerline goodness [0,1] 0.9999045710468556 Centerline is valid? [True, True] Translation: X:67.11, Y:1.83, Z:0.46 [[ 9.99525558e-01 -8.37237692e-03 -2.96405333e-02 6.71060190e+01] [ 8.38795185e-03 9.99964740e-01 4.01158344e-04 1.82896757e+00] [ 2.96361295e-02 -6.49591384e-04 9.99560542e-01 4.60003577e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.755336195 meters Centerline goodness [0,1] 0.9999762346119112 Centerline is valid? [True, True] Translation: X:67.13, Y:1.83, Z:0.46 [[ 9.99538772e-01 -8.72540765e-03 -2.90879679e-02 6.71348288e+01] [ 8.74044101e-03 9.99961726e-01 3.89713637e-04 1.82751215e+00] [ 2.90834542e-02 -6.43775557e-04 9.99576780e-01 4.58716831e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.785336195 meters Centerline goodness [0,1] 0.9999525987723082 Centerline is valid? [True, True] Translation: X:67.16, Y:1.83, Z:0.46 [[ 9.99569285e-01 -9.57404978e-03 -2.77413547e-02 6.71634167e+01] [ 9.58792896e-03 9.99953967e-01 3.67329841e-04 1.82529458e+00] [ 2.77365609e-02 -6.33153765e-04 9.99615067e-01 4.59644485e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.815336195 meters Centerline goodness [0,1] 0.999952807928268 Centerline is valid? [True, True] Translation: X:67.19, Y:1.82, Z:0.46 [[ 9.99654206e-01 -9.39456615e-03 -2.45603404e-02 6.71911958e+01] [ 9.40534350e-03 9.99955717e-01 3.23328622e-04 1.82390140e+00] [ 2.45562153e-02 -5.54215255e-04 9.99698297e-01 4.64829366e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.845336195 meters Centerline goodness [0,1] 0.9999289436286121 Centerline is valid? [True, True] Translation: X:67.22, Y:1.83, Z:0.47 [[ 9.99668295e-01 -7.62448819e-03 -2.46001371e-02 6.72192763e+01] [ 7.63468569e-03 9.99970804e-01 3.20634177e-04 1.82897715e+00] [ 2.45969742e-02 -5.08342136e-04 9.99697319e-01 4.73452445e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.87533619499999 meters Centerline goodness [0,1] 0.9998326839878576 Centerline is valid? [True, True] Translation: X:67.25, Y:1.84, Z:0.48 [[ 9.99658710e-01 -6.19510289e-03 -2.53788261e-02 6.72480409e+01] [ 6.20539218e-03 9.99980693e-01 3.26691985e-04 1.83540280e+00] [ 2.53763122e-02 -4.84066057e-04 9.99677852e-01 4.78775374e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.90533619499999 meters Centerline goodness [0,1] 0.9999762346119112 Centerline is valid? [True, True] Translation: X:67.28, Y:1.83, Z:0.47 [[ 9.99659186e-01 -8.08177203e-03 -2.48233082e-02 6.72757996e+01] [ 8.09214667e-03 9.99967208e-01 3.17513619e-04 1.82906739e+00] [ 2.48199281e-02 -5.18279257e-04 9.99691804e-01 4.74752295e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.93533619499999 meters Centerline goodness [0,1] 0.9999523922875506 Centerline is valid? [True, True] Translation: X:67.30, Y:1.83, Z:0.48 [[ 9.99653142e-01 -9.00785661e-03 -2.47478290e-02 6.73046358e+01] [ 9.01836673e-03 9.99959285e-01 3.13109595e-04 1.82991253e+00] [ 2.47440009e-02 -5.36185988e-04 9.99693677e-01 4.75040314e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.96533619499999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:67.33, Y:1.83, Z:0.47 [[ 9.99617572e-01 -9.50971866e-03 -2.59668130e-02 6.73335996e+01] [ 9.52134708e-03 9.99954618e-01 3.24212440e-04 1.82711943e+00] [ 2.59625515e-02 -5.71327492e-04 9.99662753e-01 4.70713202e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.995336195 meters Centerline goodness [0,1] 0.9999761995430312 Centerline is valid? [True, True] Translation: X:67.36, Y:1.82, Z:0.47 [[ 9.99603694e-01 -1.01148535e-02 -2.62706200e-02 6.73609985e+01] [ 1.01269074e-02 9.99948668e-01 3.25828575e-04 1.82317490e+00] [ 2.62659758e-02 -5.91739583e-04 9.99654815e-01 4.67165019e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.025336195 meters Centerline goodness [0,1] 0.999976274081807 Centerline is valid? [True, True] Translation: X:67.39, Y:1.82, Z:0.46 [[ 9.99588381e-01 -9.83597218e-03 -2.69503511e-02 6.73888839e+01] [ 9.84851545e-03 9.99951447e-01 3.32723329e-04 1.82065954e+00] [ 2.69457699e-02 -5.98007323e-04 9.99636718e-01 4.63258751e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.055336195 meters Centerline goodness [0,1] 0.9998816007577551 Centerline is valid? [True, True] Translation: X:67.42, Y:1.82, Z:0.46 [[ 9.99524246e-01 -8.95192501e-03 -2.95151442e-02 6.74164300e+01] [ 8.96653576e-03 9.99959734e-01 3.62706697e-04 1.81921438e+00] [ 2.95107089e-02 -6.27182734e-04 9.99564267e-01 4.57419010e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.085336195 meters Centerline goodness [0,1] 0.9999761757278315 Centerline is valid? [True, True] Translation: X:67.44, Y:1.82, Z:0.46 [[ 9.99479012e-01 -8.03237752e-03 -3.12599681e-02 6.74446785e+01] [ 8.04818429e-03 9.99967541e-01 3.79862463e-04 1.82043455e+00] [ 3.12559023e-02 -6.31250544e-04 9.99511216e-01 4.57432437e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.115336195 meters Centerline goodness [0,1] 0.9999760942841434 Centerline is valid? [True, True] Translation: X:67.47, Y:1.83, Z:0.47 [[ 9.99466663e-01 -5.60128766e-03 -3.21716662e-02 6.74734168e+01] [ 5.61660737e-03 9.99984152e-01 3.85834088e-04 1.82927068e+00] [ 3.21689951e-02 -5.66323925e-04 9.99482283e-01 4.67341277e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.145336195 meters Centerline goodness [0,1] 0.9999285016325461 Centerline is valid? [True, True] Translation: X:67.50, Y:1.83, Z:0.47 [[ 9.99466191e-01 -4.57461832e-03 -3.23481884e-02 6.75008647e+01] [ 4.58949036e-03 9.99989394e-01 3.85513223e-04 1.82999396e+00] [ 3.23460818e-02 -5.33769131e-04 9.99476586e-01 4.67476843e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.175336195 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:67.53, Y:1.84, Z:0.47 [[ 9.99423370e-01 4.87118585e-04 -3.39513024e-02 6.75300887e+01] [-4.73804119e-04 9.99999808e-01 4.00207976e-04 1.83902742e+00] [ 3.39514908e-02 -3.83890938e-04 9.99423408e-01 4.65711059e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.205336195 meters Centerline goodness [0,1] 0.9998340603072254 Centerline is valid? [True, True] Translation: X:67.56, Y:1.83, Z:0.46 [[ 9.99540843e-01 -6.42387808e-04 -3.02934154e-02 6.75596752e+01] [ 6.53464911e-04 9.99999723e-01 3.55761718e-04 1.83214225e+00] [ 3.02931785e-02 -3.75394052e-04 9.99540986e-01 4.61246900e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.235336195 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:67.59, Y:1.83, Z:0.46 [[ 9.99545639e-01 7.63808413e-04 -3.01319026e-02 6.75874051e+01] [-7.53533256e-04 9.99999654e-01 3.52359717e-04 1.83110436e+00] [ 3.01321613e-02 -3.29494228e-04 9.99545869e-01 4.55318509e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.26533619499999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:67.62, Y:1.83, Z:0.46 [[ 9.99571095e-01 3.11166900e-05 -2.92852320e-02 6.76155139e+01] [-2.12100832e-05 9.99999942e-01 3.38590524e-04 1.82995275e+00] [ 2.92852408e-02 -3.37824159e-04 9.99571038e-01 4.55071272e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.29533619499999 meters Centerline goodness [0,1] 0.9998817239911056 Centerline is valid? [True, True] Translation: X:67.64, Y:1.83, Z:0.46 [[ 9.99577857e-01 -4.57642011e-04 -2.90499385e-02 6.76421015e+01] [ 4.67490754e-04 9.99999836e-01 3.32237216e-04 1.82949538e+00] [ 2.90497817e-02 -3.45677542e-04 9.99577906e-01 4.55259424e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.32533619499999 meters Centerline goodness [0,1] 0.9999763257575758 Centerline is valid? [True, True] Translation: X:67.67, Y:1.83, Z:0.46 [[ 9.99578424e-01 -3.22145932e-04 -2.90322432e-02 6.76696958e+01] [ 3.31788960e-04 9.99999891e-01 3.27332217e-04 1.83107243e+00] [ 2.90321346e-02 -3.36826799e-04 9.99578422e-01 4.58276020e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.35533619499999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:67.70, Y:1.84, Z:0.47 [[ 9.99614517e-01 1.14453781e-03 -2.77399978e-02 6.76979740e+01] [-1.13642060e-03 9.99999307e-01 3.08380968e-04 1.83708338e+00] [ 2.77403315e-02 -2.76737788e-04 9.99615125e-01 4.68064316e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.385336195 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:67.73, Y:1.84, Z:0.47 [[ 9.99623934e-01 2.43682516e-03 -2.73139750e-02 6.77264244e+01] [-2.42955551e-03 9.99997004e-01 2.99334668e-04 1.84060602e+00] [ 2.73146226e-02 -2.32861280e-04 9.99626859e-01 4.72279225e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.415336195 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:67.76, Y:1.84, Z:0.47 [[ 9.99626469e-01 3.87740981e-03 -2.70534297e-02 6.77553996e+01] [-3.87092235e-03 9.99992465e-01 2.92168452e-04 1.84339089e+00] [ 2.70543587e-02 -1.87337592e-04 9.99633946e-01 4.71872784e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.445336195 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:67.78, Y:1.84, Z:0.47 [[ 9.99639967e-01 4.33642310e-03 -2.64789082e-02 6.77829664e+01] [-4.33042486e-03 9.99990583e-01 2.83867784e-04 1.84185781e+00] [ 2.64798899e-02 -1.69100660e-04 9.99649332e-01 4.66305590e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.475336195 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:67.81, Y:1.84, Z:0.46 [[ 9.99624535e-01 5.63427461e-03 -2.68149787e-02 6.78108642e+01] [-5.62870084e-03 9.99984119e-01 2.83336911e-04 1.84186325e+00] [ 2.68161492e-02 -1.32297035e-04 9.99640374e-01 4.60827549e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.505336195 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:67.84, Y:1.84, Z:0.45 [[ 9.99617727e-01 5.10852618e-03 -2.71717210e-02 6.78381122e+01] [-5.10268750e-03 9.99986941e-01 2.84214098e-04 1.83904230e+00] [ 2.71728181e-02 -1.45456650e-04 9.99630740e-01 4.52065696e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.535336195 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:67.87, Y:1.85, Z:0.47 [[ 9.99581127e-01 6.34355206e-03 -2.82370178e-02 6.78664151e+01] [-6.33785419e-03 9.99979873e-01 2.91282267e-04 1.84774542e+00] [ 2.82382972e-02 -1.12198155e-04 9.99601213e-01 4.69314662e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.565336195 meters Centerline goodness [0,1] 0.9998325679295829 Centerline is valid? [True, True] Translation: X:67.89, Y:1.85, Z:0.47 [[ 9.99592699e-01 6.03399710e-03 -2.78931379e-02 6.78936178e+01] [-6.02845368e-03 9.99981789e-01 2.82826978e-04 1.85084497e+00] [ 2.78943365e-02 -1.14559293e-04 9.99610871e-01 4.73601954e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.595336195 meters Centerline goodness [0,1] 0.9999281781182667 Centerline is valid? [True, True] Translation: X:67.92, Y:1.85, Z:0.48 [[ 9.99620669e-01 5.76077648e-03 -2.69319726e-02 6.79214128e+01] [-5.75556814e-03 9.99983400e-01 2.70903756e-04 1.85184641e+00] [ 2.69330862e-02 -1.15792190e-04 9.99637232e-01 4.76644441e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.62533619499999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:67.95, Y:1.85, Z:0.47 [[ 9.99690579e-01 5.85432968e-03 -2.41758779e-02 6.79504395e+01] [-5.85022970e-03 9.99982858e-01 2.40314248e-04 1.84996849e+00] [ 2.41768704e-02 -9.88054507e-05 9.99707692e-01 4.74471520e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.65533619499999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:67.98, Y:1.85, Z:0.47 [[ 9.99736329e-01 8.17475339e-03 -2.14580072e-02 6.79788519e+01] [-8.17208849e-03 9.99966585e-01 2.11878711e-04 1.84802614e+00] [ 2.14590222e-02 -3.64661107e-05 9.99769728e-01 4.67646507e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.68533619499999 meters Centerline goodness [0,1] 0.9998089643479714 Centerline is valid? [True, True] Translation: X:68.01, Y:1.85, Z:0.47 [[ 9.99756452e-01 9.92248161e-03 -1.97124448e-02 6.80073086e+01] [-9.92061948e-03 9.99950771e-01 1.92254153e-04 1.84997440e+00] [ 1.97133820e-02 3.35233378e-06 9.99805672e-01 4.69959023e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.71533619499999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:68.03, Y:1.86, Z:0.48 [[ 9.99771744e-01 1.21792492e-02 -1.75534933e-02 6.80348269e+01] [-1.21781518e-02 9.99925829e-01 1.69412562e-04 1.85902744e+00] [ 1.75542547e-02 4.43952141e-05 9.99845911e-01 4.84480700e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.745336195 meters Centerline goodness [0,1] 0.9999761342211403 Centerline is valid? [True, True] Translation: X:68.06, Y:1.86, Z:0.49 [[ 9.99768438e-01 1.31530841e-02 -1.70313668e-02 6.80624829e+01] [-1.31522335e-02 9.99913493e-01 1.61954683e-04 1.86405096e+00] [ 1.70320237e-02 6.20833337e-05 9.99854943e-01 4.91410556e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.775336195 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:68.09, Y:1.86, Z:0.49 [[ 9.99747799e-01 1.34114510e-02 -1.80130781e-02 6.80911659e+01] [-1.34105954e-02 9.99910060e-01 1.68296875e-04 1.86283591e+00] [ 1.80137151e-02 7.33116706e-05 9.99837737e-01 4.86462567e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.805336195 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:68.12, Y:1.86, Z:0.48 [[ 9.99735786e-01 1.34544538e-02 -1.86369513e-02 6.81200817e+01] [-1.34536014e-02 9.99909482e-01 1.71123719e-04 1.85912743e+00] [ 1.86375667e-02 7.96556079e-05 9.99826302e-01 4.78973213e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.835336195 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:68.17, Y:1.85, Z:0.47 [[ 9.99857003e-01 -4.57010885e-03 -1.62815340e-02 6.81701150e+01] [ 4.62417719e-03 9.99983914e-01 3.28474059e-03 1.85382667e+00] [ 1.62662605e-02 -3.35955958e-03 9.99862052e-01 4.68638279e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.865336195 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:68.18, Y:1.86, Z:0.48 [[ 9.99708828e-01 1.55023140e-02 -1.84915641e-02 6.81777377e+01] [-1.55511148e-02 9.99875953e-01 -2.49820707e-03 1.86273236e+00] [ 1.84505422e-02 2.78504410e-03 9.99825895e-01 4.80165312e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.895336195 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:68.21, Y:1.87, Z:0.48 [[ 9.99671331e-01 1.66641542e-02 -1.94816651e-02 6.82066462e+01] [-1.66637471e-02 9.99861133e-01 1.83239924e-04 1.86662223e+00] [ 1.94820132e-02 1.41457841e-04 9.99810198e-01 4.84321394e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.925336195 meters Centerline goodness [0,1] 0.9999041916167665 Centerline is valid? [True, True] Translation: X:68.23, Y:1.87, Z:0.49 [[ 9.99643641e-01 1.77220740e-02 -1.99629273e-02 6.82348788e+01] [-1.77219224e-02 9.99842937e-01 1.84512286e-04 1.86650738e+00] [ 1.99630618e-02 1.69334916e-04 9.99800704e-01 4.86404286e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.955336195 meters Centerline goodness [0,1] 0.9999039500540281 Centerline is valid? [True, True] Translation: X:68.28, Y:1.86, Z:0.47 [[ 9.99808871e-01 2.01062542e-04 -1.95494408e-02 6.82849779e+01] [-1.58353160e-04 9.99997598e-01 2.18620910e-03 1.86357279e+00] [ 1.95498335e-02 -2.18269554e-03 9.99806501e-01 4.72851270e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.985336195 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:68.29, Y:1.87, Z:0.48 [[ 9.99584747e-01 2.01576993e-02 -2.05912994e-02 6.82929512e+01] [-2.01884799e-02 9.99795362e-01 -1.28803139e-03 1.86620329e+00] [ 2.05611219e-02 1.70320356e-03 9.99787147e-01 4.76564615e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.01533619499999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:68.35, Y:1.86, Z:0.47 [[ 9.99829543e-01 -3.34406385e-03 -1.81577283e-02 6.83501504e+01] [ 3.38616599e-03 9.99991648e-01 2.28844001e-03 1.86015358e+00] [ 1.81499240e-02 -2.34953501e-03 9.99832516e-01 4.74935697e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.04533619499999 meters Centerline goodness [0,1] 0.9999521416606844 Centerline is valid? [True, True] Translation: X:68.35, Y:1.86, Z:0.48 [[ 9.99670227e-01 1.72971853e-02 -1.89801069e-02 6.83505816e+01] [-1.73199316e-02 9.99849463e-01 -1.03468969e-03 1.86495269e+00] [ 1.89593524e-02 1.36308263e-03 9.99819326e-01 4.77325761e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.07533619499999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:68.38, Y:1.86, Z:0.48 [[ 9.99677867e-01 1.73687552e-02 -1.85064372e-02 6.83780664e+01] [-1.73684457e-02 9.99849141e-01 1.77467003e-04 1.86371303e+00] [ 1.85067277e-02 1.44018214e-04 9.99828725e-01 4.76666435e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.10533619499999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:68.41, Y:1.86, Z:0.48 [[ 9.99682184e-01 1.75797649e-02 -1.80688155e-02 6.84058726e+01] [-1.75795636e-02 9.99845453e-01 1.69982358e-04 1.86332356e+00] [ 1.80690113e-02 1.47713558e-04 9.99836731e-01 4.77605762e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.135336195 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:68.43, Y:1.86, Z:0.48 [[ 9.99708234e-01 1.72312788e-02 -1.69272115e-02 6.84338704e+01] [-1.72310858e-02 9.99851521e-01 1.57256224e-04 1.86345666e+00] [ 1.69274079e-02 1.34463892e-04 9.99856712e-01 4.78835360e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.165336195 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:68.46, Y:1.86, Z:0.48 [[ 9.99770246e-01 1.66270387e-02 -1.35276312e-02 6.84626127e+01] [-1.66268822e-02 9.99861756e-01 1.24048489e-04 1.86408666e+00] [ 1.35278236e-02 1.00902341e-04 9.99908490e-01 4.84707480e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.195336195 meters Centerline goodness [0,1] 0.9998799490984177 Centerline is valid? [True, True] Translation: X:68.49, Y:1.87, Z:0.49 [[ 9.99807518e-01 1.58184282e-02 -1.16062022e-02 6.84906035e+01] [-1.58182720e-02 9.99874878e-01 1.05264092e-04 1.86660937e+00] [ 1.16064151e-02 7.83462322e-05 9.99932640e-01 4.92861551e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.225336195 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:68.55, Y:1.87, Z:0.50 [[ 9.99856412e-01 -8.17489320e-03 -1.48434009e-02 6.85543085e+01] [ 8.08927235e-03 9.99950349e-01 -5.81918404e-03 1.86850849e+00] [ 1.48902352e-02 5.69827616e-03 9.99872897e-01 5.03231358e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.255336195 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:68.55, Y:1.86, Z:0.47 [[ 9.99813811e-01 1.24956649e-02 -1.47038177e-02 6.85495970e+01] [-1.23994509e-02 9.99901233e-01 6.61654865e-03 1.85813741e+00] [ 1.47850436e-02 -6.43299745e-03 9.99870001e-01 4.74990056e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.285336195 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:68.58, Y:1.86, Z:0.48 [[ 9.99819994e-01 1.21819567e-02 -1.45457497e-02 6.85767043e+01] [-1.21818558e-02 9.99925794e-01 9.55435975e-05 1.86308409e+00] [ 1.45458343e-02 8.16678262e-05 9.99894200e-01 4.83862708e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.315336195 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:68.60, Y:1.86, Z:0.49 [[ 9.99822817e-01 1.15005096e-02 -1.49020984e-02 6.86045297e+01] [-1.15003596e-02 9.99933864e-01 9.57593942e-05 1.86400024e+00] [ 1.49022141e-02 7.56370633e-05 9.99888953e-01 4.88413091e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.345336195 meters Centerline goodness [0,1] 0.9999042512447338 Centerline is valid? [True, True] Translation: X:68.63, Y:1.86, Z:0.49 [[ 9.99821921e-01 1.07468741e-02 -1.55122971e-02 6.86324243e+01] [-1.07466666e-02 9.99942248e-01 9.67362577e-05 1.86401450e+00] [ 1.55124409e-02 6.99864539e-05 9.99879672e-01 4.89594018e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.37533619499999 meters Centerline goodness [0,1] 0.9999519577227961 Centerline is valid? [True, True] Translation: X:68.70, Y:1.87, Z:0.51 [[ 9.99788952e-01 -1.02034103e-02 -1.78309196e-02 6.87024617e+01] [ 1.00428057e-02 9.99908402e-01 -9.07353468e-03 1.86861971e+00] [ 1.79218673e-02 8.89254726e-03 9.99799845e-01 5.05280869e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.40533619499999 meters Centerline goodness [0,1] 0.9999519577227961 Centerline is valid? [True, True] Translation: X:68.73, Y:1.86, Z:0.49 [[ 9.99783524e-01 -1.07067106e-02 -1.78401379e-02 6.87333933e+01] [ 1.07437098e-02 9.99940326e-01 1.97938076e-03 1.86151845e+00] [ 1.78178807e-02 -2.17062154e-03 9.99838893e-01 4.87177343e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.43533619499999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:68.72, Y:1.86, Z:0.47 [[ 9.99817285e-01 1.20638835e-02 -1.48276336e-02 6.87192845e+01] [-1.19160375e-02 9.99878804e-01 1.00192103e-02 1.85883145e+00] [ 1.49467071e-02 -9.84069298e-03 9.99839866e-01 4.69551763e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.46533619499999 meters Centerline goodness [0,1] 0.9999042810308933 Centerline is valid? [True, True] Translation: X:68.75, Y:1.87, Z:0.48 [[ 9.99796699e-01 1.36534683e-02 -1.48372044e-02 6.87482273e+01] [-1.36538652e-02 9.99906779e-01 7.45504040e-05 1.86549178e+00] [ 1.48368391e-02 1.28049942e-04 9.99889920e-01 4.82505404e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.495336195 meters Centerline goodness [0,1] 0.9999521084265224 Centerline is valid? [True, True] Translation: X:68.78, Y:1.86, Z:0.48 [[ 9.99802292e-01 1.37073443e-02 -1.44043697e-02 6.87759524e+01] [-1.37077602e-02 9.99906042e-01 6.98623281e-05 1.86455911e+00] [ 1.44039739e-02 1.27603129e-04 9.99896249e-01 4.84046006e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.525336195 meters Centerline goodness [0,1] 0.999952203422235 Centerline is valid? [True, True] Translation: X:68.80, Y:1.87, Z:0.49 [[ 9.99809800e-01 1.47173148e-02 -1.27970818e-02 6.88026123e+01] [-1.47177463e-02 9.99891686e-01 6.04601015e-05 1.86939278e+00] [ 1.27965855e-02 1.27895601e-04 9.99918112e-01 4.91843025e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.555336195 meters Centerline goodness [0,1] 0.9999286885830422 Centerline is valid? [True, True] Translation: X:68.83, Y:1.87, Z:0.50 [[ 9.99816676e-01 1.46259323e-02 -1.23570087e-02 6.88303142e+01] [-1.46263472e-02 9.99893028e-01 5.67949804e-05 1.87142787e+00] [ 1.23565176e-02 1.23953332e-04 9.99923648e-01 4.96397810e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.585336195 meters Centerline goodness [0,1] 0.9998800153580342 Centerline is valid? [True, True] Translation: X:68.86, Y:1.87, Z:0.50 [[ 9.99819711e-01 1.52636841e-02 -1.12945104e-02 6.88578869e+01] [-1.52640936e-02 9.99883496e-01 4.99579102e-05 1.87211490e+00] [ 1.12939571e-02 1.22451560e-04 9.99936214e-01 4.96128176e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.615336195 meters Centerline goodness [0,1] 0.9998803827751196 Centerline is valid? [True, True] Translation: X:68.89, Y:1.87, Z:0.49 [[ 9.99837868e-01 1.48397680e-02 -1.01989682e-02 6.88862150e+01] [-1.48400968e-02 9.99889879e-01 4.34495740e-05 1.86919170e+00] [ 1.01984899e-02 1.07911146e-04 9.99947988e-01 4.92543280e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.645336195 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:68.91, Y:1.87, Z:0.49 [[ 9.99853752e-01 1.46219917e-02 -8.86975676e-03 6.89130923e+01] [-1.46222424e-02 9.99893089e-01 3.65847264e-05 1.86937884e+00] [ 8.86934343e-03 9.31163576e-05 9.99960662e-01 4.90182146e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.675336195 meters Centerline goodness [0,1] 0.9998089734711908 Centerline is valid? [True, True] Translation: X:68.94, Y:1.87, Z:0.49 [[ 9.99852140e-01 1.45184862e-02 -9.21478550e-03 6.89409263e+01] [-1.45187647e-02 9.99894597e-01 3.66720573e-05 1.86923082e+00] [ 9.21434666e-03 9.71206677e-05 9.99957542e-01 4.89867856e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.705336195 meters Centerline goodness [0,1] 0.9997860962566845 Centerline is valid? [True, True] Translation: X:68.97, Y:1.87, Z:0.49 [[ 9.99852970e-01 1.40819850e-02 -9.78447002e-03 6.89688480e+01] [-1.40822960e-02 9.99900839e-01 3.71088911e-05 1.86906536e+00] [ 9.78402235e-03 1.00684369e-04 9.99952130e-01 4.88011455e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.735336195 meters Centerline goodness [0,1] 0.9997854537652864 Centerline is valid? [True, True] Translation: X:69.00, Y:1.87, Z:0.49 [[ 9.99838737e-01 1.44673689e-02 -1.06393456e-02 6.89967366e+01] [-1.44677743e-02 9.99895336e-01 3.88593152e-05 1.87076448e+00] [ 1.06387942e-02 1.15074602e-04 9.99943400e-01 4.89183982e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.76533619499999 meters Centerline goodness [0,1] 0.9999760019198464 Centerline is valid? [True, True] Translation: X:69.02, Y:1.87, Z:0.50 [[ 9.99812433e-01 1.49201747e-02 -1.23486087e-02 6.90248653e+01] [-1.49207728e-02 9.99888678e-01 4.36919415e-05 1.87176466e+00] [ 1.23478859e-02 1.40567039e-04 9.99923752e-01 4.95217540e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.79533619499999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:69.05, Y:1.87, Z:0.49 [[ 9.99816816e-01 1.40693800e-02 -1.29763673e-02 6.90524865e+01] [-1.40699888e-02 9.99901012e-01 4.43838940e-05 1.87350722e+00] [ 1.29757072e-02 1.38201579e-04 9.99915802e-01 4.94629576e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.82533619499999 meters Centerline goodness [0,1] 0.9996658232682485 Centerline is valid? [True, True] Translation: X:69.08, Y:1.87, Z:0.49 [[ 9.99809033e-01 1.50478195e-02 -1.24683881e-02 6.90807472e+01] [-1.50484665e-02 9.99886765e-01 4.19339335e-05 1.87153033e+00] [ 1.24676072e-02 1.45704194e-04 9.99922266e-01 4.88466165e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.85533619499999 meters Centerline goodness [0,1] 0.9999046051847083 Centerline is valid? [True, True] Translation: X:69.11, Y:1.87, Z:0.49 [[ 9.99802940e-01 1.55605036e-02 -1.23268855e-02 6.91096120e+01] [-1.55611910e-02 9.99878917e-01 4.01555860e-05 1.87104343e+00] [ 1.23260178e-02 1.51673347e-04 9.99924020e-01 4.85687394e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.885336195 meters Centerline goodness [0,1] 0.9998336857611252 Centerline is valid? [True, True] Translation: X:69.14, Y:1.87, Z:0.49 [[ 9.99791761e-01 1.70280775e-02 -1.12463154e-02 6.91382773e+01] [-1.70287617e-02 9.99855000e-01 3.49238885e-05 1.87205265e+00] [ 1.12452793e-02 1.56594209e-04 9.99936758e-01 4.85897783e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.915336195 meters Centerline goodness [0,1] 0.9998341821627383 Centerline is valid? [True, True] Translation: X:69.17, Y:1.87, Z:0.49 [[ 9.99802097e-01 1.71176070e-02 -1.01367857e-02 6.91650998e+01] [-1.71181816e-02 9.99853473e-01 3.00835468e-05 1.87407075e+00] [ 1.01358154e-02 1.43445746e-04 9.99948621e-01 4.90096090e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.945336195 meters Centerline goodness [0,1] 0.9999760622381807 Centerline is valid? [True, True] Translation: X:69.19, Y:1.88, Z:0.50 [[ 9.99793835e-01 1.88720164e-02 -7.49225823e-03 6.91938469e+01] [-1.88723853e-02 9.99821900e-01 2.14669374e-05 1.87789703e+00] [ 7.49132899e-03 1.19934272e-04 9.99971932e-01 5.02230224e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.975336195 meters Centerline goodness [0,1] 0.9996892702631642 Centerline is valid? [True, True] Translation: X:69.22, Y:1.88, Z:0.50 [[ 9.99793545e-01 1.92214893e-02 -6.58802271e-03 6.92225707e+01] [-1.92217885e-02 9.99815244e-01 1.79141062e-05 1.87921097e+00] [ 6.58714987e-03 1.08723171e-04 9.99978299e-01 5.03596418e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.005336195 meters Centerline goodness [0,1] 0.9996657754010695 Centerline is valid? [True, True] Translation: X:69.25, Y:1.88, Z:0.50 [[ 9.99790196e-01 1.95766432e-02 -6.02657631e-03 6.92501657e+01] [-1.95769053e-02 9.99808354e-01 1.55037156e-05 1.87875760e+00] [ 6.02572485e-03 1.02481251e-04 9.99981840e-01 4.97360939e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.035336195 meters Centerline goodness [0,1] 0.999596429588833 Centerline is valid? [True, True] Translation: X:69.28, Y:1.88, Z:0.50 [[ 9.99807617e-01 1.87873340e-02 -5.63599411e-03 6.92791888e+01] [-1.87875520e-02 9.99823498e-01 1.42704720e-05 1.87723611e+00] [ 5.63526745e-03 9.16188057e-05 9.99984118e-01 4.95312886e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.065336195 meters Centerline goodness [0,1] 0.9994980639609924 Centerline is valid? [True, True] Translation: X:69.31, Y:1.88, Z:0.50 [[ 9.99805180e-01 1.90804500e-02 -5.05360797e-03 6.93077025e+01] [-1.90806325e-02 9.99817948e-01 1.21040833e-05 1.87642194e+00] [ 5.05291890e-03 8.43243112e-05 9.99987230e-01 4.95673403e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.095336195 meters Centerline goodness [0,1] 0.9998561082066286 Centerline is valid? [True, True] Translation: X:69.34, Y:1.88, Z:0.50 [[ 9.99843159e-01 1.72556294e-02 -3.98763001e-03 6.93356567e+01] [-1.72557312e-02 9.99851109e-01 8.86149725e-06 1.87705806e+00] [ 3.98718920e-03 5.99493643e-05 9.99992049e-01 5.01214485e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.12533619499999 meters Centerline goodness [0,1] 0.9998800355094892 Centerline is valid? [True, True] Translation: X:69.36, Y:1.88, Z:0.50 [[ 9.99864454e-01 1.57568151e-02 -4.77465289e-03 6.93637926e+01] [-1.57569449e-02 9.99875852e-01 1.04401531e-05 1.87643257e+00] [ 4.77422463e-03 6.47952044e-05 9.99988601e-01 5.02949679e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.15533619499999 meters Centerline goodness [0,1] 0.999880319785533 Centerline is valid? [True, True] Translation: X:69.39, Y:1.88, Z:0.51 [[ 9.99869340e-01 1.54332038e-02 -4.80824744e-03 6.93910179e+01] [-1.54333362e-02 9.99880899e-01 9.56557238e-06 1.87941237e+00] [ 4.80782240e-03 6.46429768e-05 9.99988440e-01 5.05280813e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.18533619499999 meters Centerline goodness [0,1] 0.9998798769940419 Centerline is valid? [True, True] Translation: X:69.42, Y:1.88, Z:0.51 [[ 9.99867086e-01 1.58619966e-02 -3.76924699e-03 6.94192302e+01] [-1.58620809e-02 9.99874189e-01 7.52898773e-06 1.87836223e+00] [ 3.76889220e-03 5.22601135e-05 9.99992896e-01 5.08267178e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.21533619499999 meters Centerline goodness [0,1] 0.9999523945539369 Centerline is valid? [True, True] Translation: X:69.45, Y:1.88, Z:0.51 [[ 9.99881526e-01 1.51084308e-02 -2.94434926e-03 6.94464962e+01] [-1.51084808e-02 9.99885860e-01 5.24394950e-06 1.87929186e+00] [ 2.94409242e-03 3.92413160e-05 9.99995665e-01 5.09553584e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.245336195 meters Centerline goodness [0,1] 0.9999523094165057 Centerline is valid? [True, True] Translation: X:69.47, Y:1.88, Z:0.51 [[ 9.99878240e-01 1.52555972e-02 -3.28202942e-03 6.94729016e+01] [-1.52556608e-02 9.99883626e-01 5.67593343e-06 1.87870917e+00] [ 3.28173407e-03 4.43942852e-05 9.99994614e-01 5.06789106e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.275336195 meters Centerline goodness [0,1] 0.999809009955356 Centerline is valid? [True, True] Translation: X:69.50, Y:1.88, Z:0.50 [[ 9.99858315e-01 1.62703813e-02 -4.31561966e-03 6.95014649e+01] [-1.62705020e-02 9.99867627e-01 7.12803647e-06 1.87506200e+00] [ 4.31516436e-03 6.30902720e-05 9.99990688e-01 5.00113522e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.305336195 meters Centerline goodness [0,1] 0.999832315247335 Centerline is valid? [True, True] Translation: X:69.53, Y:1.87, Z:0.50 [[ 9.99839472e-01 1.72463797e-02 -4.85721602e-03 6.95300534e+01] [-1.72465487e-02 9.99851267e-01 7.08365801e-06 1.87428158e+00] [ 4.85661576e-03 7.66876919e-05 9.99988204e-01 4.97517758e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.335336195 meters Centerline goodness [0,1] 0.9995251661918328 Centerline is valid? [True, True] Translation: X:69.56, Y:1.88, Z:0.50 [[ 9.99810975e-01 1.85366064e-02 -5.86591828e-03 6.95576153e+01] [-1.85368822e-02 9.99828177e-01 7.34417085e-06 1.87844982e+00] [ 5.86504652e-03 1.01393054e-04 9.99982795e-01 4.97703418e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.365336195 meters Centerline goodness [0,1] 0.9998561737421195 Centerline is valid? [True, True] Translation: X:69.59, Y:1.88, Z:0.50 [[ 9.99762083e-01 2.10232828e-02 -5.81374042e-03 6.95865089e+01] [-2.10236013e-02 9.99778980e-01 6.31753029e-06 1.88029718e+00] [ 5.81258828e-03 1.15909734e-04 9.99983100e-01 5.00697087e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.395336195 meters Centerline goodness [0,1] 0.9996888686786493 Centerline is valid? [True, True] Translation: X:69.61, Y:1.89, Z:0.50 [[ 9.99707069e-01 2.28787308e-02 -7.89554243e-03 6.96136462e+01] [-2.28793886e-02 9.99738233e-01 7.01806158e-06 1.88653089e+00] [ 7.89363620e-03 1.73629178e-04 9.99968830e-01 5.03116343e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.425336195 meters Centerline goodness [0,1] 0.99968912908317 Centerline is valid? [True, True] Translation: X:69.64, Y:1.89, Z:0.50 [[ 9.99708534e-01 2.24275963e-02 -8.93591175e-03 6.96416631e+01] [-2.24284296e-02 9.99748451e-01 6.95238382e-06 1.88511248e+00] [ 8.93381986e-03 1.93468111e-04 9.99960074e-01 5.04057866e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.455336195 meters Centerline goodness [0,1] 0.9997610228223205 Centerline is valid? [True, True] Translation: X:69.67, Y:1.89, Z:0.50 [[ 9.99721873e-01 2.13478243e-02 -1.00223646e-02 6.96693169e+01] [-2.13488342e-02 9.99772088e-01 6.21994098e-06 1.88536339e+00] [ 1.00202131e-02 2.07747589e-04 9.99949775e-01 5.04204956e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.485336195 meters Centerline goodness [0,1] 0.9998569487161147 Centerline is valid? [True, True] Translation: X:69.70, Y:1.88, Z:0.50 [[ 9.99753044e-01 1.94370988e-02 -1.07726986e-02 6.96981330e+01] [-1.94381667e-02 9.99811061e-01 5.57583837e-06 1.88308966e+00] [ 1.07707716e-02 2.03827050e-04 9.99941973e-01 5.02202296e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.51533619499999 meters Centerline goodness [0,1] 0.9998800124787022 Centerline is valid? [True, True] Translation: X:69.73, Y:1.88, Z:0.49 [[ 9.99791617e-01 1.68086121e-02 -1.15841835e-02 6.97273410e+01] [-1.68096925e-02 9.99858707e-01 4.09530032e-06 1.87721747e+00] [ 1.15826156e-02 1.90632116e-04 9.99932901e-01 4.93243017e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.54533619499999 meters Centerline goodness [0,1] 0.9999045004178106 Centerline is valid? [True, True] Translation: X:69.76, Y:1.87, Z:0.49 [[ 9.99818933e-01 1.55482967e-02 -1.09704933e-02 6.97550414e+01] [-1.55492042e-02 9.99879104e-01 2.56947250e-06 1.87384416e+00] [ 1.09692070e-02 1.68013434e-04 9.99939822e-01 4.88537031e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.57533619499999 meters Centerline goodness [0,1] 0.9998566958847835 Centerline is valid? [True, True] Translation: X:69.78, Y:1.87, Z:0.49 [[ 9.99848686e-01 1.49151539e-02 -8.95223770e-03 6.97835194e+01] [-1.49157405e-02 9.99888754e-01 1.24187335e-06 1.87322339e+00] [ 8.95126032e-03 1.32287569e-04 9.99959928e-01 4.91479508e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.60533619499999 meters Centerline goodness [0,1] 0.9998811561133295 Centerline is valid? [True, True] Translation: X:69.81, Y:1.88, Z:0.50 [[ 9.99869210e-01 1.33993332e-02 -9.05647729e-03 6.98112521e+01] [-1.33998822e-02 9.99910218e-01 5.77659386e-08 1.87502196e+00] [ 9.05566495e-03 1.21297970e-04 9.99958989e-01 4.95430734e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.635336195 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:69.84, Y:1.87, Z:0.49 [[ 9.99875862e-01 1.11920105e-02 -1.10905100e-02 6.98401702e+01] [-1.11927114e-02 9.99937360e-01 -1.12894979e-06 1.87133304e+00] [ 1.10898027e-02 1.25261687e-04 9.99938498e-01 4.94110033e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.665336195 meters Centerline goodness [0,1] 0.9999050715523174 Centerline is valid? [True, True] Translation: X:69.87, Y:1.87, Z:0.49 [[ 9.99862289e-01 1.08026152e-02 -1.25978434e-02 6.98676748e+01] [-1.08035080e-02 9.99941640e-01 -2.81570302e-06 1.87037111e+00] [ 1.25970777e-02 1.38916216e-04 9.99920644e-01 4.90492710e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.695336195 meters Centerline goodness [0,1] 0.9999761399155354 Centerline is valid? [True, True] Translation: X:69.89, Y:1.87, Z:0.49 [[ 9.99891744e-01 3.70496728e-03 -1.42398285e-02 6.98907597e+01] [-3.74932418e-03 9.99988199e-01 -3.08955561e-03 1.86931689e+00] [ 1.42282138e-02 3.14261088e-03 9.99893835e-01 4.93581446e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.725336195 meters Centerline goodness [0,1] 0.9999761262444196 Centerline is valid? [True, True] Translation: X:69.92, Y:1.86, Z:0.48 [[ 9.99811260e-01 7.02810379e-03 -1.81121461e-02 6.99249667e+01] [-6.97901530e-03 9.99971804e-01 2.77203692e-03 1.86449036e+00] [ 1.81311175e-02 -2.64510879e-03 9.99832119e-01 4.79729211e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.755336195 meters Centerline goodness [0,1] 0.9999524013518016 Centerline is valid? [True, True] Translation: X:69.95, Y:1.86, Z:0.48 [[ 9.99781140e-01 5.53073078e-03 -2.01762919e-02 6.99524970e+01] [-5.53207095e-03 9.99984698e-01 -1.06089191e-05 1.86422695e+00] [ 2.01759245e-02 1.22223276e-04 9.99796438e-01 4.81798626e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.785336195 meters Centerline goodness [0,1] 0.9999761649386247 Centerline is valid? [True, True] Translation: X:69.98, Y:1.87, Z:0.48 [[ 9.99768643e-01 6.28173532e-03 -2.05718401e-02 6.99807812e+01] [-6.28334517e-03 9.99980259e-01 -1.36181989e-05 1.86561826e+00] [ 2.05713485e-02 1.42875020e-04 9.99788377e-01 4.82965009e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.815336195 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:70.00, Y:1.87, Z:0.50 [[ 9.99867169e-01 3.14401478e-03 -1.59925132e-02 6.99987866e+01] [-3.21882831e-03 9.99983988e-01 -4.65444774e-03 1.87030053e+00] [ 1.59776235e-02 4.70530664e-03 9.99861278e-01 4.95375651e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.845336195 meters Centerline goodness [0,1] 0.999904929410087 Centerline is valid? [True, True] Translation: X:70.04, Y:1.86, Z:0.48 [[ 9.99807838e-01 8.15619641e-03 -1.78259022e-02 7.00369977e+01] [-8.08740184e-03 9.99959582e-01 3.92793557e-03 1.86482927e+00] [ 1.78572187e-02 -3.78301554e-03 9.99833390e-01 4.80433492e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.87533619499999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:70.06, Y:1.87, Z:0.49 [[ 9.99820418e-01 9.77166517e-03 -1.62371633e-02 7.00646604e+01] [-9.77317623e-03 9.99952241e-01 -1.37126214e-05 1.86964922e+00] [ 1.62362539e-02 1.72398818e-04 9.99868168e-01 4.91970932e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.90533619499999 meters Centerline goodness [0,1] 0.9999286580580723 Centerline is valid? [True, True] Translation: X:70.09, Y:1.87, Z:0.49 [[ 9.99827044e-01 1.00135272e-02 -1.56719830e-02 7.00912767e+01] [-1.00149943e-02 9.99949849e-01 -1.51338934e-05 1.87117551e+00] [ 1.56710454e-02 1.72086096e-04 9.99877187e-01 4.93444138e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.93533619499999 meters Centerline goodness [0,1] 0.9999522273975875 Centerline is valid? [True, True] Translation: X:70.12, Y:1.87, Z:0.50 [[ 9.99834672e-01 9.51177970e-03 -1.54969053e-02 7.01184406e+01] [-9.51318720e-03 9.99954748e-01 -1.71079704e-05 1.87274206e+00] [ 1.54960413e-02 1.64530103e-04 9.99879916e-01 4.95956097e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.96533619499999 meters Centerline goodness [0,1] 0.9999523673430504 Centerline is valid? [True, True] Translation: X:70.15, Y:1.87, Z:0.50 [[ 9.99836630e-01 9.20341573e-03 -1.55566708e-02 7.01459207e+01] [-9.20484101e-03 9.99957634e-01 -2.00166245e-05 1.87048222e+00] [ 1.55558275e-02 1.63210036e-04 9.99878987e-01 4.96416780e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.995336195 meters Centerline goodness [0,1] 0.9998566411009964 Centerline is valid? [True, True] Translation: X:70.18, Y:1.87, Z:0.50 [[ 9.99906158e-01 -4.25381149e-05 -1.36993802e-02 7.01757080e+01] [ 1.30500033e-05 9.99997683e-01 -2.15259648e-03 1.86900026e+00] [ 1.36994401e-02 2.15221570e-03 9.99903842e-01 4.96000146e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.025336195 meters Centerline goodness [0,1] 0.999904782308553 Centerline is valid? [True, True] Translation: X:70.19, Y:1.87, Z:0.50 [[ 9.99894816e-01 1.76010043e-03 -1.43964712e-02 7.01932433e+01] [-1.79635621e-03 9.99995247e-01 -2.50583634e-03 1.86882753e+00] [ 1.43919922e-02 2.53143396e-03 9.99893226e-01 4.95516539e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.055336195 meters Centerline goodness [0,1] 0.9998565073898694 Centerline is valid? [True, True] Translation: X:70.24, Y:1.86, Z:0.48 [[ 9.99801746e-01 5.60102573e-03 -1.91075312e-02 7.02353996e+01] [-5.52072381e-03 9.99975717e-01 4.25279521e-03 1.86097963e+00] [ 1.91308873e-02 -4.14646468e-03 9.99808390e-01 4.84615197e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.085336195 meters Centerline goodness [0,1] 0.9999762289626319 Centerline is valid? [True, True] Translation: X:70.26, Y:1.86, Z:0.49 [[ 9.99792249e-01 3.60394224e-03 -2.00616788e-02 7.02619132e+01] [-3.60533186e-03 9.99993500e-01 -3.30992056e-05 1.86165986e+00] [ 2.00614291e-02 1.05421339e-04 9.99798744e-01 4.92067469e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.115336195 meters Centerline goodness [0,1] 0.9999524613153954 Centerline is valid? [True, True] Translation: X:70.29, Y:1.86, Z:0.50 [[ 9.99833506e-01 -5.93966516e-03 -1.72534440e-02 7.02855691e+01] [ 5.91330981e-03 9.99981271e-01 -1.57815696e-03 1.86372589e+00] [ 1.72624946e-02 1.47586925e-03 9.99849903e-01 4.95901796e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.145336195 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:70.32, Y:1.86, Z:0.48 [[ 9.99755727e-01 1.33845813e-03 -2.20611460e-02 7.03181365e+01] [-1.31495822e-03 9.99998553e-01 1.07968931e-03 1.85553031e+00] [ 2.20625592e-02 -1.05041608e-03 9.99756040e-01 4.80857137e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.175336195 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:70.35, Y:1.85, Z:0.48 [[ 9.99771939e-01 1.42445417e-03 -2.13082512e-02 7.03465979e+01] [-1.42572151e-03 9.99998983e-01 -4.42848381e-05 1.85399898e+00] [ 2.13081665e-02 7.46543705e-05 9.99772952e-01 4.80349874e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.205336195 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:70.37, Y:1.86, Z:0.48 [[ 9.99795963e-01 2.53000591e-03 -2.00407559e-02 7.03744604e+01] [-2.53138553e-03 9.99996795e-01 -4.34728937e-05 1.85514176e+00] [ 2.00405817e-02 9.41949032e-05 9.99799163e-01 4.80763630e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.235336195 meters Centerline goodness [0,1] 0.9999290612437929 Centerline is valid? [True, True] Translation: X:70.40, Y:1.86, Z:0.49 [[ 9.99799897e-01 2.11249470e-03 -1.98922897e-02 7.04017071e+01] [-2.11379412e-03 9.99997765e-01 -4.42967835e-05 1.85746245e+00] [ 1.98921517e-02 8.63361247e-05 9.99802128e-01 4.87029736e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.26533619499999 meters Centerline goodness [0,1] 0.999929026000142 Centerline is valid? [True, True] Translation: X:70.43, Y:1.86, Z:0.49 [[ 9.99793361e-01 4.34683552e-03 -1.98580011e-02 7.04301658e+01] [-4.34862100e-03 9.99990544e-01 -4.67311856e-05 1.86373572e+00] [ 1.98576102e-02 1.33076450e-04 9.99802809e-01 4.92517400e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.29533619499999 meters Centerline goodness [0,1] 0.9994766515212788 Centerline is valid? [True, True] Translation: X:70.46, Y:1.86, Z:0.48 [[ 9.99871386e-01 -9.52451114e-03 -1.29033123e-02 7.04639902e+01] [ 9.58550988e-03 9.99943135e-01 4.67380089e-03 1.85843562e+00] [ 1.28580628e-02 -4.79688460e-03 9.99905826e-01 4.83062630e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.32533619499999 meters Centerline goodness [0,1] 0.9994766515212788 Centerline is valid? [True, True] Translation: X:70.50, Y:1.86, Z:0.49 [[ 9.99870574e-01 -9.71745467e-03 -1.28221286e-02 7.04952677e+01] [ 9.71705764e-03 9.99952784e-01 -9.32651613e-05 1.86206422e+00] [ 1.28224295e-02 -3.13402722e-05 9.99917789e-01 4.91022904e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.35533619499999 meters Centerline goodness [0,1] 0.9999763928234183 Centerline is valid? [True, True] Translation: X:70.52, Y:1.86, Z:0.49 [[ 9.99809163e-01 2.73271885e-03 -1.93434772e-02 7.05202687e+01] [-2.82417995e-03 9.99984955e-01 -4.70252830e-03 1.85696440e+00] [ 1.93303355e-02 4.75626034e-03 9.99801838e-01 4.89157728e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.385336195 meters Centerline goodness [0,1] 0.9999047845751011 Centerline is valid? [True, True] Translation: X:70.55, Y:1.87, Z:0.48 [[ 9.99715839e-01 8.14948216e-03 -2.24014789e-02 7.05500544e+01] [-8.15292808e-03 9.99966762e-01 -6.24980191e-05 1.86525587e+00] [ 2.24002250e-02 2.45117906e-04 9.99749053e-01 4.83939131e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.415336195 meters Centerline goodness [0,1] 0.9983125772411826 Centerline is valid? [True, True] Translation: X:70.59, Y:1.86, Z:0.48 [[ 9.99853007e-01 -6.58763499e-03 -1.58293200e-02 7.05867927e+01] [ 6.66642512e-03 9.99965627e-01 4.92987970e-03 1.86345667e+00] [ 1.57962997e-02 -5.03468002e-03 9.99862555e-01 4.80329435e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.445336195 meters Centerline goodness [0,1] 0.9997856581485627 Centerline is valid? [True, True] Translation: X:70.61, Y:1.88, Z:0.49 [[ 9.99671166e-01 1.16921370e-02 -2.28222164e-02 7.06095680e+01] [-1.18060201e-02 9.99918488e-01 -4.86166100e-03 1.87524568e+00] [ 2.27635129e-02 5.12950187e-03 9.99727718e-01 4.93627476e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.475336195 meters Centerline goodness [0,1] 0.9964693814260837 Centerline is valid? [True, True] Translation: X:70.65, Y:1.87, Z:0.48 [[ 9.99844869e-01 -3.52781953e-03 -1.72566362e-02 7.06460793e+01] [ 3.64995110e-03 9.99968480e-01 7.05100016e-03 1.87112300e+00] [ 1.72312176e-02 -7.11289221e-03 9.99826231e-01 4.82522392e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.505336195 meters Centerline goodness [0,1] 0.9954352012553197 Centerline is valid? [True, True] Translation: X:70.67, Y:1.88, Z:0.50 [[ 9.99840352e-01 -1.30503911e-03 -1.78204161e-02 7.06666431e+01] [ 1.22265445e-03 9.99988519e-01 -4.63316159e-03 1.88078186e+00] [ 1.78262580e-02 4.61063371e-03 9.99830469e-01 4.98120621e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.535336195 meters Centerline goodness [0,1] 0.9921789045682851 Centerline is valid? [True, True] Translation: X:70.69, Y:1.85, Z:0.44 [[ 9.99816046e-01 1.67657983e-02 -9.31567785e-03 7.06851130e+01] [-1.65725285e-02 9.99653507e-01 2.04503774e-02 1.85073748e+00] [ 9.65531694e-03 -2.02922312e-02 9.99747468e-01 4.36771324e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.565336195 meters Centerline goodness [0,1] 0.9882685411669714 Centerline is valid? [True, True] Translation: X:70.73, Y:1.90, Z:0.52 [[ 9.99897067e-01 1.72399106e-03 -1.42436831e-02 7.07260517e+01] [-1.99787224e-03 9.99812966e-01 -1.92364552e-02 1.89671964e+00] [ 1.42078556e-02 1.92629322e-02 9.99713497e-01 5.17512550e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.595336195 meters Centerline goodness [0,1] 0.9907648874321123 Centerline is valid? [True, True] Translation: X:70.76, Y:1.88, Z:0.49 [[ 9.99908332e-01 2.75631628e-03 -1.32563620e-02 7.07604816e+01] [-2.69670535e-03 9.99986182e-01 4.51255414e-03 1.88211795e+00] [ 1.32686169e-02 -4.47639197e-03 9.99901948e-01 4.85848042e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.62533619499999 meters Centerline goodness [0,1] 0.9887436802442049 Centerline is valid? [True, True] Translation: X:70.79, Y:1.89, Z:0.49 [[ 9.99903147e-01 2.72014813e-03 -1.36491034e-02 7.07888110e+01] [-2.72548735e-03 9.99996216e-01 -3.72591434e-04 1.88738421e+00] [ 1.36480383e-02 4.09755806e-04 9.99906777e-01 4.91586690e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.65533619499999 meters Centerline goodness [0,1] 0.9892808651532836 Centerline is valid? [True, True] Translation: X:70.80, Y:1.87, Z:0.47 [[ 9.99685703e-01 2.38193330e-02 -7.81892355e-03 7.08014001e+01] [-2.37531030e-02 9.99682086e-01 8.45679479e-03 1.86822534e+00] [ 8.01787302e-03 -8.26841314e-03 9.99933671e-01 4.67006188e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.68533619499999 meters Centerline goodness [0,1] 0.9854553270760192 Centerline is valid? [True, True] Translation: X:70.85, Y:1.90, Z:0.50 [[ 9.99926680e-01 6.52126619e-03 -1.02033574e-02 7.08465864e+01] [-6.59018277e-03 9.99955601e-01 -6.73532464e-03 1.89563227e+00] [ 1.01589816e-02 6.80207279e-03 9.99925261e-01 5.02118572e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.71533619499999 meters Centerline goodness [0,1] 0.9953217490929922 Centerline is valid? [True, True] Translation: X:70.87, Y:1.90, Z:0.51 [[ 9.99435944e-01 2.84800603e-02 -1.77955209e-02 7.08654397e+01] [-2.86401931e-02 9.99550967e-01 -8.80933333e-03 1.90367569e+00] [ 1.75366398e-02 9.31403153e-03 9.99802838e-01 5.07153825e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.745336195 meters Centerline goodness [0,1] 0.9841686764249385 Centerline is valid? [True, True] Translation: X:70.86, Y:1.89, Z:0.45 [[ 9.99755471e-01 2.19847870e-02 -2.38042149e-03 7.08559787e+01] [-2.19373026e-02 9.99589779e-01 1.84127403e-02 1.88803897e+00] [ 2.78424517e-03 -1.83560178e-02 9.99827637e-01 4.48218401e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.775336195 meters Centerline goodness [0,1] 0.9798790360986761 Centerline is valid? [True, True] Translation: X:70.91, Y:1.92, Z:0.49 [[ 9.99983551e-01 -1.35818394e-03 -5.57256568e-03 7.09090268e+01] [ 1.32270505e-03 9.99978865e-01 -6.36545921e-03 1.92171774e+00] [ 5.58109337e-03 6.35798364e-03 9.99964213e-01 4.91704165e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.805336195 meters Centerline goodness [0,1] 0.9938308362908796 Centerline is valid? [True, True] Translation: X:70.92, Y:1.92, Z:0.49 [[ 9.99660778e-01 2.18982813e-02 -1.40994270e-02 7.09247512e+01] [-2.20726696e-02 9.99680284e-01 -1.23339780e-02 1.92457958e+00] [ 1.38248262e-02 1.26410060e-02 9.99824524e-01 4.93876183e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.835336195 meters Centerline goodness [0,1] 0.9770981371231036 Centerline is valid? [True, True] Translation: X:70.92, Y:1.89, Z:0.39 [[ 9.99733001e-01 2.12017481e-02 9.18761036e-03 7.09150263e+01] [-2.15145394e-02 9.99141594e-01 3.54005673e-02 1.88691836e+00] [-8.42916975e-03 -3.55887826e-02 9.99330970e-01 3.91823609e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.865336195 meters Centerline goodness [0,1] 0.9729218992943428 Centerline is valid? [True, True] Translation: X:70.95, Y:1.94, Z:0.50 [[ 9.99891198e-01 1.43308541e-02 3.49567754e-03 7.09480457e+01] [-1.42733826e-02 9.99770971e-01 -1.59460512e-02 1.93508934e+00] [-3.72339746e-03 1.58944211e-02 9.99866743e-01 4.95159867e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.895336195 meters Centerline goodness [0,1] 0.9948504227443654 Centerline is valid? [True, True] Translation: X:71.02, Y:1.93, Z:0.52 [[ 9.99519891e-01 2.91334556e-02 -1.05465481e-02 7.10160380e+01] [-2.93118932e-02 9.99422672e-01 -1.71794861e-02 1.92632092e+00] [ 1.00399615e-02 1.74803774e-02 9.99796797e-01 5.15592104e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.925336195 meters Centerline goodness [0,1] 0.9832051558494453 Centerline is valid? [True, True] Translation: X:71.04, Y:1.92, Z:0.47 [[ 9.99502405e-01 2.94911293e-02 -1.11899474e-02 7.10440534e+01] [-2.94937278e-02 9.99564963e-01 -6.72319723e-05 1.91724267e+00] [ 1.11830966e-02 3.97231779e-04 9.99937388e-01 4.73158778e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.955336195 meters Centerline goodness [0,1] 0.9743791786055397 Centerline is valid? [True, True] Translation: X:71.03, Y:1.89, Z:0.41 [[ 9.99728465e-01 2.19502365e-02 7.82201929e-03 7.10297994e+01] [-2.21409310e-02 9.99437485e-01 2.51891249e-02 1.89488448e+00] [-7.26471204e-03 -2.53554719e-02 9.99652101e-01 4.12393167e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.985336195 meters Centerline goodness [0,1] 0.9924799465240641 Centerline is valid? [True, True] Translation: X:71.05, Y:1.92, Z:0.47 [[ 9.99731913e-01 2.27008892e-02 4.55760179e-03 7.10490444e+01] [-2.26751445e-02 9.99727072e-01 -5.62310885e-03 1.91673339e+00] [-4.68400747e-03 5.51825709e-03 9.99973804e-01 4.68905158e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.01533619499999 meters Centerline goodness [0,1] 0.9687901728324525 Centerline is valid? [True, True] Translation: X:71.10, Y:1.90, Z:0.44 [[ 9.99703631e-01 2.11845898e-02 1.19943012e-02 7.10953924e+01] [-2.13234416e-02 9.99705686e-01 1.15694247e-02 1.90454421e+00] [-1.17456776e-02 -1.18217556e-02 9.99861133e-01 4.44369486e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.04533619499999 meters Centerline goodness [0,1] 0.950396729983169 Centerline is valid? [True, True] Translation: X:71.13, Y:1.90, Z:0.41 [[ 9.99593287e-01 1.88839807e-02 2.13694868e-02 7.11295916e+01] [-1.94383995e-02 9.99471864e-01 2.60411616e-02 1.89527123e+00] [-2.08664400e-02 -2.64459589e-02 9.99432440e-01 4.13776093e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.07533619499999 meters Centerline goodness [0,1] 0.9415161243950357 Centerline is valid? [True, False] Translation: X:71.14, Y:1.91, Z:0.45 [[ 9.99750958e-01 1.26190521e-02 1.84060412e-02 7.11413908e+01] [-1.27865270e-02 9.99877657e-01 9.00977599e-03 1.91204521e+00] [-1.82900945e-02 -9.24288152e-03 9.99789999e-01 4.45308443e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.10533619499999 meters Centerline goodness [0,1] 0.9728653343249922 Centerline is valid? [False, True] Translation: X:71.14, Y:1.92, Z:0.45 [[ 9.99802693e-01 8.02193187e-03 1.81720315e-02 7.11397539e+01] [-8.07607948e-03 9.99963159e-01 2.90829813e-03 1.91678739e+00] [-1.81480318e-02 -3.05448307e-03 9.99830645e-01 4.51936392e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.135336195 meters Centerline goodness [0,1] 0.975753526000525 Centerline is valid? [True, True] Translation: X:71.14, Y:1.86, Z:0.40 [[ 9.98845914e-01 3.51645054e-02 3.27153976e-02 7.11377852e+01] [-3.59176650e-02 9.99096320e-01 2.27258420e-02 1.86141621e+00] [-3.18866904e-02 -2.38746751e-02 9.99206304e-01 3.98267354e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.165336195 meters Centerline goodness [0,1] 0.9608407026625446 Centerline is valid? [True, True] Translation: X:71.17, Y:1.87, Z:0.41 [[ 9.98835077e-01 3.20746956e-02 3.60514016e-02 7.11740323e+01] [-3.25709828e-02 9.99381407e-01 1.32639952e-02 1.86706071e+00] [-3.56036619e-02 -1.44227732e-02 9.99261909e-01 4.05212093e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.195336195 meters Centerline goodness [0,1] 0.9968659480507147 Centerline is valid? [True, True] Translation: X:71.24, Y:1.90, Z:0.53 [[ 9.98584060e-01 5.26922988e-02 7.30735408e-03 7.12357952e+01] [-5.23220204e-02 9.97662461e-01 -4.39547576e-02 1.89598198e+00] [-9.60635008e-03 4.35101848e-02 9.99006798e-01 5.26587764e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.225336195 meters Centerline goodness [0,1] 0.9965309953192197 Centerline is valid? [True, True] Translation: X:71.21, Y:1.85, Z:0.41 [[ 9.98653908e-01 4.10695874e-02 3.16806019e-02 7.12100826e+01] [-4.18386991e-02 9.98835881e-01 2.40084727e-02 1.85099284e+00] [-3.06577039e-02 -2.53016303e-02 9.99209654e-01 4.13937491e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.255336195 meters Centerline goodness [0,1] 0.9834283251113559 Centerline is valid? [True, True] Translation: X:71.25, Y:1.85, Z:0.42 [[ 9.98090527e-01 4.90589849e-02 3.75302023e-02 7.12480868e+01] [-4.98210601e-02 9.98564903e-01 1.96467799e-02 1.85394327e+00] [-3.65124917e-02 -2.14790594e-02 9.99102341e-01 4.17490270e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.285336195 meters Centerline goodness [0,1] 0.9829949056468393 Centerline is valid? [True, True] Translation: X:71.27, Y:1.86, Z:0.42 [[ 9.97797866e-01 5.24332319e-02 4.06223431e-02 7.12749192e+01] [-5.29142624e-02 9.98540032e-01 1.08574980e-02 1.85615311e+00] [-3.99937420e-02 -1.29830897e-02 9.99115579e-01 4.21314616e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.315336195 meters Centerline goodness [0,1] 0.9786659658846577 Centerline is valid? [True, True] Translation: X:71.31, Y:1.86, Z:0.44 [[ 9.97978715e-01 5.01086965e-02 3.90845567e-02 7.13084387e+01] [-5.01512746e-02 9.98741627e-01 1.09084507e-04 1.86286952e+00] [-3.90299076e-02 -2.06900435e-03 9.99235901e-01 4.35295724e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.345336195 meters Centerline goodness [0,1] 0.9986347959379192 Centerline is valid? [True, True] Translation: X:71.32, Y:1.85, Z:0.44 [[ 9.97759500e-01 5.58970439e-02 3.67627627e-02 7.13220802e+01] [-5.57626408e-02 9.98433123e-01 -4.67199461e-03 1.85363973e+00] [-3.69663106e-02 2.61153827e-03 9.99313100e-01 4.39910942e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.37533619499999 meters Centerline goodness [0,1] 0.9956124663185254 Centerline is valid? [True, True] Translation: X:71.36, Y:1.85, Z:0.43 [[ 9.97874165e-01 5.35105314e-02 3.71991098e-02 7.13565408e+01] [-5.35811075e-02 9.98563093e-01 9.02203253e-04 1.84950874e+00] [-3.70973807e-02 -2.89345482e-03 9.99307466e-01 4.29681632e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.40533619499999 meters Centerline goodness [0,1] 0.989737824131662 Centerline is valid? [True, True] Translation: X:71.43, Y:1.79, Z:0.46 [[ 9.93260709e-01 1.12769132e-01 2.67635300e-02 7.14332300e+01] [-1.12526817e-01 9.93594278e-01 -1.03983846e-02 1.79330531e+00] [-2.77647071e-02 7.31669204e-03 9.99587709e-01 4.64891595e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.43533619499999 meters Centerline goodness [0,1] 0.9945070691631639 Centerline is valid? [True, True] Translation: X:71.41, Y:1.84, Z:0.41 [[ 9.97854372e-01 5.38312860e-02 3.72671997e-02 7.14116369e+01] [-5.41881323e-02 9.98493435e-01 8.63169618e-03 1.84262764e+00] [-3.67463989e-02 -1.06326157e-02 9.99268057e-01 4.12572778e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.46533619499999 meters Centerline goodness [0,1] 0.9821159593544531 Centerline is valid? [True, True] Translation: X:71.47, Y:1.93, Z:0.47 [[ 9.99801204e-01 5.01251286e-03 1.92983478e-02 7.14718624e+01] [-4.71148256e-03 9.99867013e-01 -1.56127522e-02 1.92719528e+00] [-1.93740404e-02 1.55187246e-02 9.99691860e-01 4.74107127e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.495336195 meters Centerline goodness [0,1] 0.9776770808490342 Centerline is valid? [True, True] Translation: X:71.50, Y:1.92, Z:0.45 [[ 9.99777444e-01 6.63590684e-03 2.00256727e-02 7.15003114e+01] [-6.66060199e-03 9.99977137e-01 1.16672765e-03 1.92360949e+00] [-2.00174725e-02 -1.29985102e-03 9.99798785e-01 4.51668000e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.525336195 meters Centerline goodness [0,1] 0.9817956538314907 Centerline is valid? [True, True] Translation: X:71.53, Y:1.93, Z:0.46 [[ 9.99817635e-01 3.49083482e-03 1.87752863e-02 7.15320586e+01] [-3.43531880e-03 9.99989634e-01 -2.98830715e-03 1.92695744e+00] [-1.87855233e-02 2.92326309e-03 9.99819263e-01 4.59335360e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.555336195 meters Centerline goodness [0,1] 0.9799238159124123 Centerline is valid? [True, True] Translation: X:71.57, Y:1.92, Z:0.45 [[ 9.99785862e-01 -6.92862024e-04 2.06821357e-02 7.15662402e+01] [ 6.41421890e-04 9.99996685e-01 2.49370719e-03 1.92235116e+00] [-2.06837949e-02 -2.47990721e-03 9.99782992e-01 4.46368529e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.585336195 meters Centerline goodness [0,1] 0.9804015182258718 Centerline is valid? [True, True] Translation: X:71.59, Y:1.93, Z:0.46 [[ 9.99800372e-01 2.13686189e-04 1.99792456e-02 7.15928676e+01] [-9.16010905e-05 9.99981322e-01 -6.11131150e-03 1.92834732e+00] [-1.99801783e-02 6.10826139e-03 9.99781717e-01 4.56331700e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.615336195 meters Centerline goodness [0,1] 0.985299723625274 Centerline is valid? [True, True] Translation: X:71.63, Y:1.92, Z:0.43 [[ 9.99806508e-01 -2.00243312e-03 1.95687720e-02 7.16274617e+01] [ 1.96918664e-03 9.99996585e-01 1.71807764e-03 1.91683122e+00] [-1.95721455e-02 -1.67921064e-03 9.99807037e-01 4.33552426e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.645336195 meters Centerline goodness [0,1] 0.9896645124501046 Centerline is valid? [True, True] Translation: X:71.60, Y:1.88, Z:0.46 [[ 9.99636429e-01 1.99675764e-02 1.81192343e-02 7.15960290e+01] [-1.98447099e-02 9.99779018e-01 -6.93567095e-03 1.88490664e+00] [-1.82537188e-02 6.57357839e-03 9.99811777e-01 4.60100417e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.675336195 meters Centerline goodness [0,1] 0.9848452406442557 Centerline is valid? [True, True] Translation: X:71.69, Y:1.92, Z:0.43 [[ 9.99776692e-01 -4.72326575e-03 2.05974885e-02 7.16871543e+01] [ 4.56414592e-03 9.99959433e-01 7.76538506e-03 1.91627392e+00] [-2.06333309e-02 -7.66964105e-03 9.99757692e-01 4.28249489e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.705336195 meters Centerline goodness [0,1] 0.9850554471467327 Centerline is valid? [True, True] Translation: X:71.72, Y:1.93, Z:0.45 [[ 9.99773596e-01 -4.59296512e-03 2.07764525e-02 7.17185282e+01] [ 4.65850578e-03 9.99984321e-01 -3.10726654e-03 1.92781643e+00] [-2.07618552e-02 3.20335027e-03 9.99779318e-01 4.51016066e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.735336195 meters Centerline goodness [0,1] 0.984846674155692 Centerline is valid? [True, True] Translation: X:71.75, Y:1.93, Z:0.45 [[ 9.99753730e-01 -5.64282265e-03 2.14624798e-02 7.17529991e+01] [ 5.66009925e-03 9.99983705e-01 -7.44305396e-04 1.92903389e+00] [-2.14579301e-02 8.65601862e-04 9.99769377e-01 4.48483551e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.76533619499999 meters Centerline goodness [0,1] 0.9943127279708197 Centerline is valid? [True, True] Translation: X:71.71, Y:1.94, Z:0.49 [[ 9.99370377e-01 3.27184552e-02 1.37241704e-02 7.17141156e+01] [-3.23926649e-02 9.99203023e-01 -2.33245176e-02 1.94187911e+00] [-1.44763747e-02 2.28652695e-02 9.99633740e-01 4.86131306e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.79533619499999 meters Centerline goodness [0,1] 0.9981337480559875 Centerline is valid? [True, True] Translation: X:71.75, Y:1.92, Z:0.44 [[ 9.99635085e-01 1.65727234e-02 2.13317064e-02 7.17533457e+01] [-1.66731871e-02 9.99850684e-01 4.54037831e-03 1.92200339e+00] [-2.12532748e-02 -4.89438899e-03 9.99762143e-01 4.41534689e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.82533619499999 meters Centerline goodness [0,1] 0.9728038967550918 Centerline is valid? [True, True] Translation: X:71.83, Y:1.92, Z:0.41 [[ 9.99686034e-01 -1.00856417e-02 2.29371701e-02 7.18291614e+01] [ 9.65052266e-03 9.99772865e-01 1.90022667e-02 1.91811973e+00] [-2.31236104e-02 -1.87749449e-02 9.99556302e-01 4.09292714e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.85533619499999 meters Centerline goodness [0,1] 0.9929948708206687 Centerline is valid? [True, True] Translation: X:71.80, Y:1.94, Z:0.49 [[ 9.99440066e-01 3.18049763e-02 1.03921711e-02 7.17990973e+01] [-3.14877040e-02 9.99072048e-01 -2.93865255e-02 1.94326910e+00] [-1.13171654e-02 2.90428454e-02 9.99514099e-01 4.86217960e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.885336195 meters Centerline goodness [0,1] 0.9995689861596667 Centerline is valid? [True, True] Translation: X:71.83, Y:1.92, Z:0.44 [[ 9.99668339e-01 2.09243126e-02 1.50128318e-02 7.18330782e+01] [-2.09418612e-02 9.99780182e-01 1.01263830e-03 1.91867450e+00] [-1.49883430e-02 -1.32669909e-03 9.99886788e-01 4.35613983e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.915336195 meters Centerline goodness [0,1] 0.9967429807669448 Centerline is valid? [True, True] Translation: X:71.86, Y:1.93, Z:0.44 [[ 9.99698790e-01 1.77585592e-02 1.69399617e-02 7.18590256e+01] [-1.77593610e-02 9.99842285e-01 -1.03109106e-04 1.92526882e+00] [-1.69391210e-02 -1.97764846e-04 9.99856503e-01 4.37828770e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.945336195 meters Centerline goodness [0,1] 0.9929926589760701 Centerline is valid? [True, True] Translation: X:71.89, Y:1.93, Z:0.44 [[ 9.99424582e-01 3.17738205e-02 1.18713214e-02 7.18855357e+01] [-3.17648326e-02 9.99494924e-01 -9.44944017e-04 1.92533734e+00] [-1.18953499e-02 5.67309744e-04 9.99929087e-01 4.37223627e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.975336195 meters Centerline goodness [0,1] 0.9933156041112629 Centerline is valid? [True, True] Translation: X:71.91, Y:1.92, Z:0.43 [[ 9.99360322e-01 3.35406512e-02 1.24085189e-02 7.19137649e+01] [-3.35428158e-02 9.99437281e-01 -3.36834904e-05 1.92384122e+00] [-1.24026661e-02 -3.82554720e-04 9.99923011e-01 4.34572874e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.005336195 meters Centerline goodness [0,1] 0.9934912658530749 Centerline is valid? [True, True] Translation: X:71.94, Y:1.92, Z:0.44 [[ 9.99378261e-01 3.28760183e-02 1.27380966e-02 7.19421361e+01] [-3.28782735e-02 9.99459363e-01 -3.23825897e-05 1.92339169e+00] [-1.27322745e-02 -3.86444169e-04 9.99918867e-01 4.35579980e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.035336195 meters Centerline goodness [0,1] 0.9974520776282891 Centerline is valid? [True, True] Translation: X:71.98, Y:1.92, Z:0.44 [[ 9.99651880e-01 1.71493504e-02 2.00504201e-02 7.19830767e+01] [-1.72241284e-02 9.99845306e-01 3.56276014e-03 1.92397457e+00] [-1.99862194e-02 -3.90687088e-03 9.99792622e-01 4.38013341e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.065336195 meters Centerline goodness [0,1] 0.9946478065564369 Centerline is valid? [True, True] Translation: X:72.01, Y:1.93, Z:0.44 [[ 9.99671171e-01 1.56233585e-02 2.03337374e-02 7.20090020e+01] [-1.56516534e-02 9.99876745e-01 1.23311247e-03 1.93007592e+00] [-2.03119658e-02 -1.55096360e-03 9.99792488e-01 4.40825944e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.095336195 meters Centerline goodness [0,1] 0.9962729633548139 Centerline is valid? [True, True] Translation: X:72.03, Y:1.93, Z:0.45 [[ 9.99402676e-01 3.24973225e-02 1.17565067e-02 7.20262659e+01] [-3.24280555e-02 9.99455850e-01 -6.03526830e-03 1.92751362e+00] [-1.19462395e-02 5.65042263e-03 9.99912676e-01 4.50276833e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.12533619499999 meters Centerline goodness [0,1] 0.9934204230069863 Centerline is valid? [True, True] Translation: X:72.05, Y:1.93, Z:0.44 [[ 9.99402687e-01 3.24720042e-02 1.18253517e-02 7.20532408e+01] [-3.24742093e-02 9.99472574e-01 -5.54121297e-06 1.92842092e+00] [-1.18192946e-02 -3.78481043e-04 9.99930078e-01 4.36536132e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.15533619499999 meters Centerline goodness [0,1] 0.9926545992225323 Centerline is valid? [True, True] Translation: X:72.08, Y:1.93, Z:0.43 [[ 9.99377588e-01 3.31139807e-02 1.21614814e-02 7.20817011e+01] [-3.31163662e-02 9.99451503e-01 -5.23213247e-06 1.92684727e+00] [-1.21549841e-02 -3.97515195e-04 9.99926046e-01 4.30698381e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.18533619499999 meters Centerline goodness [0,1] 0.996667063444828 Centerline is valid? [True, True] Translation: X:72.13, Y:1.92, Z:0.42 [[ 9.99688899e-01 1.49529059e-02 1.99628465e-02 7.21299033e+01] [-1.51482471e-02 9.99838496e-01 9.67014212e-03 1.92294475e+00] [-1.98150257e-02 -9.96953587e-03 9.99753956e-01 4.16814531e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.21533619499999 meters Centerline goodness [0,1] 0.996667063444828 Centerline is valid? [True, True] Translation: X:72.16, Y:1.93, Z:0.43 [[ 9.99689645e-01 1.47835734e-02 2.00514328e-02 7.21588959e+01] [-1.47658340e-02 9.99890446e-01 -1.03246903e-03 1.93081366e+00] [-2.00644997e-02 7.36072474e-04 9.99798417e-01 4.34233214e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.245336195 meters Centerline goodness [0,1] 0.9905599656726024 Centerline is valid? [True, True] Translation: X:72.17, Y:1.94, Z:0.46 [[ 9.99386421e-01 3.23131252e-02 1.35145648e-02 7.21688398e+01] [-3.21765037e-02 9.99430079e-01 -1.02073868e-02 1.94331819e+00] [-1.38366952e-02 9.76627235e-03 9.99856573e-01 4.59313590e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.275336195 meters Centerline goodness [0,1] 0.9834081359816654 Centerline is valid? [True, True] Translation: X:72.23, Y:1.93, Z:0.42 [[ 9.99681480e-01 6.62652713e-03 2.43521579e-02 7.22254984e+01] [-7.01221454e-03 9.99850792e-01 1.57867987e-02 1.92979248e+00] [-2.42439127e-02 -1.59525328e-02 9.99578786e-01 4.15086085e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.305336195 meters Centerline goodness [0,1] 0.9949723479135244 Centerline is valid? [True, True] Translation: X:72.23, Y:1.94, Z:0.46 [[ 9.99450572e-01 2.97220951e-02 1.46680274e-02 7.22261067e+01] [-2.94898150e-02 9.99440105e-01 -1.58059007e-02 1.94088927e+00] [-1.51295994e-02 1.53646591e-02 9.99767484e-01 4.64355297e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.335336195 meters Centerline goodness [0,1] 0.9942017227803097 Centerline is valid? [True, True] Translation: X:72.25, Y:1.93, Z:0.43 [[ 9.99483946e-01 2.87215429e-02 1.43845412e-02 7.22531745e+01] [-2.87252610e-02 9.99587343e-01 5.18951908e-05 1.92911822e+00] [-1.43771148e-02 -4.65068111e-04 9.99896536e-01 4.30391659e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.365336195 meters Centerline goodness [0,1] 0.9941879853270449 Centerline is valid? [True, True] Translation: X:72.28, Y:1.93, Z:0.44 [[ 9.99479893e-01 2.82391350e-02 1.55722214e-02 7.22815503e+01] [-2.82434791e-02 9.99601072e-01 5.90743415e-05 1.92999427e+00] [-1.55643410e-02 -4.98857325e-04 9.99878744e-01 4.35588498e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.395336195 meters Centerline goodness [0,1] 0.9962512833981997 Centerline is valid? [True, True] Translation: X:72.33, Y:1.92, Z:0.42 [[ 9.99675325e-01 1.00030874e-02 2.34346662e-02 7.23317675e+01] [-1.03164297e-02 9.99858485e-01 1.32883638e-02 1.92460070e+00] [-2.32984252e-02 -1.35258114e-02 9.99637052e-01 4.15597200e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.425336195 meters Centerline goodness [0,1] 0.9954783607263331 Centerline is valid? [True, True] Translation: X:72.34, Y:1.94, Z:0.46 [[ 9.99514361e-01 2.71871489e-02 1.52283118e-02 7.23415059e+01] [-2.69736469e-02 9.99537343e-01 -1.40542885e-02 1.93907378e+00] [-1.56033623e-02 1.36367001e-02 9.99785265e-01 4.57464548e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.455336195 meters Centerline goodness [0,1] 0.9965875228299529 Centerline is valid? [True, True] Translation: X:72.37, Y:1.93, Z:0.42 [[ 9.99545961e-01 2.74313495e-02 1.24656895e-02 7.23686518e+01] [-2.74341299e-02 9.99623612e-01 5.20715290e-05 1.92574717e+00] [-1.24595692e-02 -3.94033232e-04 9.99922299e-01 4.21760701e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.485336195 meters Centerline goodness [0,1] 0.9948007345751151 Centerline is valid? [True, True] Translation: X:72.40, Y:1.93, Z:0.42 [[ 9.99545444e-01 2.76139135e-02 1.20986085e-02 7.23967842e+01] [-2.76165542e-02 9.99618589e-01 5.12207008e-05 1.92782667e+00] [-1.20925796e-02 -3.85319295e-04 9.99926808e-01 4.20458443e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.51533619499999 meters Centerline goodness [0,1] 0.9964512648363506 Centerline is valid? [True, True] Translation: X:72.43, Y:1.93, Z:0.44 [[ 9.99503554e-01 2.89877655e-02 1.23432049e-02 7.24254319e+01] [-2.89906139e-02 9.99579682e-01 5.18644918e-05 1.93089360e+00] [-1.23365134e-02 -4.09675832e-04 9.99923818e-01 4.35224891e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.54533619499999 meters Centerline goodness [0,1] 0.9948287473542429 Centerline is valid? [True, True] Translation: X:72.48, Y:1.93, Z:0.42 [[ 9.99705249e-01 1.41131397e-02 1.97543426e-02 7.24762063e+01] [-1.43703148e-02 9.99813036e-01 1.29378198e-02 1.93100927e+00] [-1.95680560e-02 -1.32178825e-02 9.99721151e-01 4.18373440e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.57533619499999 meters Centerline goodness [0,1] 0.9960762601704299 Centerline is valid? [True, True] Translation: X:72.50, Y:1.94, Z:0.43 [[ 9.99741506e-01 1.50110428e-02 1.70759929e-02 7.25049868e+01] [-1.50162371e-02 9.99887234e-01 1.76002683e-04 1.93791836e+00] [-1.70714253e-02 -4.32374346e-04 9.99854179e-01 4.32983970e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.60533619499999 meters Centerline goodness [0,1] 0.9949284723218985 Centerline is valid? [True, True] Translation: X:72.51, Y:1.94, Z:0.45 [[ 9.99503741e-01 3.03772489e-02 8.33631112e-03 7.25118356e+01] [-3.02551958e-02 9.99438528e-01 -1.43962381e-02 1.94473253e+00] [-8.76894862e-03 1.41368771e-02 9.99861618e-01 4.47317042e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.635336195 meters Centerline goodness [0,1] 0.9951296375877381 Centerline is valid? [True, True] Translation: X:72.54, Y:1.93, Z:0.42 [[ 9.99523444e-01 2.96197244e-02 8.69229685e-03 7.25400667e+01] [-2.96211725e-02 9.99561196e-01 3.78749842e-05 1.93262459e+00] [-8.68736079e-03 -2.95332959e-04 9.99962221e-01 4.19364191e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.665336195 meters Centerline goodness [0,1] 0.9974804434419542 Centerline is valid? [True, True] Translation: X:72.59, Y:1.92, Z:0.40 [[ 9.99746718e-01 1.55679584e-02 1.62523338e-02 7.25914711e+01] [-1.58303632e-02 9.99744355e-01 1.61438434e-02 1.91968124e+00] [-1.59968523e-02 -1.63970348e-02 9.99737585e-01 3.97946985e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.695336195 meters Centerline goodness [0,1] 0.9961270888617945 Centerline is valid? [True, True] Translation: X:72.60, Y:1.95, Z:0.46 [[ 9.99504151e-01 3.00662432e-02 9.35266720e-03 7.25995000e+01] [-2.99051460e-02 9.99409652e-01 -1.69124016e-02 1.94575060e+00] [-9.85563825e-03 1.66243227e-02 9.99813232e-01 4.55733394e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.725336195 meters Centerline goodness [0,1] 0.9908351527074686 Centerline is valid? [True, True] Translation: X:72.65, Y:1.93, Z:0.40 [[ 9.99728184e-01 1.46756357e-02 1.81158280e-02 7.26512603e+01] [-1.49565934e-02 9.99768430e-01 1.54721458e-02 1.92886233e+00] [-1.78845693e-02 -1.57388913e-02 9.99716174e-01 4.00972342e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.755336195 meters Centerline goodness [0,1] 0.9928579902716811 Centerline is valid? [True, True] Translation: X:72.66, Y:1.95, Z:0.46 [[ 9.99432063e-01 3.16225931e-02 1.16431309e-02 7.26589841e+01] [-3.14323908e-02 9.99375043e-01 -1.61718640e-02 1.95005252e+00] [-1.21472507e-02 1.57967079e-02 9.99801434e-01 4.58231066e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.785336195 meters Centerline goodness [0,1] 0.9931141661685595 Centerline is valid? [True, True] Translation: X:72.69, Y:1.94, Z:0.44 [[ 9.99340759e-01 3.36337704e-02 1.36680730e-02 7.26884522e+01] [-3.36378256e-02 9.99434086e-01 6.68448619e-05 1.94207576e+00] [-1.36580898e-02 -5.26565050e-04 9.99906585e-01 4.37307864e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.815336195 meters Centerline goodness [0,1] 0.9850596658711217 Centerline is valid? [True, True] Translation: X:72.72, Y:1.95, Z:0.43 [[ 9.99354820e-01 3.30839170e-02 1.39784815e-02 7.27159518e+01] [-3.30881016e-02 9.99452437e-01 6.81278241e-05 1.94778085e+00] [-1.39685734e-02 -5.30605284e-04 9.99902294e-01 4.33623388e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.845336195 meters Centerline goodness [0,1] 0.9938979157194477 Centerline is valid? [True, True] Translation: X:72.74, Y:1.94, Z:0.43 [[ 9.99389569e-01 3.27401686e-02 1.21889217e-02 7.27443368e+01] [-3.27433179e-02 9.99463792e-01 5.88501643e-05 1.93792739e+00] [-1.21804591e-02 -4.57919979e-04 9.99925711e-01 4.26794410e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.87533619499999 meters Centerline goodness [0,1] 0.9908571428571429 Centerline is valid? [True, True] Translation: X:72.77, Y:1.94, Z:0.42 [[ 9.99389223e-01 3.29024951e-02 1.17731311e-02 7.27721846e+01] [-3.29054796e-02 9.99458466e-01 5.98318934e-05 1.93955244e+00] [-1.17647870e-02 -4.47195875e-04 9.99930693e-01 4.21835585e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.90533619499999 meters Centerline goodness [0,1] 0.9927190860536967 Centerline is valid? [True, True] Translation: X:72.80, Y:1.94, Z:0.42 [[ 9.99352622e-01 3.48711803e-02 8.85083954e-03 7.28025355e+01] [-3.48729529e-02 9.99391753e-01 4.59824170e-05 1.94031825e+00] [-8.84385258e-03 -3.54607559e-04 9.99960829e-01 4.20758000e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.93533619499999 meters Centerline goodness [0,1] 0.980547619047619 Centerline is valid? [True, True] Translation: X:72.87, Y:1.92, Z:0.36 [[ 9.99740516e-01 1.09557272e-02 1.99718177e-02 7.28735917e+01] [-1.16712464e-02 9.99281141e-01 3.60691408e-02 1.91795564e+00] [-1.95622971e-02 -3.62928774e-02 9.99149710e-01 3.59482215e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.96533619499999 meters Centerline goodness [0,1] 0.9806897876837353 Centerline is valid? [True, True] Translation: X:72.86, Y:1.97, Z:0.48 [[ 9.99274141e-01 3.76454739e-02 5.83173793e-03 7.28615063e+01] [-3.73973916e-02 9.98577295e-01 -3.80108117e-02 1.97489381e+00] [-7.25437611e-03 3.77651294e-02 9.99260311e-01 4.84737239e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.995336195 meters Centerline goodness [0,1] 0.9854509027595583 Centerline is valid? [True, True] Translation: X:72.89, Y:1.95, Z:0.42 [[ 9.99271511e-01 3.76714429e-02 6.10815957e-03 7.28886712e+01] [-3.76723332e-02 9.99290145e-01 3.07260783e-05 1.94660336e+00] [-6.10266617e-03 -2.60812317e-04 9.99981345e-01 4.20605090e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.025336195 meters Centerline goodness [0,1] 0.9845719616332194 Centerline is valid? [True, True] Translation: X:72.92, Y:1.95, Z:0.42 [[ 9.99178066e-01 4.02059552e-02 5.16464182e-03 7.29185926e+01] [-4.02066406e-02 9.99191386e-01 2.88962252e-05 1.94689544e+00] [-5.15930382e-03 -2.36525372e-04 9.99986663e-01 4.18280416e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.055336195 meters Centerline goodness [0,1] 0.9831890573437276 Centerline is valid? [True, True] Translation: X:72.95, Y:1.95, Z:0.42 [[ 9.99168095e-01 4.05071373e-02 4.72117063e-03 7.29459375e+01] [-4.05077096e-02 9.99179226e-01 2.56065611e-05 1.94771555e+00] [-4.71625836e-03 -2.16829067e-04 9.99988855e-01 4.16472419e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.085336195 meters Centerline goodness [0,1] 0.9792287697040517 Centerline is valid? [True, True] Translation: X:72.97, Y:1.95, Z:0.41 [[ 9.99165171e-01 4.05268327e-02 5.15136820e-03 7.29732217e+01] [-4.05275144e-02 9.99178422e-01 2.79651127e-05 1.94864984e+00] [-5.14600262e-03 -2.36713916e-04 9.99986731e-01 4.14473612e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.115336195 meters Centerline goodness [0,1] 0.9826068181272941 Centerline is valid? [True, True] Translation: X:73.00, Y:1.95, Z:0.42 [[ 9.99077574e-01 4.25022748e-02 6.12844414e-03 7.30029012e+01] [-4.25032878e-02 9.99096326e-01 3.50812944e-05 1.94680483e+00] [-6.12141500e-03 -2.95527959e-04 9.99981220e-01 4.17481234e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.145336195 meters Centerline goodness [0,1] 0.9779686154434982 Centerline is valid? [True, True] Translation: X:73.03, Y:1.95, Z:0.42 [[ 9.99093555e-01 4.20841523e-02 6.40253421e-03 7.30306809e+01] [-4.20852467e-02 9.99114023e-01 3.62521044e-05 1.94949482e+00] [-6.39533608e-03 -3.05671476e-04 9.99979503e-01 4.19232510e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.175336195 meters Centerline goodness [0,1] 0.9819428189266008 Centerline is valid? [True, True] Translation: X:73.06, Y:1.95, Z:0.42 [[ 9.99160575e-01 4.04151934e-02 6.69016625e-03 7.30605219e+01] [-4.04163580e-02 9.99182924e-01 3.89169916e-05 1.95031958e+00] [-6.68312705e-03 -3.09276478e-04 9.99977620e-01 4.23772448e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.205336195 meters Centerline goodness [0,1] 0.9826974795915939 Centerline is valid? [True, True] Translation: X:73.09, Y:1.95, Z:0.42 [[ 9.99226810e-01 3.87571230e-02 6.60816323e-03 7.30885831e+01] [-3.87582216e-02 9.99248617e-01 3.82187271e-05 1.94948299e+00] [-6.60171672e-03 -2.94309831e-04 9.99978165e-01 4.21919052e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.235336195 meters Centerline goodness [0,1] 0.988416436266565 Centerline is valid? [True, True] Translation: X:73.12, Y:1.95, Z:0.42 [[ 9.99277871e-01 3.76983910e-02 4.75063893e-03 7.31167892e+01] [-3.76989365e-02 9.99289142e-01 2.53091835e-05 1.94598939e+00] [-4.74630779e-03 -2.04384943e-04 9.99988715e-01 4.15905909e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.26533619499999 meters Centerline goodness [0,1] 0.9837701083583942 Centerline is valid? [True, True] Translation: X:73.17, Y:1.93, Z:0.38 [[ 9.99689058e-01 2.17914842e-02 1.21210365e-02 7.31704456e+01] [-2.20413057e-02 9.99539128e-01 2.08737062e-02 1.93071308e+00] [-1.16605813e-02 -2.11343792e-02 9.99708642e-01 3.77965155e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.29533619499999 meters Centerline goodness [0,1] 0.9927567309983322 Centerline is valid? [True, True] Translation: X:73.18, Y:1.96, Z:0.45 [[ 9.99381052e-01 3.50008028e-02 3.52952920e-03 7.31753046e+01] [-3.49170852e-02 9.99158889e-01 -2.15014301e-02 1.95856415e+00] [-4.27912779e-03 2.13648810e-02 9.99762587e-01 4.51090420e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.32533619499999 meters Centerline goodness [0,1] 0.9948714278898908 Centerline is valid? [True, True] Translation: X:73.20, Y:1.95, Z:0.42 [[ 9.99457351e-01 3.27623167e-02 3.41081509e-03 7.32035306e+01] [-3.27625717e-02 9.99463163e-01 1.88870887e-05 1.94566358e+00] [-3.40836525e-03 -1.30623914e-04 9.99994183e-01 4.18549233e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.35533619499999 meters Centerline goodness [0,1] 0.9985604951896547 Centerline is valid? [True, True] Translation: X:73.23, Y:1.94, Z:0.42 [[ 9.99519806e-01 3.07274041e-02 3.99793843e-03 7.32332572e+01] [-3.07277523e-02 9.99527791e-01 2.56808640e-05 1.94090845e+00] [-3.99526146e-03 -1.48516194e-04 9.99992008e-01 4.20845713e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.385336195 meters Centerline goodness [0,1] 0.9985694871611472 Centerline is valid? [True, True] Translation: X:73.26, Y:1.94, Z:0.41 [[ 9.99557132e-01 2.95229728e-02 3.73269583e-03 7.32606039e+01] [-2.95232657e-02 9.99564093e-01 2.33679196e-05 1.93793720e+00] [-3.73037883e-03 -1.33558941e-04 9.99993033e-01 4.13283990e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.415336195 meters Centerline goodness [0,1] 0.9965226030799801 Centerline is valid? [True, True] Translation: X:73.29, Y:1.94, Z:0.40 [[ 9.99606208e-01 2.77825639e-02 3.94447057e-03 7.32878365e+01] [-2.77828769e-02 9.99613981e-01 2.45679765e-05 1.93900430e+00] [-3.94226536e-03 -1.34147042e-04 9.99992220e-01 4.04016574e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.445336195 meters Centerline goodness [0,1] 0.9990447533075417 Centerline is valid? [True, True] Translation: X:73.32, Y:1.94, Z:0.41 [[ 9.99617444e-01 2.72899964e-02 4.49675322e-03 7.33172704e+01] [-2.72904059e-02 9.99627547e-01 2.97130976e-05 1.93574371e+00] [-4.49426752e-03 -1.52419951e-04 9.99989889e-01 4.08951572e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.475336195 meters Centerline goodness [0,1] 0.9991123692543902 Centerline is valid? [True, True] Translation: X:73.35, Y:1.94, Z:0.42 [[ 9.99578221e-01 2.85849953e-02 5.12626664e-03 7.33458605e+01] [-2.85855326e-02 9.99591350e-01 3.15616394e-05 1.93855941e+00] [-5.12326960e-03 -1.78085390e-04 9.99986860e-01 4.17558659e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.505336195 meters Centerline goodness [0,1] 0.99868345461509 Centerline is valid? [True, True] Translation: X:73.37, Y:1.94, Z:0.42 [[ 9.99558136e-01 2.93450384e-02 4.73304552e-03 7.33743547e+01] [-2.93455074e-02 9.99569327e-01 2.96522096e-05 1.94133869e+00] [-4.73013698e-03 -1.68532729e-04 9.99988799e-01 4.17147507e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.535336195 meters Centerline goodness [0,1] 0.9981785063752276 Centerline is valid? [True, True] Translation: X:73.40, Y:1.94, Z:0.41 [[ 9.99525100e-01 3.05972579e-02 3.65811402e-03 7.34028508e+01] [-3.05975545e-02 9.99531785e-01 2.51455773e-05 1.94455388e+00] [-3.65563185e-03 -1.37062979e-04 9.99993309e-01 4.14455764e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.565336195 meters Centerline goodness [0,1] 0.9991605305446958 Centerline is valid? [True, True] Translation: X:73.43, Y:1.94, Z:0.41 [[ 9.99543398e-01 3.00930437e-02 2.72093812e-03 7.34315916e+01] [-3.00931987e-02 9.99547097e-01 1.60354033e-05 1.94164594e+00] [-2.71922325e-03 -9.79098131e-05 9.99996298e-01 4.08806111e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.595336195 meters Centerline goodness [0,1] 0.9990203808568083 Centerline is valid? [True, True] Translation: X:73.46, Y:1.94, Z:0.41 [[ 9.99594789e-01 2.82928990e-02 3.12551905e-03 7.34594522e+01] [-2.82931046e-02 9.99599670e-01 2.15681866e-05 1.94065801e+00] [-3.12365758e-03 -1.09990084e-04 9.99995115e-01 4.05903471e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.62533619499999 meters Centerline goodness [0,1] 0.9992113941595373 Centerline is valid? [True, True] Translation: X:73.49, Y:1.94, Z:0.40 [[ 9.99598891e-01 2.82388662e-02 2.15029123e-03 7.34877094e+01] [-2.82389586e-02 9.99601201e-01 1.26346021e-05 1.94071323e+00] [-2.14907691e-03 -7.33515195e-05 9.99997688e-01 4.01881768e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.65533619499999 meters Centerline goodness [0,1] 0.9987032011719219 Centerline is valid? [True, True] Translation: X:73.51, Y:1.94, Z:0.40 [[ 9.99576582e-01 2.90644977e-02 1.38248095e-03 7.35147546e+01] [-2.90645377e-02 9.99577537e-01 8.84191903e-06 1.94011758e+00] [-1.38163991e-03 -4.90193448e-05 9.99999044e-01 3.96028034e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.68533619499999 meters Centerline goodness [0,1] 0.9980755352417608 Centerline is valid? [True, True] Translation: X:73.54, Y:1.94, Z:0.39 [[ 9.99537824e-01 3.03845379e-02 9.58167324e-04 7.35441441e+01] [-3.03845586e-02 9.99538283e-01 6.97063019e-06 1.94087876e+00] [-9.57513122e-04 -3.60808997e-05 9.99999541e-01 3.92614925e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.71533619499999 meters Centerline goodness [0,1] 0.996917194407934 Centerline is valid? [True, True] Translation: X:73.57, Y:1.95, Z:0.40 [[ 9.99447835e-01 3.31839543e-02 1.68821140e-03 7.35732271e+01] [-3.31840218e-02 9.99449259e-01 1.20059795e-05 1.94705699e+00] [-1.68688323e-03 -6.80209942e-05 9.99998575e-01 4.01984911e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.745336195 meters Centerline goodness [0,1] 0.9938478612270502 Centerline is valid? [True, True] Translation: X:73.60, Y:1.95, Z:0.41 [[ 9.99390374e-01 3.48739139e-02 1.64013366e-03 7.36014981e+01] [-3.48739796e-02 9.99391718e-01 1.14574360e-05 1.95375141e+00] [-1.63873643e-03 -6.86484389e-05 9.99998655e-01 4.08806298e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.775336195 meters Centerline goodness [0,1] 0.9910669138715659 Centerline is valid? [True, True] Translation: X:73.63, Y:1.96, Z:0.41 [[ 9.99313105e-01 3.69848186e-02 2.33257906e-03 7.36304738e+01] [-3.69849591e-02 9.99315822e-01 1.70848552e-05 1.95585831e+00] [-2.33035128e-03 -1.03343461e-04 9.99997279e-01 4.09820627e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.805336195 meters Centerline goodness [0,1] 0.9819355460282287 Centerline is valid? [True, True] Translation: X:73.66, Y:1.96, Z:0.41 [[ 9.99261758e-01 3.83385859e-02 2.46808457e-03 7.36583160e+01] [-3.83387470e-02 9.99264800e-01 1.79790854e-05 1.95862789e+00] [-2.46558074e-03 -1.12589083e-04 9.99996954e-01 4.05133854e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.835336195 meters Centerline goodness [0,1] 0.9788368685291503 Centerline is valid? [True, True] Translation: X:73.69, Y:1.96, Z:0.40 [[ 9.99155548e-01 4.08891257e-02 4.03371067e-03 7.36881336e+01] [-4.08895820e-02 9.99163671e-01 3.06805401e-05 1.95783704e+00] [-4.02908266e-03 -1.95591375e-04 9.99991864e-01 4.03403916e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.865336195 meters Centerline goodness [0,1] 0.9679653057312632 Centerline is valid? [True, True] Translation: X:73.72, Y:1.96, Z:0.40 [[ 9.99115982e-01 4.17723373e-02 4.72500242e-03 7.37156040e+01] [-4.17729712e-02 9.99127128e-01 3.55118306e-05 1.96160879e+00] [-4.71939469e-03 -2.32857828e-04 9.99988836e-01 4.01543586e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.895336195 meters Centerline goodness [0,1] 0.8976946980463951 Centerline is valid? [True, False] Translation: X:73.71, Y:1.97, Z:0.41 [[ 9.99286765e-01 3.75165640e-02 4.29752697e-03 7.37146459e+01] [-3.74888616e-02 9.99276839e-01 -6.35487729e-03 1.96910371e+00] [-4.53283233e-03 6.18923537e-03 9.99970573e-01 4.09069723e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.925336195 meters Centerline goodness [0,1] 0.9230454556392425 Centerline is valid? [False, False] Translation: X:73.71, Y:1.97, Z:0.41 [[ 9.99287028e-01 3.75102731e-02 4.29123119e-03 7.37143858e+01] [-3.74821243e-02 9.99276404e-01 -6.46208067e-03 1.96942485e+00] [-4.53052049e-03 6.29662893e-03 9.99969913e-01 4.09772593e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.955336195 meters Centerline goodness [0,1] 0.9377572387898043 Centerline is valid? [False, False] Translation: X:73.73, Y:1.97, Z:0.41 [[ 9.99473049e-01 3.24285239e-02 -1.41930882e-03 7.37299503e+01] [-3.24215448e-02 9.99463274e-01 4.69125862e-03 1.96778927e+00] [ 1.57067763e-03 -4.64277037e-03 9.99987989e-01 4.05678564e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.985336195 meters Centerline goodness [0,1] 0.9134849031637194 Centerline is valid? [False, False] Translation: X:73.76, Y:1.97, Z:0.40 [[ 9.99542489e-01 3.01617733e-02 2.25373583e-03 7.37567920e+01] [-3.01885393e-02 9.99460009e-01 1.29746857e-02 1.97069986e+00] [-1.86117931e-03 -1.30367867e-02 9.99913285e-01 4.01644939e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.01533619499999 meters Centerline goodness [0,1] 0.8716440132558474 Centerline is valid? [False, False] Translation: X:73.76, Y:1.98, Z:0.42 [[ 9.99666360e-01 2.57906599e-02 1.41774300e-03 7.37562423e+01] [-2.57972177e-02 9.99655576e-01 4.82010696e-03 1.98032326e+00] [-1.29294096e-03 -4.85507261e-03 9.99987378e-01 4.15993025e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.04533619499999 meters Centerline goodness [0,1] 0.9398095697239967 Centerline is valid? [False, False] Translation: X:73.76, Y:1.99, Z:0.42 [[ 9.99845479e-01 1.75483601e-02 1.03580381e-03 7.37556695e+01] [-1.75427484e-02 9.99832599e-01 -5.19867481e-03 1.98624279e+00] [-1.12685863e-03 5.17970066e-03 9.99985950e-01 4.21953606e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.07533619499999 meters Centerline goodness [0,1] 0.9223522626228642 Centerline is valid? [False, False] Translation: X:73.77, Y:1.99, Z:0.41 [[ 9.99948506e-01 8.85957812e-03 -4.94899199e-03 7.37731540e+01] [-8.84604403e-03 9.99957092e-01 2.74994548e-03 1.98501905e+00] [ 4.97314299e-03 -2.70602487e-03 9.99983973e-01 4.14707868e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.10533619499999 meters Centerline goodness [0,1] 0.9275778687543393 Centerline is valid? [False, False] Translation: X:73.77, Y:1.99, Z:0.42 [[ 9.99979978e-01 3.78040169e-03 -5.07459428e-03 7.37693242e+01] [-3.79888176e-03 9.99986170e-01 -3.63699889e-03 1.98894517e+00] [ 5.06077478e-03 3.65620385e-03 9.99980510e-01 4.24292750e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.135336195 meters Centerline goodness [0,1] 0.9275778687543393 Centerline is valid? [False, False] Translation: X:73.77, Y:1.99, Z:0.42 [[ 9.99979978e-01 3.78040169e-03 -5.07459428e-03 7.37693242e+01] [-3.79888176e-03 9.99986170e-01 -3.63699889e-03 1.98894517e+00] [ 5.06077478e-03 3.65620385e-03 9.99980510e-01 4.24292750e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.165336195 meters Centerline goodness [0,1] 0.9543212832176203 Centerline is valid? [False, True] Translation: X:73.77, Y:1.99, Z:0.43 [[ 9.99981126e-01 3.54917760e-03 -5.01508843e-03 7.37679113e+01] [-3.56853196e-03 9.99986200e-01 -3.85556328e-03 1.98832899e+00] [ 5.00133514e-03 3.87338701e-03 9.99979992e-01 4.26516085e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.195336195 meters Centerline goodness [0,1] 0.9800048065368901 Centerline is valid? [True, True] Translation: X:73.80, Y:1.98, Z:0.42 [[ 9.99984225e-01 1.79036686e-03 -5.32386117e-03 7.37976991e+01] [-1.79171885e-03 9.99998364e-01 -2.49190212e-04 1.98171826e+00] [ 5.32340631e-03 2.58725144e-04 9.99985797e-01 4.23861520e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.225336195 meters Centerline goodness [0,1] 0.9825204128055934 Centerline is valid? [True, True] Translation: X:73.83, Y:1.98, Z:0.42 [[ 9.99984183e-01 -2.69854508e-04 -5.61782951e-03 7.38261564e+01] [ 2.68379805e-04 9.99999929e-01 -2.63256106e-04 1.98145422e+00] [ 5.61790016e-03 2.61744230e-04 9.99984185e-01 4.22704301e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.255336195 meters Centerline goodness [0,1] 0.989121540312876 Centerline is valid? [True, True] Translation: X:73.86, Y:1.98, Z:0.44 [[ 9.99897941e-01 -1.41665172e-02 -1.84866117e-03 7.38580948e+01] [ 1.41541541e-02 9.99878453e-01 -6.53755978e-03 1.98024011e+00] [ 1.94105093e-03 6.51072633e-03 9.99976921e-01 4.35884841e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.285336195 meters Centerline goodness [0,1] 0.9895815949457623 Centerline is valid? [True, True] Translation: X:73.89, Y:1.97, Z:0.42 [[ 9.99874137e-01 -1.58491500e-02 -7.16995671e-04 7.38906899e+01] [ 1.58494527e-02 9.99874302e-01 4.18569660e-04 1.97421827e+00] [ 7.10271573e-04 -4.29880967e-04 9.99999655e-01 4.21584042e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.315336195 meters Centerline goodness [0,1] 0.9904153354632588 Centerline is valid? [True, True] Translation: X:73.92, Y:1.97, Z:0.40 [[ 9.99989356e-01 -3.86855562e-03 -2.51455410e-03 7.39178463e+01] [ 3.88331385e-03 9.99975108e-01 5.89098101e-03 1.96592869e+00] [ 2.49170192e-03 -5.90068310e-03 9.99979486e-01 4.03068134e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.345336195 meters Centerline goodness [0,1] 0.9956744097122646 Centerline is valid? [True, True] Translation: X:73.95, Y:1.97, Z:0.42 [[ 9.99992538e-01 -2.75834961e-03 -2.70471936e-03 7.39502544e+01] [ 2.75801769e-03 9.99996189e-01 -1.26443792e-04 1.96718061e+00] [ 2.70505782e-03 1.18983184e-04 9.99996334e-01 4.15187038e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.37533619499999 meters Centerline goodness [0,1] 0.9954170921093249 Centerline is valid? [True, True] Translation: X:73.98, Y:1.97, Z:0.42 [[ 9.99992253e-01 -2.24726840e-03 -3.23168966e-03 7.39819170e+01] [ 2.24679158e-03 9.99997465e-01 -1.51169066e-04 1.96982005e+00] [ 3.23202119e-03 1.43906962e-04 9.99994767e-01 4.18390424e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.40533619499999 meters Centerline goodness [0,1] 0.9453981878874582 Centerline is valid? [True, False] Translation: X:73.98, Y:1.97, Z:0.42 [[ 9.99991083e-01 -2.53066198e-03 -3.38084601e-03 7.39805916e+01] [ 2.52737033e-03 9.99996328e-01 -9.77535396e-04 1.97181307e+00] [ 3.38330741e-03 9.68982029e-04 9.99993807e-01 4.22136649e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.43533619499999 meters Centerline goodness [0,1] 0.9788066825775656 Centerline is valid? [False, True] Translation: X:73.98, Y:1.97, Z:0.42 [[ 9.99991111e-01 -2.52225988e-03 -3.37868183e-03 7.39804010e+01] [ 2.51906040e-03 9.99996375e-01 -9.50881956e-04 1.97132144e+00] [ 3.38106795e-03 9.42362400e-04 9.99993840e-01 4.22415099e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.46533619499999 meters Centerline goodness [0,1] 0.9687932763478344 Centerline is valid? [True, True] Translation: X:74.01, Y:1.97, Z:0.42 [[ 9.99995147e-01 9.42718684e-04 -2.96953829e-03 7.40107689e+01] [-9.43173849e-04 9.99999544e-01 -1.51881382e-04 1.97325003e+00] [ 2.96939375e-03 1.54681436e-04 9.99995579e-01 4.24504025e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.495336195 meters Centerline goodness [0,1] 0.9552882324916627 Centerline is valid? [True, True] Translation: X:74.04, Y:1.98, Z:0.43 [[ 9.99993352e-01 2.53714443e-03 -2.61891474e-03 7.40405520e+01] [-2.53750487e-03 9.99996772e-01 -1.34315883e-04 1.97736020e+00] [ 2.61856550e-03 1.40960499e-04 9.99996562e-01 4.25441017e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.525336195 meters Centerline goodness [0,1] 0.9245296465222349 Centerline is valid? [True, False] Translation: X:74.04, Y:1.98, Z:0.42 [[ 9.99992389e-01 2.83165162e-03 -2.68389425e-03 7.40416784e+01] [-2.83118712e-03 9.99995977e-01 1.76852893e-04 1.97699928e+00] [ 2.68438424e-03 -1.69252941e-04 9.99996383e-01 4.24019546e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.555336195 meters Centerline goodness [0,1] 0.9257549938464451 Centerline is valid? [False, False] Translation: X:74.05, Y:1.97, Z:0.41 [[ 9.99987977e-01 4.00768057e-03 -2.82579798e-03 7.40468126e+01] [-4.00080562e-03 9.99989034e-01 2.43439282e-03 1.97241689e+00] [ 2.83552326e-03 -2.42305808e-03 9.99993044e-01 4.14179649e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.585336195 meters Centerline goodness [0,1] 0.9096031821195188 Centerline is valid? [False, False] Translation: X:74.05, Y:1.98, Z:0.42 [[ 9.99995550e-01 6.01085618e-05 -2.98265869e-03 7.40467073e+01] [-6.79626229e-05 9.99996531e-01 -2.63321016e-03 1.97699620e+00] [ 2.98249006e-03 2.63340115e-03 9.99992085e-01 4.17268297e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.615336195 meters Centerline goodness [0,1] 0.9093674978013359 Centerline is valid? [False, False] Translation: X:74.05, Y:1.98, Z:0.42 [[ 9.99987080e-01 4.10766503e-03 -2.99457612e-03 7.40455423e+01] [-4.10495630e-03 9.99991160e-01 9.10130415e-04 1.97950116e+00] [ 2.99828816e-03 -8.97826052e-04 9.99995102e-01 4.19799192e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.645336195 meters Centerline goodness [0,1] 0.9168646645124501 Centerline is valid? [False, False] Translation: X:74.04, Y:1.98, Z:0.43 [[ 9.99988493e-01 3.72897421e-03 -3.01792760e-03 7.40432257e+01] [-3.73106033e-03 9.99992804e-01 -6.85905970e-04 1.98459667e+00] [ 3.01534815e-03 6.97158148e-04 9.99995211e-01 4.25768808e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.675336195 meters Centerline goodness [0,1] 0.7802550022389291 Centerline is valid? [False, False] Translation: X:74.05, Y:1.99, Z:0.43 [[ 9.99984264e-01 4.57994792e-03 -3.23977567e-03 7.40453230e+01] [-4.58289812e-03 9.99989090e-01 -9.03782333e-04 1.98883582e+00] [ 3.23560105e-03 9.18615673e-04 9.99994343e-01 4.25756986e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.705336195 meters Centerline goodness [0,1] 0.8077313383522526 Centerline is valid? [False, False] Translation: X:74.04, Y:1.99, Z:0.43 [[ 9.99984294e-01 4.54387681e-03 -3.28088644e-03 7.40449649e+01] [-4.54900150e-03 9.99988442e-01 -1.55621598e-03 1.99172281e+00] [ 3.27377726e-03 1.57111630e-03 9.99993407e-01 4.27349338e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.735336195 meters Centerline goodness [0,1] 0.7402289587826787 Centerline is valid? [False, False] Translation: X:74.04, Y:2.00, Z:0.43 [[ 9.99985047e-01 4.30565616e-03 -3.37144268e-03 7.40439506e+01] [-4.31502109e-03 9.99986839e-01 -2.77539219e-03 1.99655127e+00] [ 3.35944842e-03 2.78989853e-03 9.99990465e-01 4.30762853e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.76533619499999 meters Centerline goodness [0,1] 0.7446220549348452 Centerline is valid? [False, False] Translation: X:74.05, Y:2.00, Z:0.43 [[ 9.99980996e-01 4.70073963e-03 -3.98891813e-03 7.40462979e+01] [-4.71450841e-03 9.99982937e-01 -3.44940359e-03 2.00335842e+00] [ 3.97263532e-03 3.46814383e-03 9.99986095e-01 4.31501086e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.79533619499999 meters Centerline goodness [0,1] 0.7768865334574709 Centerline is valid? [False, False] Translation: X:74.05, Y:2.00, Z:0.43 [[ 9.99981036e-01 4.64802793e-03 -4.04017593e-03 7.40463355e+01] [-4.66316316e-03 9.99982115e-01 -3.74486873e-03 2.00491310e+00] [ 4.02269742e-03 3.76363771e-03 9.99984826e-01 4.31946241e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.82533619499999 meters Centerline goodness [0,1] 0.7901502021952629 Centerline is valid? [False, False] Translation: X:74.05, Y:2.01, Z:0.43 [[ 9.99982324e-01 4.40889935e-03 -3.98906651e-03 7.40455939e+01] [-4.42609842e-03 9.99980903e-01 -4.31304462e-03 2.00710395e+00] [ 3.96997455e-03 4.33062439e-03 9.99982742e-01 4.33205011e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.85533619499999 meters Centerline goodness [0,1] 0.760962387257724 Centerline is valid? [False, False] Translation: X:74.07, Y:2.01, Z:0.41 [[ 9.99998961e-01 3.96346070e-04 -1.38619539e-03 7.40746524e+01] [-3.88105050e-04 9.99982281e-01 5.94028883e-03 2.00649492e+00] [ 1.38852523e-03 -5.93974467e-03 9.99981396e-01 4.14264340e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.885336195 meters Centerline goodness [0,1] 0.7504800307219662 Centerline is valid? [False, False] Translation: X:74.07, Y:2.01, Z:0.41 [[ 9.99999083e-01 2.97367981e-04 -1.32120482e-03 7.40744131e+01] [-2.89815519e-04 9.99983639e-01 5.71286306e-03 2.00746667e+00] [ 1.32288203e-03 -5.71247491e-03 9.99982809e-01 4.14345769e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.915336195 meters Centerline goodness [0,1] 0.7389473177540853 Centerline is valid? [False, False] Translation: X:74.07, Y:2.02, Z:0.42 [[ 9.99988787e-01 -4.55639693e-03 -1.29033905e-03 7.40709748e+01] [ 4.55461582e-03 9.99988676e-01 -1.37993000e-03 2.01544580e+00] [ 1.29661195e-03 1.37403752e-03 9.99998215e-01 4.24822924e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.945336195 meters Centerline goodness [0,1] 0.7946990987498789 Centerline is valid? [False, False] Translation: X:74.07, Y:2.01, Z:0.43 [[ 9.99987206e-01 -4.98240510e-03 -8.73403777e-04 7.40687677e+01] [ 4.98120298e-03 9.99986651e-01 -1.37317331e-03 2.01327723e+00] [ 8.80233824e-04 1.36880514e-03 9.99998676e-01 4.25827848e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.975336195 meters Centerline goodness [0,1] 0.7772187080697719 Centerline is valid? [False, False] Translation: X:74.07, Y:2.01, Z:0.43 [[ 9.99984450e-01 -5.50098361e-03 -9.15615034e-04 7.40680409e+01] [ 5.50022448e-03 9.99984530e-01 -8.29558580e-04 2.00888586e+00] [ 9.20164257e-04 8.24509592e-04 9.99999237e-01 4.25352131e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.005336195 meters Centerline goodness [0,1] 0.8045709858609336 Centerline is valid? [False, False] Translation: X:74.07, Y:2.01, Z:0.43 [[ 9.99982421e-01 -5.88110747e-03 -7.55165055e-04 7.40664346e+01] [ 5.88030983e-03 9.99982155e-01 -1.05415431e-03 2.00813683e+00] [ 7.61351174e-04 1.04969518e-03 9.99999159e-01 4.26985053e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.035336195 meters Centerline goodness [0,1] 0.8049841676536704 Centerline is valid? [False, False] Translation: X:74.07, Y:2.01, Z:0.43 [[ 9.99982857e-01 -5.77671831e-03 -9.57025948e-04 7.40673358e+01] [ 5.77600376e-03 9.99983039e-01 -7.47731102e-04 2.00706276e+00] [ 9.61329148e-04 7.42190498e-04 9.99999262e-01 4.26415221e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.065336195 meters Centerline goodness [0,1] 0.8666039147539402 Centerline is valid? [False, False] Translation: X:74.07, Y:2.00, Z:0.42 [[ 9.99984638e-01 -5.43172409e-03 -1.10421837e-03 7.40695138e+01] [ 5.43205785e-03 9.99985201e-01 2.99484602e-04 2.00414609e+00] [ 1.10257531e-03 -3.05478180e-04 9.99999346e-01 4.22567076e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.095336195 meters Centerline goodness [0,1] 0.9189573345539521 Centerline is valid? [False, False] Translation: X:74.07, Y:2.00, Z:0.42 [[ 9.99987096e-01 -4.96485354e-03 -1.07641326e-03 7.40716311e+01] [ 4.96655117e-03 9.99986418e-01 1.58022023e-03 2.00011634e+00] [ 1.06855308e-03 -1.58554590e-03 9.99998172e-01 4.17843196e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.12533619499999 meters Centerline goodness [0,1] 0.8534231741066057 Centerline is valid? [False, False] Translation: X:74.07, Y:2.00, Z:0.42 [[ 9.99988068e-01 -4.70530044e-03 -1.31271831e-03 7.40731594e+01] [ 4.70801110e-03 9.99986776e-01 2.06952987e-03 1.99868257e+00] [ 1.30296319e-03 -2.07568547e-03 9.99996997e-01 4.16420408e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.15533619499999 meters Centerline goodness [0,1] 0.9038814328473497 Centerline is valid? [False, False] Translation: X:74.07, Y:2.00, Z:0.42 [[ 9.99987065e-01 -4.88913810e-03 -1.40206261e-03 7.40726040e+01] [ 4.89156504e-03 9.99986535e-01 1.73280339e-03 1.99925288e+00] [ 1.39357181e-03 -1.73963926e-03 9.99997516e-01 4.18071664e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.18533619499999 meters Centerline goodness [0,1] 0.8144158473105841 Centerline is valid? [False, False] Translation: X:74.07, Y:2.00, Z:0.42 [[ 9.99985237e-01 -5.23341450e-03 -1.46158785e-03 7.40709795e+01] [ 5.23481536e-03 9.99985841e-01 9.56270341e-04 2.00103046e+00] [ 1.45656259e-03 -9.63907367e-04 9.99998475e-01 4.21839673e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.21533619499999 meters Centerline goodness [0,1] 0.8711019210886971 Centerline is valid? [False, False] Translation: X:74.07, Y:2.00, Z:0.43 [[ 9.99983991e-01 -5.45801025e-03 -1.49252732e-03 7.40692354e+01] [ 5.45782782e-03 9.99985098e-01 -1.26274478e-04 2.00443090e+00] [ 1.49319428e-03 1.18126499e-04 9.99998878e-01 4.26525343e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.245336195 meters Centerline goodness [0,1] 0.7492041288828863 Centerline is valid? [False, False] Translation: X:74.07, Y:2.00, Z:0.42 [[ 9.99987157e-01 -4.69714433e-03 -1.90338978e-03 7.40736348e+01] [ 4.69850751e-03 9.99988708e-01 7.12346594e-04 2.00466505e+00] [ 1.90002230e-03 -7.21280536e-04 9.99997935e-01 4.21002932e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.275336195 meters Centerline goodness [0,1] 0.8405444471211756 Centerline is valid? [False, False] Translation: X:74.08, Y:2.00, Z:0.42 [[ 9.99989113e-01 -4.19667626e-03 -2.04003593e-03 7.40759962e+01] [ 4.19975232e-03 9.99990047e-01 1.50590711e-03 2.00323463e+00] [ 2.03369583e-03 -1.51445837e-03 9.99996785e-01 4.17475326e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.305336195 meters Centerline goodness [0,1] 0.8235209477445502 Centerline is valid? [False, False] Translation: X:74.08, Y:2.00, Z:0.42 [[ 9.99989785e-01 -4.05582252e-03 -1.99486220e-03 7.40762313e+01] [ 4.05939248e-03 9.99990161e-01 1.78879844e-03 2.00217397e+00] [ 1.98758753e-03 -1.79687810e-03 9.99996410e-01 4.16819074e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.335336195 meters Centerline goodness [0,1] 0.7840355195212586 Centerline is valid? [False, False] Translation: X:74.07, Y:2.01, Z:0.42 [[ 9.99987048e-01 -4.72096020e-03 -1.90149264e-03 7.40728259e+01] [ 4.72120516e-03 9.99988847e-01 1.24358167e-04 2.00606944e+00] [ 1.90088434e-03 -1.33333893e-04 9.99998184e-01 4.23679243e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.365336195 meters Centerline goodness [0,1] 0.7837870363684502 Centerline is valid? [False, False] Translation: X:74.07, Y:2.01, Z:0.42 [[ 9.99986416e-01 -4.73417235e-03 -2.18092280e-03 7.40731523e+01] [ 4.73421727e-03 9.99988793e-01 1.54388087e-05 2.00615678e+00] [ 2.18082527e-03 -2.57635613e-05 9.99997622e-01 4.24885428e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.395336195 meters Centerline goodness [0,1] 0.7942130750605327 Centerline is valid? [False, False] Translation: X:74.07, Y:2.01, Z:0.43 [[ 9.99985650e-01 -4.73290297e-03 -2.50980444e-03 7.40738826e+01] [ 4.73290504e-03 9.99988800e-01 -5.11318104e-06 2.00598544e+00] [ 2.50980053e-03 -6.76555842e-06 9.99996850e-01 4.25428508e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.425336195 meters Centerline goodness [0,1] 0.8204206666988277 Centerline is valid? [False, False] Translation: X:74.07, Y:2.01, Z:0.43 [[ 9.99985725e-01 -4.66108351e-03 -2.61211543e-03 7.40742959e+01] [ 4.66102418e-03 9.99989137e-01 -2.88031388e-05 2.00626110e+00] [ 2.61222131e-03 1.66275945e-05 9.99996588e-01 4.25567144e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.455336195 meters Centerline goodness [0,1] 0.7872525140473148 Centerline is valid? [False, False] Translation: X:74.08, Y:2.01, Z:0.42 [[ 9.99986762e-01 -4.33559126e-03 -2.77101116e-03 7.40759960e+01] [ 4.33680139e-03 9.99990503e-01 4.30850575e-04 2.00563525e+00] [ 2.76911685e-03 -4.42862197e-04 9.99996068e-01 4.23497515e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.485336195 meters Centerline goodness [0,1] 0.83378964456182 Centerline is valid? [False, False] Translation: X:74.08, Y:2.00, Z:0.42 [[ 9.99988228e-01 -3.99192170e-03 -2.75828604e-03 7.40776082e+01] [ 3.99533154e-03 9.99991260e-01 1.23181364e-03 2.00330227e+00] [ 2.75334463e-03 -1.24281941e-03 9.99995437e-01 4.20181210e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.51533619499999 meters Centerline goodness [0,1] 0.8235350555275719 Centerline is valid? [False, False] Translation: X:74.08, Y:2.00, Z:0.41 [[ 9.99991010e-01 -3.12975922e-03 -2.86100385e-03 7.40816443e+01] [ 3.14016318e-03 9.99988448e-01 3.63924166e-03 1.99683387e+00] [ 2.84958085e-03 -3.64819296e-03 9.99989285e-01 4.11329192e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.54533619499999 meters Centerline goodness [0,1] 0.794758767680682 Centerline is valid? [False, False] Translation: X:74.08, Y:2.00, Z:0.42 [[ 9.99989908e-01 -3.67603604e-03 -2.58294199e-03 7.40786679e+01] [ 3.68310471e-03 9.99989471e-01 2.73726448e-03 1.99823760e+00] [ 2.57285251e-03 -2.74675010e-03 9.99992918e-01 4.15320037e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.57533619499999 meters Centerline goodness [0,1] 0.8325987989151492 Centerline is valid? [False, False] Translation: X:74.07, Y:2.01, Z:0.43 [[ 9.99985246e-01 -4.74222269e-03 -2.64920825e-03 7.40734383e+01] [ 4.73877642e-03 9.99987920e-01 -1.30563333e-03 2.00667062e+00] [ 2.65536785e-03 1.29306006e-03 9.99995638e-01 4.31748456e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.60533619499999 meters Centerline goodness [0,1] 0.8419509594882729 Centerline is valid? [False, False] Translation: X:74.07, Y:2.01, Z:0.43 [[ 9.99984824e-01 -4.73595425e-03 -2.81480279e-03 7.40736297e+01] [ 4.73225998e-03 9.99987935e-01 -1.31765918e-03 2.00647230e+00] [ 2.82100920e-03 1.30431880e-03 9.99995170e-01 4.32517018e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.635336195 meters Centerline goodness [0,1] 0.8523731350490078 Centerline is valid? [False, False] Translation: X:74.08, Y:2.00, Z:0.43 [[ 9.99986078e-01 -4.16711807e-03 -3.23726539e-03 7.40771669e+01] [ 4.16685438e-03 9.99991315e-01 -8.81953356e-05 2.00355405e+00] [ 3.23760479e-03 7.47048943e-05 9.99994756e-01 4.27957446e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.665336195 meters Centerline goodness [0,1] 0.9124957604535103 Centerline is valid? [False, False] Translation: X:74.08, Y:2.00, Z:0.43 [[ 9.99987098e-01 -3.98030449e-03 -3.15604132e-03 7.40779891e+01] [ 3.98204468e-03 9.99991923e-01 5.45291653e-04 2.00121281e+00] [ 3.15384540e-03 -5.57852115e-04 9.99994871e-01 4.25657331e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.695336195 meters Centerline goodness [0,1] 0.8146306132303235 Centerline is valid? [False, False] Translation: X:74.08, Y:2.00, Z:0.42 [[ 9.99987898e-01 -3.55165228e-03 -3.40426873e-03 7.40804419e+01] [ 3.55668172e-03 9.99992591e-01 1.47248059e-03 1.99877680e+00] [ 3.39901377e-03 -1.48457067e-03 9.99993121e-01 4.22317719e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.725336195 meters Centerline goodness [0,1] 0.9039681582438789 Centerline is valid? [False, False] Translation: X:74.08, Y:2.00, Z:0.42 [[ 9.99986775e-01 -3.82743383e-03 -3.43513160e-03 7.40799125e+01] [ 3.83336732e-03 9.99991169e-01 1.72237619e-03 1.99659510e+00] [ 3.42850899e-03 -1.73552153e-03 9.99992617e-01 4.22607418e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.755336195 meters Centerline goodness [0,1] 0.9254444149641815 Centerline is valid? [False, False] Translation: X:74.08, Y:2.00, Z:0.42 [[ 9.99986529e-01 -3.81194221e-03 -3.52286997e-03 7.40802974e+01] [ 3.81884134e-03 9.99990800e-01 1.95373826e-03 1.99528616e+00] [ 3.51539002e-03 -1.96716523e-03 9.99991886e-01 4.22283177e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.785336195 meters Centerline goodness [0,1] 0.9556062973200337 Centerline is valid? [False, True] Translation: X:74.08, Y:1.99, Z:0.42 [[ 9.99987201e-01 -3.59589362e-03 -3.55899652e-03 7.40826280e+01] [ 3.60760689e-03 9.99988080e-01 3.29024147e-03 1.99049106e+00] [ 3.54712274e-03 -3.30303882e-03 9.99988254e-01 4.16707426e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.815336195 meters Centerline goodness [0,1] 0.9637542645599942 Centerline is valid? [True, True] Translation: X:74.11, Y:1.99, Z:0.42 [[ 9.99977530e-01 -5.12391077e-03 -4.32262236e-03 7.41141637e+01] [ 5.12290200e-03 9.99986848e-01 -2.44409440e-04 1.99079339e+00] [ 4.32381784e-03 2.22259578e-04 9.99990628e-01 4.21159830e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.845336195 meters Centerline goodness [0,1] 0.967611822045089 Centerline is valid? [True, True] Translation: X:74.14, Y:1.99, Z:0.43 [[ 9.99960005e-01 -8.02325752e-03 -3.95157955e-03 7.41447481e+01] [ 8.02243621e-03 9.99967795e-01 -2.23650972e-04 1.99085309e+00] [ 3.95324670e-03 1.91940733e-04 9.99992167e-01 4.25264308e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.87533619499999 meters Centerline goodness [0,1] 0.9472644962434984 Centerline is valid? [True, False] Translation: X:74.14, Y:1.99, Z:0.43 [[ 9.99984304e-01 -4.38739083e-03 -3.48455706e-03 7.41420831e+01] [ 4.40167316e-03 9.99981900e-01 4.10171390e-03 1.98749007e+00] [ 3.46649817e-03 -4.11698741e-03 9.99985517e-01 4.25935389e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.90533619499999 meters Centerline goodness [0,1] 0.9767295749462339 Centerline is valid? [False, True] Translation: X:74.14, Y:1.99, Z:0.43 [[ 9.99981226e-01 -5.28397102e-03 -3.10276645e-03 7.41378915e+01] [ 5.29342733e-03 9.99981346e-01 3.04744151e-03 1.98838316e+00] [ 3.08660598e-03 -3.06380856e-03 9.99990543e-01 4.31091608e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.93533619499999 meters Centerline goodness [0,1] 0.9823576197247595 Centerline is valid? [True, True] Translation: X:74.17, Y:1.98, Z:0.43 [[ 9.99940359e-01 -9.95104708e-03 -4.50049895e-03 7.41673860e+01] [ 9.95016108e-03 9.99950472e-01 -2.19214962e-04 1.98484189e+00] [ 4.50245747e-03 1.74421198e-04 9.99989849e-01 4.27582418e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.96533619499999 meters Centerline goodness [0,1] 0.9864315442538553 Centerline is valid? [True, True] Translation: X:74.20, Y:1.98, Z:0.42 [[ 9.99914174e-01 -1.21137233e-02 -4.99017042e-03 7.41988721e+01] [ 1.21126631e-02 9.99926610e-01 -2.42630857e-04 1.98117632e+00] [ 4.99274336e-03 1.82165780e-04 9.99987520e-01 4.23565425e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.995336195 meters Centerline goodness [0,1] 0.9898691633657424 Centerline is valid? [True, True] Translation: X:74.23, Y:1.98, Z:0.42 [[ 9.99885848e-01 -1.41221448e-02 -5.37185864e-03 7.42304861e+01] [ 1.41209457e-02 9.99900260e-01 -2.61085508e-04 1.97963630e+00] [ 5.37500994e-03 1.85199980e-04 9.99985537e-01 4.20418891e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.025336195 meters Centerline goodness [0,1] 0.9898691633657424 Centerline is valid? [True, True] Translation: X:74.26, Y:1.98, Z:0.42 [[ 9.99888469e-01 -1.39352587e-02 -5.37198749e-03 7.42633109e+01] [ 1.39340712e-02 9.99902883e-01 -2.58431299e-04 1.98108881e+00] [ 5.37506709e-03 1.83548820e-04 9.99985537e-01 4.20087221e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.055336195 meters Centerline goodness [0,1] 0.9923419626730885 Centerline is valid? [True, True] Translation: X:74.30, Y:1.98, Z:0.42 [[ 9.99849184e-01 -1.57310279e-02 -7.35821926e-03 7.42951017e+01] [ 1.57288488e-02 9.99876231e-01 -3.53933055e-04 1.97929642e+00] [ 7.36287627e-03 2.38143359e-04 9.99972865e-01 4.15477528e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.085336195 meters Centerline goodness [0,1] 0.9815971554872189 Centerline is valid? [True, True] Translation: X:74.31, Y:2.01, Z:0.50 [[ 9.99719004e-01 -2.32813638e-02 -4.45991968e-03 7.43127416e+01] [ 2.30411702e-02 9.98585262e-01 -4.79226251e-02 2.01400022e+00] [ 5.56931414e-03 4.78063973e-02 9.98841094e-01 4.98555201e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.115336195 meters Centerline goodness [0,1] 0.9790379576432126 Centerline is valid? [True, True] Translation: X:74.34, Y:1.99, Z:0.42 [[ 9.99657030e-01 -2.55094993e-02 -5.92358009e-03 7.43439626e+01] [ 2.55296428e-02 9.99668452e-01 3.35020483e-03 1.98685850e+00] [ 5.83615409e-03 -3.50028269e-03 9.99976843e-01 4.17357661e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.145336195 meters Centerline goodness [0,1] 0.99465986721832 Centerline is valid? [True, True] Translation: X:74.39, Y:1.95, Z:0.35 [[ 9.99801271e-01 -1.69210218e-02 -1.05402577e-02 7.43920700e+01] [ 1.73650221e-02 9.98899749e-01 4.35631391e-02 1.95440195e+00] [ 9.79152793e-03 -4.37375137e-02 9.98995073e-01 3.52231948e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.175336195 meters Centerline goodness [0,1] 0.9826059910039239 Centerline is valid? [True, True] Translation: X:74.41, Y:2.01, Z:0.48 [[ 9.99738241e-01 -2.28020834e-02 -1.87456632e-03 7.44125908e+01] [ 2.27407099e-02 9.99349228e-01 -2.79996499e-02 2.00598066e+00] [ 2.51179676e-03 2.79496918e-02 9.99606175e-01 4.77740387e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.205336195 meters Centerline goodness [0,1] 0.9697369051612594 Centerline is valid? [True, True] Translation: X:74.44, Y:2.00, Z:0.45 [[ 9.99790854e-01 -2.01226881e-02 -3.65053574e-03 7.44383706e+01] [ 2.00626267e-02 9.99673807e-01 -1.58041170e-02 2.00450228e+00] [ 3.96736627e-03 1.57275723e-02 9.99868443e-01 4.52251122e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.235336195 meters Centerline goodness [0,1] 0.973943797517082 Centerline is valid? [True, True] Translation: X:74.47, Y:2.00, Z:0.43 [[ 9.99822921e-01 -1.79885142e-02 -5.52628072e-03 7.44707734e+01] [ 1.79604942e-02 9.99825798e-01 -5.07878199e-03 1.99550754e+00] [ 5.61667777e-03 4.97862792e-03 9.99971833e-01 4.34792515e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.26533619499999 meters Centerline goodness [0,1] 0.9690751306515798 Centerline is valid? [True, True] Translation: X:74.51, Y:1.98, Z:0.40 [[ 9.99822211e-01 -1.82402294e-02 -4.77922294e-03 7.45086302e+01] [ 1.83142512e-02 9.99705344e-01 1.59315367e-02 1.98369547e+00] [ 4.48721982e-03 -1.60162321e-02 9.99861663e-01 3.98682263e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.29533619499999 meters Centerline goodness [0,1] 0.9850874883308998 Centerline is valid? [True, True] Translation: X:74.55, Y:1.97, Z:0.37 [[ 9.99889571e-01 -9.60384656e-03 -1.13406914e-02 7.45471892e+01] [ 9.90796423e-03 9.99584383e-01 2.70719878e-02 1.97338170e+00] [ 1.10759829e-02 -2.71813615e-02 9.99569155e-01 3.74513843e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.32533619499999 meters Centerline goodness [0,1] 0.9697274512621545 Centerline is valid? [True, True] Translation: X:74.57, Y:2.01, Z:0.47 [[ 9.99851577e-01 -1.61914904e-02 -5.88729976e-03 7.45654404e+01] [ 1.60082498e-02 9.99423422e-01 -2.99425956e-02 2.01430540e+00] [ 6.36872053e-03 2.98439061e-02 9.99534282e-01 4.73978811e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.35533619499999 meters Centerline goodness [0,1] 0.9670200518085005 Centerline is valid? [True, True] Translation: X:74.60, Y:2.00, Z:0.42 [[ 9.99857094e-01 -1.45326554e-02 -8.63678585e-03 7.46020264e+01] [ 1.45337954e-02 9.99894376e-01 6.92437814e-05 1.99641294e+00] [ 8.63486730e-03 -1.94759165e-04 9.99962700e-01 4.21396311e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.385336195 meters Centerline goodness [0,1] 0.9616218922075755 Centerline is valid? [True, True] Translation: X:74.64, Y:1.99, Z:0.40 [[ 9.99861316e-01 -1.51587668e-02 -6.89645100e-03 7.46406748e+01] [ 1.52300455e-02 9.99829895e-01 1.04031947e-02 1.99157490e+00] [ 6.73757828e-03 -1.05067852e-02 9.99922103e-01 4.03066569e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.415336195 meters Centerline goodness [0,1] 0.9612231278897946 Centerline is valid? [True, True] Translation: X:74.67, Y:2.00, Z:0.42 [[ 9.99905934e-01 -1.13709392e-02 -7.66971400e-03 7.46731400e+01] [ 1.13806802e-02 9.99934484e-01 1.22760867e-03 1.99854367e+00] [ 7.65525245e-03 -1.31477975e-03 9.99969834e-01 4.20265636e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.445336195 meters Centerline goodness [0,1] 0.954919106959899 Centerline is valid? [True, True] Translation: X:74.70, Y:2.01, Z:0.44 [[ 9.99921060e-01 -9.82683923e-03 -7.82986090e-03 7.46979684e+01] [ 9.77343990e-03 9.99928918e-01 -6.82928192e-03 2.00884138e+00] [ 7.89641459e-03 6.75221815e-03 9.99946026e-01 4.35656644e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.475336195 meters Centerline goodness [0,1] 0.948448698716575 Centerline is valid? [True, False] Translation: X:74.70, Y:2.00, Z:0.43 [[ 9.99958123e-01 -4.95256297e-03 -7.69576985e-03 7.47000480e+01] [ 4.94679288e-03 9.99987469e-01 -7.68628024e-04 2.00363839e+00] [ 7.69948010e-03 7.30526456e-04 9.99970092e-01 4.29635577e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.505336195 meters Centerline goodness [0,1] 0.9384231180877631 Centerline is valid? [False, False] Translation: X:74.70, Y:2.00, Z:0.43 [[ 9.99961214e-01 -4.75820870e-03 -7.41141520e-03 7.46996071e+01] [ 4.75400640e-03 9.99988529e-01 -5.84517908e-04 2.00280157e+00] [ 7.41411144e-03 5.49261322e-04 9.99972364e-01 4.29186051e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.535336195 meters Centerline goodness [0,1] 0.9406990816544458 Centerline is valid? [False, False] Translation: X:74.70, Y:2.00, Z:0.42 [[ 9.99966017e-01 -3.80239605e-03 -7.31486046e-03 7.47032774e+01] [ 3.81132018e-03 9.99992009e-01 1.20644784e-03 1.99802982e+00] [ 7.31021461e-03 -1.23428612e-03 9.99972518e-01 4.21739771e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.565336195 meters Centerline goodness [0,1] 0.9475668753557199 Centerline is valid? [False, False] Translation: X:74.70, Y:2.00, Z:0.42 [[ 9.99967038e-01 -3.64671273e-03 -7.25433495e-03 7.47035989e+01] [ 3.65745233e-03 9.99992234e-01 1.46772310e-03 1.99689266e+00] [ 7.24892625e-03 -1.49420710e-03 9.99972610e-01 4.20867001e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.595336195 meters Centerline goodness [0,1] 0.9328317470866067 Centerline is valid? [False, False] Translation: X:74.70, Y:2.00, Z:0.42 [[ 9.99966463e-01 -3.85544630e-03 -7.22555964e-03 7.47021760e+01] [ 3.86223117e-03 9.99992113e-01 9.25290868e-04 1.99815414e+00] [ 7.22193524e-03 -9.53166618e-04 9.99973467e-01 4.23570449e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.62533619499999 meters Centerline goodness [0,1] 0.930666476516448 Centerline is valid? [False, False] Translation: X:74.70, Y:2.00, Z:0.43 [[ 9.99975925e-01 -2.46321061e-04 -6.93457273e-03 7.46983900e+01] [ 2.76802784e-04 9.99990304e-01 4.39500000e-03 1.99806147e+00] [ 6.93342291e-03 -4.39681370e-03 9.99966297e-01 4.28423016e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.65533619499999 meters Centerline goodness [0,1] 0.9312183101928636 Centerline is valid? [False, False] Translation: X:74.70, Y:2.00, Z:0.43 [[ 9.99973855e-01 -2.19499011e-04 -7.22784371e-03 7.46990093e+01] [ 2.50283996e-04 9.99990901e-01 4.25859208e-03 1.99860470e+00] [ 7.22684319e-03 -4.26028976e-03 9.99964811e-01 4.29222990e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.68533619499999 meters Centerline goodness [0,1] 0.9279785619427053 Centerline is valid? [False, False] Translation: X:74.70, Y:2.00, Z:0.43 [[ 9.99960467e-01 -3.85151127e-03 -8.01433454e-03 7.47031049e+01] [ 3.85278203e-03 9.99992568e-01 1.43127632e-04 2.00014916e+00] [ 8.01372372e-03 -1.73999458e-04 9.99967874e-01 4.27490887e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.71533619499999 meters Centerline goodness [0,1] 0.925417005209578 Centerline is valid? [False, False] Translation: X:74.71, Y:2.00, Z:0.42 [[ 9.99961122e-01 -3.11963169e-03 -8.24762671e-03 7.47068628e+01] [ 3.13037304e-03 9.99994269e-01 1.28976731e-03 1.99811114e+00] [ 8.24355584e-03 -1.31553531e-03 9.99965156e-01 4.21910830e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.745336195 meters Centerline goodness [0,1] 0.8826629484331427 Centerline is valid? [False, False] Translation: X:74.71, Y:2.00, Z:0.42 [[ 9.99960260e-01 -2.35182408e-03 -8.59928278e-03 7.47106619e+01] [ 2.37115840e-03 9.99994683e-01 2.23886066e-03 1.99705445e+00] [ 8.59397165e-03 -2.25916195e-03 9.99960519e-01 4.17391211e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.775336195 meters Centerline goodness [0,1] 0.9004711144950985 Centerline is valid? [False, False] Translation: X:74.71, Y:2.00, Z:0.42 [[ 9.99959314e-01 -2.23772657e-03 -8.73859969e-03 7.47104559e+01] [ 2.24887531e-03 9.99996670e-01 1.26618655e-03 2.00142423e+00] [ 8.73573721e-03 -1.28578705e-03 9.99961016e-01 4.20133327e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.805336195 meters Centerline goodness [0,1] 0.901265224074731 Centerline is valid? [False, False] Translation: X:74.71, Y:2.01, Z:0.43 [[ 9.99957233e-01 -2.37521027e-03 -8.93812808e-03 7.47092545e+01] [ 2.37474241e-03 9.99997178e-01 -6.29563895e-05 2.00577282e+00] [ 8.93825240e-03 4.17279452e-05 9.99960052e-01 4.25289643e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.835336195 meters Centerline goodness [0,1] 0.8952248604355847 Centerline is valid? [False, False] Translation: X:74.71, Y:2.01, Z:0.43 [[ 9.99960778e-01 1.45606418e-03 -8.73627350e-03 7.47059931e+01] [-1.43641563e-03 9.99996426e-01 2.25493043e-03 2.01117358e+00] [ 8.73952560e-03 -2.24229307e-03 9.99959296e-01 4.32262211e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.865336195 meters Centerline goodness [0,1] 0.8949660254569816 Centerline is valid? [False, False] Translation: X:74.70, Y:2.01, Z:0.44 [[ 9.99961474e-01 1.37549978e-03 -8.66941321e-03 7.47047577e+01] [-1.36374607e-03 9.99998143e-01 1.36153299e-03 2.01488886e+00] [ 8.67126990e-03 -1.34965766e-03 9.99961493e-01 4.35158963e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.895336195 meters Centerline goodness [0,1] 0.7468272900763359 Centerline is valid? [False, False] Translation: X:74.71, Y:2.02, Z:0.43 [[ 9.99956571e-01 2.10339283e-03 -9.07917160e-03 7.47081026e+01] [-2.09204855e-03 9.99997019e-01 1.25880029e-03 2.01897526e+00] [ 9.08179229e-03 -1.23975155e-03 9.99957991e-01 4.32957785e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.925336195 meters Centerline goodness [0,1] 0.7827587860190823 Centerline is valid? [False, False] Translation: X:74.71, Y:2.02, Z:0.43 [[ 9.99954209e-01 2.48451040e-03 -9.24164238e-03 7.47102725e+01] [-2.47044510e-03 9.99995773e-01 1.53305170e-03 2.01985359e+00] [ 9.24541221e-03 -1.51015053e-03 9.99956120e-01 4.30184580e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.955336195 meters Centerline goodness [0,1] 0.782165422171166 Centerline is valid? [False, False] Translation: X:74.71, Y:2.02, Z:0.43 [[ 9.99951894e-01 2.85981464e-03 -9.38253857e-03 7.47122934e+01] [-2.84203223e-03 9.99994141e-01 1.90805249e-03 2.01999374e+00] [ 9.38794028e-03 -1.88129522e-03 9.99954163e-01 4.27467332e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.985336195 meters Centerline goodness [0,1] 0.7141149469255044 Centerline is valid? [False, False] Translation: X:74.72, Y:2.02, Z:0.42 [[ 9.99947953e-01 3.46972814e-03 -9.59438694e-03 7.47154873e+01] [-3.44474737e-03 9.99990637e-01 2.61898703e-03 2.01959921e+00] [ 9.60338428e-03 -2.58580048e-03 9.99950543e-01 4.23000897e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.01533619499999 meters Centerline goodness [0,1] 0.8022183360084325 Centerline is valid? [False, False] Translation: X:74.71, Y:2.02, Z:0.42 [[ 9.99949373e-01 3.25166349e-03 -9.52246892e-03 7.47143983e+01] [-3.23173075e-03 9.99992556e-01 2.10787216e-03 2.02091285e+00] [ 9.52925212e-03 -2.07699139e-03 9.99952439e-01 4.24753439e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.04533619499999 meters Centerline goodness [0,1] 0.7170243549553894 Centerline is valid? [False, False] Translation: X:74.71, Y:2.03, Z:0.44 [[ 9.99955068e-01 2.05158468e-03 -9.25487308e-03 7.47081940e+01] [-2.06603476e-03 9.99996661e-01 -1.55205751e-03 2.02870390e+00] [ 9.25165800e-03 1.57110866e-03 9.99955968e-01 4.39222982e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.07533619499999 meters Centerline goodness [0,1] 0.7830188679245282 Centerline is valid? [False, False] Translation: X:74.71, Y:2.03, Z:0.44 [[ 9.99954792e-01 1.89390656e-03 -9.31815739e-03 7.47074218e+01] [-1.91164111e-03 9.99996378e-01 -1.89468716e-03 2.02924584e+00] [ 9.31453528e-03 1.91241448e-03 9.99954790e-01 4.41255025e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.10533619499999 meters Centerline goodness [0,1] 0.766287933266216 Centerline is valid? [False, False] Translation: X:74.71, Y:2.03, Z:0.44 [[ 9.99952901e-01 2.07763953e-03 -9.48041522e-03 7.47086515e+01] [-2.09193998e-03 9.99996689e-01 -1.49875366e-03 2.02819612e+00] [ 9.47726996e-03 1.51851553e-03 9.99953937e-01 4.39796283e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.135336195 meters Centerline goodness [0,1] 0.7745743636407174 Centerline is valid? [False, False] Translation: X:74.71, Y:2.03, Z:0.44 [[ 9.99952445e-01 -1.74745609e-03 -9.59453335e-03 7.47108533e+01] [ 1.70022279e-03 9.99986408e-01 -4.92889011e-03 2.02623309e+00] [ 9.60301595e-03 4.91234287e-03 9.99941824e-01 4.36330691e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.165336195 meters Centerline goodness [0,1] 0.7075963038521541 Centerline is valid? [False, False] Translation: X:74.71, Y:2.02, Z:0.44 [[ 9.99956795e-01 -1.88541545e-03 -9.10238940e-03 7.47093747e+01] [ 1.84475318e-03 9.99988292e-01 -4.47353937e-03 2.02287377e+00] [ 9.11071731e-03 4.45655443e-03 9.99948566e-01 4.35582107e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.195336195 meters Centerline goodness [0,1] 0.7052545941807045 Centerline is valid? [False, False] Translation: X:74.71, Y:2.02, Z:0.44 [[ 9.99956594e-01 -1.83553857e-03 -9.13465383e-03 7.47094573e+01] [ 1.79679993e-03 9.99989366e-01 -4.24724507e-03 2.02159196e+00] [ 9.14235268e-03 4.23064757e-03 9.99949258e-01 4.35610490e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.225336195 meters Centerline goodness [0,1] 0.755786094206718 Centerline is valid? [False, False] Translation: X:74.71, Y:2.02, Z:0.44 [[ 9.99957090e-01 -1.84949562e-03 -9.07734585e-03 7.47092003e+01] [ 1.81285439e-03 9.99990183e-01 -4.04312746e-03 2.02039380e+00] [ 9.08473449e-03 4.02649806e-03 9.99950626e-01 4.35548481e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.255336195 meters Centerline goodness [0,1] 0.6900317097012612 Centerline is valid? [False, False] Translation: X:74.71, Y:2.02, Z:0.44 [[ 9.99956993e-01 -2.20008754e-03 -9.00953432e-03 7.47070388e+01] [ 2.15922151e-03 9.99987349e-01 -4.54308188e-03 2.02015184e+00] [ 9.01941552e-03 4.52343291e-03 9.99949093e-01 4.39303742e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.285336195 meters Centerline goodness [0,1] 0.7072139838097284 Centerline is valid? [False, False] Translation: X:74.71, Y:2.02, Z:0.44 [[ 9.99956487e-01 -2.50323499e-03 -8.98648909e-03 7.47053514e+01] [ 2.45747429e-03 9.99983977e-01 -5.09960295e-03 2.02103847e+00] [ 8.99911060e-03 5.07729699e-03 9.99946617e-01 4.42432589e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.315336195 meters Centerline goodness [0,1] 0.7034687477557273 Centerline is valid? [False, False] Translation: X:74.71, Y:2.02, Z:0.44 [[ 9.99954815e-01 -2.51549805e-03 -9.16735161e-03 7.47055597e+01] [ 2.46835893e-03 9.99983693e-01 -5.14975614e-03 2.02112195e+00] [ 9.18015632e-03 5.12689514e-03 9.99944718e-01 4.43155811e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.345336195 meters Centerline goodness [0,1] 0.705190872457617 Centerline is valid? [False, False] Translation: X:74.71, Y:2.02, Z:0.43 [[ 9.99951803e-01 -1.71796948e-03 -9.66640782e-03 7.47105071e+01] [ 1.68971958e-03 9.99994280e-01 -2.92989018e-03 2.01609849e+00] [ 9.67138600e-03 2.91341545e-03 9.99948987e-01 4.34787693e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.37533619499999 meters Centerline goodness [0,1] 0.686333634075692 Centerline is valid? [False, False] Translation: X:74.71, Y:2.01, Z:0.43 [[ 9.99949537e-01 -1.21191955e-03 -9.97266946e-03 7.47132473e+01] [ 1.19229383e-03 9.99997342e-01 -1.97366042e-03 2.01378504e+00] [ 9.97503487e-03 1.96167047e-03 9.99948324e-01 4.31386544e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.40533619499999 meters Centerline goodness [0,1] 0.7694239785666444 Centerline is valid? [False, False] Translation: X:74.71, Y:2.01, Z:0.43 [[ 9.99949756e-01 -1.15700417e-03 -9.95726785e-03 7.47136588e+01] [ 1.14101576e-03 9.99998051e-01 -1.61123400e-03 2.01213728e+00] [ 9.95911265e-03 1.59979165e-03 9.99949127e-01 4.30199340e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.43533619499999 meters Centerline goodness [0,1] 0.7223448963601395 Centerline is valid? [False, False] Translation: X:74.71, Y:2.01, Z:0.43 [[ 9.99950049e-01 -9.95487020e-04 -9.94529334e-03 7.47140981e+01] [ 9.83035341e-04 9.99998727e-01 -1.25682720e-03 2.01090155e+00] [ 9.94653183e-03 1.24698785e-03 9.99949755e-01 4.29304577e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.46533619499999 meters Centerline goodness [0,1] 0.819111812228118 Centerline is valid? [False, False] Translation: X:74.71, Y:2.01, Z:0.44 [[ 9.99955517e-01 -1.78486378e-03 -9.26167906e-03 7.47089669e+01] [ 1.75926849e-03 9.99994613e-01 -2.77098080e-03 2.01342938e+00] [ 9.26657500e-03 2.75456376e-03 9.99953270e-01 4.35592787e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.495336195 meters Centerline goodness [0,1] 0.7461462853307123 Centerline is valid? [False, False] Translation: X:74.71, Y:2.02, Z:0.44 [[ 9.99954350e-01 -2.07564273e-03 -9.32677184e-03 7.47076284e+01] [ 2.04126756e-03 9.99991095e-01 -3.69365486e-03 2.01659283e+00] [ 9.33435550e-03 3.67444781e-03 9.99949683e-01 4.39045646e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.525336195 meters Centerline goodness [0,1] 0.7970073133179368 Centerline is valid? [False, False] Translation: X:74.71, Y:2.02, Z:0.44 [[ 9.99952177e-01 -2.07327332e-03 -9.55745735e-03 7.47080385e+01] [ 2.03381253e-03 9.99989376e-01 -4.13666787e-03 2.01899734e+00] [ 9.56593225e-03 4.11703196e-03 9.99945770e-01 4.40150333e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.555336195 meters Centerline goodness [0,1] 0.7296168251224431 Centerline is valid? [False, False] Translation: X:74.71, Y:2.02, Z:0.44 [[ 9.99949870e-01 -1.54672909e-03 -9.89266383e-03 7.47109532e+01] [ 1.51031756e-03 9.99992062e-01 -3.68707225e-03 2.01987250e+00] [ 9.89828820e-03 3.67194636e-03 9.99944269e-01 4.37109820e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.585336195 meters Centerline goodness [0,1] 0.7578287092882992 Centerline is valid? [False, False] Translation: X:74.71, Y:2.02, Z:0.44 [[ 9.99950019e-01 -1.72494945e-03 -9.84809191e-03 7.47101824e+01] [ 1.68498328e-03 9.99990318e-01 -4.06512158e-03 2.02095722e+00] [ 9.85500868e-03 4.04832453e-03 9.99943243e-01 4.38346294e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.615336195 meters Centerline goodness [0,1] 0.7454952784736943 Centerline is valid? [False, False] Translation: X:74.71, Y:2.02, Z:0.44 [[ 9.99944179e-01 -1.89984429e-03 -1.03936779e-02 7.47108250e+01] [ 1.84986547e-03 9.99986692e-01 -4.81608073e-03 2.02456079e+00] [ 1.04026894e-02 4.79658499e-03 9.99934386e-01 4.40760709e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.645336195 meters Centerline goodness [0,1] 0.7862639615950595 Centerline is valid? [False, False] Translation: X:74.71, Y:2.02, Z:0.44 [[ 9.99941377e-01 -1.55819892e-03 -1.07151321e-02 7.47132250e+01] [ 1.51353508e-03 9.99990139e-01 -4.17514215e-03 2.02339594e+00] [ 1.07215321e-02 4.15867967e-03 9.99933875e-01 4.38082016e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.675336195 meters Centerline goodness [0,1] 0.7413668370791936 Centerline is valid? [False, False] Translation: X:74.71, Y:2.02, Z:0.43 [[ 9.99943121e-01 -1.44301953e-03 -1.05675248e-02 7.47145348e+01] [ 1.41413769e-03 9.99995246e-01 -2.74003790e-03 2.01848483e+00] [ 1.05714285e-02 2.72493811e-03 9.99940408e-01 4.32790858e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.705336195 meters Centerline goodness [0,1] 0.861875256166068 Centerline is valid? [False, False] Translation: X:74.72, Y:2.02, Z:0.43 [[ 9.99942492e-01 -1.21222113e-03 -1.06557089e-02 7.47158299e+01] [ 1.18924725e-03 9.99996956e-01 -2.16208860e-03 2.01690783e+00] [ 1.06582974e-02 2.14929199e-03 9.99940889e-01 4.30686344e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.735336195 meters Centerline goodness [0,1] 0.7147786083956297 Centerline is valid? [False, False] Translation: X:74.72, Y:2.01, Z:0.43 [[ 9.99940533e-01 -7.82782514e-04 -1.08774362e-02 7.47180935e+01] [ 7.68465338e-04 9.99998833e-01 -1.32034434e-03 2.01473191e+00] [ 1.08784571e-02 1.31190689e-03 9.99939967e-01 4.27701813e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.76533619499999 meters Centerline goodness [0,1] 0.7369305765674903 Centerline is valid? [False, False] Translation: X:74.72, Y:2.01, Z:0.43 [[ 9.99946593e-01 -1.04611938e-03 -1.02818621e-02 7.47156983e+01] [ 1.03315614e-03 9.99998665e-01 -1.26601799e-03 2.01228969e+00] [ 1.02831727e-02 1.25532761e-03 9.99946339e-01 4.28331927e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.79533619499999 meters Centerline goodness [0,1] 0.7145694730292442 Centerline is valid? [False, False] Translation: X:74.71, Y:2.01, Z:0.43 [[ 9.99948757e-01 -1.53738559e-03 -1.00060276e-02 7.47124790e+01] [ 1.51536443e-03 9.99996414e-01 -2.20799908e-03 2.01367929e+00] [ 1.00093862e-02 2.19272316e-03 9.99947501e-01 4.33101571e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.82533619499999 meters Centerline goodness [0,1] 0.8233718601452598 Centerline is valid? [False, False] Translation: X:74.71, Y:2.02, Z:0.44 [[ 9.99949589e-01 -2.19330788e-03 -9.79843897e-03 7.47088855e+01] [ 2.15494985e-03 9.99989981e-01 -3.92355238e-03 2.01793500e+00] [ 9.80694636e-03 3.90223945e-03 9.99944297e-01 4.39779988e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.85533619499999 meters Centerline goodness [0,1] 0.741636271407522 Centerline is valid? [False, False] Translation: X:74.71, Y:2.02, Z:0.44 [[ 9.99948863e-01 -1.94539915e-03 -9.92406062e-03 7.47102331e+01] [ 1.91028220e-03 9.99991885e-01 -3.54681975e-03 2.01736299e+00] [ 9.93088007e-03 3.52768062e-03 9.99944465e-01 4.38026985e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.885336195 meters Centerline goodness [0,1] 0.7578754402045443 Centerline is valid? [False, False] Translation: X:74.71, Y:2.02, Z:0.44 [[ 9.99947345e-01 -1.71662514e-03 -1.01173661e-02 7.47114473e+01] [ 1.68547346e-03 9.99993816e-01 -3.08675342e-03 2.01605797e+00] [ 1.01226023e-02 3.06953834e-03 9.99944054e-01 4.36730336e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.915336195 meters Centerline goodness [0,1] 0.7172989670817647 Centerline is valid? [False, False] Translation: X:74.71, Y:2.02, Z:0.44 [[ 9.99946741e-01 -1.81561592e-03 -1.01596506e-02 7.47110168e+01] [ 1.78274112e-03 9.99993149e-01 -3.24394084e-03 2.01626952e+00] [ 1.01654707e-02 3.22565605e-03 9.99943128e-01 4.37763933e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.945336195 meters Centerline goodness [0,1] 0.7172989670817647 Centerline is valid? [False, False] Translation: X:74.71, Y:2.02, Z:0.44 [[ 9.99946741e-01 -1.81561592e-03 -1.01596506e-02 7.47110168e+01] [ 1.78274112e-03 9.99993149e-01 -3.24394084e-03 2.01626952e+00] [ 1.01654707e-02 3.22565605e-03 9.99943128e-01 4.37763933e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.975336195 meters Centerline goodness [0,1] 0.7223064520010589 Centerline is valid? [False, False] Translation: X:74.71, Y:2.02, Z:0.44 [[ 9.99945051e-01 -1.76235433e-03 -1.03339192e-02 7.47115438e+01] [ 1.72873023e-03 9.99993186e-01 -3.26179110e-03 2.01656841e+00] [ 1.03395972e-02 3.24374730e-03 9.99941284e-01 4.37950011e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.005336195 meters Centerline goodness [0,1] 0.7254684981596863 Centerline is valid? [False, False] Translation: X:74.71, Y:2.02, Z:0.44 [[ 9.99940828e-01 -1.34834915e-03 -1.07945406e-02 7.47143761e+01] [ 1.31667189e-03 9.99994808e-01 -2.94113240e-03 2.01740412e+00] [ 1.07984502e-02 2.92674550e-03 9.99937412e-01 4.35648750e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.035336195 meters Centerline goodness [0,1] 0.7828852616418627 Centerline is valid? [False, False] Translation: X:74.72, Y:2.02, Z:0.43 [[ 9.99938656e-01 -1.02245377e-03 -1.10289645e-02 7.47162526e+01] [ 9.93753823e-04 9.99996107e-01 -2.60740083e-03 2.01772391e+00] [ 1.10315875e-02 2.59628080e-03 9.99935780e-01 4.33702107e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.065336195 meters Centerline goodness [0,1] 0.7420207652374544 Centerline is valid? [False, False] Translation: X:74.72, Y:2.01, Z:0.43 [[ 9.99937805e-01 -4.93135705e-04 -1.11419217e-02 7.47188763e+01] [ 4.77377296e-04 9.99998882e-01 -1.41695019e-03 2.01440261e+00] [ 1.11426080e-02 1.41154317e-03 9.99936923e-01 4.29012928e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.095336195 meters Centerline goodness [0,1] 0.7399725704386324 Centerline is valid? [False, False] Translation: X:74.72, Y:2.01, Z:0.43 [[ 9.99937960e-01 -4.23399150e-04 -1.11308991e-02 7.47191296e+01] [ 4.09522022e-04 9.99999136e-01 -1.24897090e-03 2.01372931e+00] [ 1.11314183e-02 1.24433506e-03 9.99937270e-01 4.28410757e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.12533619499999 meters Centerline goodness [0,1] 0.7586041261378101 Centerline is valid? [False, False] Translation: X:74.72, Y:2.01, Z:0.43 [[ 9.99938667e-01 -5.87604781e-04 -1.10596847e-02 7.47178868e+01] [ 5.69436425e-04 9.99998483e-01 -1.64583265e-03 2.01452588e+00] [ 1.10606350e-02 1.63943391e-03 9.99937485e-01 4.30519539e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.15533619499999 meters Centerline goodness [0,1] 0.7171636749662227 Centerline is valid? [False, False] Translation: X:74.71, Y:2.02, Z:0.44 [[ 9.99939899e-01 -1.42052851e-03 -1.08710399e-02 7.47126053e+01] [ 1.36504779e-03 9.99986016e-01 -5.10925374e-03 2.02204287e+00] [ 1.08781457e-02 5.09410718e-03 9.99927855e-01 4.44677442e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.18533619499999 meters Centerline goodness [0,1] 0.7064775868285063 Centerline is valid? [False, False] Translation: X:74.71, Y:2.02, Z:0.45 [[ 9.99938713e-01 -1.34828243e-03 -1.09887479e-02 7.47128607e+01] [ 1.28992884e-03 9.99985040e-01 -5.31566290e-03 2.02329571e+00] [ 1.09957505e-02 5.30116242e-03 9.99925493e-01 4.45377688e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.21533619499999 meters Centerline goodness [0,1] 0.6874655416257162 Centerline is valid? [False, False] Translation: X:74.72, Y:2.02, Z:0.43 [[ 9.99936843e-01 -1.83915504e-04 -1.12372283e-02 7.47185995e+01] [ 1.51841550e-04 9.99995913e-01 -2.85504498e-03 2.01952061e+00] [ 1.12377074e-02 2.85315839e-03 9.99932784e-01 4.34243823e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.245336195 meters Centerline goodness [0,1] 0.7035442916225834 Centerline is valid? [False, False] Translation: X:74.72, Y:2.02, Z:0.43 [[ 9.99937370e-01 1.34762074e-04 -1.11909372e-02 7.47199049e+01] [-1.59894526e-04 9.99997467e-01 -2.24492182e-03 2.01791305e+00] [ 1.11906063e-02 2.24657059e-03 9.99934860e-01 4.31458872e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.275336195 meters Centerline goodness [0,1] 0.6926514041367382 Centerline is valid? [False, False] Translation: X:74.72, Y:2.02, Z:0.44 [[ 9.99939240e-01 -3.52199570e-04 -1.10178537e-02 7.47169612e+01] [ 3.13985487e-04 9.99993931e-01 -3.46991572e-03 2.02096996e+00] [ 1.10190089e-02 3.46624544e-03 9.99933281e-01 4.36686884e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.305336195 meters Centerline goodness [0,1] 0.6887782108656946 Centerline is valid? [False, False] Translation: X:74.72, Y:2.02, Z:0.44 [[ 9.99938496e-01 -4.33322847e-04 -1.10822284e-02 7.47166731e+01] [ 3.92550846e-04 9.99993148e-01 -3.68095412e-03 2.02168587e+00] [ 1.10837475e-02 3.67637739e-03 9.99931815e-01 4.37704949e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.335336195 meters Centerline goodness [0,1] 0.6883154328551864 Centerline is valid? [False, False] Translation: X:74.72, Y:2.02, Z:0.44 [[ 9.99936931e-01 -4.50085008e-04 -1.12219102e-02 7.47166230e+01] [ 4.05360189e-04 9.99991968e-01 -3.98744677e-03 2.02283049e+00] [ 1.12236148e-02 3.98264637e-03 9.99929082e-01 4.38929985e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.365336195 meters Centerline goodness [0,1] 0.6887123947051745 Centerline is valid? [False, False] Translation: X:74.71, Y:2.03, Z:0.44 [[ 9.99938372e-01 -8.07948113e-04 -1.10724832e-02 7.47145386e+01] [ 7.54306149e-04 9.99987964e-01 -4.84793933e-03 2.02515456e+00] [ 1.10762668e-02 4.83928852e-03 9.99926946e-01 4.42321252e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.395336195 meters Centerline goodness [0,1] 0.6860748601749606 Centerline is valid? [False, False] Translation: X:74.71, Y:2.03, Z:0.44 [[ 9.99937156e-01 -7.32836793e-04 -1.11869286e-02 7.47149165e+01] [ 6.78827248e-04 9.99988100e-01 -4.83094928e-03 2.02517154e+00] [ 1.11903358e-02 4.82305169e-03 9.99925755e-01 4.42522640e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.425336195 meters Centerline goodness [0,1] 0.68327692566189 Centerline is valid? [False, False] Translation: X:74.72, Y:2.02, Z:0.43 [[ 9.99931210e-01 3.91495529e-04 -1.17227501e-02 7.47215446e+01] [-4.12269645e-04 9.99998349e-01 -1.76975559e-03 2.01902788e+00] [ 1.17220379e-02 1.77446678e-03 9.99929720e-01 4.29958100e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.455336195 meters Centerline goodness [0,1] 0.7231035893979152 Centerline is valid? [False, False] Translation: X:74.72, Y:2.02, Z:0.43 [[ 9.99931722e-01 4.61347353e-04 -1.16763773e-02 7.47218080e+01] [-4.78540173e-04 9.99998805e-01 -1.46969358e-03 2.01767171e+00] [ 1.16756853e-02 1.47518085e-03 9.99930749e-01 4.28995402e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.485336195 meters Centerline goodness [0,1] 0.7008711796629534 Centerline is valid? [False, False] Translation: X:74.75, Y:2.02, Z:0.42 [[ 9.99953790e-01 -5.30907375e-03 -8.01440797e-03 7.47471805e+01] [ 5.34195078e-03 9.99977382e-01 4.08642304e-03 2.02068374e+00] [ 7.99253158e-03 -4.12904678e-03 9.99959534e-01 4.23099278e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.51533619499999 meters Centerline goodness [0,1] 0.7229607904416184 Centerline is valid? [False, False] Translation: X:74.75, Y:2.02, Z:0.42 [[ 9.99953434e-01 -5.23411394e-03 -8.10767488e-03 7.47478451e+01] [ 5.26864870e-03 9.99977115e-01 4.24402778e-03 2.02023445e+00] [ 8.08527561e-03 -4.28654664e-03 9.99958126e-01 4.22388397e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.54533619499999 meters Centerline goodness [0,1] 0.7015467737693944 Centerline is valid? [False, False] Translation: X:74.75, Y:2.02, Z:0.42 [[ 9.99953707e-01 -4.91644783e-03 -8.27118784e-03 7.47494129e+01] [ 4.95726361e-03 9.99975602e-01 4.92145084e-03 2.01799086e+00] [ 8.24678998e-03 -4.96222547e-03 9.99953682e-01 4.20330001e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.57533619499999 meters Centerline goodness [0,1] 0.7285639011304847 Centerline is valid? [False, False] Translation: X:74.75, Y:2.02, Z:0.42 [[ 9.99954425e-01 -5.22772248e-03 -7.98867105e-03 7.47474255e+01] [ 5.26385266e-03 9.99975983e-01 4.50836415e-03 2.01810934e+00] [ 7.96491071e-03 -4.55020987e-03 9.99957927e-01 4.22376670e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.60533619499999 meters Centerline goodness [0,1] 0.720807453416149 Centerline is valid? [False, False] Translation: X:74.75, Y:2.02, Z:0.42 [[ 9.99953603e-01 -5.37830963e-03 -7.99165725e-03 7.47465865e+01] [ 5.41206038e-03 9.99976502e-01 4.20764109e-03 2.01849675e+00] [ 7.96883947e-03 -4.25069720e-03 9.99959214e-01 4.24147478e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.635336195 meters Centerline goodness [0,1] 0.7260677819855232 Centerline is valid? [False, False] Translation: X:74.74, Y:2.02, Z:0.43 [[ 9.99950234e-01 -6.01785941e-03 -7.95707372e-03 7.47438689e+01] [ 6.04257035e-03 9.99976984e-01 3.08514549e-03 2.02067101e+00] [ 7.93832461e-03 -3.13307313e-03 9.99963583e-01 4.29155938e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.665336195 meters Centerline goodness [0,1] 0.7368713062356773 Centerline is valid? [False, False] Translation: X:74.74, Y:2.02, Z:0.43 [[ 9.99949671e-01 -6.10926906e-03 -7.95816118e-03 7.47435875e+01] [ 6.13369201e-03 9.99976543e-01 3.04813475e-03 2.02032288e+00] [ 7.93935263e-03 -3.09679425e-03 9.99963688e-01 4.29608904e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.695336195 meters Centerline goodness [0,1] 0.7142515942582818 Centerline is valid? [False, False] Translation: X:74.75, Y:2.02, Z:0.42 [[ 9.99951821e-01 -5.57887028e-03 -8.07666441e-03 7.47462111e+01] [ 5.61470575e-03 9.99974464e-01 4.42105997e-03 2.01628063e+00] [ 8.05179364e-03 -4.46619506e-03 9.99957610e-01 4.24775239e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.725336195 meters Centerline goodness [0,1] 0.7024638134919678 Centerline is valid? [False, False] Translation: X:74.75, Y:2.02, Z:0.43 [[ 9.99951844e-01 -5.66952399e-03 -8.01043952e-03 7.47457906e+01] [ 5.70449913e-03 9.99974267e-01 4.35011437e-03 2.01605656e+00] [ 7.98557031e-03 -4.39560043e-03 9.99958454e-01 4.25083393e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.755336195 meters Centerline goodness [0,1] 0.7257731463695736 Centerline is valid? [False, False] Translation: X:74.75, Y:2.02, Z:0.42 [[ 9.99950482e-01 -5.38483063e-03 -8.36883239e-03 7.47475691e+01] [ 5.42217920e-03 9.99975414e-01 4.44655398e-03 2.01696706e+00] [ 8.34468270e-03 -4.49171110e-03 9.99955094e-01 4.24205075e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.785336195 meters Centerline goodness [0,1] 0.9858614905343878 Centerline is valid? [False, True] Translation: X:74.75, Y:2.02, Z:0.42 [[ 9.99949538e-01 -5.14804741e-03 -8.62659809e-03 7.47490644e+01] [ 5.18854879e-03 9.99975592e-01 4.67915749e-03 2.01673373e+00] [ 8.60229901e-03 -4.72368090e-03 9.99951842e-01 4.23083919e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.815336195 meters Centerline goodness [0,1] 0.7022893420546363 Centerline is valid? [True, False] Translation: X:74.75, Y:2.02, Z:0.42 [[ 9.99948938e-01 -5.18062319e-03 -8.67658968e-03 7.47491089e+01] [ 5.22049942e-03 9.99975887e-01 4.57951520e-03 2.01696768e+00] [ 8.65265571e-03 -4.62457749e-03 9.99951871e-01 4.23309050e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.845336195 meters Centerline goodness [0,1] 0.7054099543159413 Centerline is valid? [False, False] Translation: X:74.75, Y:2.02, Z:0.43 [[ 9.99947790e-01 -5.40469204e-03 -8.67212780e-03 7.47481988e+01] [ 5.44031263e-03 9.99976841e-01 4.08915987e-03 2.01814819e+00] [ 8.64982631e-03 -4.13612547e-03 9.99954035e-01 4.25043380e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.87533619499999 meters Centerline goodness [0,1] 0.724930228081994 Centerline is valid? [False, False] Translation: X:74.75, Y:2.02, Z:0.42 [[ 9.99947483e-01 -5.36451784e-03 -8.73235039e-03 7.47484703e+01] [ 5.40106447e-03 9.99976732e-01 4.16701132e-03 2.01772019e+00] [ 8.70979320e-03 -4.21395647e-03 9.99953190e-01 4.24859590e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.90533619499999 meters Centerline goodness [0,1] 0.7149997596962561 Centerline is valid? [False, False] Translation: X:74.75, Y:2.02, Z:0.43 [[ 9.99946452e-01 -5.80287316e-03 -8.56857152e-03 7.47460297e+01] [ 5.83081355e-03 9.99977754e-01 3.23942523e-03 2.01942440e+00] [ 8.54958292e-03 -3.28921350e-03 9.99958042e-01 4.28898062e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.93533619499999 meters Centerline goodness [0,1] 0.9755857499519877 Centerline is valid? [False, True] Translation: X:74.74, Y:2.02, Z:0.43 [[ 9.99945153e-01 -6.09450158e-03 -8.51757007e-03 7.47444614e+01] [ 6.11659428e-03 9.99977991e-01 2.57014084e-03 2.02091469e+00] [ 8.50171888e-03 -2.62209840e-03 9.99960422e-01 4.31877290e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.96533619499999 meters Centerline goodness [0,1] 0.7445413794765507 Centerline is valid? [True, False] Translation: X:74.74, Y:2.02, Z:0.43 [[ 9.99945931e-01 -6.21349633e-03 -8.33827405e-03 7.47437758e+01] [ 6.23442896e-03 9.99977474e-01 2.48678685e-03 2.02078456e+00] [ 8.32263458e-03 -2.53863677e-03 9.99962144e-01 4.31988697e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.995336195 meters Centerline goodness [0,1] 0.7165174821818531 Centerline is valid? [False, False] Translation: X:74.75, Y:2.02, Z:0.43 [[ 9.99946909e-01 -5.59802638e-03 -8.65110657e-03 7.47470833e+01] [ 5.62833838e-03 9.99978093e-01 3.48346378e-03 2.01899389e+00] [ 8.63141653e-03 -3.53197019e-03 9.99956511e-01 4.27673770e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.025336195 meters Centerline goodness [0,1] 0.7129164874037957 Centerline is valid? [False, False] Translation: X:74.75, Y:2.02, Z:0.42 [[ 9.99947575e-01 -5.15199156e-03 -8.84896151e-03 7.47495931e+01] [ 5.18980619e-03 9.99977477e-01 4.25570838e-03 2.01732971e+00] [ 8.82683683e-03 -4.30140967e-03 9.99951791e-01 4.24082776e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.055336195 meters Centerline goodness [0,1] 0.7022109129318002 Centerline is valid? [False, False] Translation: X:74.75, Y:2.02, Z:0.42 [[ 9.99948198e-01 -4.83565738e-03 -8.95644186e-03 7.47513240e+01] [ 4.87894361e-03 9.99976494e-01 4.81744432e-03 2.01606872e+00] [ 8.93293582e-03 -4.86089274e-03 9.99948286e-01 4.21335325e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.085336195 meters Centerline goodness [0,1] 0.6991788408287979 Centerline is valid? [False, False] Translation: X:74.75, Y:2.02, Z:0.43 [[ 9.99946299e-01 -5.22581540e-03 -8.94927214e-03 7.47492589e+01] [ 5.26008241e-03 9.99978908e-01 3.80977955e-03 2.01841046e+00] [ 8.92917418e-03 -3.85664887e-03 9.99952697e-01 4.25768533e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.115336195 meters Centerline goodness [0,1] 0.7277461780305757 Centerline is valid? [False, False] Translation: X:74.74, Y:2.02, Z:0.44 [[ 9.99959825e-01 -2.08154461e-03 -8.71866284e-03 7.47439751e+01] [ 2.13065945e-03 9.99981894e-01 5.62780544e-03 2.02315221e+00] [ 8.70679045e-03 -5.64615585e-03 9.99946155e-01 4.35708513e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.145336195 meters Centerline goodness [0,1] 0.842445973913462 Centerline is valid? [False, False] Translation: X:74.74, Y:2.02, Z:0.44 [[ 9.99959659e-01 -2.30505729e-03 -8.68138254e-03 7.47431106e+01] [ 2.34936617e-03 9.99984250e-01 5.09716178e-03 2.02487910e+00] [ 8.66949655e-03 -5.11735190e-03 9.99949325e-01 4.37214451e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.175336195 meters Centerline goodness [0,1] 0.7126188936007092 Centerline is valid? [False, False] Translation: X:74.75, Y:2.03, Z:0.43 [[ 9.99942725e-01 -5.79267459e-03 -8.99948063e-03 7.47470475e+01] [ 5.80609551e-03 9.99982070e-01 1.46588977e-03 2.02542810e+00] [ 8.99082785e-03 -1.51805765e-03 9.99958429e-01 4.32633532e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.205336195 meters Centerline goodness [0,1] 0.7047410718531552 Centerline is valid? [False, False] Translation: X:74.75, Y:2.02, Z:0.43 [[ 9.99942661e-01 -5.33549090e-03 -9.28474249e-03 7.47495935e+01] [ 5.35598104e-03 9.99983273e-01 2.18339772e-03 2.02421294e+00] [ 9.27293769e-03 -2.23300143e-03 9.99954512e-01 4.29588700e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.235336195 meters Centerline goodness [0,1] 0.7184170836226089 Centerline is valid? [False, False] Translation: X:74.75, Y:2.03, Z:0.43 [[ 9.99941115e-01 -5.69079751e-03 -9.24022479e-03 7.47481046e+01] [ 5.70479728e-03 9.99982618e-01 1.48943956e-03 2.02599362e+00] [ 9.23158808e-03 -1.54206547e-03 9.99956199e-01 4.32175668e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.26533619499999 meters Centerline goodness [0,1] 0.7023503709216623 Centerline is valid? [False, False] Translation: X:74.74, Y:2.03, Z:0.44 [[ 9.99937866e-01 -6.50196092e-03 -9.05477079e-03 7.47442482e+01] [ 6.50350935e-03 9.99978842e-01 1.41573225e-04 2.02848113e+00] [ 9.05365870e-03 -2.00452215e-04 9.99958995e-01 4.38480321e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.29533619499999 meters Centerline goodness [0,1] 0.7153711560125596 Centerline is valid? [False, False] Translation: X:74.74, Y:2.03, Z:0.44 [[ 9.99937238e-01 -6.40202624e-03 -9.19420243e-03 7.47448895e+01] [ 6.40670824e-03 9.99979362e-01 4.79870711e-04 2.02706402e+00] [ 9.19094053e-03 -5.38745166e-04 9.99957617e-01 4.38043137e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.32533619499999 meters Centerline goodness [0,1] 0.7269530026738612 Centerline is valid? [False, False] Translation: X:74.75, Y:2.02, Z:0.44 [[ 9.99936045e-01 -6.64984448e-03 -9.14801166e-03 7.47450328e+01] [ 6.65979381e-03 9.99977264e-01 1.05756235e-03 2.02359617e+00] [ 9.14077104e-03 -1.11841858e-03 9.99957597e-01 4.36227073e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.35533619499999 meters Centerline goodness [0,1] 0.7173527154097102 Centerline is valid? [False, False] Translation: X:74.75, Y:2.02, Z:0.43 [[ 9.99936563e-01 -6.14443049e-03 -9.44014664e-03 7.47481214e+01] [ 6.16715406e-03 9.99978151e-01 2.37989863e-03 2.01983367e+00] [ 9.42531726e-03 -2.43796650e-03 9.99952609e-01 4.31650103e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.385336195 meters Centerline goodness [0,1] 0.7155098338743555 Centerline is valid? [False, False] Translation: X:74.75, Y:2.02, Z:0.43 [[ 9.99936741e-01 -5.87964162e-03 -9.58868548e-03 7.47500768e+01] [ 5.91346613e-03 9.99976380e-01 3.50301587e-03 2.01597563e+00] [ 9.56786251e-03 -3.55949664e-03 9.99947892e-01 4.28063086e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.415336195 meters Centerline goodness [0,1] 0.7513801591664078 Centerline is valid? [False, False] Translation: X:74.75, Y:2.01, Z:0.43 [[ 9.99935099e-01 -7.04124335e-03 -8.95650725e-03 7.47451829e+01] [ 7.06966365e-03 9.99970063e-01 3.14545192e-03 2.01207014e+00] [ 8.93409123e-03 -3.20856727e-03 9.99954943e-01 4.31641237e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.445336195 meters Centerline goodness [0,1] 0.740533429015668 Centerline is valid? [False, False] Translation: X:74.74, Y:2.01, Z:0.44 [[ 9.99933297e-01 -7.62733908e-03 -8.67321746e-03 7.47420444e+01] [ 7.64937821e-03 9.99967591e-01 2.51072776e-03 2.01203545e+00] [ 8.65378620e-03 -2.57690501e-03 9.99959235e-01 4.35646779e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.475336195 meters Centerline goodness [0,1] 0.7525632426216942 Centerline is valid? [False, False] Translation: X:74.74, Y:2.01, Z:0.44 [[ 9.99932851e-01 -7.86803581e-03 -8.50807131e-03 7.47412450e+01] [ 7.89073154e-03 9.99965390e-01 2.63728263e-03 2.01070815e+00] [ 8.48702661e-03 -2.70424045e-03 9.99960328e-01 4.35610547e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.505336195 meters Centerline goodness [0,1] 0.7446956438349597 Centerline is valid? [False, False] Translation: X:74.75, Y:2.01, Z:0.43 [[ 9.99936269e-01 -7.08526127e-03 -8.78957885e-03 7.47456383e+01] [ 7.12262715e-03 9.99965699e-01 4.22716311e-03 2.00722280e+00] [ 8.75932681e-03 -4.28949860e-03 9.99952436e-01 4.28669247e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.535336195 meters Centerline goodness [0,1] 0.7635841607847829 Centerline is valid? [False, False] Translation: X:74.75, Y:2.01, Z:0.43 [[ 9.99897479e-01 -1.09847410e-02 -9.18509806e-03 7.47483305e+01] [ 1.09905513e-02 9.99939432e-01 5.82340405e-04 2.00578998e+00] [ 9.17814488e-03 -6.83229995e-04 9.99957647e-01 4.26210513e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.565336195 meters Centerline goodness [0,1] 0.7712424538881864 Centerline is valid? [False, False] Translation: X:74.75, Y:2.00, Z:0.43 [[ 9.99895256e-01 -1.09458026e-02 -9.46926251e-03 7.47490842e+01] [ 1.09555790e-02 9.99939504e-01 9.81174553e-04 2.00373707e+00] [ 9.45794992e-03 -1.08481303e-03 9.99954684e-01 4.26149615e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.595336195 meters Centerline goodness [0,1] 0.7934767127189859 Centerline is valid? [False, False] Translation: X:74.75, Y:2.00, Z:0.43 [[ 9.99889371e-01 -1.13706374e-02 -9.58927516e-03 7.47475441e+01] [ 1.13776624e-02 9.99935042e-01 6.78344953e-04 2.00282593e+00] [ 9.58093905e-03 -7.87373443e-04 9.99953792e-01 4.29288258e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.62533619499999 meters Centerline goodness [0,1] 0.8619425197037884 Centerline is valid? [False, False] Translation: X:74.74, Y:2.00, Z:0.44 [[ 9.99877009e-01 -1.29070088e-02 -8.90933799e-03 7.47408400e+01] [ 1.29048389e-02 9.99916684e-01 -3.00997031e-04 2.00026345e+00] [ 8.91248067e-03 1.85986440e-04 9.99960266e-01 4.35887594e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.65533619499999 meters Centerline goodness [0,1] 0.8636019316352618 Centerline is valid? [False, False] Translation: X:74.74, Y:2.00, Z:0.43 [[ 9.99881416e-01 -1.24515240e-02 -9.06169832e-03 7.47432919e+01] [ 1.24609015e-02 9.99921881e-01 9.79128289e-04 1.99617780e+00] [ 9.04879878e-03 -1.09192911e-03 9.99958463e-01 4.31818891e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.68533619499999 meters Centerline goodness [0,1] 0.9348747410058391 Centerline is valid? [False, False] Translation: X:74.74, Y:1.99, Z:0.43 [[ 9.99827622e-01 -1.63938427e-02 -8.71602298e-03 7.47437814e+01] [ 1.63734910e-02 9.99863062e-01 -2.40123856e-03 1.99267433e+00] [ 8.75419495e-03 2.25811291e-03 9.99959132e-01 4.29198270e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.71533619499999 meters Centerline goodness [0,1] 0.9888199636766752 Centerline is valid? [False, True] Translation: X:74.74, Y:1.99, Z:0.43 [[ 9.99833485e-01 -1.61369393e-02 -8.52062244e-03 7.47443267e+01] [ 1.61225543e-02 9.99868484e-01 -1.75426340e-03 1.99046135e+00] [ 8.54781028e-03 1.61659709e-03 9.99962160e-01 4.26969439e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.745336195 meters Centerline goodness [0,1] 0.9636602349189975 Centerline is valid? [True, True] Translation: X:74.77, Y:1.99, Z:0.43 [[ 9.99878837e-01 -1.35059467e-02 -7.73953211e-03 7.47737361e+01] [ 1.35020774e-02 9.99908690e-01 -5.51974815e-04 1.99470706e+00] [ 7.74628036e-03 4.47408174e-04 9.99969897e-01 4.27557569e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.775336195 meters Centerline goodness [0,1] 0.9145846529195111 Centerline is valid? [True, False] Translation: X:74.77, Y:1.99, Z:0.42 [[ 9.99930162e-01 -9.04751461e-03 -7.60351777e-03 7.47746569e+01] [ 9.08436959e-03 9.99947088e-01 4.82661802e-03 1.99013328e+00] [ 7.55944655e-03 -4.89535410e-03 9.99959444e-01 4.23921067e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.805336195 meters Centerline goodness [0,1] 0.8507455676881531 Centerline is valid? [False, False] Translation: X:74.77, Y:1.99, Z:0.43 [[ 9.99926786e-01 -9.46963359e-03 -7.53315591e-03 7.47723535e+01] [ 9.50043653e-03 9.99946612e-01 4.06375969e-03 1.99133821e+00] [ 7.49427142e-03 -4.13503044e-03 9.99963368e-01 4.27734768e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.835336195 meters Centerline goodness [0,1] 0.8507455676881531 Centerline is valid? [False, False] Translation: X:74.77, Y:1.99, Z:0.43 [[ 9.99926786e-01 -9.46963359e-03 -7.53315591e-03 7.47723535e+01] [ 9.50043653e-03 9.99946612e-01 4.06375969e-03 1.99133821e+00] [ 7.49427142e-03 -4.13503044e-03 9.99963368e-01 4.27734768e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.865336195 meters Centerline goodness [0,1] 0.832510239906378 Centerline is valid? [False, False] Translation: X:74.77, Y:1.99, Z:0.43 [[ 9.99923178e-01 -9.41039143e-03 -8.06742288e-03 7.47730041e+01] [ 9.44160612e-03 9.99948054e-01 3.83991222e-03 1.99164353e+00] [ 8.03086873e-03 -3.91578666e-03 9.99960085e-01 4.29899390e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.895336195 meters Centerline goodness [0,1] 0.8875554824921914 Centerline is valid? [False, False] Translation: X:74.77, Y:1.99, Z:0.43 [[ 9.99923101e-01 -9.18139827e-03 -8.33629524e-03 7.47744825e+01] [ 9.21652138e-03 9.99948771e-01 4.18467892e-03 1.99075697e+00] [ 8.29744697e-03 -4.26118876e-03 9.99956496e-01 4.28746441e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.925336195 meters Centerline goodness [0,1] 0.7863769131907933 Centerline is valid? [False, False] Translation: X:74.78, Y:1.99, Z:0.43 [[ 9.99924181e-01 -8.81362840e-03 -8.59955027e-03 7.47763435e+01] [ 8.85417113e-03 9.99949812e-01 4.68789056e-03 1.98962632e+00] [ 8.55780135e-03 -4.76367702e-03 9.99952035e-01 4.26985588e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.955336195 meters Centerline goodness [0,1] 0.7793011319693455 Centerline is valid? [False, False] Translation: X:74.76, Y:1.99, Z:0.43 [[ 9.99998786e-01 -1.44142393e-03 -5.91732386e-04 7.47602835e+01] [ 1.44084283e-03 9.99998481e-01 -9.81276519e-04 1.98855366e+00] [ 5.93145922e-04 9.80422734e-04 9.99999343e-01 4.26539410e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.985336195 meters Centerline goodness [0,1] 0.7673901857136174 Centerline is valid? [False, False] Translation: X:74.76, Y:1.99, Z:0.42 [[ 9.99999140e-01 -1.05946486e-03 -7.73380961e-04 7.47621561e+01] [ 1.05898019e-03 9.99999243e-01 -6.26826749e-04 1.98867456e+00] [ 7.74044476e-04 6.26007215e-04 9.99999504e-01 4.24501521e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.01533619499999 meters Centerline goodness [0,1] 0.7479934671021932 Centerline is valid? [False, False] Translation: X:74.77, Y:1.98, Z:0.41 [[ 9.99999417e-01 4.57160814e-04 -9.78461508e-04 7.47690256e+01] [-4.54810580e-04 9.99997015e-01 2.40084488e-03 1.98321851e+00] [ 9.79556159e-04 -2.40039846e-03 9.99996639e-01 4.11131318e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.04533619499999 meters Centerline goodness [0,1] 0.7425029239766081 Centerline is valid? [False, False] Translation: X:74.77, Y:1.98, Z:0.41 [[ 9.99999552e-01 5.09153147e-04 -7.98182085e-04 7.47686565e+01] [-5.07295673e-04 9.99997167e-01 2.32560805e-03 1.98350536e+00] [ 7.99363915e-04 -2.32520209e-03 9.99996977e-01 4.10900914e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.07533619499999 meters Centerline goodness [0,1] 0.7621156730408699 Centerline is valid? [False, False] Translation: X:74.76, Y:2.00, Z:0.43 [[ 9.99992476e-01 3.80744093e-03 -7.43120310e-04 7.47628227e+01] [-3.80638219e-03 9.99991746e-01 1.42097234e-03 1.99511306e+00] [ 7.48524445e-04 -1.41813305e-03 9.99998714e-01 4.30909554e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.10533619499999 meters Centerline goodness [0,1] 0.7348568475937713 Centerline is valid? [False, False] Translation: X:74.76, Y:2.00, Z:0.44 [[ 9.99993244e-01 3.37360426e-03 -1.45987579e-03 7.47608420e+01] [-3.37635537e-03 9.99992521e-01 -1.88613848e-03 2.00472552e+00] [ 1.45350179e-03 1.89105479e-03 9.99997156e-01 4.43720391e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.135336195 meters Centerline goodness [0,1] 0.7289820923656927 Centerline is valid? [False, False] Translation: X:74.76, Y:2.01, Z:0.44 [[ 9.99989766e-01 4.04252774e-03 -2.03130603e-03 7.47648990e+01] [-4.04620743e-03 9.99990175e-01 -1.81065376e-03 2.00831874e+00] [ 2.02396646e-03 1.81885431e-03 9.99996298e-01 4.40421279e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.165336195 meters Centerline goodness [0,1] 0.7401534045456684 Centerline is valid? [False, False] Translation: X:74.77, Y:2.00, Z:0.43 [[ 9.99984915e-01 5.01182399e-03 -2.24769550e-03 7.47699104e+01] [-5.01169621e-03 9.99987439e-01 6.24801641e-05 2.00496020e+00] [ 2.24798041e-03 -5.12144545e-05 9.99997472e-01 4.31637809e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.195336195 meters Centerline goodness [0,1] 0.7371140072795586 Centerline is valid? [False, False] Translation: X:74.77, Y:2.00, Z:0.43 [[ 9.99982501e-01 5.42869072e-03 -2.35116970e-03 7.47722745e+01] [-5.42723620e-03 9.99985077e-01 6.24574290e-04 2.00463382e+00] [ 2.35452524e-03 -6.11803007e-04 9.99997041e-01 4.27859370e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.225336195 meters Centerline goodness [0,1] 0.7407608695652175 Centerline is valid? [False, False] Translation: X:74.77, Y:2.01, Z:0.43 [[ 9.99985807e-01 4.82558820e-03 -2.25808790e-03 7.47697881e+01] [-4.82677626e-03 9.99988215e-01 -5.20981033e-04 2.00776306e+00] [ 2.25554724e-03 5.31872924e-04 9.99997315e-01 4.31965665e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.255336195 meters Centerline goodness [0,1] 0.7221464836404663 Centerline is valid? [False, False] Translation: X:74.77, Y:2.01, Z:0.43 [[ 9.99986391e-01 4.59522342e-03 -2.47002619e-03 7.47693769e+01] [-4.59798357e-03 9.99988810e-01 -1.11294214e-03 2.00996957e+00] [ 2.46488433e-03 1.12428413e-03 9.99996330e-01 4.34193522e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.285336195 meters Centerline goodness [0,1] 0.7427539674997624 Centerline is valid? [False, False] Translation: X:74.77, Y:2.01, Z:0.44 [[ 9.99989040e-01 4.10579821e-03 -2.25000689e-03 7.47674928e+01] [-4.10925686e-03 9.99990379e-01 -1.53470908e-03 2.01035686e+00] [ 2.24368404e-03 1.54393812e-03 9.99996291e-01 4.35928201e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.315336195 meters Centerline goodness [0,1] 0.7325055369680976 Centerline is valid? [False, False] Translation: X:74.77, Y:2.01, Z:0.44 [[ 9.99997335e-01 -3.48778547e-04 -2.28200650e-03 7.47660390e+01] [ 3.33510518e-04 9.99977582e-01 -6.68757897e-03 2.01299026e+00] [ 2.28428783e-03 6.68680007e-03 9.99975034e-01 4.39662878e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.345336195 meters Centerline goodness [0,1] 0.7375331816458096 Centerline is valid? [False, False] Translation: X:74.77, Y:2.01, Z:0.44 [[ 9.99997931e-01 -3.68006691e-04 -2.00040102e-03 7.47666742e+01] [ 3.57045948e-04 9.99984938e-01 -5.47687101e-03 2.00826102e+00] [ 2.00238641e-03 5.47614545e-03 9.99983001e-01 4.35210719e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.37533619499999 meters Centerline goodness [0,1] 0.7465381161680609 Centerline is valid? [False, False] Translation: X:74.77, Y:2.01, Z:0.44 [[ 9.99997803e-01 -6.08953872e-04 -2.00554022e-03 7.47657125e+01] [ 5.97518812e-04 9.99983591e-01 -5.69740738e-03 2.00822987e+00] [ 2.00897677e-03 5.69619652e-03 9.99981759e-01 4.36896321e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.40533619499999 meters Centerline goodness [0,1] 0.7824108994908543 Centerline is valid? [False, False] Translation: X:74.76, Y:2.01, Z:0.44 [[ 9.99997819e-01 -1.17453479e-03 -1.72674753e-03 7.47624305e+01] [ 1.16317097e-03 9.99977758e-01 -6.56739399e-03 2.00942842e+00] [ 1.73442275e-03 6.56537117e-03 9.99976944e-01 4.41498192e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.43533619499999 meters Centerline goodness [0,1] 0.76345227980742 Centerline is valid? [False, False] Translation: X:74.76, Y:2.01, Z:0.44 [[ 9.99997653e-01 -1.36199326e-03 -1.68513459e-03 7.47617252e+01] [ 1.35075494e-03 9.99976961e-01 -6.65234964e-03 2.00914715e+00] [ 1.69415622e-03 6.65005783e-03 9.99976453e-01 4.42473656e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.46533619499999 meters Centerline goodness [0,1] 0.7625174428230175 Centerline is valid? [False, False] Translation: X:74.77, Y:2.00, Z:0.42 [[ 9.99997426e-01 -2.73167160e-04 -2.25226094e-03 7.47690091e+01] [ 2.68012004e-04 9.99997345e-01 -2.28886441e-03 2.00064284e+00] [ 2.25288020e-03 2.28825489e-03 9.99994844e-01 4.24643520e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.495336195 meters Centerline goodness [0,1] 0.7544391918906842 Centerline is valid? [False, False] Translation: X:74.77, Y:2.00, Z:0.42 [[ 9.99997115e-01 -7.63800560e-05 -2.40087050e-03 7.47699926e+01] [ 7.17728971e-05 9.99998156e-01 -1.91898113e-03 1.99948631e+00] [ 2.40101265e-03 1.91880328e-03 9.99995277e-01 4.23701559e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.525336195 meters Centerline goodness [0,1] 0.7494978614806588 Centerline is valid? [False, False] Translation: X:74.77, Y:2.00, Z:0.43 [[ 9.99997509e-01 -8.22523046e-04 -2.07487205e-03 7.47660720e+01] [ 8.15943858e-04 9.99994643e-01 -3.16974481e-03 2.00195517e+00] [ 2.07746813e-03 3.16804394e-03 9.99992824e-01 4.29054364e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.555336195 meters Centerline goodness [0,1] 0.7549998813788522 Centerline is valid? [False, False] Translation: X:74.76, Y:2.01, Z:0.43 [[ 9.99996747e-01 -1.29290186e-03 -2.19850147e-03 7.47642064e+01] [ 1.28350573e-03 9.99990060e-01 -4.26992978e-03 2.00516909e+00] [ 2.20400021e-03 4.26709411e-03 9.99988467e-01 4.33647339e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.585336195 meters Centerline goodness [0,1] 0.759651455434731 Centerline is valid? [False, False] Translation: X:74.77, Y:2.00, Z:0.43 [[ 9.99996724e-01 -9.17625858e-04 -2.38934683e-03 7.47661806e+01] [ 9.09074186e-04 9.99993187e-01 -3.57771307e-03 2.00351587e+00] [ 2.39261355e-03 3.57552926e-03 9.99990745e-01 4.31031953e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.615336195 meters Centerline goodness [0,1] 0.7673367431901986 Centerline is valid? [False, False] Translation: X:74.77, Y:2.00, Z:0.43 [[ 9.99997165e-01 -8.16420753e-04 -2.23693314e-03 7.47661114e+01] [ 8.09412030e-04 9.99994767e-01 -3.13230005e-03 2.00154073e+00] [ 2.23947870e-03 3.13048056e-03 9.99992592e-01 4.30089041e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.645336195 meters Centerline goodness [0,1] 0.7582602512443707 Centerline is valid? [False, False] Translation: X:74.77, Y:2.00, Z:0.43 [[ 9.99997109e-01 -6.98499368e-04 -2.30096530e-03 7.47666906e+01] [ 6.91745994e-04 9.99995455e-01 -2.93450735e-03 2.00115032e+00] [ 2.30300459e-03 2.93290718e-03 9.99993047e-01 4.29431986e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.675336195 meters Centerline goodness [0,1] 0.7659604754335603 Centerline is valid? [False, False] Translation: X:74.77, Y:2.00, Z:0.43 [[ 9.99996822e-01 -2.34530785e-04 -2.51031300e-03 7.47691514e+01] [ 2.29173076e-04 9.99997696e-01 -2.13435413e-03 1.99948975e+00] [ 2.51080779e-03 2.13377205e-03 9.99994571e-01 4.26139513e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.705336195 meters Centerline goodness [0,1] 0.763286622397618 Centerline is valid? [False, False] Translation: X:74.77, Y:2.00, Z:0.42 [[ 9.99996489e-01 2.88132130e-04 -2.63430331e-03 7.47713931e+01] [-2.90281446e-04 9.99999625e-01 -8.15549786e-04 1.99508435e+00] [ 2.63406733e-03 8.16311612e-04 9.99996198e-01 4.22249009e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.735336195 meters Centerline goodness [0,1] 0.9130414279314328 Centerline is valid? [False, False] Translation: X:74.77, Y:1.99, Z:0.43 [[ 9.99997272e-01 -8.97700518e-05 -2.33415923e-03 7.47686748e+01] [ 8.67277546e-05 9.99999147e-01 -1.30344887e-03 1.99499377e+00] [ 2.33427425e-03 1.30324288e-03 9.99996426e-01 4.25587147e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.76533619499999 meters Centerline goodness [0,1] 0.8885345051621896 Centerline is valid? [False, False] Translation: X:74.76, Y:2.00, Z:0.43 [[ 9.99997891e-01 -9.25577092e-04 -1.83312419e-03 7.47632070e+01] [ 9.20143015e-04 9.99995187e-01 -2.96300816e-03 1.99768781e+00] [ 1.83585786e-03 2.96131518e-03 9.99993930e-01 4.33657367e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.79533619499999 meters Centerline goodness [0,1] 0.8739023699367388 Centerline is valid? [False, False] Translation: X:74.76, Y:2.00, Z:0.43 [[ 9.99997768e-01 -8.35638842e-04 -1.94049307e-03 7.47635525e+01] [ 8.30079113e-04 9.99995554e-01 -2.86415178e-03 1.99738484e+00] [ 1.94287784e-03 2.86253463e-03 9.99994016e-01 4.33703189e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.82533619499999 meters Centerline goodness [0,1] 0.8603452352802081 Centerline is valid? [False, False] Translation: X:74.76, Y:2.00, Z:0.43 [[ 9.99997782e-01 -5.83489350e-04 -2.02352724e-03 7.47647922e+01] [ 5.78699929e-04 9.99997032e-01 -2.36664584e-03 1.99596643e+00] [ 2.02490215e-03 2.36546957e-03 9.99995152e-01 4.31836686e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.85533619499999 meters Centerline goodness [0,1] 0.8551004091614541 Centerline is valid? [False, False] Translation: X:74.77, Y:1.99, Z:0.42 [[ 9.99997129e-01 3.42569992e-04 -2.37174988e-03 7.47693462e+01] [-3.43972045e-04 9.99999766e-01 -5.90764520e-04 1.99155497e+00] [ 2.37154694e-03 5.91578639e-04 9.99997013e-01 4.24979966e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.885336195 meters Centerline goodness [0,1] 0.8344754752405539 Centerline is valid? [False, False] Translation: X:74.77, Y:1.99, Z:0.42 [[ 9.99997090e-01 5.63510642e-04 -2.34573127e-03 7.47700928e+01] [-5.63826370e-04 9.99999832e-01 -1.33937743e-04 1.98997163e+00] [ 2.34565540e-03 1.35259938e-04 9.99997240e-01 4.23392514e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.915336195 meters Centerline goodness [0,1] 0.8360130871698995 Centerline is valid? [False, False] Translation: X:74.77, Y:1.99, Z:0.42 [[ 9.99996456e-01 8.42253362e-04 -2.52556750e-03 7.47714351e+01] [-8.40947070e-04 9.99999512e-01 5.18244359e-04 1.98728318e+00] [ 2.52600276e-03 -5.16118654e-04 9.99996676e-01 4.21780384e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.945336195 meters Centerline goodness [0,1] 0.9099257385152388 Centerline is valid? [False, False] Translation: X:74.77, Y:1.99, Z:0.42 [[ 9.99995981e-01 9.66963423e-04 -2.66515375e-03 7.47721242e+01] [-9.64736887e-04 9.99999185e-01 8.36583746e-04 1.98587105e+00] [ 2.66596052e-03 -8.34009212e-04 9.99996099e-01 4.21224959e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.975336195 meters Centerline goodness [0,1] 0.8715197419173855 Centerline is valid? [False, False] Translation: X:74.77, Y:1.98, Z:0.42 [[ 9.99995922e-01 1.03763486e-03 -2.66078438e-03 7.47723209e+01] [-1.03466503e-03 9.99998841e-01 1.11728247e-03 1.98439938e+00] [ 2.66194063e-03 -1.11452489e-03 9.99995836e-01 4.20704260e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.005336195 meters Centerline goodness [0,1] 0.8942242725006407 Centerline is valid? [False, False] Translation: X:74.77, Y:1.98, Z:0.42 [[ 9.99996936e-01 8.89559843e-04 -2.31009284e-03 7.47705473e+01] [-8.86247317e-04 9.99998578e-01 1.43456440e-03 1.98080595e+00] [ 2.31136569e-03 -1.43251269e-03 9.99996303e-01 4.21542719e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.035336195 meters Centerline goodness [0,1] 0.8791011759226918 Centerline is valid? [False, False] Translation: X:74.77, Y:1.98, Z:0.42 [[ 9.99997545e-01 6.13349758e-04 -2.12915936e-03 7.47686731e+01] [-6.10917752e-04 9.99999161e-01 1.14270016e-03 1.98027980e+00] [ 2.12985845e-03 -1.14139661e-03 9.99997080e-01 4.23816091e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.065336195 meters Centerline goodness [0,1] 0.8353490099584484 Centerline is valid? [False, False] Translation: X:74.77, Y:1.98, Z:0.43 [[ 9.99997645e-01 5.32485046e-04 -2.10389430e-03 7.47676827e+01] [-5.30486403e-04 9.99999408e-01 9.50416934e-04 1.97994602e+00] [ 2.10439914e-03 -9.49298608e-04 9.99997335e-01 4.25640516e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.095336195 meters Centerline goodness [0,1] 0.8400921337335101 Centerline is valid? [False, False] Translation: X:74.77, Y:1.98, Z:0.42 [[ 9.99997269e-01 7.82946666e-04 -2.20201994e-03 7.47688926e+01] [-7.80153784e-04 9.99998891e-01 1.26890048e-03 1.97942444e+00] [ 2.20301098e-03 -1.26717910e-03 9.99996770e-01 4.23960089e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.12533619499999 meters Centerline goodness [0,1] 0.8153856867615311 Centerline is valid? [False, False] Translation: X:74.77, Y:1.98, Z:0.42 [[ 9.99996655e-01 1.07733597e-03 -2.35127075e-03 7.47704753e+01] [-1.07346547e-03 9.99998068e-01 1.64677303e-03 1.97886702e+00] [ 2.35304033e-03 -1.64424352e-03 9.99995880e-01 4.21909663e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.15533619499999 meters Centerline goodness [0,1] 0.927089865979142 Centerline is valid? [False, False] Translation: X:74.77, Y:1.98, Z:0.42 [[ 9.99996290e-01 1.42846981e-03 -2.31951061e-03 7.47715229e+01] [-1.42329626e-03 9.99996499e-01 2.23057007e-03 1.97691997e+00] [ 2.32268879e-03 -2.22726045e-03 9.99994822e-01 4.19805923e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.18533619499999 meters Centerline goodness [0,1] 0.7683398577748952 Centerline is valid? [False, False] Translation: X:74.77, Y:1.98, Z:0.42 [[ 9.99996622e-01 1.48594355e-03 -2.13268044e-03 7.47711579e+01] [-1.48095097e-03 9.99996164e-01 2.34065821e-03 1.97619445e+00] [ 2.13615034e-03 -2.33749191e-03 9.99994986e-01 4.19442766e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.21533619499999 meters Centerline goodness [0,1] 0.7520128824476651 Centerline is valid? [False, False] Translation: X:74.77, Y:1.98, Z:0.42 [[ 9.99996742e-01 1.62130159e-03 -1.97167180e-03 7.47702250e+01] [-1.61729797e-03 9.99996631e-01 2.03047054e-03 1.97691047e+00] [ 1.97495716e-03 -2.02727515e-03 9.99995995e-01 4.20973964e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.245336195 meters Centerline goodness [0,1] 0.8060766486362068 Centerline is valid? [False, False] Translation: X:74.77, Y:1.98, Z:0.42 [[ 9.99997132e-01 1.40151292e-03 -1.94216169e-03 7.47689227e+01] [-1.39888285e-03 9.99998104e-01 1.35489273e-03 1.97884400e+00] [ 1.94405691e-03 -1.35217198e-03 9.99997196e-01 4.23441566e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.275336195 meters Centerline goodness [0,1] 0.761463045025601 Centerline is valid? [False, False] Translation: X:74.77, Y:1.98, Z:0.43 [[ 9.99995414e-01 1.73802806e-03 -2.48016319e-03 7.47701999e+01] [-1.73576397e-03 9.99998075e-01 9.14742280e-04 1.98226811e+00] [ 2.48174826e-03 -9.10433108e-04 9.99996506e-01 4.25188197e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.305336195 meters Centerline goodness [0,1] 0.7346014283403055 Centerline is valid? [False, False] Translation: X:74.77, Y:1.98, Z:0.43 [[ 9.99995513e-01 1.63106934e-03 -2.51267646e-03 7.47697722e+01] [-1.62962031e-03 9.99998505e-01 5.78630230e-04 1.98336080e+00] [ 2.51361649e-03 -5.74532925e-04 9.99996676e-01 4.26260627e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.335336195 meters Centerline goodness [0,1] 0.7484568971495943 Centerline is valid? [False, False] Translation: X:74.77, Y:1.98, Z:0.43 [[ 9.99995238e-01 1.70057633e-03 -2.57510490e-03 7.47702073e+01] [-1.69906278e-03 9.99998383e-01 5.89834223e-04 1.98351976e+00] [ 2.57610379e-03 -5.85456149e-04 9.99996510e-01 4.25900069e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.365336195 meters Centerline goodness [0,1] 0.7601823498261691 Centerline is valid? [False, False] Translation: X:74.77, Y:1.98, Z:0.42 [[ 9.99994450e-01 2.14576136e-03 -2.54869835e-03 7.47717866e+01] [-2.14194649e-03 9.99996583e-01 1.49857851e-03 1.98034403e+00] [ 2.55190523e-03 -1.49311102e-03 9.99995629e-01 4.22736728e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.395336195 meters Centerline goodness [0,1] 0.7546182052996933 Centerline is valid? [False, False] Translation: X:74.77, Y:1.98, Z:0.42 [[ 9.99994904e-01 2.09754374e-03 -2.40662436e-03 7.47711195e+01] [-2.09380010e-03 9.99996596e-01 1.55702327e-03 1.97937113e+00] [ 2.40988209e-03 -1.55197634e-03 9.99995892e-01 4.23056786e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.425336195 meters Centerline goodness [0,1] 0.7512667079349795 Centerline is valid? [False, False] Translation: X:74.77, Y:1.98, Z:0.43 [[ 9.99995997e-01 1.76995949e-03 -2.20745710e-03 7.47687576e+01] [-1.76784328e-03 9.99997976e-01 9.60244273e-04 1.98018660e+00] [ 2.20915223e-03 -9.56337992e-04 9.99997103e-01 4.26487331e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.455336195 meters Centerline goodness [0,1] 0.7688891956561752 Centerline is valid? [False, False] Translation: X:74.77, Y:1.98, Z:0.43 [[ 9.99997043e-01 1.43043745e-03 -1.96678554e-03 7.47667018e+01] [-1.42960444e-03 9.99998888e-01 4.24881497e-04 1.98101912e+00] [ 1.96739112e-03 -4.22068516e-04 9.99997976e-01 4.28889232e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.48533619499999 meters Centerline goodness [0,1] 0.7597024207107814 Centerline is valid? [False, False] Translation: X:74.77, Y:1.98, Z:0.43 [[ 9.99997427e-01 1.39471384e-03 -1.78906612e-03 7.47661037e+01] [-1.39391032e-03 9.99998927e-01 4.50297228e-04 1.98049342e+00] [ 1.78969224e-03 -4.47802271e-04 9.99998298e-01 4.28925708e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.51533619499999 meters Centerline goodness [0,1] 0.7535104971870283 Centerline is valid? [False, False] Translation: X:74.77, Y:1.98, Z:0.42 [[ 9.99995193e-01 2.28337086e-03 -2.09783397e-03 7.47707516e+01] [-2.27822232e-03 9.99994395e-01 2.45333745e-03 1.97523666e+00] [ 2.10342409e-03 -2.44854632e-03 9.99994790e-01 4.21105864e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.54533619499999 meters Centerline goodness [0,1] 0.7514243221599359 Centerline is valid? [False, False] Translation: X:74.77, Y:1.98, Z:0.42 [[ 9.99994649e-01 2.36355868e-03 -2.26154294e-03 7.47712969e+01] [-2.35791363e-03 9.99994106e-01 2.49552464e-03 1.97506636e+00] [ 2.26742793e-03 -2.49017876e-03 9.99994329e-01 4.21040239e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.57533619499999 meters Centerline goodness [0,1] 0.7504887474426005 Centerline is valid? [False, False] Translation: X:74.77, Y:1.98, Z:0.42 [[ 9.99994895e-01 2.18501158e-03 -2.33133078e-03 7.47704231e+01] [-2.18026328e-03 9.99995548e-01 2.03733509e-03 1.97628378e+00] [ 2.33577200e-03 -2.03224178e-03 9.99995207e-01 4.23268961e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.60533619499999 meters Centerline goodness [0,1] 0.7550791102958037 Centerline is valid? [False, False] Translation: X:74.77, Y:1.98, Z:0.43 [[ 9.99995887e-01 1.78400394e-03 -2.24574993e-03 7.47685259e+01] [-1.78081995e-03 9.99997408e-01 1.41898844e-03 1.97727975e+00] [ 2.24827559e-03 -1.41498332e-03 9.99996472e-01 4.26190243e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.635336195 meters Centerline goodness [0,1] 0.7491029596617529 Centerline is valid? [False, False] Translation: X:74.77, Y:1.98, Z:0.42 [[ 9.99995033e-01 2.02225646e-03 -2.41753504e-03 7.47697955e+01] [-2.01755870e-03 9.99996075e-01 1.94406396e-03 1.97543998e+00] [ 2.42145695e-03 -1.93917678e-03 9.99995188e-01 4.24838970e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.665336195 meters Centerline goodness [0,1] 0.7712226252238189 Centerline is valid? [False, False] Translation: X:74.77, Y:1.97, Z:0.42 [[ 9.99993608e-01 2.56702168e-03 -2.48876304e-03 7.47723708e+01] [-2.55912787e-03 9.99991702e-01 3.16979672e-03 1.97153218e+00] [ 2.49687933e-03 -3.16340740e-03 9.99991879e-01 4.20259397e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.695336195 meters Centerline goodness [0,1] 0.7857648321044581 Centerline is valid? [False, False] Translation: X:74.77, Y:1.97, Z:0.42 [[ 9.99996832e-01 -1.65460923e-03 -1.89698895e-03 7.47707470e+01] [ 1.65334830e-03 9.99998411e-01 -6.66077826e-04 1.96790676e+00] [ 1.89808803e-03 6.62939332e-04 9.99997979e-01 4.19907524e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.725336195 meters Centerline goodness [0,1] 0.793793634962372 Centerline is valid? [False, False] Translation: X:74.77, Y:1.97, Z:0.42 [[ 9.99996611e-01 -1.69187940e-03 -1.97872257e-03 7.47704426e+01] [ 1.69053756e-03 9.99998340e-01 -6.79610151e-04 1.96744773e+00] [ 1.97986911e-03 6.76262743e-04 9.99997811e-01 4.20984419e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.755336195 meters Centerline goodness [0,1] 0.793793634962372 Centerline is valid? [False, False] Translation: X:74.77, Y:1.97, Z:0.42 [[ 9.99996611e-01 -1.69187940e-03 -1.97872257e-03 7.47704426e+01] [ 1.69053756e-03 9.99998340e-01 -6.79610151e-04 1.96744773e+00] [ 1.97986911e-03 6.76262743e-04 9.99997811e-01 4.20984419e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.785336195 meters Centerline goodness [0,1] 0.7748782818401055 Centerline is valid? [False, False] Translation: X:74.77, Y:1.97, Z:0.42 [[ 9.99995750e-01 -2.04932961e-03 -2.07380027e-03 7.47689263e+01] [ 2.04662150e-03 9.99997051e-01 -1.30715093e-03 1.96890944e+00] [ 2.07647294e-03 1.30290109e-03 9.99996995e-01 4.24342892e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.815336195 meters Centerline goodness [0,1] 0.8105490508127771 Centerline is valid? [False, False] Translation: X:74.77, Y:1.97, Z:0.43 [[ 9.99994606e-01 -2.43569736e-03 -2.20338677e-03 7.47673239e+01] [ 2.43113975e-03 9.99994905e-01 -2.06877297e-03 1.97082578e+00] [ 2.20841445e-03 2.06340507e-03 9.99995433e-01 4.28150450e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.845336195 meters Centerline goodness [0,1] 0.7680607503116854 Centerline is valid? [False, False] Translation: X:74.77, Y:1.97, Z:0.43 [[ 9.99995382e-01 -2.02940088e-03 -2.26202080e-03 7.47688945e+01] [ 2.02624151e-03 9.99996970e-01 -1.39812247e-03 1.96906698e+00] [ 2.26485130e-03 1.39353261e-03 9.99996464e-01 4.25772059e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.87533619499999 meters Centerline goodness [0,1] 0.8014407513792003 Centerline is valid? [False, False] Translation: X:74.77, Y:1.97, Z:0.42 [[ 9.99995872e-01 -1.19642903e-03 -2.61231416e-03 7.47732717e+01] [ 1.19654369e-03 9.99999283e-01 4.23281997e-05 1.96583184e+00] [ 2.61226164e-03 -4.54537730e-05 9.99996587e-01 4.19523468e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.90533619499999 meters Centerline goodness [0,1] 0.8174097664543525 Centerline is valid? [False, False] Translation: X:74.77, Y:1.96, Z:0.42 [[ 9.99995904e-01 -1.07252172e-03 -2.65361730e-03 7.47740036e+01] [ 1.07344056e-03 9.99999364e-01 3.44859590e-04 1.96481603e+00] [ 2.65324574e-03 -3.47706677e-04 9.99996420e-01 4.18289414e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.93533619499999 meters Centerline goodness [0,1] 0.7696297135092288 Centerline is valid? [False, False] Translation: X:74.78, Y:1.96, Z:0.42 [[ 9.99995058e-01 -9.36169688e-04 -3.00113516e-03 7.47753416e+01] [ 9.38042995e-04 9.99999366e-01 6.22852434e-04 1.96418105e+00] [ 3.00055016e-03 -6.25664550e-04 9.99995303e-01 4.17661141e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.96533619499999 meters Centerline goodness [0,1] 0.7852983163762435 Centerline is valid? [False, False] Translation: X:74.78, Y:1.96, Z:0.42 [[ 9.99994793e-01 -9.47185187e-04 -3.08489937e-03 7.47753970e+01] [ 9.48832988e-04 9.99999408e-01 5.32730974e-04 1.96459236e+00] [ 3.08439295e-03 -5.35655254e-04 9.99995100e-01 4.18146443e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.995336195 meters Centerline goodness [0,1] 0.7617710338580002 Centerline is valid? [False, False] Translation: X:74.78, Y:1.96, Z:0.42 [[ 9.99994561e-01 -9.56325623e-04 -3.15634407e-03 7.47755203e+01] [ 9.57938643e-04 9.99999411e-01 5.09568350e-04 1.96460829e+00] [ 3.15585490e-03 -5.12589163e-04 9.99994889e-01 4.18307088e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.025336195 meters Centerline goodness [0,1] 0.8077350572757174 Centerline is valid? [False, False] Translation: X:74.78, Y:1.96, Z:0.42 [[ 9.99994180e-01 -5.65010039e-04 -3.36460828e-03 7.47776718e+01] [ 5.69263914e-04 9.99999040e-01 1.26347695e-03 1.96239182e+00] [ 3.36389117e-03 -1.26538495e-03 9.99993541e-01 4.15445378e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.055336195 meters Centerline goodness [0,1] 0.8540582137522068 Centerline is valid? [False, False] Translation: X:74.78, Y:1.96, Z:0.42 [[ 9.99994463e-01 -6.50164396e-04 -3.26366839e-03 7.47769275e+01] [ 6.54161464e-04 9.99999037e-01 1.22379823e-03 1.96184161e+00] [ 3.26286957e-03 -1.22592641e-03 9.99993925e-01 4.16188812e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.085336195 meters Centerline goodness [0,1] 0.76733089454909 Centerline is valid? [False, False] Translation: X:74.77, Y:1.96, Z:0.42 [[ 9.99995569e-01 -1.54313271e-03 -2.54565943e-03 7.47713872e+01] [ 1.54345801e-03 9.99998801e-01 1.25825012e-04 1.96277485e+00] [ 2.54546221e-03 -1.29753573e-04 9.99996752e-01 4.22254489e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.115336195 meters Centerline goodness [0,1] 0.8041492455917106 Centerline is valid? [False, False] Translation: X:74.77, Y:1.96, Z:0.42 [[ 9.99995650e-01 -1.64992126e-03 -2.44481167e-03 7.47704893e+01] [ 1.65030950e-03 9.99998626e-01 1.56793093e-04 1.96185605e+00] [ 2.44454962e-03 -1.60827107e-04 9.99996999e-01 4.23356976e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.145336195 meters Centerline goodness [0,1] 0.8331041013731371 Centerline is valid? [False, False] Translation: X:74.77, Y:1.96, Z:0.42 [[ 9.99996475e-01 -1.57013259e-03 -2.14105448e-03 7.47707531e+01] [ 1.57283170e-03 9.99997970e-01 1.25954494e-03 1.95692950e+00] [ 2.13907248e-03 -1.26290802e-03 9.99996915e-01 4.20385733e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.175336195 meters Centerline goodness [0,1] 0.8595661909393165 Centerline is valid? [False, False] Translation: X:74.77, Y:1.95, Z:0.42 [[ 9.99996668e-01 -1.38224493e-03 -2.18034378e-03 7.47719959e+01] [ 1.38638774e-03 9.99997235e-01 1.89970799e-03 1.95468935e+00] [ 2.17771189e-03 -1.90272446e-03 9.99995819e-01 4.18069362e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.205336195 meters Centerline goodness [0,1] 0.8659929303000091 Centerline is valid? [False, False] Translation: X:74.77, Y:1.95, Z:0.41 [[ 9.99995494e-01 -1.41518492e-03 -2.64733279e-03 7.47746978e+01] [ 1.42157132e-03 9.99996081e-01 2.41206637e-03 1.95327680e+00] [ 2.64390889e-03 -2.41581887e-03 9.99993587e-01 4.14728130e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.23533619499999 meters Centerline goodness [0,1] 0.9392585874617391 Centerline is valid? [False, False] Translation: X:74.78, Y:1.95, Z:0.41 [[ 9.99993646e-01 -1.42097411e-03 -3.26950058e-03 7.47765634e+01] [ 1.42871399e-03 9.99996180e-01 2.36617871e-03 1.95448020e+00] [ 3.26612581e-03 -2.37083486e-03 9.99991856e-01 4.14673627e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.26533619499999 meters Centerline goodness [0,1] 0.8226940670444459 Centerline is valid? [False, False] Translation: X:74.77, Y:1.96, Z:0.42 [[ 9.99992051e-01 -2.08236378e-03 -3.40017233e-03 7.47740267e+01] [ 2.08513639e-03 9.99997496e-01 8.12091853e-04 1.95974996e+00] [ 3.39847275e-03 -8.19175221e-04 9.99993890e-01 4.20416719e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.29533619499999 meters Centerline goodness [0,1] 0.9413797839223585 Centerline is valid? [False, False] Translation: X:74.78, Y:1.97, Z:0.42 [[ 9.99989048e-01 -1.87259061e-03 -4.28931960e-03 7.47771381e+01] [ 1.87363802e-03 9.99998216e-01 2.40184737e-04 1.96593106e+00] [ 4.28886218e-03 -2.48218739e-04 9.99990772e-01 4.20173573e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.32533619499999 meters Centerline goodness [0,1] 0.7884655136773927 Centerline is valid? [False, False] Translation: X:74.78, Y:1.97, Z:0.41 [[ 9.99987961e-01 -7.22683292e-04 -4.85331553e-03 7.47840736e+01] [ 7.26247681e-04 9.99999468e-01 7.32701259e-04 1.97131026e+00] [ 4.85278343e-03 -7.36217148e-04 9.99987954e-01 4.11782192e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.35533619499999 meters Centerline goodness [0,1] 0.8415416570505423 Centerline is valid? [False, False] Translation: X:74.78, Y:1.98, Z:0.41 [[ 9.99987630e-01 -1.15101880e-03 -4.83892362e-03 7.47825792e+01] [ 1.14885000e-03 9.99999238e-01 -4.50955050e-04 1.97583293e+00] [ 4.83943900e-03 4.45390274e-04 9.99988191e-01 4.14753967e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.385336195 meters Centerline goodness [0,1] 0.7675773124393288 Centerline is valid? [False, False] Translation: X:74.78, Y:1.98, Z:0.41 [[ 9.99987105e-01 -1.12917977e-03 -4.95131856e-03 7.47829499e+01] [ 1.12527437e-03 9.99999054e-01 -7.91475237e-04 1.97806782e+00] [ 4.95220759e-03 7.85893438e-04 9.99987429e-01 4.14982267e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.415336195 meters Centerline goodness [0,1] 0.7785169785169785 Centerline is valid? [False, False] Translation: X:74.78, Y:1.98, Z:0.41 [[ 9.99987217e-01 -9.97986772e-04 -4.95670487e-03 7.47835133e+01] [ 9.94226294e-04 9.99999216e-01 -7.61071033e-04 1.97880255e+00] [ 4.95746052e-03 7.56133218e-04 9.99987426e-01 4.14117863e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.445336195 meters Centerline goodness [0,1] 0.7785169785169785 Centerline is valid? [False, False] Translation: X:74.78, Y:1.98, Z:0.41 [[ 9.99987217e-01 -9.97986772e-04 -4.95670487e-03 7.47835133e+01] [ 9.94226294e-04 9.99999216e-01 -7.61071033e-04 1.97880255e+00] [ 4.95746052e-03 7.56133218e-04 9.99987426e-01 4.14117863e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.475336195 meters Centerline goodness [0,1] 0.7898916466012225 Centerline is valid? [False, False] Translation: X:74.78, Y:1.98, Z:0.41 [[ 9.99987713e-01 -1.07826366e-03 -4.83853899e-03 7.47829804e+01] [ 1.07330853e-03 9.99998897e-01 -1.02657756e-03 1.97991159e+00] [ 4.83964058e-03 1.02137170e-03 9.99987767e-01 4.14531313e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.505336195 meters Centerline goodness [0,1] 0.7788813261101079 Centerline is valid? [False, False] Translation: X:74.78, Y:1.98, Z:0.42 [[ 9.99988360e-01 -1.37041169e-03 -4.62624116e-03 7.47812690e+01] [ 1.36293024e-03 9.99997759e-01 -1.61994112e-03 1.98161388e+00] [ 4.62845078e-03 1.61361702e-03 9.99987987e-01 4.16527076e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.535336195 meters Centerline goodness [0,1] 0.7512379373085516 Centerline is valid? [False, False] Translation: X:74.78, Y:1.98, Z:0.42 [[ 9.99988342e-01 -1.53835329e-03 -4.57702158e-03 7.47802072e+01] [ 1.52869551e-03 9.99996600e-01 -2.11280873e-03 1.98317142e+00] [ 4.58025626e-03 2.10578723e-03 9.99987293e-01 4.18483852e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.565336195 meters Centerline goodness [0,1] 0.7724012270221648 Centerline is valid? [False, False] Translation: X:74.78, Y:1.98, Z:0.42 [[ 9.99988293e-01 -1.69264308e-03 -4.53314048e-03 7.47793173e+01] [ 1.68137427e-03 9.99995490e-01 -2.48853200e-03 1.98429943e+00] [ 4.53733223e-03 2.48088096e-03 9.99986629e-01 4.20021113e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.595336195 meters Centerline goodness [0,1] 0.7724532920717766 Centerline is valid? [False, False] Translation: X:74.77, Y:1.99, Z:0.42 [[ 9.99991149e-01 -2.11466612e-03 -3.63739586e-03 7.47743017e+01] [ 2.10255827e-03 9.99992247e-01 -3.32932254e-03 1.98541787e+00] [ 3.64440807e-03 3.32164524e-03 9.99987842e-01 4.24877044e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.62533619499999 meters Centerline goodness [0,1] 0.7469249482754701 Centerline is valid? [False, False] Translation: X:74.80, Y:1.97, Z:0.42 [[ 9.99883027e-01 1.35897820e-02 -7.01788066e-03 7.48002460e+01] [-1.35334148e-02 9.99876272e-01 8.01792335e-03 1.97159345e+00] [ 7.12597418e-03 -7.92200957e-03 9.99943230e-01 4.21529229e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.65533619499999 meters Centerline goodness [0,1] 0.7906084208149904 Centerline is valid? [False, False] Translation: X:74.80, Y:1.96, Z:0.43 [[ 9.99957647e-01 4.69274620e-03 -7.91718645e-03 7.47975699e+01] [-4.69684117e-03 9.99988845e-01 -4.98711759e-04 1.96288067e+00] [ 7.91475781e-03 5.35876404e-04 9.99968534e-01 4.30355964e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.68533619499999 meters Centerline goodness [0,1] 0.7545283357245337 Centerline is valid? [False, False] Translation: X:74.80, Y:1.96, Z:0.43 [[ 9.99958161e-01 4.67140203e-03 -7.86477718e-03 7.47971613e+01] [-4.67210085e-03 9.99989083e-01 -7.04832334e-05 1.96017527e+00] [ 7.86436206e-03 1.07225317e-04 9.99969070e-01 4.30487633e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.71533619499999 meters Centerline goodness [0,1] 0.7553520243640273 Centerline is valid? [False, False] Translation: X:74.80, Y:1.96, Z:0.43 [[ 9.99959489e-01 4.63637086e-03 -7.71514894e-03 7.47964967e+01] [-4.63388995e-03 9.99989206e-01 3.39409266e-04 1.95716114e+00] [ 7.71663929e-03 -3.03644365e-04 9.99970180e-01 4.30555253e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.745336195 meters Centerline goodness [0,1] 0.7579024585426577 Centerline is valid? [False, False] Translation: X:74.79, Y:1.96, Z:0.43 [[ 9.99970460e-01 3.05320808e-04 -7.68018650e-03 7.47949642e+01] [-3.39001251e-04 9.99990331e-01 -4.38444838e-03 1.95795171e+00] [ 7.67877358e-03 4.38692245e-03 9.99960895e-01 4.33814396e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.775336195 meters Centerline goodness [0,1] 0.8001384361184298 Centerline is valid? [False, False] Translation: X:74.80, Y:1.95, Z:0.43 [[ 9.99970690e-01 8.56913515e-04 -7.60826663e-03 7.47970773e+01] [-8.78561860e-04 9.99995574e-01 -2.84248540e-03 1.95207853e+00] [ 7.60579719e-03 2.84908642e-03 9.99967017e-01 4.29033988e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.805336195 meters Centerline goodness [0,1] 0.7936988252046991 Centerline is valid? [False, False] Translation: X:74.80, Y:1.94, Z:0.42 [[ 9.99970488e-01 1.59299213e-03 -7.51562416e-03 7.48001485e+01] [-1.59741411e-03 9.99998555e-01 -5.82405237e-04 1.94448142e+00] [ 7.51468553e-03 5.94393614e-04 9.99971588e-01 4.21477467e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.835336195 meters Centerline goodness [0,1] 0.7643540669856459 Centerline is valid? [False, False] Translation: X:74.80, Y:1.94, Z:0.42 [[ 9.99968465e-01 2.29667905e-03 -7.60220968e-03 7.48033200e+01] [-2.28654226e-03 9.99996486e-01 1.34182327e-03 1.93772356e+00] [ 7.60526470e-03 -1.32439818e-03 9.99970203e-01 4.15250795e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.865336195 meters Centerline goodness [0,1] 0.7643540669856459 Centerline is valid? [False, False] Translation: X:74.80, Y:1.94, Z:0.42 [[ 9.99968465e-01 2.29667905e-03 -7.60220968e-03 7.48033200e+01] [-2.28654226e-03 9.99996486e-01 1.34182327e-03 1.93772356e+00] [ 7.60526470e-03 -1.32439818e-03 9.99970203e-01 4.15250795e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.895336195 meters Centerline goodness [0,1] 0.7643540669856459 Centerline is valid? [False, False] Translation: X:74.80, Y:1.94, Z:0.42 [[ 9.99968465e-01 2.29667905e-03 -7.60220968e-03 7.48033200e+01] [-2.28654226e-03 9.99996486e-01 1.34182327e-03 1.93772356e+00] [ 7.60526470e-03 -1.32439818e-03 9.99970203e-01 4.15250795e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.925336195 meters Centerline goodness [0,1] 0.7880819531129392 Centerline is valid? [False, False] Translation: X:74.80, Y:1.93, Z:0.41 [[ 9.99966729e-01 2.58665525e-03 -7.73626893e-03 7.48045895e+01] [-2.56951495e-03 9.99994224e-01 2.22469594e-03 1.93356596e+00] [ 7.74197876e-03 -2.20474347e-03 9.99967600e-01 4.13426811e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.955336195 meters Centerline goodness [0,1] 0.7880819531129392 Centerline is valid? [False, False] Translation: X:74.80, Y:1.93, Z:0.41 [[ 9.99966729e-01 2.58665525e-03 -7.73626893e-03 7.48045895e+01] [-2.56951495e-03 9.99994224e-01 2.22469594e-03 1.93356596e+00] [ 7.74197876e-03 -2.20474347e-03 9.99967600e-01 4.13426811e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.98533619499999 meters Centerline goodness [0,1] 0.7777240879439478 Centerline is valid? [False, False] Translation: X:74.80, Y:1.93, Z:0.42 [[ 9.99969843e-01 2.14231697e-03 -7.46482927e-03 7.48017461e+01] [-2.12798920e-03 9.99995880e-01 1.92678484e-03 1.93219801e+00] [ 7.46892630e-03 -1.91084166e-03 9.99970281e-01 4.16731884e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.01533619499999 meters Centerline goodness [0,1] 0.7777240879439478 Centerline is valid? [False, False] Translation: X:74.80, Y:1.93, Z:0.42 [[ 9.99969843e-01 2.14231697e-03 -7.46482927e-03 7.48017461e+01] [-2.12798920e-03 9.99995880e-01 1.92678484e-03 1.93219801e+00] [ 7.46892630e-03 -1.91084166e-03 9.99970281e-01 4.16731884e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.04533619499999 meters Centerline goodness [0,1] 0.7777240879439478 Centerline is valid? [False, False] Translation: X:74.80, Y:1.93, Z:0.42 [[ 9.99969843e-01 2.14231697e-03 -7.46482927e-03 7.48017461e+01] [-2.12798920e-03 9.99995880e-01 1.92678484e-03 1.93219801e+00] [ 7.46892630e-03 -1.91084166e-03 9.99970281e-01 4.16731884e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.07533619499999 meters Centerline goodness [0,1] 0.7783058305830584 Centerline is valid? [False, False] Translation: X:74.80, Y:1.93, Z:0.42 [[ 9.99975302e-01 1.22424285e-03 -6.92067207e-03 7.47962341e+01] [-1.21819824e-03 9.99998873e-01 8.77561750e-04 1.93206176e+00] [ 6.92173862e-03 -8.69109326e-04 9.99975667e-01 4.23343261e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.10533619499999 meters Centerline goodness [0,1] 0.7783058305830584 Centerline is valid? [False, False] Translation: X:74.80, Y:1.93, Z:0.42 [[ 9.99975302e-01 1.22424285e-03 -6.92067207e-03 7.47962341e+01] [-1.21819824e-03 9.99998873e-01 8.77561750e-04 1.93206176e+00] [ 6.92173862e-03 -8.69109326e-04 9.99975667e-01 4.23343261e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.135336195 meters Centerline goodness [0,1] 0.7783058305830584 Centerline is valid? [False, False] Translation: X:74.80, Y:1.93, Z:0.42 [[ 9.99975302e-01 1.22424285e-03 -6.92067207e-03 7.47962341e+01] [-1.21819824e-03 9.99998873e-01 8.77561750e-04 1.93206176e+00] [ 6.92173862e-03 -8.69109326e-04 9.99975667e-01 4.23343261e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.165336195 meters Centerline goodness [0,1] 0.8000351625167571 Centerline is valid? [False, False] Translation: X:74.79, Y:1.93, Z:0.43 [[ 9.99980105e-01 4.86695738e-04 -6.28917059e-03 7.47913257e+01] [-4.84786861e-04 9.99999836e-01 3.05039046e-04 1.93036272e+00] [ 6.28931802e-03 -3.01984070e-04 9.99980176e-01 4.28294292e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.195336195 meters Centerline goodness [0,1] 0.8000351625167571 Centerline is valid? [False, False] Translation: X:74.79, Y:1.93, Z:0.43 [[ 9.99980105e-01 4.86695738e-04 -6.28917059e-03 7.47913257e+01] [-4.84786861e-04 9.99999836e-01 3.05039046e-04 1.93036272e+00] [ 6.28931802e-03 -3.01984070e-04 9.99980176e-01 4.28294292e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.225336195 meters Centerline goodness [0,1] 0.7815255971953052 Centerline is valid? [False, False] Translation: X:74.79, Y:1.92, Z:0.43 [[ 9.99980776e-01 8.32454260e-04 -6.14442685e-03 7.47917707e+01] [-8.22927809e-04 9.99998456e-01 1.55278687e-03 1.92428874e+00] [ 6.14570999e-03 -1.54770060e-03 9.99979917e-01 4.26480610e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.255336195 meters Centerline goodness [0,1] 0.7815255971953052 Centerline is valid? [False, False] Translation: X:74.79, Y:1.92, Z:0.43 [[ 9.99980776e-01 8.32454260e-04 -6.14442685e-03 7.47917707e+01] [-8.22927809e-04 9.99998456e-01 1.55278687e-03 1.92428874e+00] [ 6.14570999e-03 -1.54770060e-03 9.99979917e-01 4.26480610e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.285336195 meters Centerline goodness [0,1] 0.784585152838428 Centerline is valid? [False, False] Translation: X:74.79, Y:1.92, Z:0.42 [[ 9.99985661e-01 5.15271918e-04 -5.33040472e-03 7.47898124e+01] [-5.02613779e-04 9.99997052e-01 2.37577210e-03 1.91552391e+00] [ 5.33161317e-03 -2.37305890e-03 9.99982971e-01 4.24787830e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.315336195 meters Centerline goodness [0,1] 0.784585152838428 Centerline is valid? [False, False] Translation: X:74.79, Y:1.92, Z:0.42 [[ 9.99985661e-01 5.15271918e-04 -5.33040472e-03 7.47898124e+01] [-5.02613779e-04 9.99997052e-01 2.37577210e-03 1.91552391e+00] [ 5.33161317e-03 -2.37305890e-03 9.99982971e-01 4.24787830e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.345336195 meters Centerline goodness [0,1] 0.7860750674910737 Centerline is valid? [False, False] Translation: X:74.79, Y:1.91, Z:0.42 [[ 9.99980460e-01 -3.52297887e-03 -5.16421352e-03 7.47894861e+01] [ 3.51720703e-03 9.99993180e-01 -1.12631765e-03 1.91093763e+00] [ 5.16814630e-03 1.10813203e-03 9.99986031e-01 4.24597598e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.37533619499999 meters Centerline goodness [0,1] 0.7860750674910737 Centerline is valid? [False, False] Translation: X:74.79, Y:1.91, Z:0.42 [[ 9.99980460e-01 -3.52297887e-03 -5.16421352e-03 7.47894861e+01] [ 3.51720703e-03 9.99993180e-01 -1.12631765e-03 1.91093763e+00] [ 5.16814630e-03 1.10813203e-03 9.99986031e-01 4.24597598e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.40533619499999 meters Centerline goodness [0,1] 0.7860750674910737 Centerline is valid? [False, False] Translation: X:74.79, Y:1.91, Z:0.42 [[ 9.99980460e-01 -3.52297887e-03 -5.16421352e-03 7.47894861e+01] [ 3.51720703e-03 9.99993180e-01 -1.12631765e-03 1.91093763e+00] [ 5.16814630e-03 1.10813203e-03 9.99986031e-01 4.24597598e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.43533619499999 meters Centerline goodness [0,1] 0.7752658424829255 Centerline is valid? [False, False] Translation: X:74.79, Y:1.90, Z:0.42 [[ 9.99982129e-01 -3.06143583e-03 -5.13518647e-03 7.47909809e+01] [ 3.06474025e-03 9.99995102e-01 6.35741479e-04 1.90308105e+00] [ 5.13321504e-03 -6.51468130e-04 9.99986613e-01 4.21105653e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.46533619499999 meters Centerline goodness [0,1] 0.7785100471667636 Centerline is valid? [False, False] Translation: X:74.79, Y:1.90, Z:0.42 [[ 9.99983000e-01 -2.93390521e-03 -5.03904780e-03 7.47905823e+01] [ 2.94127959e-03 9.99994613e-01 1.45665997e-03 1.89817426e+00] [ 5.03474696e-03 -1.47145645e-03 9.99986243e-01 4.21196092e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.495336195 meters Centerline goodness [0,1] 0.7785100471667636 Centerline is valid? [False, False] Translation: X:74.79, Y:1.90, Z:0.42 [[ 9.99983000e-01 -2.93390521e-03 -5.03904780e-03 7.47905823e+01] [ 2.94127959e-03 9.99994613e-01 1.45665997e-03 1.89817426e+00] [ 5.03474696e-03 -1.47145645e-03 9.99986243e-01 4.21196092e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.525336195 meters Centerline goodness [0,1] 0.7785100471667636 Centerline is valid? [False, False] Translation: X:74.79, Y:1.90, Z:0.42 [[ 9.99983000e-01 -2.93390521e-03 -5.03904780e-03 7.47905823e+01] [ 2.94127959e-03 9.99994613e-01 1.45665997e-03 1.89817426e+00] [ 5.03474696e-03 -1.47145645e-03 9.99986243e-01 4.21196092e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.555336195 meters Centerline goodness [0,1] 0.8400851961016329 Centerline is valid? [False, False] Translation: X:74.79, Y:1.89, Z:0.42 [[ 9.99983027e-01 -3.35712229e-03 -4.76184145e-03 7.47879671e+01] [ 3.36452392e-03 9.99993143e-01 1.54720385e-03 1.89468306e+00] [ 4.75661465e-03 -1.56319892e-03 9.99987465e-01 4.23800307e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.585336195 meters Centerline goodness [0,1] 0.7839874276118921 Centerline is valid? [False, False] Translation: X:74.79, Y:1.89, Z:0.42 [[ 9.99982961e-01 -3.42566677e-03 -4.72680599e-03 7.47876451e+01] [ 3.43622891e-03 9.99991614e-01 2.22820955e-03 1.89010437e+00] [ 4.71913325e-03 -2.24441398e-03 9.99986346e-01 4.23692667e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.615336195 meters Centerline goodness [0,1] 0.9269093014776846 Centerline is valid? [False, False] Translation: X:74.80, Y:1.88, Z:0.41 [[ 9.99963034e-01 -6.31018722e-03 -5.84048573e-03 7.47953180e+01] [ 6.32053882e-03 9.99978484e-01 1.75563015e-03 1.87725496e+00] [ 5.82928171e-03 -1.79248027e-03 9.99981403e-01 4.13616913e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.645336195 meters Centerline goodness [0,1] 0.9269093014776846 Centerline is valid? [False, False] Translation: X:74.80, Y:1.88, Z:0.41 [[ 9.99963034e-01 -6.31018722e-03 -5.84048573e-03 7.47953180e+01] [ 6.32053882e-03 9.99978484e-01 1.75563015e-03 1.87725496e+00] [ 5.82928171e-03 -1.79248027e-03 9.99981403e-01 4.13616913e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.675336195 meters Centerline goodness [0,1] 0.8607961244131959 Centerline is valid? [False, False] Translation: X:74.80, Y:1.86, Z:0.40 [[ 9.99967842e-01 -6.70688555e-03 -4.39686636e-03 7.47952271e+01] [ 6.72650141e-03 9.99967423e-01 4.46182594e-03 1.85745401e+00] [ 4.36679816e-03 -4.49125798e-03 9.99980380e-01 4.03704667e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.705336195 meters Centerline goodness [0,1] 0.7943694611934854 Centerline is valid? [False, False] Translation: X:74.79, Y:1.85, Z:0.40 [[ 9.99969247e-01 -6.81634502e-03 -3.87848993e-03 7.47931669e+01] [ 6.83692395e-03 9.99962489e-01 5.31762784e-03 1.85024476e+00] [ 3.84209766e-03 -5.34398124e-03 9.99978340e-01 4.04112027e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.73533619499999 meters Centerline goodness [0,1] 0.9095759497739399 Centerline is valid? [False, False] Translation: X:74.79, Y:1.84, Z:0.40 [[ 9.99970823e-01 -6.67439087e-03 -3.71555531e-03 7.47925224e+01] [ 6.69771919e-03 9.99957712e-01 6.30192555e-03 1.84422310e+00] [ 3.67333667e-03 -6.32662742e-03 9.99973240e-01 4.04206623e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.76533619499999 meters Centerline goodness [0,1] 0.9660443985100015 Centerline is valid? [False, True] Translation: X:74.79, Y:1.84, Z:0.41 [[ 9.99969562e-01 -6.99962434e-03 -3.44665951e-03 7.47902746e+01] [ 7.02209739e-03 9.99953880e-01 6.55188948e-03 1.84013738e+00] [ 3.40063978e-03 -6.57589284e-03 9.99972596e-01 4.06284707e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.79533619499999 meters Centerline goodness [0,1] 0.9013282732447818 Centerline is valid? [True, False] Translation: X:74.79, Y:1.83, Z:0.41 [[ 9.99968170e-01 -7.31846646e-03 -3.17778764e-03 7.47875006e+01] [ 7.34098506e-03 9.99947611e-01 7.13337324e-03 1.83335082e+00] [ 3.12541581e-03 -7.15647428e-03 9.99969508e-01 4.09212715e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.82533619499999 meters Centerline goodness [0,1] 0.9529487454428479 Centerline is valid? [False, True] Translation: X:74.79, Y:1.82, Z:0.41 [[ 9.99934669e-01 -1.11356215e-02 -2.57983480e-03 7.47858817e+01] [ 1.11464555e-02 9.99928955e-01 4.22386547e-03 1.82444512e+00] [ 2.53261615e-03 -4.25234554e-03 9.99987752e-01 4.09352467e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.85533619499999 meters Centerline goodness [0,1] 0.9358025747401737 Centerline is valid? [True, False] Translation: X:74.79, Y:1.81, Z:0.40 [[ 9.99946263e-01 -1.00488006e-02 -2.54805241e-03 7.47895596e+01] [ 1.00666562e-02 9.99924163e-01 7.09434461e-03 1.81416195e+00] [ 2.47656952e-03 -7.11961375e-03 9.99971588e-01 4.01698844e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.885336195 meters Centerline goodness [0,1] 0.9294968040839089 Centerline is valid? [False, False] Translation: X:74.77, Y:1.81, Z:0.42 [[ 9.99959791e-01 -7.44937883e-03 -4.99226711e-03 7.47717055e+01] [ 7.41147732e-03 9.99943896e-01 -7.56801815e-03 1.81297057e+00] [ 5.04836406e-03 7.53071378e-03 9.99958900e-01 4.19729369e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.915336195 meters Centerline goodness [0,1] 0.961939430491535 Centerline is valid? [False, True] Translation: X:74.77, Y:1.80, Z:0.42 [[ 9.99984581e-01 -3.29416821e-03 -4.47063097e-03 7.47711451e+01] [ 3.28590987e-03 9.99992884e-01 -1.85333344e-03 1.80160128e+00] [ 4.47670435e-03 1.83861477e-03 9.99988289e-01 4.16665619e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.945336195 meters Centerline goodness [0,1] 0.7912972892145345 Centerline is valid? [True, False] Translation: X:74.77, Y:1.80, Z:0.42 [[ 9.99984826e-01 -3.21685087e-03 -4.47211205e-03 7.47704823e+01] [ 3.20982765e-03 9.99993605e-01 -1.57673931e-03 1.79960285e+00] [ 4.47715558e-03 1.56236068e-03 9.99988757e-01 4.18025474e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.975336195 meters Centerline goodness [0,1] 0.839984576826682 Centerline is valid? [False, False] Translation: X:74.77, Y:1.79, Z:0.42 [[ 9.99987331e-01 -2.60249020e-03 -4.30879471e-03 7.47714268e+01] [ 2.60247404e-03 9.99996614e-01 -9.35677174e-06 1.79222812e+00] [ 4.30880447e-03 -1.85687319e-06 9.99990717e-01 4.15514093e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.005336195 meters Centerline goodness [0,1] 0.8809493043890253 Centerline is valid? [False, False] Translation: X:74.77, Y:1.79, Z:0.41 [[ 9.99988506e-01 -1.83292435e-03 -4.43035466e-03 7.47744268e+01] [ 1.83969546e-03 9.99997145e-01 1.52475201e-03 1.78651833e+00] [ 4.42754726e-03 -1.53288499e-03 9.99989023e-01 4.10915638e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.035336195 meters Centerline goodness [0,1] 0.9540983606557377 Centerline is valid? [False, True] Translation: X:74.78, Y:1.78, Z:0.40 [[ 9.99988278e-01 -7.23516424e-04 -4.78759153e-03 7.47790811e+01] [ 7.40864070e-04 9.99993164e-01 3.62267926e-03 1.77967259e+00] [ 4.78493773e-03 -3.62618374e-03 9.99981977e-01 4.04701304e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.065336195 meters Centerline goodness [0,1] 0.8949428897158468 Centerline is valid? [True, False] Translation: X:74.78, Y:1.77, Z:0.40 [[ 9.99989296e-01 -2.63698212e-04 -4.61941177e-03 7.47799086e+01] [ 2.87725949e-04 9.99986430e-01 5.20157908e-03 1.77146209e+00] [ 4.61797744e-03 -5.20285253e-03 9.99975802e-01 4.01945739e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.095336195 meters Centerline goodness [0,1] 0.9089875833672878 Centerline is valid? [False, False] Translation: X:74.78, Y:1.77, Z:0.40 [[ 9.99988628e-01 -1.81221609e-04 -4.76563705e-03 7.47800957e+01] [ 2.07368942e-04 9.99984926e-01 5.48671800e-03 1.76975385e+00] [ 4.76457090e-03 -5.48764385e-03 9.99973592e-01 4.02383508e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.12533619499999 meters Centerline goodness [0,1] 0.8667784009110638 Centerline is valid? [False, False] Translation: X:74.78, Y:1.77, Z:0.40 [[ 9.99986093e-01 -2.45903585e-05 -5.27383033e-03 7.47815797e+01] [ 5.50430612e-05 9.99983327e-01 5.77423719e-03 1.76869933e+00] [ 5.27360041e-03 -5.77444717e-03 9.99969422e-01 4.02379657e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.15533619499999 meters Centerline goodness [0,1] 0.8421672051869129 Centerline is valid? [False, False] Translation: X:74.78, Y:1.77, Z:0.40 [[ 9.99976883e-01 -3.86711543e-03 -5.59267308e-03 7.47825117e+01] [ 3.87494306e-03 9.99991527e-01 1.38946430e-03 1.77051576e+00] [ 5.58725247e-03 -1.41110347e-03 9.99983396e-01 4.03279620e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.18533619499999 meters Centerline goodness [0,1] 0.8583545012270203 Centerline is valid? [False, False] Translation: X:74.79, Y:1.77, Z:0.40 [[ 9.99979012e-01 -3.10527838e-03 -5.68616177e-03 7.47854977e+01] [ 3.12166285e-03 9.99990995e-01 2.87485945e-03 1.76515443e+00] [ 5.67718332e-03 -2.89254940e-03 9.99979701e-01 3.98626705e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.21533619499999 meters Centerline goodness [0,1] 0.8586195040185671 Centerline is valid? [False, False] Translation: X:74.79, Y:1.76, Z:0.39 [[ 9.99963834e-01 -5.82060583e-03 -6.20086368e-03 7.47915325e+01] [ 5.82885818e-03 9.99982149e-01 1.31359794e-03 1.75589352e+00] [ 6.19310705e-03 -1.34969439e-03 9.99979912e-01 3.91244448e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.245336195 meters Centerline goodness [0,1] 0.8702818455149143 Centerline is valid? [False, False] Translation: X:74.79, Y:1.75, Z:0.39 [[ 9.99964945e-01 -5.55203410e-03 -6.26774227e-03 7.47923499e+01] [ 5.56526248e-03 9.99982319e-01 2.09508606e-03 1.75222825e+00] [ 6.25599946e-03 -2.12989425e-03 9.99978163e-01 3.90046966e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.275336195 meters Centerline goodness [0,1] 0.8430126457264315 Centerline is valid? [False, False] Translation: X:74.79, Y:1.75, Z:0.39 [[ 9.99964367e-01 -5.53253020e-03 -6.37621488e-03 7.47918801e+01] [ 5.54708815e-03 9.99982043e-01 2.26774513e-03 1.75077215e+00] [ 6.36355401e-03 -2.30303375e-03 9.99977100e-01 3.91520443e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.305336195 meters Centerline goodness [0,1] 0.6642799301027149 Centerline is valid? [False, False] Translation: X:74.77, Y:1.37, Z:0.37 [[ 9.99911730e-01 1.31374944e-02 1.98432820e-03 7.47650735e+01] [-1.31951314e-02 9.99383250e-01 3.25424095e-02 1.37064780e+00] [-1.55557864e-03 -3.25657205e-02 9.99468386e-01 3.71343936e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.335336195 meters Centerline goodness [0,1] 0.6662894719986335 Centerline is valid? [False, False] Translation: X:74.77, Y:1.39, Z:0.40 [[ 9.99990727e-01 3.42253254e-03 2.61400207e-03 7.47681794e+01] [-3.45137567e-03 9.99932321e-01 1.11104570e-02 1.38653560e+00] [-2.57579926e-03 -1.11193759e-02 9.99934860e-01 3.99502885e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.365336195 meters Centerline goodness [0,1] 0.6738972629061872 Centerline is valid? [False, False] Translation: X:74.76, Y:1.39, Z:0.40 [[ 9.99994508e-01 -1.57398452e-03 2.91662805e-03 7.47641352e+01] [ 1.55745149e-03 9.99982757e-01 5.66217043e-03 1.38935010e+00] [-2.92548993e-03 -5.65759682e-03 9.99979716e-01 4.04259714e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.395336195 meters Centerline goodness [0,1] 0.6919633294777878 Centerline is valid? [False, False] Translation: X:74.76, Y:1.38, Z:0.41 [[ 9.99990211e-01 -2.67306220e-03 3.52604577e-03 7.47601839e+01] [ 2.65369176e-03 9.99981426e-01 5.48681725e-03 1.38103572e+00] [-3.54064688e-03 -5.47740650e-03 9.99978731e-01 4.06730142e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.425336195 meters Centerline goodness [0,1] 0.6886117183146886 Centerline is valid? [False, False] Translation: X:74.76, Y:1.37, Z:0.40 [[ 9.99976891e-01 -5.92842689e-03 3.32729182e-03 7.47631853e+01] [ 5.91859092e-03 9.99978109e-01 2.95825097e-03 1.37426387e+00] [-3.34475675e-03 -2.93848973e-03 9.99990089e-01 4.03271020e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.455336195 meters Centerline goodness [0,1] 0.6826511388936461 Centerline is valid? [False, False] Translation: X:74.77, Y:1.37, Z:0.40 [[ 9.99981400e-01 -5.20944186e-03 3.17185951e-03 7.47655006e+01] [ 5.19586108e-03 9.99977364e-01 4.27493673e-03 1.36924015e+00] [-3.19405775e-03 -4.25837668e-03 9.99985832e-01 4.00478713e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.48533619499999 meters Centerline goodness [0,1] 0.6768582309897728 Centerline is valid? [False, False] Translation: X:74.76, Y:1.37, Z:0.40 [[ 9.99981951e-01 -5.11732699e-03 3.14803355e-03 7.47644903e+01] [ 5.10396283e-03 9.99977991e-01 4.23872620e-03 1.36914857e+00] [-3.16965522e-03 -4.22258225e-03 9.99986061e-01 4.02507055e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.51533619499999 meters Centerline goodness [0,1] 0.6749727988394172 Centerline is valid? [False, False] Translation: X:74.76, Y:1.37, Z:0.40 [[ 9.99981967e-01 -5.15272584e-03 3.08476563e-03 7.47635488e+01] [ 5.14114532e-03 9.99979752e-01 3.75033480e-03 1.37148742e+00] [-3.10402761e-03 -3.73440794e-03 9.99988210e-01 4.04582891e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.54533619499999 meters Centerline goodness [0,1] 0.6704318508815256 Centerline is valid? [False, False] Translation: X:74.74, Y:1.37, Z:0.41 [[ 9.99995450e-01 3.01005964e-03 1.97407289e-04 7.47388128e+01] [-3.00983681e-03 9.99994844e-01 -1.11955498e-03 1.37011424e+00] [-2.00776198e-04 1.11895572e-03 9.99999354e-01 4.14537091e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.57533619499999 meters Centerline goodness [0,1] 0.6521273175436717 Centerline is valid? [False, False] Translation: X:74.74, Y:1.37, Z:0.41 [[ 9.99985715e-01 5.32381365e-03 4.76922256e-04 7.47424395e+01] [-5.32401987e-03 9.99985734e-01 4.32164554e-04 1.37017580e+00] [-4.74614688e-04 -4.34697524e-04 9.99999793e-01 4.09116379e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.60533619499999 meters Centerline goodness [0,1] 0.6594313468440395 Centerline is valid? [False, False] Translation: X:74.74, Y:1.37, Z:0.41 [[ 9.99984903e-01 5.46785979e-03 5.44558208e-04 7.47422004e+01] [-5.46791113e-03 9.99985047e-01 9.28294932e-05 1.37213445e+00] [-5.44042486e-04 -9.58056876e-05 9.99999847e-01 4.09135607e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.635336195 meters Centerline goodness [0,1] 0.6398845783905098 Centerline is valid? [False, False] Translation: X:74.74, Y:1.37, Z:0.41 [[ 9.99946958e-01 1.02823649e-02 5.94959793e-04 7.47437434e+01] [-1.02849788e-02 9.99936660e-01 4.57119235e-03 1.37281234e+00] [-5.47919440e-04 -4.57706903e-03 9.99989375e-01 4.06457589e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.665336195 meters Centerline goodness [0,1] 0.6314980137542181 Centerline is valid? [False, False] Translation: X:74.74, Y:1.38, Z:0.41 [[ 9.99948310e-01 1.01527602e-02 5.46122325e-04 7.47430636e+01] [-1.01547085e-02 9.99941625e-01 3.69169509e-03 1.37712485e+00] [-5.08609550e-04 -3.69704998e-03 9.99993037e-01 4.07843739e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.695336195 meters Centerline goodness [0,1] 0.64762560220234 Centerline is valid? [False, False] Translation: X:74.74, Y:1.39, Z:0.42 [[ 9.99956156e-01 9.32494503e-03 8.54884084e-04 7.47378090e+01] [-9.32603428e-03 9.99955693e-01 1.27913430e-03 1.38634534e+00] [-8.42918350e-04 -1.28705089e-03 9.99998816e-01 4.15275952e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.725336195 meters Centerline goodness [0,1] 0.6352984097688692 Centerline is valid? [False, False] Translation: X:74.74, Y:1.39, Z:0.42 [[ 9.99961080e-01 8.75340958e-03 1.10302387e-03 7.47351421e+01] [-8.75374501e-03 9.99961640e-01 2.99644349e-04 1.38955381e+00] [-1.10035864e-03 -3.09288277e-04 9.99999347e-01 4.18137081e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.755336195 meters Centerline goodness [0,1] 0.6350253915875634 Centerline is valid? [False, False] Translation: X:74.74, Y:1.39, Z:0.42 [[ 9.99988679e-01 4.64512928e-03 1.03187832e-03 7.47353883e+01] [-4.64078079e-03 9.99980506e-01 -4.17732060e-03 1.39082942e+00] [-1.05126240e-03 4.17248459e-03 9.99990743e-01 4.17983975e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.785336195 meters Centerline goodness [0,1] 0.6516938250428816 Centerline is valid? [False, False] Translation: X:74.74, Y:1.38, Z:0.41 [[ 9.99989085e-01 4.50302996e-03 1.24613061e-03 7.47361354e+01] [-4.49948465e-03 9.99985863e-01 -2.83338503e-03 1.38194704e+00] [-1.25887181e-03 2.82774716e-03 9.99995210e-01 4.14955601e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.815336195 meters Centerline goodness [0,1] 0.657953616453681 Centerline is valid? [False, False] Translation: X:74.73, Y:1.38, Z:0.42 [[ 9.99994365e-01 3.00815211e-03 1.49024323e-03 7.47319974e+01] [-3.00279449e-03 9.99989068e-01 -3.58441786e-03 1.37995793e+00] [-1.50100941e-03 3.57992277e-03 9.99992466e-01 4.19375473e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.845336195 meters Centerline goodness [0,1] 0.6588921282798834 Centerline is valid? [False, False] Translation: X:74.73, Y:1.38, Z:0.42 [[ 9.99995058e-01 2.89879067e-03 1.21664882e-03 7.47322169e+01] [-2.89458104e-03 9.99989868e-01 -3.44763107e-03 1.37894303e+00] [-1.22663045e-03 3.44409234e-03 9.99993317e-01 4.20587383e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.87533619499999 meters Centerline goodness [0,1] 0.6616788867275176 Centerline is valid? [False, False] Translation: X:74.73, Y:1.37, Z:0.42 [[ 9.99996740e-01 2.42008358e-03 8.14549653e-04 7.47334559e+01] [-2.41793676e-03 9.99993628e-01 -2.62632952e-03 1.37315830e+00] [-8.20900399e-04 2.62435143e-03 9.99996219e-01 4.19896353e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.90533619499999 meters Centerline goodness [0,1] 0.6642907596481089 Centerline is valid? [False, False] Translation: X:74.73, Y:1.37, Z:0.42 [[ 9.99996160e-01 2.61903444e-03 9.05926286e-04 7.47343365e+01] [-2.61766894e-03 9.99995441e-01 -1.50521157e-03 1.36767616e+00] [-9.09864357e-04 1.50283437e-03 9.99998457e-01 4.17820415e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.93533619499999 meters Centerline goodness [0,1] 0.6605357942072846 Centerline is valid? [False, False] Translation: X:74.73, Y:1.36, Z:0.42 [[ 9.99996192e-01 2.55976480e-03 1.03091162e-03 7.47342817e+01] [-2.55947216e-03 9.99996684e-01 -2.85085038e-04 1.36055217e+00] [-1.03163795e-03 2.82445363e-04 9.99999428e-01 4.17000725e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.96533619499999 meters Centerline goodness [0,1] 0.6734619662873278 Centerline is valid? [False, False] Translation: X:74.73, Y:1.36, Z:0.42 [[ 9.99996309e-01 2.56514053e-03 8.95597930e-04 7.47343949e+01] [-2.56505243e-03 9.99996705e-01 -9.95020179e-05 1.35940861e+00] [-8.95850216e-04 9.72043950e-05 9.99999594e-01 4.17605314e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.995336195 meters Centerline goodness [0,1] 0.6622846393912188 Centerline is valid? [False, False] Translation: X:74.73, Y:1.36, Z:0.42 [[ 9.99996511e-01 2.57006872e-03 6.09868829e-04 7.47347871e+01] [-2.57016911e-03 9.99996684e-01 1.63867727e-04 1.35790219e+00] [-6.09445655e-04 -1.65434621e-04 9.99999801e-01 4.18570649e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.025336195 meters Centerline goodness [0,1] 0.6760041943974834 Centerline is valid? [False, False] Translation: X:74.73, Y:1.35, Z:0.42 [[ 9.99995843e-01 2.79782596e-03 6.97618620e-04 7.47348001e+01] [-2.79844783e-03 9.99995686e-01 8.92045018e-04 1.35426559e+00] [-6.95119824e-04 -8.93993559e-04 9.99999359e-01 4.18169812e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.055336195 meters Centerline goodness [0,1] 0.6626294239962272 Centerline is valid? [False, False] Translation: X:74.74, Y:1.35, Z:0.41 [[ 9.99993345e-01 3.59084295e-03 6.44347135e-04 7.47374924e+01] [-3.59235357e-03 9.99990766e-01 2.35877292e-03 1.34875893e+00] [-6.35871201e-04 -2.36107195e-03 9.99997010e-01 4.14191099e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.085336195 meters Centerline goodness [0,1] 0.668634261725659 Centerline is valid? [False, False] Translation: X:74.74, Y:1.35, Z:0.41 [[ 9.99999432e-01 1.05264708e-03 1.65064450e-04 7.47413806e+01] [-1.05256422e-03 9.99999320e-01 -5.01302338e-04 1.35041414e+00] [-1.65592032e-04 5.01128312e-04 9.99999861e-01 4.11789198e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.115336195 meters Centerline goodness [0,1] 0.6597606677455072 Centerline is valid? [False, False] Translation: X:74.74, Y:1.35, Z:0.41 [[ 9.99999255e-01 1.15274453e-03 4.01407234e-04 7.47397754e+01] [-1.15273673e-03 9.99999335e-01 -1.96638629e-05 1.34740455e+00] [-4.01429634e-04 1.92011314e-05 9.99999919e-01 4.13444366e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.145336195 meters Centerline goodness [0,1] 0.6641854711427718 Centerline is valid? [False, False] Translation: X:74.74, Y:1.35, Z:0.41 [[ 9.99999101e-01 1.32298181e-03 2.18771421e-04 7.47407094e+01] [-1.32306249e-03 9.99999057e-01 3.69073855e-04 1.34576925e+00] [-2.18282936e-04 -3.69362972e-04 9.99999908e-01 4.12852602e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.175336195 meters Centerline goodness [0,1] 0.6634462962169573 Centerline is valid? [False, False] Translation: X:74.75, Y:1.34, Z:0.41 [[ 9.99997273e-01 2.32329052e-03 -2.38904861e-04 7.47452805e+01] [-2.32274840e-03 9.99994782e-01 2.24496712e-03 1.33902457e+00] [ 2.44119325e-04 -2.24440608e-03 9.99997452e-01 4.07943097e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.205336195 meters Centerline goodness [0,1] 0.6633221850613156 Centerline is valid? [False, False] Translation: X:74.74, Y:1.34, Z:0.41 [[ 9.99996587e-01 2.61200501e-03 -5.19025009e-05 7.47449996e+01] [-2.61183438e-03 9.99991929e-01 3.05307190e-03 1.33503495e+00] [ 5.98767211e-05 -3.05292592e-03 9.99995338e-01 4.07522855e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.23533619499999 meters Centerline goodness [0,1] 0.6765526417442809 Centerline is valid? [False, False] Translation: X:74.74, Y:1.33, Z:0.41 [[ 9.99997501e-01 2.13268873e-03 6.70638804e-04 7.47407256e+01] [-2.13482376e-03 9.99992604e-01 3.19913435e-03 1.33017561e+00] [-6.63811086e-04 -3.20055805e-03 9.99994658e-01 4.10161078e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.26533619499999 meters Centerline goodness [0,1] 0.6710597153132201 Centerline is valid? [False, False] Translation: X:74.74, Y:1.33, Z:0.41 [[ 9.99996244e-01 2.66596174e-03 6.36300155e-04 7.47422553e+01] [-2.66857169e-03 9.99987883e-01 4.13676904e-03 1.32651474e+00] [-6.25263977e-04 -4.13845151e-03 9.99991241e-01 4.07748882e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.29533619499999 meters Centerline goodness [0,1] 0.6547095727881866 Centerline is valid? [False, False] Translation: X:74.74, Y:1.33, Z:0.41 [[ 9.99999321e-01 -8.22591527e-04 8.25733906e-04 7.47413741e+01] [ 8.22729757e-04 9.99999648e-01 -1.67077231e-04 1.32843561e+00] [-8.25596179e-04 1.67756473e-04 9.99999645e-01 4.09089575e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.32533619499999 meters Centerline goodness [0,1] 0.6684750106791969 Centerline is valid? [False, False] Translation: X:74.74, Y:1.33, Z:0.41 [[ 9.99998900e-01 -4.90553014e-04 1.40000138e-03 7.47389583e+01] [ 4.89993837e-04 9.99999800e-01 3.99726946e-04 1.32519152e+00] [-1.40019718e-03 -3.99040514e-04 9.99998940e-01 4.10306165e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.35533619499999 meters Centerline goodness [0,1] 0.6644679073951127 Centerline is valid? [False, False] Translation: X:74.74, Y:1.32, Z:0.41 [[ 9.99999564e-01 -1.55118016e-04 9.21182325e-04 7.47415088e+01] [ 1.54389171e-04 9.99999675e-01 7.91224196e-04 1.32420422e+00] [-9.21304758e-04 -7.91081630e-04 9.99999263e-01 4.08391779e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.385336195 meters Centerline goodness [0,1] 0.6564456368979175 Centerline is valid? [False, False] Translation: X:74.74, Y:1.32, Z:0.41 [[ 9.99999775e-01 1.15174276e-04 6.60775631e-04 7.47430480e+01] [-1.15956046e-04 9.99999293e-01 1.18319397e-03 1.32299833e+00] [-6.60638891e-04 -1.18327032e-03 9.99999082e-01 4.07156612e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.415336195 meters Centerline goodness [0,1] 0.6570962269418257 Centerline is valid? [False, False] Translation: X:74.74, Y:1.32, Z:0.41 [[ 9.99999460e-01 3.55834382e-04 9.76354750e-04 7.47418382e+01] [-3.57544562e-04 9.99998401e-01 1.75198174e-03 1.31994727e+00] [-9.75729774e-04 -1.75232988e-03 9.99997989e-01 4.07646222e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.445336195 meters Centerline goodness [0,1] 0.6577234549867892 Centerline is valid? [False, False] Translation: X:74.74, Y:1.32, Z:0.41 [[ 9.99999377e-01 4.56763368e-04 1.01894287e-03 7.47417747e+01] [-4.58775827e-04 9.99997943e-01 1.97568733e-03 1.31885236e+00] [-1.01803835e-03 -1.97615356e-03 9.99997529e-01 4.07541351e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.475336195 meters Centerline goodness [0,1] 0.6496773090567167 Centerline is valid? [False, False] Translation: X:74.75, Y:1.31, Z:0.40 [[ 9.99998634e-01 1.42768143e-03 8.33490756e-04 7.47452448e+01] [-1.43066169e-03 9.99992547e-01 3.58605477e-03 1.31325722e+00] [-8.28364800e-04 -3.58724232e-03 9.99993223e-01 4.03166599e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.505336195 meters Centerline goodness [0,1] 0.6448286903618315 Centerline is valid? [False, False] Translation: X:74.74, Y:1.31, Z:0.40 [[ 9.99996916e-01 -2.03110000e-03 1.42899294e-03 7.47442591e+01] [ 2.03080804e-03 9.99997917e-01 2.05736396e-04 1.30972090e+00] [-1.42940783e-03 -2.02833751e-04 9.99998958e-01 4.02179459e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.535336195 meters Centerline goodness [0,1] 0.659476448807371 Centerline is valid? [False, False] Translation: X:74.74, Y:1.31, Z:0.40 [[ 9.99997139e-01 -1.82750576e-03 1.54334428e-03 7.47441363e+01] [ 1.82636090e-03 9.99998056e-01 7.42891823e-04 1.30711453e+00] [-1.54469892e-03 -7.40070994e-04 9.99998533e-01 4.01850088e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.565336195 meters Centerline goodness [0,1] 0.659476448807371 Centerline is valid? [False, False] Translation: X:74.74, Y:1.31, Z:0.40 [[ 9.99997139e-01 -1.82750576e-03 1.54334428e-03 7.47441363e+01] [ 1.82636090e-03 9.99998056e-01 7.42891823e-04 1.30711453e+00] [-1.54469892e-03 -7.40070994e-04 9.99998533e-01 4.01850088e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.595336195 meters Centerline goodness [0,1] 0.6420058946649011 Centerline is valid? [False, False] Translation: X:74.75, Y:1.30, Z:0.40 [[ 9.99998048e-01 -1.59544086e-03 1.16515948e-03 7.47452593e+01] [ 1.59382618e-03 9.99997770e-01 1.38541748e-03 1.30409036e+00] [-1.16736724e-03 -1.38355771e-03 9.99998362e-01 4.02102974e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.62533619499999 meters Centerline goodness [0,1] 0.6412960122699387 Centerline is valid? [False, False] Translation: X:74.75, Y:1.30, Z:0.40 [[ 9.99998503e-01 -1.48067515e-03 8.95240359e-04 7.47458009e+01] [ 1.47915417e-03 9.99997466e-01 1.69724089e-03 1.30261181e+00] [-8.97751153e-04 -1.69591415e-03 9.99998159e-01 4.02776634e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.65533619499999 meters Centerline goodness [0,1] 0.6516299259511448 Centerline is valid? [False, False] Translation: X:74.75, Y:1.30, Z:0.40 [[ 9.99999097e-01 -1.12070773e-03 7.42172785e-04 7.47464852e+01] [ 1.11861461e-03 9.99995413e-01 2.81469163e-03 1.29712905e+00] [-7.45323827e-04 -2.81385888e-03 9.99995763e-01 4.02678195e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.68533619499999 meters Centerline goodness [0,1] 0.6380671244304691 Centerline is valid? [False, False] Translation: X:74.74, Y:1.29, Z:0.40 [[ 9.99996579e-01 -2.14251947e-03 1.50085612e-03 7.47439525e+01] [ 2.13875512e-03 9.99994575e-01 2.50526550e-03 1.28848788e+00] [-1.50621555e-03 -2.50204697e-03 9.99995736e-01 4.02398974e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.71533619499999 meters Centerline goodness [0,1] 0.6576590090862335 Centerline is valid? [False, False] Translation: X:74.75, Y:1.28, Z:0.40 [[ 9.99997507e-01 -1.67882348e-03 1.47242778e-03 7.47453302e+01] [ 1.67349997e-03 9.99992086e-01 3.60927670e-03 1.28361528e+00] [-1.47847547e-03 -3.60680360e-03 9.99992403e-01 4.00274504e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.745336195 meters Centerline goodness [0,1] 0.6518043543095735 Centerline is valid? [False, False] Translation: X:74.74, Y:1.28, Z:0.40 [[ 9.99983188e-01 -5.51816168e-03 1.78143290e-03 7.47438935e+01] [ 5.51892985e-03 9.99984680e-01 -4.26580833e-04 1.28279037e+00] [-1.77905166e-03 4.36405264e-04 9.99998322e-01 4.01599619e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.775336195 meters Centerline goodness [0,1] 0.6546659233210396 Centerline is valid? [False, False] Translation: X:74.74, Y:1.28, Z:0.40 [[ 9.99983515e-01 -5.43926384e-03 1.83955450e-03 7.47430080e+01] [ 5.43942364e-03 9.99985203e-01 -8.18744075e-05 1.28064527e+00] [-1.83908194e-03 9.18791740e-05 9.99998305e-01 4.02929157e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.805336195 meters Centerline goodness [0,1] 0.6611157727145593 Centerline is valid? [False, False] Translation: X:74.74, Y:1.28, Z:0.40 [[ 9.99985403e-01 -5.07936666e-03 1.84232873e-03 7.47436260e+01] [ 5.07812159e-03 9.99986875e-01 6.79863589e-04 1.27731088e+00] [-1.84575783e-03 -6.70498095e-04 9.99998072e-01 4.01948584e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.835336195 meters Centerline goodness [0,1] 0.6524847053772673 Centerline is valid? [False, False] Translation: X:74.75, Y:1.27, Z:0.40 [[ 9.99991257e-01 -3.73448910e-03 1.88161394e-03 7.47466732e+01] [ 3.72804605e-03 9.99987216e-01 3.41616285e-03 1.26611669e+00] [-1.89434751e-03 -3.40911823e-03 9.99992395e-01 3.97310517e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.865336195 meters Centerline goodness [0,1] 0.6388077521693708 Centerline is valid? [False, False] Translation: X:74.75, Y:1.26, Z:0.40 [[ 9.99992619e-01 -3.41159947e-03 1.76739444e-03 7.47474808e+01] [ 3.40418982e-03 9.99985475e-01 4.17859512e-03 1.26270114e+00] [-1.78162446e-03 -4.17254773e-03 9.99989708e-01 3.96707474e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.895336195 meters Centerline goodness [0,1] 0.6508887130237632 Centerline is valid? [False, False] Translation: X:74.75, Y:1.26, Z:0.40 [[ 9.99993524e-01 -3.32838625e-03 1.36880349e-03 7.47485615e+01] [ 3.32180666e-03 9.99983052e-01 4.78132506e-03 1.25962829e+00] [-1.38469439e-03 -4.77674720e-03 9.99987633e-01 3.97127467e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.925336195 meters Centerline goodness [0,1] 0.6568991815076586 Centerline is valid? [False, False] Translation: X:74.75, Y:1.25, Z:0.40 [[ 9.99988276e-01 -4.55266438e-03 1.64956429e-03 7.47472060e+01] [ 4.54546212e-03 9.99980234e-01 4.34391512e-03 1.25070393e+00] [-1.66930807e-03 -4.33636616e-03 9.99989205e-01 3.97468359e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.955336195 meters Centerline goodness [0,1] 0.6512522015550496 Centerline is valid? [False, False] Translation: X:74.75, Y:1.24, Z:0.39 [[ 9.99993215e-01 -3.50957096e-03 1.11936450e-03 7.47519150e+01] [ 3.50227685e-03 9.99973046e-01 6.45301407e-03 1.24254768e+00] [-1.14198164e-03 -6.44904997e-03 9.99978553e-01 3.92822385e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.98533619499999 meters Centerline goodness [0,1] 0.63852203273924 Centerline is valid? [False, False] Translation: X:74.75, Y:1.23, Z:0.39 [[ 9.99976048e-01 -6.81332546e-03 1.21775782e-03 7.47529693e+01] [ 6.80812084e-03 9.99967886e-01 4.22817159e-03 1.23314476e+00] [-1.24652662e-03 -4.21977968e-03 9.99990320e-01 3.91219571e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.01533619499999 meters Centerline goodness [0,1] 0.65456903516605 Centerline is valid? [False, False] Translation: X:74.75, Y:1.23, Z:0.39 [[ 9.99977214e-01 -6.59039948e-03 1.46217189e-03 7.47515729e+01] [ 6.58313347e-03 9.99966229e-01 4.91970060e-03 1.22937373e+00] [-1.49454530e-03 -4.90996283e-03 9.99986829e-01 3.92584865e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.04533619499999 meters Centerline goodness [0,1] 0.6647536244298349 Centerline is valid? [False, False] Translation: X:74.75, Y:1.23, Z:0.40 [[ 9.99968721e-01 -7.63777712e-03 2.05449952e-03 7.47450494e+01] [ 7.62977178e-03 9.99963379e-01 3.87650933e-03 1.22971505e+00] [-2.08403220e-03 -3.86071271e-03 9.99990376e-01 3.99769518e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.07533619499999 meters Centerline goodness [0,1] 0.6492614001284521 Centerline is valid? [False, False] Translation: X:74.75, Y:1.23, Z:0.40 [[ 9.99971936e-01 -7.21314089e-03 2.02435153e-03 7.47452319e+01] [ 7.20322207e-03 9.99962222e-01 4.86500083e-03 1.22503771e+00] [-2.05936699e-03 -4.85028244e-03 9.99986117e-01 3.99894864e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.10533619499999 meters Centerline goodness [0,1] 0.6489226061456075 Centerline is valid? [False, False] Translation: X:74.75, Y:1.22, Z:0.40 [[ 9.99937543e-01 -1.09792128e-02 2.08995903e-03 7.47456981e+01] [ 1.09773726e-02 9.99939351e-01 8.89952076e-04 1.22424913e+00] [-2.09960325e-03 -8.66954233e-04 9.99997420e-01 3.99170947e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.135336195 meters Centerline goodness [0,1] 0.6422045765027322 Centerline is valid? [False, False] Translation: X:74.75, Y:1.22, Z:0.39 [[ 9.99901658e-01 -1.38570848e-02 2.15789584e-03 7.47491121e+01] [ 1.38598261e-02 9.99903153e-01 -1.26062832e-03 1.21624916e+00] [-2.14021822e-03 1.29041241e-03 9.99996877e-01 3.94002079e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.165336195 meters Centerline goodness [0,1] 0.6390282264920932 Centerline is valid? [False, False] Translation: X:74.75, Y:1.21, Z:0.39 [[ 9.99958399e-01 -8.88535419e-03 2.06168171e-03 7.47518206e+01] [ 8.87464949e-03 9.99947386e-01 5.14453818e-03 1.20703271e+00] [-2.10728428e-03 -5.12602746e-03 9.99984641e-01 3.90024935e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.195336195 meters Centerline goodness [0,1] 0.6478422443236741 Centerline is valid? [False, False] Translation: X:74.72, Y:1.21, Z:0.40 [[ 9.99983142e-01 -5.70203905e-03 -1.09643199e-03 7.47209210e+01] [ 5.69827632e-03 9.99977968e-01 -3.40483383e-03 1.20669163e+00] [ 1.11582233e-03 3.39852866e-03 9.99993602e-01 4.04868679e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.225336195 meters Centerline goodness [0,1] 0.6442262237311445 Centerline is valid? [False, False] Translation: X:74.72, Y:1.20, Z:0.41 [[ 9.99996761e-01 -2.44838602e-03 -6.95390736e-04 7.47171964e+01] [ 2.44882625e-03 9.99996801e-01 6.32933214e-04 1.20138281e+00] [ 6.93838846e-04 -6.34634055e-04 9.99999558e-01 4.07704910e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.255336195 meters Centerline goodness [0,1] 0.6439708717070036 Centerline is valid? [False, False] Translation: X:74.72, Y:1.20, Z:0.41 [[ 9.99997481e-01 -2.12930792e-03 -7.09939778e-04 7.47177463e+01] [ 2.13025282e-03 9.99996843e-01 1.33286432e-03 1.19829452e+00] [ 7.07099458e-04 -1.33437332e-03 9.99998860e-01 4.06963641e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.285336195 meters Centerline goodness [0,1] 0.6344870368785831 Centerline is valid? [False, False] Translation: X:74.72, Y:1.19, Z:0.40 [[ 9.99999031e-01 -1.04980113e-03 -9.14565815e-04 7.47211876e+01] [ 1.05300016e-03 9.99993305e-01 3.50442783e-03 1.18950055e+00] [ 9.10880740e-04 -3.50538747e-03 9.99993441e-01 4.02809288e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.315336195 meters Centerline goodness [0,1] 0.6432037792570324 Centerline is valid? [False, False] Translation: X:74.72, Y:1.18, Z:0.40 [[ 9.99999534e-01 2.99881000e-05 -9.65131973e-04 7.47240393e+01] [-2.45769184e-05 9.99984285e-01 5.60619892e-03 1.18091199e+00] [ 9.65284925e-04 -5.60617259e-03 9.99983819e-01 3.98808422e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.345336195 meters Centerline goodness [0,1] 0.6425726887337815 Centerline is valid? [False, False] Translation: X:74.72, Y:1.18, Z:0.40 [[ 9.99999690e-01 1.10955768e-04 -7.79948212e-04 7.47232228e+01] [-1.06457432e-04 9.99983376e-01 5.76515729e-03 1.18002580e+00] [ 7.80574923e-04 -5.76507247e-03 9.99983077e-01 3.99239654e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.37533619499999 meters Centerline goodness [0,1] 0.6277182594619923 Centerline is valid? [False, False] Translation: X:74.72, Y:1.18, Z:0.40 [[ 9.99999519e-01 1.14284943e-04 -9.74472724e-04 7.47225600e+01] [-1.09476871e-04 9.99987828e-01 4.93265044e-03 1.18459947e+00] [ 9.75024591e-04 -4.93254138e-03 9.99987360e-01 4.01502433e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.40533619499999 meters Centerline goodness [0,1] 0.6256218639906053 Centerline is valid? [False, False] Translation: X:74.72, Y:1.19, Z:0.40 [[ 9.99999549e-01 -2.12367795e-05 -9.49343802e-04 7.47221449e+01] [ 2.55819571e-05 9.99989524e-01 4.57725482e-03 1.18615767e+00] [ 9.49236650e-04 -4.57727704e-03 9.99989074e-01 4.01979380e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.43533619499999 meters Centerline goodness [0,1] 0.6362697422214572 Centerline is valid? [False, False] Translation: X:74.70, Y:1.19, Z:0.40 [[ 9.99986716e-01 3.87866480e-03 3.39469194e-03 7.47018945e+01] [-3.86644705e-03 9.99986051e-01 -3.59826954e-03 1.18562940e+00] [-3.40860107e-03 3.58509635e-03 9.99987764e-01 3.99504555e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.46533619499999 meters Centerline goodness [0,1] 0.6376646783675921 Centerline is valid? [False, False] Translation: X:74.70, Y:1.19, Z:0.40 [[ 9.99985893e-01 4.06679478e-03 3.41683951e-03 7.47027178e+01] [-4.05516807e-03 9.99985988e-01 -3.40283488e-03 1.18519044e+00] [-3.43063026e-03 3.38893102e-03 9.99988373e-01 3.97846414e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.495336195 meters Centerline goodness [0,1] 0.6222350823045267 Centerline is valid? [False, False] Translation: X:74.70, Y:1.18, Z:0.40 [[ 9.99985918e-01 4.12530539e-03 3.33864103e-03 7.47032568e+01] [-4.11432300e-03 9.99986125e-01 -3.28969041e-03 1.18481442e+00] [-3.35216569e-03 3.27590783e-03 9.99989016e-01 3.97343796e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.525336195 meters Centerline goodness [0,1] 0.6370168003958097 Centerline is valid? [False, False] Translation: X:74.70, Y:1.18, Z:0.40 [[ 9.99987028e-01 3.89475741e-03 3.28252071e-03 7.47032291e+01] [-3.88472560e-03 9.99987782e-01 -3.05698446e-03 1.18308543e+00] [-3.29438682e-03 3.04419311e-03 9.99989940e-01 3.97684971e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.555336195 meters Centerline goodness [0,1] 0.6305006771717867 Centerline is valid? [False, False] Translation: X:74.70, Y:1.18, Z:0.40 [[ 9.99987521e-01 3.97873556e-03 3.02102270e-03 7.47043499e+01] [-3.97083128e-03 9.99988689e-01 -2.61793068e-03 1.18099182e+00] [-3.03140458e-03 2.60590204e-03 9.99992010e-01 3.97248315e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.585336195 meters Centerline goodness [0,1] 0.6450674707555442 Centerline is valid? [False, False] Translation: X:74.72, Y:1.18, Z:0.40 [[ 9.99991989e-01 -3.23162506e-03 -2.36200680e-03 7.47213841e+01] [ 3.23183312e-03 9.99994774e-01 8.42733528e-05 1.18068706e+00] [ 2.36172212e-03 -9.19062895e-05 9.99997207e-01 4.03127613e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.615336195 meters Centerline goodness [0,1] 0.636603757508627 Centerline is valid? [False, False] Translation: X:74.72, Y:1.18, Z:0.40 [[ 9.99988863e-01 -3.85266371e-03 -2.72604561e-03 7.47224554e+01] [ 3.85391436e-03 9.99992471e-01 4.53675590e-04 1.17736851e+00] [ 2.72427723e-03 -4.64176484e-04 9.99996181e-01 4.02801114e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.645336195 meters Centerline goodness [0,1] 0.6463729740118302 Centerline is valid? [False, False] Translation: X:74.72, Y:1.18, Z:0.40 [[ 9.99988902e-01 -3.87487549e-03 -2.67967432e-03 7.47221622e+01] [ 3.87679767e-03 9.99992231e-01 7.12497868e-04 1.17584344e+00] [ 2.67689266e-03 -7.22878517e-04 9.99996156e-01 4.03183108e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.675336195 meters Centerline goodness [0,1] 0.6686584425597533 Centerline is valid? [False, False] Translation: X:74.72, Y:1.18, Z:0.41 [[ 9.99985588e-01 -4.94542325e-03 -2.08986330e-03 7.47169026e+01] [ 4.94437517e-03 9.99987648e-01 -5.06376196e-04 1.17849624e+00] [ 2.09234173e-03 4.96035830e-04 9.99997688e-01 4.08258482e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.705336195 meters Centerline goodness [0,1] 0.6605214192527322 Centerline is valid? [False, False] Translation: X:74.72, Y:1.18, Z:0.41 [[ 9.99985147e-01 -5.01555504e-03 -2.13300467e-03 7.47168171e+01] [ 5.01429191e-03 9.99987250e-01 -5.97119498e-04 1.17886492e+00] [ 2.13597236e-03 5.86415121e-04 9.99997547e-01 4.08697587e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.73533619499999 meters Centerline goodness [0,1] 0.6582297438969598 Centerline is valid? [False, False] Translation: X:74.72, Y:1.18, Z:0.41 [[ 9.99984618e-01 -5.01239108e-03 -2.37467487e-03 7.47183783e+01] [ 5.01175106e-03 9.99987403e-01 -2.75391546e-04 1.17753685e+00] [ 2.37602533e-03 2.63486031e-04 9.99997143e-01 4.07318350e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.76533619499999 meters Centerline goodness [0,1] 0.6566820767378938 Centerline is valid? [False, False] Translation: X:74.72, Y:1.18, Z:0.41 [[ 9.99984742e-01 -4.87338524e-03 -2.60098912e-03 7.47201648e+01] [ 4.87368678e-03 9.99988118e-01 1.09605076e-04 1.17612275e+00] [ 2.60042407e-03 -1.22279810e-04 9.99996611e-01 4.05447438e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.79533619499999 meters Centerline goodness [0,1] 0.6736007819472185 Centerline is valid? [False, False] Translation: X:74.72, Y:1.17, Z:0.40 [[ 9.99985451e-01 -4.60466387e-03 -2.80964135e-03 7.47219656e+01] [ 4.60681475e-03 9.99989100e-01 7.59543264e-04 1.17348231e+00] [ 2.80611328e-03 -7.72475710e-04 9.99995764e-01 4.03578037e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.82533619499999 meters Centerline goodness [0,1] 0.661373620486446 Centerline is valid? [False, False] Translation: X:74.72, Y:1.18, Z:0.41 [[ 9.99983470e-01 -5.02064457e-03 -2.80243472e-03 7.47206232e+01] [ 5.02136936e-03 9.99987361e-01 2.51654844e-04 1.17506164e+00] [ 2.80113583e-03 -2.65722744e-04 9.99996042e-01 4.05862487e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.85533619499999 meters Centerline goodness [0,1] 0.6838831452962121 Centerline is valid? [False, False] Translation: X:74.72, Y:1.18, Z:0.41 [[ 9.99981213e-01 -5.47719513e-03 -2.75213629e-03 7.47188667e+01] [ 5.47534899e-03 9.99984780e-01 -6.77888289e-04 1.17890432e+00] [ 2.75580733e-03 6.62806646e-04 9.99995983e-01 4.08561718e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.885336195 meters Centerline goodness [0,1] 0.675329646958741 Centerline is valid? [False, False] Translation: X:74.72, Y:1.18, Z:0.41 [[ 9.99981684e-01 -5.41372655e-03 -2.70604490e-03 7.47189028e+01] [ 5.41208536e-03 9.99985166e-01 -6.13444791e-04 1.17874168e+00] [ 2.70932578e-03 5.98788209e-04 9.99996150e-01 4.08248593e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.915336195 meters Centerline goodness [0,1] 0.6804035567715458 Centerline is valid? [False, False] Translation: X:74.72, Y:1.17, Z:0.40 [[ 9.99985016e-01 -4.78643974e-03 -2.65668027e-03 7.47210950e+01] [ 4.78772836e-03 9.99988424e-01 4.78904041e-04 1.17474587e+00] [ 2.65435728e-03 -4.91616328e-04 9.99996356e-01 4.04474534e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.945336195 meters Centerline goodness [0,1] 0.6755564123985176 Centerline is valid? [False, False] Translation: X:74.72, Y:1.18, Z:0.40 [[ 9.99984256e-01 -4.92462809e-03 -2.68993079e-03 7.47211575e+01] [ 4.92494642e-03 9.99987866e-01 1.11732404e-04 1.17657658e+00] [ 2.68934791e-03 -1.24978410e-04 9.99996376e-01 4.04440260e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.975336195 meters Centerline goodness [0,1] 0.6613744075829384 Centerline is valid? [False, False] Translation: X:74.72, Y:1.18, Z:0.40 [[ 9.99993761e-01 -1.15796689e-03 -3.33731543e-03 7.47232151e+01] [ 1.16975927e-03 9.99993072e-01 3.53371063e-03 1.18079072e+00] [ 3.33320039e-03 -3.53759244e-03 9.99988188e-01 4.03937519e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.005336195 meters Centerline goodness [0,1] 0.6705506201450582 Centerline is valid? [False, False] Translation: X:74.73, Y:1.19, Z:0.40 [[ 9.99992094e-01 -1.14254364e-03 -3.80886303e-03 7.47251379e+01] [ 1.15292804e-03 9.99995622e-01 2.72529893e-03 1.18574752e+00] [ 3.80573259e-03 -2.72966872e-03 9.99989033e-01 4.02954472e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.035336195 meters Centerline goodness [0,1] 0.6519983765193429 Centerline is valid? [False, False] Translation: X:74.73, Y:1.19, Z:0.40 [[ 9.99992596e-01 -1.00641461e-03 -3.71413921e-03 7.47256175e+01] [ 1.01676013e-03 9.99995606e-01 2.78460674e-03 1.18590995e+00] [ 3.71132042e-03 -2.78836251e-03 9.99989226e-01 4.01536664e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.065336195 meters Centerline goodness [0,1] 0.6592074492050892 Centerline is valid? [False, False] Translation: X:74.72, Y:1.19, Z:0.40 [[ 9.99993290e-01 -1.17561970e-03 -3.46943337e-03 7.47243779e+01] [ 1.18204244e-03 9.99997591e-01 1.84976793e-03 1.19055168e+00] [ 3.46725038e-03 -1.85385653e-03 9.99992271e-01 4.02181971e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.095336195 meters Centerline goodness [0,1] 0.6528271371113618 Centerline is valid? [False, False] Translation: X:74.72, Y:1.20, Z:0.40 [[ 9.99993361e-01 -1.56818966e-03 -3.28926503e-03 7.47225177e+01] [ 1.57083008e-03 9.99998446e-01 8.00307218e-04 1.19531282e+00] [ 3.28800488e-03 -8.05468781e-04 9.99994270e-01 4.04329648e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.12533619499999 meters Centerline goodness [0,1] 0.6709513217554965 Centerline is valid? [False, False] Translation: X:74.72, Y:1.20, Z:0.41 [[ 9.99992953e-01 1.88973540e-03 -3.24401803e-03 7.47206777e+01] [-1.87745048e-03 9.99991071e-01 3.78582291e-03 1.20049300e+00] [ 3.25114327e-03 -3.77970575e-03 9.99987572e-01 4.06848182e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.15533619499999 meters Centerline goodness [0,1] 0.6534452993456809 Centerline is valid? [False, False] Translation: X:74.72, Y:1.20, Z:0.41 [[ 9.99993637e-01 1.42457960e-03 -3.27043571e-03 7.47199711e+01] [-1.41545287e-03 9.99995103e-01 2.79129591e-03 1.20496504e+00] [ 3.27439612e-03 -2.78664900e-03 9.99990756e-01 4.08065241e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.18533619499999 meters Centerline goodness [0,1] 0.6774638477619017 Centerline is valid? [False, False] Translation: X:74.72, Y:1.21, Z:0.41 [[ 9.99994674e-01 8.90516250e-04 -3.13992954e-03 7.47195093e+01] [-8.82535456e-04 9.99996379e-01 2.54218141e-03 1.20518669e+00] [ 3.14218203e-03 -2.53939677e-03 9.99991839e-01 4.07813792e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.21533619499999 meters Centerline goodness [0,1] 0.686472954467648 Centerline is valid? [False, False] Translation: X:74.72, Y:1.20, Z:0.41 [[ 9.99988894e-01 -3.74600915e-03 -2.85977395e-03 7.47183371e+01] [ 3.74190749e-03 9.99991965e-01 -1.43826738e-03 1.20251943e+00] [ 2.86513874e-03 1.42755040e-03 9.99994877e-01 4.08304329e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.245336195 meters Centerline goodness [0,1] 0.7162193898247187 Centerline is valid? [False, False] Translation: X:74.72, Y:1.20, Z:0.41 [[ 9.99957025e-01 -8.82545932e-03 -2.83889191e-03 7.47167820e+01] [ 8.80843134e-03 9.99943469e-01 -5.95570590e-03 1.20164606e+00] [ 2.89129326e-03 5.93044377e-03 9.99978235e-01 4.10873308e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.275336195 meters Centerline goodness [0,1] 0.7329679936882956 Centerline is valid? [False, False] Translation: X:74.72, Y:1.20, Z:0.41 [[ 9.99954300e-01 -9.08975785e-03 -2.96221533e-03 7.47168638e+01] [ 9.07297546e-03 9.99942988e-01 -5.63051487e-03 1.19941766e+00] [ 3.01322646e-03 5.60338145e-03 9.99979761e-01 4.11385148e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.305336195 meters Centerline goodness [0,1] 0.7982895775128495 Centerline is valid? [False, False] Translation: X:74.71, Y:1.20, Z:0.41 [[ 9.99898476e-01 -1.39904363e-02 -2.70270769e-03 7.47144203e+01] [ 1.39628911e-02 9.99852957e-01 -9.95502782e-03 1.19752382e+00] [ 2.84158545e-03 9.91627953e-03 9.99946795e-01 4.14381093e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.335336195 meters Centerline goodness [0,1] 0.9607018592439217 Centerline is valid? [False, True] Translation: X:74.71, Y:1.19, Z:0.41 [[ 9.99899727e-01 -1.39242148e-02 -2.57899499e-03 7.47146199e+01] [ 1.39005460e-02 9.99863069e-01 -8.97870750e-03 1.19244951e+00] [ 2.70366330e-03 8.94195774e-03 9.99956365e-01 4.13422044e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.365336195 meters Centerline goodness [0,1] 0.9967248207213957 Centerline is valid? [True, True] Translation: X:74.75, Y:1.17, Z:0.41 [[ 9.99787728e-01 -2.02804539e-02 -3.63335197e-03 7.47467905e+01] [ 2.02796719e-02 9.99794315e-01 -2.51930690e-04 1.17427450e+00] [ 3.63771391e-03 1.78194027e-04 9.99993368e-01 4.05313609e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.395336195 meters Centerline goodness [0,1] 0.9906875413827719 Centerline is valid? [True, True] Translation: X:74.78, Y:1.18, Z:0.40 [[ 9.99743468e-01 -2.21665432e-02 -4.65223287e-03 7.47769931e+01] [ 2.21652819e-02 9.99754268e-01 -3.22508594e-04 1.17824248e+00] [ 4.65823857e-03 2.19307807e-04 9.99989126e-01 4.02885974e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.425336195 meters Centerline goodness [0,1] 0.9948197574026306 Centerline is valid? [True, True] Translation: X:74.81, Y:1.17, Z:0.40 [[ 9.99734916e-01 -2.22738569e-02 -5.82863503e-03 7.48102122e+01] [ 2.22718800e-02 9.99751869e-01 -4.03865791e-04 1.17089603e+00] [ 5.83618442e-03 2.73944072e-04 9.99982932e-01 4.00275623e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.455336195 meters Centerline goodness [0,1] 0.9948197574026306 Centerline is valid? [True, True] Translation: X:74.84, Y:1.17, Z:0.40 [[ 9.99736495e-01 -2.22028505e-02 -5.82865948e-03 7.48427433e+01] [ 2.22008744e-02 9.99753449e-01 -4.03512810e-04 1.17302711e+00] [ 5.83618155e-03 2.74005145e-04 9.99982932e-01 4.00359542e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.48533619499999 meters Centerline goodness [0,1] 0.9369892980461965 Centerline is valid? [True, False] Translation: X:74.84, Y:1.17, Z:0.40 [[ 9.99813996e-01 -1.86074557e-02 -5.07297411e-03 7.48378827e+01] [ 1.86271060e-02 9.99819072e-01 3.85420307e-03 1.16630604e+00] [ 5.00033935e-03 -3.94798100e-03 9.99979705e-01 4.03064802e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.51533619499999 meters Centerline goodness [0,1] 0.9846683488004105 Centerline is valid? [False, True] Translation: X:74.84, Y:1.16, Z:0.40 [[ 9.99818557e-01 -1.83839272e-02 -4.98833170e-03 7.48373832e+01] [ 1.84048578e-02 9.99821866e-01 4.18294654e-03 1.16478690e+00] [ 4.91054413e-03 -4.27399711e-03 9.99978810e-01 4.03550455e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.54533619499999 meters Centerline goodness [0,1] 0.9163258350374914 Centerline is valid? [True, False] Translation: X:74.84, Y:1.16, Z:0.40 [[ 9.99831124e-01 -1.76580644e-02 -5.09089696e-03 7.48385163e+01] [ 1.76847948e-02 9.99829806e-01 5.25431616e-03 1.16043420e+00] [ 4.99724946e-03 -5.34346029e-03 9.99973237e-01 4.02386918e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.57533619499999 meters Centerline goodness [0,1] 0.7948592671269251 Centerline is valid? [False, False] Translation: X:74.84, Y:1.16, Z:0.40 [[ 9.99835978e-01 -1.73663356e-02 -5.14077469e-03 7.48391005e+01] [ 1.73952395e-02 9.99832828e-01 5.63218338e-03 1.15904613e+00] [ 5.04210491e-03 -5.72068459e-03 9.99970925e-01 4.01681680e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.60533619499999 meters Centerline goodness [0,1] 0.7428510638297872 Centerline is valid? [False, False] Translation: X:74.83, Y:1.16, Z:0.41 [[ 9.99928591e-01 -1.08491243e-02 -5.01093218e-03 7.48318913e+01] [ 1.08103662e-02 9.99911934e-01 -7.69810279e-03 1.15728543e+00] [ 5.09400856e-03 7.64338306e-03 9.99957814e-01 4.10681081e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.635336195 meters Centerline goodness [0,1] 0.7098845491463441 Centerline is valid? [False, False] Translation: X:74.84, Y:1.14, Z:0.40 [[ 9.99975126e-01 -4.75611979e-03 -5.20838218e-03 7.48365591e+01] [ 4.75665827e-03 9.99988683e-01 9.10035735e-05 1.14300408e+00] [ 5.20789041e-03 -1.15775804e-04 9.99986432e-01 4.04393922e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.665336195 meters Centerline goodness [0,1] 0.7035614228712115 Centerline is valid? [False, False] Translation: X:74.84, Y:1.14, Z:0.40 [[ 9.99976710e-01 -4.22572052e-03 -5.35941639e-03 7.48382188e+01] [ 4.23063235e-03 9.99990641e-01 9.05481876e-04 1.13992258e+00] [ 5.35553992e-03 -9.28134508e-04 9.99985228e-01 4.02437820e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.695336195 meters Centerline goodness [0,1] 0.6784369114877589 Centerline is valid? [False, False] Translation: X:74.82, Y:1.13, Z:0.40 [[ 9.99969408e-01 4.00796046e-03 -6.71706798e-03 7.48200511e+01] [-4.03458978e-03 9.99984038e-01 -3.95557481e-03 1.13285680e+00] [ 6.70110697e-03 3.98255442e-03 9.99969617e-01 4.03841339e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.725336195 meters Centerline goodness [0,1] 0.6806407342282454 Centerline is valid? [False, False] Translation: X:74.82, Y:1.13, Z:0.40 [[ 9.99941031e-01 8.79727041e-03 -6.36725552e-03 7.48187606e+01] [-8.79303075e-03 9.99961100e-01 6.93543098e-04 1.13166351e+00] [ 6.37310912e-03 -6.37514727e-04 9.99979488e-01 4.04495473e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.755336195 meters Centerline goodness [0,1] 0.6695095035035463 Centerline is valid? [False, False] Translation: X:74.82, Y:1.13, Z:0.41 [[ 9.99939395e-01 8.97412808e-03 -6.37748422e-03 7.48182509e+01] [-8.97271700e-03 9.99959713e-01 2.49837956e-04 1.13425404e+00] [ 6.37946937e-03 -1.92599453e-04 9.99979632e-01 4.05507574e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.785336195 meters Centerline goodness [0,1] 0.6479774705581157 Centerline is valid? [False, False] Translation: X:74.82, Y:1.14, Z:0.41 [[ 9.99931146e-01 1.01011185e-02 -5.97245040e-03 7.48176376e+01] [-1.00985393e-02 9.99948902e-01 4.61849875e-04 1.13570965e+00] [ 5.97681042e-03 -4.01505050e-04 9.99982058e-01 4.05137528e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.815336195 meters Centerline goodness [0,1] 0.6551406868513961 Centerline is valid? [False, False] Translation: X:74.82, Y:1.14, Z:0.41 [[ 9.99961590e-01 6.86055793e-03 -5.45444349e-03 7.48163516e+01] [-6.88218675e-03 9.99968490e-01 -3.95652661e-03 1.13929292e+00] [ 5.42712764e-03 3.99391314e-03 9.99977297e-01 4.05359924e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.845336195 meters Centerline goodness [0,1] 0.6489590040781283 Centerline is valid? [False, False] Translation: X:74.82, Y:1.13, Z:0.40 [[ 9.99949153e-01 8.30454114e-03 -5.72069144e-03 7.48208699e+01] [-8.31773960e-03 9.99962791e-01 -2.28722758e-03 1.13455082e+00] [ 5.70148420e-03 2.33469451e-03 9.99981021e-01 3.99846544e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.87533619499999 meters Centerline goodness [0,1] 0.6437260812862121 Centerline is valid? [False, False] Translation: X:74.82, Y:1.13, Z:0.40 [[ 9.99947580e-01 8.60118156e-03 -5.55497665e-03 7.48206111e+01] [-8.61191883e-03 9.99961089e-01 -1.91189006e-03 1.13306504e+00] [ 5.53831598e-03 1.95962885e-03 9.99982743e-01 3.99417547e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.90533619499999 meters Centerline goodness [0,1] 0.6430245940070756 Centerline is valid? [False, False] Translation: X:74.82, Y:1.13, Z:0.40 [[ 9.99903758e-01 1.27002190e-02 -5.58383995e-03 7.48210790e+01] [-1.26829915e-02 9.99914731e-01 3.10989987e-03 1.12872304e+00] [ 5.62286023e-03 -3.03878077e-03 9.99979574e-01 3.98829878e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.93533619499999 meters Centerline goodness [0,1] 0.6462445087324546 Centerline is valid? [False, False] Translation: X:74.81, Y:1.14, Z:0.41 [[ 9.99962315e-01 6.89909864e-03 -5.26981492e-03 7.48146420e+01] [-6.92011810e-03 9.99968132e-01 -3.98088537e-03 1.13851441e+00] [ 5.24218246e-03 4.01720309e-03 9.99978191e-01 4.07021540e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.96533619499999 meters Centerline goodness [0,1] 0.647645582542856 Centerline is valid? [False, False] Translation: X:74.84, Y:1.14, Z:0.40 [[ 9.99985729e-01 7.79771138e-04 -5.28522128e-03 7.48390591e+01] [-7.64497176e-04 9.99995528e-01 2.89134233e-03 1.13726329e+00] [ 5.28745223e-03 -2.88726053e-03 9.99981853e-01 4.00745993e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.995336195 meters Centerline goodness [0,1] 0.6554998169957156 Centerline is valid? [False, False] Translation: X:74.80, Y:1.13, Z:0.40 [[ 9.99967747e-01 -1.14779601e-04 -8.03064710e-03 7.48037665e+01] [ 9.77504250e-05 9.99997746e-01 -2.12088391e-03 1.12852296e+00] [ 8.03087244e-03 2.12003051e-03 9.99965505e-01 3.98011686e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.025336195 meters Centerline goodness [0,1] 0.6475217038019074 Centerline is valid? [False, False] Translation: X:74.81, Y:1.12, Z:0.39 [[ 9.99963048e-01 -3.02507696e-03 -8.04688893e-03 7.48073675e+01] [ 2.99699271e-03 9.99989384e-01 -3.49984796e-03 1.11633449e+00] [ 8.05739081e-03 3.47560216e-03 9.99961499e-01 3.92862760e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.055336195 meters Centerline goodness [0,1] 0.6466909960091342 Centerline is valid? [False, False] Translation: X:74.81, Y:1.11, Z:0.39 [[ 9.99961165e-01 -2.99239632e-03 -8.28940074e-03 7.48078303e+01] [ 2.96588819e-03 9.99990455e-01 -3.20828367e-03 1.11481558e+00] [ 8.29892207e-03 3.18357364e-03 9.99960496e-01 3.93552197e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.085336195 meters Centerline goodness [0,1] 0.6653286931272284 Centerline is valid? [False, False] Translation: X:74.80, Y:1.12, Z:0.40 [[ 9.99954680e-01 -5.00701255e-03 -8.09737682e-03 7.48011895e+01] [ 4.96157271e-03 9.99971887e-01 -5.62206007e-03 1.12115682e+00] [ 8.12529890e-03 5.58162956e-03 9.99951411e-01 4.02555571e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.115336195 meters Centerline goodness [0,1] 0.6786607123779407 Centerline is valid? [False, False] Translation: X:74.80, Y:1.12, Z:0.41 [[ 9.99954436e-01 -5.46822795e-03 -7.82457814e-03 7.47987765e+01] [ 5.42875707e-03 9.99972478e-01 -5.05685336e-03 1.11625775e+00] [ 7.85201482e-03 5.01414521e-03 9.99956601e-01 4.05141512e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.145336195 meters Centerline goodness [0,1] 0.6750627045869999 Centerline is valid? [False, False] Translation: X:74.80, Y:1.11, Z:0.40 [[ 9.99959946e-01 -4.49192309e-03 -7.74133938e-03 7.48010071e+01] [ 4.47054142e-03 9.99986151e-01 -2.77710662e-03 1.10635264e+00] [ 7.75370672e-03 2.74238740e-03 9.99966179e-01 4.01497256e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.175336195 meters Centerline goodness [0,1] 0.681524328002722 Centerline is valid? [False, False] Translation: X:74.80, Y:1.09, Z:0.39 [[ 9.99970759e-01 -3.39120737e-03 -6.85419583e-03 7.48027834e+01] [ 3.39891610e-03 9.99993604e-01 1.11333764e-03 1.08753860e+00] [ 6.85037643e-03 -1.13660192e-03 9.99975890e-01 3.93416772e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.205336195 meters Centerline goodness [0,1] 0.6824315668104368 Centerline is valid? [False, False] Translation: X:74.80, Y:1.09, Z:0.39 [[ 9.99970310e-01 -3.40172941e-03 -6.91428307e-03 7.48023124e+01] [ 3.41009342e-03 9.99993468e-01 1.19824296e-03 1.08688622e+00] [ 6.91016180e-03 -1.22178574e-03 9.99975378e-01 3.94662523e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.23533619499999 meters Centerline goodness [0,1] 0.686876455382512 Centerline is valid? [False, False] Translation: X:74.80, Y:1.09, Z:0.40 [[ 9.99968462e-01 -3.79330115e-03 -6.97748091e-03 7.48011506e+01] [ 3.79565291e-03 9.99992744e-01 3.23839197e-04 1.09074156e+00] [ 6.97620186e-03 -3.50313080e-04 9.99975605e-01 3.96971224e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.26533619499999 meters Centerline goodness [0,1] 0.6869645305003427 Centerline is valid? [False, False] Translation: X:74.80, Y:1.09, Z:0.40 [[ 9.99966401e-01 -4.07757763e-03 -7.11120613e-03 7.48001080e+01] [ 4.07443076e-03 9.99991595e-01 -4.56953796e-04 1.09419698e+00] [ 7.11300962e-03 4.27964326e-04 9.99974611e-01 3.99441230e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.29533619499999 meters Centerline goodness [0,1] 0.6766349138392379 Centerline is valid? [False, False] Translation: X:74.80, Y:1.09, Z:0.40 [[ 9.99968802e-01 -3.54491050e-03 -7.05899421e-03 7.48010418e+01] [ 3.54941572e-03 9.99993505e-01 6.25798028e-04 1.08947697e+00] [ 7.05672996e-03 -6.50833809e-04 9.99974889e-01 3.97697289e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.32533619499999 meters Centerline goodness [0,1] 0.6861025959827649 Centerline is valid? [False, False] Translation: X:74.81, Y:1.08, Z:0.39 [[ 9.99955799e-01 -6.09101870e-03 -7.16235151e-03 7.48058763e+01] [ 6.08701618e-03 9.99981305e-01 -5.80494127e-04 1.07775404e+00] [ 7.16575341e-03 5.36871119e-04 9.99974182e-01 3.91138732e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.35533619499999 meters Centerline goodness [0,1] 0.6733501130497845 Centerline is valid? [False, False] Translation: X:74.81, Y:1.07, Z:0.39 [[ 9.99958089e-01 -5.51608088e-03 -7.30702313e-03 7.48075284e+01] [ 5.52437028e-03 9.99984119e-01 1.11474538e-03 1.06981766e+00] [ 7.30075806e-03 -1.15506536e-03 9.99972682e-01 3.89441881e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.385336195 meters Centerline goodness [0,1] 0.6837573888460551 Centerline is valid? [False, False] Translation: X:74.81, Y:1.07, Z:0.39 [[ 9.99958321e-01 -5.50825312e-03 -7.28113780e-03 7.48065670e+01] [ 5.51751491e-03 9.99983994e-01 1.25254966e-03 1.06882844e+00] [ 7.27412190e-03 -1.29267124e-03 9.99972708e-01 3.91125109e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.415336195 meters Centerline goodness [0,1] 0.6852170587110347 Centerline is valid? [False, False] Translation: X:74.81, Y:1.06, Z:0.39 [[ 9.99958620e-01 -5.16809727e-03 -7.48654178e-03 7.48067347e+01] [ 5.18429552e-03 9.99984259e-01 2.14586035e-03 1.06441571e+00] [ 7.47533392e-03 -2.18458400e-03 9.99969673e-01 3.92227693e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.445336195 meters Centerline goodness [0,1] 0.6693121693121693 Centerline is valid? [False, False] Translation: X:74.81, Y:1.06, Z:0.39 [[ 9.99959199e-01 -4.84553997e-03 -7.62366258e-03 7.48077049e+01] [ 4.86730390e-03 9.99984125e-01 2.83882733e-03 1.06132827e+00] [ 7.60978590e-03 -2.87581818e-03 9.99966910e-01 3.91422350e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.475336195 meters Centerline goodness [0,1] 0.6781953599863025 Centerline is valid? [False, False] Translation: X:74.80, Y:1.05, Z:0.39 [[ 9.99962508e-01 -5.46321419e-03 -6.71825074e-03 7.48046080e+01] [ 5.48351536e-03 9.99980444e-01 3.00709562e-03 1.05035467e+00] [ 6.70169095e-03 -3.04382251e-03 9.99972911e-01 3.91570780e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.505336195 meters Centerline goodness [0,1] 0.6759632712606196 Centerline is valid? [False, False] Translation: X:74.81, Y:1.04, Z:0.39 [[ 9.99971486e-01 -3.66383951e-03 -6.60327061e-03 7.48077736e+01] [ 3.70647064e-03 9.99972294e-01 6.45543016e-03 1.03554178e+00] [ 6.57943600e-03 -6.47972092e-03 9.99957361e-01 3.86502681e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.535336195 meters Centerline goodness [0,1] 0.6623412538024633 Centerline is valid? [False, False] Translation: X:74.81, Y:1.04, Z:0.39 [[ 9.99954531e-01 -6.98794212e-03 -6.48874462e-03 7.48077036e+01] [ 7.00341219e-03 9.99972680e-01 2.36448447e-03 1.03671289e+00] [ 6.47204447e-03 -2.40982031e-03 9.99976152e-01 3.86757325e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.565336195 meters Centerline goodness [0,1] 0.6493542357039681 Centerline is valid? [False, False] Translation: X:74.81, Y:1.03, Z:0.39 [[ 9.99975740e-01 -2.15322687e-03 -6.62436691e-03 7.48085696e+01] [ 2.20337677e-03 9.99968900e-01 7.57255810e-03 1.03278615e+00] [ 6.60785546e-03 -7.58697037e-03 9.99949386e-01 3.85988273e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.595336195 meters Centerline goodness [0,1] 0.6437958076027266 Centerline is valid? [False, False] Translation: X:74.78, Y:1.03, Z:0.39 [[ 9.99962733e-01 5.00865374e-03 -7.03185501e-03 7.47842774e+01] [-4.99359026e-03 9.99985203e-01 2.15810424e-03 1.02642963e+00] [ 7.04256016e-03 -2.12290961e-03 9.99972947e-01 3.90771291e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.62533619499999 meters Centerline goodness [0,1] 0.6386082814061802 Centerline is valid? [False, False] Translation: X:74.78, Y:1.02, Z:0.39 [[ 9.99962846e-01 5.28767659e-03 -6.80784080e-03 7.47837435e+01] [-5.27072005e-03 9.99982969e-01 2.50627319e-03 1.02494948e+00] [ 6.82097721e-03 -2.47029785e-03 9.99973686e-01 3.90504969e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.65533619499999 meters Centerline goodness [0,1] 0.6356165553160154 Centerline is valid? [False, False] Translation: X:74.78, Y:1.02, Z:0.39 [[ 9.99961151e-01 5.76893041e-03 -6.66450324e-03 7.47839308e+01] [-5.74805003e-03 9.99978525e-01 3.14799064e-03 1.02235593e+00] [ 6.68252065e-03 -3.10956045e-03 9.99972837e-01 3.89430522e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.68533619499999 meters Centerline goodness [0,1] 0.6292779721771784 Centerline is valid? [False, False] Translation: X:74.78, Y:1.02, Z:0.39 [[ 9.99976680e-01 2.95462589e-03 -6.15700058e-03 7.47832178e+01] [-2.95916507e-03 9.99995356e-01 -7.28258604e-04 1.02436306e+00] [ 6.15482026e-03 7.46461203e-04 9.99980780e-01 3.88820650e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.71533619499999 meters Centerline goodness [0,1] 0.6261427903218948 Centerline is valid? [False, False] Translation: X:74.78, Y:1.02, Z:0.39 [[ 9.99975751e-01 3.09190544e-03 -6.24003465e-03 7.47840036e+01] [-3.09632996e-03 9.99994962e-01 -6.99516191e-04 1.02458370e+00] [ 6.23784037e-03 7.18820434e-04 9.99980286e-01 3.87882045e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.745336195 meters Centerline goodness [0,1] 0.6259824908939868 Centerline is valid? [False, False] Translation: X:74.79, Y:1.03, Z:0.39 [[ 9.99973268e-01 3.41431504e-03 -6.46575522e-03 7.47857831e+01] [-3.41941222e-03 9.99993852e-01 -7.77444657e-04 1.02576823e+00] [ 6.46306103e-03 7.99532957e-04 9.99978795e-01 3.85929839e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.775336195 meters Centerline goodness [0,1] 0.6248037001183178 Centerline is valid? [False, False] Translation: X:74.79, Y:1.03, Z:0.39 [[ 9.99973723e-01 3.38277071e-03 -6.41178236e-03 7.47858004e+01] [-3.38909070e-03 9.99993782e-01 -9.75076238e-04 1.02682953e+00] [ 6.40844403e-03 9.96780727e-04 9.99978969e-01 3.85470721e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.805336195 meters Centerline goodness [0,1] 0.6195809865164703 Centerline is valid? [False, False] Translation: X:74.80, Y:1.04, Z:0.38 [[ 9.99969818e-01 7.76080012e-03 3.64046317e-04 7.48020185e+01] [-7.75864429e-03 9.99954275e-01 -5.59032354e-03 1.03534223e+00] [-4.07415055e-04 5.58733031e-03 9.99984308e-01 3.84405347e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.835336195 meters Centerline goodness [0,1] 0.6189028279821391 Centerline is valid? [False, False] Translation: X:74.80, Y:1.04, Z:0.38 [[ 9.99928535e-01 1.19368096e-02 6.61485637e-04 7.48008845e+01] [-1.19358225e-02 9.99927675e-01 -1.47671231e-03 1.03616764e+00] [-6.79065029e-04 1.46871140e-03 9.99998691e-01 3.84930218e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.865336195 meters Centerline goodness [0,1] 0.6121866547398462 Centerline is valid? [False, False] Translation: X:74.80, Y:1.04, Z:0.38 [[ 9.99928916e-01 1.18936651e-02 8.38796200e-04 7.48004644e+01] [-1.18923027e-02 9.99927986e-01 -1.61092293e-03 1.03678912e+00] [-8.57895573e-04 1.60083320e-03 9.99998351e-01 3.84585686e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.895336195 meters Centerline goodness [0,1] 0.6224986709197236 Centerline is valid? [False, False] Translation: X:74.80, Y:1.04, Z:0.38 [[ 9.99932581e-01 1.15734979e-02 9.41906305e-04 7.48000884e+01] [-1.15712244e-02 9.99930208e-01 -2.38438037e-03 1.04046803e+00] [-9.69436189e-04 2.37332061e-03 9.99996714e-01 3.84484782e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.925336195 meters Centerline goodness [0,1] 0.6253950627829503 Centerline is valid? [False, False] Translation: X:74.80, Y:1.05, Z:0.39 [[ 9.99947198e-01 1.02511311e-02 7.17863675e-04 7.47983647e+01] [-1.02474433e-02 9.99935167e-01 -4.96505452e-03 1.05145197e+00] [-7.68714558e-04 4.95743608e-03 9.99987416e-01 3.87930216e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.955336195 meters Centerline goodness [0,1] 0.6166790136522383 Centerline is valid? [False, False] Translation: X:74.80, Y:1.06, Z:0.39 [[ 9.99951105e-01 9.87609831e-03 5.00710184e-04 7.47988048e+01] [-9.87303617e-03 9.99934509e-01 -5.78795973e-03 1.05536208e+00] [-5.57839851e-04 5.78273319e-03 9.99983124e-01 3.88266621e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.98533619499999 meters Centerline goodness [0,1] 0.6253867986939542 Centerline is valid? [False, False] Translation: X:74.80, Y:1.06, Z:0.39 [[ 9.99957248e-01 9.24365531e-03 2.38022225e-04 7.47995894e+01] [-9.24178894e-03 9.99933389e-01 -6.91425636e-03 1.06042502e+00] [-3.01919373e-04 6.91176101e-03 9.99976068e-01 3.88119072e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.01533619499999 meters Centerline goodness [0,1] 0.62418529605333 Centerline is valid? [False, False] Translation: X:74.82, Y:1.07, Z:0.39 [[ 9.99993329e-01 3.55017382e-03 -8.58865683e-04 7.48176273e+01] [-3.55049085e-03 9.99993629e-01 -3.67878573e-04 1.06614288e+00] [ 8.57554179e-04 3.70925514e-04 9.99999564e-01 3.89565443e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.04533619499999 meters Centerline goodness [0,1] 0.6250079785536478 Centerline is valid? [False, False] Translation: X:74.81, Y:1.07, Z:0.39 [[ 9.99998634e-01 1.61450587e-03 -3.55242665e-04 7.48129211e+01] [-1.61536897e-03 9.99995711e-01 -2.44290867e-03 1.07196733e+00] [ 3.51297051e-04 2.44347918e-03 9.99996953e-01 3.93559285e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.07533619499999 meters Centerline goodness [0,1] 0.6342274723868822 Centerline is valid? [False, False] Translation: X:74.81, Y:1.07, Z:0.39 [[ 9.99999451e-01 1.88954611e-04 -1.03079079e-03 7.48149975e+01] [-1.91934372e-04 9.99995801e-01 -2.89142020e-03 1.07090678e+00] [ 1.03024011e-03 2.89161646e-03 9.99995289e-01 3.92656720e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.10533619499999 meters Centerline goodness [0,1] 0.6542638647901806 Centerline is valid? [False, False] Translation: X:74.82, Y:1.07, Z:0.39 [[ 9.99999116e-01 -3.59018056e-04 -1.28022358e-03 7.48160275e+01] [ 3.55333653e-04 9.99995798e-01 -2.87700384e-03 1.06985871e+00] [ 1.28125110e-03 2.87654639e-03 9.99995042e-01 3.91921695e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.135336195 meters Centerline goodness [0,1] 0.6613481228668943 Centerline is valid? [False, False] Translation: X:74.81, Y:1.08, Z:0.40 [[ 9.99975763e-01 -6.87585806e-03 -1.09359373e-03 7.48105390e+01] [ 6.86433894e-03 9.99924320e-01 -1.02095666e-02 1.08038527e+00] [ 1.16371049e-03 1.02018123e-02 9.99947283e-01 3.99245146e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.165336195 meters Centerline goodness [0,1] 0.6699281065214617 Centerline is valid? [False, False] Translation: X:74.81, Y:1.08, Z:0.40 [[ 9.99966454e-01 -8.14515616e-03 -8.64566899e-04 7.48066276e+01] [ 8.13448699e-03 9.99898470e-01 -1.16995785e-02 1.08479544e+00] [ 9.59774013e-04 1.16921532e-02 9.99931184e-01 4.04119673e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.195336195 meters Centerline goodness [0,1] 0.691007871321013 Centerline is valid? [False, False] Translation: X:74.80, Y:1.09, Z:0.41 [[ 9.99941644e-01 -1.07780380e-02 -7.37054792e-04 7.48011634e+01] [ 1.07666701e-02 9.99844085e-01 -1.39958833e-02 1.08752992e+00] [ 8.87788036e-04 1.39871309e-02 9.99901781e-01 4.10694068e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.225336195 meters Centerline goodness [0,1] 0.7159224504627749 Centerline is valid? [False, False] Translation: X:74.80, Y:1.08, Z:0.41 [[ 9.99896834e-01 -1.43539079e-02 -5.34725366e-04 7.48032073e+01] [ 1.43429386e-02 9.99756788e-01 -1.67524791e-02 1.08129554e+00] [ 7.75058856e-04 1.67430813e-02 9.99859524e-01 4.06829197e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.255336195 meters Centerline goodness [0,1] 0.7139449697589233 Centerline is valid? [False, False] Translation: X:74.80, Y:1.08, Z:0.40 [[ 9.99897333e-01 -1.43193331e-02 -5.28928014e-04 7.48043609e+01] [ 1.43089014e-02 9.99766660e-01 -1.61827210e-02 1.07859230e+00] [ 7.60530366e-04 1.61734911e-02 9.99868911e-01 4.04796435e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.285336195 meters Centerline goodness [0,1] 0.7060738219338368 Centerline is valid? [False, False] Translation: X:74.80, Y:1.08, Z:0.40 [[ 9.99947329e-01 -1.02394842e-02 -7.01332066e-04 7.48048466e+01] [ 1.02306225e-02 9.99879809e-01 -1.16490886e-02 1.07713645e+00] [ 8.20528432e-04 1.16413000e-02 9.99931901e-01 4.04581734e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.315336195 meters Centerline goodness [0,1] 0.7628667834109255 Centerline is valid? [False, False] Translation: X:74.80, Y:1.08, Z:0.41 [[ 9.99978230e-01 -6.50961194e-03 -1.07916460e-03 7.48048345e+01] [ 6.50084314e-03 9.99947353e-01 -7.93911701e-03 1.07936354e+00] [ 1.13078836e-03 7.93192869e-03 9.99967902e-01 4.06448410e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.345336195 meters Centerline goodness [0,1] 0.7127886171934907 Centerline is valid? [False, False] Translation: X:74.81, Y:1.08, Z:0.41 [[ 9.99996156e-01 -2.41825143e-03 -1.35631840e-03 7.48061837e+01] [ 2.41425310e-03 9.99992758e-01 -2.94185478e-03 1.07530753e+00] [ 1.36342272e-03 2.93856898e-03 9.99994753e-01 4.05229472e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.37533619499999 meters Centerline goodness [0,1] 0.7127886171934907 Centerline is valid? [False, False] Translation: X:74.81, Y:1.08, Z:0.41 [[ 9.99996156e-01 -2.41825143e-03 -1.35631840e-03 7.48061837e+01] [ 2.41425310e-03 9.99992758e-01 -2.94185478e-03 1.07530753e+00] [ 1.36342272e-03 2.93856898e-03 9.99994753e-01 4.05229472e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.40533619499999 meters Centerline goodness [0,1] 0.7438438310721729 Centerline is valid? [False, False] Translation: X:74.81, Y:1.07, Z:0.40 [[ 9.99997367e-01 -1.76814795e-03 -1.46272993e-03 7.48082867e+01] [ 1.76546098e-03 9.99996756e-01 -1.83621409e-03 1.07107987e+00] [ 1.46597188e-03 1.83362687e-03 9.99997244e-01 4.02478331e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.43533619499999 meters Centerline goodness [0,1] 0.7065479107626089 Centerline is valid? [False, False] Translation: X:74.81, Y:1.07, Z:0.40 [[ 9.99998303e-01 -1.25318570e-03 -1.35024317e-03 7.48095566e+01] [ 1.25197903e-03 9.99998817e-01 -8.94143774e-04 1.06723325e+00] [ 1.35136210e-03 8.92451781e-04 9.99998689e-01 3.99716027e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.46533619499999 meters Centerline goodness [0,1] 0.7180769558185068 Centerline is valid? [False, False] Translation: X:74.81, Y:1.07, Z:0.40 [[ 9.99998240e-01 -1.31496824e-03 -1.33809229e-03 7.48093299e+01] [ 1.31324978e-03 9.99998313e-01 -1.28433063e-03 1.06928569e+00] [ 1.33977889e-03 1.28257112e-03 9.99998280e-01 3.99991646e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.495336195 meters Centerline goodness [0,1] 0.7022908965872947 Centerline is valid? [False, False] Translation: X:74.77, Y:1.07, Z:0.41 [[ 9.99994340e-01 3.00640392e-03 -1.51030613e-03 7.47663223e+01] [-3.01261807e-03 9.99986937e-01 -4.12920811e-03 1.07454512e+00] [ 1.49787233e-03 4.13373471e-03 9.99990334e-01 4.05008867e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.525336195 meters Centerline goodness [0,1] 0.6861335665379775 Centerline is valid? [False, False] Translation: X:74.77, Y:1.07, Z:0.40 [[ 9.99969164e-01 7.67000210e-03 -1.68605751e-03 7.47683507e+01] [-7.66898140e-03 9.99970406e-01 6.11011627e-04 1.07325065e+00] [ 1.69069408e-03 -5.98062442e-04 9.99998392e-01 4.02491514e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.555336195 meters Centerline goodness [0,1] 0.6752784918594688 Centerline is valid? [False, False] Translation: X:74.77, Y:1.07, Z:0.40 [[ 9.99968195e-01 7.77881897e-03 -1.76038402e-03 7.47690734e+01] [-7.77791409e-03 9.99969616e-01 5.20285988e-04 1.07402963e+00] [ 1.76437774e-03 -5.06577325e-04 9.99998315e-01 4.01463055e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.585336195 meters Centerline goodness [0,1] 0.6653104696985834 Centerline is valid? [False, False] Translation: X:74.77, Y:1.08, Z:0.40 [[ 9.99967632e-01 7.83643039e-03 -1.82330762e-03 7.47694739e+01] [-7.83591215e-03 9.99969256e-01 2.91201704e-04 1.07540701e+00] [ 1.82553355e-03 -2.76905000e-04 9.99998295e-01 4.00995691e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.615336195 meters Centerline goodness [0,1] 0.6566692301119371 Centerline is valid? [False, False] Translation: X:74.77, Y:1.08, Z:0.40 [[ 9.99966952e-01 7.97983019e-03 -1.55460227e-03 7.47677154e+01] [-7.98071584e-03 9.99967994e-01 -5.64330031e-04 1.08028309e+00] [ 1.55004926e-03 5.76718220e-04 9.99998632e-01 4.02780154e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.645336195 meters Centerline goodness [0,1] 0.6524242036586926 Centerline is valid? [False, False] Translation: X:74.77, Y:1.09, Z:0.40 [[ 9.99967099e-01 7.99595352e-03 -1.36575966e-03 7.47660903e+01] [-7.99808532e-03 9.99966794e-01 -1.56262525e-03 1.08563020e+00] [ 1.35321963e-03 1.57349730e-03 9.99997846e-01 4.04643892e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.675336195 meters Centerline goodness [0,1] 0.6432425515579347 Centerline is valid? [False, False] Translation: X:74.77, Y:1.09, Z:0.40 [[ 9.99965561e-01 8.20161452e-03 -1.26861826e-03 7.47658538e+01] [-8.20444513e-03 9.99963829e-01 -2.24237902e-03 1.08980309e+00] [ 1.25018124e-03 2.25271010e-03 9.99996681e-01 4.04515890e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.705336195 meters Centerline goodness [0,1] 0.6398214590808133 Centerline is valid? [False, False] Translation: X:74.77, Y:1.09, Z:0.40 [[ 9.99966981e-01 8.04019777e-03 -1.17977094e-03 7.47654507e+01] [-8.04342992e-03 9.99963840e-01 -2.76095973e-03 1.09230429e+00] [ 1.15752961e-03 2.77035797e-03 9.99995493e-01 4.04609309e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.73533619499999 meters Centerline goodness [0,1] 0.635032595917495 Centerline is valid? [False, False] Translation: X:74.77, Y:1.10, Z:0.41 [[ 9.99969596e-01 7.67004617e-03 -1.40608683e-03 7.47657414e+01] [-7.67577143e-03 9.99962084e-01 -4.11262398e-03 1.09898782e+00] [ 1.37448950e-03 4.12329174e-03 9.99990555e-01 4.05058272e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.76533619499999 meters Centerline goodness [0,1] 0.6451434408785222 Centerline is valid? [False, False] Translation: X:74.77, Y:1.10, Z:0.40 [[ 9.99960905e-01 8.61114485e-03 -2.00904400e-03 7.47699784e+01] [-8.61848153e-03 9.99956117e-01 -3.67220673e-03 1.10278891e+00] [ 1.97733394e-03 3.68937808e-03 9.99991239e-01 4.02558857e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.79533619499999 meters Centerline goodness [0,1] 0.6413659409484045 Centerline is valid? [False, False] Translation: X:74.77, Y:1.11, Z:0.40 [[ 9.99966904e-01 7.93255934e-03 -1.80722599e-03 7.47678163e+01] [-7.94204989e-03 9.99954383e-01 -5.30622910e-03 1.10997195e+00] [ 1.76505157e-03 5.32040656e-03 9.99984289e-01 4.04783213e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.82533619499999 meters Centerline goodness [0,1] 0.654660014623027 Centerline is valid? [False, False] Translation: X:74.77, Y:1.11, Z:0.40 [[ 9.99967236e-01 7.91854958e-03 -1.68020048e-03 7.47678292e+01] [-7.92743526e-03 9.99954269e-01 -5.34940428e-03 1.11023732e+00] [ 1.63776412e-03 5.36254870e-03 9.99984280e-01 4.03982591e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.85533619499999 meters Centerline goodness [0,1] 0.6488302904475504 Centerline is valid? [False, False] Translation: X:74.77, Y:1.11, Z:0.40 [[ 9.99960533e-01 8.60055949e-03 -2.22757322e-03 7.47723508e+01] [-8.61191160e-03 9.99949718e-01 -5.13773648e-03 1.11376083e+00] [ 2.18327381e-03 5.15671737e-03 9.99984321e-01 4.00392706e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.885336195 meters Centerline goodness [0,1] 0.6543307761539451 Centerline is valid? [False, False] Translation: X:74.77, Y:1.13, Z:0.40 [[ 9.99971656e-01 7.09806053e-03 -2.51085789e-03 7.47702268e+01] [-7.11812827e-03 9.99942055e-01 -8.07583807e-03 1.12643646e+00] [ 2.45338961e-03 8.09348177e-03 9.99964238e-01 4.04849004e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.915336195 meters Centerline goodness [0,1] 0.6594249475082488 Centerline is valid? [False, False] Translation: X:74.78, Y:1.13, Z:0.40 [[ 9.99994280e-01 1.39336676e-03 3.08193511e-03 7.47759307e+01] [-1.40193694e-03 9.99995152e-01 2.78036812e-03 1.13141738e+00] [-3.07804610e-03 -2.78467290e-03 9.99991386e-01 3.96862077e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.945336195 meters Centerline goodness [0,1] 0.6485511884948576 Centerline is valid? [False, False] Translation: X:74.78, Y:1.13, Z:0.40 [[ 9.99994317e-01 1.24158091e-03 3.13429877e-03 7.47756554e+01] [-1.24964946e-03 9.99995907e-01 2.57363080e-03 1.13218040e+00] [-3.13109058e-03 -2.57753295e-03 9.99991776e-01 3.97023540e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.975336195 meters Centerline goodness [0,1] 0.6588303242919483 Centerline is valid? [False, False] Translation: X:74.78, Y:1.13, Z:0.39 [[ 9.99994402e-01 1.01568839e-03 3.18816823e-03 7.47766039e+01] [-1.02441946e-03 9.99995727e-01 2.73814987e-03 1.13101395e+00] [-3.18537350e-03 -2.74140056e-03 9.99991169e-01 3.94862073e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.005336195 meters Centerline goodness [0,1] 0.6666238657764081 Centerline is valid? [False, False] Translation: X:74.78, Y:1.13, Z:0.40 [[ 9.99994842e-01 4.23156860e-04 3.18380241e-03 7.47760643e+01] [-4.29542833e-04 9.99997897e-01 2.00535307e-03 1.13380486e+00] [-3.18294713e-03 -2.00671031e-03 9.99992921e-01 3.95656371e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.035336195 meters Centerline goodness [0,1] 0.6803448349444124 Centerline is valid? [False, False] Translation: X:74.78, Y:1.14, Z:0.40 [[ 9.99995595e-01 -7.90114386e-05 2.96695357e-03 7.47754709e+01] [ 7.56934661e-05 9.99999372e-01 1.11840519e-03 1.13759535e+00] [-2.96704007e-03 -1.11817569e-03 9.99994973e-01 3.97851416e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.065336195 meters Centerline goodness [0,1] 0.6945749679624093 Centerline is valid? [False, False] Translation: X:74.78, Y:1.14, Z:0.40 [[ 9.99996601e-01 -1.60909828e-03 2.05163665e-03 7.47759510e+01] [ 1.60977997e-03 9.99998650e-01 -3.30655052e-04 1.14218926e+00] [-2.05110183e-03 3.33956612e-04 9.99997841e-01 4.01118394e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.095336195 meters Centerline goodness [0,1] 0.6925894195759263 Centerline is valid? [False, False] Translation: X:74.78, Y:1.14, Z:0.40 [[ 9.99996560e-01 -1.77835488e-03 1.92781530e-03 7.47770267e+01] [ 1.77761799e-03 9.99998346e-01 3.83891080e-04 1.13795653e+00] [-1.92849481e-03 -3.80462840e-04 9.99998068e-01 3.99774036e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.12533619499999 meters Centerline goodness [0,1] 0.7007977874694181 Centerline is valid? [False, False] Translation: X:74.78, Y:1.13, Z:0.40 [[ 9.99979875e-01 -5.99604531e-03 2.07294672e-03 7.47779146e+01] [ 6.00112708e-03 9.99978982e-01 -2.45400619e-03 1.13005275e+00] [-2.05818881e-03 2.46639682e-03 9.99994840e-01 3.97431524e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.15533619499999 meters Centerline goodness [0,1] 0.7290559433096412 Centerline is valid? [False, False] Translation: X:74.78, Y:1.13, Z:0.40 [[ 9.99979686e-01 -5.98799553e-03 2.18444204e-03 7.47776588e+01] [ 5.99196853e-03 9.99980398e-01 -1.81678213e-03 1.12661437e+00] [-2.17352033e-03 1.82983434e-03 9.99995964e-01 3.97428457e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.18533619499999 meters Centerline goodness [0,1] 0.7271002941051106 Centerline is valid? [False, False] Translation: X:74.78, Y:1.12, Z:0.40 [[ 9.99976731e-01 -6.37393785e-03 2.43111943e-03 7.47757586e+01] [ 6.37749780e-03 9.99978599e-01 -1.45939569e-03 1.12341965e+00] [-2.42176530e-03 1.47486619e-03 9.99995980e-01 3.99441866e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.21533619499999 meters Centerline goodness [0,1] 0.8168491174473863 Centerline is valid? [False, False] Translation: X:74.78, Y:1.12, Z:0.40 [[ 9.99978018e-01 -6.23692665e-03 2.25039717e-03 7.47767105e+01] [ 6.23817603e-03 9.99980392e-01 -5.48590672e-04 1.11881248e+00] [-2.24693153e-03 5.62616986e-04 9.99997317e-01 3.98886820e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.245336195 meters Centerline goodness [0,1] 0.8871081179003005 Centerline is valid? [False, False] Translation: X:74.78, Y:1.11, Z:0.40 [[ 9.99979125e-01 -5.94420796e-03 2.53285492e-03 7.47755661e+01] [ 5.94348269e-03 9.99982294e-01 2.93774634e-04 1.11449899e+00] [-2.53455633e-03 -2.78714523e-04 9.99996749e-01 3.99535158e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.275336195 meters Centerline goodness [0,1] 0.7957151030960605 Centerline is valid? [False, False] Translation: X:74.78, Y:1.11, Z:0.40 [[ 9.99979268e-01 -5.88155726e-03 2.62134623e-03 7.47751183e+01] [ 5.88056811e-03 9.99982635e-01 3.84893166e-04 1.11405857e+00] [-2.62356449e-03 -3.69470181e-04 9.99996490e-01 3.99862384e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.305336195 meters Centerline goodness [0,1] 0.7303446960869473 Centerline is valid? [False, False] Translation: X:74.78, Y:1.11, Z:0.40 [[ 9.99986936e-01 -4.72271697e-03 1.95542572e-03 7.47791033e+01] [ 4.72033279e-03 9.99988112e-01 1.22208753e-03 1.11330236e+00] [-1.96117404e-03 -1.21284131e-03 9.99997341e-01 3.97392240e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.335336195 meters Centerline goodness [0,1] 0.7478205670757512 Centerline is valid? [False, False] Translation: X:74.78, Y:1.11, Z:0.40 [[ 9.99988633e-01 -4.40624089e-03 1.82155514e-03 7.47804356e+01] [ 4.40347896e-03 9.99989153e-01 1.51748450e-03 1.11257141e+00] [-1.82822178e-03 -1.50944608e-03 9.99997190e-01 3.95782577e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.365336195 meters Centerline goodness [0,1] 0.7074061418869859 Centerline is valid? [False, False] Translation: X:74.76, Y:1.11, Z:0.40 [[ 9.99994037e-01 1.79440886e-03 -2.95046966e-03 7.47613080e+01] [-1.80801070e-03 9.99987722e-01 -4.61387188e-03 1.11220903e+00] [ 2.94215426e-03 4.61917885e-03 9.99985003e-01 4.00835202e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.395336195 meters Centerline goodness [0,1] 0.7102734192286431 Centerline is valid? [False, False] Translation: X:74.77, Y:1.11, Z:0.40 [[ 9.99988162e-01 3.13382984e-03 -3.72236001e-03 7.47662085e+01] [-3.14779591e-03 9.99988007e-01 -3.75202504e-03 1.11469411e+00] [ 3.71055716e-03 3.76369785e-03 9.99986033e-01 3.98230160e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.425336195 meters Centerline goodness [0,1] 0.6989419343828662 Centerline is valid? [False, False] Translation: X:74.76, Y:1.12, Z:0.40 [[ 9.99987865e-01 3.19247137e-03 -3.75217447e-03 7.47644372e+01] [-3.20994890e-03 9.99983984e-01 -4.66122036e-03 1.11938558e+00] [ 3.73723356e-03 4.67320808e-03 9.99982097e-01 4.01481605e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.455336195 meters Centerline goodness [0,1] 0.6948500499479267 Centerline is valid? [False, False] Translation: X:74.76, Y:1.12, Z:0.40 [[ 9.99987477e-01 3.47629311e-03 -3.60014736e-03 7.47642766e+01] [-3.49135254e-03 9.99985147e-01 -4.18520238e-03 1.11732542e+00] [ 3.58554490e-03 4.19771936e-03 9.99984761e-01 4.00980852e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.48533619499999 meters Centerline goodness [0,1] 0.6846956670516275 Centerline is valid? [False, False] Translation: X:74.76, Y:1.11, Z:0.40 [[ 9.99985980e-01 4.23851377e-03 -3.17409711e-03 7.47644966e+01] [-4.24830942e-03 9.99986215e-01 -3.08576679e-03 1.11292622e+00] [ 3.16097429e-03 3.09920808e-03 9.99990202e-01 3.98426039e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.51533619499999 meters Centerline goodness [0,1] 0.6790431683844398 Centerline is valid? [False, False] Translation: X:74.76, Y:1.11, Z:0.40 [[ 9.99985345e-01 4.63045849e-03 -2.80522283e-03 7.47630709e+01] [-4.63927485e-03 9.99984294e-01 -3.14452587e-03 1.11397655e+00] [ 2.79061818e-03 3.15749398e-03 9.99991121e-01 3.99061029e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.54533619499999 meters Centerline goodness [0,1] 0.6761731694281132 Centerline is valid? [False, False] Translation: X:74.76, Y:1.11, Z:0.40 [[ 9.99985438e-01 4.64905818e-03 -2.74043054e-03 7.47626605e+01] [-4.65760265e-03 9.99984287e-01 -3.11984034e-03 1.11376198e+00] [ 2.72588316e-03 3.13255874e-03 9.99991378e-01 3.99400632e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.57533619499999 meters Centerline goodness [0,1] 0.6766300304003061 Centerline is valid? [False, False] Translation: X:74.77, Y:1.11, Z:0.39 [[ 9.99978216e-01 5.79088037e-03 -3.16749353e-03 7.47672062e+01] [-5.79442032e-03 9.99982597e-01 -1.10955273e-03 1.10648295e+00] [ 3.16101312e-03 1.12788235e-03 9.99994368e-01 3.94799299e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.60533619499999 meters Centerline goodness [0,1] 0.6788582007620606 Centerline is valid? [False, False] Translation: X:74.77, Y:1.10, Z:0.39 [[ 9.99975363e-01 6.17370300e-03 -3.34037139e-03 7.47685542e+01] [-6.17427260e-03 9.99980926e-01 -1.60237095e-04 1.10220627e+00] [ 3.33931842e-03 1.80857511e-04 9.99994408e-01 3.93524255e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.635336195 meters Centerline goodness [0,1] 0.6790704641259924 Centerline is valid? [False, False] Translation: X:74.79, Y:1.10, Z:0.39 [[ 9.99989397e-01 -4.74739776e-04 -4.58046050e-03 7.47884786e+01] [ 5.03730124e-04 9.99979838e-01 6.33005756e-03 1.10069799e+00] [ 4.57736302e-03 -6.33229775e-03 9.99969474e-01 3.93937055e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.665336195 meters Centerline goodness [0,1] 0.6844388409265749 Centerline is valid? [False, False] Translation: X:74.79, Y:1.10, Z:0.39 [[ 9.99980100e-01 -3.11889614e-03 -5.48372995e-03 7.47938030e+01] [ 3.13792902e-03 9.99989071e-01 3.46562085e-03 1.10217584e+00] [ 5.47286110e-03 -3.48275944e-03 9.99978959e-01 3.91546293e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.695336195 meters Centerline goodness [0,1] 0.68105754937354 Centerline is valid? [False, False] Translation: X:74.79, Y:1.10, Z:0.39 [[ 9.99961099e-01 -6.99927178e-03 -5.36762834e-03 7.47934151e+01] [ 6.99955320e-03 9.99975502e-01 3.36450949e-05 1.09801891e+00] [ 5.36726135e-03 -7.12147861e-05 9.99985594e-01 3.91908630e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.725336195 meters Centerline goodness [0,1] 0.6776267999829082 Centerline is valid? [False, False] Translation: X:74.79, Y:1.09, Z:0.39 [[ 9.99964922e-01 -6.48978161e-03 -5.29499428e-03 7.47941996e+01] [ 6.49634629e-03 9.99978150e-01 1.22353476e-03 1.09252235e+00] [ 5.28693811e-03 -1.25788996e-03 9.99985233e-01 3.90369454e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.755336195 meters Centerline goodness [0,1] 0.677757793764988 Centerline is valid? [False, False] Translation: X:74.80, Y:1.08, Z:0.39 [[ 9.99971862e-01 -5.51720621e-03 -5.08295301e-03 7.47953673e+01] [ 5.53406410e-03 9.99979214e-01 3.30848165e-03 1.08315479e+00] [ 5.06459378e-03 -3.33651795e-03 9.99981609e-01 3.87728912e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.785336195 meters Centerline goodness [0,1] 0.6772105782006772 Centerline is valid? [False, False] Translation: X:74.80, Y:1.08, Z:0.39 [[ 9.99975084e-01 -4.96195024e-03 -5.02089989e-03 7.47955669e+01] [ 4.98479004e-03 9.99977239e-01 4.54670110e-03 1.07730544e+00] [ 4.99822511e-03 -4.57161595e-03 9.99977059e-01 3.87295919e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.815336195 meters Centerline goodness [0,1] 0.672831389183457 Centerline is valid? [False, False] Translation: X:74.80, Y:1.08, Z:0.39 [[ 9.99946251e-01 -8.92470118e-03 -5.27677844e-03 7.47956612e+01] [ 8.92312856e-03 9.99960136e-01 -3.21494487e-04 1.08135920e+00] [ 5.27943733e-03 2.74391835e-04 9.99986026e-01 3.88908671e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.845336195 meters Centerline goodness [0,1] 0.6711223149599628 Centerline is valid? [False, False] Translation: X:74.80, Y:1.08, Z:0.39 [[ 9.99974800e-01 -4.48609061e-03 -5.50229073e-03 7.47968963e+01] [ 4.51421041e-03 9.99976761e-01 5.10883416e-03 1.07539336e+00] [ 5.47924416e-03 -5.13354391e-03 9.99971812e-01 3.87922693e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.87533619499999 meters Centerline goodness [0,1] 0.6708999249168722 Centerline is valid? [False, False] Translation: X:74.77, Y:1.07, Z:0.40 [[ 9.99958606e-01 -2.42822593e-03 -8.76875023e-03 7.47715736e+01] [ 2.38574065e-03 9.99985382e-01 -4.85229226e-03 1.07444012e+00] [ 8.78040451e-03 4.83117144e-03 9.99949781e-01 3.96878177e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.90533619499999 meters Centerline goodness [0,1] 0.6672581127880628 Centerline is valid? [False, False] Translation: X:74.77, Y:1.06, Z:0.39 [[ 9.99961148e-01 -8.56473835e-04 -8.77324174e-03 7.47749612e+01] [ 8.42238225e-04 9.99998323e-01 -1.62618307e-03 1.06076904e+00] [ 8.77461981e-03 1.61873073e-03 9.99960192e-01 3.92005562e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.93533619499999 meters Centerline goodness [0,1] 0.667509186295958 Centerline is valid? [False, False] Translation: X:74.78, Y:1.05, Z:0.39 [[ 9.99962833e-01 1.83887835e-04 -8.61964174e-03 7.47762056e+01] [-1.77028305e-04 9.99999667e-01 7.96558463e-04 1.04975923e+00] [ 8.61978534e-03 -7.95002937e-04 9.99962533e-01 3.89690796e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.96533619499999 meters Centerline goodness [0,1] 0.6629929652526114 Centerline is valid? [False, False] Translation: X:74.78, Y:1.05, Z:0.39 [[ 9.99962874e-01 4.91449207e-04 -8.60284662e-03 7.47764442e+01] [-4.78498717e-04 9.99998749e-01 1.50736610e-03 1.04638328e+00] [ 8.60357665e-03 -1.50319369e-03 9.99961859e-01 3.89301571e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.995336195 meters Centerline goodness [0,1] 0.6684566046581005 Centerline is valid? [False, False] Translation: X:74.78, Y:1.04, Z:0.39 [[ 9.99962774e-01 7.28634181e-04 -8.59768954e-03 7.47764442e+01] [-7.11042365e-04 9.99997648e-01 2.04898909e-03 1.04378103e+00] [ 8.59916228e-03 -2.04279949e-03 9.99960940e-01 3.89375042e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.025336195 meters Centerline goodness [0,1] 0.6662048090040928 Centerline is valid? [False, False] Translation: X:74.78, Y:1.04, Z:0.39 [[ 9.99963648e-01 9.72793756e-04 -8.47094240e-03 7.47755351e+01] [-9.50529573e-04 9.99996085e-01 2.63193005e-03 1.04077093e+00] [ 8.47346955e-03 -2.62378249e-03 9.99960657e-01 3.90380364e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.055336195 meters Centerline goodness [0,1] 0.6656673895479865 Centerline is valid? [False, False] Translation: X:74.78, Y:1.03, Z:0.39 [[ 9.99960886e-01 1.77038206e-03 -8.66563248e-03 7.47772801e+01] [-1.73233509e-03 9.99988837e-01 4.39609762e-03 1.03268348e+00] [ 8.67331851e-03 -4.38091389e-03 9.99952789e-01 3.88791263e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.085336195 meters Centerline goodness [0,1] 0.6632718558774444 Centerline is valid? [False, False] Translation: X:74.78, Y:1.03, Z:0.39 [[ 9.99960422e-01 -2.32180725e-03 -8.58859772e-03 7.47770332e+01] [ 2.32458075e-03 9.99997249e-01 3.12960092e-04 1.03181614e+00] [ 8.58784746e-03 -3.32912594e-04 9.99963068e-01 3.88836441e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.115336195 meters Centerline goodness [0,1] 0.6663323659952203 Centerline is valid? [False, False] Translation: X:74.78, Y:1.02, Z:0.39 [[ 9.99964803e-01 -1.69730834e-03 -8.21650550e-03 7.47766479e+01] [ 1.71754267e-03 9.99995509e-01 2.45621406e-03 1.02096124e+00] [ 8.21229964e-03 -2.47023980e-03 9.99963227e-01 3.87904067e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.145336195 meters Centerline goodness [0,1] 0.6691787109583485 Centerline is valid? [False, False] Translation: X:74.78, Y:1.02, Z:0.39 [[ 9.99966316e-01 -1.37129073e-03 -8.09240863e-03 7.47762692e+01] [ 1.39825587e-03 9.99993487e-01 3.32743630e-03 1.01665385e+00] [ 8.08779303e-03 -3.33863947e-03 9.99961720e-01 3.88069711e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.175336195 meters Centerline goodness [0,1] 0.6642433518270519 Centerline is valid? [False, False] Translation: X:74.78, Y:1.01, Z:0.39 [[ 9.99967120e-01 -5.59674342e-04 -8.08990234e-03 7.47773392e+01] [ 6.01193568e-04 9.99986657e-01 5.13070793e-03 1.00839459e+00] [ 8.08692287e-03 -5.13540283e-03 9.99954114e-01 3.86647927e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.205336195 meters Centerline goodness [0,1] 0.6584488301292286 Centerline is valid? [False, False] Translation: X:74.78, Y:1.00, Z:0.39 [[ 9.99968883e-01 8.41640508e-05 -7.88839377e-03 7.47771216e+01] [-3.22238474e-05 9.99978323e-01 6.58427852e-03 1.00144720e+00] [ 7.88877694e-03 -6.58381944e-03 9.99947209e-01 3.86168376e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.23533619499999 meters Centerline goodness [0,1] 0.6606389776357827 Centerline is valid? [False, False] Translation: X:74.78, Y:1.00, Z:0.39 [[ 9.99968783e-01 2.49602719e-04 -7.89752196e-03 7.47772229e+01] [-1.94789170e-04 9.99975895e-01 6.94060909e-03 9.99739786e-01] [ 7.89906398e-03 -6.93885407e-03 9.99944727e-01 3.86098349e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.26533619499999 meters Centerline goodness [0,1] 0.6606389776357827 Centerline is valid? [False, False] Translation: X:74.78, Y:1.00, Z:0.39 [[ 9.99968783e-01 2.49602719e-04 -7.89752196e-03 7.47772229e+01] [-1.94789170e-04 9.99975895e-01 6.94060909e-03 9.99739786e-01] [ 7.89906398e-03 -6.93885407e-03 9.99944727e-01 3.86098349e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.29533619499999 meters Centerline goodness [0,1] 0.6556066274719401 Centerline is valid? [False, False] Translation: X:74.78, Y:1.00, Z:0.38 [[ 9.99957547e-01 -3.60649217e-03 -8.47918484e-03 7.47799002e+01] [ 3.63013883e-03 9.99989561e-01 2.77505502e-03 1.00005281e+00] [ 8.46908811e-03 -2.80571783e-03 9.99960200e-01 3.84694924e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.32533619499999 meters Centerline goodness [0,1] 0.6759844798387962 Centerline is valid? [False, False] Translation: X:74.78, Y:1.00, Z:0.38 [[ 9.99957361e-01 -3.10692783e-03 -8.69612108e-03 7.47817646e+01] [ 3.14009757e-03 9.99987837e-01 3.80326350e-03 9.95567393e-01] [ 8.68419885e-03 -3.83040801e-03 9.99954955e-01 3.82809584e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.35533619499999 meters Centerline goodness [0,1] 0.6476831700152239 Centerline is valid? [False, False] Translation: X:74.78, Y:0.98, Z:0.38 [[ 9.99960913e-01 -1.79424759e-03 -8.65755120e-03 7.47836251e+01] [ 1.85044308e-03 9.99977245e-01 6.48728343e-03 9.83658076e-01] [ 8.64571441e-03 -6.50305016e-03 9.99941479e-01 3.80194064e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.385336195 meters Centerline goodness [0,1] 0.6473263859229521 Centerline is valid? [False, False] Translation: X:74.78, Y:0.98, Z:0.38 [[ 9.99962226e-01 -1.26915212e-03 -8.59855578e-03 7.47840593e+01] [ 1.33504249e-03 9.99969759e-01 7.66155597e-03 9.78159227e-01] [ 8.58857206e-03 -7.67274600e-03 9.99933681e-01 3.79357539e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.415336195 meters Centerline goodness [0,1] 0.6565523400455038 Centerline is valid? [False, False] Translation: X:74.79, Y:0.98, Z:0.39 [[ 9.99922678e-01 -3.41262214e-03 -1.19579029e-02 7.47927400e+01] [ 3.44206379e-03 9.99991093e-01 2.44239281e-03 9.78966011e-01] [ 1.19494615e-02 -2.48336382e-03 9.99925519e-01 3.86599805e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.445336195 meters Centerline goodness [0,1] 0.6597812620156364 Centerline is valid? [False, False] Translation: X:74.78, Y:0.97, Z:0.40 [[ 9.99940393e-01 -2.55716172e-03 -1.06147053e-02 7.47811797e+01] [ 2.59635156e-03 9.99989859e-01 3.67989562e-03 9.74825628e-01] [ 1.06051876e-02 -3.70723578e-03 9.99936891e-01 3.96077662e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.475336195 meters Centerline goodness [0,1] 0.6575089632348261 Centerline is valid? [False, False] Translation: X:74.79, Y:0.98, Z:0.41 [[ 9.99941882e-01 -2.10981102e-03 -1.05726892e-02 7.47928399e+01] [ 2.05484709e-03 9.99984333e-01 -5.20683999e-03 9.78735361e-01] [ 1.05835090e-02 5.18481212e-03 9.99930551e-01 4.07583414e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.505336195 meters Centerline goodness [0,1] 0.6600473014723116 Centerline is valid? [False, False] Translation: X:74.79, Y:0.98, Z:0.41 [[ 9.99941515e-01 -1.71661917e-03 -1.06779656e-02 7.47941425e+01] [ 1.66930427e-03 9.99988757e-01 -4.43841422e-03 9.75433607e-01] [ 1.06854646e-02 4.42032987e-03 9.99933139e-01 4.05985498e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.535336195 meters Centerline goodness [0,1] 0.6470073428961749 Centerline is valid? [False, False] Translation: X:74.81, Y:0.96, Z:0.39 [[ 9.99930642e-01 5.86346059e-04 -1.17629825e-02 7.48056316e+01] [-5.91909323e-04 9.99999715e-01 -4.69470893e-04 9.61195468e-01] [ 1.17627039e-02 4.76400950e-04 9.99930704e-01 3.94200328e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.565336195 meters Centerline goodness [0,1] 0.6397683979422717 Centerline is valid? [False, False] Translation: X:74.81, Y:0.96, Z:0.39 [[ 9.99929035e-01 1.08008920e-03 -1.18641543e-02 7.48069952e+01] [-1.07352734e-03 9.99999267e-01 5.59437847e-04 9.56623897e-01] [ 1.18647499e-02 -5.46661653e-04 9.99929462e-01 3.92516083e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.595336195 meters Centerline goodness [0,1] 0.655484147386461 Centerline is valid? [False, False] Translation: X:74.81, Y:0.96, Z:0.39 [[ 9.99930086e-01 8.11793540e-04 -1.17967611e-02 7.48055005e+01] [-8.12973367e-04 9.99999665e-01 -9.52177666e-05 9.59622250e-01] [ 1.17966798e-02 1.04801562e-04 9.99930411e-01 3.94725346e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.62533619499999 meters Centerline goodness [0,1] 0.6491071618149775 Centerline is valid? [False, False] Translation: X:74.84, Y:0.97, Z:0.40 [[ 9.99968657e-01 -1.50475293e-04 -7.91594276e-03 7.48375391e+01] [ 1.64039468e-04 9.99998520e-01 1.71290480e-03 9.65679915e-01] [ 7.91567329e-03 -1.71414964e-03 9.99967201e-01 4.00351553e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.65533619499999 meters Centerline goodness [0,1] 0.6532200838619504 Centerline is valid? [False, False] Translation: X:74.84, Y:0.96, Z:0.40 [[ 9.99969175e-01 2.91367746e-04 -7.84623379e-03 7.48378829e+01] [-2.70132749e-04 9.99996299e-01 2.70731736e-03 9.61059090e-01] [ 7.84699357e-03 -2.70511438e-03 9.99965553e-01 3.99527822e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.68533619499999 meters Centerline goodness [0,1] 0.6447937299001129 Centerline is valid? [False, False] Translation: X:74.84, Y:0.95, Z:0.40 [[ 9.99967989e-01 -2.70624737e-03 -7.52973229e-03 7.48395098e+01] [ 2.71196534e-03 9.99996042e-01 7.49278239e-04 9.51327323e-01] [ 7.52767475e-03 -7.69674627e-04 9.99971370e-01 3.95834058e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.71533619499999 meters Centerline goodness [0,1] 0.6518682629628052 Centerline is valid? [False, False] Translation: X:74.84, Y:0.94, Z:0.39 [[ 9.99969239e-01 -1.76684057e-03 -7.64196617e-03 7.48426069e+01] [ 1.79096145e-03 9.99993433e-01 3.15068062e-03 9.40468448e-01] [ 7.63634923e-03 -3.16427016e-03 9.99965836e-01 3.91823733e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.745336195 meters Centerline goodness [0,1] 0.6380998916530347 Centerline is valid? [False, False] Translation: X:74.84, Y:0.94, Z:0.39 [[ 9.99967729e-01 -1.56043636e-03 -7.88072505e-03 7.48436981e+01] [ 1.58949739e-03 9.99991956e-01 3.68269197e-03 9.38022398e-01] [ 7.87491505e-03 -3.69509952e-03 9.99962165e-01 3.91408227e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.775336195 meters Centerline goodness [0,1] 0.6578597184065934 Centerline is valid? [False, False] Translation: X:74.84, Y:0.94, Z:0.39 [[ 9.99947899e-01 -6.14459746e-03 -8.15129149e-03 7.48431061e+01] [ 6.13608856e-03 9.99980603e-01 -1.06847096e-03 9.39753446e-01] [ 8.15769870e-03 1.01839825e-03 9.99966207e-01 3.94061301e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.805336195 meters Centerline goodness [0,1] 0.6502984091922774 Centerline is valid? [False, False] Translation: X:74.88, Y:0.94, Z:0.40 [[ 9.99936260e-01 -9.65152718e-03 -5.85859548e-03 7.48809539e+01] [ 9.64800773e-03 9.99953259e-01 -6.28698965e-04 9.40499106e-01] [ 5.86438955e-03 5.72135118e-04 9.99982641e-01 3.95532003e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.835336195 meters Centerline goodness [0,1] 0.6516075564716632 Centerline is valid? [False, False] Translation: X:74.88, Y:0.93, Z:0.40 [[ 9.99899770e-01 -1.30416651e-02 -5.51048118e-03 7.48795989e+01] [ 1.30267567e-02 9.99911414e-01 -2.73276034e-03 9.29924692e-01] [ 5.54563278e-03 2.66070274e-03 9.99981083e-01 3.96583626e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.865336195 meters Centerline goodness [0,1] 0.6687927881957733 Centerline is valid? [False, False] Translation: X:74.88, Y:0.92, Z:0.40 [[ 9.99908996e-01 -1.23834189e-02 -5.35257519e-03 7.48795363e+01] [ 1.23775888e-02 9.99922766e-01 -1.12095940e-03 9.22297993e-01] [ 5.36604310e-03 1.05460541e-03 9.99985047e-01 3.96138951e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.895336195 meters Centerline goodness [0,1] 0.674648576228654 Centerline is valid? [False, False] Translation: X:74.88, Y:0.91, Z:0.39 [[ 9.99923477e-01 -1.12771116e-02 -5.08600505e-03 7.48798324e+01] [ 1.12843033e-02 9.99935368e-01 1.38753674e-03 9.10703747e-01] [ 5.07002893e-03 -1.44482259e-03 9.99986104e-01 3.94791837e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.925336195 meters Centerline goodness [0,1] 0.6651071793126914 Centerline is valid? [False, False] Translation: X:74.88, Y:0.91, Z:0.39 [[ 9.99927996e-01 -1.07929936e-02 -5.24545140e-03 7.48814072e+01] [ 1.08056678e-02 9.99938751e-01 2.39391143e-03 9.06274379e-01] [ 5.21929266e-03 -2.45041966e-03 9.99983377e-01 3.93132852e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.955336195 meters Centerline goodness [0,1] 0.66826449818104 Centerline is valid? [False, False] Translation: X:74.88, Y:0.90, Z:0.39 [[ 9.99929154e-01 -1.05167940e-02 -5.57528902e-03 7.48833073e+01] [ 1.05325856e-02 9.99940581e-01 2.81067453e-03 9.04701551e-01] [ 5.54539845e-03 -2.86919762e-03 9.99980508e-01 3.91675784e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.98533619499999 meters Centerline goodness [0,1] 0.6601064962726304 Centerline is valid? [False, False] Translation: X:74.88, Y:0.91, Z:0.39 [[ 9.99931689e-01 -1.01846563e-02 -5.73493481e-03 7.48830953e+01] [ 1.01993093e-02 9.99944781e-01 2.53161595e-03 9.06885922e-01] [ 5.70883450e-03 -2.58993538e-03 9.99980351e-01 3.92940054e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.01533619499999 meters Centerline goodness [0,1] 0.6497364841890514 Centerline is valid? [False, False] Translation: X:74.90, Y:0.90, Z:0.39 [[ 9.99930022e-01 -5.28875604e-03 -1.05820411e-02 7.49037780e+01] [ 5.32658646e-03 9.99979512e-01 3.54997924e-03 8.99027149e-01] [ 1.05630493e-02 -3.60609698e-03 9.99937707e-01 3.94076360e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.04533619499999 meters Centerline goodness [0,1] 0.6302428967205722 Centerline is valid? [False, False] Translation: X:74.90, Y:0.90, Z:0.39 [[ 9.99907463e-01 -8.78910901e-03 -1.03834525e-02 7.49038880e+01] [ 8.78424490e-03 9.99961286e-01 -5.13963061e-04 8.99378777e-01] [ 1.03875678e-02 4.22704711e-04 9.99945958e-01 3.93191974e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.07533619499999 meters Centerline goodness [0,1] 0.6366006146020982 Centerline is valid? [False, False] Translation: X:74.92, Y:0.90, Z:0.39 [[ 9.99978857e-01 -3.96730999e-03 -5.15224271e-03 7.49209995e+01] [ 3.94080954e-03 9.99979007e-01 -5.14348595e-03 8.98122497e-01] [ 5.17254035e-03 5.12307320e-03 9.99973499e-01 3.91996887e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.10533619499999 meters Centerline goodness [0,1] 0.6402751291006878 Centerline is valid? [False, False] Translation: X:74.91, Y:0.90, Z:0.40 [[ 9.99990161e-01 -1.18928950e-03 -4.27369370e-03 7.49148361e+01] [ 1.18039116e-03 9.99997132e-01 -2.08403947e-03 8.96996685e-01] [ 4.27615997e-03 2.07897433e-03 9.99988696e-01 3.96020520e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.135336195 meters Centerline goodness [0,1] 0.6428906616611919 Centerline is valid? [False, False] Translation: X:74.91, Y:0.90, Z:0.40 [[ 9.99987173e-01 2.91557969e-03 -4.14161828e-03 7.49131475e+01] [-2.90767474e-03 9.99993942e-01 1.91340275e-03 8.98200209e-01] [ 4.14717187e-03 -1.90133572e-03 9.99989593e-01 3.98248594e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.165336195 meters Centerline goodness [0,1] 0.6388512655548971 Centerline is valid? [False, False] Translation: X:74.91, Y:0.90, Z:0.40 [[ 9.99987666e-01 2.83597287e-03 -4.07743748e-03 7.49124781e+01] [-2.82910943e-03 9.99994573e-01 1.68805699e-03 8.99269822e-01] [ 4.08220263e-03 -1.67650065e-03 9.99990262e-01 3.99017346e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.195336195 meters Centerline goodness [0,1] 0.6164462090490244 Centerline is valid? [False, False] Translation: X:74.92, Y:0.89, Z:0.40 [[ 9.99984245e-01 3.55603728e-03 -4.34331204e-03 7.49154505e+01] [-3.54264164e-03 9.99988957e-01 3.08800912e-03 8.93379509e-01] [ 4.35424515e-03 -3.07257368e-03 9.99985800e-01 3.95684709e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.225336195 meters Centerline goodness [0,1] 0.6364587559522539 Centerline is valid? [False, False] Translation: X:74.92, Y:0.89, Z:0.39 [[ 9.99990561e-01 -5.62664231e-04 -4.30819770e-03 7.49161392e+01] [ 5.57642954e-04 9.99999164e-01 -1.16662941e-03 8.93421542e-01] [ 4.30885051e-03 1.16421596e-03 9.99990039e-01 3.94150215e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.255336195 meters Centerline goodness [0,1] 0.6401841147505887 Centerline is valid? [False, False] Translation: X:74.92, Y:0.89, Z:0.39 [[ 9.99990476e-01 -1.48578261e-04 -4.36189955e-03 7.49180271e+01] [ 1.50054439e-04 9.99999932e-01 3.38100222e-04 8.85992657e-01] [ 4.36184902e-03 -3.38751524e-04 9.99990430e-01 3.91327392e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.285336195 meters Centerline goodness [0,1] 0.6328574791858399 Centerline is valid? [False, False] Translation: X:74.92, Y:0.89, Z:0.39 [[ 9.99988519e-01 -5.56069655e-04 -4.75946073e-03 7.49188924e+01] [ 5.54001902e-04 9.99999752e-01 -4.35758384e-04 8.89558770e-01] [ 4.75970186e-03 4.33116631e-04 9.99988579e-01 3.91970724e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.315336195 meters Centerline goodness [0,1] 0.6411868188449326 Centerline is valid? [False, False] Translation: X:74.92, Y:0.89, Z:0.39 [[ 9.99987374e-01 -8.82079935e-04 -4.94716019e-03 7.49188230e+01] [ 8.76713732e-04 9.99999025e-01 -1.08676754e-03 8.92509761e-01] [ 4.94811399e-03 1.08241657e-03 9.99987172e-01 3.93104900e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.345336195 meters Centerline goodness [0,1] 0.6478888249461816 Centerline is valid? [False, False] Translation: X:74.91, Y:0.90, Z:0.40 [[ 9.99987745e-01 -2.27620034e-03 -4.39641975e-03 7.49128673e+01] [ 2.26430327e-03 9.99993767e-01 -2.70916722e-03 8.96297648e-01] [ 4.40255895e-03 2.69917919e-03 9.99986666e-01 3.99122038e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.37533619499999 meters Centerline goodness [0,1] 0.6546971423656653 Centerline is valid? [False, False] Translation: X:74.91, Y:0.89, Z:0.40 [[ 9.99986843e-01 -3.82818211e-03 -3.41457770e-03 7.49061359e+01] [ 3.81548002e-03 9.99985806e-01 -3.71874905e-03 8.93403200e-01] [ 3.42876529e-03 3.70567187e-03 9.99987256e-01 4.03708971e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.40533619499999 meters Centerline goodness [0,1] 0.6473890117366898 Centerline is valid? [False, False] Translation: X:74.95, Y:0.89, Z:0.40 [[ 9.99986745e-01 -4.04097562e-03 -3.19080676e-03 7.49499300e+01] [ 4.04513200e-03 9.99990977e-01 1.29723479e-03 8.90619745e-01] [ 3.18553588e-03 -1.31012483e-03 9.99994068e-01 4.00200999e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.43533619499999 meters Centerline goodness [0,1] 0.6580664357214205 Centerline is valid? [False, False] Translation: X:74.95, Y:0.88, Z:0.40 [[ 9.99983821e-01 -4.56900695e-03 -3.38842933e-03 7.49511392e+01] [ 4.57629787e-03 9.99987224e-01 2.14708648e-03 8.84590051e-01] [ 3.37857598e-03 -2.16255821e-03 9.99991954e-01 3.98978635e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.46533619499999 meters Centerline goodness [0,1] 0.6691986003243151 Centerline is valid? [False, False] Translation: X:74.95, Y:0.88, Z:0.40 [[ 9.99983475e-01 -4.48201241e-03 -3.60014142e-03 7.49522220e+01] [ 4.49136871e-03 9.99986547e-01 2.59500244e-03 8.82383936e-01] [ 3.58846215e-03 -2.61112912e-03 9.99990152e-01 3.98387369e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.495336195 meters Centerline goodness [0,1] 0.6908788111708941 Centerline is valid? [False, False] Translation: X:74.95, Y:0.88, Z:0.40 [[ 9.99979681e-01 -4.96058763e-03 -4.00380867e-03 7.49533875e+01] [ 4.97022766e-03 9.99984765e-01 2.40136475e-03 8.82602604e-01] [ 3.99183549e-03 -2.42121579e-03 9.99989101e-01 3.98537165e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.525336195 meters Centerline goodness [0,1] 0.6812977503121627 Centerline is valid? [False, False] Translation: X:74.95, Y:0.89, Z:0.40 [[ 9.99945258e-01 -9.63017711e-03 -4.09161048e-03 7.49525473e+01] [ 9.61739340e-03 9.99948845e-01 -3.13264113e-03 8.88676074e-01] [ 4.12156906e-03 3.09311901e-03 9.99986723e-01 4.00545123e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.555336195 meters Centerline goodness [0,1] 0.7046343537414965 Centerline is valid? [False, False] Translation: X:74.95, Y:0.88, Z:0.40 [[ 9.99946301e-01 -9.55455007e-03 -4.01316705e-03 7.49523932e+01] [ 9.54547234e-03 9.99951853e-01 -2.27508319e-03 8.84109764e-01] [ 4.03471123e-03 2.23665345e-03 9.99989359e-01 4.00571153e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.585336195 meters Centerline goodness [0,1] 0.706939665305948 Centerline is valid? [False, False] Translation: X:74.95, Y:0.88, Z:0.40 [[ 9.99953281e-01 -8.88478973e-03 -3.80743556e-03 7.49527033e+01] [ 8.88210712e-03 9.99960293e-01 -7.20902870e-04 8.76856331e-01] [ 3.81368945e-03 6.87051140e-04 9.99992492e-01 3.99119554e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.615336195 meters Centerline goodness [0,1] 0.7094215227562739 Centerline is valid? [False, False] Translation: X:74.95, Y:0.87, Z:0.40 [[ 9.99955719e-01 -8.63238909e-03 -3.74734623e-03 7.49528632e+01] [ 8.63170597e-03 9.99962726e-01 -1.98428097e-04 8.74488823e-01] [ 3.74891946e-03 1.66073320e-04 9.99992959e-01 3.98532703e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.645336195 meters Centerline goodness [0,1] 0.6880582132931667 Centerline is valid? [False, False] Translation: X:74.95, Y:0.87, Z:0.40 [[ 9.99956962e-01 -8.47826868e-03 -3.76733428e-03 7.49532073e+01] [ 8.47811407e-03 9.99964059e-01 -5.70089887e-05 8.74091146e-01] [ 3.76768221e-03 2.50666454e-05 9.99992902e-01 3.98033317e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.675336195 meters Centerline goodness [0,1] 0.6886524973885608 Centerline is valid? [False, False] Translation: X:74.95, Y:0.88, Z:0.40 [[ 9.99956009e-01 -8.63643078e-03 -3.65959203e-03 7.49524753e+01] [ 8.63474432e-03 9.99962606e-01 -4.76383297e-04 8.76095681e-01] [ 3.66356943e-03 4.44762699e-04 9.99993190e-01 3.98643125e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.705336195 meters Centerline goodness [0,1] 0.6879795940057392 Centerline is valid? [False, False] Translation: X:74.95, Y:0.87, Z:0.40 [[ 9.99983198e-01 -4.29200739e-03 -3.89647564e-03 7.49530358e+01] [ 4.30853894e-03 9.99981711e-01 4.24425852e-03 8.73978382e-01] [ 3.87818799e-03 -4.26097532e-03 9.99983402e-01 3.98894741e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.73533619499999 meters Centerline goodness [0,1] 0.679072527658853 Centerline is valid? [False, False] Translation: X:74.95, Y:0.87, Z:0.40 [[ 9.99983183e-01 -3.96332505e-03 -4.23388053e-03 7.49546844e+01] [ 3.98409433e-03 9.99980017e-01 4.90837533e-03 8.71030197e-01] [ 4.21434244e-03 -4.92516096e-03 9.99978991e-01 3.98018768e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.76533619499999 meters Centerline goodness [0,1] 0.671692503716288 Centerline is valid? [False, False] Translation: X:74.96, Y:0.87, Z:0.40 [[ 9.99983848e-01 -3.64907502e-03 -4.35752483e-03 7.49558419e+01] [ 3.67327813e-03 9.99977800e-01 5.55930098e-03 8.68078316e-01] [ 4.33714179e-03 -5.57521759e-03 9.99975053e-01 3.96780012e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.79533619499999 meters Centerline goodness [0,1] 0.6653472089212369 Centerline is valid? [False, False] Translation: X:74.96, Y:0.86, Z:0.39 [[ 9.99984817e-01 -3.17572070e-03 -4.50334051e-03 7.49576077e+01] [ 3.20484408e-03 9.99973904e-01 6.47465861e-03 8.64070191e-01] [ 4.48266128e-03 -6.48899281e-03 9.99968899e-01 3.94631770e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.82533619499999 meters Centerline goodness [0,1] 0.6612408187456342 Centerline is valid? [False, False] Translation: X:74.97, Y:0.87, Z:0.40 [[ 9.99998394e-01 -1.39611040e-03 -1.12379127e-03 7.49686601e+01] [ 1.39359776e-03 9.99996535e-01 -2.23354236e-03 8.66691666e-01] [ 1.12690565e-03 2.23197266e-03 9.99996874e-01 4.01753884e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.85533619499999 meters Centerline goodness [0,1] 0.6656924652274085 Centerline is valid? [False, False] Translation: X:74.97, Y:0.87, Z:0.40 [[ 9.99998687e-01 -1.41277285e-03 -7.94207240e-04 7.49669228e+01] [ 1.41090063e-03 9.99996236e-01 -2.35298580e-03 8.67243238e-01] [ 7.97528485e-04 2.35186216e-03 9.99996916e-01 4.02966236e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.885336195 meters Centerline goodness [0,1] 0.6382605757249361 Centerline is valid? [False, False] Translation: X:75.01, Y:0.87, Z:0.40 [[ 9.99998544e-01 -4.81204121e-04 1.63716084e-03 7.50059387e+01] [ 4.78924287e-04 9.99998916e-01 1.39266106e-03 8.70721940e-01] [-1.63782922e-03 -1.39187496e-03 9.99997690e-01 4.03195532e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.915336195 meters Centerline goodness [0,1] 0.6724920757303179 Centerline is valid? [False, False] Translation: X:74.97, Y:0.87, Z:0.40 [[ 9.99999821e-01 -4.16685561e-04 -4.28395040e-04 7.49667328e+01] [ 4.15750334e-04 9.99997535e-01 -2.18087007e-03 8.70833452e-01] [ 4.29302721e-04 2.18069158e-03 9.99997530e-01 4.02335420e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.945336195 meters Centerline goodness [0,1] 0.6607604594972659 Centerline is valid? [False, False] Translation: X:75.01, Y:0.87, Z:0.40 [[ 9.99997037e-01 -7.26689211e-04 -2.32354793e-03 7.50138371e+01] [ 7.28625546e-04 9.99999388e-01 8.32614586e-04 8.73373581e-01] [ 2.32294146e-03 -8.34305115e-04 9.99996954e-01 3.99516597e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.975336195 meters Centerline goodness [0,1] 0.6674956585125313 Centerline is valid? [False, False] Translation: X:74.97, Y:0.87, Z:0.40 [[ 9.99988820e-01 -4.98808098e-04 -4.70216677e-03 7.49747824e+01] [ 4.90306367e-04 9.99998244e-01 -1.80902480e-03 8.70175029e-01] [ 4.70306087e-03 1.80669907e-03 9.99987308e-01 3.98371217e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.005336195 meters Centerline goodness [0,1] 0.6650337585993908 Centerline is valid? [False, False] Translation: X:74.98, Y:0.87, Z:0.39 [[ 9.99979155e-01 -3.20556816e-03 -5.60475433e-03 7.49814119e+01] [ 3.17955169e-03 9.99984159e-01 -4.64462099e-03 8.69686337e-01] [ 5.61955419e-03 4.62670357e-03 9.99973507e-01 3.93718031e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.035336195 meters Centerline goodness [0,1] 0.6751151580074987 Centerline is valid? [False, False] Translation: X:74.98, Y:0.87, Z:0.39 [[ 9.99979003e-01 -3.10892797e-03 -5.68587021e-03 7.49818592e+01] [ 3.08392060e-03 9.99985557e-01 -4.40165335e-03 8.68546093e-01] [ 5.69947252e-03 4.38402615e-03 9.99974148e-01 3.93405769e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.065336195 meters Centerline goodness [0,1] 0.6877058647388459 Centerline is valid? [False, False] Translation: X:74.98, Y:0.87, Z:0.40 [[ 9.99980059e-01 -3.63256394e-03 -5.16582982e-03 7.49785830e+01] [ 3.60805927e-03 9.99982233e-01 -4.74504043e-03 8.69166484e-01] [ 5.18297470e-03 4.72630719e-03 9.99975399e-01 3.96295975e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.095336195 meters Centerline goodness [0,1] 0.7048277328796257 Centerline is valid? [False, False] Translation: X:74.97, Y:0.87, Z:0.40 [[ 9.99975192e-01 -5.59199722e-03 -4.28301565e-03 7.49704636e+01] [ 5.56474762e-03 9.99964368e-01 -6.34795520e-03 8.69008653e-01] [ 4.31836079e-03 6.32396382e-03 9.99970679e-01 4.03621559e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.12533619499999 meters Centerline goodness [0,1] 0.7046719406358616 Centerline is valid? [False, False] Translation: X:74.97, Y:0.86, Z:0.40 [[ 9.99976286e-01 -5.31486061e-03 -4.37940789e-03 7.49710134e+01] [ 5.29104195e-03 9.99971246e-01 -5.43253999e-03 8.64556635e-01] [ 4.40815516e-03 5.40923953e-03 9.99975654e-01 4.03316734e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.15533619499999 meters Centerline goodness [0,1] 0.7763830283496957 Centerline is valid? [False, False] Translation: X:74.97, Y:0.86, Z:0.40 [[ 9.99971854e-01 -5.82046819e-03 -4.73429850e-03 7.49731087e+01] [ 5.80077147e-03 9.99974508e-01 -4.16357698e-03 8.55661534e-01] [ 4.75841178e-03 4.13599721e-03 9.99980125e-01 4.01294647e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.18533619499999 meters Centerline goodness [0,1] 0.7763830283496957 Centerline is valid? [False, False] Translation: X:74.97, Y:0.86, Z:0.40 [[ 9.99971854e-01 -5.82046819e-03 -4.73429850e-03 7.49731087e+01] [ 5.80077147e-03 9.99974508e-01 -4.16357698e-03 8.55661534e-01] [ 4.75841178e-03 4.13599721e-03 9.99980125e-01 4.01294647e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.21533619499999 meters Centerline goodness [0,1] 0.8274934327599356 Centerline is valid? [False, False] Translation: X:74.97, Y:0.85, Z:0.40 [[ 9.99971709e-01 -5.63738830e-03 -4.97996686e-03 7.49744210e+01] [ 5.62049103e-03 9.99978423e-01 -3.40055220e-03 8.51965996e-01] [ 4.99902964e-03 3.37246614e-03 9.99981818e-01 4.00473577e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.245336195 meters Centerline goodness [0,1] 0.9757237024553619 Centerline is valid? [False, True] Translation: X:74.98, Y:0.85, Z:0.40 [[ 9.99967897e-01 -5.97336166e-03 -5.34085138e-03 7.49762489e+01] [ 5.96013223e-03 9.99979139e-01 -2.48952058e-03 8.46058553e-01] [ 5.35561078e-03 2.45760848e-03 9.99982639e-01 3.99080387e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.275336195 meters Centerline goodness [0,1] 0.9960804472145474 Centerline is valid? [True, True] Translation: X:75.01, Y:0.84, Z:0.40 [[ 9.99940136e-01 -8.41679186e-03 -6.99162206e-03 7.50065445e+01] [ 8.41401607e-03 9.99964511e-01 -4.26335777e-04 8.37115584e-01] [ 6.99496231e-03 3.67482634e-04 9.99975467e-01 3.95225605e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.305336195 meters Centerline goodness [0,1] 0.9983619460931351 Centerline is valid? [True, True] Translation: X:75.04, Y:0.83, Z:0.39 [[ 9.99890792e-01 -1.26942924e-02 -7.56700301e-03 7.50368010e+01] [ 1.26911622e-02 9.99919357e-01 -4.61530476e-04 8.28844893e-01] [ 7.57225159e-03 3.65446010e-04 9.99971263e-01 3.94794000e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.335336195 meters Centerline goodness [0,1] 0.998022412656559 Centerline is valid? [True, True] Translation: X:75.07, Y:0.83, Z:0.40 [[ 9.99879520e-01 -1.40599266e-02 -6.57746447e-03 7.50663254e+01] [ 1.40575920e-02 9.99901107e-01 -4.01041684e-04 8.27364862e-01] [ 6.58245262e-03 3.08530055e-04 9.99978288e-01 3.96655571e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.365336195 meters Centerline goodness [0,1] 0.9767903528964541 Centerline is valid? [True, True] Translation: X:75.10, Y:0.83, Z:0.40 [[ 9.99877739e-01 -1.52318198e-02 -3.53545569e-03 7.50968883e+01] [ 1.52311529e-02 9.99883976e-01 -2.15477497e-04 8.29750683e-01] [ 3.53832761e-03 1.61602086e-04 9.99993727e-01 4.00921347e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.395336195 meters Centerline goodness [0,1] 0.9962468902805182 Centerline is valid? [True, True] Translation: X:75.13, Y:0.81, Z:0.41 [[ 9.99914421e-01 -1.30092516e-02 -1.38173277e-03 7.51288344e+01] [ 1.30091476e-02 9.99915374e-01 -8.41957165e-05 8.12617491e-01] [ 1.38271116e-03 6.62133456e-05 9.99999042e-01 4.06605692e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.425336195 meters Centerline goodness [0,1] 0.9558350951374207 Centerline is valid? [True, True] Translation: X:75.16, Y:0.82, Z:0.41 [[ 9.99945448e-01 -1.03999923e-02 -9.70174881e-04 7.51587253e+01] [ 1.03999399e-02 9.99945917e-01 -5.90876688e-05 8.19815932e-01] [ 9.70736923e-04 4.89946851e-05 9.99999528e-01 4.06491139e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.455336195 meters Centerline goodness [0,1] 0.8043146885717916 Centerline is valid? [True, False] Translation: X:75.16, Y:0.81, Z:0.40 [[ 9.99988384e-01 -4.67063316e-03 -1.19067373e-03 7.51613836e+01] [ 4.67885375e-03 9.99964571e-01 6.99748047e-03 8.07865058e-01] [ 1.15794888e-03 -7.00297018e-03 9.99974808e-01 4.03644158e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.48533619499999 meters Centerline goodness [0,1] 0.7766676524016729 Centerline is valid? [False, False] Translation: X:75.18, Y:0.80, Z:0.41 [[ 9.99979466e-01 1.68226154e-03 -6.18363154e-03 7.51835049e+01] [-1.63449200e-03 9.99968848e-01 7.72211191e-03 8.03653403e-01] [ 6.19642952e-03 -7.71184625e-03 9.99951065e-01 4.05983445e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.51533619499999 meters Centerline goodness [0,1] 0.7020295399001169 Centerline is valid? [False, False] Translation: X:75.18, Y:0.80, Z:0.41 [[ 9.99978201e-01 1.87483669e-03 -6.33103170e-03 7.51842304e+01] [-1.82465888e-03 9.99966954e-01 7.92218939e-03 8.02889831e-01] [ 6.34567530e-03 -7.91046473e-03 9.99948577e-01 4.05472640e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.54533619499999 meters Centerline goodness [0,1] 0.7059433164128596 Centerline is valid? [False, False] Translation: X:75.18, Y:0.80, Z:0.41 [[ 9.99976344e-01 2.63235550e-03 -6.35476867e-03 7.51846675e+01] [-2.57569974e-03 9.99957012e-01 8.90725304e-03 7.98808790e-01] [ 6.37794255e-03 -8.89067435e-03 9.99940137e-01 4.05014633e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.57533619499999 meters Centerline goodness [0,1] 0.6885769255163957 Centerline is valid? [False, False] Translation: X:75.18, Y:0.80, Z:0.41 [[ 9.99982746e-01 -7.65171393e-04 -5.82430853e-03 7.51827534e+01] [ 7.92114045e-04 9.99988991e-01 4.62499678e-03 8.00580519e-01] [ 5.82070550e-03 -4.62953050e-03 9.99972343e-01 4.05684421e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.60533619499999 meters Centerline goodness [0,1] 0.6728904998735564 Centerline is valid? [False, False] Translation: X:75.18, Y:0.79, Z:0.41 [[ 9.99984771e-01 1.72601271e-04 -5.51616911e-03 7.51821397e+01] [-1.36811668e-04 9.99978944e-01 6.48784533e-03 7.91880356e-01] [ 5.51717277e-03 -6.48699185e-03 9.99963739e-01 4.05241221e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.635336195 meters Centerline goodness [0,1] 0.6749519538757207 Centerline is valid? [False, False] Translation: X:75.13, Y:0.78, Z:0.41 [[ 9.99992443e-01 -2.55775050e-04 -3.87936799e-03 7.51341705e+01] [ 2.70836142e-04 9.99992427e-01 3.88232888e-03 7.82896205e-01] [ 3.87834561e-03 -3.88335021e-03 9.99984939e-01 4.07021589e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.665336195 meters Centerline goodness [0,1] 0.665926442907599 Centerline is valid? [False, False] Translation: X:75.15, Y:0.79, Z:0.41 [[ 9.99999515e-01 9.53261277e-04 -2.48683751e-04 7.51523031e+01] [-9.54571605e-04 9.99985376e-01 -5.32324961e-03 7.85556335e-01] [ 2.43605666e-04 5.32348442e-03 9.99985800e-01 4.07656163e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.695336195 meters Centerline goodness [0,1] 0.6718535275587222 Centerline is valid? [False, False] Translation: X:75.15, Y:0.78, Z:0.41 [[ 9.99998560e-01 1.66868261e-03 -3.10398251e-04 7.51528773e+01] [-1.66984218e-03 9.99991485e-01 -3.77376091e-03 7.78383796e-01] [ 3.04098399e-04 3.77427379e-03 9.99992831e-01 4.07148320e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.725336195 meters Centerline goodness [0,1] 0.6704870448627651 Centerline is valid? [False, False] Translation: X:75.15, Y:0.77, Z:0.41 [[ 9.99997847e-01 2.04437274e-03 -3.57053072e-04 7.51531179e+01] [-2.04541720e-03 9.99993557e-01 -2.94979338e-03 7.74579069e-01] [ 3.51020295e-04 2.95051735e-03 9.99995586e-01 4.07076974e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.755336195 meters Centerline goodness [0,1] 0.6654965002033522 Centerline is valid? [False, False] Translation: X:75.16, Y:0.76, Z:0.40 [[ 9.99994517e-01 3.24454892e-03 -6.62127813e-04 7.51556851e+01] [-3.24486451e-03 9.99994622e-01 -4.76118139e-04 7.63639645e-01] [ 6.60579464e-04 4.78264043e-04 9.99999667e-01 4.04828933e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.785336195 meters Centerline goodness [0,1] 0.6774865548540696 Centerline is valid? [False, False] Translation: X:75.15, Y:0.76, Z:0.40 [[ 9.99999826e-01 -4.20051747e-04 -4.13627950e-04 7.51549817e+01] [ 4.18549444e-04 9.99993341e-01 -3.62543018e-03 7.58356812e-01] [ 4.15148064e-04 3.62525643e-03 9.99993343e-01 4.04777829e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.815336195 meters Centerline goodness [0,1] 0.6727465760696465 Centerline is valid? [False, False] Translation: X:75.15, Y:0.75, Z:0.40 [[ 9.99999943e-01 8.73416760e-05 -3.24741920e-04 7.51547399e+01] [-8.81179328e-05 9.99997137e-01 -2.39113520e-03 7.52520263e-01] [ 3.24532145e-04 2.39116368e-03 9.99997089e-01 4.04884243e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.845336195 meters Centerline goodness [0,1] 0.6333826325797591 Centerline is valid? [False, False] Translation: X:75.16, Y:0.75, Z:0.40 [[ 9.99993355e-01 -3.63317084e-03 -3.00785573e-04 7.51551633e+01] [ 3.63146249e-03 9.99978294e-01 -5.49766238e-03 7.46965083e-01] [ 3.20752991e-04 5.49653355e-03 9.99984843e-01 4.04184023e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.87533619499999 meters Centerline goodness [0,1] 0.6823083959073408 Centerline is valid? [False, False] Translation: X:75.16, Y:0.74, Z:0.40 [[ 9.99994692e-01 -3.21091338e-03 -5.53091837e-04 7.51564770e+01] [ 3.20835464e-03 9.99984426e-01 -4.56661894e-03 7.42677421e-01] [ 5.67746241e-04 4.56482018e-03 9.99989420e-01 4.03413384e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.90533619499999 meters Centerline goodness [0,1] 0.6607048476776389 Centerline is valid? [False, False] Translation: X:75.16, Y:0.73, Z:0.40 [[ 9.99998156e-01 -1.72148564e-03 -8.51668786e-04 7.51594049e+01] [ 1.72005253e-03 9.99997109e-01 -1.68059374e-03 7.30296584e-01] [ 8.54559441e-04 1.67912573e-03 9.99998225e-01 4.00925078e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.93533619499999 meters Centerline goodness [0,1] 0.65508168894547 Centerline is valid? [False, False] Translation: X:75.16, Y:0.72, Z:0.40 [[ 9.99999199e-01 -5.87034691e-04 -1.12091485e-03 7.51619008e+01] [ 5.87667794e-04 9.99999668e-01 5.64563371e-04 7.20374659e-01] [ 1.12058306e-03 -5.65221644e-04 9.99999212e-01 3.98614281e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.96533619499999 meters Centerline goodness [0,1] 0.6542544084916966 Centerline is valid? [False, False] Translation: X:75.16, Y:0.72, Z:0.40 [[ 9.99999334e-01 -4.16205220e-04 -1.07616869e-03 7.51617476e+01] [ 4.17148078e-04 9.99999529e-01 8.76049290e-04 7.18989093e-01] [ 1.07580357e-03 -8.76497629e-04 9.99999037e-01 3.98673928e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.995336195 meters Centerline goodness [0,1] 0.6556523224043715 Centerline is valid? [False, False] Translation: X:75.16, Y:0.72, Z:0.40 [[ 9.99999689e-01 7.59268224e-04 -2.14055061e-04 7.51581588e+01] [-7.58845243e-04 9.99997773e-01 1.96924352e-03 7.15404649e-01] [ 2.15549769e-04 -1.96908048e-03 9.99998038e-01 4.00512152e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.025336195 meters Centerline goodness [0,1] 0.6188533299332739 Centerline is valid? [False, False] Translation: X:75.16, Y:0.71, Z:0.40 [[ 9.99998789e-01 1.55632572e-03 -2.49467776e-05 7.51579522e+01] [-1.55625927e-03 9.99995732e-01 2.47268534e-03 7.14185814e-01] [ 2.87949749e-05 -2.47264352e-03 9.99996943e-01 3.99921758e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.055336195 meters Centerline goodness [0,1] 0.654548177947061 Centerline is valid? [False, False] Translation: X:75.16, Y:0.72, Z:0.40 [[ 9.99998773e-01 1.55503495e-03 -1.89964987e-04 7.51590899e+01] [-1.55459934e-03 9.99996210e-01 2.27209940e-03 7.15282890e-01] [ 1.93497461e-04 -2.27180130e-03 9.99997401e-01 3.98680079e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.085336195 meters Centerline goodness [0,1] 0.49950011699389507 Centerline is valid? [False, False] Translation: X:75.16, Y:0.72, Z:0.40 [[ 9.99997431e-01 2.21546804e-03 -4.78839596e-04 7.51608531e+01] [-2.21435676e-03 9.99994883e-01 2.30899078e-03 7.16485537e-01] [ 4.83952641e-04 -2.30792453e-03 9.99997220e-01 3.97138655e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.115336195 meters Centerline goodness [0,1] 0.4935300649128801 Centerline is valid? [False, False] Translation: X:75.16, Y:0.72, Z:0.40 [[ 9.99997668e-01 2.13247712e-03 -3.42557806e-04 7.51603379e+01] [-2.13181858e-03 9.99995901e-01 1.91139669e-03 7.18466376e-01] [ 3.46632411e-04 -1.91066196e-03 9.99998115e-01 3.97170485e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.145336195 meters Centerline goodness [0,1] 0.4623427405644339 Centerline is valid? [False, False] Translation: X:75.16, Y:0.72, Z:0.40 [[ 9.99997648e-01 2.14841139e-03 -2.95536428e-04 7.51600937e+01] [-2.14787779e-03 9.99996084e-01 1.79415025e-03 7.19115516e-01] [ 2.99389843e-04 -1.79351126e-03 9.99998347e-01 3.97266503e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.175336195 meters Centerline goodness [0,1] 0.40644830459585923 Centerline is valid? [False, False] Translation: X:75.15, Y:0.72, Z:0.40 [[ 9.99999827e-01 2.01701234e-04 5.53267617e-04 7.51538322e+01] [-2.01775990e-04 9.99999971e-01 1.35065049e-04 7.17678262e-01] [-5.53240358e-04 -1.35176662e-04 9.99999838e-01 4.01403757e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.205336195 meters Centerline goodness [0,1] 0.46646083572999497 Centerline is valid? [False, False] Translation: X:75.20, Y:0.72, Z:0.40 [[ 9.99998745e-01 -4.33066074e-04 1.52376568e-03 7.51963317e+01] [ 4.30147382e-04 9.99998073e-01 1.91525391e-03 7.19793514e-01] [-1.52459217e-03 -1.91459606e-03 9.99997005e-01 4.01158715e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.23533619499999 meters Centerline goodness [0,1] 0.46710289477585076 Centerline is valid? [False, False] Translation: X:75.20, Y:0.71, Z:0.40 [[ 9.99997976e-01 -1.41501134e-03 1.43000729e-03 7.51961322e+01] [ 1.41169545e-03 9.99996319e-01 2.31714956e-03 7.14830277e-01] [-1.43328082e-03 -2.31512613e-03 9.99996293e-01 4.01905799e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.26533619499999 meters Centerline goodness [0,1] 0.6369474154245254 Centerline is valid? [False, False] Translation: X:75.19, Y:0.71, Z:0.40 [[ 9.99980815e-01 -5.95930066e-03 1.69033720e-03 7.51946543e+01] [ 5.96218369e-03 9.99980771e-01 -1.70571621e-03 7.12787096e-01] [-1.68013982e-03 1.71576158e-03 9.99997117e-01 4.03357138e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.29533619499999 meters Centerline goodness [0,1] 0.575212967093663 Centerline is valid? [False, False] Translation: X:75.20, Y:0.71, Z:0.40 [[ 9.99981031e-01 -5.98446044e-03 1.45748660e-03 7.51952542e+01] [ 5.98650596e-03 9.99981096e-01 -1.40315877e-03 7.11158570e-01] [-1.44906190e-03 1.41185740e-03 9.99997953e-01 4.03697992e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.32533619499999 meters Centerline goodness [0,1] 0.6140156911104968 Centerline is valid? [False, False] Translation: X:75.20, Y:0.71, Z:0.40 [[ 9.99979658e-01 -6.29111125e-03 1.05111940e-03 7.51969255e+01] [ 6.29198043e-03 9.99979864e-01 -8.25656277e-04 7.07406626e-01] [-1.04590394e-03 8.32253105e-04 9.99999107e-01 4.02972846e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.35533619499999 meters Centerline goodness [0,1] 0.6274110382583232 Centerline is valid? [False, False] Translation: X:75.20, Y:0.70, Z:0.40 [[ 9.99981540e-01 -6.01675230e-03 8.47574317e-04 7.51978296e+01] [ 6.01673822e-03 9.99981899e-01 1.91673389e-05 7.03317988e-01] [-8.47674300e-04 -1.40673523e-05 9.99999641e-01 4.02647243e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.385336195 meters Centerline goodness [0,1] 0.7021627449736791 Centerline is valid? [False, False] Translation: X:75.20, Y:0.70, Z:0.40 [[ 9.99983252e-01 -5.74762883e-03 6.77853212e-04 7.51985663e+01] [ 5.74701597e-03 9.99983078e-01 9.02634771e-04 6.98986924e-01] [-6.83029752e-04 -8.98724021e-04 9.99999363e-01 4.02502425e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.415336195 meters Centerline goodness [0,1] 0.5711481637821866 Centerline is valid? [False, False] Translation: X:75.20, Y:0.70, Z:0.40 [[ 9.99982856e-01 -5.83512008e-03 4.88523153e-04 7.51994418e+01] [ 5.83478962e-03 9.99982750e-01 6.75148979e-04 7.00112030e-01] [-4.92454302e-04 -6.72286975e-04 9.99999653e-01 4.02023374e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.445336195 meters Centerline goodness [0,1] 0.6952731002649799 Centerline is valid? [False, False] Translation: X:75.18, Y:0.71, Z:0.41 [[ 9.99984314e-01 -2.83378976e-03 -4.83121619e-03 7.51772002e+01] [ 2.79955392e-03 9.99971028e-01 -7.07847693e-03 7.06137050e-01] [ 4.85113514e-03 7.06484065e-03 9.99963277e-01 4.07333037e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.475336195 meters Centerline goodness [0,1] 0.6876729238496573 Centerline is valid? [False, False] Translation: X:75.18, Y:0.70, Z:0.41 [[ 9.99987135e-01 1.61287126e-03 -4.80921681e-03 7.51771427e+01] [-1.62417516e-03 9.99995926e-01 -2.34748741e-03 7.04133773e-01] [ 4.80541102e-03 2.35526822e-03 9.99985680e-01 4.07314109e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.505336195 meters Centerline goodness [0,1] 0.6616270852517292 Centerline is valid? [False, False] Translation: X:75.18, Y:0.71, Z:0.41 [[ 9.99988186e-01 1.44581841e-03 -4.64077179e-03 7.51763498e+01] [-1.45870898e-03 9.99995084e-01 -2.77549761e-03 7.06173028e-01] [ 4.63673611e-03 2.78223436e-03 9.99985380e-01 4.07716437e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.535336195 meters Centerline goodness [0,1] 0.6137037978975923 Centerline is valid? [False, False] Translation: X:75.18, Y:0.71, Z:0.41 [[ 9.99972255e-01 5.67916300e-03 -4.82038081e-03 7.51773907e+01] [-5.67310666e-03 9.99983102e-01 1.26914733e-03 7.07593054e-01] [ 4.82750705e-03 -1.24176559e-03 9.99987577e-01 4.06941714e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.565336195 meters Centerline goodness [0,1] 0.5585789551638771 Centerline is valid? [False, False] Translation: X:75.18, Y:0.72, Z:0.41 [[ 9.99970723e-01 5.96022347e-03 -4.79878048e-03 7.51774972e+01] [-5.96228441e-03 9.99982139e-01 -4.15280561e-04 7.18511639e-01] [ 4.79621960e-03 4.43880097e-04 9.99988400e-01 4.06614516e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.595336195 meters Centerline goodness [0,1] 0.5134760544159666 Centerline is valid? [False, False] Translation: X:75.18, Y:0.72, Z:0.41 [[ 9.99973529e-01 5.50146418e-03 -4.76191727e-03 7.51771383e+01] [-5.50971755e-03 9.99983339e-01 -1.72182360e-03 7.24824343e-01] [ 4.75236538e-03 1.74801484e-03 9.99987180e-01 4.06803020e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.62533619499999 meters Centerline goodness [0,1] 0.47379219900160763 Centerline is valid? [False, False] Translation: X:75.18, Y:0.73, Z:0.40 [[ 9.99956826e-01 7.31624911e-03 -5.72868384e-03 7.51838011e+01] [-7.31787013e-03 9.99973190e-01 -2.62056035e-04 7.29614588e-01] [ 5.72661299e-03 3.03966485e-04 9.99983557e-01 4.02487326e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.65533619499999 meters Centerline goodness [0,1] 0.5531860662701784 Centerline is valid? [False, False] Translation: X:75.18, Y:0.73, Z:0.40 [[ 9.99957387e-01 7.22923939e-03 -5.74126233e-03 7.51840649e+01] [-7.23165694e-03 9.99973771e-01 -4.00435904e-04 7.30220520e-01] [ 5.73821689e-03 4.41937679e-04 9.99983439e-01 4.02071066e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.68533619499999 meters Centerline goodness [0,1] 0.6770298433706465 Centerline is valid? [False, False] Translation: X:75.16, Y:0.74, Z:0.40 [[ 9.99999904e-01 3.46870941e-04 -2.69218636e-04 7.51595163e+01] [-3.47311276e-04 9.99998599e-01 -1.63728604e-03 7.37681798e-01] [ 2.68650332e-04 1.63737939e-03 9.99998623e-01 4.00589027e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.71533619499999 meters Centerline goodness [0,1] 0.6945873288033699 Centerline is valid? [False, False] Translation: X:75.19, Y:0.75, Z:0.41 [[ 9.99966209e-01 -7.14904127e-03 4.05862235e-03 7.51909933e+01] [ 7.18174057e-03 9.99941403e-01 -8.10017069e-03 7.49307810e-01] [-4.00047608e-03 8.12904494e-03 9.99958957e-01 4.06121374e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.745336195 meters Centerline goodness [0,1] 0.7127248811948405 Centerline is valid? [False, False] Translation: X:75.19, Y:0.75, Z:0.41 [[ 9.99965896e-01 -7.26719282e-03 3.92367345e-03 7.51913361e+01] [ 7.29611883e-03 9.99945936e-01 -7.40889308e-03 7.45376470e-01] [-3.86961947e-03 7.43726799e-03 9.99964856e-01 4.06334274e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.775336195 meters Centerline goodness [0,1] 0.8017378404153862 Centerline is valid? [False, False] Translation: X:75.19, Y:0.74, Z:0.41 [[ 9.99920872e-01 -1.19105040e-02 4.04844763e-03 7.51905653e+01] [ 1.19556103e-02 9.99864606e-01 -1.13062853e-02 7.42325508e-01] [-3.91323594e-03 1.13537923e-02 9.99927886e-01 4.07346222e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.805336195 meters Centerline goodness [0,1] 0.8501985803616697 Centerline is valid? [False, False] Translation: X:75.19, Y:0.74, Z:0.41 [[ 9.99951983e-01 -9.02613712e-03 3.81592995e-03 7.51908805e+01] [ 9.05195463e-03 9.99935885e-01 -6.80346980e-03 7.37010482e-01] [-3.75427624e-03 6.83768474e-03 9.99969575e-01 4.07538763e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.835336195 meters Centerline goodness [0,1] 0.9530049994681417 Centerline is valid? [False, True] Translation: X:75.19, Y:0.74, Z:0.41 [[ 9.99947910e-01 -9.50248769e-03 3.72561490e-03 7.51910025e+01] [ 9.52910277e-03 9.99928731e-01 -7.19235498e-03 7.38383198e-01] [-3.65700411e-03 7.22748209e-03 9.99967194e-01 4.07842935e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.865336195 meters Centerline goodness [0,1] 0.9869359176877428 Centerline is valid? [True, True] Translation: X:75.22, Y:0.73, Z:0.40 [[ 9.99940799e-01 -1.07308933e-02 1.80187181e-03 7.52231904e+01] [ 1.07306959e-02 9.99942417e-01 1.19161566e-04 7.30687303e-01] [-1.80304676e-03 -9.98191732e-05 9.99998370e-01 4.01768897e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.895336195 meters Centerline goodness [0,1] 0.9801436689181945 Centerline is valid? [True, True] Translation: X:75.25, Y:0.73, Z:0.40 [[ 9.99927032e-01 -1.20468330e-02 8.97329747e-04 7.52537349e+01] [ 1.20467846e-02 9.99927433e-01 5.93313475e-05 7.27976744e-01] [-8.97979385e-04 -4.85170800e-05 9.99999596e-01 3.98045057e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.925336195 meters Centerline goodness [0,1] 0.9343186596164872 Centerline is valid? [True, False] Translation: X:75.25, Y:0.73, Z:0.40 [[ 9.99929807e-01 -1.18217782e-02 7.91269413e-04 7.52543532e+01] [ 1.18212646e-02 9.99929915e-01 6.50572926e-04 7.25182758e-01] [-7.98904885e-04 -6.41173456e-04 9.99999475e-01 3.97634418e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.955336195 meters Centerline goodness [0,1] 0.992 Centerline is valid? [False, True] Translation: X:75.25, Y:0.73, Z:0.40 [[ 9.99927091e-01 -1.20552515e-02 6.95784989e-04 7.52541823e+01] [ 1.20551178e-02 9.99927315e-01 1.96042401e-04 7.27251985e-01] [-6.98097757e-04 -1.87640338e-04 9.99999739e-01 3.98483822e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.98533619499999 meters Centerline goodness [0,1] 0.9943891208908877 Centerline is valid? [True, True] Translation: X:75.29, Y:0.73, Z:0.40 [[ 9.99916998e-01 -1.28593547e-02 7.96750824e-04 7.52869942e+01] [ 1.28593184e-02 9.99917314e-01 5.06749726e-05 7.27901101e-01] [-7.97336591e-04 -4.04250939e-05 9.99999681e-01 3.98765499e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.01533619499999 meters Centerline goodness [0,1] 0.9606284106412005 Centerline is valid? [True, True] Translation: X:75.32, Y:0.73, Z:0.40 [[ 9.99905796e-01 -1.31557129e-02 3.91476407e-03 7.53182114e+01] [ 1.31548455e-02 9.99913441e-01 2.47233134e-04 7.27081102e-01] [-3.91767774e-03 -1.95711728e-04 9.99992307e-01 4.00825905e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.04533619499999 meters Centerline goodness [0,1] 0.9917412250516173 Centerline is valid? [True, True] Translation: X:75.35, Y:0.71, Z:0.40 [[ 9.99913568e-01 -1.19647808e-02 5.44980019e-03 7.53513006e+01] [ 1.19630837e-02 9.99928381e-01 3.43903903e-04 7.13236585e-01] [-5.45352461e-03 -2.78677763e-04 9.99985091e-01 4.03576324e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.07533619499999 meters Centerline goodness [0,1] 0.9917412250516173 Centerline is valid? [True, True] Translation: X:75.38, Y:0.72, Z:0.40 [[ 9.99914467e-01 -1.18894546e-02 5.44981627e-03 7.53838144e+01] [ 1.18877577e-02 9.99929279e-01 3.43648827e-04 7.15154373e-01] [-5.45351665e-03 -2.78833338e-04 9.99985091e-01 4.03374107e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.10533619499999 meters Centerline goodness [0,1] 0.9611033430786831 Centerline is valid? [True, True] Translation: X:75.41, Y:0.72, Z:0.40 [[ 9.99950428e-01 -8.68850703e-03 4.86320919e-03 7.54128378e+01] [ 8.68711995e-03 9.99962219e-01 3.06270004e-04 7.19929228e-01] [-4.86568649e-03 -2.64007540e-04 9.99988128e-01 4.02786738e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.135336195 meters Centerline goodness [0,1] 0.900477149825045 Centerline is valid? [True, False] Translation: X:75.42, Y:0.72, Z:0.40 [[ 9.99983157e-01 -4.04607243e-03 4.16110140e-03 7.54164222e+01] [ 4.02399309e-03 9.99977854e-01 5.30088131e-03 7.17042045e-01] [-4.18245699e-03 -5.28404779e-03 9.99977293e-01 4.00273480e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.165336195 meters Centerline goodness [0,1] 0.8679739113916035 Centerline is valid? [False, False] Translation: X:75.42, Y:0.72, Z:0.40 [[ 9.99985775e-01 -3.67632596e-03 3.86459478e-03 7.54172770e+01] [ 3.65812966e-03 9.99982240e-01 4.70503295e-03 7.21161838e-01] [-3.88182338e-03 -4.69082883e-03 9.99981464e-01 4.00434743e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.195336195 meters Centerline goodness [0,1] 0.8049357674104125 Centerline is valid? [False, False] Translation: X:75.42, Y:0.72, Z:0.40 [[ 9.99985937e-01 -3.60550271e-03 3.88927837e-03 7.54169279e+01] [ 3.58687382e-03 9.99982113e-01 4.78619606e-03 7.20782710e-01] [-3.90646544e-03 -4.77217840e-03 9.99980983e-01 4.00894447e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.225336195 meters Centerline goodness [0,1] 0.7528398874621878 Centerline is valid? [False, False] Translation: X:75.42, Y:0.72, Z:0.40 [[ 9.99986479e-01 -3.37348339e-03 3.95746851e-03 7.54166606e+01] [ 3.35277453e-03 9.99980714e-01 5.22787107e-03 7.18732083e-01] [-3.97502833e-03 -5.21453188e-03 9.99978504e-01 4.00999034e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.255336195 meters Centerline goodness [0,1] 0.7426326547994209 Centerline is valid? [False, False] Translation: X:75.41, Y:0.71, Z:0.40 [[ 9.99986553e-01 -2.66382951e-03 4.44937341e-03 7.54149843e+01] [ 2.63386738e-03 9.99973909e-01 6.72634868e-03 7.11737110e-01] [-4.46717517e-03 -6.71453917e-03 9.99967479e-01 4.01357377e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.285336195 meters Centerline goodness [0,1] 0.7592040859757395 Centerline is valid? [False, False] Translation: X:75.42, Y:0.71, Z:0.40 [[ 9.99980690e-01 -4.52983186e-03 4.25439041e-03 7.54190500e+01] [ 4.51013205e-03 9.99979117e-01 4.62870088e-03 7.11124436e-01] [-4.27526880e-03 -4.60942364e-03 9.99980237e-01 3.97576571e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.315336195 meters Centerline goodness [0,1] 0.7695548047726981 Centerline is valid? [False, False] Translation: X:75.42, Y:0.71, Z:0.40 [[ 9.99982424e-01 -4.45943450e-03 3.90705328e-03 7.54208036e+01] [ 4.44036823e-03 9.99978258e-01 4.87512032e-03 7.09987337e-01] [-3.92870861e-03 -4.85768588e-03 9.99980484e-01 3.96424340e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.345336195 meters Centerline goodness [0,1] 0.7737588350506684 Centerline is valid? [False, False] Translation: X:75.42, Y:0.71, Z:0.40 [[ 9.99984037e-01 -4.29948687e-03 3.66606801e-03 7.54218463e+01] [ 4.27992362e-03 9.99976649e-01 5.32755380e-03 7.07836513e-01] [-3.68888816e-03 -5.31177826e-03 9.99979088e-01 3.96010916e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.37533619499999 meters Centerline goodness [0,1] 0.8392171910974674 Centerline is valid? [False, False] Translation: X:75.42, Y:0.70, Z:0.40 [[ 9.99961210e-01 -8.11885137e-03 3.41520809e-03 7.54231337e+01] [ 8.11183072e-03 9.99964967e-01 2.06455441e-03 7.02916815e-01] [-3.43185026e-03 -2.03677074e-03 9.99992037e-01 3.95406996e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.40533619499999 meters Centerline goodness [0,1] 0.8121208264392685 Centerline is valid? [False, False] Translation: X:75.42, Y:0.69, Z:0.39 [[ 9.99967434e-01 -7.43198510e-03 3.14591091e-03 7.54247546e+01] [ 7.41960843e-03 9.99964760e-01 3.92776232e-03 6.94006829e-01] [-3.17499112e-03 -3.90429298e-03 9.99987338e-01 3.94282598e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.43533619499999 meters Centerline goodness [0,1] 0.911046523962068 Centerline is valid? [False, False] Translation: X:75.43, Y:0.69, Z:0.39 [[ 9.99936139e-01 -1.08426197e-02 3.18673680e-03 7.54252377e+01] [ 1.08378189e-02 9.99940114e-01 1.51990029e-03 6.85067720e-01] [-3.20302566e-03 -1.48526595e-03 9.99993767e-01 3.93677654e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.46533619499999 meters Centerline goodness [0,1] 0.8781581092094539 Centerline is valid? [False, False] Translation: X:75.42, Y:0.68, Z:0.40 [[ 9.99918772e-01 -1.21113904e-02 3.97025982e-03 7.54190556e+01] [ 1.21092522e-02 9.99926522e-01 5.62147276e-04 6.82185795e-01] [-3.97677648e-03 -5.14024737e-04 9.99991960e-01 3.98448948e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.495336195 meters Centerline goodness [0,1] 0.9063965565239737 Centerline is valid? [False, False] Translation: X:75.42, Y:0.68, Z:0.40 [[ 9.99964503e-01 -7.48340142e-03 3.87195196e-03 7.54192761e+01] [ 7.45960156e-03 9.99953418e-01 6.12508996e-03 6.76036422e-01] [-3.91760811e-03 -6.09598932e-03 9.99973745e-01 3.98627053e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.525336195 meters Centerline goodness [0,1] 0.7306736873394339 Centerline is valid? [False, False] Translation: X:75.43, Y:0.68, Z:0.40 [[ 9.99982238e-01 -1.20650640e-03 5.83682130e-03 7.54347825e+01] [ 1.19794366e-03 9.99998202e-01 1.47029585e-03 6.75791385e-01] [-5.83858472e-03 -1.46327755e-03 9.99981885e-01 4.03225059e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.555336195 meters Centerline goodness [0,1] 0.739903069466882 Centerline is valid? [False, False] Translation: X:75.44, Y:0.68, Z:0.40 [[ 9.99982896e-01 -8.84495199e-04 5.78148996e-03 7.54351382e+01] [ 8.75098567e-04 9.99998293e-01 1.62762369e-03 6.75468279e-01] [-5.78291972e-03 -1.62253648e-03 9.99981962e-01 4.02840948e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.585336195 meters Centerline goodness [0,1] 0.6068481235547447 Centerline is valid? [False, False] Translation: X:75.44, Y:0.67, Z:0.40 [[ 9.99973705e-01 4.40350991e-03 5.76174458e-03 7.54365027e+01] [-4.44302035e-03 9.99966581e-01 6.86263742e-03 6.72370935e-01] [-5.73133234e-03 -6.88805651e-03 9.99959852e-01 4.00797538e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.615336195 meters Centerline goodness [0,1] 0.5628579336186157 Centerline is valid? [False, False] Translation: X:75.44, Y:0.68, Z:0.40 [[ 9.99939735e-01 9.34486162e-03 5.76200714e-03 7.54373925e+01] [-9.40396733e-03 9.99902552e-01 1.03175167e-02 6.78907975e-01] [-5.66502988e-03 -1.03710806e-02 9.99930172e-01 3.99193524e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.645336195 meters Centerline goodness [0,1] 0.5361522198731501 Centerline is valid? [False, False] Translation: X:75.44, Y:0.69, Z:0.40 [[ 9.99941164e-01 9.40960375e-03 5.39697466e-03 7.54387797e+01] [-9.45908205e-03 9.99912785e-01 9.21672284e-03 6.85138674e-01] [-5.30977826e-03 -9.26723100e-03 9.99942961e-01 3.98476351e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.675336195 meters Centerline goodness [0,1] 0.4043232050035921 Centerline is valid? [False, False] Translation: X:75.44, Y:0.69, Z:0.40 [[ 9.99933078e-01 1.01744048e-02 5.50646019e-03 7.54391509e+01] [-1.02210834e-02 9.99911497e-01 8.51637123e-03 6.90883046e-01] [-5.41932384e-03 -8.57208329e-03 9.99948574e-01 3.97108913e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.705336195 meters Centerline goodness [0,1] 0.4232553168750668 Centerline is valid? [False, False] Translation: X:75.41, Y:0.70, Z:0.40 [[ 9.99908824e-01 1.31149978e-02 3.21575641e-03 7.54110283e+01] [-1.31140281e-02 9.99913955e-01 -3.22442936e-04 6.95264283e-01] [-3.21970855e-03 2.80242017e-04 9.99994777e-01 4.04407891e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.73533619499999 meters Centerline goodness [0,1] 0.37246493155315197 Centerline is valid? [False, False] Translation: X:75.41, Y:0.69, Z:0.40 [[ 9.99845862e-01 1.72830292e-02 3.09022485e-03 7.54115134e+01] [-1.72966115e-02 9.99840615e-01 4.42390957e-03 6.92706096e-01] [-3.01327375e-03 -4.47667810e-03 9.99985440e-01 4.04622718e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.76533619499999 meters Centerline goodness [0,1] 0.45284695626415017 Centerline is valid? [False, False] Translation: X:75.41, Y:0.71, Z:0.41 [[ 9.99924790e-01 1.17189077e-02 3.61674423e-03 7.54073247e+01] [-1.17085761e-02 9.99927349e-01 -2.86468056e-03 7.05881783e-01] [-3.65005240e-03 2.82211818e-03 9.99989356e-01 4.07653423e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.79533619499999 meters Centerline goodness [0,1] 0.4888562488026055 Centerline is valid? [False, False] Translation: X:75.41, Y:0.71, Z:0.41 [[ 9.99927105e-01 1.15404203e-02 3.55026367e-03 7.54073752e+01] [-1.15293230e-02 9.99928635e-01 -3.13052731e-03 7.07027655e-01] [-3.58613791e-03 3.08936697e-03 9.99988798e-01 4.07951256e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.82533619499999 meters Centerline goodness [0,1] 0.47879355085719144 Centerline is valid? [False, False] Translation: X:75.41, Y:0.70, Z:0.41 [[ 9.99995284e-01 3.01146597e-03 -6.02937606e-04 7.54124311e+01] [-3.00594355e-03 9.99955343e-01 8.95965748e-03 7.01980529e-01] [ 6.29892384e-04 -8.95780283e-03 9.99959680e-01 4.05818456e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.85533619499999 meters Centerline goodness [0,1] 0.6239561474883303 Centerline is valid? [False, False] Translation: X:75.41, Y:0.71, Z:0.41 [[ 9.99997553e-01 -2.03860046e-03 -8.59392633e-04 7.54131384e+01] [ 2.04141808e-03 9.99992502e-01 3.29058989e-03 7.08018734e-01] [ 8.52677991e-04 -3.29233622e-03 9.99994217e-01 4.05821361e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.885336195 meters Centerline goodness [0,1] 0.653825643650946 Centerline is valid? [False, False] Translation: X:75.41, Y:0.71, Z:0.41 [[ 9.99996540e-01 -2.30545649e-03 -1.26654331e-03 7.54145647e+01] [ 2.30924828e-03 9.99992832e-01 3.00055028e-03 7.09184051e-01] [ 1.25961659e-03 -3.00346467e-03 9.99994696e-01 4.05577346e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.915336195 meters Centerline goodness [0,1] 0.5718288334182373 Centerline is valid? [False, False] Translation: X:75.42, Y:0.71, Z:0.41 [[ 9.99974675e-01 -6.93789958e-03 -1.58560396e-03 7.54159241e+01] [ 6.93474872e-03 9.99973986e-01 -1.98409724e-03 7.12287959e-01] [ 1.59932817e-03 1.97305123e-03 9.99996775e-01 4.05022388e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.945336195 meters Centerline goodness [0,1] 0.6492045843311667 Centerline is valid? [False, False] Translation: X:75.41, Y:0.71, Z:0.41 [[ 9.99975354e-01 -6.89277622e-03 -1.33488972e-03 7.54149758e+01] [ 6.89110288e-03 9.99975470e-01 -1.25411017e-03 7.08335497e-01] [ 1.34350128e-03 1.24488040e-03 9.99998323e-01 4.05476031e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.975336195 meters Centerline goodness [0,1] 0.6800220119795966 Centerline is valid? [False, False] Translation: X:75.45, Y:0.72, Z:0.41 [[ 9.99921298e-01 -1.20294825e-02 3.56207558e-03 7.54456620e+01] [ 1.20492139e-02 9.99911888e-01 -5.57065195e-03 7.17153968e-01] [-3.49474966e-03 5.61313375e-03 9.99978139e-01 4.10660158e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.005336195 meters Centerline goodness [0,1] 0.7688902196462561 Centerline is valid? [False, False] Translation: X:75.44, Y:0.72, Z:0.41 [[ 9.99917461e-01 -1.23188707e-02 3.64930971e-03 7.54445675e+01] [ 1.23407246e-02 9.99905682e-01 -6.02778316e-03 7.19109038e-01] [-3.57471003e-03 6.07232076e-03 9.99975174e-01 4.12183988e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.035336195 meters Centerline goodness [0,1] 0.8210855861572958 Centerline is valid? [False, False] Translation: X:75.44, Y:0.72, Z:0.41 [[ 9.99908308e-01 -1.30686368e-02 3.54772714e-03 7.54438916e+01] [ 1.30916140e-02 9.99892962e-01 -6.53253882e-03 7.20462076e-01] [-3.46197602e-03 6.57838531e-03 9.99972369e-01 4.13820642e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.065336195 meters Centerline goodness [0,1] 0.8818280094113657 Centerline is valid? [False, False] Translation: X:75.45, Y:0.72, Z:0.41 [[ 9.99910138e-01 -1.30110067e-02 3.22934758e-03 7.54452227e+01] [ 1.30299913e-02 9.99897528e-01 -5.92904571e-03 7.17310848e-01] [-3.15187381e-03 5.97059129e-03 9.99977209e-01 4.13282730e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.095336195 meters Centerline goodness [0,1] 0.9825670861527436 Centerline is valid? [False, True] Translation: X:75.45, Y:0.71, Z:0.41 [[ 9.99852129e-01 -1.69050007e-02 3.15290744e-03 7.54463169e+01] [ 1.69319863e-02 9.99818459e-01 -8.73821171e-03 7.09727455e-01] [-3.00461558e-03 8.79030457e-03 9.99956850e-01 4.12271708e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.12533619499999 meters Centerline goodness [0,1] 0.9867828240770397 Centerline is valid? [True, True] Translation: X:75.48, Y:0.70, Z:0.41 [[ 9.99784847e-01 -2.04242015e-02 3.62106542e-03 7.54769044e+01] [ 2.04234385e-02 9.99791389e-01 2.47573711e-04 6.98758324e-01] [-3.62536653e-03 -1.73565838e-04 9.99993413e-01 4.12243501e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.15533619499999 meters Centerline goodness [0,1] 0.9908873618165521 Centerline is valid? [True, True] Translation: X:75.51, Y:0.70, Z:0.41 [[ 9.99775043e-01 -2.08915795e-02 3.66145665e-03 7.55085771e+01] [ 2.08908015e-02 9.99781732e-01 2.50589481e-04 7.02289423e-01] [-3.66589268e-03 -1.74042345e-04 9.99993265e-01 4.14075711e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.18533619499999 meters Centerline goodness [0,1] 0.9871343789741416 Centerline is valid? [True, True] Translation: X:75.54, Y:0.71, Z:0.41 [[ 9.99811723e-01 -1.92709266e-02 2.26930263e-03 7.55380305e+01] [ 1.92706240e-02 9.99814292e-01 1.55153543e-04 7.14933141e-01] [-2.27187116e-03 -1.11393454e-04 9.99997413e-01 4.12443784e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.21533619499999 meters Centerline goodness [0,1] 0.9950085689802913 Centerline is valid? [True, True] Translation: X:75.57, Y:0.71, Z:0.41 [[ 9.99834500e-01 -1.81787313e-02 7.11021410e-04 7.55699819e+01] [ 1.81787010e-02 9.99834753e-01 4.90145920e-05 7.12641937e-01] [-7.11794939e-04 -3.60810344e-05 9.99999746e-01 4.09129239e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.245336195 meters Centerline goodness [0,1] 0.9955479234242829 Centerline is valid? [True, True] Translation: X:75.60, Y:0.71, Z:0.40 [[ 9.99864453e-01 -1.63904096e-02 -1.55893122e-03 7.56011052e+01] [ 1.63902637e-02 9.99865665e-01 -1.06317332e-04 7.09591902e-01] [ 1.56046438e-03 8.07516273e-05 9.99998779e-01 4.03277524e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.275336195 meters Centerline goodness [0,1] 0.9906776241744707 Centerline is valid? [True, True] Translation: X:75.63, Y:0.71, Z:0.40 [[ 9.99871056e-01 -1.59602369e-02 -1.77280666e-03 7.56320179e+01] [ 1.59600480e-02 9.99872623e-01 -1.20672114e-04 7.09867490e-01] [ 1.77450680e-03 9.23624750e-05 9.99998421e-01 4.02635376e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.305336195 meters Centerline goodness [0,1] 0.993975645313438 Centerline is valid? [True, True] Translation: X:75.66, Y:0.71, Z:0.41 [[ 9.99868106e-01 -1.62408193e-02 -8.00952106e-05 7.56638942e+01] [ 1.62408190e-02 9.99868109e-01 -5.28155990e-06 7.08087839e-01] [ 8.01704237e-05 3.98005147e-06 9.99999997e-01 4.08639374e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.335336195 meters Centerline goodness [0,1] 0.9912090712192636 Centerline is valid? [True, True] Translation: X:75.70, Y:0.71, Z:0.41 [[ 9.99865808e-01 -1.63163259e-02 1.46391290e-03 7.56953593e+01] [ 1.63161964e-02 9.99866877e-01 1.00350563e-04 7.11165619e-01] [-1.46535537e-03 -7.64516061e-05 9.99998923e-01 4.11297720e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.365336195 meters Centerline goodness [0,1] 0.9921873327768146 Centerline is valid? [True, True] Translation: X:75.73, Y:0.70, Z:0.41 [[ 9.99842570e-01 -1.73811603e-02 3.56806879e-03 7.57273309e+01] [ 1.73804031e-02 9.99848920e-01 2.43126681e-04 7.04694707e-01] [-3.57175555e-03 -1.81073932e-04 9.99993605e-01 4.13981678e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.395336195 meters Centerline goodness [0,1] 0.991730090565075 Centerline is valid? [True, True] Translation: X:75.76, Y:0.70, Z:0.41 [[ 9.99825546e-01 -1.81969839e-02 4.21265822e-03 7.57604326e+01] [ 1.81959358e-02 9.99834399e-01 2.86993811e-04 6.95838065e-01] [-4.21718302e-03 -2.10290486e-04 9.99991086e-01 4.13057241e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.425336195 meters Centerline goodness [0,1] 0.984235473359008 Centerline is valid? [True, True] Translation: X:75.79, Y:0.70, Z:0.41 [[ 9.99828947e-01 -1.81295886e-02 3.65984515e-03 7.57916736e+01] [ 1.81287977e-02 9.99835629e-01 2.49156252e-04 7.01251993e-01] [-3.66376068e-03 -1.82765041e-04 9.99993272e-01 4.11498419e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.455336195 meters Centerline goodness [0,1] 0.9858999639547951 Centerline is valid? [True, True] Translation: X:75.82, Y:0.71, Z:0.41 [[ 9.99849842e-01 -1.71323718e-02 2.60300188e-03 7.58236363e+01] [ 1.71319682e-02 9.99853221e-01 1.77243363e-04 7.05301775e-01] [-2.60565641e-03 -1.32622203e-04 9.99996596e-01 4.10880181e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.48533619499999 meters Centerline goodness [0,1] 0.991517516328781 Centerline is valid? [True, True] Translation: X:75.86, Y:0.70, Z:0.41 [[ 9.99872312e-01 -1.57363592e-02 2.77971008e-03 7.58561672e+01] [ 1.57358941e-02 9.99876165e-01 1.89133642e-04 7.01350221e-01] [-2.78234213e-03 -1.45368269e-04 9.99996119e-01 4.11503242e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.51533619499999 meters Centerline goodness [0,1] 0.9930031025997647 Centerline is valid? [True, True] Translation: X:75.89, Y:0.69, Z:0.41 [[ 9.99921369e-01 -1.25144626e-02 8.02047258e-04 7.58872699e+01] [ 1.25144229e-02 9.99921690e-01 5.44826409e-05 6.89101593e-01] [-8.02666270e-04 -4.44411983e-05 9.99999677e-01 4.06521397e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.54533619499999 meters Centerline goodness [0,1] 0.9687327998645159 Centerline is valid? [True, True] Translation: X:75.92, Y:0.70, Z:0.40 [[ 9.99943673e-01 -1.05983894e-02 -5.69421353e-04 7.59170548e+01] [ 1.05983692e-02 9.99943835e-01 -3.84591223e-05 6.97359902e-01] [ 5.69796976e-04 3.24220182e-05 9.99999837e-01 4.04810496e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.57533619499999 meters Centerline goodness [0,1] 0.9494160954556994 Centerline is valid? [True, False] Translation: X:75.92, Y:0.69, Z:0.41 [[ 9.99981769e-01 -6.01130057e-03 -5.71761714e-04 7.59166267e+01] [ 6.01426251e-03 9.99967720e-01 5.32797716e-03 6.92109848e-01] [ 5.39715186e-04 -5.33131875e-03 9.99985643e-01 4.05564746e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.60533619499999 meters Centerline goodness [0,1] 0.9240110667595937 Centerline is valid? [False, False] Translation: X:75.92, Y:0.69, Z:0.41 [[ 9.99985026e-01 -5.44639666e-03 -5.33867889e-04 7.59163639e+01] [ 5.44974714e-03 9.99964094e-01 6.48930936e-03 6.86669916e-01] [ 4.98505367e-04 -6.49212163e-03 9.99978802e-01 4.05897529e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.635336195 meters Centerline goodness [0,1] 0.966071845360606 Centerline is valid? [False, True] Translation: X:75.92, Y:0.68, Z:0.40 [[ 9.99960606e-01 -8.86896059e-03 -3.59097787e-04 7.59166733e+01] [ 8.87005285e-03 9.99955655e-01 3.16383327e-03 6.82827143e-01] [ 3.31021950e-04 -3.16689385e-03 9.99994931e-01 4.04755121e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.665336195 meters Centerline goodness [0,1] 0.7559254187295903 Centerline is valid? [True, False] Translation: X:75.92, Y:0.68, Z:0.40 [[ 9.99963510e-01 -8.53637384e-03 -3.30552043e-04 7.59168088e+01] [ 8.53757215e-03 9.99956290e-01 3.81150614e-03 6.79848549e-01] [ 2.98001154e-04 -3.81418917e-03 9.99992682e-01 4.04408432e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.695336195 meters Centerline goodness [0,1] 0.8340898485555508 Centerline is valid? [False, False] Translation: X:75.92, Y:0.67, Z:0.40 [[ 9.99968803e-01 -7.89614889e-03 -2.10060369e-04 7.59170863e+01] [ 7.89710885e-03 9.99956074e-01 5.04825075e-03 6.74188616e-01] [ 1.70189403e-04 -5.04975213e-03 9.99987235e-01 4.03377104e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.725336195 meters Centerline goodness [0,1] 0.7725331917153478 Centerline is valid? [False, False] Translation: X:75.92, Y:0.67, Z:0.41 [[ 9.99987401e-01 -8.29532927e-04 -4.95066301e-03 7.59152750e+01] [ 7.99969817e-04 9.99981856e-01 -5.97054122e-03 6.72721112e-01] [ 4.95552594e-03 5.96650561e-03 9.99969921e-01 4.08426389e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.755336195 meters Centerline goodness [0,1] 0.7093501973600441 Centerline is valid? [False, False] Translation: X:75.91, Y:0.67, Z:0.41 [[ 9.99987799e-01 -6.53137522e-04 -4.89651320e-03 7.59149864e+01] [ 6.24820048e-04 9.99983086e-01 -5.78249227e-03 6.72021174e-01] [ 4.90020714e-03 5.77936227e-03 9.99971293e-01 4.08634213e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.785336195 meters Centerline goodness [0,1] 0.5919158126535107 Centerline is valid? [False, False] Translation: X:75.92, Y:0.67, Z:0.41 [[ 9.99988233e-01 1.79143345e-04 -4.84787309e-03 7.59150915e+01] [-2.02461581e-04 9.99988412e-01 -4.80992983e-03 6.68153226e-01] [ 4.84695524e-03 4.81085474e-03 9.99976681e-01 4.08259315e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.815336195 meters Centerline goodness [0,1] 0.6723236204504216 Centerline is valid? [False, False] Translation: X:75.91, Y:0.66, Z:0.41 [[ 9.99990248e-01 2.47868859e-03 -3.65517873e-03 7.59097289e+01] [-2.48632112e-03 9.99994735e-01 -2.08507707e-03 6.60364759e-01] [ 3.64999123e-03 2.09414468e-03 9.99991146e-01 4.10039817e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.845336195 meters Centerline goodness [0,1] 0.5058670698724365 Centerline is valid? [False, False] Translation: X:75.91, Y:0.66, Z:0.41 [[ 9.99989477e-01 3.02239662e-03 -3.45136702e-03 7.59090138e+01] [-3.02580005e-03 9.99994941e-01 -9.81312902e-04 6.55247093e-01] [ 3.44838365e-03 9.91745722e-04 9.99993563e-01 4.10225399e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.87533619499999 meters Centerline goodness [0,1] 0.5064902010689742 Centerline is valid? [False, False] Translation: X:75.91, Y:0.65, Z:0.41 [[ 9.99988595e-01 3.21997402e-03 -3.52729556e-03 7.59093680e+01] [-3.22197570e-03 9.99994652e-01 -5.61947502e-04 6.53297666e-01] [ 3.52546724e-03 5.73305953e-04 9.99993621e-01 4.10083699e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.90533619499999 meters Centerline goodness [0,1] 0.4499132422023784 Centerline is valid? [False, False] Translation: X:75.91, Y:0.65, Z:0.41 [[ 9.99987701e-01 3.30819132e-03 -3.69518948e-03 7.59104152e+01] [-3.31000162e-03 9.99994405e-01 -4.83899077e-04 6.53016487e-01] [ 3.69356798e-03 4.96124209e-04 9.99993056e-01 4.09202076e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.93533619499999 meters Centerline goodness [0,1] 0.5333460933180214 Centerline is valid? [False, False] Translation: X:75.91, Y:0.65, Z:0.41 [[ 9.99987486e-01 3.38813869e-03 -3.68090532e-03 7.59104822e+01] [-3.38943636e-03 9.99994196e-01 -3.46361120e-04 6.52363961e-01] [ 3.67971044e-03 3.58832980e-04 9.99993165e-01 4.08973439e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.96533619499999 meters Centerline goodness [0,1] 0.45729533613179485 Centerline is valid? [False, False] Translation: X:75.91, Y:0.65, Z:0.41 [[ 9.99986532e-01 3.80292373e-03 -3.53177272e-03 7.59099527e+01] [-3.80161758e-03 9.99992703e-01 3.76467009e-04 6.49109885e-01] [ 3.53317862e-03 -3.63035489e-04 9.99993692e-01 4.09086957e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.995336195 meters Centerline goodness [0,1] 0.45729533613179485 Centerline is valid? [False, False] Translation: X:75.91, Y:0.65, Z:0.41 [[ 9.99986532e-01 3.80292373e-03 -3.53177272e-03 7.59099527e+01] [-3.80161758e-03 9.99992703e-01 3.76467009e-04 6.49109885e-01] [ 3.53317862e-03 -3.63035489e-04 9.99993692e-01 4.09086957e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.025336195 meters Centerline goodness [0,1] 0.4329934064070219 Centerline is valid? [False, False] Translation: X:75.91, Y:0.65, Z:0.41 [[ 9.99986008e-01 4.02073919e-03 -3.43765205e-03 7.59100596e+01] [-4.01811645e-03 9.99991631e-01 7.69509975e-04 6.47328309e-01] [ 3.44071728e-03 -7.55686322e-04 9.99993795e-01 4.08359958e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.055336195 meters Centerline goodness [0,1] 0.4540911797227184 Centerline is valid? [False, False] Translation: X:75.91, Y:0.65, Z:0.41 [[ 9.99984821e-01 4.10979726e-03 -3.66982045e-03 7.59115226e+01] [-4.10634010e-03 9.99991119e-01 9.49091495e-04 6.46484848e-01] [ 3.67368843e-03 -9.34007558e-04 9.99992816e-01 4.07100151e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.085336195 meters Centerline goodness [0,1] 0.36954781069577314 Centerline is valid? [False, False] Translation: X:75.92, Y:0.65, Z:0.40 [[ 9.99975920e-01 5.41219383e-03 -4.34362298e-03 7.59175246e+01] [-5.40225513e-03 9.99982771e-01 2.29659349e-03 6.45021980e-01] [ 4.35597775e-03 -2.27307283e-03 9.99987929e-01 4.02347644e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.115336195 meters Centerline goodness [0,1] 0.4514195851751105 Centerline is valid? [False, False] Translation: X:75.92, Y:0.65, Z:0.40 [[ 9.99979498e-01 4.86966700e-03 -4.15803696e-03 7.59164430e+01] [-4.86531224e-03 9.99987606e-01 1.05678586e-03 6.50927797e-01] [ 4.16313162e-03 -1.03653405e-03 9.99990797e-01 4.03058680e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.145336195 meters Centerline goodness [0,1] 0.4839328741710557 Centerline is valid? [False, False] Translation: X:75.92, Y:0.65, Z:0.40 [[ 9.99981203e-01 4.62210019e-03 -4.02860631e-03 7.59155390e+01] [-4.61998498e-03 9.99989185e-01 5.34194146e-04 6.53360157e-01] [ 4.03103184e-03 -5.15572004e-04 9.99991742e-01 4.03885064e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.175336195 meters Centerline goodness [0,1] 0.548617344103945 Centerline is valid? [False, False] Translation: X:75.91, Y:0.65, Z:0.41 [[ 9.99991780e-01 2.56466906e-03 -3.14041144e-03 7.59088039e+01] [-2.56877584e-03 9.99995850e-01 -1.30438705e-03 6.53717684e-01] [ 3.13705308e-03 1.31244334e-03 9.99994218e-01 4.08591723e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.205336195 meters Centerline goodness [0,1] 0.4782636302065696 Centerline is valid? [False, False] Translation: X:75.93, Y:0.65, Z:0.40 [[ 9.99990956e-01 -4.14206243e-03 -9.64637018e-04 7.59321791e+01] [ 4.14536322e-03 9.99985473e-01 3.44531313e-03 6.52379358e-01] [ 9.50352302e-04 -3.44928074e-03 9.99993600e-01 4.04692486e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.23533619499999 meters Centerline goodness [0,1] 0.529223259762309 Centerline is valid? [False, False] Translation: X:75.93, Y:0.65, Z:0.40 [[ 9.99989484e-01 -4.41553001e-03 -1.23923210e-03 7.59332048e+01] [ 4.42015456e-03 9.99983184e-01 3.75419574e-03 6.50251816e-01] [ 1.22263449e-03 -3.75963385e-03 9.99992185e-01 4.04462588e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.26533619499999 meters Centerline goodness [0,1] 0.745067020116724 Centerline is valid? [False, False] Translation: X:75.93, Y:0.65, Z:0.41 [[ 9.99953763e-01 -9.52759229e-03 -1.30268138e-03 7.59330930e+01] [ 9.52636355e-03 9.99954175e-01 -9.46218502e-04 6.50816565e-01] [ 1.31163687e-03 9.33764935e-04 9.99998704e-01 4.05145005e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.29533619499999 meters Centerline goodness [0,1] 0.9447652895009625 Centerline is valid? [False, False] Translation: X:75.96, Y:0.65, Z:0.40 [[ 9.99825746e-01 -1.86055888e-02 1.51954578e-03 7.59565759e+01] [ 1.86033191e-02 9.99825826e-01 1.49442506e-03 6.48301973e-01] [-1.54708577e-03 -1.46589605e-03 9.99997729e-01 4.01305717e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.32533619499999 meters Centerline goodness [0,1] 0.9778840659456942 Centerline is valid? [False, True] Translation: X:75.96, Y:0.64, Z:0.40 [[ 9.99824696e-01 -1.86794171e-02 1.28686977e-03 7.59573109e+01] [ 1.86759934e-02 9.99822148e-01 2.62301308e-03 6.41880711e-01] [-1.33563725e-03 -2.59851968e-03 9.99995732e-01 4.01475490e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.35533619499999 meters Centerline goodness [0,1] 0.9973444694292751 Centerline is valid? [True, True] Translation: X:75.99, Y:0.63, Z:0.41 [[ 9.99658554e-01 -2.58049400e-02 4.10870705e-03 7.59896171e+01] [ 2.58039046e-02 9.99666977e-01 3.04820826e-04 6.25835466e-01] [-4.11520464e-03 -1.98696062e-04 9.99991513e-01 4.05959773e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.385336195 meters Centerline goodness [0,1] 0.9964515788362024 Centerline is valid? [True, True] Translation: X:76.02, Y:0.62, Z:0.42 [[ 9.99556389e-01 -2.85699920e-02 8.41310910e-03 7.60207292e+01] [ 2.85657484e-02 9.99591721e-01 6.24163972e-04 6.24677507e-01] [-8.42750657e-03 -3.83560328e-04 9.99964414e-01 4.15758083e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.415336195 meters Centerline goodness [0,1] 0.997646210611137 Centerline is valid? [True, True] Translation: X:76.05, Y:0.62, Z:0.42 [[ 9.99564002e-01 -2.79972239e-02 9.37877516e-03 7.60525917e+01] [ 2.79919246e-02 9.99607907e-01 6.95848510e-04 6.23966244e-01] [-9.39457964e-03 -4.33015154e-04 9.99955776e-01 4.17792094e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.445336195 meters Centerline goodness [0,1] 0.9962332825461317 Centerline is valid? [True, True] Translation: X:76.08, Y:0.63, Z:0.41 [[ 9.99667261e-01 -2.48492583e-02 6.91959881e-03 7.60816048e+01] [ 2.48463025e-02 9.99691151e-01 5.12810797e-04 6.30289837e-01] [-6.93020467e-03 -3.40713720e-04 9.99975928e-01 4.12654368e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.475336195 meters Centerline goodness [0,1] 0.9894950357638518 Centerline is valid? [True, True] Translation: X:76.11, Y:0.63, Z:0.41 [[ 9.99786137e-01 -2.00628626e-02 5.01624799e-03 7.61122213e+01] [ 2.00612494e-02 9.99798684e-01 3.71724888e-04 6.32515221e-01] [-5.02269601e-03 -2.71013188e-04 9.99987349e-01 4.08173191e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.505336195 meters Centerline goodness [0,1] 0.9820462949109795 Centerline is valid? [True, True] Translation: X:76.14, Y:0.64, Z:0.41 [[ 9.99841840e-01 -1.71492665e-02 4.71141326e-03 7.61431341e+01] [ 1.71478123e-02 9.99852905e-01 3.48877725e-04 6.35235302e-01] [-4.71670323e-03 -2.68032116e-04 9.99988840e-01 4.07899891e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.535336195 meters Centerline goodness [0,1] 0.8190096151805234 Centerline is valid? [True, False] Translation: X:76.14, Y:0.63, Z:0.41 [[ 9.99912626e-01 -1.24744130e-02 4.37368538e-03 7.61446385e+01] [ 1.24502876e-02 9.99907363e-01 5.50052731e-03 6.31366090e-01] [-4.44189607e-03 -5.44559306e-03 9.99975307e-01 4.06877221e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.565336195 meters Centerline goodness [0,1] 0.8215129269071177 Centerline is valid? [False, False] Translation: X:76.14, Y:0.64, Z:0.41 [[ 9.99989207e-01 -4.57922867e-03 7.84932125e-04 7.61399021e+01] [ 4.58435278e-03 9.99967343e-01 -6.65558024e-03 6.42372535e-01] [-7.54429067e-04 6.65910681e-03 9.99977543e-01 4.13145253e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.59533619499999 meters Centerline goodness [0,1] 0.7362875013251351 Centerline is valid? [False, False] Translation: X:76.14, Y:0.64, Z:0.41 [[ 9.99999599e-01 -2.32135254e-04 8.64481524e-04 7.61393162e+01] [ 2.34040290e-04 9.99997543e-01 -2.20422640e-03 6.41740505e-01] [-8.63967722e-04 2.20442784e-03 9.99997197e-01 4.13684922e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.62533619499999 meters Centerline goodness [0,1] 0.6851157569210565 Centerline is valid? [False, False] Translation: X:76.14, Y:0.64, Z:0.41 [[ 9.99999098e-01 2.98353389e-04 1.30992552e-03 7.61372016e+01] [-2.95901385e-04 9.99998205e-01 -1.87166061e-03 6.40921785e-01] [-1.31048159e-03 1.87127131e-03 9.99997390e-01 4.14809540e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.65533619499999 meters Centerline goodness [0,1] 0.648502637400034 Centerline is valid? [False, False] Translation: X:76.14, Y:0.64, Z:0.41 [[ 9.99998795e-01 6.69083471e-04 1.40053940e-03 7.61371401e+01] [-6.67502043e-04 9.99999140e-01 -1.12931946e-03 6.37517870e-01] [-1.40129380e-03 1.12838324e-03 9.99998382e-01 4.14428010e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.68533619499999 meters Centerline goodness [0,1] 0.6476811624992034 Centerline is valid? [False, False] Translation: X:76.14, Y:0.64, Z:0.41 [[ 9.99998927e-01 5.91862990e-04 1.33970448e-03 7.61375192e+01] [-5.90083916e-04 9.99998944e-01 -1.32796578e-03 6.38452631e-01] [-1.34048904e-03 1.32717382e-03 9.99998221e-01 4.14085115e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.71533619499999 meters Centerline goodness [0,1] 0.6407027198645359 Centerline is valid? [False, False] Translation: X:76.14, Y:0.64, Z:0.41 [[ 9.99999070e-01 7.07263651e-04 1.16595005e-03 7.61382449e+01] [-7.06068662e-04 9.99999225e-01 -1.02499864e-03 6.36989127e-01] [-1.16667409e-03 1.02417445e-03 9.99998795e-01 4.13788522e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.745336195 meters Centerline goodness [0,1] 0.774766732555421 Centerline is valid? [False, False] Translation: X:76.14, Y:0.63, Z:0.41 [[ 9.99999164e-01 8.56918525e-04 9.68468528e-04 7.61391724e+01] [-8.56698969e-04 9.99999607e-01 -2.27096595e-04 6.32862778e-01] [-9.68662751e-04 2.26266719e-04 9.99999505e-01 4.13316924e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.775336195 meters Centerline goodness [0,1] 0.8739650808631119 Centerline is valid? [False, False] Translation: X:76.14, Y:0.63, Z:0.41 [[ 9.99999335e-01 7.76677131e-04 8.52859626e-04 7.61394912e+01] [-7.76404603e-04 9.99999647e-01 -3.19830937e-04 6.33251956e-01] [-8.53107730e-04 3.19168560e-04 9.99999585e-01 4.13444813e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.805336195 meters Centerline goodness [0,1] 0.9456586698540084 Centerline is valid? [False, False] Translation: X:76.14, Y:0.63, Z:0.41 [[ 9.99999931e-01 1.20603124e-04 3.52105227e-04 7.61407119e+01] [-1.20488942e-04 9.99999940e-01 -3.24284326e-04 6.31908943e-01] [-3.52144316e-04 3.24241879e-04 9.99999885e-01 4.14026702e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.835336195 meters Centerline goodness [0,1] 0.975118156963313 Centerline is valid? [False, True] Translation: X:76.14, Y:0.63, Z:0.42 [[ 9.99993103e-01 -3.68677765e-03 4.49439644e-04 7.61397683e+01] [ 3.68824745e-03 9.99987705e-01 -3.31452920e-03 6.25439167e-01] [-4.37214186e-04 3.31616399e-03 9.99994406e-01 4.15347325e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.865336195 meters Centerline goodness [0,1] 0.9784859199931837 Centerline is valid? [True, True] Translation: X:76.17, Y:0.62, Z:0.41 [[ 9.99985818e-01 -5.30176990e-03 5.05989004e-04 7.61705431e+01] [ 5.30175425e-03 9.99985945e-01 3.22690447e-05 6.18900583e-01] [-5.06152975e-04 -2.95859576e-05 9.99999871e-01 4.14829171e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.895336195 meters Centerline goodness [0,1] 0.9884047487340964 Centerline is valid? [True, True] Translation: X:76.20, Y:0.61, Z:0.41 [[ 9.99967334e-01 -8.02303651e-03 -9.80435469e-04 7.62019206e+01] [ 8.02297916e-03 9.99967813e-01 -6.24089362e-05 6.08883663e-01] [ 9.80904622e-04 5.45408843e-05 9.99999517e-01 4.11823469e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.925336195 meters Centerline goodness [0,1] 0.9892246875796991 Centerline is valid? [True, True] Translation: X:76.23, Y:0.61, Z:0.41 [[ 9.99944284e-01 -1.04710036e-02 -1.33676870e-03 7.62313650e+01] [ 1.04708990e-02 9.99945175e-01 -8.52273092e-05 6.12079956e-01] [ 1.33758783e-03 7.12253906e-05 9.99999103e-01 4.11816069e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.955336195 meters Centerline goodness [0,1] 0.9930011912865895 Centerline is valid? [True, True] Translation: X:76.26, Y:0.61, Z:0.41 [[ 9.99939725e-01 -1.08972804e-02 -1.34001031e-03 7.62616512e+01] [ 1.08971757e-02 9.99940620e-01 -8.54339820e-05 6.14841584e-01] [ 1.34086174e-03 7.08265047e-05 9.99999099e-01 4.12292924e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.98533619499999 meters Centerline goodness [0,1] 0.9873570520965692 Centerline is valid? [True, True] Translation: X:76.29, Y:0.62, Z:0.41 [[ 9.99954843e-01 -9.28556950e-03 -2.02223392e-03 7.62913724e+01] [ 9.28532836e-03 9.99956882e-01 -1.28599811e-04 6.19415674e-01] [ 2.02334085e-03 1.09816898e-04 9.99997947e-01 4.10565254e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.01533619499999 meters Centerline goodness [0,1] 0.9805563801365507 Centerline is valid? [True, True] Translation: X:76.32, Y:0.62, Z:0.41 [[ 9.99971391e-01 -7.34846618e-03 -1.79359457e-03 7.63217601e+01] [ 7.34827300e-03 9.99972995e-01 -1.14274637e-04 6.20109748e-01] [ 1.79438588e-03 1.01091545e-04 9.99998385e-01 4.11346400e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.04533619499999 meters Centerline goodness [0,1] 0.9340584346342504 Centerline is valid? [True, False] Translation: X:76.32, Y:0.61, Z:0.41 [[ 9.99995457e-01 -2.49500660e-03 -1.69167848e-03 7.63212306e+01] [ 2.50401809e-03 9.99982575e-01 5.34592671e-03 6.14797956e-01] [ 1.67831089e-03 -5.35013841e-03 9.99984280e-01 4.11718218e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.07533619499999 meters Centerline goodness [0,1] 0.9347007383135811 Centerline is valid? [False, False] Translation: X:76.32, Y:0.62, Z:0.41 [[ 9.99995668e-01 -2.20606625e-03 -1.94860355e-03 7.63223030e+01] [ 2.21546461e-03 9.99985861e-01 4.83420959e-03 6.18161422e-01] [ 1.93791141e-03 -4.83850572e-03 9.99986417e-01 4.11029003e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.10533619499999 meters Centerline goodness [0,1] 0.7787933411091083 Centerline is valid? [False, False] Translation: X:76.32, Y:0.62, Z:0.41 [[ 9.99996204e-01 -2.00630778e-03 -1.88835353e-03 7.63221718e+01] [ 2.01414428e-03 9.99989330e-01 4.15719776e-03 6.22293638e-01] [ 1.87999276e-03 -4.16098540e-03 9.99989576e-01 4.10765129e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.135336195 meters Centerline goodness [0,1] 0.7608211093892627 Centerline is valid? [False, False] Translation: X:76.32, Y:0.63, Z:0.41 [[ 9.99996356e-01 -2.21912193e-03 -1.53752985e-03 7.63207413e+01] [ 2.22335985e-03 9.99993719e-01 2.76010968e-03 6.29767207e-01] [ 1.53139517e-03 -2.76351810e-03 9.99995009e-01 4.11110047e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.165336195 meters Centerline goodness [0,1] 0.54577820847729 Centerline is valid? [False, False] Translation: X:76.32, Y:0.63, Z:0.41 [[ 9.99995723e-01 -2.47414835e-03 -1.55994657e-03 7.63207533e+01] [ 2.47746950e-03 9.99994661e-01 2.13068921e-03 6.32840569e-01] [ 1.55466660e-03 -2.13454481e-03 9.99996513e-01 4.11126079e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.195336195 meters Centerline goodness [0,1] 0.6062889099926136 Centerline is valid? [False, False] Translation: X:76.32, Y:0.63, Z:0.41 [[ 9.99995694e-01 -2.45948093e-03 -1.60088005e-03 7.63209710e+01] [ 2.46291478e-03 9.99994663e-01 2.14654919e-03 6.32763547e-01] [ 1.59559211e-03 -2.15048277e-03 9.99996415e-01 4.10970424e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.225336195 meters Centerline goodness [0,1] 0.7696100308150038 Centerline is valid? [False, False] Translation: X:76.32, Y:0.63, Z:0.41 [[ 9.99996041e-01 -2.35644779e-03 -1.53764311e-03 7.63207221e+01] [ 2.36011907e-03 9.99994358e-01 2.39017472e-03 6.31573564e-01] [ 1.53200211e-03 -2.39379428e-03 9.99995961e-01 4.11052095e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.255336195 meters Centerline goodness [0,1] 0.7819853878175176 Centerline is valid? [False, False] Translation: X:76.32, Y:0.63, Z:0.41 [[ 9.99995911e-01 -2.40947442e-03 -1.54026929e-03 7.63206834e+01] [ 2.41307774e-03 9.99994346e-01 2.34184753e-03 6.31742712e-01] [ 1.53461796e-03 -2.34555474e-03 9.99996072e-01 4.11159926e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.285336195 meters Centerline goodness [0,1] 0.5899373739518098 Centerline is valid? [False, False] Translation: X:76.32, Y:0.63, Z:0.41 [[ 9.99995229e-01 -2.64260650e-03 -1.59958248e-03 7.63210438e+01] [ 2.64556286e-03 9.99994791e-01 1.84892211e-03 6.34053758e-01] [ 1.59468818e-03 -1.85314509e-03 9.99997011e-01 4.10839275e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.315336195 meters Centerline goodness [0,1] 0.6695748629450287 Centerline is valid? [False, False] Translation: X:76.32, Y:0.64, Z:0.41 [[ 9.99993315e-01 -3.22775176e-03 -1.71816429e-03 7.63215728e+01] [ 3.22870706e-03 9.99994635e-01 5.53516441e-04 6.40166506e-01] [ 1.71636845e-03 -5.59060189e-04 9.99998371e-01 4.10432383e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.34533619499999 meters Centerline goodness [0,1] 0.718654760128727 Centerline is valid? [False, False] Translation: X:76.32, Y:0.64, Z:0.41 [[ 9.99993408e-01 -3.21477119e-03 -1.68816587e-03 7.63213344e+01] [ 3.21580940e-03 9.99994642e-01 6.12641971e-04 6.39864688e-01] [ 1.68618732e-03 -6.18066752e-04 9.99998387e-01 4.10657474e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.37533619499999 meters Centerline goodness [0,1] 0.8162965798876978 Centerline is valid? [False, False] Translation: X:76.32, Y:0.64, Z:0.41 [[ 9.99993602e-01 -3.06651433e-03 -1.84163272e-03 7.63218694e+01] [ 3.06834039e-03 9.99994803e-01 9.89538261e-04 6.38037254e-01] [ 1.83858872e-03 -9.95182686e-04 9.99997815e-01 4.10647529e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.40533619499999 meters Centerline goodness [0,1] 0.8392799811647867 Centerline is valid? [False, False] Translation: X:76.32, Y:0.64, Z:0.41 [[ 9.99984261e-01 -5.47017723e-03 -1.24729412e-03 7.63169763e+01] [ 5.46860169e-03 9.99984249e-01 -1.26309793e-03 6.37805709e-01] [ 1.25418385e-03 1.25625709e-03 9.99998424e-01 4.13792543e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.43533619499999 meters Centerline goodness [0,1] 0.9532947139753801 Centerline is valid? [False, True] Translation: X:76.32, Y:0.64, Z:0.42 [[ 9.99981941e-01 -5.92615901e-03 -9.99534212e-04 7.63152591e+01] [ 5.92413527e-03 9.99980421e-01 -2.01563880e-03 6.41172669e-01] [ 1.01145964e-03 2.00968103e-03 9.99997469e-01 4.15404544e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.46533619499999 meters Centerline goodness [0,1] 0.9613481228668942 Centerline is valid? [True, True] Translation: X:76.35, Y:0.64, Z:0.42 [[ 9.99974772e-01 -7.10266364e-03 -8.84140391e-05 7.63461216e+01] [ 7.10266313e-03 9.99974776e-01 -6.16592639e-06 6.44428035e-01] [ 8.84556034e-05 5.53779570e-06 9.99999996e-01 4.17334581e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.495336195 meters Centerline goodness [0,1] 0.9662058698426201 Centerline is valid? [True, True] Translation: X:76.38, Y:0.65, Z:0.41 [[ 9.99962468e-01 -8.59192296e-03 -1.11465077e-03 7.63759100e+01] [ 8.59184170e-03 9.99963086e-01 -7.76722963e-05 6.50459449e-01] [ 1.11527698e-03 6.80924781e-05 9.99999376e-01 4.13799586e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.525336195 meters Centerline goodness [0,1] 0.9576894383459448 Centerline is valid? [True, True] Translation: X:76.41, Y:0.65, Z:0.41 [[ 9.99941743e-01 -1.06984019e-02 -1.43346178e-03 7.64061489e+01] [ 1.06982696e-02 9.99942767e-01 -9.99584978e-05 6.47048831e-01] [ 1.43444914e-03 8.46171139e-05 9.99998968e-01 4.11895475e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.555336195 meters Centerline goodness [0,1] 0.9695611538298143 Centerline is valid? [True, True] Translation: X:76.44, Y:0.65, Z:0.41 [[ 9.99918529e-01 -1.27380503e-02 -8.22501720e-04 7.64362737e+01] [ 1.27380074e-02 9.99918867e-01 -5.73548854e-05 6.46759721e-01] [ 8.23165577e-04 4.68731797e-05 9.99999660e-01 4.14918365e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.585336195 meters Centerline goodness [0,1] 0.9807440287465652 Centerline is valid? [True, True] Translation: X:76.47, Y:0.65, Z:0.41 [[ 9.99906014e-01 -1.36749806e-02 -9.78948573e-04 7.64671607e+01] [ 1.36749204e-02 9.99906492e-01 -6.81360189e-05 6.50422012e-01] [ 9.79788791e-04 5.47425713e-05 9.99999519e-01 4.14950990e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.615336195 meters Centerline goodness [0,1] 0.9928480475382003 Centerline is valid? [True, True] Translation: X:76.50, Y:0.65, Z:0.41 [[ 9.99891928e-01 -1.45919489e-02 -1.79102252e-03 7.64985109e+01] [ 1.45917489e-02 9.99893527e-01 -1.24699167e-04 6.48858715e-01] [ 1.79265143e-03 9.85515392e-05 9.99998388e-01 4.13142691e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.645336195 meters Centerline goodness [0,1] 0.9917630824753211 Centerline is valid? [True, True] Translation: X:76.53, Y:0.65, Z:0.41 [[ 9.99895995e-01 -1.43482282e-02 -1.45862530e-03 7.65292864e+01] [ 1.43480952e-02 9.99897056e-01 -1.01573289e-04 6.49808806e-01] [ 1.45993254e-03 8.06342304e-05 9.99998931e-01 4.13016853e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.675336195 meters Centerline goodness [0,1] 0.9889750398300584 Centerline is valid? [True, True] Translation: X:76.56, Y:0.65, Z:0.41 [[ 9.99906460e-01 -1.35564096e-02 -1.81502761e-03 7.65609227e+01] [ 1.35562026e-02 9.99908102e-01 -1.26307635e-04 6.47071737e-01] [ 1.81657309e-03 1.01690938e-04 9.99998345e-01 4.10794492e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.705336195 meters Centerline goodness [0,1] 0.9785659769335142 Centerline is valid? [True, True] Translation: X:76.59, Y:0.66, Z:0.41 [[ 9.99886034e-01 -1.48814359e-02 -2.54214751e-03 7.65902956e+01] [ 1.48810337e-02 9.99889256e-01 -1.77059745e-04 6.56866873e-01] [ 2.54450088e-03 1.39209783e-04 9.99996753e-01 4.08696999e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.73533619499999 meters Centerline goodness [0,1] 0.9857018604552493 Centerline is valid? [True, True] Translation: X:76.62, Y:0.66, Z:0.41 [[ 9.99878256e-01 -1.55745902e-02 -9.51129067e-04 7.66211817e+01] [ 1.55745342e-02 9.99878707e-01 -6.62632899e-05 6.59448024e-01] [ 9.52045725e-04 5.14418306e-05 9.99999545e-01 4.12610761e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.76533619499999 meters Centerline goodness [0,1] 0.9923761659355168 Centerline is valid? [True, True] Translation: X:76.65, Y:0.66, Z:0.42 [[ 9.99864578e-01 -1.64517121e-02 4.08432223e-04 7.66524604e+01] [ 1.64517018e-02 9.99864661e-01 2.84979852e-05 6.56181308e-01] [-4.08845787e-04 -2.17747208e-05 9.99999916e-01 4.15687158e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.79533619499999 meters Centerline goodness [0,1] 0.9877166557057089 Centerline is valid? [True, True] Translation: X:76.68, Y:0.65, Z:0.41 [[ 9.99853304e-01 -1.68309754e-02 -3.17635936e-03 7.66833237e+01] [ 1.68303583e-02 9.99858335e-01 -2.20927888e-04 6.54169486e-01] [ 3.17962781e-03 1.67436213e-04 9.99994931e-01 4.08622698e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.82533619499999 meters Centerline goodness [0,1] 0.9813879456706281 Centerline is valid? [True, True] Translation: X:76.71, Y:0.66, Z:0.41 [[ 9.99856080e-01 -1.64106567e-02 -4.30238625e-03 7.67127221e+01] [ 1.64095191e-02 9.99865310e-01 -2.99570093e-04 6.56067789e-01] [ 4.30672290e-03 2.28926889e-04 9.99990700e-01 4.06446437e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.85533619499999 meters Centerline goodness [0,1] 0.9901040887425995 Centerline is valid? [True, True] Translation: X:76.74, Y:0.66, Z:0.41 [[ 9.99898890e-01 -1.38220242e-02 -3.34084860e-03 7.67430587e+01] [ 1.38213241e-02 9.99904454e-01 -2.32578696e-04 6.58907280e-01] [ 3.34374410e-03 1.86380229e-04 9.99994392e-01 4.09640306e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.885336195 meters Centerline goodness [0,1] 0.9901040887425995 Centerline is valid? [True, True] Translation: X:76.77, Y:0.66, Z:0.41 [[ 9.99898890e-01 -1.38220242e-02 -3.34084860e-03 7.67730334e+01] [ 1.38213241e-02 9.99904454e-01 -2.32578696e-04 6.60994015e-01] [ 3.34374410e-03 1.86380229e-04 9.99994392e-01 4.09502791e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.915336195 meters Centerline goodness [0,1] 0.994569300448623 Centerline is valid? [True, True] Translation: X:76.80, Y:0.67, Z:0.41 [[ 9.99928296e-01 -1.12650258e-02 -4.06235927e-03 7.68027032e+01] [ 1.12639691e-02 9.99936519e-01 -2.82913868e-04 6.67659877e-01] [ 4.06528842e-03 2.37135293e-04 9.99991709e-01 4.08989576e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.945336195 meters Centerline goodness [0,1] 0.9595228040540541 Centerline is valid? [True, True] Translation: X:76.83, Y:0.68, Z:0.41 [[ 9.99943883e-01 -1.01708574e-02 -2.96378051e-03 7.68315236e+01] [ 1.01702900e-02 9.99948260e-01 -2.06456418e-04 6.79439153e-01] [ 2.96572701e-03 1.76302325e-04 9.99995587e-01 4.08556462e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.975336195 meters Centerline goodness [0,1] 0.9544353296212862 Centerline is valid? [True, True] Translation: X:76.86, Y:0.68, Z:0.41 [[ 9.99941875e-01 -1.06577997e-02 -1.63046230e-03 7.68619496e+01] [ 1.06576286e-02 9.99943199e-01 -1.13617862e-04 6.76986411e-01] [ 1.63158061e-03 9.62343963e-05 9.99998664e-01 4.10285509e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.005336195 meters Centerline goodness [0,1] 0.9750169520257671 Centerline is valid? [True, True] Translation: X:76.89, Y:0.67, Z:0.41 [[ 9.99925887e-01 -1.19427015e-02 -2.36468561e-03 7.68937520e+01] [ 1.19423455e-02 9.99928674e-01 -1.64626156e-04 6.68056248e-01] [ 2.36648303e-03 1.36374063e-04 9.99997191e-01 4.08819658e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.035336195 meters Centerline goodness [0,1] 0.9935377570453426 Centerline is valid? [True, True] Translation: X:76.92, Y:0.66, Z:0.41 [[ 9.99911363e-01 -1.27089904e-02 -3.96821310e-03 7.69242878e+01] [ 1.27079931e-02 9.99919212e-01 -2.76453295e-04 6.64283107e-01] [ 3.97140596e-03 2.26000766e-04 9.99992088e-01 4.06939947e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.065336195 meters Centerline goodness [0,1] 0.9534447512065586 Centerline is valid? [True, True] Translation: X:76.95, Y:0.68, Z:0.40 [[ 9.99916360e-01 -1.23043414e-02 -3.98453327e-03 7.69523390e+01] [ 1.23033324e-02 9.99924273e-01 -2.77637685e-04 6.81153235e-01] [ 3.98764769e-03 2.28591426e-04 9.99992023e-01 4.04702043e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.09533619499999 meters Centerline goodness [0,1] 0.9705869896662714 Centerline is valid? [True, True] Translation: X:76.98, Y:0.68, Z:0.41 [[ 9.99937409e-01 -1.07396177e-02 -3.13673904e-03 7.69825676e+01] [ 1.07389846e-02 9.99942312e-01 -2.18610194e-04 6.81548455e-01] [ 3.13890587e-03 1.84911118e-04 9.99995057e-01 4.07268301e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.12533619499999 meters Centerline goodness [0,1] 0.8561335766113634 Centerline is valid? [True, False] Translation: X:76.98, Y:0.68, Z:0.41 [[ 9.99976274e-01 -5.97979405e-03 -3.41955426e-03 7.69833997e+01] [ 5.99744578e-03 9.99968623e-01 5.17525372e-03 6.76402720e-01] [ 3.38850002e-03 -5.19563952e-03 9.99980762e-01 4.07393550e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.15533619499999 meters Centerline goodness [0,1] 0.9657915502569899 Centerline is valid? [False, True] Translation: X:76.98, Y:0.68, Z:0.41 [[ 9.99975123e-01 -6.13157958e-03 -3.48675059e-03 7.69837714e+01] [ 6.14809011e-03 9.99969845e-01 4.74438136e-03 6.78497645e-01] [ 3.45755490e-03 -4.76570019e-03 9.99982667e-01 4.07035797e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.18533619499999 meters Centerline goodness [0,1] 0.9159985538991557 Centerline is valid? [True, False] Translation: X:76.99, Y:0.68, Z:0.40 [[ 9.99983188e-01 -3.83352901e-03 -4.35071740e-03 7.69901936e+01] [ 3.86328464e-03 9.99969065e-01 6.85157575e-03 6.77433166e-01] [ 4.32431710e-03 -6.86826861e-03 9.99967063e-01 4.02672118e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.21533619499999 meters Centerline goodness [0,1] 0.7536375521909662 Centerline is valid? [False, False] Translation: X:77.01, Y:0.68, Z:0.40 [[ 9.99997430e-01 -1.73823960e-03 -1.45523386e-03 7.70095187e+01] [ 1.73440196e-03 9.99995026e-01 -2.63424493e-03 6.83488043e-01] [ 1.45980557e-03 2.63171420e-03 9.99995472e-01 4.01896522e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.245336195 meters Centerline goodness [0,1] 0.9161638344598196 Centerline is valid? [False, False] Translation: X:76.96, Y:0.68, Z:0.40 [[ 9.99998107e-01 -1.47528841e-03 -1.26893246e-03 7.69635272e+01] [ 1.47252918e-03 9.99996556e-01 -2.17264267e-03 6.80919649e-01] [ 1.27213337e-03 2.17077002e-03 9.99996835e-01 4.03180154e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.275336195 meters Centerline goodness [0,1] 0.7873968874904329 Centerline is valid? [False, False] Translation: X:76.96, Y:0.68, Z:0.40 [[ 9.99998264e-01 -1.39367445e-03 -1.23716490e-03 7.69628808e+01] [ 1.39128495e-03 9.99997169e-01 -1.93019335e-03 6.79725246e-01] [ 1.23985146e-03 1.92846875e-03 9.99997372e-01 4.04218463e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.305336195 meters Centerline goodness [0,1] 0.9147184300341297 Centerline is valid? [False, False] Translation: X:76.96, Y:0.67, Z:0.40 [[ 9.99998600e-01 -8.89483390e-04 -1.41735862e-03 7.69637434e+01] [ 8.88512795e-04 9.99999370e-01 -6.85274187e-04 6.73737091e-01] [ 1.41796727e-03 6.84013887e-04 9.99998761e-01 4.03800673e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.335336195 meters Centerline goodness [0,1] 0.8540893572806887 Centerline is valid? [False, False] Translation: X:76.96, Y:0.67, Z:0.40 [[ 9.99998743e-01 -7.13743381e-04 -1.41578170e-03 7.69638547e+01] [ 7.13376312e-04 9.99999712e-01 -2.59757802e-04 6.71718649e-01] [ 1.41596669e-03 2.58747490e-04 9.99998964e-01 4.03604325e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.365336195 meters Centerline goodness [0,1] 0.8747486293685569 Centerline is valid? [False, False] Translation: X:76.96, Y:0.67, Z:0.40 [[ 9.99998858e-01 -6.57202749e-04 -1.36072264e-03 7.69634112e+01] [ 6.57113929e-04 9.99999782e-01 -6.57202825e-05 6.70763368e-01] [ 1.36076554e-03 6.48260577e-05 9.99999072e-01 4.04109316e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.395336195 meters Centerline goodness [0,1] 0.9406285884404372 Centerline is valid? [False, False] Translation: X:76.96, Y:0.67, Z:0.40 [[ 9.99998560e-01 -7.80224662e-04 -1.50676457e-03 7.69639801e+01] [ 7.79683050e-04 9.99999631e-01 -3.60007883e-04 6.72194121e-01] [ 1.50704491e-03 3.58832566e-04 9.99998800e-01 4.03924593e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.425336195 meters Centerline goodness [0,1] 0.7068000678311006 Centerline is valid? [False, False] Translation: X:76.96, Y:0.67, Z:0.40 [[ 9.99998267e-01 -8.52561885e-04 -1.65475702e-03 7.69647186e+01] [ 8.51649412e-04 9.99999485e-01 -5.52050720e-04 6.73126370e-01] [ 1.65522683e-03 5.50640491e-04 9.99998479e-01 4.03462587e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.455336195 meters Centerline goodness [0,1] 0.8379289865524117 Centerline is valid? [False, False] Translation: X:76.96, Y:0.67, Z:0.40 [[ 9.99998549e-01 -6.61440263e-04 -1.56970585e-03 7.69645149e+01] [ 6.61115674e-04 9.99999760e-01 -2.07293437e-04 6.71553830e-01] [ 1.56984259e-03 2.06255379e-04 9.99998747e-01 4.03344560e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.48533619499999 meters Centerline goodness [0,1] 0.6647001607037131 Centerline is valid? [False, False] Translation: X:76.96, Y:0.67, Z:0.40 [[ 9.99998786e-01 -4.19969469e-04 -1.50067017e-03 7.69646359e+01] [ 4.20374507e-04 9.99999875e-01 2.69599277e-04 6.69350331e-01] [ 1.50055676e-03 -2.70229794e-04 9.99998838e-01 4.02740840e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.51533619499999 meters Centerline goodness [0,1] 0.8439746480071462 Centerline is valid? [False, False] Translation: X:76.97, Y:0.67, Z:0.40 [[ 9.99998542e-01 -5.61498062e-04 -1.61268509e-03 7.69654448e+01] [ 5.61471717e-04 9.99999842e-01 -1.67887503e-05 6.70652325e-01] [ 1.61269426e-03 1.58832487e-05 9.99998699e-01 4.01892008e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.54533619499999 meters Centerline goodness [0,1] 0.8642675698560542 Centerline is valid? [False, False] Translation: X:76.97, Y:0.67, Z:0.40 [[ 9.99998484e-01 -5.68474144e-04 -1.64575228e-03 7.69654988e+01] [ 5.68544407e-04 9.99999837e-01 4.22261651e-05 6.70336318e-01] [ 1.64572801e-03 -4.31617844e-05 9.99998645e-01 4.02015934e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.57533619499999 meters Centerline goodness [0,1] 0.9487566739699219 Centerline is valid? [False, False] Translation: X:76.97, Y:0.67, Z:0.40 [[ 9.99997896e-01 -5.76001028e-04 -1.96899239e-03 7.69667292e+01] [ 5.76404232e-04 9.99999813e-01 2.04215335e-04 6.69418850e-01] [ 1.96887439e-03 -2.05349841e-04 9.99998041e-01 4.01690109e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.60533619499999 meters Centerline goodness [0,1] 0.9265502966155947 Centerline is valid? [False, False] Translation: X:76.97, Y:0.66, Z:0.40 [[ 9.99995927e-01 -4.27217469e-04 -2.82196018e-03 7.69706127e+01] [ 4.30971851e-04 9.99999023e-01 1.32994228e-03 6.63183549e-01] [ 2.82138925e-03 -1.33115305e-03 9.99995134e-01 3.99526187e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.635336195 meters Centerline goodness [0,1] 0.8800448905264049 Centerline is valid? [False, False] Translation: X:76.98, Y:0.66, Z:0.40 [[ 9.99989761e-01 -2.72864742e-03 -3.60992006e-03 7.69764854e+01] [ 2.72554036e-03 9.99995911e-01 -8.65341099e-04 6.60183797e-01] [ 3.61226651e-03 8.55493257e-04 9.99993110e-01 3.95687190e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.665336195 meters Centerline goodness [0,1] 0.9775249899191409 Centerline is valid? [False, True] Translation: X:76.97, Y:0.65, Z:0.40 [[ 9.99991129e-01 -2.98543480e-03 -2.97121721e-03 7.69734835e+01] [ 2.98548081e-03 9.99995543e-01 1.10490440e-05 6.54667147e-01] [ 2.97117098e-03 -1.99194579e-05 9.99995586e-01 3.97626885e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.695336195 meters Centerline goodness [0,1] 0.9866487512530125 Centerline is valid? [True, True] Translation: X:77.00, Y:0.66, Z:0.40 [[ 9.99985994e-01 -5.26016084e-03 -5.85754955e-04 7.70026555e+01] [ 5.26014168e-03 9.99986165e-01 -3.42450095e-05 6.58042858e-01] [ 5.85926985e-04 3.11633758e-05 9.99999828e-01 4.01779646e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.725336195 meters Centerline goodness [0,1] 0.9967147096227215 Centerline is valid? [True, True] Translation: X:77.03, Y:0.66, Z:0.41 [[ 9.99947181e-01 -9.98148636e-03 2.45069416e-03 7.70324705e+01] [ 9.98116736e-03 9.99950177e-01 1.42364635e-04 6.55915946e-01] [-2.45199307e-03 -1.17896327e-04 9.99996987e-01 4.06623433e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.755336195 meters Centerline goodness [0,1] 0.9995324620125385 Centerline is valid? [True, True] Translation: X:77.06, Y:0.64, Z:0.41 [[ 9.99861730e-01 -1.57892840e-02 5.21719020e-03 7.70641666e+01] [ 1.57879155e-02 9.99875317e-01 3.03391278e-04 6.42544258e-01] [-5.22133003e-03 -2.20980770e-04 9.99986344e-01 4.11317725e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.785336195 meters Centerline goodness [0,1] 0.9996617264635616 Centerline is valid? [True, True] Translation: X:77.10, Y:0.64, Z:0.41 [[ 9.99818209e-01 -1.80740577e-02 6.07264002e-03 7.70959374e+01] [ 1.80722458e-02 9.99836621e-01 3.53124361e-04 6.38848882e-01] [-6.07803027e-03 -2.43313923e-04 9.99981499e-01 4.12410554e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.815336195 meters Centerline goodness [0,1] 0.9998294024821939 Centerline is valid? [True, True] Translation: X:77.13, Y:0.63, Z:0.41 [[ 9.99773986e-01 -2.07334454e-02 4.70127225e-03 7.71285332e+01] [ 2.07323886e-02 9.99785024e-01 2.73426126e-04 6.26566006e-01] [-4.70593066e-03 -1.75895725e-04 9.99988912e-01 4.09821102e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.84533619499999 meters Centerline goodness [0,1] 0.9996580758216865 Centerline is valid? [True, True] Translation: X:77.16, Y:0.63, Z:0.40 [[ 9.99794679e-01 -2.02631055e-02 8.49956266e-05 7.71593769e+01] [ 2.02631051e-02 9.99794682e-01 5.30302073e-06 6.28080626e-01] [-8.50856311e-05 -3.57965659e-06 9.99999996e-01 4.02286034e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.87533619499999 meters Centerline goodness [0,1] 0.9993840533537233 Centerline is valid? [True, True] Translation: X:77.19, Y:0.64, Z:0.40 [[ 9.99831011e-01 -1.83571296e-02 -9.82359919e-04 7.71889058e+01] [ 1.83570824e-02 9.99831493e-01 -5.70098695e-05 6.35172236e-01] [ 9.83240922e-04 3.89669734e-05 9.99999516e-01 3.99839851e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.90533619499999 meters Centerline goodness [0,1] 0.9944856072219384 Centerline is valid? [True, True] Translation: X:77.22, Y:0.65, Z:0.40 [[ 9.99913715e-01 -1.30681119e-02 1.33653072e-03 7.72178488e+01] [ 1.30680200e-02 9.99914607e-01 7.74698062e-05 6.50822243e-01] [-1.33742897e-03 -5.99973116e-05 9.99999104e-01 4.01922684e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.93533619499999 meters Centerline goodness [0,1] 0.9935578206785479 Centerline is valid? [True, True] Translation: X:77.25, Y:0.65, Z:0.40 [[ 9.99967114e-01 -7.77569544e-03 2.30427630e-03 7.72485713e+01] [ 7.77540788e-03 9.99969762e-01 1.33727932e-04 6.49741130e-01] [-2.30524645e-03 -1.15806846e-04 9.99997336e-01 4.04502767e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.96533619499999 meters Centerline goodness [0,1] 0.9850549543995408 Centerline is valid? [True, True] Translation: X:77.28, Y:0.65, Z:0.40 [[ 9.99985932e-01 -4.82111454e-03 2.21213266e-03 7.72791725e+01] [ 4.82084210e-03 9.99988371e-01 1.28471591e-04 6.51955477e-01] [-2.21272631e-03 -1.17805442e-04 9.99997545e-01 4.04510934e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.995336195 meters Centerline goodness [0,1] 0.9758921591413299 Centerline is valid? [True, True] Translation: X:77.31, Y:0.66, Z:0.41 [[ 9.99995561e-01 2.91937384e-05 2.97961009e-03 7.73096354e+01] [-2.97090486e-05 9.99999985e-01 1.72901388e-04 6.55704314e-01] [-2.97960499e-03 -1.72989141e-04 9.99995546e-01 4.06182435e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.025336195 meters Centerline goodness [0,1] 0.9568825011112757 Centerline is valid? [True, True] Translation: X:77.34, Y:0.67, Z:0.40 [[ 9.99993774e-01 3.06952732e-03 1.74050381e-03 7.73398736e+01] [-3.06970782e-03 9.99995283e-01 1.01043048e-04 6.67686081e-01] [-1.74018545e-03 -1.06385257e-04 9.99998480e-01 4.03826497e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.055336195 meters Centerline goodness [0,1] 0.9719307952586665 Centerline is valid? [True, True] Translation: X:77.37, Y:0.67, Z:0.40 [[ 9.99989823e-01 4.32248683e-03 1.29206547e-03 7.73707110e+01] [-4.32258746e-03 9.99990655e-01 7.50985715e-05 6.67349060e-01] [-1.29172878e-03 -8.06828733e-05 9.99999162e-01 4.03084317e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.085336195 meters Centerline goodness [0,1] 0.9361747606019152 Centerline is valid? [True, False] Translation: X:77.37, Y:0.66, Z:0.40 [[ 9.99988017e-01 4.71582570e-03 1.31423457e-03 7.73704077e+01] [-4.71699148e-03 9.99988483e-01 8.85359602e-04 6.63583595e-01] [-1.31004424e-03 -8.91548226e-04 9.99998744e-01 4.03529586e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.115336195 meters Centerline goodness [0,1] 0.7145769189935237 Centerline is valid? [False, False] Translation: X:77.37, Y:0.66, Z:0.40 [[ 9.99984660e-01 5.36818517e-03 1.36498767e-03 7.73703900e+01] [-5.37124388e-03 9.99983050e-01 2.24712943e-03 6.57191353e-01] [-1.35290153e-03 -2.25442664e-03 9.99996544e-01 4.03356720e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.145336195 meters Centerline goodness [0,1] 0.8038957732133764 Centerline is valid? [False, False] Translation: X:77.37, Y:0.66, Z:0.40 [[ 9.99984084e-01 5.47798989e-03 1.35005351e-03 7.73706474e+01] [-5.48130529e-03 9.99981941e-01 2.46441763e-03 6.56155610e-01] [-1.33652907e-03 -2.47177846e-03 9.99996052e-01 4.03004491e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.175336195 meters Centerline goodness [0,1] 0.7771237401541459 Centerline is valid? [False, False] Translation: X:77.37, Y:0.65, Z:0.40 [[ 9.99983261e-01 5.57987323e-03 1.53063300e-03 7.73697907e+01] [-5.58409416e-03 9.99980580e-01 2.76736574e-03 6.54662419e-01] [-1.51516173e-03 -2.77586661e-03 9.99994999e-01 4.03462631e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.205336195 meters Centerline goodness [0,1] 0.8760074658522101 Centerline is valid? [False, False] Translation: X:77.37, Y:0.66, Z:0.40 [[ 9.99997529e-01 1.14435758e-03 1.90578101e-03 7.73680078e+01] [-1.14000492e-03 9.99996743e-01 -2.28345110e-03 6.58525738e-01] [-1.90838789e-03 2.28127286e-03 9.99995577e-01 4.04356206e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.23533619499999 meters Centerline goodness [0,1] 0.9703250914782462 Centerline is valid? [False, True] Translation: X:77.37, Y:0.65, Z:0.40 [[ 9.99998717e-01 8.54498899e-04 1.35525341e-03 7.73696559e+01] [-8.52839903e-04 9.99998887e-01 -1.22422834e-03 6.51944345e-01] [-1.35629800e-03 1.22307096e-03 9.99998332e-01 4.04607819e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.26533619499999 meters Centerline goodness [0,1] 0.9961469746216932 Centerline is valid? [True, True] Translation: X:77.40, Y:0.64, Z:0.40 [[ 9.99997540e-01 -2.08689793e-03 -7.51195714e-04 7.74016992e+01] [ 2.08686548e-03 9.99997822e-01 -4.39805608e-05 6.36848180e-01] [ 7.51285860e-04 4.24128082e-05 9.99999717e-01 4.00835788e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.29533619499999 meters Centerline goodness [0,1] 0.995988995988996 Centerline is valid? [True, True] Translation: X:77.43, Y:0.62, Z:0.40 [[ 9.99969050e-01 -7.86509603e-03 1.99360662e-04 7.74324343e+01] [ 7.86509386e-03 9.99969070e-01 1.16833565e-05 6.22750247e-01] [-1.99446386e-04 -1.01150046e-05 9.99999980e-01 4.01373270e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.32533619499999 meters Centerline goodness [0,1] 0.9864715626725566 Centerline is valid? [True, True] Translation: X:77.46, Y:0.63, Z:0.40 [[ 9.99969997e-01 -7.62785415e-03 1.34943719e-03 7.74619834e+01] [ 7.62775418e-03 9.99970905e-01 7.92168200e-05 6.30298424e-01] [-1.35000218e-03 -6.89212681e-05 9.99999086e-01 4.03110325e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.35533619499999 meters Centerline goodness [0,1] 0.9961866212185769 Centerline is valid? [True, True] Translation: X:77.49, Y:0.62, Z:0.41 [[ 9.99978482e-01 -6.33532804e-03 1.70285437e-03 7.74932106e+01] [ 6.33516704e-03 9.99979928e-01 9.99248063e-05 6.23989748e-01] [-1.70345324e-03 -8.91347892e-05 9.99998545e-01 4.05202131e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.385336195 meters Centerline goodness [0,1] 0.9288751860514565 Centerline is valid? [True, False] Translation: X:77.50, Y:0.62, Z:0.40 [[ 9.99992405e-01 -3.84958823e-03 6.08293445e-04 7.74999795e+01] [ 3.84797094e-03 9.99989117e-01 2.63790919e-03 6.19265785e-01] [-6.18441689e-04 -2.63554846e-03 9.99996336e-01 4.01266839e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.415336195 meters Centerline goodness [0,1] 0.9668245434374466 Centerline is valid? [False, True] Translation: X:77.50, Y:0.62, Z:0.40 [[ 9.99995686e-01 -2.83592686e-03 7.64785015e-04 7.75001134e+01] [ 2.83373726e-03 9.99991926e-01 2.84906889e-03 6.20361287e-01] [-7.72858592e-04 -2.84688940e-03 9.99995649e-01 4.00089826e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.445336195 meters Centerline goodness [0,1] 0.9432240694046754 Centerline is valid? [True, False] Translation: X:77.50, Y:0.62, Z:0.40 [[ 9.99995368e-01 -2.90449712e-03 9.09726041e-04 7.74998620e+01] [ 2.90247205e-03 9.99993325e-01 2.21949534e-03 6.23665790e-01] [-9.16166486e-04 -2.21684461e-03 9.99997123e-01 3.99609882e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.475336195 meters Centerline goodness [0,1] 0.6654629160331137 Centerline is valid? [False, False] Translation: X:77.52, Y:0.63, Z:0.40 [[ 9.99981544e-01 2.98988678e-03 5.28879405e-03 7.75218315e+01] [-2.97404914e-03 9.99991078e-01 -2.99989945e-03 6.29183118e-01] [-5.29771622e-03 2.98411495e-03 9.99981514e-01 3.95217731e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.505336195 meters Centerline goodness [0,1] 0.5873174890759885 Centerline is valid? [False, False] Translation: X:77.52, Y:0.62, Z:0.40 [[ 9.99956898e-01 7.68584466e-03 5.20855213e-03 7.75219659e+01] [-7.69794001e-03 9.99967711e-01 2.30615411e-03 6.24509134e-01] [-5.19065921e-03 -2.34614983e-03 9.99983776e-01 3.95681281e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.535336195 meters Centerline goodness [0,1] 0.5165024578128657 Centerline is valid? [False, False] Translation: X:77.52, Y:0.63, Z:0.40 [[ 9.99951842e-01 8.16717753e-03 5.44160370e-03 7.75213124e+01] [-8.17742943e-03 9.99964826e-01 1.86440638e-03 6.27901649e-01] [-5.42618536e-03 -1.90881493e-03 9.99983456e-01 3.95371078e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.565336195 meters Centerline goodness [0,1] 0.5081234163064541 Centerline is valid? [False, False] Translation: X:77.52, Y:0.64, Z:0.39 [[ 9.99950738e-01 8.11448071e-03 5.71632364e-03 7.75205066e+01] [-8.11716596e-03 9.99966955e-01 4.46705739e-04 6.35680272e-01] [-5.71250996e-03 -4.93084081e-04 9.99983562e-01 3.94959346e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.59533619499999 meters Centerline goodness [0,1] 0.5050770011846336 Centerline is valid? [False, False] Translation: X:77.52, Y:0.64, Z:0.39 [[ 9.99953901e-01 7.68825068e-03 5.75203951e-03 7.75205109e+01] [-7.68504770e-03 9.99970302e-01 -5.78738381e-04 6.40534872e-01] [-5.75631818e-03 5.34507004e-04 9.99983289e-01 3.94644482e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.62533619499999 meters Centerline goodness [0,1] 0.47734106758226524 Centerline is valid? [False, False] Translation: X:77.50, Y:0.64, Z:0.40 [[ 9.99982989e-01 5.78113566e-03 7.74777757e-04 7.75029519e+01] [-5.78743610e-03 9.99948033e-01 8.39261729e-03 6.41717024e-01] [-7.26218636e-04 -8.39695850e-03 9.99964481e-01 3.96334490e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.65533619499999 meters Centerline goodness [0,1] 0.6236029349031653 Centerline is valid? [False, False] Translation: X:77.50, Y:0.65, Z:0.40 [[ 9.99999049e-01 1.08574557e-03 8.49890166e-04 7.75020473e+01] [-1.08850128e-03 9.99994131e-01 3.24871098e-03 6.45545480e-01] [-8.46357904e-04 -3.24963300e-03 9.99994362e-01 3.97335703e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.68533619499999 meters Centerline goodness [0,1] 0.6428296232876712 Centerline is valid? [False, False] Translation: X:77.50, Y:0.65, Z:0.40 [[ 9.99993782e-01 -3.37208813e-03 1.03168055e-03 7.75011622e+01] [ 3.37355458e-03 9.99993297e-01 -1.42298672e-03 6.47231029e-01] [-1.02687519e-03 1.42645830e-03 9.99998455e-01 3.97856584e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.71533619499999 meters Centerline goodness [0,1] 0.8019557823129252 Centerline is valid? [False, False] Translation: X:77.50, Y:0.64, Z:0.40 [[ 9.99986534e-01 -5.17260009e-03 4.19102942e-04 7.75035895e+01] [ 5.17339043e-03 9.99984799e-01 -1.90717794e-03 6.44570788e-01] [-4.09231503e-04 1.90932044e-03 9.99998094e-01 3.97276091e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.745336195 meters Centerline goodness [0,1] 0.9549907558917908 Centerline is valid? [False, True] Translation: X:77.50, Y:0.64, Z:0.40 [[ 9.99977554e-01 -6.70014371e-03 1.37044202e-05 7.75048088e+01] [ 6.70015731e-03 9.99974682e-01 -2.39658872e-03 6.43414552e-01] [ 2.35341558e-06 2.39662675e-03 9.99997128e-01 3.97471085e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.775336195 meters Centerline goodness [0,1] 0.9829008932369204 Centerline is valid? [True, True] Translation: X:77.54, Y:0.64, Z:0.40 [[ 9.99939942e-01 -1.07946862e-02 1.89402973e-03 7.75358689e+01] [ 1.07944638e-02 9.99941730e-01 1.27565433e-04 6.37387286e-01] [-1.89529640e-03 -1.07112736e-04 9.99998198e-01 4.00040686e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.805336195 meters Centerline goodness [0,1] 0.9829008932369204 Centerline is valid? [True, True] Translation: X:77.57, Y:0.64, Z:0.40 [[ 9.99940187e-01 -1.07719576e-02 1.89401928e-03 7.75666878e+01] [ 1.07717349e-02 9.99941975e-01 1.27720686e-04 6.39419192e-01] [-1.89528518e-03 -1.07311173e-04 9.99998198e-01 3.99781524e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.835336195 meters Centerline goodness [0,1] 0.9966258250912081 Centerline is valid? [True, True] Translation: X:77.60, Y:0.63, Z:0.40 [[ 9.99838265e-01 -1.74640318e-02 4.29562920e-03 7.75982288e+01] [ 1.74629499e-02 9.99847469e-01 2.89233219e-04 6.31430168e-01] [-4.30002516e-03 -2.14172082e-04 9.99990732e-01 4.03839024e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.865336195 meters Centerline goodness [0,1] 0.9998073011454877 Centerline is valid? [True, True] Translation: X:77.63, Y:0.62, Z:0.40 [[ 9.99786895e-01 -2.04127753e-02 3.07940753e-03 7.76298742e+01] [ 2.04122331e-02 9.99791627e-01 2.07411599e-04 6.22527251e-01] [-3.08299971e-03 -1.44509814e-04 9.99995237e-01 4.02619761e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.895336195 meters Centerline goodness [0,1] 0.9995156161152412 Centerline is valid? [True, True] Translation: X:77.66, Y:0.62, Z:0.40 [[ 9.99656151e-01 -2.61516104e-02 1.91651288e-03 7.76598215e+01] [ 2.61514112e-02 9.99657985e-01 1.28941020e-04 6.20314555e-01] [-1.91922942e-03 -7.87771671e-05 9.99998155e-01 3.99897317e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.925336195 meters Centerline goodness [0,1] 0.9997896994805577 Centerline is valid? [True, True] Translation: X:77.69, Y:0.61, Z:0.40 [[ 9.99496480e-01 -3.16578528e-02 2.13712023e-03 7.76895654e+01] [ 3.16576175e-02 9.99498762e-01 1.43826535e-04 6.14378804e-01] [-2.14060227e-03 -7.60979802e-05 9.99997706e-01 4.00056039e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.955336195 meters Centerline goodness [0,1] 0.9998296349929724 Centerline is valid? [True, True] Translation: X:77.72, Y:0.61, Z:0.40 [[ 9.99410399e-01 -3.43074278e-02 1.36199245e-03 7.77203927e+01] [ 3.43073346e-02 9.99411326e-01 9.17247288e-05 6.06938028e-01] [-1.36433752e-03 -4.49443171e-05 9.99999068e-01 3.98776504e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.98533619499999 meters Centerline goodness [0,1] 0.9999785043313772 Centerline is valid? [True, True] Translation: X:77.75, Y:0.60, Z:0.40 [[ 9.99233030e-01 -3.91564794e-02 3.49192668e-04 7.77508866e+01] [ 3.91564736e-02 9.99233091e-01 2.32786872e-05 5.96252747e-01] [-3.49836381e-04 -9.58767962e-06 9.99999939e-01 3.95581679e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.01533619499999 meters Centerline goodness [0,1] 0.999957261304385 Centerline is valid? [True, True] Translation: X:77.78, Y:0.59, Z:0.40 [[ 9.99163851e-01 -4.08631095e-02 1.34369586e-03 7.77799688e+01] [ 4.08630250e-02 9.99164754e-01 9.02769871e-05 5.90864364e-01] [-1.34626255e-03 -3.52940244e-05 9.99999093e-01 3.97540421e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.04533619499999 meters Centerline goodness [0,1] 0.9999152452590316 Centerline is valid? [True, True] Translation: X:77.81, Y:0.59, Z:0.40 [[ 9.99190332e-01 -4.01904652e-02 1.84600765e-03 7.78081761e+01] [ 4.01903043e-02 9.99192036e-01 1.24215298e-04 5.93735820e-01] [-1.84950841e-03 -4.99231158e-05 9.99998288e-01 3.99008283e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.07533619499999 meters Centerline goodness [0,1] 0.9999577390385631 Centerline is valid? [True, True] Translation: X:77.84, Y:0.60, Z:0.40 [[ 9.99319145e-01 -3.68649917e-02 1.48949709e-03 7.78378116e+01] [ 3.68648830e-02 9.99320254e-01 1.00382744e-04 6.01927114e-01] [-1.49218522e-03 -4.54042620e-05 9.99998886e-01 3.99538812e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.10533619499999 meters Centerline goodness [0,1] 0.9998942962242612 Centerline is valid? [True, True] Translation: X:77.87, Y:0.61, Z:0.40 [[ 9.99397211e-01 -3.47017741e-02 1.00083000e-03 7.78674327e+01] [ 3.47017240e-02 9.99397712e-01 6.74433026e-05 6.06265721e-01] [-1.00256761e-03 -3.26721221e-05 9.99999497e-01 3.98405991e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.135336195 meters Centerline goodness [0,1] 0.9998507017020006 Centerline is valid? [True, True] Translation: X:77.90, Y:0.61, Z:0.40 [[ 9.99549055e-01 -3.00111251e-02 1.00966619e-03 7.78975986e+01] [ 3.00110716e-02 9.99549564e-01 6.80794914e-05 6.07723510e-01] [-1.01125454e-03 -3.77476270e-05 9.99999488e-01 3.97040863e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.165336195 meters Centerline goodness [0,1] 0.9996819405865015 Centerline is valid? [True, True] Translation: X:77.93, Y:0.61, Z:0.40 [[ 9.99619017e-01 -2.75553037e-02 1.58940726e-03 7.79269184e+01] [ 2.75551681e-02 9.99620279e-01 1.07164404e-04 6.10771723e-01] [-1.59175667e-03 -6.33271925e-05 9.99998731e-01 3.97711834e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.195336195 meters Centerline goodness [0,1] 0.9984991333023295 Centerline is valid? [True, True] Translation: X:77.96, Y:0.62, Z:0.40 [[ 9.99730183e-01 -2.30570740e-02 2.81644581e-03 7.79561092e+01] [ 2.30566300e-02 9.99734143e-01 1.90001693e-04 6.19939043e-01] [-2.82007792e-03 -1.25012678e-04 9.99996016e-01 4.00491959e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.225336195 meters Centerline goodness [0,1] 0.9996609235594549 Centerline is valid? [True, True] Translation: X:77.99, Y:0.62, Z:0.40 [[ 9.99771109e-01 -2.12339259e-02 2.61743967e-03 7.79875929e+01] [ 2.12335358e-02 9.99774527e-01 1.76738064e-04 6.15207989e-01] [-2.62060235e-03 -1.21120112e-04 9.99996559e-01 4.01364828e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.255336195 meters Centerline goodness [0,1] 0.9964937631483882 Centerline is valid? [True, True] Translation: X:78.02, Y:0.62, Z:0.40 [[ 9.99839631e-01 -1.78733406e-02 1.12031610e-03 7.80162295e+01] [ 1.78732671e-02 9.99840258e-01 7.55366700e-05 6.23029783e-01] [-1.12148723e-03 -5.55008474e-05 9.99999370e-01 3.97965347e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.285336195 meters Centerline goodness [0,1] 0.9959280982319929 Centerline is valid? [True, True] Translation: X:78.05, Y:0.62, Z:0.40 [[ 9.99867320e-01 -1.61633208e-02 2.02226455e-03 7.80468538e+01] [ 1.61630778e-02 9.99869360e-01 1.36492285e-04 6.23282010e-01] [-2.02420652e-03 -1.03788156e-04 9.99997946e-01 3.98555194e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.315336195 meters Centerline goodness [0,1] 0.9982627118644067 Centerline is valid? [True, True] Translation: X:78.08, Y:0.62, Z:0.40 [[ 9.99876236e-01 -1.50525652e-02 4.57515335e-03 7.80783450e+01] [ 1.50513091e-02 9.99886675e-01 3.08843699e-04 6.15980957e-01] [-4.57928376e-03 -2.39943428e-04 9.99989486e-01 4.01894197e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.34533619499999 meters Centerline goodness [0,1] 0.9871792168357126 Centerline is valid? [True, True] Translation: X:78.11, Y:0.62, Z:0.40 [[ 9.99877191e-01 -1.51539954e-02 3.99495916e-03 7.81088787e+01] [ 1.51530382e-02 9.99885150e-01 2.69745775e-04 6.23408526e-01] [-3.99858806e-03 -2.09176879e-04 9.99991984e-01 3.98983282e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.37533619499999 meters Centerline goodness [0,1] 0.979274830104259 Centerline is valid? [True, True] Translation: X:78.14, Y:0.61, Z:0.39 [[ 9.99878736e-01 -1.54781777e-02 1.71425963e-03 7.81402971e+01] [ 1.54780017e-02 9.99880202e-01 1.15844476e-04 6.14590131e-01] [-1.71584733e-03 -8.92971150e-05 9.99998524e-01 3.94472033e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.40533619499999 meters Centerline goodness [0,1] 0.9967469648969872 Centerline is valid? [True, True] Translation: X:78.17, Y:0.60, Z:0.40 [[ 9.99889008e-01 -1.48807635e-02 7.30559364e-04 7.81719897e+01] [ 1.48807314e-02 9.99889275e-01 4.93413803e-05 6.02946541e-01] [-7.31212710e-04 -3.84646462e-05 9.99999732e-01 3.95220346e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.43533619499999 meters Centerline goodness [0,1] 0.9864822050902946 Centerline is valid? [True, True] Translation: X:78.20, Y:0.62, Z:0.40 [[ 9.99933950e-01 -1.14854525e-02 4.23427883e-04 7.82009738e+01] [ 1.14854415e-02 9.99934040e-01 2.85303499e-05 6.15083449e-01] [-4.23727638e-04 -2.36652093e-05 9.99999910e-01 3.95028200e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.46533619499999 meters Centerline goodness [0,1] 0.9851124552734708 Centerline is valid? [True, True] Translation: X:78.23, Y:0.62, Z:0.40 [[ 9.99954530e-01 -9.44244961e-03 1.33352595e-03 7.82310555e+01] [ 9.44233822e-03 9.99955416e-01 8.98031389e-05 6.18296611e-01] [-1.33431446e-03 -7.72074524e-05 9.99999107e-01 3.96468765e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.495336195 meters Centerline goodness [0,1] 0.9514667680415637 Centerline is valid? [True, True] Translation: X:78.26, Y:0.62, Z:0.40 [[ 9.99982964e-01 -4.81025339e-03 3.30650507e-03 7.82604761e+01] [ 4.80954229e-03 9.99988409e-01 2.22978277e-04 6.17721534e-01] [-3.30753933e-03 -2.07071703e-04 9.99994509e-01 3.99335846e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.525336195 meters Centerline goodness [0,1] 0.7574591157518661 Centerline is valid? [True, False] Translation: X:78.26, Y:0.61, Z:0.40 [[ 9.99986674e-01 -2.58847144e-03 4.46673027e-03 7.82553560e+01] [ 2.57630072e-03 9.99992959e-01 2.72835449e-03 6.10462067e-01] [-4.47376108e-03 -2.71681049e-03 9.99986302e-01 4.01111780e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.555336195 meters Centerline goodness [0,1] 0.7962857082353938 Centerline is valid? [False, False] Translation: X:78.26, Y:0.61, Z:0.40 [[ 9.99986741e-01 -2.62951094e-03 4.42753297e-03 7.82558849e+01] [ 2.61974847e-03 9.99994128e-01 2.20930366e-03 6.13179050e-01] [-4.43331636e-03 -2.19767534e-03 9.99987758e-01 4.00277762e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.585336195 meters Centerline goodness [0,1] 0.6855449735449736 Centerline is valid? [False, False] Translation: X:78.26, Y:0.62, Z:0.40 [[ 9.99991173e-01 1.36700318e-03 3.97301054e-03 7.82587211e+01] [-1.38973598e-03 9.99982648e-01 5.72468975e-03 6.16816899e-01] [-3.96511593e-03 -5.73016065e-03 9.99975721e-01 3.97766498e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.615336195 meters Centerline goodness [0,1] 0.545984565807327 Centerline is valid? [False, False] Translation: X:78.26, Y:0.62, Z:0.40 [[ 9.99990102e-01 1.84760575e-03 4.04756293e-03 7.82588872e+01] [-1.86749808e-03 9.99986171e-01 4.91639010e-03 6.22273183e-01] [-4.03842340e-03 -4.92390025e-03 9.99979723e-01 3.96713033e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.645336195 meters Centerline goodness [0,1] 0.5211897023605885 Centerline is valid? [False, False] Translation: X:78.24, Y:0.62, Z:0.40 [[ 9.99985288e-01 4.70896438e-03 2.69256382e-03 7.82356960e+01] [-4.69985240e-03 9.99983242e-01 -3.38050247e-03 6.22900701e-01] [-2.70843737e-03 3.36779808e-03 9.99990661e-01 3.98638968e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.675336195 meters Centerline goodness [0,1] 0.4950106157112526 Centerline is valid? [False, False] Translation: X:78.24, Y:0.62, Z:0.40 [[ 9.99952885e-01 9.30815519e-03 2.75416724e-03 7.82352579e+01] [-9.31293373e-03 9.99955142e-01 1.72731493e-03 6.19154602e-01] [-2.73796558e-03 -1.75288292e-03 9.99994715e-01 3.99301955e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.705336195 meters Centerline goodness [0,1] 0.4717417602241134 Centerline is valid? [False, False] Translation: X:78.23, Y:0.62, Z:0.40 [[ 9.99955560e-01 8.96242457e-03 2.92471226e-03 7.82346230e+01] [-8.96474376e-03 9.99959511e-01 7.80819854e-04 6.23757568e-01] [-2.91759580e-03 -8.07004450e-04 9.99995418e-01 3.99344761e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.73533619499999 meters Centerline goodness [0,1] 0.43098114007204913 Centerline is valid? [False, False] Translation: X:78.23, Y:0.63, Z:0.40 [[ 9.99961171e-01 8.30197459e-03 2.95525486e-03 7.82345052e+01] [-8.29792293e-03 9.99964619e-01 -1.38063373e-03 6.34446132e-01] [-2.96661228e-03 1.35605764e-03 9.99994680e-01 3.99069762e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.76533619499999 meters Centerline goodness [0,1] 0.44101667789757415 Centerline is valid? [False, False] Translation: X:78.23, Y:0.64, Z:0.40 [[ 9.99967330e-01 7.52565301e-03 2.95027167e-03 7.82347353e+01] [-7.51673035e-03 9.99967177e-01 -3.02386409e-03 6.42065430e-01] [-2.97293138e-03 3.00158891e-03 9.99991076e-01 3.98578445e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.79533619499999 meters Centerline goodness [0,1] 0.49362799420339276 Centerline is valid? [False, False] Translation: X:78.21, Y:0.64, Z:0.40 [[ 9.99982565e-01 5.59537526e-03 -1.88720014e-03 7.82138337e+01] [-5.58366577e-03 9.99965475e-01 6.15391235e-03 6.39065142e-01] [ 1.92156844e-03 -6.14326756e-03 9.99979284e-01 4.02953633e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.82533619499999 meters Centerline goodness [0,1] 0.5560545788955901 Centerline is valid? [False, False] Translation: X:78.21, Y:0.64, Z:0.40 [[ 9.99998233e-01 7.32627324e-04 -1.73144057e-03 7.82128547e+01] [-7.31385440e-04 9.99999475e-01 7.17779080e-04 6.44224624e-01] [ 1.73196553e-03 -7.16511461e-04 9.99998243e-01 4.03568718e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.85533619499999 meters Centerline goodness [0,1] 0.5288731947645529 Centerline is valid? [False, False] Translation: X:78.25, Y:0.65, Z:0.40 [[ 9.99997670e-01 -1.97548612e-03 8.70508121e-04 7.82531583e+01] [ 1.97794021e-03 9.99994047e-01 -2.82736579e-03 6.49871617e-01] [-8.64917517e-04 2.82908101e-03 9.99995624e-01 4.03489450e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.885336195 meters Centerline goodness [0,1] 0.7314094044680717 Centerline is valid? [False, False] Translation: X:78.25, Y:0.65, Z:0.40 [[ 9.99994115e-01 -3.39083999e-03 5.21002737e-04 7.82542532e+01] [ 3.39269842e-03 9.99987734e-01 -3.60853543e-03 6.51146959e-01] [-5.08760380e-04 3.61028180e-03 9.99993353e-01 4.03567287e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.915336195 meters Centerline goodness [0,1] 0.8370217079145198 Centerline is valid? [False, False] Translation: X:78.25, Y:0.65, Z:0.40 [[ 9.99989319e-01 -4.61225784e-03 2.96775808e-04 7.82547265e+01] [ 4.61343665e-03 9.99980944e-01 -4.10218891e-03 6.51274901e-01] [-2.77849800e-04 4.10351425e-03 9.99991542e-01 4.03994022e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.945336195 meters Centerline goodness [0,1] 0.986695333787466 Centerline is valid? [False, True] Translation: X:78.25, Y:0.65, Z:0.40 [[ 9.99984685e-01 -5.53039469e-03 2.10765397e-04 7.82547060e+01] [ 5.53120998e-03 9.99976351e-01 -4.08684375e-03 6.49229994e-01] [-1.88158553e-04 4.08794694e-03 9.99991627e-01 4.04656878e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.975336195 meters Centerline goodness [0,1] 0.9823723368278661 Centerline is valid? [True, True] Translation: X:78.28, Y:0.65, Z:0.41 [[ 9.99962254e-01 -8.66075305e-03 6.94626577e-04 7.82842713e+01] [ 8.66072529e-03 9.99962494e-01 4.29678854e-05 6.52106087e-01] [-6.94972658e-04 -3.69502936e-05 9.99999758e-01 4.05160198e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.005336195 meters Centerline goodness [0,1] 0.9996371165709651 Centerline is valid? [True, True] Translation: X:78.32, Y:0.64, Z:0.40 [[ 9.99910226e-01 -1.33842686e-02 -6.33254487e-04 7.83155469e+01] [ 1.33842464e-02 9.99910426e-01 -3.92242998e-05 6.38495773e-01] [ 6.33722752e-04 3.07451444e-05 9.99999799e-01 4.03929538e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.035336195 meters Centerline goodness [0,1] 0.9978468748021024 Centerline is valid? [True, True] Translation: X:78.34, Y:0.65, Z:0.40 [[ 9.99885936e-01 -1.49605799e-02 -2.07258147e-03 7.83449346e+01] [ 1.49603459e-02 9.99888080e-01 -1.28369370e-04 6.45825088e-01] [ 2.07426999e-03 9.73481923e-05 9.99997844e-01 3.99940364e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.065336195 meters Centerline goodness [0,1] 0.9984412034763298 Centerline is valid? [True, True] Translation: X:78.37, Y:0.64, Z:0.40 [[ 9.99847133e-01 -1.73570626e-02 -2.10793662e-03 7.83746800e+01] [ 1.73568255e-02 9.99849350e-01 -1.30741606e-04 6.43005379e-01] [ 2.10988836e-03 9.41345316e-05 9.99997770e-01 3.99340237e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.09533619499999 meters Centerline goodness [0,1] 0.9989967554644809 Centerline is valid? [True, True] Translation: X:78.40, Y:0.64, Z:0.40 [[ 9.99809984e-01 -1.93705804e-02 -2.18561851e-03 7.84048431e+01] [ 1.93703300e-02 9.99812368e-01 -1.35682052e-04 6.41818665e-01] [ 2.18783666e-03 9.33201184e-05 9.99997602e-01 3.99129450e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.12533619499999 meters Centerline goodness [0,1] 0.9993182786536003 Centerline is valid? [True, True] Translation: X:78.43, Y:0.64, Z:0.40 [[ 9.99789969e-01 -2.02351698e-02 -3.24887970e-03 7.84346841e+01] [ 2.02346213e-02 9.99795239e-01 -2.01617352e-04 6.41859059e-01] [ 3.25229422e-03 1.35835155e-04 9.99994702e-01 3.97373620e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.15533619499999 meters Centerline goodness [0,1] 0.999553799082101 Centerline is valid? [True, True] Translation: X:78.46, Y:0.64, Z:0.40 [[ 9.99773838e-01 -2.10161787e-02 -3.25483518e-03 7.84637132e+01] [ 2.10156277e-02 9.99779127e-01 -2.03401622e-04 6.40207705e-01] [ 3.25839100e-03 1.34953216e-04 9.99994682e-01 3.97786994e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.18533619499999 meters Centerline goodness [0,1] 0.9995315261600051 Centerline is valid? [True, True] Translation: X:78.49, Y:0.64, Z:0.40 [[ 9.99775590e-01 -2.11142505e-02 -1.71995438e-03 7.84912232e+01] [ 2.11140969e-02 9.99777067e-01 -1.07416402e-04 6.44657644e-01] [ 1.72183896e-03 7.10770127e-05 9.99998515e-01 3.98730176e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.21533619499999 meters Centerline goodness [0,1] 0.9997004130020757 Centerline is valid? [True, True] Translation: X:78.52, Y:0.64, Z:0.40 [[ 9.99780751e-01 -2.08149466e-02 -2.27757750e-03 7.85210955e+01] [ 2.08146771e-02 9.99783341e-01 -1.41961080e-04 6.42593648e-01] [ 2.28003896e-03 9.45229152e-05 9.99997396e-01 3.98356710e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.245336195 meters Centerline goodness [0,1] 0.9991079961771264 Centerline is valid? [True, True] Translation: X:78.55, Y:0.64, Z:0.40 [[ 9.99795639e-01 -1.99935505e-02 -2.98955324e-03 7.85497461e+01] [ 1.99930788e-02 9.99800101e-01 -1.87610696e-04 6.43931075e-01] [ 2.99270663e-03 1.27801982e-04 9.99995514e-01 3.97445744e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.275336195 meters Centerline goodness [0,1] 0.9978488274000338 Centerline is valid? [True, True] Translation: X:78.58, Y:0.65, Z:0.40 [[ 9.99884312e-01 -1.49029857e-02 -3.04366659e-03 7.85795479e+01] [ 1.49024759e-02 9.99888934e-01 -1.90126988e-04 6.49557484e-01] [ 3.04616200e-03 1.44746825e-04 9.99995350e-01 3.96872100e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.305336195 meters Centerline goodness [0,1] 0.9952917827886159 Centerline is valid? [True, True] Translation: X:78.61, Y:0.66, Z:0.40 [[ 9.99918686e-01 -1.25847268e-02 -2.06067198e-03 7.86082228e+01] [ 1.25844879e-02 9.99920804e-01 -1.28861989e-04 6.55762865e-01] [ 2.06213048e-03 1.02919009e-04 9.99997869e-01 3.98112723e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.335336195 meters Centerline goodness [0,1] 0.9975306521225655 Centerline is valid? [True, True] Translation: X:78.64, Y:0.65, Z:0.40 [[ 9.99967674e-01 -7.58872996e-03 -2.65742787e-03 7.86384758e+01] [ 7.58831537e-03 9.99971195e-01 -1.66060964e-04 6.51699174e-01] [ 2.65861152e-03 1.45890195e-04 9.99996455e-01 3.98602492e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.365336195 meters Centerline goodness [0,1] 0.9329260477634895 Centerline is valid? [True, False] Translation: X:78.64, Y:0.65, Z:0.40 [[ 9.99968388e-01 -7.47323664e-03 -2.71553428e-03 7.86388916e+01] [ 7.47311665e-03 9.99972074e-01 -5.43292824e-05 6.51269513e-01] [ 2.71586447e-03 3.40340605e-05 9.99996311e-01 3.98176534e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.395336195 meters Centerline goodness [0,1] 0.9321202598836469 Centerline is valid? [False, False] Translation: X:78.65, Y:0.65, Z:0.39 [[ 9.99980759e-01 -5.04039154e-03 -3.61602899e-03 7.86456140e+01] [ 5.04861518e-03 9.99984682e-01 2.26870627e-03 6.51230673e-01] [ 3.60453843e-03 -2.28691856e-03 9.99990889e-01 3.93529618e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.425336195 meters Centerline goodness [0,1] 0.9442098528470889 Centerline is valid? [False, False] Translation: X:78.65, Y:0.65, Z:0.39 [[ 9.99980152e-01 -5.22344839e-03 -3.52294904e-03 7.86454386e+01] [ 5.22970451e-03 9.99984760e-01 1.76895186e-03 6.53691565e-01] [ 3.51365532e-03 -1.78734073e-03 9.99992230e-01 3.93269234e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.455336195 meters Centerline goodness [0,1] 0.8710761860738748 Centerline is valid? [False, False] Translation: X:78.67, Y:0.66, Z:0.39 [[ 9.99991555e-01 -3.79988460e-03 1.56558115e-03 7.86664973e+01] [ 3.81188061e-03 9.99962842e-01 -7.73195917e-03 6.61055758e-01] [-1.53614242e-03 7.73786168e-03 9.99968882e-01 3.88856535e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.48533619499999 meters Centerline goodness [0,1] 0.9252934222747615 Centerline is valid? [False, False] Translation: X:78.67, Y:0.66, Z:0.39 [[ 9.99992244e-01 -3.54541132e-03 1.71529117e-03 7.86657374e+01] [ 3.55764994e-03 9.99967856e-01 -7.18536443e-03 6.58530031e-01] [-1.68976096e-03 7.19141111e-03 9.99972714e-01 3.89344400e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.51533619499999 meters Centerline goodness [0,1] 0.9255341654326211 Centerline is valid? [False, False] Translation: X:78.66, Y:0.66, Z:0.39 [[ 9.99992861e-01 -3.19229405e-03 2.02171391e-03 7.86640682e+01] [ 3.20529354e-03 9.99973999e-01 -6.45967047e-03 6.55207044e-01] [-2.00104018e-03 6.46610454e-03 9.99977092e-01 3.90556361e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.54533619499999 meters Centerline goodness [0,1] 0.9157204030763331 Centerline is valid? [False, False] Translation: X:78.66, Y:0.66, Z:0.39 [[ 9.99992177e-01 -3.25934942e-03 2.24095905e-03 7.86627021e+01] [ 3.27418400e-03 9.99972540e-01 -6.64825641e-03 6.56203412e-01] [-2.21922852e-03 6.65554171e-03 9.99975389e-01 3.91762754e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.57533619499999 meters Centerline goodness [0,1] 0.9614204763324954 Centerline is valid? [False, True] Translation: X:78.66, Y:0.65, Z:0.39 [[ 9.99994411e-01 -2.85397029e-03 1.74131160e-03 7.86649181e+01] [ 2.86360929e-03 9.99980452e-01 -5.55832546e-03 6.50871341e-01] [-1.72541427e-03 5.56328083e-03 9.99983036e-01 3.90602707e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.60533619499999 meters Centerline goodness [0,1] 0.9204463946668917 Centerline is valid? [True, False] Translation: X:78.67, Y:0.65, Z:0.39 [[ 9.99995938e-01 -2.56083119e-03 1.25136442e-03 7.86671954e+01] [ 2.56663124e-03 9.99985869e-01 -4.65556861e-03 6.46332417e-01] [-1.23942461e-03 4.65876150e-03 9.99988380e-01 3.89343232e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.635336195 meters Centerline goodness [0,1] 0.9572778426584563 Centerline is valid? [False, True] Translation: X:78.67, Y:0.64, Z:0.39 [[ 9.99996468e-01 -2.46961736e-03 9.82831375e-04 7.86685451e+01] [ 2.47310891e-03 9.99990579e-01 -3.56732914e-03 6.40489562e-01] [-9.74012178e-04 3.56974719e-03 9.99993154e-01 3.88473109e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.665336195 meters Centerline goodness [0,1] 0.9878720110098056 Centerline is valid? [True, True] Translation: X:78.70, Y:0.63, Z:0.39 [[ 9.99988081e-01 -4.64980781e-03 1.48922253e-03 7.86999482e+01] [ 4.64967570e-03 9.99989186e-01 9.21646132e-05 6.33961279e-01] [-1.48963497e-03 -8.52391128e-05 9.99998887e-01 3.90229235e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.695336195 meters Centerline goodness [0,1] 0.9878720110098056 Centerline is valid? [True, True] Translation: X:78.73, Y:0.64, Z:0.39 [[ 9.99988189e-01 -4.62640827e-03 1.48921704e-03 7.87307773e+01] [ 4.62627599e-03 9.99989294e-01 9.22535067e-05 6.35823974e-01] [-1.48962790e-03 -8.53628881e-05 9.99998887e-01 3.89902254e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.725336195 meters Centerline goodness [0,1] 0.9772882513661202 Centerline is valid? [True, True] Translation: X:78.76, Y:0.64, Z:0.39 [[ 9.99969136e-01 -7.85427639e-03 1.92875095e-04 7.87608517e+01] [ 7.85427425e-03 9.99969155e-01 1.18455915e-05 6.35598644e-01] [-1.92962184e-04 -1.03303320e-05 9.99999981e-01 3.85468744e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.755336195 meters Centerline goodness [0,1] 0.9805585689064726 Centerline is valid? [True, True] Translation: X:78.79, Y:0.63, Z:0.38 [[ 9.99959914e-01 -8.92522916e-03 -7.14646696e-04 7.87914622e+01] [ 8.92519979e-03 9.99960169e-01 -4.42874909e-05 6.28798143e-01] [ 7.15013507e-04 3.79073510e-05 9.99999744e-01 3.84310792e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.785336195 meters Centerline goodness [0,1] 0.9854961180786622 Centerline is valid? [True, True] Translation: X:78.82, Y:0.61, Z:0.39 [[ 9.99949374e-01 -1.00387974e-02 -6.86691582e-04 7.88218612e+01] [ 1.00387704e-02 9.99949609e-01 -4.26991698e-05 6.13284961e-01] [ 6.87085627e-04 3.58034690e-05 9.99999763e-01 3.85822080e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.815336195 meters Centerline goodness [0,1] 0.9669756294143848 Centerline is valid? [True, True] Translation: X:78.85, Y:0.61, Z:0.38 [[ 9.99952706e-01 -9.63241737e-03 -1.34275858e-03 7.88518762e+01] [ 9.63231437e-03 9.99953605e-01 -8.31507230e-05 6.10897381e-01] [ 1.34349723e-03 7.02129177e-05 9.99999095e-01 3.84743941e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.84533619499999 meters Centerline goodness [0,1] 0.9658052948001266 Centerline is valid? [True, True] Translation: X:78.88, Y:0.61, Z:0.38 [[ 9.99961445e-01 -8.69295497e-03 -1.24113983e-03 7.88817123e+01] [ 8.69286606e-03 9.99962213e-01 -7.70130429e-05 6.13942485e-01] [ 1.24176240e-03 6.62210114e-05 9.99999227e-01 3.84868489e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.87533619499999 meters Centerline goodness [0,1] 0.9775115952512659 Centerline is valid? [True, True] Translation: X:78.91, Y:0.62, Z:0.39 [[ 9.99983828e-01 -5.63058589e-03 7.99546884e-04 7.89116062e+01] [ 5.63054828e-03 9.99984147e-01 4.92718959e-05 6.18177511e-01] [-7.99811638e-04 -4.47692118e-05 9.99999679e-01 3.86920549e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.90533619499999 meters Centerline goodness [0,1] 0.9609767521076386 Centerline is valid? [True, True] Translation: X:78.94, Y:0.62, Z:0.39 [[ 9.99996279e-01 -2.19165832e-03 1.62465823e-03 7.89414214e+01] [ 2.19149802e-03 9.99997594e-01 1.00440502e-04 6.15563878e-01] [-1.62487445e-03 -9.68796928e-05 9.99998675e-01 3.86798424e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.93533619499999 meters Centerline goodness [0,1] 0.9583571746455591 Centerline is valid? [True, True] Translation: X:78.97, Y:0.61, Z:0.39 [[ 9.99997839e-01 -9.56499044e-04 1.84603122e-03 7.89725889e+01] [ 9.56289587e-04 9.99999536e-01 1.14342840e-04 6.10223658e-01] [-1.84613973e-03 -1.12577253e-04 9.99998290e-01 3.87872066e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.96533619499999 meters Centerline goodness [0,1] 0.9282818043588444 Centerline is valid? [True, False] Translation: X:78.97, Y:0.60, Z:0.39 [[ 9.99997952e-01 1.17564250e-04 2.02024149e-03 7.89712900e+01] [-1.22317866e-04 9.99997224e-01 2.35303162e-03 5.99940634e-01] [-2.01995925e-03 -2.35327391e-03 9.99995191e-01 3.89268951e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.995336195 meters Centerline goodness [0,1] 0.8431122719840309 Centerline is valid? [False, False] Translation: X:78.97, Y:0.60, Z:0.39 [[ 9.99997684e-01 7.06342181e-05 2.15096080e-03 7.89710152e+01] [-7.53304572e-05 9.99997614e-01 2.18331878e-03 6.00803645e-01] [-2.15080145e-03 -2.18347576e-03 9.99995303e-01 3.88998188e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.025336195 meters Centerline goodness [0,1] 0.9219329261759348 Centerline is valid? [False, False] Translation: X:78.95, Y:0.60, Z:0.39 [[ 9.99987835e-01 4.76303874e-03 -1.28157442e-03 7.89521411e+01] [-4.76815273e-03 9.99980563e-01 -4.01737976e-03 6.00976099e-01] [ 1.26241458e-03 4.02344163e-03 9.99991109e-01 3.89379564e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.055336195 meters Centerline goodness [0,1] 0.8443955010050036 Centerline is valid? [False, False] Translation: X:78.95, Y:0.60, Z:0.39 [[ 9.99986410e-01 5.01481136e-03 -1.42542429e-03 7.89527810e+01] [-5.01981888e-03 9.99981165e-01 -3.53141054e-03 5.98729895e-01] [ 1.40768809e-03 3.53851792e-03 9.99992749e-01 3.89048191e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.085336195 meters Centerline goodness [0,1] 0.6443204954190702 Centerline is valid? [False, False] Translation: X:78.95, Y:0.59, Z:0.39 [[ 9.99946248e-01 1.02019004e-02 -1.85020170e-03 7.89538054e+01] [-1.01957691e-02 9.99942598e-01 3.29351596e-03 5.86305920e-01] [ 1.88369562e-03 -3.27447469e-03 9.99992865e-01 3.89915879e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.115336195 meters Centerline goodness [0,1] 0.697226009885802 Centerline is valid? [False, False] Translation: X:78.95, Y:0.58, Z:0.39 [[ 9.99976060e-01 6.71515006e-03 -1.66894321e-03 7.89535924e+01] [-6.71594902e-03 9.99977336e-01 -4.73582659e-04 5.84808715e-01] [ 1.66572521e-03 4.84779859e-04 9.99998495e-01 3.89023122e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.145336195 meters Centerline goodness [0,1] 0.681598678358114 Centerline is valid? [False, False] Translation: X:78.95, Y:0.58, Z:0.39 [[ 9.99974717e-01 6.91688968e-03 -1.64961681e-03 7.89535118e+01] [-6.91697827e-03 9.99976076e-01 -4.80009830e-05 5.82788050e-01] [ 1.64924533e-03 5.94101330e-05 9.99998638e-01 3.89052450e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.175336195 meters Centerline goodness [0,1] 0.7783788370563652 Centerline is valid? [False, False] Translation: X:78.95, Y:0.58, Z:0.39 [[ 9.99986252e-01 5.19295720e-03 -7.27804509e-04 7.89462220e+01] [-5.19416668e-03 9.99985116e-01 -1.66990704e-03 5.79814243e-01] [ 7.19121921e-04 1.67366442e-03 9.99998341e-01 3.94313834e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.205336195 meters Centerline goodness [0,1] 0.7366651057851943 Centerline is valid? [False, False] Translation: X:78.94, Y:0.57, Z:0.40 [[ 9.99994902e-01 3.16881701e-03 3.94296475e-04 7.89394350e+01] [-3.16757541e-03 9.99990145e-01 -3.11064586e-03 5.72101713e-01] [-4.04149656e-04 3.10938103e-03 9.99995084e-01 3.98295889e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.23533619499999 meters Centerline goodness [0,1] 0.5920422370297831 Centerline is valid? [False, False] Translation: X:78.94, Y:0.57, Z:0.40 [[ 9.99993722e-01 3.52793445e-03 3.30551702e-04 7.89396614e+01] [-3.52717282e-03 9.99991187e-01 -2.27705185e-03 5.68155528e-01] [-3.38582079e-04 2.27587164e-03 9.99997353e-01 3.98286153e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.26533619499999 meters Centerline goodness [0,1] 0.6931661175470294 Centerline is valid? [False, False] Translation: X:78.94, Y:0.56, Z:0.40 [[ 9.99992632e-01 3.82981147e-03 2.62170329e-04 7.89398855e+01] [-3.82939766e-03 9.99991449e-01 -1.56110849e-03 5.64730276e-01] [-2.68146838e-04 1.56009303e-03 9.99998747e-01 3.98305430e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.29533619499999 meters Centerline goodness [0,1] 0.822465695138815 Centerline is valid? [False, False] Translation: X:78.94, Y:0.56, Z:0.40 [[ 9.99990136e-01 4.44105634e-03 -6.51442700e-05 7.89409388e+01] [-4.44106355e-03 9.99990132e-01 -1.11011845e-04 5.57782055e-01] [ 6.46506173e-05 1.11300060e-04 9.99999992e-01 3.98362684e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.32533619499999 meters Centerline goodness [0,1] 0.826001955034213 Centerline is valid? [False, False] Translation: X:78.94, Y:0.55, Z:0.40 [[ 9.99988073e-01 4.87114330e-03 -3.54528594e-04 7.89420797e+01] [-4.87083599e-03 9.99987765e-01 8.62572799e-04 5.53105403e-01] [ 3.58725972e-04 -8.60835661e-04 9.99999565e-01 3.98047926e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.35533619499999 meters Centerline goodness [0,1] 0.7220712464977144 Centerline is valid? [False, False] Translation: X:78.94, Y:0.54, Z:0.40 [[ 9.99983978e-01 5.59950931e-03 -8.29737465e-04 7.89442165e+01] [-5.59728822e-03 9.99980809e-01 2.65542210e-03 5.44318810e-01] [ 8.44590602e-04 -2.65073528e-03 9.99996130e-01 3.97148484e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.385336195 meters Centerline goodness [0,1] 0.705256650750341 Centerline is valid? [False, False] Translation: X:78.90, Y:0.54, Z:0.40 [[ 9.99987879e-01 4.70078880e-03 -1.46446999e-03 7.88993244e+01] [-4.69359430e-03 9.99977087e-01 4.87799394e-03 5.36113496e-01] [ 1.48736685e-03 -4.87106118e-03 9.99987030e-01 3.99089363e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.415336195 meters Centerline goodness [0,1] 0.6826146837588727 Centerline is valid? [False, False] Translation: X:78.90, Y:0.53, Z:0.40 [[ 9.99986580e-01 5.07326217e-03 -1.05014704e-03 7.88970734e+01] [-5.06714820e-03 9.99970659e-01 5.74502408e-03 5.32154518e-01] [ 1.07926224e-03 -5.73962573e-03 9.99982946e-01 4.00796856e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.445336195 meters Centerline goodness [0,1] 0.6884750986974053 Centerline is valid? [False, False] Translation: X:78.90, Y:0.53, Z:0.40 [[ 9.99986394e-01 5.09517290e-03 -1.11890217e-03 7.88971909e+01] [-5.08863558e-03 9.99970408e-01 5.76973888e-03 5.32070624e-01] [ 1.14826687e-03 -5.76396669e-03 9.99982729e-01 4.00984582e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.475336195 meters Centerline goodness [0,1] 0.6383465333954512 Centerline is valid? [False, False] Translation: X:78.90, Y:0.53, Z:0.40 [[ 9.99998870e-01 1.17451752e-03 -9.38730296e-04 7.88968332e+01] [-1.17322168e-03 9.99998360e-01 1.37977139e-03 5.33144412e-01] [ 9.40349322e-04 -1.37866849e-03 9.99998608e-01 4.00457219e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.505336195 meters Centerline goodness [0,1] 0.5614575206123611 Centerline is valid? [False, False] Translation: X:78.90, Y:0.53, Z:0.40 [[ 9.99997746e-01 1.92271774e-03 -9.00924249e-04 7.88963276e+01] [-1.92007868e-03 9.99993890e-01 2.92105449e-03 5.26010942e-01] [ 9.06535108e-04 -2.91931806e-03 9.99995328e-01 4.01263917e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.535336195 meters Centerline goodness [0,1] 0.5762737061184615 Centerline is valid? [False, False] Translation: X:78.90, Y:0.53, Z:0.40 [[ 9.99998337e-01 1.72088084e-03 -6.03677189e-04 7.88954622e+01] [-1.71941969e-03 9.99995611e-01 2.41264411e-03 5.28470213e-01] [ 6.07826413e-04 -2.41160213e-03 9.99996907e-01 4.01034102e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.565336195 meters Centerline goodness [0,1] 0.579751550166127 Centerline is valid? [False, False] Translation: X:78.90, Y:0.53, Z:0.40 [[ 9.99998487e-01 1.61011879e-03 -6.57939618e-04 7.88958336e+01] [-1.60866958e-03 9.99996292e-01 2.19726975e-03 5.29410171e-01] [ 6.61475044e-04 -2.19620802e-03 9.99997370e-01 4.00660186e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.59533619499999 meters Centerline goodness [0,1] 0.8086382851530809 Centerline is valid? [False, False] Translation: X:78.90, Y:0.53, Z:0.40 [[ 9.99995472e-01 -2.89239257e-03 -8.30351288e-04 7.88972861e+01] [ 2.89016667e-03 9.99992260e-01 -2.66947154e-03 5.31910606e-01] [ 8.38066021e-04 2.66705960e-03 9.99996092e-01 3.98923326e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.62533619499999 meters Centerline goodness [0,1] 0.7599906520215003 Centerline is valid? [False, False] Translation: X:78.90, Y:0.52, Z:0.40 [[ 9.99994614e-01 -2.90728568e-03 -1.52316337e-03 7.88994246e+01] [ 2.90526886e-03 9.99994902e-01 -1.32464201e-03 5.24194923e-01] [ 1.52700672e-03 1.32020968e-03 9.99997963e-01 3.99224968e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.65533619499999 meters Centerline goodness [0,1] 0.831287498144968 Centerline is valid? [False, False] Translation: X:78.90, Y:0.52, Z:0.40 [[ 9.99995412e-01 -2.53256683e-03 -1.66179486e-03 7.88991371e+01] [ 2.53240950e-03 9.99996789e-01 -9.67738911e-05 5.18195443e-01] [ 1.66203461e-03 9.25651021e-05 9.99998615e-01 4.00607745e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.68533619499999 meters Centerline goodness [0,1] 0.9660199378282774 Centerline is valid? [False, True] Translation: X:78.90, Y:0.51, Z:0.40 [[ 9.99977917e-01 -6.47927898e-03 -1.47819611e-03 7.88980561e+01] [ 6.47424092e-03 9.99973303e-01 -3.38794704e-03 5.13336767e-01] [ 1.50010810e-03 3.37830202e-03 9.99993168e-01 4.01670695e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.71533619499999 meters Centerline goodness [0,1] 0.9656892927663008 Centerline is valid? [True, True] Translation: X:78.93, Y:0.51, Z:0.40 [[ 9.99939091e-01 -1.10329567e-02 2.98195321e-04 7.89279135e+01] [ 1.10329510e-02 9.99939135e-01 2.08617634e-05 5.13215093e-01] [-2.98407339e-04 -1.75705184e-05 9.99999955e-01 4.04047408e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.745336195 meters Centerline goodness [0,1] 0.961343043441443 Centerline is valid? [True, True] Translation: X:78.96, Y:0.52, Z:0.40 [[ 9.99931811e-01 -1.16485554e-02 8.27568963e-04 7.89561915e+01] [ 1.16485115e-02 9.99932152e-01 5.77938538e-05 5.15426254e-01] [-8.28186029e-04 -4.81499663e-05 9.99999656e-01 4.04314123e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.775336195 meters Centerline goodness [0,1] 0.979187546646764 Centerline is valid? [True, True] Translation: X:78.99, Y:0.50, Z:0.40 [[ 9.99935222e-01 -1.13378546e-02 -1.00211809e-03 7.89865924e+01] [ 1.13377898e-02 9.99935723e-01 -7.03457941e-05 5.03434958e-01] [ 1.00285124e-03 5.89794330e-05 9.99999495e-01 4.01840020e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.805336195 meters Centerline goodness [0,1] 0.9737854788986925 Centerline is valid? [True, True] Translation: X:79.02, Y:0.50, Z:0.40 [[ 9.99935484e-01 -1.11059162e-02 -2.38443893e-03 7.90162673e+01] [ 1.11055463e-02 9.99938317e-01 -1.68338324e-04 4.98416705e-01] [ 2.38616140e-03 1.41846966e-04 9.99997143e-01 4.00137294e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.835336195 meters Centerline goodness [0,1] 0.9595858879436536 Centerline is valid? [True, True] Translation: X:79.04, Y:0.49, Z:0.40 [[ 9.99928440e-01 -1.13329121e-02 -3.83151132e-03 7.90444577e+01] [ 1.13319618e-02 9.99935755e-01 -2.69638260e-04 4.91525841e-01] [ 3.83432095e-03 2.26200424e-04 9.99992623e-01 3.98520631e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.865336195 meters Centerline goodness [0,1] 0.9439721135861248 Centerline is valid? [True, False] Translation: X:79.05, Y:0.49, Z:0.40 [[ 9.99967996e-01 -6.91075294e-03 -4.03105103e-03 7.90456498e+01] [ 6.92919272e-03 9.99965511e-01 4.57854727e-03 4.88711793e-01] [ 3.99927080e-03 -4.60633267e-03 9.99981394e-01 3.97332603e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.895336195 meters Centerline goodness [0,1] 0.972056102912705 Centerline is valid? [False, True] Translation: X:79.05, Y:0.49, Z:0.40 [[ 9.99932543e-01 -1.10080875e-02 -3.70562590e-03 7.90454248e+01] [ 1.10057938e-02 9.99939230e-01 -6.38782805e-04 4.94202475e-01] [ 3.71243249e-03 5.97956360e-04 9.99992930e-01 3.95712169e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.925336195 meters Centerline goodness [0,1] 0.8513933853869105 Centerline is valid? [True, False] Translation: X:79.07, Y:0.49, Z:0.40 [[ 9.99920333e-01 -8.05940359e-03 -9.71464461e-03 7.90676004e+01] [ 8.01463314e-03 9.99957123e-01 -4.63870707e-03 4.89157720e-01] [ 9.75161329e-03 4.56047820e-03 9.99942052e-01 3.99972690e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.955336195 meters Centerline goodness [0,1] 0.8016939438323887 Centerline is valid? [False, False] Translation: X:79.06, Y:0.48, Z:0.40 [[ 9.99944373e-01 -5.54458542e-03 -8.97263301e-03 7.90618015e+01] [ 5.53456327e-03 9.99984033e-01 -1.14141465e-03 4.77173468e-01] [ 8.97881841e-03 1.09169155e-03 9.99959094e-01 4.04770656e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.98533619499999 meters Centerline goodness [0,1] 0.8105089478360198 Centerline is valid? [False, False] Translation: X:79.06, Y:0.47, Z:0.41 [[ 9.99958359e-01 -6.78114620e-04 -9.10057975e-03 7.90614094e+01] [ 7.16869024e-04 9.99990687e-01 4.25586821e-03 4.72185846e-01] [ 9.09760903e-03 -4.26221492e-03 9.99949532e-01 4.06215847e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.01533619499999 meters Centerline goodness [0,1] 0.47375976356343674 Centerline is valid? [False, False] Translation: X:79.06, Y:0.48, Z:0.41 [[ 9.99928495e-01 8.00164631e-03 -8.88702391e-03 7.90607472e+01] [-7.89146463e-03 9.99892414e-01 1.23646682e-02 4.75207107e-01] [ 8.98500549e-03 -1.22936525e-02 9.99884061e-01 4.06334020e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.04533619499999 meters Centerline goodness [0,1] 0.501968253968254 Centerline is valid? [False, False] Translation: X:79.05, Y:0.48, Z:0.40 [[ 9.99934139e-01 9.94865462e-03 -5.72209391e-03 7.90508932e+01] [-9.88816319e-03 9.99895935e-01 1.05044361e-02 4.83850345e-01] [ 5.82600344e-03 -1.04471633e-02 9.99928455e-01 4.02191395e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.07533619499999 meters Centerline goodness [0,1] 0.4121548828661358 Centerline is valid? [False, False] Translation: X:79.03, Y:0.49, Z:0.40 [[ 9.99822500e-01 1.84240295e-02 -3.93989551e-03 7.90316819e+01] [-1.83911216e-02 9.99796983e-01 8.23165023e-03 4.93292469e-01] [ 4.09075581e-03 -8.15773002e-03 9.99958358e-01 3.96163164e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.10533619499999 meters Centerline goodness [0,1] 0.39714954265049984 Centerline is valid? [False, False] Translation: X:79.03, Y:0.50, Z:0.40 [[ 9.99826218e-01 1.82376018e-02 -3.86312004e-03 7.90313422e+01] [-1.82075517e-02 9.99804763e-01 7.67605124e-03 4.96030542e-01] [ 4.00235858e-03 -7.60437932e-03 9.99963077e-01 3.96269749e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.135336195 meters Centerline goodness [0,1] 0.4272104793093182 Centerline is valid? [False, False] Translation: X:79.03, Y:0.50, Z:0.40 [[ 9.99894916e-01 1.39552063e-02 -3.92554450e-03 7.90313110e+01] [-1.39441141e-02 9.99898746e-01 2.83898092e-03 4.98850585e-01] [ 3.96476558e-03 -2.78394435e-03 9.99988265e-01 3.96139826e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.165336195 meters Centerline goodness [0,1] 0.36180238551023414 Centerline is valid? [False, False] Translation: X:79.03, Y:0.50, Z:0.40 [[ 9.99895782e-01 1.37645395e-02 -4.35460937e-03 7.90326110e+01] [-1.37502348e-02 9.99900022e-01 3.29802011e-03 4.95847710e-01] [ 4.39956974e-03 -3.23779949e-03 9.99985080e-01 3.96363496e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.195336195 meters Centerline goodness [0,1] 0.436131153140076 Centerline is valid? [False, False] Translation: X:79.03, Y:0.50, Z:0.40 [[ 9.99928368e-01 1.15543049e-02 -3.12346564e-03 7.90276394e+01] [-1.15505643e-02 9.99932554e-01 1.21295177e-03 5.00891988e-01] [ 3.13726980e-03 -1.17678710e-03 9.99994386e-01 3.97497164e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.225336195 meters Centerline goodness [0,1] 0.5029137777021566 Centerline is valid? [False, False] Translation: X:79.03, Y:0.50, Z:0.40 [[ 9.99932639e-01 1.11520892e-02 -3.21693249e-03 7.90281828e+01] [-1.11504751e-02 9.99937697e-01 5.19256978e-04 5.03957999e-01] [ 3.22252287e-03 -4.83351675e-04 9.99994691e-01 3.97032866e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.255336195 meters Centerline goodness [0,1] 0.469994925145902 Centerline is valid? [False, False] Translation: X:79.03, Y:0.51, Z:0.39 [[ 9.99953570e-01 8.67036970e-03 -4.20496944e-03 7.90342948e+01] [-8.67942389e-03 9.99960044e-01 -2.13976386e-03 5.10128767e-01] [ 4.18624888e-03 2.17616122e-03 9.99988870e-01 3.93448861e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.285336195 meters Centerline goodness [0,1] 0.5683171253628254 Centerline is valid? [False, False] Translation: X:79.03, Y:0.51, Z:0.39 [[ 9.99952750e-01 8.63035878e-03 -4.47386620e-03 7.90348926e+01] [-8.63860381e-03 9.99961018e-01 -1.82689498e-03 5.08354207e-01] [ 4.45792504e-03 1.86545661e-03 9.99988323e-01 3.93946565e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.315336195 meters Centerline goodness [0,1] 0.8032668185786996 Centerline is valid? [False, False] Translation: X:79.04, Y:0.51, Z:0.39 [[ 9.99978923e-01 4.26674855e-03 -4.89363265e-03 7.90362774e+01] [-4.29563319e-03 9.99973326e-01 -5.90725096e-03 5.06864786e-01] [ 4.86829736e-03 5.92814771e-03 9.99970578e-01 3.93705974e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.34533619499999 meters Centerline goodness [0,1] 0.7930946940847932 Centerline is valid? [False, False] Translation: X:79.04, Y:0.50, Z:0.39 [[ 9.99976376e-01 4.17653863e-03 -5.45929340e-03 7.90382060e+01] [-4.20533715e-03 9.99977248e-01 -5.27434558e-03 5.03057644e-01] [ 5.43714068e-03 5.29717915e-03 9.99971188e-01 3.93545086e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.37533619499999 meters Centerline goodness [0,1] 0.7397614356236362 Centerline is valid? [False, False] Translation: X:79.04, Y:0.50, Z:0.39 [[ 9.99985200e-01 -5.63741510e-04 -5.41130217e-03 7.90384092e+01] [ 5.09521196e-04 9.99949709e-01 -1.00159819e-02 5.04591606e-01] [ 5.41667645e-03 1.00130765e-02 9.99935197e-01 3.92909461e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.40533619499999 meters Centerline goodness [0,1] 0.9854988894583974 Centerline is valid? [False, True] Translation: X:79.02, Y:0.51, Z:0.39 [[ 9.99965427e-01 -8.29318138e-03 6.06636470e-04 7.90158300e+01] [ 8.29913317e-03 9.99909662e-01 -1.05731423e-02 5.10074250e-01] [-5.18896681e-04 1.05778113e-02 9.99943919e-01 3.88845737e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.43533619499999 meters Centerline goodness [0,1] 0.9927098074531497 Centerline is valid? [True, True] Translation: X:79.05, Y:0.51, Z:0.39 [[ 9.99932428e-01 -1.13996089e-02 2.27760264e-03 7.90453488e+01] [ 1.13993134e-02 9.99935016e-01 1.42714321e-04 5.05569584e-01] [-2.27908152e-03 -1.16741571e-04 9.99997396e-01 3.93646692e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.46533619499999 meters Centerline goodness [0,1] 0.9980698706813357 Centerline is valid? [True, True] Translation: X:79.08, Y:0.50, Z:0.40 [[ 9.99870091e-01 -1.57213247e-02 3.55543643e-03 7.90767364e+01] [ 1.57206308e-02 9.99876398e-01 2.23055552e-04 4.98260819e-01] [-3.55850371e-03 -1.67132872e-04 9.99993655e-01 3.96313115e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.495336195 meters Centerline goodness [0,1] 0.9976649401375562 Centerline is valid? [True, True] Translation: X:79.11, Y:0.50, Z:0.39 [[ 9.99851652e-01 -1.70433154e-02 2.48966834e-03 7.91060215e+01] [ 1.70429796e-02 9.99854746e-01 1.56044427e-04 4.97504560e-01] [-2.49196621e-03 -1.13589912e-04 9.99996889e-01 3.94315739e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.525336195 meters Centerline goodness [0,1] 0.9987873888439773 Centerline is valid? [True, True] Translation: X:79.13, Y:0.50, Z:0.39 [[ 9.99845101e-01 -1.74204821e-02 2.51002845e-03 7.91344174e+01] [ 1.74201446e-02 9.99848246e-01 1.56253917e-04 4.98634843e-01] [-2.51236956e-03 -1.12504655e-04 9.99996838e-01 3.93965686e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.555336195 meters Centerline goodness [0,1] 0.9939771766694844 Centerline is valid? [True, True] Translation: X:79.16, Y:0.51, Z:0.39 [[ 9.99872483e-01 -1.58303741e-02 2.10170823e-03 7.91618930e+01] [ 1.58301319e-02 9.99874687e-01 1.31813128e-04 5.12969571e-01] [-2.10353151e-03 -9.85260009e-05 9.99997783e-01 3.91799176e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.585336195 meters Centerline goodness [0,1] 0.9907791021310047 Centerline is valid? [True, True] Translation: X:79.19, Y:0.52, Z:0.39 [[ 9.99901052e-01 -1.40526232e-02 6.40204081e-04 7.91909749e+01] [ 1.40526006e-02 9.99901257e-01 3.98294113e-05 5.17163504e-01] [-6.40700573e-04 -3.08289380e-05 9.99999794e-01 3.89560699e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.615336195 meters Centerline goodness [0,1] 0.9907791021310047 Centerline is valid? [True, True] Translation: X:79.22, Y:0.52, Z:0.39 [[ 9.99898791e-01 -1.42125699e-02 6.40264824e-04 7.92192894e+01] [ 1.42125479e-02 9.99898996e-01 3.88668209e-05 5.19075094e-01] [-6.40752552e-04 -2.97630927e-05 9.99999794e-01 3.89284320e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.645336195 meters Centerline goodness [0,1] 0.9371914136170032 Centerline is valid? [True, False] Translation: X:79.22, Y:0.52, Z:0.39 [[ 9.99952894e-01 -9.70269134e-03 2.59207116e-04 7.92202048e+01] [ 9.70134350e-03 9.99941542e-01 4.77464921e-03 5.17110021e-01] [-3.05518910e-04 -4.77190964e-03 9.99988568e-01 3.89617319e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.675336195 meters Centerline goodness [0,1] 0.9634707066426528 Centerline is valid? [False, True] Translation: X:79.22, Y:0.53, Z:0.39 [[ 9.99980610e-01 -4.25598102e-03 4.54599290e-03 7.92194692e+01] [ 4.30253442e-03 9.99937900e-01 -1.02803221e-02 5.26979761e-01] [-4.50195774e-03 1.02996821e-02 9.99936822e-01 3.85825982e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.705336195 meters Centerline goodness [0,1] 0.9275857649421113 Centerline is valid? [True, False] Translation: X:79.20, Y:0.52, Z:0.39 [[ 9.99996924e-01 -2.34162284e-03 8.17249538e-04 7.91970767e+01] [ 2.33840791e-03 9.99989611e-01 3.91287361e-03 5.20304619e-01] [-8.26403521e-04 -3.91095051e-03 9.99992011e-01 3.91189109e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.73533619499999 meters Centerline goodness [0,1] 0.9218954110656946 Centerline is valid? [False, False] Translation: X:79.23, Y:0.53, Z:0.39 [[ 9.99992902e-01 -1.31407795e-03 3.53109099e-03 7.92342048e+01] [ 1.31425216e-03 9.99999135e-01 -4.70163379e-05 5.34182273e-01] [-3.53102615e-03 5.16567481e-05 9.99993765e-01 3.90500437e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.76533619499999 meters Centerline goodness [0,1] 0.9248991829064882 Centerline is valid? [False, False] Translation: X:79.23, Y:0.54, Z:0.39 [[ 9.99991836e-01 -1.52378084e-03 3.74242054e-03 7.92332798e+01] [ 1.52600090e-03 9.99998661e-01 -5.90430121e-04 5.36885129e-01] [-3.74151584e-03 5.96136238e-04 9.99992823e-01 3.90857114e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.79533619499999 meters Centerline goodness [0,1] 0.9504241442516731 Centerline is valid? [False, True] Translation: X:79.21, Y:0.54, Z:0.39 [[ 9.99999815e-01 2.97017312e-04 -5.31771224e-04 7.92131339e+01] [-3.02020210e-04 9.99955465e-01 -9.43275844e-03 5.41626184e-01] [ 5.28945849e-04 9.43291729e-03 9.99955369e-01 3.92712284e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.82533619499999 meters Centerline goodness [0,1] 0.8850267379679144 Centerline is valid? [True, False] Translation: X:79.22, Y:0.54, Z:0.39 [[ 9.99994363e-01 2.87566011e-03 -1.73313731e-03 7.92210257e+01] [-2.88708690e-03 9.99973873e-01 -6.62708419e-03 5.40427702e-01] [ 1.71403478e-03 6.63205055e-03 9.99976539e-01 3.87715214e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.85533619499999 meters Centerline goodness [0,1] 0.8117483225724775 Centerline is valid? [False, False] Translation: X:79.23, Y:0.54, Z:0.39 [[ 9.99977724e-01 6.02743156e-03 -2.86733444e-03 7.92260232e+01] [-6.03516893e-03 9.99978150e-01 -2.69749661e-03 5.37991595e-01] [ 2.85101281e-03 2.71474137e-03 9.99992251e-01 3.86198335e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.885336195 meters Centerline goodness [0,1] 0.8425004290372404 Centerline is valid? [False, False] Translation: X:79.18, Y:0.54, Z:0.39 [[ 9.99983921e-01 4.91870138e-03 -2.82219065e-03 7.91799588e+01] [-4.92452183e-03 9.99985754e-01 -2.05915558e-03 5.37888022e-01] [ 2.81202207e-03 2.07302041e-03 9.99993898e-01 3.87726778e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.915336195 meters Centerline goodness [0,1] 0.9650535350101972 Centerline is valid? [False, True] Translation: X:79.20, Y:0.54, Z:0.39 [[ 9.99999701e-01 7.13116650e-04 3.00114445e-04 7.91981389e+01] [-7.14396887e-04 9.99990553e-01 4.28756432e-03 5.37935428e-01] [-2.97054076e-04 -4.28777744e-03 9.99990763e-01 3.88264424e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.945336195 meters Centerline goodness [0,1] 0.9844457738654816 Centerline is valid? [True, True] Translation: X:79.23, Y:0.54, Z:0.39 [[ 9.99995707e-01 -1.89322929e-03 2.23630072e-03 7.92284062e+01] [ 1.89293018e-03 9.99998199e-01 1.35858188e-04 5.40761450e-01] [-2.23655390e-03 -1.31624444e-04 9.99997490e-01 3.90266581e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.975336195 meters Centerline goodness [0,1] 0.9851339010767303 Centerline is valid? [True, True] Translation: X:79.26, Y:0.55, Z:0.39 [[ 9.99959694e-01 -6.90216394e-03 5.74191033e-03 7.92573297e+01] [ 6.90027496e-03 9.99976132e-01 3.48728242e-04 5.48785717e-01] [-5.74418026e-03 -3.09093426e-04 9.99983454e-01 3.93744930e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.005336195 meters Centerline goodness [0,1] 0.9961077214390911 Centerline is valid? [True, True] Translation: X:79.29, Y:0.54, Z:0.39 [[ 9.99913398e-01 -1.17770178e-02 5.87344572e-03 7.92887106e+01] [ 1.17751244e-02 9.99930607e-01 3.56853510e-04 5.38589636e-01] [-5.87724082e-03 -2.87662052e-04 9.99982687e-01 3.93393147e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.035336195 meters Centerline goodness [0,1] 0.9991755454084221 Centerline is valid? [True, True] Translation: X:79.32, Y:0.53, Z:0.39 [[ 9.99893780e-01 -1.37367333e-02 4.87141079e-03 7.93204655e+01] [ 1.37354538e-02 9.99905620e-01 2.96007473e-04 5.30260863e-01] [-4.87501721e-03 -2.29064993e-04 9.99988091e-01 3.92066518e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.065336195 meters Centerline goodness [0,1] 0.9967089996202692 Centerline is valid? [True, True] Translation: X:79.35, Y:0.53, Z:0.39 [[ 9.99852323e-01 -1.70223521e-02 2.36036632e-03 7.93497486e+01] [ 1.70220611e-02 9.99855104e-01 1.43328246e-04 5.33782963e-01] [-2.36246410e-03 -1.03128780e-04 9.99997204e-01 3.86570879e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.09533619499999 meters Centerline goodness [0,1] 0.9987870533909305 Centerline is valid? [True, True] Translation: X:79.38, Y:0.53, Z:0.38 [[ 9.99805397e-01 -1.97186853e-02 5.84840273e-04 7.93803867e+01] [ 1.97186681e-02 9.99805568e-01 3.52410013e-05 5.30088838e-01] [-5.85421467e-04 -2.37018720e-05 9.99999828e-01 3.83497019e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.12533619499999 meters Centerline goodness [0,1] 0.999828204522516 Centerline is valid? [True, True] Translation: X:79.41, Y:0.53, Z:0.38 [[ 9.99773153e-01 -2.12832655e-02 8.15822851e-04 7.94096638e+01] [ 2.12832324e-02 9.99773485e-01 4.91909903e-05 5.25446857e-01] [-8.16685000e-04 -3.18164841e-05 9.99999666e-01 3.84418772e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.15533619499999 meters Centerline goodness [0,1] 0.9999147975376489 Centerline is valid? [True, True] Translation: X:79.44, Y:0.52, Z:0.39 [[ 9.99739350e-01 -2.27529894e-02 1.87963121e-03 7.94391968e+01] [ 2.27528167e-02 9.99741115e-01 1.13210956e-04 5.21287065e-01] [-1.88172049e-03 -7.04145432e-05 9.99998227e-01 3.86537496e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.18533619499999 meters Centerline goodness [0,1] 0.9995947358317514 Centerline is valid? [True, True] Translation: X:79.47, Y:0.52, Z:0.39 [[ 9.99736324e-01 -2.28615612e-02 2.15206084e-03 7.94670472e+01] [ 2.28613325e-02 9.99738637e-01 1.30791937e-04 5.23984621e-01] [-2.15448848e-03 -8.15584722e-05 9.99997676e-01 3.86435843e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.21533619499999 meters Centerline goodness [0,1] 0.9990305584826132 Centerline is valid? [True, True] Translation: X:79.50, Y:0.52, Z:0.39 [[ 9.99741175e-01 -2.25921182e-02 2.67947124e-03 7.94951796e+01] [ 2.25917619e-02 9.99744760e-01 1.63148306e-04 5.24734448e-01] [-2.68247319e-03 -1.02572103e-04 9.99996397e-01 3.87081749e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.245336195 meters Centerline goodness [0,1] 0.9997228794952143 Centerline is valid? [True, True] Translation: X:79.52, Y:0.52, Z:0.39 [[ 9.99738089e-01 -2.26642029e-02 3.17605582e-03 7.95233368e+01] [ 2.26637041e-02 9.99743127e-01 1.92955078e-04 5.17138751e-01] [-3.17961315e-03 -1.20923351e-04 9.99994938e-01 3.88469606e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.275336195 meters Centerline goodness [0,1] 0.999829841539934 Centerline is valid? [True, True] Translation: X:79.55, Y:0.52, Z:0.39 [[ 9.99733873e-01 -2.27865614e-02 3.59948529e-03 7.95521163e+01] [ 2.27859179e-02 9.99740343e-01 2.19672006e-04 5.17892798e-01] [-3.60355623e-03 -1.37595969e-04 9.99993498e-01 3.88523791e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.305336195 meters Centerline goodness [0,1] 0.9997040732207403 Centerline is valid? [True, True] Translation: X:79.58, Y:0.52, Z:0.39 [[ 9.99735631e-01 -2.24772605e-02 4.84159613e-03 7.95801236e+01] [ 2.24760840e-02 9.99747337e-01 2.97276288e-04 5.21846683e-01] [-4.84705479e-03 -1.88377576e-04 9.99988235e-01 3.88987955e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.335336195 meters Centerline goodness [0,1] 0.9997896109907218 Centerline is valid? [True, True] Translation: X:79.61, Y:0.52, Z:0.39 [[ 9.99748851e-01 -2.16714235e-02 5.70818612e-03 7.96100400e+01] [ 2.16697738e-02 9.99765121e-01 3.50702157e-04 5.18776683e-01] [-5.71444560e-03 -2.26918977e-04 9.99983647e-01 3.89154985e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.365336195 meters Centerline goodness [0,1] 0.9994922246905744 Centerline is valid? [True, True] Translation: X:79.64, Y:0.52, Z:0.39 [[ 9.99767233e-01 -2.10470420e-02 4.74356515e-03 7.96396290e+01] [ 2.10458952e-02 9.99778468e-01 2.91558365e-04 5.16707019e-01] [-4.74865074e-03 -1.91657925e-04 9.99988707e-01 3.87654132e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.395336195 meters Centerline goodness [0,1] 0.9978959328381762 Centerline is valid? [True, True] Translation: X:79.67, Y:0.51, Z:0.38 [[ 9.99799130e-01 -2.00081395e-02 1.17188871e-03 7.96686194e+01] [ 2.00080691e-02 9.99799816e-01 7.18000281e-05 5.09112665e-01] [-1.17309071e-03 -4.83383753e-05 9.99999311e-01 3.82653129e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.425336195 meters Centerline goodness [0,1] 0.9967816384001356 Centerline is valid? [True, True] Translation: X:79.70, Y:0.51, Z:0.38 [[ 9.99814709e-01 -1.92358587e-02 7.28214429e-04 7.96977337e+01] [ 1.92358320e-02 9.99814973e-01 4.35475334e-05 5.08863378e-01] [-7.28917364e-04 -2.95316540e-05 9.99999734e-01 3.81888490e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.455336195 meters Centerline goodness [0,1] 0.9975181366933944 Centerline is valid? [True, True] Translation: X:79.73, Y:0.51, Z:0.38 [[ 9.99847970e-01 -1.72674419e-02 2.42320864e-03 7.97275596e+01] [ 1.72671306e-02 9.99850901e-01 1.49307200e-04 5.10443454e-01] [-2.42542549e-03 -1.07442640e-04 9.99997053e-01 3.83385058e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.48533619499999 meters Centerline goodness [0,1] 0.9993426353959032 Centerline is valid? [True, True] Translation: X:79.76, Y:0.51, Z:0.39 [[ 9.99871029e-01 -1.54666465e-02 4.32535916e-03 7.97573821e+01] [ 1.54656370e-02 9.99880364e-01 2.66756376e-04 5.06690540e-01] [-4.32896752e-03 -1.99827538e-04 9.99990610e-01 3.85082951e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.51533619499999 meters Centerline goodness [0,1] 0.9963155888705374 Centerline is valid? [True, True] Translation: X:79.79, Y:0.51, Z:0.39 [[ 9.99882905e-01 -1.42865758e-02 5.48354297e-03 7.97862900e+01] [ 1.42849342e-02 9.99897908e-01 3.38419806e-04 5.12162608e-01] [-5.48781800e-03 -2.60048129e-04 9.99984908e-01 3.86146971e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.54533619499999 meters Centerline goodness [0,1] 0.9946393243846923 Centerline is valid? [True, True] Translation: X:79.82, Y:0.50, Z:0.39 [[ 9.99917879e-01 -1.11131143e-02 6.38227708e-03 7.98166499e+01] [ 1.11108257e-02 9.99938195e-01 3.93933600e-04 5.04671814e-01] [-6.38626045e-03 -3.22988882e-04 9.99979555e-01 3.89036698e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.57533619499999 meters Centerline goodness [0,1] 0.9897005733701423 Centerline is valid? [True, True] Translation: X:79.85, Y:0.50, Z:0.38 [[ 9.99973652e-01 -6.44747177e-03 3.33552236e-03 7.98476984e+01] [ 6.44682057e-03 9.99979198e-01 2.05947568e-04 5.00173225e-01] [-3.33678082e-03 -1.84438627e-04 9.99994416e-01 3.83644029e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.60533619499999 meters Centerline goodness [0,1] 0.9857329534500118 Centerline is valid? [True, True] Translation: X:79.88, Y:0.50, Z:0.38 [[ 9.99990822e-01 -3.85443142e-03 1.87044869e-03 7.98783979e+01] [ 3.85422214e-03 9.99992566e-01 1.15482730e-04 5.00625159e-01] [-1.87087991e-03 -1.08272546e-04 9.99998244e-01 3.80605014e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.635336195 meters Centerline goodness [0,1] 0.9603786370759392 Centerline is valid? [True, True] Translation: X:79.91, Y:0.51, Z:0.38 [[ 9.99991732e-01 1.39922676e-03 3.81820892e-03 7.99075621e+01] [-1.40013644e-03 9.99998992e-01 2.35585004e-04 5.08133634e-01] [-3.81787543e-03 -2.40929070e-04 9.99992683e-01 3.83380998e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.665336195 meters Centerline goodness [0,1] 0.9696367521367522 Centerline is valid? [True, True] Translation: X:79.94, Y:0.51, Z:0.39 [[ 9.99980366e-01 3.66646446e-03 5.08171311e-03 7.99389092e+01] [-3.66810640e-03 9.99993223e-01 3.13824469e-04 5.06201403e-01] [-5.08052804e-03 -3.32458572e-04 9.99987039e-01 3.85887567e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.695336195 meters Centerline goodness [0,1] 0.8344622396657593 Centerline is valid? [True, False] Translation: X:79.98, Y:0.50, Z:0.38 [[ 9.99974204e-01 5.04718845e-03 5.11059644e-03 7.99823081e+01] [-5.03937259e-03 9.99986115e-01 -1.54106891e-03 5.04377445e-01] [-5.11830354e-03 1.51527496e-03 9.99985753e-01 3.84976065e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.725336195 meters Centerline goodness [0,1] 0.882459505541347 Centerline is valid? [False, False] Translation: X:79.96, Y:0.49, Z:0.39 [[ 9.99984930e-01 5.47231059e-03 -4.40328327e-04 7.99584627e+01] [-5.46757967e-03 9.99933942e-01 1.01102414e-02 4.92583118e-01] [ 4.95625620e-04 -1.01076815e-02 9.99948793e-01 3.92856571e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.755336195 meters Centerline goodness [0,1] 0.8633581296493092 Centerline is valid? [False, False] Translation: X:79.96, Y:0.49, Z:0.39 [[ 9.99997995e-01 2.00228305e-03 -3.84148873e-07 7.99571728e+01] [-2.00224339e-03 9.99979360e-01 6.10493230e-03 4.92465354e-01] [ 1.26079434e-05 -6.10491929e-03 9.99981365e-01 3.92314284e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.785336195 meters Centerline goodness [0,1] 0.7576819919325886 Centerline is valid? [False, False] Translation: X:79.96, Y:0.49, Z:0.39 [[ 9.99996967e-01 2.45800209e-03 1.55284701e-04 7.99562086e+01] [-2.45904765e-03 9.99971514e-01 7.13607059e-03 4.87652041e-01] [-1.37739801e-04 -7.13643080e-03 9.99974526e-01 3.93156981e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.815336195 meters Centerline goodness [0,1] 0.8629243654497795 Centerline is valid? [False, False] Translation: X:79.96, Y:0.49, Z:0.39 [[ 9.99998184e-01 -1.84132536e-03 4.90811423e-04 7.99556100e+01] [ 1.84013687e-03 9.99995400e-01 2.41103998e-03 4.89880926e-01] [-4.95248675e-04 -2.41013245e-03 9.99996973e-01 3.92241485e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.84533619499999 meters Centerline goodness [0,1] 0.889402598514523 Centerline is valid? [False, False] Translation: X:79.96, Y:0.48, Z:0.39 [[ 9.99999076e-01 -1.32345773e-03 3.10476448e-04 7.99560638e+01] [ 1.32224210e-03 9.99991585e-01 3.88343539e-03 4.82712098e-01] [-3.15613398e-04 -3.88302128e-03 9.99992411e-01 3.92479809e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.87533619499999 meters Centerline goodness [0,1] 0.9212884321386106 Centerline is valid? [False, False] Translation: X:79.96, Y:0.48, Z:0.39 [[ 9.99992930e-01 -3.74259965e-03 -3.63842518e-04 7.99610785e+01] [ 3.74320364e-03 9.99991593e-01 1.67376446e-03 4.78157032e-01] [ 3.57575229e-04 -1.67511457e-03 9.99998533e-01 3.89027061e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.90533619499999 meters Centerline goodness [0,1] 0.8231151964918199 Centerline is valid? [False, False] Translation: X:79.96, Y:0.48, Z:0.39 [[ 9.99993564e-01 -3.53922391e-03 -5.87944446e-04 7.99620719e+01] [ 3.54049420e-03 9.99991370e-01 2.17376399e-03 4.75646501e-01] [ 5.80245934e-04 -2.17583162e-03 9.99997465e-01 3.88596349e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.93533619499999 meters Centerline goodness [0,1] 0.8996087270871432 Centerline is valid? [False, False] Translation: X:79.96, Y:0.48, Z:0.39 [[ 9.99973198e-01 -7.31752728e-03 -2.37939196e-04 7.99612837e+01] [ 7.31702905e-03 9.99971167e-01 -2.03139357e-03 4.76056468e-01] [ 2.52797113e-04 2.02959811e-03 9.99997908e-01 3.88025116e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.96533619499999 meters Centerline goodness [0,1] 0.9264013966064167 Centerline is valid? [False, False] Translation: X:79.96, Y:0.47, Z:0.39 [[ 9.99995422e-01 -2.95942913e-03 -6.31100255e-04 7.99619412e+01] [ 2.96160515e-03 9.99989575e-01 3.47538981e-03 4.69505073e-01] [ 6.20808506e-04 -3.47724297e-03 9.99993762e-01 3.89250316e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.995336195 meters Centerline goodness [0,1] 0.7837672861984045 Centerline is valid? [False, False] Translation: X:79.99, Y:0.48, Z:0.38 [[ 9.99993885e-01 -1.66510277e-03 3.07523974e-03 7.99852399e+01] [ 1.68743452e-03 9.99972124e-01 -7.27352763e-03 4.75969048e-01] [-3.06304284e-03 7.27867242e-03 9.99968819e-01 3.82669279e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.025336195 meters Centerline goodness [0,1] 0.8941877794336811 Centerline is valid? [False, False] Translation: X:79.96, Y:0.47, Z:0.39 [[ 9.99995541e-01 -2.15389369e-03 -2.06861947e-03 7.99605673e+01] [ 2.16133454e-03 9.99991179e-01 3.60153835e-03 4.66722535e-01] [ 2.06084389e-03 -3.60599327e-03 9.99991375e-01 3.90800299e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.055336195 meters Centerline goodness [0,1] 0.8123337976446752 Centerline is valid? [False, False] Translation: X:79.96, Y:0.47, Z:0.39 [[ 9.99976963e-01 -6.56566645e-03 -1.72192017e-03 7.99599213e+01] [ 6.56380548e-03 9.99977870e-01 -1.08418582e-03 4.68509039e-01] [ 1.72900046e-03 1.07285849e-03 9.99997930e-01 3.89939648e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.085336195 meters Centerline goodness [0,1] 0.9419622099167265 Centerline is valid? [False, False] Translation: X:79.96, Y:0.46, Z:0.39 [[ 9.99976920e-01 -6.53355416e-03 -1.86310456e-03 7.99598081e+01] [ 6.53367107e-03 9.99978654e-01 5.66714336e-05 4.62255530e-01] [ 1.86269453e-03 -6.88430381e-05 9.99998263e-01 3.91132640e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.115336195 meters Centerline goodness [0,1] 0.9757456779178013 Centerline is valid? [False, True] Translation: X:79.96, Y:0.46, Z:0.39 [[ 9.99979494e-01 -6.07196195e-03 -2.03538568e-03 7.99597217e+01] [ 6.07447840e-03 9.99980791e-01 1.23245918e-03 4.56674454e-01] [ 2.02786314e-03 -1.24479781e-03 9.99997169e-01 3.92334493e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.145336195 meters Centerline goodness [0,1] 0.9203491081642164 Centerline is valid? [True, False] Translation: X:79.96, Y:0.45, Z:0.39 [[ 9.99982634e-01 -5.29788288e-03 -2.58145347e-03 7.99610647e+01] [ 5.30661282e-03 9.99980185e-01 3.38675879e-03 4.46156390e-01] [ 2.56345966e-03 -3.40039875e-03 9.99990933e-01 3.93276951e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.175336195 meters Centerline goodness [0,1] 0.9714922521757589 Centerline is valid? [False, True] Translation: X:79.96, Y:0.45, Z:0.39 [[ 9.99981411e-01 -5.36863091e-03 -2.89055136e-03 7.99631165e+01] [ 5.37802294e-03 9.99980253e-01 3.25131053e-03 4.46518876e-01] [ 2.87303920e-03 -3.26679554e-03 9.99990537e-01 3.91382680e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.205336195 meters Centerline goodness [0,1] 0.8739067979213317 Centerline is valid? [True, False] Translation: X:79.96, Y:0.45, Z:0.39 [[ 9.99979759e-01 -5.67065755e-03 -2.88524046e-03 7.99638604e+01] [ 5.67799372e-03 9.99980652e-01 2.54085028e-03 4.49789090e-01] [ 2.87077635e-03 -2.55718122e-03 9.99992610e-01 3.89962995e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.23533619499999 meters Centerline goodness [0,1] 0.8882497594354752 Centerline is valid? [False, False] Translation: X:79.95, Y:0.46, Z:0.38 [[ 9.99970830e-01 -7.55288336e-03 1.13753941e-03 7.99513588e+01] [ 7.55845910e-03 9.99959035e-01 -4.97974362e-03 4.59924980e-01] [-1.09988139e-03 4.98819640e-03 9.99986954e-01 3.81878486e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.26533619499999 meters Centerline goodness [0,1] 0.7805505748338784 Centerline is valid? [False, False] Translation: X:79.98, Y:0.46, Z:0.39 [[ 9.99976886e-01 -4.45578101e-03 5.13547644e-03 7.99848404e+01] [ 4.47500229e-03 9.99983003e-01 -3.73745061e-03 4.57579199e-01] [-5.11873589e-03 3.76034549e-03 9.99979829e-01 3.86566556e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.29533619499999 meters Centerline goodness [0,1] 0.8666398662801769 Centerline is valid? [False, False] Translation: X:79.98, Y:0.45, Z:0.39 [[ 9.99978099e-01 -4.14572374e-03 5.15885725e-03 7.99840744e+01] [ 4.16186355e-03 9.99986467e-01 -3.12177004e-03 4.54863207e-01] [-5.14584543e-03 3.14317213e-03 9.99981820e-01 3.87853653e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.32533619499999 meters Centerline goodness [0,1] 0.7901796152619832 Centerline is valid? [False, False] Translation: X:79.98, Y:0.46, Z:0.39 [[ 9.99978909e-01 -4.07877066e-03 5.05423225e-03 7.99846035e+01] [ 4.09471427e-03 9.99986661e-01 -3.14818505e-03 4.55087092e-01] [-5.04132411e-03 3.16881429e-03 9.99982272e-01 3.87504138e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.35533619499999 meters Centerline goodness [0,1] 0.8467929474440827 Centerline is valid? [False, False] Translation: X:79.99, Y:0.46, Z:0.38 [[ 9.99990684e-01 -1.59685866e-03 4.01011081e-03 7.99916400e+01] [ 1.59966316e-03 9.99998478e-01 -6.96246020e-04 4.56218489e-01] [-4.00899290e-03 7.02654360e-04 9.99991717e-01 3.82985174e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.385336195 meters Centerline goodness [0,1] 0.7794512723965055 Centerline is valid? [False, False] Translation: X:79.99, Y:0.47, Z:0.38 [[ 9.99989336e-01 -2.47174736e-03 3.90102146e-03 7.99944259e+01] [ 2.48396725e-03 9.99992014e-01 -3.13075517e-03 4.67327458e-01] [-3.89325187e-03 3.14041179e-03 9.99987490e-01 3.78769908e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.415336195 meters Centerline goodness [0,1] 0.7561507516409062 Centerline is valid? [False, False] Translation: X:79.99, Y:0.47, Z:0.38 [[ 9.99988123e-01 -2.91940078e-03 3.90267807e-03 7.99949927e+01] [ 2.93615743e-03 9.99986467e-01 -4.29481647e-03 4.72872660e-01] [-3.89008696e-03 4.30622434e-03 9.99983162e-01 3.77641832e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.445336195 meters Centerline goodness [0,1] 0.74337878241693 Centerline is valid? [False, False] Translation: X:79.99, Y:0.48, Z:0.38 [[ 9.99986462e-01 -3.35738725e-03 3.97543611e-03 7.99946529e+01] [ 3.37877336e-03 9.99979792e-01 -5.38512374e-03 4.78132838e-01] [-3.95727582e-03 5.39848294e-03 9.99977598e-01 3.77798969e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.475336195 meters Centerline goodness [0,1] 0.7875157226000384 Centerline is valid? [False, False] Translation: X:79.99, Y:0.48, Z:0.38 [[ 9.99986858e-01 -3.14286133e-03 4.05053004e-03 7.99929595e+01] [ 3.16202047e-03 9.99983803e-01 -4.73234058e-03 4.75266943e-01] [-4.03559135e-03 4.74508624e-03 9.99980599e-01 3.80487309e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.505336195 meters Centerline goodness [0,1] 0.7875157226000384 Centerline is valid? [False, False] Translation: X:79.99, Y:0.48, Z:0.38 [[ 9.99986858e-01 -3.14286133e-03 4.05053004e-03 7.99929595e+01] [ 3.16202047e-03 9.99983803e-01 -4.73234058e-03 4.75266943e-01] [-4.03559135e-03 4.74508624e-03 9.99980599e-01 3.80487309e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.535336195 meters Centerline goodness [0,1] 0.8234796224977782 Centerline is valid? [False, False] Translation: X:79.99, Y:0.47, Z:0.38 [[ 9.99990826e-01 -1.51473976e-04 4.28081462e-03 7.99914221e+01] [ 1.52816528e-04 9.99999939e-01 -3.13295382e-04 4.71086136e-01] [-4.28076690e-03 3.13946687e-04 9.99990788e-01 3.82600379e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.565336195 meters Centerline goodness [0,1] 0.9616036743716867 Centerline is valid? [False, True] Translation: X:79.95, Y:0.47, Z:0.38 [[ 9.99995145e-01 -1.23478948e-03 2.86084679e-03 7.99495796e+01] [ 1.22887595e-03 9.99997107e-01 2.06789544e-03 4.69549829e-01] [-2.86339193e-03 -2.06436977e-03 9.99993770e-01 3.82935855e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.59533619499999 meters Centerline goodness [0,1] 0.9675287659664309 Centerline is valid? [True, True] Translation: X:79.98, Y:0.48, Z:0.38 [[ 9.99968292e-01 -7.18427542e-03 3.43526740e-03 7.99783189e+01] [ 7.18351143e-03 9.99974171e-01 2.34682705e-04 4.82275263e-01] [-3.43686469e-03 -2.09997981e-04 9.99994072e-01 3.77407520e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.62533619499999 meters Centerline goodness [0,1] 0.9656241432397663 Centerline is valid? [True, True] Translation: X:80.01, Y:0.48, Z:0.37 [[ 9.99943460e-01 -1.03710630e-02 2.34905286e-03 8.00078743e+01] [ 1.03707145e-02 9.99946210e-01 1.60481368e-04 4.83573164e-01] [-2.35059086e-03 -1.36110938e-04 9.99997228e-01 3.74534351e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.65533619499999 meters Centerline goodness [0,1] 0.9952470668836174 Centerline is valid? [True, True] Translation: X:80.04, Y:0.46, Z:0.37 [[ 9.99862412e-01 -1.65874972e-02 -1.13801798e-04 8.00396603e+01] [ 1.65874964e-02 9.99862418e-01 -7.69337909e-06 4.63485189e-01] [ 1.13913754e-04 5.80463367e-06 9.99999993e-01 3.74013911e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.68533619499999 meters Centerline goodness [0,1] 0.9942911104434047 Centerline is valid? [True, True] Translation: X:80.07, Y:0.46, Z:0.37 [[ 9.99742790e-01 -2.24147198e-02 -3.45458080e-03 8.00689685e+01] [ 2.24140363e-02 9.99748746e-01 -2.36428798e-04 4.60621574e-01] [ 3.45901231e-03 1.58936886e-04 9.99994005e-01 3.69512922e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.71533619499999 meters Centerline goodness [0,1] 0.9885544993392728 Centerline is valid? [True, True] Translation: X:80.10, Y:0.47, Z:0.37 [[ 9.99695606e-01 -2.43781414e-02 -3.79500100e-03 8.00971194e+01] [ 2.43773302e-02 9.99702795e-01 -2.59864271e-04 4.69815222e-01] [ 3.80020811e-03 1.67273177e-04 9.99992765e-01 3.66225952e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.745336195 meters Centerline goodness [0,1] 0.9946351017627523 Centerline is valid? [True, True] Translation: X:80.13, Y:0.47, Z:0.36 [[ 9.99656314e-01 -2.60118550e-02 -3.26140019e-03 8.01266561e+01] [ 2.60112646e-02 9.99661625e-01 -2.23342848e-04 4.73122353e-01] [ 3.26610617e-03 1.38432945e-04 9.99994657e-01 3.64728055e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.775336195 meters Centerline goodness [0,1] 0.997016315043274 Centerline is valid? [True, True] Translation: X:80.15, Y:0.47, Z:0.36 [[ 9.99642997e-01 -2.63847652e-02 -4.20976297e-03 8.01545578e+01] [ 2.63837765e-02 9.99651845e-01 -2.90234120e-04 4.69470048e-01] [ 4.21595508e-03 1.79061060e-04 9.99991097e-01 3.64054157e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.805336195 meters Centerline goodness [0,1] 0.9917819885033 Centerline is valid? [True, True] Translation: X:80.18, Y:0.47, Z:0.36 [[ 9.99675584e-01 -2.47558095e-02 -5.98971876e-03 8.01838793e+01] [ 2.47537878e-02 9.99693493e-01 -4.11431446e-04 4.69566056e-01] [ 5.99806819e-03 2.63029743e-04 9.99981977e-01 3.63042318e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.835336195 meters Centerline goodness [0,1] 0.9861190461076197 Centerline is valid? [True, True] Translation: X:80.21, Y:0.48, Z:0.36 [[ 9.99700870e-01 -2.38488439e-02 -5.42243251e-03 8.02111708e+01] [ 2.38471689e-02 9.99715546e-01 -3.73356194e-04 4.75493774e-01] [ 5.42979419e-03 2.43934848e-04 9.99985229e-01 3.63445581e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.865336195 meters Centerline goodness [0,1] 0.9569926932444558 Centerline is valid? [True, True] Translation: X:80.24, Y:0.49, Z:0.37 [[ 9.99789126e-01 -2.04795974e-02 -1.51320830e-03 8.02393105e+01] [ 2.04794631e-02 9.99790268e-01 -1.04211507e-04 4.93030664e-01] [ 1.51502515e-03 7.31998376e-05 9.99998850e-01 3.67595942e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.895336195 meters Centerline goodness [0,1] 0.9954627371991943 Centerline is valid? [True, True] Translation: X:80.27, Y:0.48, Z:0.37 [[ 9.99802182e-01 -1.98538651e-02 -1.19231120e-03 8.02688797e+01] [ 1.98537797e-02 9.99802891e-01 -8.34085487e-05 4.82743288e-01] [ 1.19373216e-03 5.97201652e-05 9.99999286e-01 3.70055112e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.925336195 meters Centerline goodness [0,1] 0.9965234824894424 Centerline is valid? [True, True] Translation: X:80.30, Y:0.48, Z:0.37 [[ 9.99788757e-01 -2.05508501e-02 -3.21276390e-04 8.02974179e+01] [ 2.05508437e-02 9.99788809e-01 -2.34244758e-05 4.82626982e-01] [ 3.21689933e-04 1.68170267e-05 9.99999948e-01 3.69852820e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.955336195 meters Centerline goodness [0,1] 0.9927369542066028 Centerline is valid? [True, True] Translation: X:80.33, Y:0.48, Z:0.37 [[ 9.99763172e-01 -2.17622855e-02 5.22474915e-05 8.03253835e+01] [ 2.17622854e-02 9.99763173e-01 3.17330033e-06 4.84019920e-01] [-5.23041762e-05 -2.03552399e-06 9.99999999e-01 3.69876184e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.98533619499999 meters Centerline goodness [0,1] 0.9985852443093036 Centerline is valid? [True, True] Translation: X:80.36, Y:0.47, Z:0.37 [[ 9.99693039e-01 -2.47665977e-02 -6.65374900e-04 8.03562902e+01] [ 2.47665725e-02 9.99693260e-01 -4.60963058e-05 4.74285965e-01] [ 6.66312452e-04 2.96031003e-05 9.99999778e-01 3.69954794e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.01533619499999 meters Centerline goodness [0,1] 0.9985605637433936 Centerline is valid? [True, True] Translation: X:80.39, Y:0.47, Z:0.37 [[ 9.99667271e-01 -2.57533588e-02 -1.45340084e-03 8.03854609e+01] [ 2.57532377e-02 9.99668325e-01 -1.01967653e-04 4.74172361e-01] [ 1.45554479e-03 6.45039484e-05 9.99998939e-01 3.68350979e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.04533619499999 meters Centerline goodness [0,1] 0.998577494234541 Centerline is valid? [True, True] Translation: X:80.41, Y:0.47, Z:0.37 [[ 9.99672716e-01 -2.55203859e-02 -1.78055805e-03 8.04147997e+01] [ 2.55202038e-02 9.99674299e-01 -1.24929927e-04 4.72643722e-01] [ 1.78316638e-03 7.94488351e-05 9.99998407e-01 3.67114383e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.07533619499999 meters Centerline goodness [0,1] 0.9966301241308706 Centerline is valid? [True, True] Translation: X:80.44, Y:0.47, Z:0.37 [[ 9.99684638e-01 -2.50068715e-02 -2.29823116e-03 8.04424891e+01] [ 2.50065683e-02 9.99687274e-01 -1.60545610e-04 4.73304355e-01] [ 2.30152719e-03 1.03024105e-04 9.99997346e-01 3.66303945e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.10533619499999 meters Centerline goodness [0,1] 0.9966370354503588 Centerline is valid? [True, True] Translation: X:80.47, Y:0.47, Z:0.37 [[ 9.99731495e-01 -2.30291803e-02 -2.56794759e-03 8.04719251e+01] [ 2.30287959e-02 9.99734786e-01 -1.79143293e-04 4.71893265e-01] [ 2.57139206e-03 1.19958451e-04 9.99996687e-01 3.66624002e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.135336195 meters Centerline goodness [0,1] 0.9748935168339719 Centerline is valid? [True, True] Translation: X:80.50, Y:0.48, Z:0.37 [[ 9.99821128e-01 -1.87577924e-02 -2.42000407e-03 8.05005787e+01] [ 1.87574392e-02 9.99824050e-01 -1.68573980e-04 4.83008458e-01] [ 2.42274035e-03 1.23150747e-04 9.99997058e-01 3.66177754e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.165336195 meters Centerline goodness [0,1] 0.9344577600236721 Centerline is valid? [True, False] Translation: X:80.52, Y:0.49, Z:0.36 [[ 9.99917630e-01 -1.26747111e-02 2.02130617e-03 8.05230457e+01] [ 1.26861340e-02 9.99903039e-01 -5.74226955e-03 4.88325258e-01] [-1.94832857e-03 5.76743912e-03 9.99981470e-01 3.60031405e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.195336195 meters Centerline goodness [0,1] 0.9469077680291034 Centerline is valid? [False, False] Translation: X:80.52, Y:0.49, Z:0.36 [[ 9.99915867e-01 -1.28202462e-02 1.97509059e-03 8.05236062e+01] [ 1.28323287e-02 9.99898246e-01 -6.23132870e-03 4.90642901e-01] [-1.89500245e-03 6.25614945e-03 9.99978635e-01 3.59233636e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.225336195 meters Centerline goodness [0,1] 0.905005614580634 Centerline is valid? [False, False] Translation: X:80.52, Y:0.49, Z:0.36 [[ 9.99966244e-01 -8.06225944e-03 1.58483650e-03 8.05243047e+01] [ 8.06351149e-03 9.99967181e-01 -7.85224824e-04 4.85322119e-01] [-1.57845380e-03 7.97977665e-04 9.99998436e-01 3.59977058e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.255336195 meters Centerline goodness [0,1] 0.8349884427703107 Centerline is valid? [False, False] Translation: X:80.52, Y:0.48, Z:0.36 [[ 9.99967875e-01 -7.85438437e-03 1.59940108e-03 8.05237408e+01] [ 7.85495312e-03 9.99969088e-01 -3.49630940e-04 4.83400343e-01] [-1.59660551e-03 3.62182929e-04 9.99998660e-01 3.60932004e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.285336195 meters Centerline goodness [0,1] 0.9462910113082849 Centerline is valid? [False, False] Translation: X:80.52, Y:0.48, Z:0.36 [[ 9.99970358e-01 -7.48598582e-03 1.80092325e-03 8.05222343e+01] [ 7.48520130e-03 9.99971888e-01 4.41966243e-04 4.79969859e-01] [-1.80418118e-03 -4.28472869e-04 9.99998281e-01 3.62547926e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.315336195 meters Centerline goodness [0,1] 0.9702847089617885 Centerline is valid? [False, True] Translation: X:80.52, Y:0.48, Z:0.36 [[ 9.99970529e-01 -7.45453356e-03 1.83627809e-03 8.05221123e+01] [ 7.45353010e-03 9.99972069e-01 5.52704017e-04 4.79445223e-01] [-1.84034695e-03 -5.39000974e-04 9.99998161e-01 3.62533793e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.34533619499999 meters Centerline goodness [0,1] 0.9854197443637999 Centerline is valid? [True, True] Translation: X:80.55, Y:0.48, Z:0.36 [[ 9.99936886e-01 -1.06693939e-02 3.51964828e-03 8.05516950e+01] [ 1.06685956e-02 9.99943059e-01 2.45508919e-04 4.81819886e-01] [-3.52206730e-03 -2.07943720e-04 9.99993776e-01 3.63068518e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.37533619499999 meters Centerline goodness [0,1] 0.9891901130124549 Centerline is valid? [True, True] Translation: X:80.58, Y:0.48, Z:0.36 [[ 9.99918218e-01 -1.20712477e-02 4.22411472e-03 8.05811660e+01] [ 1.20701103e-02 9.99927110e-01 2.94673350e-04 4.83312427e-01] [-4.22736390e-03 -2.43663721e-04 9.99991035e-01 3.63199735e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.40533619499999 meters Centerline goodness [0,1] 0.9787896229029439 Centerline is valid? [True, True] Translation: X:80.61, Y:0.49, Z:0.36 [[ 9.99892768e-01 -1.41973404e-02 3.58996543e-03 8.06102032e+01] [ 1.41965320e-02 9.99899193e-01 2.50563862e-04 4.88347259e-01] [-3.59316088e-03 -1.99571934e-04 9.99993525e-01 3.60304805e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.43533619499999 meters Centerline goodness [0,1] 0.9854170220023879 Centerline is valid? [True, True] Translation: X:80.64, Y:0.48, Z:0.36 [[ 9.99892324e-01 -1.45609160e-02 1.82229879e-03 8.06395524e+01] [ 1.45607108e-02 9.99893979e-01 1.25821015e-04 4.83584039e-01] [-1.82393766e-03 -9.92735014e-05 9.99998332e-01 3.59463668e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.46533619499999 meters Centerline goodness [0,1] 0.9479820627802691 Centerline is valid? [True, False] Translation: X:80.64, Y:0.48, Z:0.36 [[ 9.99948244e-01 -1.00948618e-02 1.26614473e-03 8.06405964e+01] [ 1.00877574e-02 9.99934006e-01 5.49725486e-03 4.78094436e-01] [-1.32155520e-03 -5.48419779e-03 9.99984088e-01 3.60633641e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.495336195 meters Centerline goodness [0,1] 0.9249850695333163 Centerline is valid? [False, False] Translation: X:80.65, Y:0.49, Z:0.36 [[ 9.99983461e-01 -5.59140557e-03 1.34660691e-03 8.06450669e+01] [ 5.60542741e-03 9.99927636e-01 -1.06443457e-02 4.86720997e-01] [-1.28699261e-03 1.06517180e-02 9.99942441e-01 3.55825549e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.525336195 meters Centerline goodness [0,1] 0.964025403861728 Centerline is valid? [False, True] Translation: X:80.65, Y:0.48, Z:0.36 [[ 9.99998612e-01 -1.33435740e-03 9.97544219e-04 8.06457585e+01] [ 1.33992724e-03 9.99983400e-01 -5.60388772e-03 4.82738845e-01] [-9.90050071e-04 5.60521658e-03 9.99983801e-01 3.56573661e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.555336195 meters Centerline goodness [0,1] 0.9167839924911473 Centerline is valid? [True, False] Translation: X:80.65, Y:0.49, Z:0.36 [[ 9.99997994e-01 -1.67276891e-03 1.10147464e-03 8.06458083e+01] [ 1.67975049e-03 9.99978312e-01 -6.36826980e-03 4.86316797e-01] [-1.09079811e-03 6.37010723e-03 9.99979116e-01 3.55820412e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.585336195 meters Centerline goodness [0,1] 0.985050870060872 Centerline is valid? [False, True] Translation: X:80.65, Y:0.49, Z:0.36 [[ 9.99998105e-01 -1.62179208e-03 1.07670400e-03 8.06457483e+01] [ 1.62848572e-03 9.99979172e-01 -6.24529397e-03 4.85763059e-01] [-1.06655301e-03 6.24703553e-03 9.99979918e-01 3.56048987e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.615336195 meters Centerline goodness [0,1] 0.9512663904668347 Centerline is valid? [True, True] Translation: X:80.68, Y:0.48, Z:0.36 [[ 9.99992785e-01 -3.70979706e-03 8.17189297e-04 8.06756604e+01] [ 3.70975963e-03 9.99993118e-01 4.73186264e-05 4.83912243e-01] [-8.17359216e-04 -4.42867091e-05 9.99999665e-01 3.56392778e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.645336195 meters Centerline goodness [0,1] 0.986720407297412 Centerline is valid? [True, True] Translation: X:80.71, Y:0.48, Z:0.36 [[ 9.99978934e-01 -5.83413014e-03 2.84506265e-03 8.07062267e+01] [ 5.83368529e-03 9.99982970e-01 1.64631278e-04 4.77276205e-01] [-2.84597468e-03 -1.48030610e-04 9.99995939e-01 3.60499014e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.675336195 meters Centerline goodness [0,1] 0.9953066804452195 Centerline is valid? [True, True] Translation: X:80.74, Y:0.47, Z:0.36 [[ 9.99972963e-01 -6.51395026e-03 3.41210710e-03 8.07369614e+01] [ 6.51331377e-03 9.99978769e-01 1.97616977e-04 4.74829593e-01] [-3.41332193e-03 -1.75387510e-04 9.99994159e-01 3.61519276e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.705336195 meters Centerline goodness [0,1] 0.9889549522862402 Centerline is valid? [True, True] Translation: X:80.77, Y:0.48, Z:0.36 [[ 9.99963096e-01 -8.12021639e-03 2.80518965e-03 8.07671870e+01] [ 8.11979220e-03 9.99967021e-01 1.62571188e-04 4.76181543e-01] [-2.80641725e-03 -1.39787631e-04 9.99996052e-01 3.59010610e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.73533619499999 meters Centerline goodness [0,1] 0.9954641282821184 Centerline is valid? [True, True] Translation: X:80.80, Y:0.47, Z:0.36 [[ 9.99950658e-01 -9.80390649e-03 1.60159079e-03 8.07976973e+01] [ 9.80377068e-03 9.99951938e-01 9.26235698e-05 4.66965371e-01] [-1.60242188e-03 -7.69173708e-05 9.99998713e-01 3.57556146e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.76533619499999 meters Centerline goodness [0,1] 0.9953720488814007 Centerline is valid? [True, True] Translation: X:80.83, Y:0.47, Z:0.36 [[ 9.99946081e-01 -1.03487224e-02 8.59487131e-04 8.08270397e+01] [ 1.03486850e-02 9.99946450e-01 4.80169796e-05 4.66753251e-01] [-8.59938020e-04 -3.91198291e-05 9.99999629e-01 3.55524166e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.79533619499999 meters Centerline goodness [0,1] 0.99406137301056 Centerline is valid? [True, True] Translation: X:80.86, Y:0.47, Z:0.36 [[ 9.99959894e-01 -8.89992980e-03 1.00036409e-03 8.08568445e+01] [ 8.89987637e-03 9.99960394e-01 5.78500483e-05 4.67074008e-01] [-1.00083933e-03 -4.89446114e-05 9.99999498e-01 3.55535125e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.82533619499999 meters Centerline goodness [0,1] 0.9880937167199147 Centerline is valid? [True, True] Translation: X:80.89, Y:0.47, Z:0.36 [[ 9.99973670e-01 -7.02599227e-03 1.81487012e-03 8.08856709e+01] [ 7.02581339e-03 9.99975313e-01 1.04922084e-04 4.70535288e-01] [-1.81556249e-03 -9.21683824e-05 9.99998348e-01 3.56609072e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.85533619499999 meters Centerline goodness [0,1] 0.9622698008683934 Centerline is valid? [True, True] Translation: X:80.91, Y:0.48, Z:0.36 [[ 9.99996724e-01 -1.99451978e-03 1.60452337e-03 8.09145542e+01] [ 1.99437268e-03 9.99998007e-01 9.32705826e-05 4.76299925e-01] [-1.60470620e-03 -9.00702595e-05 9.99998708e-01 3.57493003e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.885336195 meters Centerline goodness [0,1] 0.8898381294964028 Centerline is valid? [True, False] Translation: X:80.91, Y:0.48, Z:0.36 [[ 9.99995323e-01 2.24733733e-03 2.07452438e-03 8.09131132e+01] [-2.25504235e-03 9.99990541e-01 3.71927400e-03 4.80097880e-01] [-2.06614629e-03 -3.72393475e-03 9.99990932e-01 3.57477613e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.915336195 meters Centerline goodness [0,1] 0.829366338728446 Centerline is valid? [False, False] Translation: X:80.95, Y:0.49, Z:0.35 [[ 9.99985252e-01 3.64138544e-03 4.02942663e-03 8.09524015e+01] [-3.63688874e-03 9.99992756e-01 -1.12273056e-03 4.91686420e-01] [-4.03348574e-03 1.10805942e-03 9.99991252e-01 3.54470360e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.945336195 meters Centerline goodness [0,1] 0.7594238560913006 Centerline is valid? [False, False] Translation: X:80.95, Y:0.50, Z:0.35 [[ 9.99983354e-01 4.14192562e-03 4.01706688e-03 8.09530272e+01] [-4.13264253e-03 9.99988778e-01 -2.31646565e-03 4.99801411e-01] [-4.02661642e-03 2.29982599e-03 9.99989249e-01 3.52721887e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.975336195 meters Centerline goodness [0,1] 0.7768820644060568 Centerline is valid? [False, False] Translation: X:80.95, Y:0.50, Z:0.35 [[ 9.99984201e-01 4.03202443e-03 3.91663359e-03 8.09536331e+01] [-4.02166293e-03 9.99988402e-01 -2.64979409e-03 5.01349777e-01] [-3.92727220e-03 2.63400084e-03 9.99988819e-01 3.52205413e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.005336195 meters Centerline goodness [0,1] 0.7350934815563416 Centerline is valid? [False, False] Translation: X:80.95, Y:0.50, Z:0.35 [[ 9.99957316e-01 8.48651750e-03 3.65311248e-03 8.09533213e+01] [-8.49599257e-03 9.99960564e-01 2.58604256e-03 4.96734200e-01] [-3.63102192e-03 -2.61696899e-03 9.99989984e-01 3.54531024e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.035336195 meters Centerline goodness [0,1] 0.7358098949508641 Centerline is valid? [False, False] Translation: X:80.95, Y:0.50, Z:0.36 [[ 9.99959102e-01 8.18911577e-03 3.83830571e-03 8.09522834e+01] [-8.19681770e-03 9.99964415e-01 1.99517888e-03 4.99579742e-01] [-3.82183038e-03 -2.02655917e-03 9.99990643e-01 3.55261011e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.065336195 meters Centerline goodness [0,1] 0.8567373446303385 Centerline is valid? [False, False] Translation: X:80.93, Y:0.49, Z:0.36 [[ 9.99979899e-01 6.27094685e-03 -9.36743309e-04 8.09281605e+01] [-6.25951892e-03 9.99911476e-01 1.17413382e-02 4.94060635e-01] [ 1.01028969e-03 -1.17352386e-02 9.99930629e-01 3.63246485e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.09533619499999 meters Centerline goodness [0,1] 0.7984900538660559 Centerline is valid? [False, False] Translation: X:80.97, Y:0.50, Z:0.36 [[ 9.99999047e-01 -1.36588997e-04 1.37391928e-03 8.09692375e+01] [ 1.34825244e-04 9.99999167e-01 1.28374925e-03 5.02743365e-01] [-1.37409348e-03 -1.28356278e-03 9.99998232e-01 3.60623230e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.12533619499999 meters Centerline goodness [0,1] 0.9608383540571721 Centerline is valid? [False, True] Translation: X:80.97, Y:0.50, Z:0.36 [[ 9.99988259e-01 -4.60343481e-03 1.51339696e-03 8.09686353e+01] [ 4.60731519e-03 9.99986082e-01 -2.57061135e-03 4.99907170e-01] [-1.50154226e-03 2.57755386e-03 9.99995551e-01 3.61069144e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.15533619499999 meters Centerline goodness [0,1] 0.9989677419354839 Centerline is valid? [True, True] Translation: X:81.00, Y:0.48, Z:0.36 [[ 9.99952410e-01 -9.49289091e-03 2.24988775e-03 8.10001591e+01] [ 9.49260880e-03 9.99954935e-01 1.36034562e-04 4.84791506e-01] [-2.25107772e-03 -1.14670784e-04 9.99997460e-01 3.64081382e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.18533619499999 meters Centerline goodness [0,1] 0.999259368982373 Centerline is valid? [True, True] Translation: X:81.03, Y:0.48, Z:0.36 [[ 9.99821602e-01 -1.88448854e-02 1.27834220e-03 8.10304800e+01] [ 1.88448019e-02 9.99822418e-01 7.73309634e-05 4.80441973e-01] [-1.27957248e-03 -5.32270622e-05 9.99999180e-01 3.59585949e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.21533619499999 meters Centerline goodness [0,1] 0.9997226074895977 Centerline is valid? [True, True] Translation: X:81.06, Y:0.47, Z:0.36 [[ 9.99748100e-01 -2.24438663e-02 9.18828481e-05 8.10610873e+01] [ 2.24438658e-02 9.99748105e-01 5.55739838e-06 4.71533387e-01] [-9.19844328e-05 -3.49379216e-06 9.99999996e-01 3.58361000e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.245336195 meters Centerline goodness [0,1] 0.9999572494282111 Centerline is valid? [True, True] Translation: X:81.09, Y:0.47, Z:0.36 [[ 9.99664078e-01 -2.59168555e-02 2.16909407e-04 8.10902497e+01] [ 2.59168533e-02 9.99664102e-01 1.28643051e-05 4.65161916e-01] [-2.17169950e-04 -7.23837441e-06 9.99999976e-01 3.59303057e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.275336195 meters Centerline goodness [0,1] 0.9997014543438393 Centerline is valid? [True, True] Translation: X:81.12, Y:0.47, Z:0.36 [[ 9.99640288e-01 -2.68169570e-02 -3.81014980e-04 8.11177142e+01] [ 2.68169500e-02 9.99640361e-01 -2.35126020e-05 4.67098122e-01] [ 3.81508488e-04 1.32864845e-05 9.99999927e-01 3.59573850e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.305336195 meters Centerline goodness [0,1] 0.9998516320474777 Centerline is valid? [True, True] Translation: X:81.15, Y:0.47, Z:0.36 [[ 9.99690137e-01 -2.48874038e-02 4.97900082e-04 8.11474458e+01] [ 2.48873920e-02 9.99690260e-01 2.99985003e-05 4.68106071e-01] [-4.98492447e-04 -1.75977703e-05 9.99999876e-01 3.60339094e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.335336195 meters Centerline goodness [0,1] 0.9998946237012372 Centerline is valid? [True, True] Translation: X:81.17, Y:0.47, Z:0.36 [[ 9.99711510e-01 -2.39900799e-02 1.17154773e-03 8.11747441e+01] [ 2.39900138e-02 9.99712196e-01 7.04244338e-05 4.73911907e-01] [-1.17290004e-03 -4.22986708e-05 9.99999311e-01 3.60580048e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.365336195 meters Centerline goodness [0,1] 0.9998931578272576 Centerline is valid? [True, True] Translation: X:81.20, Y:0.47, Z:0.36 [[ 9.99725277e-01 -2.34249880e-02 7.99669425e-04 8.12038158e+01] [ 2.34249575e-02 9.99725597e-01 4.74405400e-05 4.69459959e-01] [-8.00561287e-04 -2.86952847e-05 9.99999679e-01 3.60936813e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.395336195 meters Centerline goodness [0,1] 0.9996801569363299 Centerline is valid? [True, True] Translation: X:81.23, Y:0.47, Z:0.36 [[ 9.99760312e-01 -2.18813340e-02 -7.24975747e-04 8.12315785e+01] [ 2.18813074e-02 9.99760575e-01 -4.44950243e-05 4.74225842e-01] [ 7.25775780e-04 2.86209422e-05 9.99999736e-01 3.56254107e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.425336195 meters Centerline goodness [0,1] 0.9996801569363299 Centerline is valid? [True, True] Translation: X:81.26, Y:0.48, Z:0.36 [[ 9.99756399e-01 -2.20593801e-02 -7.24907005e-04 8.12590788e+01] [ 2.20593528e-02 9.99756662e-01 -4.56217149e-05 4.76068162e-01] [ 7.25736994e-04 2.96196220e-05 9.99999736e-01 3.56045924e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.455336195 meters Centerline goodness [0,1] 0.9997233041738501 Centerline is valid? [True, True] Translation: X:81.29, Y:0.47, Z:0.36 [[ 9.99763239e-01 -2.17433024e-02 -8.33280371e-04 8.12883605e+01] [ 2.17432664e-02 9.99763586e-01 -5.22491777e-05 4.72015797e-01] [ 8.34219442e-04 3.41185701e-05 9.99999651e-01 3.55809905e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.48533619499999 meters Centerline goodness [0,1] 0.9991733084619298 Centerline is valid? [True, True] Translation: X:81.32, Y:0.48, Z:0.35 [[ 9.99780364e-01 -2.09273772e-02 -1.12666283e-03 8.13154517e+01] [ 2.09273120e-02 9.99780997e-01 -6.95916867e-05 4.77885345e-01] [ 1.12787246e-03 4.59983771e-05 9.99999363e-01 3.54199944e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.51533619499999 meters Centerline goodness [0,1] 0.9991700361779102 Centerline is valid? [True, True] Translation: X:81.35, Y:0.48, Z:0.35 [[ 9.99854693e-01 -1.68861844e-02 -2.33436316e-03 8.13455731e+01] [ 1.68858961e-02 9.99857413e-01 -1.43142924e-04 4.76343353e-01] [ 2.33644745e-03 1.03704310e-04 9.99997265e-01 3.53548049e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.54533619499999 meters Centerline goodness [0,1] 0.9970790780973499 Centerline is valid? [True, True] Translation: X:81.37, Y:0.48, Z:0.35 [[ 9.99889458e-01 -1.46587062e-02 -2.48884963e-03 8.13734349e+01] [ 1.46583705e-02 9.99892549e-01 -1.53047631e-04 4.79400856e-01] [ 2.49082568e-03 1.16548233e-04 9.99996891e-01 3.54163977e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.57533619499999 meters Centerline goodness [0,1] 0.9730617326350133 Centerline is valid? [True, True] Translation: X:81.40, Y:0.50, Z:0.35 [[ 9.99946988e-01 -1.01542601e-02 -1.70673278e-03 8.14014994e+01] [ 1.01540966e-02 9.99948440e-01 -1.04460895e-04 4.95566808e-01] [ 1.70770550e-03 8.71250278e-05 9.99998538e-01 3.54526331e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.60533619499999 meters Centerline goodness [0,1] 0.9847395044074019 Centerline is valid? [True, True] Translation: X:81.43, Y:0.50, Z:0.35 [[ 9.99989242e-01 -4.20674620e-03 -1.95413931e-03 8.14318689e+01] [ 4.20651988e-03 9.99991145e-01 -1.19913606e-04 4.99915923e-01] [ 1.95462645e-03 1.11692190e-04 9.99998083e-01 3.53140054e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.635336195 meters Centerline goodness [0,1] 0.9595824011931394 Centerline is valid? [True, True] Translation: X:81.46, Y:0.51, Z:0.35 [[ 9.99996450e-01 -2.10606904e-03 -1.63209065e-03 8.14608791e+01] [ 2.10590811e-03 9.99997778e-01 -1.00314429e-04 5.06886110e-01] [ 1.63229829e-03 9.68770398e-05 9.99998663e-01 3.53110620e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.665336195 meters Centerline goodness [0,1] 0.9846674375776264 Centerline is valid? [True, True] Translation: X:81.49, Y:0.50, Z:0.36 [[ 9.99999736e-01 5.27756794e-04 4.99509063e-04 8.14918743e+01] [-5.27772169e-04 9.99999860e-01 3.06486989e-05 5.01655721e-01] [-4.99492818e-04 -3.09123177e-05 9.99999875e-01 3.58431829e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.695336195 meters Centerline goodness [0,1] 0.9891689008042895 Centerline is valid? [True, True] Translation: X:81.52, Y:0.50, Z:0.36 [[ 9.99999426e-01 3.79405023e-04 1.00252184e-03 8.15230792e+01] [-3.79466956e-04 9.99999926e-01 6.15882404e-05 4.99299118e-01] [-1.00249840e-03 -6.19686289e-05 9.99999496e-01 3.59778608e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.725336195 meters Centerline goodness [0,1] 0.9892103239039398 Centerline is valid? [True, True] Translation: X:81.55, Y:0.50, Z:0.36 [[ 9.99998890e-01 -1.35784850e-03 -6.14098309e-04 8.15541894e+01] [ 1.35782568e-03 9.99999077e-01 -3.75774688e-05 4.95342095e-01] [ 6.14148767e-04 3.67435886e-05 9.99999811e-01 3.57264772e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.755336195 meters Centerline goodness [0,1] 0.9831148870768048 Centerline is valid? [True, True] Translation: X:81.58, Y:0.50, Z:0.35 [[ 9.99996667e-01 -2.19777298e-03 -1.35512951e-03 8.15835362e+01] [ 2.19766222e-03 9.99997582e-01 -8.32195933e-05 4.99195980e-01] [ 1.35530913e-03 8.02411990e-05 9.99999078e-01 3.54678563e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.785336195 meters Centerline goodness [0,1] 0.9807058923524787 Centerline is valid? [True, True] Translation: X:81.61, Y:0.50, Z:0.35 [[ 9.99996780e-01 -2.30408022e-03 -1.06334626e-03 8.16121792e+01] [ 2.30401069e-03 9.99997344e-01 -6.66149973e-05 5.03860924e-01] [ 1.06349693e-03 6.41648217e-05 9.99999432e-01 3.52831308e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.815336195 meters Centerline goodness [0,1] 0.9914737339461364 Centerline is valid? [True, True] Translation: X:81.64, Y:0.50, Z:0.35 [[ 9.99998345e-01 -1.02821450e-03 -1.50063428e-03 8.16415660e+01] [ 1.02807666e-03 9.99999467e-01 -9.26206009e-05 4.99911959e-01] [ 1.50072871e-03 9.10776806e-05 9.99998870e-01 3.53387204e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.84533619499999 meters Centerline goodness [0,1] 0.9643844354667234 Centerline is valid? [True, True] Translation: X:81.67, Y:0.50, Z:0.35 [[ 9.99997317e-01 -5.02234324e-04 -2.26135653e-03 8.16697023e+01] [ 5.01920109e-04 9.99999864e-01 -1.39515385e-04 5.03792136e-01] [ 2.26142629e-03 1.38379990e-04 9.99997433e-01 3.52449400e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.87533619499999 meters Centerline goodness [0,1] 0.955208953953528 Centerline is valid? [True, True] Translation: X:81.70, Y:0.50, Z:0.35 [[ 9.99995752e-01 3.37753213e-04 -2.89502505e-03 8.16997724e+01] [-3.38271413e-04 9.99999927e-01 -1.78509052e-04 5.02739973e-01] [ 2.89496455e-03 1.79487598e-04 9.99995793e-01 3.53076038e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.90533619499999 meters Centerline goodness [0,1] 0.9107028685904267 Centerline is valid? [True, False] Translation: X:81.70, Y:0.51, Z:0.35 [[ 9.99996202e-01 1.84086083e-04 -2.74977670e-03 8.16997562e+01] [-1.85942100e-04 9.99999755e-01 -6.74729583e-04 5.05131169e-01] [ 2.74965182e-03 6.75238319e-04 9.99995992e-01 3.52269247e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.93533619499999 meters Centerline goodness [0,1] 0.9230654635226015 Centerline is valid? [False, False] Translation: X:81.70, Y:0.51, Z:0.35 [[ 9.99996434e-01 -3.34699527e-04 -2.64939990e-03 8.17002623e+01] [ 3.29613762e-04 9.99998103e-01 -1.91979527e-03 5.10920726e-01] [ 2.65003743e-03 1.91891515e-03 9.99994648e-01 3.50727131e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.96533619499999 meters Centerline goodness [0,1] 0.8869456721720558 Centerline is valid? [False, False] Translation: X:81.71, Y:0.51, Z:0.35 [[ 9.99993139e-01 1.67206874e-03 -3.30561320e-03 8.17052087e+01] [-1.67186056e-03 9.99998600e-01 6.57402134e-05 5.09746850e-01] [ 3.30571850e-03 -6.02132380e-05 9.99994534e-01 3.47801265e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.995336195 meters Centerline goodness [0,1] 0.8352332923676739 Centerline is valid? [False, False] Translation: X:81.70, Y:0.51, Z:0.35 [[ 9.99993584e-01 1.84471910e-03 -3.07051456e-03 8.17034468e+01] [-1.84374798e-03 9.99998249e-01 3.19073336e-04 5.08901222e-01] [ 3.07109778e-03 -3.13410034e-04 9.99995235e-01 3.49603395e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.025336195 meters Centerline goodness [0,1] 0.8790542266110496 Centerline is valid? [False, False] Translation: X:81.70, Y:0.51, Z:0.35 [[ 9.99992792e-01 2.08781435e-03 -3.17139475e-03 8.17033783e+01] [-2.08510202e-03 9.99997458e-01 8.58314577e-04 5.06404877e-01] [ 3.17317869e-03 -8.51695708e-04 9.99994603e-01 3.50323226e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.055336195 meters Centerline goodness [0,1] 0.9063158566958298 Centerline is valid? [False, False] Translation: X:81.70, Y:0.51, Z:0.35 [[ 9.99993035e-01 1.97444640e-03 -3.16719865e-03 8.17040014e+01] [-1.97233816e-03 9.99997831e-01 6.68633562e-04 5.07070984e-01] [ 3.16851196e-03 -6.62382118e-04 9.99994761e-01 3.49152282e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.085336195 meters Centerline goodness [0,1] 0.8341256475303247 Centerline is valid? [False, False] Translation: X:81.71, Y:0.52, Z:0.35 [[ 9.99995153e-01 7.58464160e-04 -3.01972651e-03 8.17055357e+01] [-7.63742221e-04 9.99998182e-01 -1.74709140e-03 5.17624960e-01] [ 3.01839592e-03 1.74938923e-03 9.99993914e-01 3.45848453e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.115336195 meters Centerline goodness [0,1] 0.8872013687923787 Centerline is valid? [False, False] Translation: X:81.71, Y:0.52, Z:0.34 [[ 9.99987672e-01 3.01669649e-03 -3.94412616e-03 8.17117545e+01] [-3.01384804e-03 9.99995193e-01 7.27944913e-04 5.18583707e-01] [ 3.94630319e-03 -7.16048941e-04 9.99991957e-01 3.42358180e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.145336195 meters Centerline goodness [0,1] 0.8938426189422205 Centerline is valid? [False, False] Translation: X:81.71, Y:0.51, Z:0.34 [[ 9.99985293e-01 3.28298108e-03 -4.31683025e-03 8.17116841e+01] [-3.27570045e-03 9.99993202e-01 1.69255847e-03 5.13849254e-01] [ 4.32235754e-03 -1.67839293e-03 9.99989250e-01 3.44660409e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.175336195 meters Centerline goodness [0,1] 0.9774118147046323 Centerline is valid? [False, True] Translation: X:81.71, Y:0.51, Z:0.35 [[ 9.99990875e-01 -9.36611251e-04 -4.16793458e-03 8.17107961e+01] [ 9.25840411e-04 9.99996229e-01 -2.58539455e-03 5.13879382e-01] [ 4.17034038e-03 2.58151212e-03 9.99987972e-01 3.45414687e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.205336195 meters Centerline goodness [0,1] 0.9919131189533629 Centerline is valid? [True, True] Translation: X:81.74, Y:0.51, Z:0.35 [[ 9.99989864e-01 -4.12560054e-03 -1.80291133e-03 8.17412117e+01] [ 4.12541044e-03 9.99991485e-01 -1.09147888e-04 5.09650216e-01] [ 1.80334627e-03 1.01709033e-04 9.99998369e-01 3.53330865e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.23533619499999 meters Centerline goodness [0,1] 0.9976367894400682 Centerline is valid? [True, True] Translation: X:81.77, Y:0.51, Z:0.35 [[ 9.99982606e-01 -5.89803837e-03 3.26544359e-05 8.17711162e+01] [ 5.89803831e-03 9.99982606e-01 1.92170744e-06 5.12179773e-01] [-3.26652022e-05 -1.72907690e-06 9.99999999e-01 3.54748415e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.26533619499999 meters Centerline goodness [0,1] 0.9985361196563064 Centerline is valid? [True, True] Translation: X:81.80, Y:0.52, Z:0.35 [[ 9.99957305e-01 -9.05083007e-03 1.86319522e-03 8.17995775e+01] [ 9.05063562e-03 9.99959036e-01 1.12768771e-04 5.23819925e-01] [-1.86413954e-03 -9.59008557e-05 9.99998258e-01 3.50219111e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.29533619499999 meters Centerline goodness [0,1] 0.9992104645455904 Centerline is valid? [True, True] Translation: X:81.83, Y:0.53, Z:0.35 [[ 9.99944256e-01 -1.05129929e-02 9.80830957e-04 8.18289255e+01] [ 1.05129403e-02 9.99944736e-01 5.88324765e-05 5.25004720e-01] [-9.81395258e-04 -4.85177797e-05 9.99999517e-01 3.46808223e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.32533619499999 meters Centerline goodness [0,1] 0.9986160200996466 Centerline is valid? [True, True] Translation: X:81.86, Y:0.52, Z:0.34 [[ 9.99921414e-01 -1.24163625e-02 -1.73185345e-03 8.18578255e+01] [ 1.24161987e-02 9.99922910e-01 -1.05329563e-04 5.18277123e-01] [ 1.73302775e-03 8.38182494e-05 9.99998495e-01 3.43965305e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.35533619499999 meters Centerline goodness [0,1] 0.9971226065799217 Centerline is valid? [True, True] Translation: X:81.89, Y:0.52, Z:0.34 [[ 9.99894291e-01 -1.39240446e-02 -4.18658723e-03 8.18857240e+01] [ 1.39230986e-02 9.99903036e-01 -2.55000709e-04 5.17398095e-01] [ 4.18973192e-03 1.96683486e-04 9.99991204e-01 3.42943153e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.385336195 meters Centerline goodness [0,1] 0.9912496814204401 Centerline is valid? [True, True] Translation: X:81.91, Y:0.53, Z:0.34 [[ 9.99890434e-01 -1.30566681e-02 -6.97446384e-03 8.19132401e+01] [ 1.30540226e-02 9.99914702e-01 -4.24699203e-04 5.30613980e-01] [ 6.97941409e-03 3.33607862e-04 9.99975588e-01 3.36408097e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.415336195 meters Centerline goodness [0,1] 0.9963134634041177 Centerline is valid? [True, True] Translation: X:81.94, Y:0.53, Z:0.34 [[ 9.99897671e-01 -1.21929831e-02 -7.48187541e-03 8.19416697e+01] [ 1.21899109e-02 9.99925596e-01 -4.56080111e-04 5.30711892e-01] [ 7.48687970e-03 3.64830047e-04 9.99971906e-01 3.36244007e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.445336195 meters Centerline goodness [0,1] 0.9932903170485969 Centerline is valid? [True, True] Translation: X:81.97, Y:0.54, Z:0.34 [[ 9.99918660e-01 -9.67215943e-03 -8.31395587e-03 8.19719257e+01] [ 9.66828158e-03 9.99953133e-01 -5.06492991e-04 5.37135682e-01] [ 8.31846509e-03 4.26070127e-04 9.99965310e-01 3.36069835e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.475336195 meters Centerline goodness [0,1] 0.9917626616899414 Centerline is valid? [True, True] Translation: X:82.00, Y:0.54, Z:0.34 [[ 9.99926582e-01 -8.82103327e-03 -8.30778451e-03 8.20005485e+01] [ 8.81711406e-03 9.99960999e-01 -5.08260720e-04 5.41465158e-01] [ 8.31194388e-03 4.34972721e-04 9.99965361e-01 3.35678418e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.505336195 meters Centerline goodness [0,1] 0.9851958179792613 Centerline is valid? [True, True] Translation: X:82.03, Y:0.55, Z:0.34 [[ 9.99959198e-01 -6.98638669e-03 -5.72652851e-03 8.20279935e+01] [ 6.98449483e-03 9.99975547e-01 -3.50299510e-04 5.54140357e-01] [ 5.72883580e-03 3.10288308e-04 9.99983542e-01 3.38526352e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.535336195 meters Centerline goodness [0,1] 0.9844514584701421 Centerline is valid? [True, True] Translation: X:82.06, Y:0.56, Z:0.34 [[ 9.99974573e-01 -6.37981749e-03 -3.18596807e-03 8.20557434e+01] [ 6.37922781e-03 9.99979633e-01 -1.95213650e-04 5.61064640e-01] [ 3.18714861e-03 1.74884670e-04 9.99994906e-01 3.42321231e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.565336195 meters Centerline goodness [0,1] 0.9945391186094938 Centerline is valid? [True, True] Translation: X:82.09, Y:0.56, Z:0.35 [[ 9.99967646e-01 -7.88202445e-03 -1.60663866e-03 8.20862642e+01] [ 7.88187653e-03 9.99968933e-01 -9.83787797e-05 5.60015533e-01] [ 1.60736417e-03 8.57122692e-05 9.99998705e-01 3.45145359e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.59533619499999 meters Centerline goodness [0,1] 0.997941813348198 Centerline is valid? [True, True] Translation: X:82.12, Y:0.56, Z:0.34 [[ 9.99943536e-01 -1.02889328e-02 -2.65749791e-03 8.21160439e+01] [ 1.02885364e-02 9.99947058e-01 -1.62806563e-04 5.55996109e-01] [ 2.65903232e-03 1.35455607e-04 9.99996456e-01 3.43052578e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.62533619499999 meters Centerline goodness [0,1] 0.9986032337255566 Centerline is valid? [True, True] Translation: X:82.14, Y:0.56, Z:0.34 [[ 9.99872358e-01 -1.58364690e-02 -2.11494510e-03 8.21447883e+01] [ 1.58362300e-02 9.99874591e-01 -1.29692639e-04 5.56685086e-01] [ 2.11673374e-03 9.61833276e-05 9.99997755e-01 3.41438159e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.65533619499999 meters Centerline goodness [0,1] 0.9998499174546001 Centerline is valid? [True, True] Translation: X:82.18, Y:0.54, Z:0.35 [[ 9.99783017e-01 -2.08296253e-02 2.13261207e-04 8.21758245e+01] [ 2.08296230e-02 9.99783040e-01 1.30538281e-05 5.42033129e-01] [-2.13486845e-04 -8.60884504e-06 9.99999977e-01 3.46099312e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.68533619499999 meters Centerline goodness [0,1] 0.9997888736408741 Centerline is valid? [True, True] Translation: X:82.20, Y:0.55, Z:0.34 [[ 9.99735723e-01 -2.29784725e-02 -6.88525116e-04 8.22032306e+01] [ 2.29784486e-02 9.99735960e-01 -4.25014273e-05 5.47941084e-01] [ 6.89319936e-04 2.66689561e-05 9.99999762e-01 3.44358152e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.71533619499999 meters Centerline goodness [0,1] 0.9999138970208369 Centerline is valid? [True, True] Translation: X:82.23, Y:0.53, Z:0.34 [[ 9.99607703e-01 -2.77705975e-02 -3.63772828e-03 8.22342803e+01] [ 2.77699688e-02 9.99614315e-01 -2.23217343e-04 5.33390776e-01] [ 3.64252414e-03 1.22110175e-04 9.99993359e-01 3.41585944e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.745336195 meters Centerline goodness [0,1] 0.9999150093489716 Centerline is valid? [True, True] Translation: X:82.26, Y:0.53, Z:0.34 [[ 9.99539398e-01 -3.02739557e-02 -2.11643288e-03 8.22646072e+01] [ 3.02737484e-02 9.99541637e-01 -1.29968310e-04 5.26365816e-01] [ 2.11939744e-03 6.58360898e-05 9.99997752e-01 3.43518220e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.775336195 meters Centerline goodness [0,1] 0.9999365119674941 Centerline is valid? [True, True] Translation: X:82.29, Y:0.53, Z:0.34 [[ 9.99521431e-01 -3.09030160e-02 -1.38320421e-03 8.22919776e+01] [ 3.09029276e-02 9.99522387e-01 -8.52184265e-05 5.28370400e-01] [ 1.38517708e-03 4.24325839e-05 9.99999040e-01 3.43472208e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.805336195 meters Centerline goodness [0,1] 0.9999567520813061 Centerline is valid? [True, True] Translation: X:82.32, Y:0.52, Z:0.34 [[ 9.99466059e-01 -3.26007947e-02 -2.18739562e-03 8.23220563e+01] [ 3.26005764e-02 9.99468451e-01 -1.35414108e-04 5.18069071e-01] [ 2.19064752e-03 6.40314464e-05 9.99997598e-01 3.42300502e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.835336195 meters Centerline goodness [0,1] 0.999978603218076 Centerline is valid? [True, True] Translation: X:82.35, Y:0.52, Z:0.34 [[ 9.99452880e-01 -3.30370160e-02 -1.57978402e-03 8.23503023e+01] [ 3.30369029e-02 9.99454128e-01 -9.76404858e-05 5.18255181e-01] [ 1.58214741e-03 4.53958935e-05 9.99998747e-01 3.42381683e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.865336195 meters Centerline goodness [0,1] 0.9999573615315738 Centerline is valid? [True, True] Translation: X:82.38, Y:0.51, Z:0.35 [[ 9.99440587e-01 -3.34127265e-02 1.45014532e-03 8.23795660e+01] [ 3.34126328e-02 9.99441638e-01 8.88211529e-05 5.12614930e-01] [-1.45230337e-03 -4.03182921e-05 9.99998945e-01 3.47812763e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.895336195 meters Centerline goodness [0,1] 0.9999575263336731 Centerline is valid? [True, True] Translation: X:82.41, Y:0.51, Z:0.35 [[ 9.99478567e-01 -3.22602341e-02 1.36820218e-03 8.24072661e+01] [ 3.22601488e-02 9.99479502e-01 8.43440665e-05 5.13766800e-01] [-1.37021100e-03 -4.01616807e-05 9.99999060e-01 3.47856671e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.925336195 meters Centerline goodness [0,1] 0.9998721145853315 Centerline is valid? [True, True] Translation: X:82.44, Y:0.52, Z:0.34 [[ 9.99653577e-01 -2.62682857e-02 -1.64429362e-03 8.24363822e+01] [ 2.62681538e-02 9.99654927e-01 -1.01772457e-04 5.23516443e-01] [ 1.64639961e-03 5.85446435e-05 9.99998643e-01 3.42176425e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.955336195 meters Centerline goodness [0,1] 0.9996997061410094 Centerline is valid? [True, True] Translation: X:82.47, Y:0.53, Z:0.34 [[ 9.99848395e-01 -1.73225660e-02 -1.76490725e-03 8.24668763e+01] [ 1.73224001e-02 9.99849950e-01 -1.09200555e-04 5.25939135e-01] [ 1.76653406e-03 7.86115701e-05 9.99998437e-01 3.42597656e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.98533619499999 meters Centerline goodness [0,1] 0.9997224001708307 Centerline is valid? [True, True] Translation: X:82.50, Y:0.53, Z:0.34 [[ 9.99918837e-01 -1.25990545e-02 -1.89273602e-03 8.24971440e+01] [ 1.25988554e-02 9.99920624e-01 -1.17090838e-04 5.27781820e-01] [ 1.89406102e-03 9.32350272e-05 9.99998202e-01 3.42649083e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.01533619499999 meters Centerline goodness [0,1] 0.9904802379940502 Centerline is valid? [True, True] Translation: X:82.53, Y:0.54, Z:0.34 [[ 9.99988648e-01 -3.86106151e-03 -2.79208280e-03 8.25255474e+01] [ 3.86059425e-03 9.99992533e-01 -1.72722728e-04 5.41719547e-01] [ 2.79272884e-03 1.61941669e-04 9.99996087e-01 3.39780373e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.04533619499999 meters Centerline goodness [0,1] 0.8928426925615963 Centerline is valid? [True, False] Translation: X:82.52, Y:0.54, Z:0.34 [[ 9.99996857e-01 6.29351233e-04 -2.42696900e-03 8.25236758e+01] [-6.18736857e-04 9.99990252e-01 4.37178462e-03 5.41004220e-01] [ 2.42969673e-03 -4.37026922e-03 9.99987499e-01 3.40986159e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.07533619499999 meters Centerline goodness [0,1] 0.8735208204515895 Centerline is valid? [False, False] Translation: X:82.52, Y:0.54, Z:0.34 [[ 9.99996975e-01 5.30089671e-04 -2.40175695e-03 8.25238371e+01] [-5.20146516e-04 9.99991300e-01 4.13868546e-03 5.42036645e-01] [ 2.40392993e-03 -4.13742367e-03 9.99988551e-01 3.40533539e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.10533619499999 meters Centerline goodness [0,1] 0.9507627118644068 Centerline is valid? [False, True] Translation: X:82.53, Y:0.54, Z:0.34 [[ 9.99994165e-01 -5.16300983e-04 -3.37681040e-03 8.25305478e+01] [ 5.27611135e-04 9.99994252e-01 3.34932682e-03 5.38995337e-01] [ 3.37506173e-03 -3.35108892e-03 9.99988690e-01 3.36161574e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.135336195 meters Centerline goodness [0,1] 0.8386357851870705 Centerline is valid? [True, False] Translation: X:82.53, Y:0.53, Z:0.34 [[ 9.99993761e-01 -7.66839274e-05 -3.53148892e-03 8.25307101e+01] [ 9.23975123e-05 9.99990096e-01 4.44961551e-03 5.33731139e-01] [ 3.53111274e-03 -4.44991405e-03 9.99983865e-01 3.36815847e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.165336195 meters Centerline goodness [0,1] 0.9322884676479932 Centerline is valid? [False, False] Translation: X:82.53, Y:0.53, Z:0.34 [[ 9.99986560e-01 -3.88197701e-03 -3.43667143e-03 8.25300256e+01] [ 3.88618932e-03 9.99991705e-01 1.21986787e-03 5.28685436e-01] [ 3.43190742e-03 -1.23320703e-03 9.99993351e-01 3.37530023e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.195336195 meters Centerline goodness [0,1] 0.990946292644658 Centerline is valid? [False, True] Translation: X:82.53, Y:0.52, Z:0.34 [[ 9.99987616e-01 -3.47817835e-03 -3.55944665e-03 8.25300264e+01] [ 3.48595969e-03 9.99991543e-01 2.18224395e-03 5.24162213e-01] [ 3.55182631e-03 -2.19462501e-03 9.99991284e-01 3.38246634e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.225336195 meters Centerline goodness [0,1] 0.9942643552233035 Centerline is valid? [True, True] Translation: X:82.56, Y:0.52, Z:0.34 [[ 9.99978685e-01 -4.89573183e-03 -4.31976387e-03 8.25594772e+01] [ 4.89462267e-03 9.99987986e-01 -2.67299896e-04 5.21732615e-01] [ 4.32102060e-03 2.46150585e-04 9.99990634e-01 3.36039056e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.255336195 meters Centerline goodness [0,1] 0.9059646271306059 Centerline is valid? [True, False] Translation: X:82.57, Y:0.52, Z:0.33 [[ 9.99983949e-01 -2.14119395e-03 -5.24559509e-03 8.25661484e+01] [ 2.15414551e-03 9.99994643e-01 2.46463011e-03 5.22910069e-01] [ 5.24028973e-03 -2.47589033e-03 9.99983205e-01 3.31234101e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.285336195 meters Centerline goodness [0,1] 0.9439749675386875 Centerline is valid? [False, False] Translation: X:82.57, Y:0.52, Z:0.33 [[ 9.99983245e-01 -2.27092008e-03 -5.32465386e-03 8.25668449e+01] [ 2.28206810e-03 9.99995215e-01 2.08852157e-03 5.24608299e-01] [ 5.31988551e-03 -2.10063780e-03 9.99983643e-01 3.30433631e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.315336195 meters Centerline goodness [0,1] 0.9439749675386875 Centerline is valid? [False, False] Translation: X:82.57, Y:0.52, Z:0.33 [[ 9.99983245e-01 -2.27092008e-03 -5.32465386e-03 8.25668449e+01] [ 2.28206810e-03 9.99995215e-01 2.08852157e-03 5.24608299e-01] [ 5.31988551e-03 -2.10063780e-03 9.99983643e-01 3.30433631e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.34533619499999 meters Centerline goodness [0,1] 0.9265747613997879 Centerline is valid? [False, False] Translation: X:82.57, Y:0.52, Z:0.33 [[ 9.99983748e-01 -1.98715846e-03 -5.34370707e-03 8.25663664e+01] [ 1.99948961e-03 9.99995349e-01 2.30325057e-03 5.24025743e-01] [ 5.33910529e-03 -2.31389782e-03 9.99983070e-01 3.31408841e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.37533619499999 meters Centerline goodness [0,1] 0.9857751259268868 Centerline is valid? [False, True] Translation: X:82.52, Y:0.51, Z:0.34 [[ 9.99976930e-01 -6.78528222e-04 -6.75867979e-03 8.25225356e+01] [ 7.40829312e-04 9.99957223e-01 9.21970352e-03 5.14097300e-01] [ 6.75213485e-03 -9.22449784e-03 9.99934657e-01 3.36737532e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.40533619499999 meters Centerline goodness [0,1] 0.9087793698729894 Centerline is valid? [True, False] Translation: X:82.54, Y:0.52, Z:0.33 [[ 9.99996872e-01 1.56752403e-03 -1.94927807e-03 8.25431669e+01] [-1.56877868e-03 9.99998563e-01 -6.42285984e-04 5.20859120e-01] [ 1.94826847e-03 6.45341960e-04 9.99997894e-01 3.31361664e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.43533619499999 meters Centerline goodness [0,1] 0.7899424675047944 Centerline is valid? [False, False] Translation: X:82.54, Y:0.52, Z:0.33 [[ 9.99997540e-01 1.25465667e-03 -1.82926991e-03 8.25431175e+01] [-1.25719694e-03 9.99998246e-01 -1.38819189e-03 5.24363062e-01] [ 1.82752499e-03 1.39048822e-03 9.99997363e-01 3.30748026e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.46533619499999 meters Centerline goodness [0,1] 0.7951648817728767 Centerline is valid? [False, False] Translation: X:82.55, Y:0.53, Z:0.33 [[ 9.99990558e-01 3.44145980e-03 -2.65344588e-03 8.25494589e+01] [-3.43982635e-03 9.99993892e-01 6.19911056e-04 5.28326021e-01] [ 2.65556307e-03 -6.10777810e-04 9.99996287e-01 3.26142252e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.495336195 meters Centerline goodness [0,1] 0.8836116133148995 Centerline is valid? [False, False] Translation: X:82.55, Y:0.53, Z:0.32 [[ 9.99993269e-01 2.84909588e-03 -2.31197723e-03 8.25489859e+01] [-2.85063825e-03 9.99995716e-01 -6.64099540e-04 5.34314061e-01] [ 2.31007524e-03 6.70685680e-04 9.99997107e-01 3.24941790e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.525336195 meters Centerline goodness [0,1] 0.8273896863370548 Centerline is valid? [False, False] Translation: X:82.55, Y:0.54, Z:0.33 [[ 9.99993995e-01 2.68288766e-03 -2.19359183e-03 8.25484751e+01] [-2.68511687e-03 9.99995881e-01 -1.01392358e-03 5.35980675e-01] [ 2.19086255e-03 1.01980754e-03 9.99997080e-01 3.25156563e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.555336195 meters Centerline goodness [0,1] 0.8536554110335106 Centerline is valid? [False, False] Translation: X:82.54, Y:0.54, Z:0.33 [[ 9.99998510e-01 -6.26720276e-04 -1.60852506e-03 8.25429878e+01] [ 6.19658282e-04 9.99990185e-01 -4.38710355e-03 5.36359761e-01] [ 1.61125875e-03 4.38610028e-03 9.99989083e-01 3.29942063e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.585336195 meters Centerline goodness [0,1] 0.9864908056508491 Centerline is valid? [False, True] Translation: X:82.54, Y:0.53, Z:0.33 [[ 9.99998281e-01 -5.15741846e-04 -1.78091860e-03 8.25429745e+01] [ 5.08592870e-04 9.99991821e-01 -4.01232966e-03 5.34572034e-01] [ 1.78297336e-03 4.01141701e-03 9.99990365e-01 3.30946675e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.615336195 meters Centerline goodness [0,1] 0.9786186314218717 Centerline is valid? [True, True] Translation: X:82.57, Y:0.53, Z:0.33 [[ 9.99980996e-01 -3.80123495e-03 -4.85360762e-03 8.25725123e+01] [ 3.79979036e-03 9.99992734e-01 -3.06818908e-04 5.33960998e-01] [ 4.85473864e-03 2.88370386e-04 9.99988174e-01 3.29356618e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.645336195 meters Centerline goodness [0,1] 0.9884008528784648 Centerline is valid? [True, True] Translation: X:82.60, Y:0.54, Z:0.33 [[ 9.99970703e-01 -5.46199742e-03 -5.36288937e-03 8.26027490e+01] [ 5.46025730e-03 9.99985035e-01 -3.39061845e-04 5.35587725e-01] [ 5.36466107e-03 3.09769156e-04 9.99985562e-01 3.27824779e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.675336195 meters Centerline goodness [0,1] 0.9914241440064531 Centerline is valid? [True, True] Translation: X:82.63, Y:0.54, Z:0.33 [[ 9.99942644e-01 -1.01855469e-02 -3.31104785e-03 8.26315519e+01] [ 1.01849091e-02 9.99948111e-01 -2.09445868e-04 5.44363083e-01] [ 3.31300937e-03 1.75711134e-04 9.99994497e-01 3.27423946e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.705336195 meters Centerline goodness [0,1] 0.9984137055837563 Centerline is valid? [True, True] Translation: X:82.66, Y:0.54, Z:0.33 [[ 9.99910623e-01 -1.30316206e-02 -2.98719911e-03 8.26623947e+01] [ 1.30311140e-02 9.99915074e-01 -1.88982433e-04 5.39071503e-01] [ 2.98940817e-03 1.50039010e-04 9.99995520e-01 3.27796932e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.73533619499999 meters Centerline goodness [0,1] 0.9984555821186029 Centerline is valid? [True, True] Translation: X:82.69, Y:0.53, Z:0.32 [[ 9.99787765e-01 -1.96430974e-02 -6.21084625e-03 8.26928069e+01] [ 1.96410348e-02 9.99807019e-01 -3.92922177e-04 5.29792439e-01] [ 6.21736589e-03 2.70851337e-04 9.99980635e-01 3.24179192e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.76533619499999 meters Centerline goodness [0,1] 0.9995117913013946 Centerline is valid? [True, True] Translation: X:82.72, Y:0.52, Z:0.32 [[ 9.99627609e-01 -2.63069475e-02 -7.25178395e-03 8.27239593e+01] [ 2.63043103e-02 9.99653876e-01 -4.58816680e-04 5.19319524e-01] [ 7.26134400e-03 2.67892646e-04 9.99973600e-01 3.23223812e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.79533619499999 meters Centerline goodness [0,1] 0.9997855089871734 Centerline is valid? [True, True] Translation: X:82.75, Y:0.52, Z:0.32 [[ 9.99565063e-01 -2.88489266e-02 -6.11758736e-03 8.27543445e+01] [ 2.88470969e-02 9.99583761e-01 -3.87143724e-04 5.18107613e-01] [ 6.12620966e-03 2.10500705e-04 9.99981212e-01 3.24987098e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.82533619499999 meters Centerline goodness [0,1] 0.9997644640486488 Centerline is valid? [True, True] Translation: X:82.78, Y:0.52, Z:0.33 [[ 9.99521755e-01 -3.06485089e-02 -4.11468534e-03 8.27840863e+01] [ 3.06476958e-02 9.99530215e-01 -2.60539321e-04 5.20238529e-01] [ 4.12073747e-03 1.34309095e-04 9.99991501e-01 3.27926719e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.85533619499999 meters Centerline goodness [0,1] 0.9998295442439222 Centerline is valid? [True, True] Translation: X:82.81, Y:0.52, Z:0.33 [[ 9.99521786e-01 -3.06680617e-02 -3.95842854e-03 8.28111116e+01] [ 3.06673072e-02 9.99529616e-01 -2.51160289e-04 5.22231532e-01] [ 3.96426915e-03 1.29645836e-04 9.99992134e-01 3.28237508e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.885336195 meters Centerline goodness [0,1] 0.999936231267935 Centerline is valid? [True, True] Translation: X:82.84, Y:0.52, Z:0.33 [[ 9.99524489e-01 -3.06033925e-02 -3.77211126e-03 8.28407497e+01] [ 3.06027035e-02 9.99531599e-01 -2.40256873e-04 5.15896436e-01] [ 3.77769708e-03 1.24705826e-04 9.99992857e-01 3.31053211e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.915336195 meters Centerline goodness [0,1] 0.9998726195783708 Centerline is valid? [True, True] Translation: X:82.87, Y:0.52, Z:0.33 [[ 9.99538863e-01 -3.01671629e-02 -3.46468012e-03 8.28685605e+01] [ 3.01665788e-02 9.99544861e-01 -2.20751590e-04 5.16104698e-01] [ 3.46976266e-03 1.16132248e-04 9.99993974e-01 3.32585519e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.945336195 meters Centerline goodness [0,1] 0.999956738048886 Centerline is valid? [True, True] Translation: X:82.90, Y:0.51, Z:0.33 [[ 9.99573759e-01 -2.88603861e-02 -4.40213851e-03 8.28976749e+01] [ 2.88594262e-02 9.99583440e-01 -2.81442399e-04 5.10698203e-01] [ 4.40842730e-03 1.54279245e-04 9.99990271e-01 3.32761974e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.975336195 meters Centerline goodness [0,1] 0.9997640396413403 Centerline is valid? [True, True] Translation: X:82.93, Y:0.52, Z:0.33 [[ 9.99619736e-01 -2.67989930e-02 -6.49592570e-03 8.29258699e+01] [ 2.67968627e-02 9.99640814e-01 -4.14773437e-04 5.19186870e-01] [ 6.50470796e-03 2.40545284e-04 9.99978815e-01 3.27433096e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.005336195 meters Centerline goodness [0,1] 0.9995951675793152 Centerline is valid? [True, True] Translation: X:82.95, Y:0.52, Z:0.32 [[ 9.99647225e-01 -2.55272037e-02 -7.33400564e-03 8.29539491e+01] [ 2.55244513e-02 9.99674088e-01 -4.68657005e-04 5.24691626e-01] [ 7.34357890e-03 2.81295205e-04 9.99972996e-01 3.24669349e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.035336195 meters Centerline goodness [0,1] 0.9966726713998093 Centerline is valid? [True, True] Translation: X:82.98, Y:0.53, Z:0.32 [[ 9.99714069e-01 -2.22251581e-02 -8.82168735e-03 8.29826097e+01] [ 2.22210468e-02 9.99752923e-01 -5.63795237e-04 5.34236441e-01] [ 8.83203815e-03 3.67606902e-04 9.99960929e-01 3.21872611e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.065336195 meters Centerline goodness [0,1] 0.992226493638893 Centerline is valid? [True, True] Translation: X:83.01, Y:0.54, Z:0.32 [[ 9.99775347e-01 -1.91240583e-02 -9.13928709e-03 8.30122075e+01] [ 1.91195158e-02 9.99817035e-01 -5.84150687e-04 5.40903885e-01] [ 9.14878625e-03 4.09280712e-04 9.99958065e-01 3.22525747e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.09533619499999 meters Centerline goodness [0,1] 0.9731491807497641 Centerline is valid? [True, True] Translation: X:83.04, Y:0.55, Z:0.33 [[ 9.99899457e-01 -1.13055882e-02 -8.55916138e-03 8.30419257e+01] [ 1.13013186e-02 9.99935988e-01 -5.47033849e-04 5.52374903e-01] [ 8.56479803e-03 4.50249039e-04 9.99963220e-01 3.26854369e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.12533619499999 meters Centerline goodness [0,1] 0.983560366925831 Centerline is valid? [True, True] Translation: X:83.07, Y:0.55, Z:0.33 [[ 9.99939896e-01 -7.62408773e-03 -7.87894712e-03 8.30722526e+01] [ 7.62035583e-03 9.99970838e-01 -5.03567489e-04 5.53829550e-01] [ 7.88255659e-03 4.43496842e-04 9.99968834e-01 3.30579334e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.15533619499999 meters Centerline goodness [0,1] 0.9482600047055804 Centerline is valid? [True, False] Translation: X:83.07, Y:0.55, Z:0.33 [[ 9.99964669e-01 -3.25342220e-03 -7.75089041e-03 8.30711126e+01] [ 3.28274385e-03 9.99987493e-01 3.77329034e-03 5.54301179e-01] [ 7.73851737e-03 -3.79860121e-03 9.99962842e-01 3.31777023e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.18533619499999 meters Centerline goodness [0,1] 0.9556848318932329 Centerline is valid? [False, True] Translation: X:83.07, Y:0.56, Z:0.33 [[ 9.99963591e-01 -3.78874055e-03 -7.64611274e-03 8.30715438e+01] [ 3.80784906e-03 9.99989660e-01 2.48610512e-03 5.60332628e-01] [ 7.63661447e-03 -2.51512984e-03 9.99967678e-01 3.30343492e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.21533619499999 meters Centerline goodness [0,1] 0.8951120597652081 Centerline is valid? [True, False] Translation: X:83.07, Y:0.57, Z:0.33 [[ 9.99960316e-01 -4.78799875e-03 -7.51275819e-03 8.30725206e+01] [ 4.79128191e-03 9.99988434e-01 4.19073376e-04 5.69590054e-01] [ 7.51066478e-03 -4.55052488e-04 9.99971691e-01 3.27899513e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.245336195 meters Centerline goodness [0,1] 0.9829586502911054 Centerline is valid? [False, True] Translation: X:83.07, Y:0.57, Z:0.33 [[ 9.99958961e-01 -5.04488856e-03 -7.52497025e-03 8.30715960e+01] [ 5.04688738e-03 9.99987234e-01 2.46659955e-04 5.70267375e-01] [ 7.52362982e-03 -2.84627510e-04 9.99971657e-01 3.29572026e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.275336195 meters Centerline goodness [0,1] 0.9921985511595011 Centerline is valid? [True, True] Translation: X:83.10, Y:0.57, Z:0.33 [[ 9.99939692e-01 -8.18458307e-03 -7.32288192e-03 8.31023664e+01] [ 8.18139085e-03 9.99966423e-01 -4.65773988e-04 5.69102676e-01] [ 7.32644821e-03 4.05834539e-04 9.99973079e-01 3.31398710e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.305336195 meters Centerline goodness [0,1] 0.9986590894578891 Centerline is valid? [True, True] Translation: X:83.13, Y:0.56, Z:0.34 [[ 9.99853647e-01 -1.59425488e-02 -6.20641486e-03 8.31326395e+01] [ 1.59404049e-02 9.99872866e-01 -3.94750590e-04 5.64152995e-01] [ 6.21191914e-03 2.95760051e-04 9.99980662e-01 3.35426007e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.335336195 meters Centerline goodness [0,1] 0.9996592337017869 Centerline is valid? [True, True] Translation: X:83.16, Y:0.56, Z:0.34 [[ 9.99787441e-01 -2.00799127e-02 -4.67649757e-03 8.31633857e+01] [ 2.00787406e-02 9.99798358e-01 -2.97456425e-04 5.58298705e-01] [ 4.68152748e-03 2.03495016e-04 9.99989021e-01 3.39089580e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.365336195 meters Centerline goodness [0,1] 0.9997461069735951 Centerline is valid? [True, True] Translation: X:83.19, Y:0.56, Z:0.34 [[ 9.99631738e-01 -2.69642081e-02 -3.05281076e-03 8.31927548e+01] [ 2.69637405e-02 9.99636393e-01 -1.94230164e-04 5.61724712e-01] [ 3.05693801e-03 1.11843439e-04 9.99995321e-01 3.39505207e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.395336195 meters Centerline goodness [0,1] 0.9998493068113321 Centerline is valid? [True, True] Translation: X:83.22, Y:0.56, Z:0.34 [[ 9.99541673e-01 -3.00227700e-02 -3.88282007e-03 8.32225432e+01] [ 3.00220365e-02 9.99549207e-01 -2.47077408e-04 5.56845727e-01] [ 3.88848766e-03 1.30394000e-04 9.99992431e-01 3.37726664e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.425336195 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:83.25, Y:0.54, Z:0.34 [[ 9.99298939e-01 -3.70602961e-02 -5.30701878e-03 8.32541312e+01] [ 3.70590249e-02 9.99313021e-01 -3.37694667e-04 5.42612024e-01] [ 5.31588803e-03 1.40784981e-04 9.99985861e-01 3.36740493e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.455336195 meters Centerline goodness [0,1] 0.999957274999466 Centerline is valid? [True, True] Translation: X:83.28, Y:0.54, Z:0.34 [[ 9.99035537e-01 -4.35786506e-02 -5.37560606e-03 8.32834397e+01] [ 4.35774398e-02 9.99049994e-01 -3.42214694e-04 5.39866528e-01] [ 5.38541246e-03 1.07629491e-04 9.99985493e-01 3.35853131e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.48533619499999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:83.31, Y:0.54, Z:0.33 [[ 9.98960152e-01 -4.51401540e-02 -6.40168679e-03 8.33120743e+01] [ 4.51384610e-02 9.98980657e-01 -4.08779439e-04 5.39483961e-01] [ 6.41361364e-03 1.19392082e-04 9.99979425e-01 3.34319947e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.51533619499999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:83.34, Y:0.54, Z:0.33 [[ 9.98900311e-01 -4.61069433e-02 -8.50408371e-03 8.33403106e+01] [ 4.61039884e-02 9.98936498e-01 -5.43294021e-04 5.36749141e-01] [ 8.52008922e-03 1.50624390e-04 9.99963692e-01 3.32712734e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.54533619499999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:83.37, Y:0.53, Z:0.34 [[ 9.98962042e-01 -4.50910983e-02 -6.45231165e-03 8.33689350e+01] [ 4.50893668e-02 9.98982872e-01 -4.13653005e-04 5.31780921e-01] [ 6.46440089e-03 1.22293004e-04 9.99979098e-01 3.40061194e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.57533619499999 meters Centerline goodness [0,1] 0.9999786352177071 Centerline is valid? [True, True] Translation: X:83.40, Y:0.54, Z:0.34 [[ 9.99046237e-01 -4.34093724e-02 -4.71624609e-03 8.33966207e+01] [ 4.34084278e-02 9.99057364e-01 -3.02517062e-04 5.38019981e-01] [ 4.72493246e-03 9.75037046e-05 9.99988833e-01 3.42207491e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.60533619499999 meters Centerline goodness [0,1] 0.9999572941578408 Centerline is valid? [True, True] Translation: X:83.42, Y:0.55, Z:0.34 [[ 9.99160453e-01 -4.08546828e-02 -3.04694588e-03 8.34233035e+01] [ 4.08542758e-02 9.99165096e-01 -1.95695404e-04 5.49083362e-01] [ 3.05239705e-03 7.10503413e-05 9.99995339e-01 3.43073472e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.635336195 meters Centerline goodness [0,1] 0.9998731581506458 Centerline is valid? [True, True] Translation: X:83.45, Y:0.57, Z:0.34 [[ 9.99465509e-01 -3.26482794e-02 -1.66897598e-03 8.34526260e+01] [ 3.26481460e-02 9.99466901e-01 -1.07136706e-04 5.68353759e-01] [ 1.67158408e-03 5.25904708e-05 9.99998602e-01 3.42468132e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.665336195 meters Centerline goodness [0,1] 0.9998939824434926 Centerline is valid? [True, True] Translation: X:83.48, Y:0.57, Z:0.34 [[ 9.99600040e-01 -2.82174074e-02 -1.88109094e-03 8.34823570e+01] [ 2.82172300e-02 9.99601807e-01 -1.20792087e-04 5.72213078e-01] [ 1.88375035e-03 6.76645996e-05 9.99998223e-01 3.42796070e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.695336195 meters Centerline goodness [0,1] 0.9995938956097978 Centerline is valid? [True, True] Translation: X:83.51, Y:0.58, Z:0.35 [[ 9.99794664e-01 -2.01444890e-02 -2.19737835e-03 8.35121988e+01] [ 2.01442274e-02 9.99797075e-01 -1.41112589e-04 5.80597553e-01] [ 2.19977509e-03 9.68191243e-05 9.99997576e-01 3.45557559e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.725336195 meters Centerline goodness [0,1] 0.9993202769871278 Centerline is valid? [True, True] Translation: X:83.54, Y:0.59, Z:0.34 [[ 9.99899495e-01 -1.36573181e-02 -3.80504330e-03 8.35420932e+01] [ 1.36564869e-02 9.99906716e-01 -2.44327178e-04 5.91782022e-01] [ 3.80802520e-03 1.92339097e-04 9.99992731e-01 3.44319466e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.755336195 meters Centerline goodness [0,1] 0.9968992906596441 Centerline is valid? [True, True] Translation: X:83.57, Y:0.60, Z:0.34 [[ 9.99930480e-01 -1.09068860e-02 -4.48056903e-03 8.35708557e+01] [ 1.09057057e-02 9.99940490e-01 -2.87779485e-04 6.03924180e-01] [ 4.48344117e-03 2.38895712e-04 9.99989921e-01 3.41697281e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.785336195 meters Centerline goodness [0,1] 0.9930099645186649 Centerline is valid? [True, True] Translation: X:83.60, Y:0.61, Z:0.34 [[ 9.99969823e-01 -6.92152167e-03 -3.52773506e-03 8.36009818e+01] [ 6.92076532e-03 9.99976026e-01 -2.26564114e-04 6.13108121e-01] [ 3.52921866e-03 2.02142651e-04 9.99993752e-01 3.43225162e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.815336195 meters Centerline goodness [0,1] 0.997437743520244 Centerline is valid? [True, True] Translation: X:83.63, Y:0.61, Z:0.35 [[ 9.99982666e-01 -5.32941215e-03 -2.50282853e-03 8.36305211e+01] [ 5.32902613e-03 9.99985788e-01 -1.60876796e-04 6.12956988e-01] [ 2.50365033e-03 1.47536369e-04 9.99996855e-01 3.45347455e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.84533619499999 meters Centerline goodness [0,1] 0.9910952046185637 Centerline is valid? [True, True] Translation: X:83.66, Y:0.62, Z:0.34 [[ 9.99988436e-01 -3.54079411e-03 -3.25443789e-03 8.36586612e+01] [ 3.54013212e-03 9.99993712e-01 -2.09147892e-04 6.23415242e-01] [ 3.25515798e-03 1.97624333e-04 9.99994682e-01 3.42980951e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.87533619499999 meters Centerline goodness [0,1] 0.8971667971477539 Centerline is valid? [True, False] Translation: X:83.66, Y:0.62, Z:0.34 [[ 9.99990647e-01 -1.20887174e-03 -4.15267521e-03 8.36649737e+01] [ 1.21780471e-03 9.99996949e-01 2.14928192e-03 6.23549477e-01] [ 4.15006433e-03 -2.15431897e-03 9.99989068e-01 3.39063901e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.90533619499999 meters Centerline goodness [0,1] 0.9836103611204859 Centerline is valid? [False, True] Translation: X:83.66, Y:0.62, Z:0.34 [[ 9.99991912e-01 -1.32882146e-03 -3.79619762e-03 8.36632809e+01] [ 1.33595181e-03 9.99997347e-01 1.87636918e-03 6.24987670e-01] [ 3.79369419e-03 -1.88142554e-03 9.99991034e-01 3.39953818e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.93533619499999 meters Centerline goodness [0,1] 0.9795844663494222 Centerline is valid? [True, True] Translation: X:83.69, Y:0.63, Z:0.34 [[ 9.99988322e-01 -2.22758325e-03 -4.28880342e-03 8.36924997e+01] [ 2.22645788e-03 9.99997486e-01 -2.67152509e-04 6.25997244e-01] [ 4.28938774e-03 2.57600549e-04 9.99990767e-01 3.39476657e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.96533619499999 meters Centerline goodness [0,1] 0.9935576841569891 Centerline is valid? [True, True] Translation: X:83.72, Y:0.62, Z:0.34 [[ 9.99981514e-01 -2.64896563e-03 -5.47302910e-03 8.37221327e+01] [ 2.64713523e-03 9.99996438e-01 -3.41656962e-04 6.21412423e-01] [ 5.47391464e-03 3.27162798e-04 9.99984964e-01 3.38471448e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.995336195 meters Centerline goodness [0,1] 0.987104710598316 Centerline is valid? [True, True] Translation: X:83.75, Y:0.63, Z:0.34 [[ 9.99981009e-01 -2.71211443e-03 -5.53406292e-03 8.37488867e+01] [ 2.71024085e-03 9.99996267e-01 -3.46025165e-04 6.29937824e-01] [ 5.53498072e-03 3.31019950e-04 9.99984627e-01 3.37578474e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.025336195 meters Centerline goodness [0,1] 0.9797654391173436 Centerline is valid? [True, True] Translation: X:83.78, Y:0.64, Z:0.34 [[ 9.99982871e-01 -2.36646419e-03 -5.35335721e-03 8.37764562e+01] [ 2.36470365e-03 9.99997148e-01 -3.35171081e-04 6.38550467e-01] [ 5.35413511e-03 3.22506237e-04 9.99985615e-01 3.36115322e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.055336195 meters Centerline goodness [0,1] 0.9290892034794473 Centerline is valid? [True, False] Translation: X:83.74, Y:0.64, Z:0.33 [[ 9.99956495e-01 -2.66039495e-03 -8.94039621e-03 8.37402023e+01] [ 2.67595236e-03 9.99994926e-01 1.72861358e-03 6.39553829e-01] [ 8.93575205e-03 -1.75246245e-03 9.99958540e-01 3.33393802e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.085336195 meters Centerline goodness [0,1] 0.8931856097873979 Centerline is valid? [False, False] Translation: X:83.74, Y:0.64, Z:0.33 [[ 9.99954868e-01 -2.63970447e-03 -9.12658522e-03 8.37410100e+01] [ 2.65601600e-03 9.99994896e-01 1.77559666e-03 6.39222027e-01] [ 9.12185159e-03 -1.79975688e-03 9.99956775e-01 3.33036995e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.115336195 meters Centerline goodness [0,1] 0.9770088051384576 Centerline is valid? [False, True] Translation: X:83.77, Y:0.65, Z:0.33 [[ 9.99990828e-01 -2.34673568e-03 -3.58288982e-03 8.37657266e+01] [ 2.31556339e-03 9.99959649e-01 -8.67981989e-03 6.50472518e-01] [ 3.60311449e-03 8.67144387e-03 9.99955911e-01 3.25365004e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.145336195 meters Centerline goodness [0,1] 0.9836107336956522 Centerline is valid? [True, True] Translation: X:83.79, Y:0.65, Z:0.33 [[ 9.99992219e-01 -2.87146222e-03 -2.70502605e-03 8.37942996e+01] [ 2.87100070e-03 9.99995863e-01 -1.74483087e-04 6.51772894e-01] [ 2.70551588e-03 1.66715597e-04 9.99996326e-01 3.29861671e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.175336195 meters Centerline goodness [0,1] 0.8147508107185526 Centerline is valid? [True, False] Translation: X:83.79, Y:0.66, Z:0.33 [[ 9.99996291e-01 -1.86290864e-03 -1.98684873e-03 8.37895734e+01] [ 1.86339653e-03 9.99998234e-01 2.43738254e-04 6.59383197e-01] [ 1.98639116e-03 -2.47439637e-04 9.99997997e-01 3.32191950e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.20533619499999 meters Centerline goodness [0,1] 0.8654308490446666 Centerline is valid? [False, False] Translation: X:83.84, Y:0.67, Z:0.33 [[ 9.99983383e-01 2.46604466e-04 -5.75957728e-03 8.38381128e+01] [-2.62426549e-04 9.99996194e-01 -2.74649695e-03 6.69690958e-01] [ 5.75887806e-03 2.74796278e-03 9.99979642e-01 3.29058955e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.23533619499999 meters Centerline goodness [0,1] 0.8654308490446666 Centerline is valid? [False, False] Translation: X:83.84, Y:0.67, Z:0.33 [[ 9.99983383e-01 2.46604466e-04 -5.75957728e-03 8.38381128e+01] [-2.62426549e-04 9.99996194e-01 -2.74649695e-03 6.69690958e-01] [ 5.75887806e-03 2.74796278e-03 9.99979642e-01 3.29058955e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.26533619499999 meters Centerline goodness [0,1] 0.9107813069680657 Centerline is valid? [False, False] Translation: X:83.80, Y:0.67, Z:0.33 [[ 9.99972524e-01 3.48117778e-04 -7.40479048e-03 8.37957632e+01] [-3.45446890e-04 9.99999875e-01 3.61973266e-04 6.68436932e-01] [ 7.40491556e-03 -3.59405358e-04 9.99972519e-01 3.29534359e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.29533619499999 meters Centerline goodness [0,1] 0.8821978485551571 Centerline is valid? [False, False] Translation: X:83.83, Y:0.68, Z:0.33 [[ 9.99990776e-01 1.18771855e-03 -4.12764300e-03 8.38319395e+01] [-1.20021728e-03 9.99994699e-01 -3.02689925e-03 6.80297959e-01] [ 4.12402601e-03 3.03182540e-03 9.99986900e-01 3.30560542e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.32533619499999 meters Centerline goodness [0,1] 0.9054813256180958 Centerline is valid? [False, False] Translation: X:83.83, Y:0.68, Z:0.33 [[ 9.99991730e-01 8.02634754e-04 -3.98682117e-03 8.38311740e+01] [-8.17947645e-04 9.99992290e-01 -3.84073283e-03 6.84232727e-01] [ 3.98370773e-03 3.84396208e-03 9.99984677e-01 3.31046361e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.35533619499999 meters Centerline goodness [0,1] 0.9458620396359616 Centerline is valid? [False, False] Translation: X:83.79, Y:0.69, Z:0.33 [[ 9.99981267e-01 2.82953061e-04 -6.11431185e-03 8.37907580e+01] [-2.92265058e-04 9.99998799e-01 -1.52214389e-03 6.87385350e-01] [ 6.11387381e-03 1.52390238e-03 9.99980149e-01 3.30736922e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.385336195 meters Centerline goodness [0,1] 0.97559830063406 Centerline is valid? [False, True] Translation: X:83.79, Y:0.69, Z:0.33 [[ 9.99980760e-01 -3.71687071e-05 -6.20302990e-03 8.37914164e+01] [ 2.37677613e-05 9.99997666e-01 -2.16044683e-03 6.90259067e-01] [ 6.20309572e-03 2.16025783e-03 9.99978427e-01 3.30025399e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.415336195 meters Centerline goodness [0,1] 0.9977918792608155 Centerline is valid? [True, True] Translation: X:83.82, Y:0.68, Z:0.33 [[ 9.99958664e-01 -4.96699438e-03 -7.61570033e-03 8.38215256e+01] [ 4.96375051e-03 9.99987582e-01 -4.44787463e-04 6.83488536e-01] [ 7.61781501e-03 4.06966641e-04 9.99970901e-01 3.28767463e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.445336195 meters Centerline goodness [0,1] 0.9991428081604663 Centerline is valid? [True, True] Translation: X:83.85, Y:0.68, Z:0.33 [[ 9.99917668e-01 -1.04925683e-02 -7.38673764e-03 8.38510147e+01] [ 1.04896666e-02 9.99944889e-01 -4.31455140e-04 6.84733524e-01] [ 7.39085762e-03 3.53935202e-04 9.99972625e-01 3.29364018e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.475336195 meters Centerline goodness [0,1] 0.9987352178587239 Centerline is valid? [True, True] Translation: X:83.88, Y:0.69, Z:0.33 [[ 9.99899482e-01 -1.27996750e-02 -6.09877709e-03 8.38790182e+01] [ 1.27977391e-02 9.99918042e-01 -3.56340831e-04 6.94202907e-01] [ 6.10283830e-03 2.78254454e-04 9.99981339e-01 3.30555667e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.505336195 meters Centerline goodness [0,1] 0.9997006372150707 Centerline is valid? [True, True] Translation: X:83.91, Y:0.69, Z:0.33 [[ 9.99839819e-01 -1.74192521e-02 -4.11164507e-03 8.39094620e+01] [ 1.74184113e-02 9.99848259e-01 -2.40222839e-04 6.92943735e-01] [ 4.11520567e-03 1.68566035e-04 9.99991518e-01 3.34802217e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.535336195 meters Centerline goodness [0,1] 0.9997872521487533 Centerline is valid? [True, True] Translation: X:83.94, Y:0.70, Z:0.33 [[ 9.99797049e-01 -1.97338915e-02 -4.05382899e-03 8.39387901e+01] [ 1.97330925e-02 9.99805255e-01 -2.36990930e-04 6.95170383e-01] [ 4.05771628e-03 1.56948250e-04 9.99991755e-01 3.34612933e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.565336195 meters Centerline goodness [0,1] 0.9998519896815664 Centerline is valid? [True, True] Translation: X:83.97, Y:0.70, Z:0.33 [[ 9.99695730e-01 -2.43231982e-02 -4.10225449e-03 8.39675593e+01] [ 2.43224185e-02 9.99704137e-01 -2.39859531e-04 6.99644564e-01] [ 4.10687494e-03 1.40009798e-04 9.99991557e-01 3.33975309e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.59533619499999 meters Centerline goodness [0,1] 0.9999786361305759 Centerline is valid? [True, True] Translation: X:84.00, Y:0.70, Z:0.34 [[ 9.99561775e-01 -2.94604069e-02 -2.88840999e-03 8.39983126e+01] [ 2.94600418e-02 9.99565945e-01 -1.68874287e-04 6.95945198e-01] [ 2.89213136e-03 8.37076034e-05 9.99995814e-01 3.35175144e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.62533619499999 meters Centerline goodness [0,1] 0.9999789033986625 Centerline is valid? [True, True] Translation: X:84.03, Y:0.70, Z:0.33 [[ 9.99479089e-01 -3.21424235e-02 -2.90082376e-03 8.40262004e+01] [ 3.21420657e-02 9.99483296e-01 -1.69909348e-04 6.98522154e-01] [ 2.90478619e-03 7.65823724e-05 9.99995778e-01 3.34111909e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.65533619499999 meters Centerline goodness [0,1] 0.9999576307092619 Centerline is valid? [True, True] Translation: X:84.05, Y:0.70, Z:0.33 [[ 9.99391755e-01 -3.46451401e-02 -3.97925678e-03 8.40542491e+01] [ 3.46444859e-02 9.99399672e-01 -2.33245381e-04 6.98259312e-01] [ 3.98494874e-03 9.52442055e-05 9.99992056e-01 3.32388722e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.68533619499999 meters Centerline goodness [0,1] 0.9999787919918561 Centerline is valid? [True, True] Translation: X:84.08, Y:0.70, Z:0.33 [[ 9.99283366e-01 -3.74139918e-02 -5.73997044e-03 8.40835564e+01] [ 3.74126698e-02 9.99299844e-01 -3.37562920e-04 6.96707409e-01] [ 5.74858114e-03 1.22573392e-04 9.99983469e-01 3.30355680e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.71533619499999 meters Centerline goodness [0,1] 0.9999570594297492 Centerline is valid? [True, True] Translation: X:84.11, Y:0.70, Z:0.33 [[ 9.99221066e-01 -3.86031342e-02 -8.18900275e-03 8.41112746e+01] [ 3.86004717e-02 9.99254607e-01 -4.82997545e-04 6.97577624e-01] [ 8.20154395e-03 1.66521953e-04 9.99966353e-01 3.26281570e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.745336195 meters Centerline goodness [0,1] 0.9999786516374194 Centerline is valid? [True, True] Translation: X:84.14, Y:0.70, Z:0.32 [[ 9.99188198e-01 -3.92741607e-02 -8.97139171e-03 8.41378443e+01] [ 3.92709883e-02 9.99228457e-01 -5.29570966e-04 6.98277573e-01] [ 8.98526835e-03 1.76825641e-04 9.99959616e-01 3.24686823e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.775336195 meters Centerline goodness [0,1] 0.9999786871270248 Centerline is valid? [True, True] Translation: X:84.17, Y:0.70, Z:0.33 [[ 9.99176684e-01 -3.96689466e-02 -8.50459219e-03 8.41662547e+01] [ 3.96660969e-02 9.99212864e-01 -5.03561135e-04 6.99182333e-01] [ 8.51787366e-03 1.65802567e-04 9.99963709e-01 3.25911188e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.805336195 meters Centerline goodness [0,1] 0.9999785191072541 Centerline is valid? [True, True] Translation: X:84.19, Y:0.70, Z:0.33 [[ 9.99171187e-01 -3.97853865e-02 -8.60592683e-03 8.41946439e+01] [ 3.97824589e-02 9.99208234e-01 -5.11171443e-04 7.02010935e-01] [ 8.61945011e-03 1.68382847e-04 9.99962838e-01 3.25794776e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.835336195 meters Centerline goodness [0,1] 0.9999784259578874 Centerline is valid? [True, True] Translation: X:84.22, Y:0.71, Z:0.33 [[ 9.99224755e-01 -3.84776125e-02 -8.32843595e-03 8.42234039e+01] [ 3.84748135e-02 9.99259447e-01 -4.96087283e-04 7.05127568e-01] [ 8.34135655e-03 1.75267673e-04 9.99965195e-01 3.27639902e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.865336195 meters Centerline goodness [0,1] 0.9999574150963484 Centerline is valid? [True, True] Translation: X:84.25, Y:0.71, Z:0.33 [[ 9.99275201e-01 -3.72097250e-02 -8.03178182e-03 8.42504959e+01] [ 3.72070766e-02 9.99307462e-01 -4.78962460e-04 7.13664369e-01] [ 8.04404157e-03 1.79776186e-04 9.99967630e-01 3.25108758e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.895336195 meters Centerline goodness [0,1] 0.9999786621145844 Centerline is valid? [True, True] Translation: X:84.28, Y:0.71, Z:0.33 [[ 9.99402558e-01 -3.38426560e-02 -7.01443757e-03 8.42803158e+01] [ 3.38405529e-02 9.99427157e-01 -4.18321036e-04 7.13719826e-01] [ 7.02457650e-03 1.80698667e-04 9.99975311e-01 3.28740926e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.925336195 meters Centerline goodness [0,1] 0.9999364204726078 Centerline is valid? [True, True] Translation: X:84.31, Y:0.71, Z:0.33 [[ 9.99532739e-01 -2.99522293e-02 -6.09653210e-03 8.43088142e+01] [ 2.99505663e-02 9.99551315e-01 -3.63919569e-04 7.13311245e-01] [ 6.10469688e-03 1.81154935e-04 9.99981350e-01 3.33169583e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.95533619499999 meters Centerline goodness [0,1] 0.9998718879446556 Centerline is valid? [True, True] Translation: X:84.34, Y:0.72, Z:0.33 [[ 9.99579339e-01 -2.82118511e-02 -6.72577608e-03 8.43370327e+01] [ 2.82097857e-02 9.99601944e-01 -4.01784356e-04 7.15778516e-01] [ 6.73443392e-03 2.11882639e-04 9.99977301e-01 3.32634820e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.98533619499999 meters Centerline goodness [0,1] 0.9996808985895718 Centerline is valid? [True, True] Translation: X:84.37, Y:0.73, Z:0.33 [[ 9.99649821e-01 -2.54867458e-02 -7.11762302e-03 8.43659260e+01] [ 2.54843622e-02 9.99675130e-01 -4.25392665e-04 7.25135807e-01] [ 7.12615260e-03 2.43855618e-04 9.99974579e-01 3.30883735e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.01533619499999 meters Centerline goodness [0,1] 0.9997856882621461 Centerline is valid? [True, True] Translation: X:84.39, Y:0.73, Z:0.33 [[ 9.99664274e-01 -2.47694557e-02 -7.60350984e-03 8.43944737e+01] [ 2.47667031e-02 9.99693154e-01 -4.55989021e-04 7.26086225e-01] [ 7.61247133e-03 2.67522063e-04 9.99970989e-01 3.29638080e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.04533619499999 meters Centerline goodness [0,1] 0.9997670379939854 Centerline is valid? [True, True] Translation: X:84.42, Y:0.73, Z:0.32 [[ 9.99677746e-01 -2.39156574e-02 -8.51151894e-03 8.44222397e+01] [ 2.39121755e-02 9.99713933e-01 -5.10635716e-04 7.30063518e-01] [ 8.52129626e-03 3.06942228e-04 9.99963646e-01 3.24993842e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.07533619499999 meters Centerline goodness [0,1] 0.9998290415642697 Centerline is valid? [True, True] Translation: X:84.45, Y:0.72, Z:0.33 [[ 9.99682890e-01 -2.39559321e-02 -7.76095895e-03 8.44510919e+01] [ 2.39530246e-02 9.99712976e-01 -4.67380904e-04 7.22017004e-01] [ 7.76992791e-03 2.81334253e-04 9.99969774e-01 3.28994372e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.10533619499999 meters Centerline goodness [0,1] 0.9997238683914271 Centerline is valid? [True, True] Translation: X:84.48, Y:0.72, Z:0.34 [[ 9.99731132e-01 -2.27783805e-02 -4.33685445e-03 8.44796207e+01] [ 2.27774610e-02 9.99740526e-01 -2.61314118e-04 7.17242082e-01] [ 4.34168146e-03 1.62461326e-04 9.99990562e-01 3.38184603e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.135336195 meters Centerline goodness [0,1] 0.9998074330829964 Centerline is valid? [True, True] Translation: X:84.51, Y:0.72, Z:0.34 [[ 9.99750989e-01 -2.20358834e-02 -3.51844598e-03 8.45086137e+01] [ 2.20352706e-02 9.99757171e-01 -2.12837617e-04 7.15768376e-01] [ 3.52228166e-03 1.35254709e-04 9.99993788e-01 3.40651093e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.165336195 meters Centerline goodness [0,1] 0.9995968169761273 Centerline is valid? [True, True] Translation: X:84.54, Y:0.72, Z:0.34 [[ 9.99816918e-01 -1.86452255e-02 -4.29951666e-03 8.45387553e+01] [ 1.86442812e-02 9.99826147e-01 -2.59611843e-04 7.22355912e-01] [ 4.30360969e-03 1.79402915e-04 9.99990723e-01 3.38455406e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.195336195 meters Centerline goodness [0,1] 0.9980259806418746 Centerline is valid? [True, True] Translation: X:84.57, Y:0.74, Z:0.33 [[ 9.99849624e-01 -1.63647021e-02 -5.73806698e-03 8.45674058e+01] [ 1.63629821e-02 9.99866057e-01 -3.46567163e-04 7.37111179e-01] [ 5.74296987e-03 2.52623161e-04 9.99983477e-01 3.31931604e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.225336195 meters Centerline goodness [0,1] 0.9972996350287968 Centerline is valid? [True, True] Translation: X:84.60, Y:0.74, Z:0.33 [[ 9.99892051e-01 -1.20548013e-02 -8.40048394e-03 8.45976759e+01] [ 1.20509624e-02 9.99927256e-01 -5.07449108e-04 7.35816092e-01] [ 8.40599005e-03 4.06160413e-04 9.99964587e-01 3.25895045e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.255336195 meters Centerline goodness [0,1] 0.9924263201198287 Centerline is valid? [True, True] Translation: X:84.63, Y:0.73, Z:0.32 [[ 9.99901219e-01 -1.01637863e-02 -9.70824433e-03 8.46269305e+01] [ 1.01585700e-02 9.99948228e-01 -5.86469131e-04 7.34983472e-01] [ 9.71370247e-03 4.87789320e-04 9.99952702e-01 3.24304391e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.285336195 meters Centerline goodness [0,1] 0.9807313612975629 Centerline is valid? [True, True] Translation: X:84.66, Y:0.73, Z:0.33 [[ 9.99905448e-01 -6.84397338e-03 -1.19270813e-02 8.46582981e+01] [ 6.83586403e-03 9.99976376e-01 -7.20545229e-04 7.25872254e-01] [ 1.19317309e-02 6.38945194e-04 9.99928610e-01 3.26868088e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.315336195 meters Centerline goodness [0,1] 0.7929495760821061 Centerline is valid? [True, False] Translation: X:84.66, Y:0.73, Z:0.33 [[ 9.99910745e-01 -6.56743573e-03 -1.16348809e-02 8.46572668e+01] [ 6.56208165e-03 9.99978345e-01 -4.98291428e-04 7.25241801e-01] [ 1.16379014e-02 4.21897915e-04 9.99932188e-01 3.27074901e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.34533619499999 meters Centerline goodness [0,1] 0.971788445472656 Centerline is valid? [False, True] Translation: X:84.66, Y:0.73, Z:0.33 [[ 9.99910965e-01 -6.79294096e-03 -1.14855571e-02 8.46571313e+01] [ 6.78064385e-03 9.99976396e-01 -1.10926171e-03 7.28194200e-01] [ 1.14928211e-02 1.03128347e-03 9.99933424e-01 3.26437930e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.37533619499999 meters Centerline goodness [0,1] 0.8352744367270879 Centerline is valid? [True, False] Translation: X:84.68, Y:0.74, Z:0.32 [[ 9.99978832e-01 -2.31105323e-03 -6.08227222e-03 8.46811814e+01] [ 2.26580899e-03 9.99969792e-01 -7.43511504e-03 7.35561601e-01] [ 6.09927143e-03 7.42117639e-03 9.99953861e-01 3.18711429e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.40533619499999 meters Centerline goodness [0,1] 0.9424909976699851 Centerline is valid? [False, False] Translation: X:84.68, Y:0.73, Z:0.32 [[ 9.99978074e-01 2.41027482e-03 -6.16776686e-03 8.46807013e+01] [-2.42285319e-03 9.99994999e-01 -2.03271301e-03 7.30428332e-01] [ 6.16283662e-03 2.04761203e-03 9.99978913e-01 3.20120178e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.43533619499999 meters Centerline goodness [0,1] 0.7635871862057307 Centerline is valid? [False, False] Translation: X:84.68, Y:0.73, Z:0.32 [[ 9.99977912e-01 2.90142986e-03 -5.97976635e-03 8.46794814e+01] [-2.91186443e-03 9.99994252e-01 -1.73701332e-03 7.29784033e-01] [ 5.97469216e-03 1.75438722e-03 9.99980612e-01 3.21191681e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.46533619499999 meters Centerline goodness [0,1] 0.8482256829206025 Centerline is valid? [False, False] Translation: X:84.68, Y:0.73, Z:0.32 [[ 9.99977660e-01 3.01789106e-03 -5.96426871e-03 8.46791055e+01] [-3.02716295e-03 9.99994223e-01 -1.54615797e-03 7.29009387e-01] [ 5.95956812e-03 1.56417824e-03 9.99981018e-01 3.21813668e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.495336195 meters Centerline goodness [0,1] 0.8093183412332349 Centerline is valid? [False, False] Translation: X:84.68, Y:0.73, Z:0.32 [[ 9.99979217e-01 2.82128182e-03 -5.79712646e-03 8.46791812e+01] [-2.83595968e-03 9.99992790e-01 -2.52526259e-03 7.33998001e-01] [ 5.78996019e-03 2.54165053e-03 9.99980008e-01 3.20684473e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.525336195 meters Centerline goodness [0,1] 0.762346737546086 Centerline is valid? [False, False] Translation: X:84.68, Y:0.73, Z:0.32 [[ 9.99957558e-01 7.05616573e-03 -5.92397582e-03 8.46796053e+01] [-7.04600100e-03 9.99973672e-01 1.73498385e-03 7.34147763e-01] [ 5.93606219e-03 -1.69316988e-03 9.99980948e-01 3.20745794e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.555336195 meters Centerline goodness [0,1] 0.8332977177536541 Centerline is valid? [False, False] Translation: X:84.68, Y:0.74, Z:0.32 [[ 9.99962416e-01 6.57726394e-03 -5.64850905e-03 8.46784926e+01] [-6.57396706e-03 9.99978210e-01 6.02041885e-04 7.39589521e-01] [ 5.65234575e-03 -5.64886146e-04 9.99983866e-01 3.21102901e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.585336195 meters Centerline goodness [0,1] 0.814857484212323 Centerline is valid? [False, False] Translation: X:84.68, Y:0.74, Z:0.32 [[ 9.99961839e-01 6.67303936e-03 -5.63843572e-03 8.46779293e+01] [-6.66806886e-03 9.99977363e-01 8.99878958e-04 7.38187025e-01] [ 5.64431301e-03 -8.62247139e-04 9.99983699e-01 3.22039692e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.615336195 meters Centerline goodness [0,1] 0.8404765456831695 Centerline is valid? [False, False] Translation: X:84.68, Y:0.74, Z:0.32 [[ 9.99983105e-01 1.94863959e-03 -5.47662899e-03 8.46776655e+01] [-1.97189564e-03 9.99989049e-01 -4.24422913e-03 7.41986954e-01] [ 5.46829854e-03 4.25495676e-03 9.99975996e-01 3.21405019e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.645336195 meters Centerline goodness [0,1] 0.9707403230268338 Centerline is valid? [False, True] Translation: X:84.68, Y:0.74, Z:0.32 [[ 9.99982835e-01 1.60435329e-03 -5.63519882e-03 8.46776430e+01] [-1.62612616e-03 9.99991223e-01 -3.86127157e-03 7.39287672e-01] [ 5.62895452e-03 3.87036883e-03 9.99976667e-01 3.22505383e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.675336195 meters Centerline goodness [0,1] 0.9266056988018121 Centerline is valid? [True, False] Translation: X:84.68, Y:0.74, Z:0.32 [[ 9.99981830e-01 1.74793426e-03 -5.76929375e-03 8.46777386e+01] [-1.76683731e-03 9.99993083e-01 -3.27302466e-03 7.36301128e-01] [ 5.76353281e-03 3.28315859e-03 9.99978001e-01 3.23093659e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.70533619499999 meters Centerline goodness [0,1] 0.9474755613986726 Centerline is valid? [False, False] Translation: X:84.68, Y:0.73, Z:0.32 [[ 9.99980936e-01 1.64060197e-03 -5.95277568e-03 8.46783529e+01] [-1.65825872e-03 9.99994237e-01 -2.96241465e-03 7.34381432e-01] [ 5.94788123e-03 2.97222942e-03 9.99977894e-01 3.23064387e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.73533619499999 meters Centerline goodness [0,1] 0.9788882267813058 Centerline is valid? [False, True] Translation: X:84.68, Y:0.74, Z:0.32 [[ 9.99981190e-01 1.51618417e-03 -5.94315036e-03 8.46785280e+01] [-1.53520404e-03 9.99993711e-01 -3.19704581e-03 7.35419936e-01] [ 5.93826567e-03 3.20610963e-03 9.99977229e-01 3.22665464e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.76533619499999 meters Centerline goodness [0,1] 0.9862751289337964 Centerline is valid? [True, True] Translation: X:84.71, Y:0.74, Z:0.32 [[ 9.99978729e-01 -1.53730144e-03 -6.33866723e-03 8.47080217e+01] [ 1.53511201e-03 9.99998760e-01 -3.50259624e-04 7.37351589e-01] [ 6.33919782e-03 3.40521610e-04 9.99979849e-01 3.21995776e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.79533619499999 meters Centerline goodness [0,1] 0.9972397392615241 Centerline is valid? [True, True] Translation: X:84.74, Y:0.73, Z:0.32 [[ 9.99976125e-01 -2.61764573e-03 -6.39509180e-03 8.47371561e+01] [ 2.61543703e-03 9.99996517e-01 -3.53712708e-04 7.34511345e-01] [ 6.39599542e-03 3.36978303e-04 9.99979489e-01 3.22813214e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.82533619499999 meters Centerline goodness [0,1] 0.9986046511627907 Centerline is valid? [True, True] Translation: X:84.77, Y:0.74, Z:0.33 [[ 9.99978083e-01 -4.39302040e-03 -4.95331107e-03 8.47665141e+01] [ 4.39171659e-03 9.99990319e-01 -2.74064674e-04 7.36306349e-01] [ 4.95446709e-03 2.52305129e-04 9.99987695e-01 3.26473451e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.85533619499999 meters Centerline goodness [0,1] 0.9994216062209464 Centerline is valid? [True, True] Translation: X:84.80, Y:0.73, Z:0.33 [[ 9.99975167e-01 -4.96328309e-03 -5.00314474e-03 8.47958241e+01] [ 4.96195493e-03 9.99987651e-01 -2.77842611e-04 7.30985186e-01] [ 5.00446197e-03 2.53010333e-04 9.99987446e-01 3.28877070e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.885336195 meters Centerline goodness [0,1] 0.9993165897830173 Centerline is valid? [True, True] Translation: X:84.82, Y:0.74, Z:0.33 [[ 9.99973329e-01 -4.89210090e-03 -5.42305632e-03 8.48227898e+01] [ 4.89053704e-03 9.99987996e-01 -3.01596811e-04 7.39043793e-01] [ 5.42446666e-03 2.75067110e-04 9.99985250e-01 3.27149077e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.915336195 meters Centerline goodness [0,1] 0.9968076109936576 Centerline is valid? [True, True] Translation: X:84.85, Y:0.75, Z:0.33 [[ 9.99979704e-01 -4.42657029e-03 -4.58218440e-03 8.48497612e+01] [ 4.42544785e-03 9.99990175e-01 -2.55067606e-04 7.54327535e-01] [ 4.58326846e-03 2.34784211e-04 9.99989469e-01 3.25533678e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.945336195 meters Centerline goodness [0,1] 0.9989972049755702 Centerline is valid? [True, True] Translation: X:84.88, Y:0.76, Z:0.33 [[ 9.99985595e-01 -3.85118852e-03 -3.73867655e-03 8.48787853e+01] [ 3.85043450e-03 9.99992565e-01 -2.08859805e-04 7.56134528e-01] [ 3.73945311e-03 1.94461267e-04 9.99992989e-01 3.25947701e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.975336195 meters Centerline goodness [0,1] 0.9989036266311241 Centerline is valid? [True, True] Translation: X:84.91, Y:0.76, Z:0.32 [[ 9.99979614e-01 -4.26992574e-03 -4.74763740e-03 8.49079752e+01] [ 4.26871110e-03 9.99990854e-01 -2.65945949e-04 7.56053370e-01] [ 4.74872954e-03 2.45674235e-04 9.99988695e-01 3.24859990e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.005336195 meters Centerline goodness [0,1] 0.9992736749909209 Centerline is valid? [True, True] Translation: X:84.94, Y:0.76, Z:0.32 [[ 9.99947074e-01 -5.86545675e-03 -8.45260499e-03 8.49365657e+01] [ 5.86165293e-03 9.99982708e-01 -4.74721397e-04 7.59102215e-01] [ 8.45524328e-03 4.25150035e-04 9.99964163e-01 3.19781954e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.035336195 meters Centerline goodness [0,1] 0.9930908700783178 Centerline is valid? [True, True] Translation: X:84.96, Y:0.77, Z:0.32 [[ 9.99929759e-01 -7.63325691e-03 -9.06699238e-03 8.49635377e+01] [ 7.62894679e-03 9.99970769e-01 -5.09855630e-04 7.73803953e-01] [ 9.07061921e-03 4.40648215e-04 9.99958764e-01 3.15600913e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.065336195 meters Centerline goodness [0,1] 0.9996337864328645 Centerline is valid? [True, True] Translation: X:84.99, Y:0.77, Z:0.32 [[ 9.99934302e-01 -8.49236844e-03 -7.69878170e-03 8.49932159e+01] [ 8.48927641e-03 9.99963871e-01 -4.34217037e-04 7.69111934e-01] [ 7.70219109e-03 3.68831423e-04 9.99970270e-01 3.19539681e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.09533619499999 meters Centerline goodness [0,1] 0.9996406451476526 Centerline is valid? [True, True] Translation: X:85.02, Y:0.78, Z:0.32 [[ 9.99945020e-01 -9.25625273e-03 -4.92726100e-03 8.50209968e+01] [ 9.25499467e-03 9.99957133e-01 -2.78066935e-04 7.78827653e-01] [ 4.92962364e-03 2.32449873e-04 9.99987822e-01 3.22868319e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.12533619499999 meters Centerline goodness [0,1] 0.9996406451476526 Centerline is valid? [True, True] Translation: X:85.05, Y:0.78, Z:0.32 [[ 9.99943304e-01 -9.43987173e-03 -4.92719975e-03 8.50484983e+01] [ 9.43861056e-03 9.99955416e-01 -2.79150778e-04 7.80540926e-01] [ 4.92961522e-03 2.32629031e-04 9.99987822e-01 3.22832110e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.15533619499999 meters Centerline goodness [0,1] 0.9997227021607901 Centerline is valid? [True, True] Translation: X:85.08, Y:0.78, Z:0.32 [[ 9.99942774e-01 -9.58747395e-03 -4.74658182e-03 8.50765360e+01] [ 9.58630092e-03 9.99954014e-01 -2.69821424e-04 7.81548811e-01] [ 4.74895045e-03 2.24303822e-04 9.99988699e-01 3.23231331e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.18533619499999 meters Centerline goodness [0,1] 0.9997010846357502 Centerline is valid? [True, True] Translation: X:85.10, Y:0.79, Z:0.32 [[ 9.99933526e-01 -1.08795693e-02 -3.81811218e-03 8.51040508e+01] [ 1.08788194e-02 9.99940800e-01 -2.17143052e-04 7.86164227e-01] [ 3.82024857e-03 1.75592065e-04 9.99992687e-01 3.24026357e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.21533619499999 meters Centerline goodness [0,1] 0.9997883463500328 Centerline is valid? [True, True] Translation: X:85.13, Y:0.79, Z:0.33 [[ 9.99923308e-01 -1.20819350e-02 -2.72130211e-03 8.51332881e+01] [ 1.20815570e-02 9.99927003e-01 -1.55315630e-04 7.88210395e-01] [ 2.72297998e-03 1.22426152e-04 9.99996285e-01 3.25252168e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.245336195 meters Centerline goodness [0,1] 0.9999144842330304 Centerline is valid? [True, True] Translation: X:85.16, Y:0.78, Z:0.33 [[ 9.99882232e-01 -1.53432661e-02 -3.26932625e-04 8.51635562e+01] [ 1.53432608e-02 9.99882285e-01 -1.86756650e-05 7.82154882e-01] [ 3.27180686e-04 1.36572531e-05 9.99999946e-01 3.28139285e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.275336195 meters Centerline goodness [0,1] 0.9997886371322287 Centerline is valid? [True, True] Translation: X:85.19, Y:0.79, Z:0.32 [[ 9.99803089e-01 -1.97530035e-02 -1.89811272e-03 8.51929335e+01] [ 1.97528334e-02 9.99804888e-01 -1.08290416e-04 7.91146999e-01] [ 1.89988144e-03 7.07759876e-05 9.99998193e-01 3.23868232e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.305336195 meters Centerline goodness [0,1] 0.9999148356327713 Centerline is valid? [True, True] Translation: X:85.22, Y:0.79, Z:0.32 [[ 9.99762268e-01 -2.13642916e-02 -4.35604492e-03 8.52222612e+01] [ 2.13634075e-02 9.99771745e-01 -2.49389674e-04 7.87422571e-01] [ 4.36037867e-03 1.56270423e-04 9.99990481e-01 3.19299936e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.335336195 meters Centerline goodness [0,1] 0.9999360750053271 Centerline is valid? [True, True] Translation: X:85.25, Y:0.79, Z:0.31 [[ 9.99723389e-01 -2.24089517e-02 -7.14029369e-03 8.52515562e+01] [ 2.24065955e-02 9.99748857e-01 -4.09820684e-04 7.86992082e-01] [ 7.14768410e-03 2.49717651e-04 9.99974424e-01 3.13985455e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.365336195 meters Centerline goodness [0,1] 0.999807573068782 Centerline is valid? [True, True] Translation: X:85.28, Y:0.78, Z:0.31 [[ 9.99697424e-01 -2.22733929e-02 -1.04382540e-02 8.52803354e+01] [ 2.22683329e-02 9.99751849e-01 -6.00746346e-04 7.83167264e-01] [ 1.04490444e-02 3.68122060e-04 9.99945339e-01 3.10037270e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.395336195 meters Centerline goodness [0,1] 0.9998091036355152 Centerline is valid? [True, True] Translation: X:85.31, Y:0.79, Z:0.31 [[ 9.99719309e-01 -2.14523854e-02 -1.00548173e-02 8.53077440e+01] [ 2.14476408e-02 9.99769805e-01 -5.79475702e-04 7.88514936e-01] [ 1.00649338e-02 3.63660938e-04 9.99949281e-01 3.10481308e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.425336195 meters Centerline goodness [0,1] 0.9997851403033818 Centerline is valid? [True, True] Translation: X:85.34, Y:0.80, Z:0.31 [[ 9.99791766e-01 -1.84086949e-02 -8.80595230e-03 8.53365886e+01] [ 1.84049356e-02 9.99830486e-01 -5.07757265e-04 7.96993310e-01] [ 8.81380672e-03 3.45578547e-04 9.99961098e-01 3.13672688e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.45533619499999 meters Centerline goodness [0,1] 0.9990461858030055 Centerline is valid? [True, True] Translation: X:85.36, Y:0.81, Z:0.31 [[ 9.99824131e-01 -1.66262420e-02 -8.67608453e-03 8.53644990e+01] [ 1.66225232e-02 9.99861711e-01 -5.00574448e-04 8.12001868e-01] [ 8.68320739e-03 3.56267997e-04 9.99962237e-01 3.11042767e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.48533619499999 meters Centerline goodness [0,1] 0.9995107319874917 Centerline is valid? [True, True] Translation: X:85.39, Y:0.82, Z:0.31 [[ 9.99907690e-01 -1.16013676e-02 -7.07253000e-03 8.53948111e+01] [ 1.15987712e-02 9.99932649e-01 -4.08018829e-04 8.18025150e-01] [ 7.07678724e-03 3.25948507e-04 9.99974906e-01 3.13376326e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.51533619499999 meters Centerline goodness [0,1] 0.9991750745605685 Centerline is valid? [True, True] Translation: X:85.42, Y:0.82, Z:0.32 [[ 9.99961854e-01 -6.67795333e-03 -5.62981610e-03 8.54239218e+01] [ 6.67623019e-03 9.99977661e-01 -3.24811459e-04 8.24853056e-01] [ 5.63185942e-03 2.87213121e-04 9.99984100e-01 3.16868855e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.54533619499999 meters Centerline goodness [0,1] 0.9994843478074039 Centerline is valid? [True, True] Translation: X:85.45, Y:0.82, Z:0.32 [[ 9.99967597e-01 -5.75657697e-03 -5.62741136e-03 8.54530810e+01] [ 5.75483439e-03 9.99983388e-01 -3.25804039e-04 8.24904981e-01] [ 5.62919339e-03 2.93408662e-04 9.99984113e-01 3.17565019e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.57533619499999 meters Centerline goodness [0,1] 0.9995911428632911 Centerline is valid? [True, True] Translation: X:85.48, Y:0.83, Z:0.32 [[ 9.99968712e-01 -6.45693538e-03 -4.56980412e-03 8.54817825e+01] [ 6.45578992e-03 9.99979126e-01 -2.65364095e-04 8.28739934e-01] [ 4.57142216e-03 2.35854097e-04 9.99989523e-01 3.18905323e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.60533619499999 meters Centerline goodness [0,1] 0.9977129788450543 Centerline is valid? [True, True] Translation: X:85.51, Y:0.84, Z:0.32 [[ 9.99963571e-01 -7.45381820e-03 -4.15896554e-03 8.55085452e+01] [ 7.45287754e-03 9.99972198e-01 -2.41629430e-04 8.42225881e-01] [ 4.16065098e-03 2.10624367e-04 9.99991322e-01 3.17943082e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.635336195 meters Centerline goodness [0,1] 0.9994264349747206 Centerline is valid? [True, True] Translation: X:85.54, Y:0.84, Z:0.31 [[ 9.99935632e-01 -1.02538518e-02 -4.85689747e-03 8.55384036e+01] [ 1.02526016e-02 9.99947401e-01 -2.82229727e-04 8.37782896e-01] [ 4.85953594e-03 2.32415726e-04 9.99988165e-01 3.14641626e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.665336195 meters Centerline goodness [0,1] 0.9995330673232024 Centerline is valid? [True, True] Translation: X:85.57, Y:0.84, Z:0.31 [[ 9.99915125e-01 -1.15909156e-02 -5.94925187e-03 8.55670487e+01] [ 1.15890616e-02 9.99932785e-01 -3.46002946e-04 8.36262097e-01] [ 5.95286248e-03 2.77027332e-04 9.99982243e-01 3.13072171e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.695336195 meters Centerline goodness [0,1] 0.9995544711997454 Centerline is valid? [True, True] Translation: X:85.60, Y:0.83, Z:0.31 [[ 9.99881593e-01 -1.41304571e-02 -6.09352536e-03 8.55963673e+01] [ 1.41285585e-02 9.99900124e-01 -3.54502014e-04 8.32365990e-01] [ 6.09792604e-03 2.68367308e-04 9.99981371e-01 3.13606852e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.725336195 meters Centerline goodness [0,1] 0.9997023176695726 Centerline is valid? [True, True] Translation: X:85.63, Y:0.83, Z:0.32 [[ 9.99863523e-01 -1.54023576e-02 -5.97517615e-03 8.56252365e+01] [ 1.54005479e-02 9.99881344e-01 -3.48771593e-04 8.26943054e-01] [ 5.97983907e-03 2.56703007e-04 9.99982088e-01 3.15410456e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.755336195 meters Centerline goodness [0,1] 0.999744838291267 Centerline is valid? [True, True] Translation: X:85.65, Y:0.83, Z:0.31 [[ 9.99833501e-01 -1.69972260e-02 -6.63817794e-03 8.56529234e+01] [ 1.69950260e-02 9.99855499e-01 -3.87699869e-04 8.33412214e-01] [ 6.64380854e-03 2.74819311e-04 9.99977892e-01 3.13289402e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.785336195 meters Centerline goodness [0,1] 0.9997458650119655 Centerline is valid? [True, True] Translation: X:85.68, Y:0.84, Z:0.32 [[ 9.99830166e-01 -1.78013104e-02 -4.76995311e-03 8.56802673e+01] [ 1.78001822e-02 9.99841525e-01 -2.78879795e-04 8.38688568e-01] [ 4.77416162e-03 1.93926397e-04 9.99988585e-01 3.15260265e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.815336195 meters Centerline goodness [0,1] 0.9997667613756838 Centerline is valid? [True, True] Translation: X:85.71, Y:0.84, Z:0.32 [[ 9.99820040e-01 -1.86562309e-02 -3.43997325e-03 8.57092637e+01] [ 1.86556467e-02 9.99825948e-01 -2.01835410e-04 8.35244492e-01] [ 3.44314001e-03 1.37624161e-04 9.99994063e-01 3.18298474e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.84533619499999 meters Centerline goodness [0,1] 0.9998936554863135 Centerline is valid? [True, True] Translation: X:85.74, Y:0.83, Z:0.32 [[ 9.99768828e-01 -2.10584191e-02 -4.33965001e-03 8.57395874e+01] [ 2.10575129e-02 9.99778234e-01 -2.54421158e-04 8.28759498e-01] [ 4.34404533e-03 1.62980107e-04 9.99990551e-01 3.18347147e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.87533619499999 meters Centerline goodness [0,1] 0.9998501872659176 Centerline is valid? [True, True] Translation: X:85.77, Y:0.83, Z:0.31 [[ 9.99733766e-01 -2.22708413e-02 -6.03381064e-03 8.57685666e+01] [ 2.22691041e-02 9.99751950e-01 -3.54935699e-04 8.29222230e-01] [ 6.04021866e-03 2.20473646e-04 9.99981733e-01 3.14945291e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.90533619499999 meters Centerline goodness [0,1] 0.999872397439442 Centerline is valid? [True, True] Translation: X:85.80, Y:0.83, Z:0.31 [[ 9.99692203e-01 -2.39076033e-02 -6.62762510e-03 8.57969281e+01] [ 2.39055364e-02 9.99714145e-01 -3.90923652e-04 8.31466248e-01] [ 6.63507662e-03 2.32366394e-04 9.99977961e-01 3.10567646e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.93533619499999 meters Centerline goodness [0,1] 0.999957373345553 Centerline is valid? [True, True] Translation: X:85.83, Y:0.83, Z:0.31 [[ 9.99680186e-01 -2.46382711e-02 -5.69923161e-03 8.58257260e+01] [ 2.46367491e-02 9.99696412e-01 -3.37116525e-04 8.30764961e-01] [ 5.70580736e-03 1.96598172e-04 9.99983702e-01 3.11419726e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.96533619499999 meters Centerline goodness [0,1] 0.9998495658901401 Centerline is valid? [True, True] Translation: X:85.86, Y:0.82, Z:0.32 [[ 9.99665486e-01 -2.54787664e-02 -4.44389805e-03 8.58551569e+01] [ 2.54778458e-02 9.99675352e-01 -2.63669191e-04 8.19281374e-01] [ 4.44917331e-03 1.50360041e-04 9.99990091e-01 3.15954797e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.995336195 meters Centerline goodness [0,1] 0.9999362190662471 Centerline is valid? [True, True] Translation: X:85.88, Y:0.82, Z:0.32 [[ 9.99691166e-01 -2.43345598e-02 -5.04011394e-03 8.58823795e+01] [ 2.43333588e-02 9.99703855e-01 -2.99482491e-04 8.23709883e-01] [ 5.04590911e-03 1.76747099e-04 9.99987254e-01 3.15262677e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.025336195 meters Centerline goodness [0,1] 0.999935747788653 Centerline is valid? [True, True] Translation: X:85.91, Y:0.83, Z:0.31 [[ 9.99711962e-01 -2.34614977e-02 -5.05491024e-03 8.59114093e+01] [ 2.34602740e-02 9.99724725e-01 -3.01250673e-04 8.28320311e-01] [ 5.06058654e-03 1.82574322e-04 9.99987178e-01 3.14458940e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.055336195 meters Centerline goodness [0,1] 0.9998710370768404 Centerline is valid? [True, True] Translation: X:85.94, Y:0.84, Z:0.31 [[ 9.99781563e-01 -2.00213933e-02 -5.99752126e-03 8.59413857e+01] [ 2.00196099e-02 9.99799524e-01 -3.57258725e-04 8.35875736e-01] [ 6.00347171e-03 2.37112651e-04 9.99981951e-01 3.11195001e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.085336195 meters Centerline goodness [0,1] 0.9993601092080285 Centerline is valid? [True, True] Translation: X:85.97, Y:0.84, Z:0.31 [[ 9.99821896e-01 -1.74673800e-02 -7.14613707e-03 8.59699647e+01] [ 1.74647826e-02 9.99847388e-01 -4.25717506e-04 8.40377362e-01] [ 7.15248266e-03 3.00835954e-04 9.99974375e-01 3.08391455e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.115336195 meters Centerline goodness [0,1] 0.9968983684568321 Centerline is valid? [True, True] Translation: X:86.00, Y:0.84, Z:0.31 [[ 9.99877837e-01 -1.34260892e-02 -8.00317223e-03 8.59992509e+01] [ 1.34227014e-02 9.99909798e-01 -4.76879182e-04 8.43190910e-01] [ 8.00885295e-03 3.69396734e-04 9.99967860e-01 3.08290687e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.145336195 meters Centerline goodness [0,1] 0.9981307220086242 Centerline is valid? [True, True] Translation: X:86.03, Y:0.84, Z:0.31 [[ 9.99927622e-01 -1.02847784e-02 -6.24295553e-03 8.60295380e+01] [ 1.02826554e-02 9.99947063e-01 -3.72066875e-04 8.44867366e-01] [ 6.24645167e-03 3.07845786e-04 9.99980443e-01 3.13342834e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.175336195 meters Centerline goodness [0,1] 0.9982148928935736 Centerline is valid? [True, True] Translation: X:86.06, Y:0.85, Z:0.31 [[ 9.99942654e-01 -8.39263823e-03 -6.65219747e-03 8.60585133e+01] [ 8.39018426e-03 9.99964723e-01 -3.96717086e-04 8.48726678e-01] [ 6.65529230e-03 3.40881173e-04 9.99977795e-01 3.12280101e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.20533619499999 meters Centerline goodness [0,1] 0.9905765203641181 Centerline is valid? [True, True] Translation: X:86.09, Y:0.86, Z:0.31 [[ 9.99945878e-01 -6.89671150e-03 -7.78950191e-03 8.60863521e+01] [ 6.89329939e-03 9.99976133e-01 -4.64803302e-04 8.60420134e-01] [ 7.79252161e-03 4.11082777e-04 9.99969553e-01 3.08046099e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.23533619499999 meters Centerline goodness [0,1] 0.992091069943934 Centerline is valid? [True, True] Translation: X:86.12, Y:0.86, Z:0.30 [[ 9.99934071e-01 -6.47137898e-03 -9.48555668e-03 8.61153843e+01] [ 6.46628419e-03 9.99978932e-01 -5.67681723e-04 8.61237525e-01] [ 9.48903052e-03 5.06307991e-04 9.99954850e-01 3.04199771e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.26533619499999 meters Centerline goodness [0,1] 0.997108474720415 Centerline is valid? [True, True] Translation: X:86.14, Y:0.85, Z:0.31 [[ 9.99947874e-01 -6.93504193e-03 -7.49363343e-03 8.61445330e+01] [ 6.93186579e-03 9.99975873e-01 -4.49736134e-04 8.54192322e-01] [ 7.49657157e-03 3.97767830e-04 9.99971821e-01 3.10107117e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.29533619499999 meters Centerline goodness [0,1] 0.9972706499661476 Centerline is valid? [True, True] Translation: X:86.17, Y:0.85, Z:0.31 [[ 9.99956327e-01 -7.05340948e-03 -6.13142688e-03 8.61721157e+01] [ 7.05128263e-03 9.99975072e-01 -3.68425040e-04 8.52890378e-01] [ 6.13387268e-03 3.25174526e-04 9.99981135e-01 3.14402226e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.32533619499999 meters Centerline goodness [0,1] 0.9987844667647623 Centerline is valid? [True, True] Translation: X:86.20, Y:0.85, Z:0.32 [[ 9.99955486e-01 -7.52219432e-03 -5.69580805e-03 8.62007062e+01] [ 7.52036061e-03 9.99971663e-01 -3.43290719e-04 8.52015898e-01] [ 5.69822895e-03 3.00440907e-04 9.99983720e-01 3.17455630e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.35533619499999 meters Centerline goodness [0,1] 0.9981960950764007 Centerline is valid? [True, True] Translation: X:86.23, Y:0.86, Z:0.32 [[ 9.99953090e-01 -7.64068728e-03 -5.95293460e-03 8.62278821e+01] [ 7.63868418e-03 9.99970760e-01 -3.59152155e-04 8.57815392e-01] [ 5.95550471e-03 3.13662720e-04 9.99982217e-01 3.15598329e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.385336195 meters Centerline goodness [0,1] 0.9979658000127137 Centerline is valid? [True, True] Translation: X:86.26, Y:0.86, Z:0.31 [[ 9.99953082e-01 -8.10886954e-03 -5.29900877e-03 8.62566156e+01] [ 8.10728377e-03 9.99967084e-01 -3.20671585e-04 8.60631668e-01] [ 5.30143463e-03 2.77695972e-04 9.99985909e-01 3.14244222e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.415336195 meters Centerline goodness [0,1] 0.998554114395067 Centerline is valid? [True, True] Translation: X:86.29, Y:0.86, Z:0.31 [[ 9.99944977e-01 -9.62559218e-03 -4.17017415e-03 8.62853203e+01] [ 9.62462313e-03 9.99953650e-01 -2.52381924e-04 8.59733676e-01] [ 4.17241019e-03 2.12231683e-04 9.99991273e-01 3.14830991e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.445336195 meters Centerline goodness [0,1] 0.9994902402242943 Centerline is valid? [True, True] Translation: X:86.31, Y:0.85, Z:0.31 [[ 9.99931441e-01 -1.08064099e-02 -4.50932078e-03 8.63147635e+01] [ 1.08052848e-02 9.99941584e-01 -2.73788387e-04 8.54282095e-01] [ 4.51201603e-03 2.25045122e-04 9.99989795e-01 3.14904734e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.475336195 meters Centerline goodness [0,1] 0.9991264700869269 Centerline is valid? [True, True] Translation: X:86.34, Y:0.85, Z:0.31 [[ 9.99877500e-01 -1.43869752e-02 -6.16433525e-03 8.63440685e+01] [ 1.43849417e-02 9.99896461e-01 -3.74097506e-04 8.53568540e-01] [ 6.16907913e-03 2.85378076e-04 9.99980930e-01 3.12917500e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.505336195 meters Centerline goodness [0,1] 0.9990480018616853 Centerline is valid? [True, True] Translation: X:86.37, Y:0.85, Z:0.31 [[ 9.99851128e-01 -1.56326802e-02 -7.30355713e-03 8.63732655e+01] [ 1.56298488e-02 9.99877748e-01 -4.44594635e-04 8.53788644e-01] [ 7.30961446e-03 3.30374954e-04 9.99973230e-01 3.11473744e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.535336195 meters Centerline goodness [0,1] 0.9976425613252629 Centerline is valid? [True, True] Translation: X:86.40, Y:0.85, Z:0.31 [[ 9.99793473e-01 -1.76974264e-02 -9.99056966e-03 8.64014474e+01] [ 1.76922276e-02 9.99843295e-01 -6.08519842e-04 8.53242836e-01] [ 9.99977332e-03 4.31638735e-04 9.99949908e-01 3.06924277e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.565336195 meters Centerline goodness [0,1] 0.9996779042301911 Centerline is valid? [True, True] Translation: X:86.43, Y:0.84, Z:0.31 [[ 9.99774820e-01 -1.88126949e-02 -9.81796538e-03 8.64311972e+01] [ 1.88077100e-02 9.99822939e-01 -5.99823214e-04 8.42289580e-01] [ 9.82751130e-03 4.15034700e-04 9.99951623e-01 3.10521762e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.59533619499999 meters Centerline goodness [0,1] 0.9993788819875776 Centerline is valid? [True, True] Translation: X:86.46, Y:0.85, Z:0.31 [[ 9.99790518e-01 -1.89537879e-02 -7.72495394e-03 8.64582609e+01] [ 1.89507032e-02 9.99820308e-01 -4.72320128e-04 8.51018817e-01] [ 7.73251808e-03 3.25827876e-04 9.99970051e-01 3.12450129e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.62533619499999 meters Centerline goodness [0,1] 0.9997029051630838 Centerline is valid? [True, True] Translation: X:86.49, Y:0.85, Z:0.31 [[ 9.99799048e-01 -1.84643248e-02 -7.80595081e-03 8.64866130e+01] [ 1.84611547e-02 9.99829464e-01 -4.77986384e-04 8.52938391e-01] [ 7.81344531e-03 3.33783466e-04 9.99969419e-01 3.12535719e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.65533619499999 meters Centerline goodness [0,1] 0.9992512247823203 Centerline is valid? [True, True] Translation: X:86.52, Y:0.85, Z:0.31 [[ 9.99796047e-01 -1.77379758e-02 -9.65553104e-03 8.65152157e+01] [ 1.77330757e-02 9.99842581e-01 -5.92873988e-04 8.54953849e-01] [ 9.66452746e-03 4.21530806e-04 9.99953209e-01 3.09687004e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.68533619499999 meters Centerline goodness [0,1] 0.9989481141188846 Centerline is valid? [True, True] Translation: X:86.54, Y:0.86, Z:0.31 [[ 9.99812655e-01 -1.67075056e-02 -9.77309652e-03 8.65438801e+01] [ 1.67024207e-02 9.99860324e-01 -6.01688145e-04 8.56034906e-01] [ 9.78178416e-03 4.38341052e-04 9.99952061e-01 3.09971047e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.71533619499999 meters Centerline goodness [0,1] 0.9991088100492276 Centerline is valid? [True, True] Translation: X:86.57, Y:0.86, Z:0.31 [[ 9.99839247e-01 -1.55752851e-02 -8.88200115e-03 8.65723804e+01] [ 1.55710276e-02 9.99878614e-01 -5.48300186e-04 8.58658828e-01] [ 8.88946293e-03 4.09910161e-04 9.99960404e-01 3.11899979e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.745336195 meters Centerline goodness [0,1] 0.9989963912792809 Centerline is valid? [True, True] Translation: X:86.60, Y:0.86, Z:0.32 [[ 9.99888849e-01 -1.33450226e-02 -6.64826475e-03 8.66010726e+01] [ 1.33425873e-02 9.99910899e-01 -4.10524395e-04 8.64328544e-01] [ 6.65315085e-03 3.21773712e-04 9.99977816e-01 3.16607501e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.775336195 meters Centerline goodness [0,1] 0.9962232302985548 Centerline is valid? [True, True] Translation: X:86.63, Y:0.87, Z:0.32 [[ 9.99904329e-01 -1.26629208e-02 -5.56620578e-03 8.66280867e+01] [ 1.26612012e-02 9.99919785e-01 -3.44066132e-04 8.74214639e-01] [ 5.57011616e-03 2.73558363e-04 9.99984449e-01 3.18251409e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.805336195 meters Centerline goodness [0,1] 0.9977168467116251 Centerline is valid? [True, True] Translation: X:86.66, Y:0.87, Z:0.32 [[ 9.99916663e-01 -1.18286365e-02 -5.17203718e-03 8.66569415e+01] [ 1.18271357e-02 9.99930006e-01 -3.20656558e-04 8.74079093e-01] [ 5.17546810e-03 2.59459449e-04 9.99986574e-01 3.20100165e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.835336195 meters Centerline goodness [0,1] 0.9978478288390935 Centerline is valid? [True, True] Translation: X:86.69, Y:0.87, Z:0.32 [[ 9.99920279e-01 -1.13674724e-02 -5.49684264e-03 8.66853570e+01] [ 1.13657682e-02 9.99935349e-01 -3.41166964e-04 8.74882107e-01] [ 5.50036547e-03 2.78663927e-04 9.99984834e-01 3.19425416e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.865336195 meters Centerline goodness [0,1] 0.9951797507060497 Centerline is valid? [True, True] Translation: X:86.71, Y:0.88, Z:0.32 [[ 9.99913855e-01 -1.13335602e-02 -6.62070231e-03 8.67126390e+01] [ 1.13310852e-02 9.99935717e-01 -4.11232696e-04 8.80029803e-01] [ 6.62493744e-03 3.36177529e-04 9.99977998e-01 3.16404513e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.895336195 meters Centerline goodness [0,1] 0.9981808064378049 Centerline is valid? [True, True] Translation: X:86.74, Y:0.88, Z:0.32 [[ 9.99903527e-01 -1.18834145e-02 -7.19172446e-03 8.67422746e+01] [ 1.18804996e-02 9.99929324e-01 -4.47897606e-04 8.76950039e-01] [ 7.19653873e-03 3.62413116e-04 9.99974039e-01 3.15896761e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.925336195 meters Centerline goodness [0,1] 0.998622005511978 Centerline is valid? [True, True] Translation: X:86.77, Y:0.88, Z:0.32 [[ 9.99883159e-01 -1.33027689e-02 -7.53029853e-03 8.67714471e+01] [ 1.32996117e-02 9.99911446e-01 -4.69185796e-04 8.76052117e-01] [ 7.53587316e-03 3.68980930e-04 9.99971537e-01 3.15990369e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.95533619499999 meters Centerline goodness [0,1] 0.9970272221514418 Centerline is valid? [True, True] Translation: X:86.80, Y:0.88, Z:0.32 [[ 9.99873174e-01 -1.37741827e-02 -7.99422920e-03 8.67994892e+01] [ 1.37706357e-02 9.99905056e-01 -4.98561918e-04 8.79606021e-01] [ 8.00033748e-03 3.88413069e-04 9.99967921e-01 3.15149599e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.98533619499999 meters Centerline goodness [0,1] 0.997253916893733 Centerline is valid? [True, True] Translation: X:86.83, Y:0.88, Z:0.31 [[ 9.99848766e-01 -1.43833120e-02 -9.77572785e-03 8.68278704e+01] [ 1.43780179e-02 9.99896444e-01 -6.11623651e-04 8.82132665e-01] [ 9.78351269e-03 4.70975563e-04 9.99952029e-01 3.12502189e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.01533619499999 meters Centerline goodness [0,1] 0.99218002932489 Centerline is valid? [True, True] Translation: X:86.86, Y:0.89, Z:0.31 [[ 9.99837301e-01 -1.47081591e-02 -1.04423037e-02 8.68555512e+01] [ 1.47021317e-02 9.99891704e-01 -6.53745010e-04 8.88538643e-01] [ 1.04507882e-02 5.00114522e-04 9.99945264e-01 3.09962810e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.04533619499999 meters Centerline goodness [0,1] 0.99218002932489 Centerline is valid? [True, True] Translation: X:86.88, Y:0.89, Z:0.31 [[ 9.99834658e-01 -1.48868388e-02 -1.04421768e-02 8.68830433e+01] [ 1.48808000e-02 9.99889060e-01 -6.55770341e-04 8.90431405e-01] [ 1.04507806e-02 5.00273970e-04 9.99945264e-01 3.09926600e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.07533619499999 meters Centerline goodness [0,1] 0.9965868851060199 Centerline is valid? [True, True] Translation: X:86.91, Y:0.89, Z:0.31 [[ 9.99818766e-01 -1.59230346e-02 -1.04351069e-02 8.69121862e+01] [ 1.59170431e-02 9.99873100e-01 -6.56970313e-04 8.88565168e-01] [ 1.04442436e-02 4.90755202e-04 9.99945337e-01 3.11076202e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.10533619499999 meters Centerline goodness [0,1] 0.9978891593253926 Centerline is valid? [True, True] Translation: X:86.94, Y:0.89, Z:0.31 [[ 9.99796086e-01 -1.72098103e-02 -1.05645317e-02 8.69417055e+01] [ 1.72037244e-02 9.99851783e-01 -6.66679957e-04 8.88198934e-01] [ 1.05744393e-02 4.84794720e-04 9.99943972e-01 3.12072016e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.135336195 meters Centerline goodness [0,1] 0.9988734190668509 Centerline is valid? [True, True] Translation: X:86.97, Y:0.89, Z:0.31 [[ 9.99728906e-01 -2.10906704e-02 -9.86398590e-03 8.69714842e+01] [ 2.10855538e-02 9.99777481e-01 -6.22442408e-04 8.87270215e-01] [ 9.87491871e-03 4.14286063e-04 9.99951156e-01 3.12630544e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.165336195 meters Centerline goodness [0,1] 0.999805451676358 Centerline is valid? [True, True] Translation: X:87.00, Y:0.88, Z:0.32 [[ 9.99668460e-01 -2.47952754e-02 -6.94002228e-03 8.70026934e+01] [ 2.47928316e-02 9.99692515e-01 -4.37952788e-04 8.83431454e-01] [ 6.94874748e-03 2.65744785e-04 9.99975822e-01 3.17908937e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.195336195 meters Centerline goodness [0,1] 0.9998928096728551 Centerline is valid? [True, True] Translation: X:87.03, Y:0.89, Z:0.32 [[ 9.99660172e-01 -2.54821682e-02 -5.49534513e-03 8.70311113e+01] [ 2.54806402e-02 9.99675255e-01 -3.47894000e-04 8.85530737e-01] [ 5.50242564e-03 2.07750864e-04 9.99984840e-01 3.20183024e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.225336195 meters Centerline goodness [0,1] 0.9996625611607896 Centerline is valid? [True, True] Translation: X:87.06, Y:0.89, Z:0.32 [[ 9.99617932e-01 -2.71649073e-02 -5.10463979e-03 8.70585927e+01] [ 2.71636099e-02 9.99630949e-01 -3.23333804e-04 8.88851677e-01] [ 5.11153925e-03 1.84549825e-04 9.99986919e-01 3.19726499e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.255336195 meters Centerline goodness [0,1] 0.9997663948352021 Centerline is valid? [True, True] Translation: X:87.09, Y:0.89, Z:0.32 [[ 9.99572353e-01 -2.87802375e-02 -5.17768577e-03 8.70873044e+01] [ 2.87789232e-02 9.99585747e-01 -3.28173343e-04 8.86676941e-01] [ 5.18498580e-03 1.79024779e-04 9.99986542e-01 3.19492960e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.285336195 meters Centerline goodness [0,1] 0.9998929679974312 Centerline is valid? [True, True] Translation: X:87.12, Y:0.88, Z:0.32 [[ 9.99462097e-01 -3.24245123e-02 -4.91596696e-03 8.71176507e+01] [ 3.24233711e-02 9.99474176e-01 -3.11679492e-04 8.83294446e-01] [ 4.92348808e-03 1.52119618e-04 9.99987868e-01 3.19132726e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.315336195 meters Centerline goodness [0,1] 0.9999357656731758 Centerline is valid? [True, True] Translation: X:87.15, Y:0.88, Z:0.32 [[ 9.99397719e-01 -3.42415923e-02 -5.63145000e-03 8.71474176e+01] [ 3.42401176e-02 9.99413571e-01 -3.58089139e-04 8.76347768e-01] [ 5.64040909e-03 1.65051959e-04 9.99984079e-01 3.19525184e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.34533619499999 meters Centerline goodness [0,1] 0.9999365602994353 Centerline is valid? [True, True] Translation: X:87.18, Y:0.87, Z:0.31 [[ 9.99283890e-01 -3.69335992e-02 -8.22292816e-03 8.71755945e+01] [ 3.69305438e-02 9.99317698e-01 -5.23145157e-04 8.74448148e-01] [ 8.23663927e-03 2.19093319e-04 9.99966054e-01 3.14896431e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.37533619499999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.21, Y:0.87, Z:0.31 [[ 9.99189315e-01 -3.92956476e-02 -8.75014976e-03 8.72051718e+01] [ 3.92922650e-02 9.99227605e-01 -5.58214382e-04 8.68512056e-01] [ 8.76532658e-03 2.13948643e-04 9.99961561e-01 3.14176467e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.40533619499999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.23, Y:0.87, Z:0.31 [[ 9.99154498e-01 -4.03128110e-02 -8.07251130e-03 8.72331025e+01] [ 4.03099624e-02 9.99187090e-01 -5.15344337e-04 8.68569573e-01] [ 8.08672406e-03 1.89505986e-04 9.99967284e-01 3.14175325e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.43533619499999 meters Centerline goodness [0,1] 0.9999575064802617 Centerline is valid? [True, True] Translation: X:87.26, Y:0.87, Z:0.32 [[ 9.99139879e-01 -4.08424300e-02 -7.16921126e-03 8.72621156e+01] [ 4.08401873e-02 9.99165586e-01 -4.59002097e-04 8.66575658e-01] [ 7.18197593e-03 1.65815369e-04 9.99974196e-01 3.15788031e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.46533619499999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.29, Y:0.87, Z:0.32 [[ 9.99168561e-01 -4.02282188e-02 -6.62403593e-03 8.72910262e+01] [ 4.02262831e-02 9.99190505e-01 -4.25248213e-04 8.65754158e-01] [ 6.63578079e-03 1.58434300e-04 9.99977970e-01 3.17613911e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.495336195 meters Centerline goodness [0,1] 0.9999362976175309 Centerline is valid? [True, True] Translation: X:87.32, Y:0.87, Z:0.32 [[ 9.99297160e-01 -3.70107048e-02 -5.94930548e-03 8.73192497e+01] [ 3.70090860e-02 9.99314856e-01 -3.81994478e-04 8.72562524e-01] [ 5.95936724e-03 1.61547638e-04 9.99982230e-01 3.18142410e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.525336195 meters Centerline goodness [0,1] 0.9999574829931973 Centerline is valid? [True, True] Translation: X:87.35, Y:0.88, Z:0.32 [[ 9.99366394e-01 -3.49395866e-02 -6.78502585e-03 8.73482193e+01] [ 3.49374319e-02 9.99389407e-01 -4.35880508e-04 8.76050166e-01] [ 6.79611245e-03 1.98552953e-04 9.99976886e-01 3.16764488e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.555336195 meters Centerline goodness [0,1] 0.9999786598378148 Centerline is valid? [True, True] Translation: X:87.38, Y:0.87, Z:0.32 [[ 9.99483371e-01 -3.15243883e-02 -6.26123738e-03 8.73775013e+01] [ 3.15224850e-02 9.99502962e-01 -4.02459620e-04 8.74462132e-01] [ 6.27081260e-03 2.04881936e-04 9.99980317e-01 3.18705638e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.585336195 meters Centerline goodness [0,1] 0.9999155084280343 Centerline is valid? [True, True] Translation: X:87.40, Y:0.88, Z:0.32 [[ 9.99523554e-01 -3.04396177e-02 -5.10837176e-03 8.74046814e+01] [ 3.04383334e-02 9.99536592e-01 -3.28979536e-04 8.79571136e-01] [ 5.11601852e-03 1.73332472e-04 9.99986898e-01 3.20409564e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.615336195 meters Centerline goodness [0,1] 0.9999364958404775 Centerline is valid? [True, True] Translation: X:87.43, Y:0.88, Z:0.32 [[ 9.99520629e-01 -3.04350547e-02 -5.67624523e-03 8.74337660e+01] [ 3.04334634e-02 9.99536728e-01 -3.66531730e-04 8.78176726e-01] [ 5.68477100e-03 1.93608224e-04 9.99983823e-01 3.18053544e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.645336195 meters Centerline goodness [0,1] 0.9998503698003506 Centerline is valid? [True, True] Translation: X:87.46, Y:0.88, Z:0.31 [[ 9.99460792e-01 -3.19587903e-02 -7.53401809e-03 8.74627416e+01] [ 3.19560215e-02 9.99489157e-01 -4.87640901e-04 8.77404065e-01] [ 7.54575381e-03 2.46620717e-04 9.99971500e-01 3.12279305e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.675336195 meters Centerline goodness [0,1] 0.9998723648663022 Centerline is valid? [True, True] Translation: X:87.49, Y:0.88, Z:0.31 [[ 9.99436074e-01 -3.27198387e-02 -7.54621981e-03 8.74921118e+01] [ 3.27170733e-02 9.99464533e-01 -4.89655719e-04 8.76330738e-01] [ 7.55820052e-03 2.42489363e-04 9.99971407e-01 3.11020947e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.70533619499999 meters Centerline goodness [0,1] 0.9999364299033735 Centerline is valid? [True, True] Translation: X:87.52, Y:0.86, Z:0.31 [[ 9.99355559e-01 -3.50540041e-02 -7.72548714e-03 8.75209628e+01] [ 3.50511731e-02 9.99385393e-01 -5.01590068e-04 8.63263769e-01] [ 7.73832175e-03 2.30479436e-04 9.99970032e-01 3.12220725e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.73533619499999 meters Centerline goodness [0,1] 0.9999145755472504 Centerline is valid? [True, True] Translation: X:87.55, Y:0.86, Z:0.31 [[ 9.99308869e-01 -3.62309580e-02 -8.31274558e-03 8.75493490e+01] [ 3.62277170e-02 9.99343415e-01 -5.40183622e-04 8.57947667e-01] [ 8.32685893e-03 2.38658490e-04 9.99965303e-01 3.12844529e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.76533619499999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.58, Y:0.85, Z:0.31 [[ 9.99237211e-01 -3.79032932e-02 -9.39871574e-03 8.75786994e+01] [ 3.78992082e-02 9.99281379e-01 -6.12423123e-04 8.48968331e-01] [ 9.41517448e-03 2.55752089e-04 9.99955644e-01 3.12887906e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.79533619499999 meters Centerline goodness [0,1] 0.9999356954536686 Centerline is valid? [True, True] Translation: X:87.61, Y:0.85, Z:0.31 [[ 9.99226976e-01 -3.80704004e-02 -9.80278488e-03 8.76069340e+01] [ 3.80659463e-02 9.99275024e-01 -6.40623817e-04 8.50336604e-01] [ 9.82006690e-03 2.66976318e-04 9.99951746e-01 3.10176638e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.82533619499999 meters Centerline goodness [0,1] 0.9999361647799813 Centerline is valid? [True, True] Translation: X:87.63, Y:0.85, Z:0.30 [[ 9.99201777e-01 -3.78498452e-02 -1.27749189e-02 8.76342674e+01] [ 3.78422481e-02 9.99283376e-01 -8.35982109e-04 8.53415046e-01] [ 1.27974058e-02 3.51883160e-04 9.99918048e-01 3.00136700e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.85533619499999 meters Centerline goodness [0,1] 0.9999143101970865 Centerline is valid? [True, True] Translation: X:87.66, Y:0.84, Z:0.30 [[ 9.99253477e-01 -3.67924321e-02 -1.17815383e-02 8.76638612e+01] [ 3.67858736e-02 9.99322872e-01 -7.72976395e-04 8.42897767e-01] [ 1.18020004e-02 3.39005171e-04 9.99930297e-01 3.04498752e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.885336195 meters Centerline goodness [0,1] 0.9999363746262009 Centerline is valid? [True, True] Translation: X:87.69, Y:0.84, Z:0.31 [[ 9.99291763e-01 -3.62738296e-02 -1.00090360e-02 8.76918620e+01] [ 3.62690509e-02 9.99341845e-01 -6.58598345e-04 8.37892232e-01] [ 1.00263384e-02 2.95113666e-04 9.99949691e-01 3.09185962e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.915336195 meters Centerline goodness [0,1] 0.9999574504297507 Centerline is valid? [True, True] Translation: X:87.72, Y:0.83, Z:0.31 [[ 9.99342872e-01 -3.51859676e-02 -8.70473569e-03 8.77217854e+01] [ 3.51822995e-02 9.99380746e-01 -5.74199427e-04 8.27216549e-01] [ 8.71954901e-03 2.67569486e-04 9.99961948e-01 3.14713141e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.945336195 meters Centerline goodness [0,1] 0.9999356278431036 Centerline is valid? [True, True] Translation: X:87.75, Y:0.82, Z:0.31 [[ 9.99354983e-01 -3.48959506e-02 -8.47883846e-03 8.77506254e+01] [ 3.48924481e-02 9.99390916e-01 -5.60706664e-04 8.24916913e-01] [ 8.49324052e-03 2.64497567e-04 9.99963897e-01 3.14729400e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.975336195 meters Centerline goodness [0,1] 0.9998709122203098 Centerline is valid? [True, True] Translation: X:87.78, Y:0.83, Z:0.31 [[ 9.99363939e-01 -3.46590928e-02 -8.39435182e-03 8.77795364e+01] [ 3.46556399e-02 9.99399158e-01 -5.56490809e-04 8.26431733e-01] [ 8.40859561e-03 2.65225213e-04 9.99964612e-01 3.12780040e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.005336195 meters Centerline goodness [0,1] 0.9999575650845516 Centerline is valid? [True, True] Translation: X:87.81, Y:0.83, Z:0.31 [[ 9.99391349e-01 -3.37964224e-02 -8.64486482e-03 8.78069418e+01] [ 3.37927239e-02 9.99428698e-01 -5.73573102e-04 8.25975702e-01] [ 8.65931071e-03 2.81090466e-04 9.99962468e-01 3.06752607e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.035336195 meters Centerline goodness [0,1] 0.9999786871270248 Centerline is valid? [True, True] Translation: X:87.84, Y:0.81, Z:0.31 [[ 9.99368387e-01 -3.41662692e-02 -9.77203933e-03 8.78364740e+01] [ 3.41615444e-02 9.99416113e-01 -6.50068501e-04 8.12299249e-01] [ 9.78854397e-03 3.15829955e-04 9.99952041e-01 3.05129417e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.065336195 meters Centerline goodness [0,1] 0.9999135938478819 Centerline is valid? [True, True] Translation: X:87.86, Y:0.80, Z:0.31 [[ 9.99344177e-01 -3.46271644e-02 -1.05913018e-02 8.78645017e+01] [ 3.46216321e-02 9.99400243e-01 -7.05303432e-04 8.02848582e-01] [ 1.06093722e-02 3.38152724e-04 9.99943662e-01 3.06750070e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.09533619499999 meters Centerline goodness [0,1] 0.9998505263607439 Centerline is valid? [True, True] Translation: X:87.89, Y:0.79, Z:0.31 [[ 9.99409949e-01 -3.30228308e-02 -9.44708258e-03 8.78933171e+01] [ 3.30183527e-02 9.99454547e-01 -6.29632622e-04 7.89501110e-01] [ 9.46272190e-03 3.17334001e-04 9.99955177e-01 3.13379311e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.12533619499999 meters Centerline goodness [0,1] 0.9997188885284896 Centerline is valid? [True, True] Translation: X:87.92, Y:0.79, Z:0.31 [[ 9.99501224e-01 -3.03500502e-02 -8.72795850e-03 8.79216682e+01] [ 3.03461238e-02 9.99539281e-01 -5.81978147e-04 7.94379914e-01] [ 8.74160042e-03 3.16828162e-04 9.99961741e-01 3.13557911e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.15533619499999 meters Centerline goodness [0,1] 0.999394267171444 Centerline is valid? [True, True] Translation: X:87.95, Y:0.80, Z:0.31 [[ 9.99690974e-01 -2.31035409e-02 -9.17507442e-03 8.79518767e+01] [ 2.30988976e-02 9.99732998e-01 -6.11732927e-04 8.03121191e-01] [ 9.18675785e-03 3.99609781e-04 9.99957721e-01 3.07287692e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.18533619499999 meters Centerline goodness [0,1] 0.9774609408349697 Centerline is valid? [True, True] Translation: X:87.98, Y:0.82, Z:0.30 [[ 9.99773434e-01 -1.88699805e-02 -9.84908978e-03 8.79802931e+01] [ 1.88644250e-02 9.99821835e-01 -6.56671749e-04 8.16541467e-01] [ 9.85972640e-03 4.70725555e-04 9.99951281e-01 3.01738024e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.21533619499999 meters Centerline goodness [0,1] 0.8752583249888148 Centerline is valid? [True, False] Translation: X:88.00, Y:0.81, Z:0.30 [[ 9.99895190e-01 -1.14057633e-02 -8.91729905e-03 8.79986821e+01] [ 1.13588416e-02 9.99921467e-01 -5.29492585e-03 8.06379405e-01] [ 8.97699142e-03 5.19308070e-03 9.99946221e-01 3.04020312e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.245336195 meters Centerline goodness [0,1] 0.8520570627945485 Centerline is valid? [False, False] Translation: X:88.00, Y:0.80, Z:0.31 [[ 9.99938182e-01 -6.02890224e-03 -9.34260456e-03 8.79983705e+01] [ 6.04193031e-03 9.99980813e-01 1.36688257e-03 7.95419226e-01] [ 9.33418450e-03 -1.42324544e-03 9.99955423e-01 3.06761224e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.275336195 meters Centerline goodness [0,1] 0.7663593289793827 Centerline is valid? [False, False] Translation: X:88.00, Y:0.79, Z:0.31 [[ 9.99948352e-01 -5.01782813e-03 -8.83826209e-03 8.79968839e+01] [ 5.03447455e-03 9.99985593e-01 1.86220814e-03 7.94950798e-01] [ 8.82879051e-03 -1.90660797e-03 9.99959208e-01 3.06258614e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.305336195 meters Centerline goodness [0,1] 0.82004774287054 Centerline is valid? [False, False] Translation: X:88.00, Y:0.80, Z:0.31 [[ 9.99954170e-01 -4.94548165e-03 -8.19756054e-03 8.79951771e+01] [ 4.95543495e-03 9.99987009e-01 1.19431092e-03 7.98924926e-01] [ 8.19154760e-03 -1.23487866e-03 9.99965686e-01 3.05534327e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.335336195 meters Centerline goodness [0,1] 0.7721456587435969 Centerline is valid? [False, False] Translation: X:87.99, Y:0.80, Z:0.31 [[ 9.99972165e-01 -5.66192139e-04 -7.43969157e-03 8.79925062e+01] [ 6.02782781e-04 9.99987730e-01 4.91697952e-03 8.02663138e-01] [ 7.43681633e-03 -4.92132718e-03 9.99960236e-01 3.05870442e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.365336195 meters Centerline goodness [0,1] 0.7142160293525057 Centerline is valid? [False, False] Translation: X:88.02, Y:0.81, Z:0.30 [[ 9.99992429e-01 2.35427575e-03 -3.09832222e-03 8.80158238e+01] [-2.36735175e-03 9.99988279e-01 -4.22347003e-03 8.10314715e-01] [ 3.08834270e-03 4.23077287e-03 9.99986281e-01 2.98685938e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.395336195 meters Centerline goodness [0,1] 0.6600487856612578 Centerline is valid? [False, False] Translation: X:88.02, Y:0.81, Z:0.30 [[ 9.99991105e-01 2.72464627e-03 -3.21955436e-03 8.80156925e+01] [-2.73645948e-03 9.99989519e-01 -3.67051672e-03 8.07966344e-01] [ 3.20951976e-03 3.67929425e-03 9.99988081e-01 2.99599643e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.425336195 meters Centerline goodness [0,1] 0.7048455353364367 Centerline is valid? [False, False] Translation: X:88.02, Y:0.81, Z:0.30 [[ 9.99990772e-01 2.85879371e-03 -3.20670881e-03 8.80152613e+01] [-2.86963262e-03 9.99990168e-01 -3.38057904e-03 8.06682298e-01] [ 3.19701290e-03 3.38974992e-03 9.99989144e-01 3.00315725e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.45533619499999 meters Centerline goodness [0,1] 0.7467998551681541 Centerline is valid? [False, False] Translation: X:88.02, Y:0.81, Z:0.30 [[ 9.99991901e-01 2.61001551e-03 -3.06360370e-03 8.80150692e+01] [-2.62165263e-03 9.99989341e-01 -3.80065948e-03 8.08532649e-01] [ 3.05365126e-03 3.80866040e-03 9.99988085e-01 2.99753028e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.48533619499999 meters Centerline goodness [0,1] 0.77160757815507 Centerline is valid? [False, False] Translation: X:88.02, Y:0.81, Z:0.30 [[ 9.99991600e-01 1.73491033e-03 -3.71355397e-03 8.80179625e+01] [-1.75002267e-03 9.99990186e-01 -4.07013286e-03 8.07829737e-01] [ 3.70645621e-03 4.07659748e-03 9.99984822e-01 2.98523659e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.51533619499999 meters Centerline goodness [0,1] 0.8039517907220688 Centerline is valid? [False, False] Translation: X:88.02, Y:0.81, Z:0.30 [[ 9.99990649e-01 1.62335213e-03 -4.00824337e-03 8.80187158e+01] [-1.63834290e-03 9.99991666e-01 -3.73953908e-03 8.05804904e-01] [ 4.00213938e-03 3.74607099e-03 9.99984975e-01 2.98806685e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.54533619499999 meters Centerline goodness [0,1] 0.7665528002699056 Centerline is valid? [False, False] Translation: X:88.04, Y:0.80, Z:0.30 [[ 9.99987877e-01 -2.32093510e-03 -4.34272546e-03 8.80369956e+01] [ 2.32936986e-03 9.99995409e-01 1.93822561e-03 8.04281169e-01] [ 4.33820702e-03 -1.94831793e-03 9.99988692e-01 3.03576751e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.57533619499999 meters Centerline goodness [0,1] 0.8947312760422175 Centerline is valid? [False, False] Translation: X:88.04, Y:0.80, Z:0.30 [[ 9.99967344e-01 -6.59541693e-03 -4.67024830e-03 8.80376967e+01] [ 6.58747862e-03 9.99976835e-01 -1.71310915e-03 8.00673836e-01] [ 4.68143878e-03 1.68228805e-03 9.99987627e-01 3.04354846e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.60533619499999 meters Centerline goodness [0,1] 0.9353685778108711 Centerline is valid? [False, False] Translation: X:88.04, Y:0.80, Z:0.31 [[ 9.99966710e-01 -6.40191316e-03 -5.05910620e-03 8.80381487e+01] [ 6.39859096e-03 9.99979303e-01 -6.72590316e-04 7.95307239e-01] [ 5.06330736e-03 6.40196775e-04 9.99986976e-01 3.05813653e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.635336195 meters Centerline goodness [0,1] 0.9858456430122174 Centerline is valid? [False, True] Translation: X:88.04, Y:0.79, Z:0.31 [[ 9.99962536e-01 -6.86147726e-03 -5.27697387e-03 8.80387395e+01] [ 6.86162910e-03 9.99976459e-01 1.06690521e-05 7.90387621e-01] [ 5.27677644e-03 -4.68772899e-05 9.99986077e-01 3.06469479e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.665336195 meters Centerline goodness [0,1] 0.9692040863808457 Centerline is valid? [True, True] Translation: X:88.07, Y:0.80, Z:0.30 [[ 9.99919505e-01 -1.16321354e-02 -5.06728998e-03 8.80672383e+01] [ 1.16308337e-02 9.99932319e-01 -2.86286671e-04 7.98380497e-01] [ 5.07027714e-03 2.27326819e-04 9.99987120e-01 3.01961395e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.695336195 meters Centerline goodness [0,1] 0.9950988785206746 Centerline is valid? [True, True] Translation: X:88.10, Y:0.79, Z:0.30 [[ 9.99886849e-01 -1.37817149e-02 -6.02946707e-03 8.80968533e+01] [ 1.37799016e-02 9.99904994e-01 -3.42171616e-04 7.94209137e-01] [ 6.03360994e-03 2.59047435e-04 9.99981764e-01 3.00427858e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.725336195 meters Centerline goodness [0,1] 0.9948395351316771 Centerline is valid? [True, True] Translation: X:88.13, Y:0.80, Z:0.30 [[ 9.99838943e-01 -1.61823131e-02 -7.76022945e-03 8.81257033e+01] [ 1.61793878e-02 9.99869009e-01 -4.39600668e-04 7.96928319e-01] [ 7.76632668e-03 3.13974105e-04 9.99969792e-01 2.95253362e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.755336195 meters Centerline goodness [0,1] 0.9958977865139732 Centerline is valid? [True, True] Translation: X:88.15, Y:0.80, Z:0.30 [[ 9.99831663e-01 -1.69718482e-02 -6.97156478e-03 8.81542730e+01] [ 1.69694934e-02 9.99855929e-01 -3.96791952e-04 7.97657796e-01] [ 6.97729467e-03 2.78421235e-04 9.99975620e-01 2.97515694e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.785336195 meters Centerline goodness [0,1] 0.9973326504918593 Centerline is valid? [True, True] Translation: X:88.18, Y:0.80, Z:0.31 [[ 9.99849186e-01 -1.68942732e-02 -4.02365068e-03 8.81837717e+01] [ 1.68934846e-02 9.99857268e-01 -2.29900562e-04 7.96684677e-01] [ 4.02696038e-03 1.61892409e-04 9.99991879e-01 3.06778617e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.815336195 meters Centerline goodness [0,1] 0.996676891615542 Centerline is valid? [True, True] Translation: X:88.21, Y:0.80, Z:0.31 [[ 9.99856108e-01 -1.64286450e-02 -4.22644106e-03 8.82129279e+01] [ 1.64277679e-02 9.99865026e-01 -2.42154064e-04 7.98980407e-01] [ 4.22984886e-03 1.72688227e-04 9.99991039e-01 3.07489272e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.84533619499999 meters Centerline goodness [0,1] 0.995905551901903 Centerline is valid? [True, True] Translation: X:88.24, Y:0.81, Z:0.31 [[ 9.99877902e-01 -1.50947157e-02 -4.04101778e-03 8.82420975e+01] [ 1.50939056e-02 9.99886054e-01 -2.30883952e-04 8.08406700e-01] [ 4.04404245e-03 1.69861020e-04 9.99991808e-01 3.06443458e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.87533619499999 meters Centerline goodness [0,1] 0.9997631199259212 Centerline is valid? [True, True] Translation: X:88.27, Y:0.81, Z:0.31 [[ 9.99885963e-01 -1.47554870e-02 -3.21514715e-03 8.82709614e+01] [ 1.47549680e-02 9.99891122e-01 -1.85099340e-04 8.05290082e-01] [ 3.21752832e-03 1.37638839e-04 9.99994814e-01 3.08692044e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.90533619499999 meters Centerline goodness [0,1] 0.997237687366167 Centerline is valid? [True, True] Translation: X:88.30, Y:0.82, Z:0.30 [[ 9.99885636e-01 -1.45158637e-02 -4.24307112e-03 8.82980618e+01] [ 1.45149604e-02 9.99894623e-01 -2.43587843e-04 8.19101781e-01] [ 4.24615989e-03 1.81971976e-04 9.99990968e-01 3.02692341e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.93533619499999 meters Centerline goodness [0,1] 0.997237687366167 Centerline is valid? [True, True] Translation: X:88.33, Y:0.82, Z:0.30 [[ 9.99883027e-01 -1.46945149e-02 -4.24298691e-03 8.83255857e+01] [ 1.46936071e-02 9.99892013e-01 -2.45054110e-04 8.20841632e-01] [ 4.24612967e-03 1.82680663e-04 9.99990968e-01 3.02529852e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.96533619499999 meters Centerline goodness [0,1] 0.9987302817052962 Centerline is valid? [True, True] Translation: X:88.35, Y:0.82, Z:0.30 [[ 9.99853176e-01 -1.57142275e-02 -6.83290637e-03 8.83537962e+01] [ 1.57118923e-02 9.99876482e-01 -3.95301425e-04 8.15991916e-01] [ 6.83827425e-03 2.87885496e-04 9.99976577e-01 3.00626379e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.995336195 meters Centerline goodness [0,1] 0.9991831821503805 Centerline is valid? [True, True] Translation: X:88.38, Y:0.82, Z:0.30 [[ 9.99827575e-01 -1.73569259e-02 -6.59979597e-03 8.83833236e+01] [ 1.73547776e-02 9.99849321e-01 -3.82638356e-04 8.15512988e-01] [ 6.60544294e-03 2.68034389e-04 9.99978148e-01 3.01427512e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.025336195 meters Centerline goodness [0,1] 0.9997627623094011 Centerline is valid? [True, True] Translation: X:88.41, Y:0.81, Z:0.31 [[ 9.99783065e-01 -2.01439447e-02 -5.29561402e-03 8.84137647e+01] [ 2.01426037e-02 9.99797070e-01 -3.06444201e-04 8.13186405e-01] [ 5.30071237e-03 1.99710268e-04 9.99985931e-01 3.05603169e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.055336195 meters Centerline goodness [0,1] 0.9997423178509309 Centerline is valid? [True, True] Translation: X:88.44, Y:0.82, Z:0.31 [[ 9.99766202e-01 -2.10957933e-02 -4.74436513e-03 8.84412157e+01] [ 2.10947250e-02 9.99777444e-01 -2.75098798e-04 8.15998985e-01] [ 4.74911267e-03 1.74953403e-04 9.99988708e-01 3.05888377e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.085336195 meters Centerline goodness [0,1] 0.9987941101802488 Centerline is valid? [True, True] Translation: X:88.47, Y:0.83, Z:0.31 [[ 9.99735637e-01 -2.28135455e-02 -2.86339237e-03 8.84696454e+01] [ 2.28131634e-02 9.99739732e-01 -1.66027207e-04 8.27772188e-01] [ 2.86643479e-03 1.00660277e-04 9.99995887e-01 3.05233433e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.115336195 meters Centerline goodness [0,1] 0.9997645144716562 Centerline is valid? [True, True] Translation: X:88.50, Y:0.82, Z:0.30 [[ 9.99690770e-01 -2.46002399e-02 -3.63211858e-03 8.84996248e+01] [ 2.45996325e-02 9.99697361e-01 -2.11816754e-04 8.19864765e-01] [ 3.63623010e-03 1.22402472e-04 9.99993381e-01 3.04350326e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.145336195 meters Centerline goodness [0,1] 0.9999366219499314 Centerline is valid? [True, True] Translation: X:88.53, Y:0.82, Z:0.30 [[ 9.99676213e-01 -2.48682919e-02 -5.38856845e-03 8.85288360e+01] [ 2.48669561e-02 9.99690720e-01 -3.14770003e-04 8.17672154e-01] [ 5.39472967e-03 1.80670790e-04 9.99985432e-01 3.02795470e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.175336195 meters Centerline goodness [0,1] 0.9995339279283096 Centerline is valid? [True, True] Translation: X:88.56, Y:0.82, Z:0.30 [[ 9.99683016e-01 -2.44310472e-02 -6.08209498e-03 8.85564304e+01] [ 2.44293396e-02 9.99701496e-01 -3.54900086e-04 8.20670892e-01] [ 6.08895003e-03 2.06206025e-04 9.99981441e-01 3.01683592e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.20533619499999 meters Centerline goodness [0,1] 0.9996802251215144 Centerline is valid? [True, True] Translation: X:88.58, Y:0.83, Z:0.31 [[ 9.99737472e-01 -2.25715423e-02 -3.93863537e-03 8.85845526e+01] [ 2.25708094e-02 9.99745220e-01 -2.30434344e-04 8.26511201e-01] [ 3.94283315e-03 1.41475661e-04 9.99992217e-01 3.06355702e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.23533619499999 meters Centerline goodness [0,1] 0.999448404616429 Centerline is valid? [True, True] Translation: X:88.61, Y:0.83, Z:0.31 [[ 9.99769843e-01 -2.12468177e-02 -2.97200695e-03 8.86133766e+01] [ 2.12463915e-02 9.99774255e-01 -1.74894809e-04 8.32149434e-01] [ 2.97505199e-03 1.11710133e-04 9.99995568e-01 3.07586509e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.26533619499999 meters Centerline goodness [0,1] 0.9994642780611152 Centerline is valid? [True, True] Translation: X:88.64, Y:0.84, Z:0.31 [[ 9.99864882e-01 -1.63005330e-02 -2.12379145e-03 8.86434637e+01] [ 1.63003055e-02 9.99867133e-01 -1.24345738e-04 8.43408946e-01] [ 2.12553617e-03 8.97104867e-05 9.99997737e-01 3.07955963e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.29533619499999 meters Centerline goodness [0,1] 0.9990478004189678 Centerline is valid? [True, True] Translation: X:88.67, Y:0.85, Z:0.31 [[ 9.99919045e-01 -1.26526488e-02 -1.34672481e-03 8.86735982e+01] [ 1.26525540e-02 9.99919950e-01 -7.89195693e-05 8.48692949e-01] [ 1.34761555e-03 6.18736720e-05 9.99999090e-01 3.09283151e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.32533619499999 meters Centerline goodness [0,1] 0.9859058828546451 Centerline is valid? [True, True] Translation: X:88.70, Y:0.86, Z:0.31 [[ 9.99980530e-01 -5.45434993e-03 -3.03151912e-03 8.87020706e+01] [ 5.45383684e-03 9.99985112e-01 -1.77493152e-04 8.61327341e-01] [ 3.03244210e-03 1.60956285e-04 9.99995389e-01 3.08532696e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.35533619499999 meters Centerline goodness [0,1] 0.9651874770116186 Centerline is valid? [True, True] Translation: X:88.73, Y:0.87, Z:0.30 [[ 9.99968389e-01 -1.93722621e-03 -7.71160544e-03 8.87326105e+01] [ 1.93380164e-03 9.99998028e-01 -4.51511546e-04 8.67050653e-01] [ 7.71246492e-03 4.36584558e-04 9.99970163e-01 3.01928814e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.385336195 meters Centerline goodness [0,1] 0.9630604038329911 Centerline is valid? [True, True] Translation: X:88.76, Y:0.87, Z:0.30 [[ 9.99965553e-01 -1.58701638e-03 -8.14701421e-03 8.87605843e+01] [ 1.58317591e-03 9.99998633e-01 -4.77822841e-04 8.73261234e-01] [ 8.14776138e-03 4.64908225e-04 9.99966698e-01 2.99933565e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.415336195 meters Centerline goodness [0,1] 0.9850542317875138 Centerline is valid? [True, True] Translation: X:88.79, Y:0.88, Z:0.30 [[ 9.99983813e-01 -2.24342720e-03 -5.22885420e-03 8.87891074e+01] [ 2.24185264e-03 9.99997440e-01 -3.06971455e-04 8.81813119e-01] [ 5.22952948e-03 2.95244166e-04 9.99986282e-01 3.02087736e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.445336195 meters Centerline goodness [0,1] 0.9429312581063554 Centerline is valid? [True, False] Translation: X:88.79, Y:0.88, Z:0.30 [[ 9.99984154e-01 -2.30578211e-03 -5.13559985e-03 8.87881834e+01] [ 2.30369939e-03 9.99997262e-01 -4.11424121e-04 8.82430891e-01] [ 5.13653445e-03 3.99586724e-04 9.99986728e-01 3.03175948e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.475336195 meters Centerline goodness [0,1] 0.974291975724882 Centerline is valid? [False, True] Translation: X:88.80, Y:0.88, Z:0.31 [[ 9.99974006e-01 -6.49178849e-03 -3.13766499e-03 8.88040792e+01] [ 6.51056798e-03 9.99960730e-01 6.01248964e-03 8.78175538e-01] [ 3.09850996e-03 -6.03276133e-03 9.99977002e-01 3.08623349e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.505336195 meters Centerline goodness [0,1] 0.9919637947806962 Centerline is valid? [True, True] Translation: X:88.83, Y:0.88, Z:0.31 [[ 9.99950884e-01 -9.62690018e-03 -2.35630800e-03 8.88349631e+01] [ 9.62660787e-03 9.99953654e-01 -1.35364622e-04 8.76756689e-01] [ 2.35750194e-03 1.12674721e-04 9.99997215e-01 3.08384820e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.535336195 meters Centerline goodness [0,1] 0.9988543302074935 Centerline is valid? [True, True] Translation: X:88.87, Y:0.87, Z:0.31 [[ 9.99873187e-01 -1.58902966e-02 -1.05291432e-03 8.88652274e+01] [ 1.58902416e-02 9.99873740e-01 -6.05423595e-05 8.73291326e-01] [ 1.05374342e-03 4.38036189e-05 9.99999444e-01 3.09842379e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.565336195 meters Centerline goodness [0,1] 0.9996798839045627 Centerline is valid? [True, True] Translation: X:88.90, Y:0.87, Z:0.31 [[ 9.99830635e-01 -1.83825882e-02 -8.84648037e-04 8.88953834e+01] [ 1.83825502e-02 9.99831025e-01 -5.10110882e-05 8.74233695e-01] [ 8.85436269e-04 3.47403617e-05 9.99999607e-01 3.07904609e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.59533619499999 meters Centerline goodness [0,1] 0.9999571569341502 Centerline is valid? [True, True] Translation: X:88.93, Y:0.87, Z:0.31 [[ 9.99757575e-01 -2.19586857e-02 -1.61470502e-03 8.89257886e+01] [ 2.19585641e-02 9.99758877e-01 -9.29978089e-05 8.68766487e-01] [ 1.61635778e-03 5.75186604e-05 9.99998692e-01 3.05709897e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.62533619499999 meters Centerline goodness [0,1] 0.9999357271402862 Centerline is valid? [True, True] Translation: X:88.95, Y:0.87, Z:0.31 [[ 9.99728505e-01 -2.32379286e-02 -1.70759947e-03 8.89537705e+01] [ 2.32377940e-02 9.99729961e-01 -9.86286548e-05 8.67715260e-01] [ 1.70943027e-03 5.89210330e-05 9.99998537e-01 3.05813578e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.65533619499999 meters Centerline goodness [0,1] 0.9996412291068715 Centerline is valid? [True, True] Translation: X:88.98, Y:0.87, Z:0.30 [[ 9.99694975e-01 -2.44692508e-02 -3.34858255e-03 8.89817860e+01] [ 2.44687405e-02 9.99700577e-01 -1.93277737e-04 8.70748327e-01] [ 3.35230927e-03 1.11283185e-04 9.99994375e-01 3.03906679e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.68533619499999 meters Centerline goodness [0,1] 0.9993605047748977 Centerline is valid? [True, True] Translation: X:89.01, Y:0.87, Z:0.30 [[ 9.99681125e-01 -2.48846564e-02 -4.28985857e-03 8.90088302e+01] [ 2.48838213e-02 9.99690319e-01 -2.47939748e-04 8.74165462e-01] [ 4.29469998e-03 1.41112612e-04 9.99990768e-01 3.01093426e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.71533619499999 meters Centerline goodness [0,1] 0.999765173024785 Centerline is valid? [True, True] Translation: X:89.04, Y:0.87, Z:0.30 [[ 9.99675570e-01 -2.48125701e-02 -5.75257135e-03 8.90373835e+01] [ 2.48110600e-02 9.99692103e-01 -3.33732926e-04 8.74104414e-01] [ 5.75908092e-03 1.90897260e-04 9.99983398e-01 2.99165466e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.745336195 meters Centerline goodness [0,1] 0.9998288879857977 Centerline is valid? [True, True] Translation: X:89.06, Y:0.88, Z:0.30 [[ 9.99695374e-01 -2.38834375e-02 -6.22420244e-03 8.90648046e+01] [ 2.38816535e-02 9.99714728e-01 -3.60791482e-04 8.79189166e-01] [ 6.23104379e-03 2.12037330e-04 9.99980564e-01 2.96216022e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.775336195 meters Centerline goodness [0,1] 0.9997884314306267 Centerline is valid? [True, True] Translation: X:89.09, Y:0.88, Z:0.30 [[ 9.99699437e-01 -2.38600366e-02 -5.63326697e-03 8.90925259e+01] [ 2.38585649e-02 9.99715290e-01 -3.28302284e-04 8.77480061e-01] [ 5.63949643e-03 1.93801942e-04 9.99984079e-01 2.97969477e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.805336195 meters Centerline goodness [0,1] 0.9996580027359782 Centerline is valid? [True, True] Translation: X:89.12, Y:0.88, Z:0.31 [[ 9.99714793e-01 -2.37012760e-02 -2.92959013e-03 8.91210604e+01] [ 2.37008749e-02 9.99719080e-01 -1.71555715e-04 8.75383936e-01] [ 2.93283324e-03 1.02072937e-04 9.99995694e-01 3.05038046e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.835336195 meters Centerline goodness [0,1] 0.9997411785005608 Centerline is valid? [True, True] Translation: X:89.15, Y:0.88, Z:0.31 [[ 9.99733580e-01 -2.29979559e-02 -1.96521378e-03 8.91495438e+01] [ 2.29977729e-02 9.99735510e-01 -1.15683950e-04 8.78661614e-01] [ 1.96735449e-03 7.04575892e-05 9.99998062e-01 3.06463845e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.865336195 meters Centerline goodness [0,1] 0.9998063766619336 Centerline is valid? [True, True] Translation: X:89.18, Y:0.89, Z:0.30 [[ 9.99814199e-01 -1.91824959e-02 -1.89699314e-03 8.91796531e+01] [ 1.91823201e-02 9.99815996e-01 -1.10807500e-04 8.86127949e-01] [ 1.89876965e-03 7.43981819e-05 9.99998195e-01 3.03261971e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.895336195 meters Centerline goodness [0,1] 0.9978901604756729 Centerline is valid? [True, True] Translation: X:89.21, Y:0.90, Z:0.30 [[ 9.99862572e-01 -1.62015097e-02 -3.51406103e-03 8.92082555e+01] [ 1.62008878e-02 9.99868736e-01 -2.05371935e-04 9.02130336e-01] [ 3.51692709e-03 1.48412803e-04 9.99993805e-01 2.97549594e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.925336195 meters Centerline goodness [0,1] 0.9245602165087957 Centerline is valid? [True, False] Translation: X:89.21, Y:0.90, Z:0.29 [[ 9.99905370e-01 -1.30028411e-02 -4.49189397e-03 8.92140476e+01] [ 1.30168590e-02 9.99910454e-01 3.10570874e-03 9.01393068e-01] [ 4.45110870e-03 -3.16388520e-03 9.99985089e-01 2.94460886e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.95533619499999 meters Centerline goodness [0,1] 0.996524872900444 Centerline is valid? [False, True] Translation: X:89.20, Y:0.90, Z:0.29 [[ 9.99942348e-01 -9.09108741e-03 -5.71427072e-03 8.91965699e+01] [ 9.07132779e-03 9.99952819e-01 -3.47440266e-03 9.03669370e-01] [ 5.74558721e-03 3.42236633e-03 9.99977638e-01 2.90565643e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.98533619499999 meters Centerline goodness [0,1] 0.9694869717258732 Centerline is valid? [True, True] Translation: X:89.22, Y:0.92, Z:0.29 [[ 9.99962729e-01 -6.99302799e-03 -5.06349632e-03 8.92240425e+01] [ 6.99161326e-03 9.99975514e-01 -2.97045667e-04 9.17760219e-01] [ 5.06544959e-03 2.61632587e-04 9.99987136e-01 2.92367433e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.01533619499999 meters Centerline goodness [0,1] 0.9869851411908489 Centerline is valid? [True, True] Translation: X:89.25, Y:0.92, Z:0.29 [[ 9.99966893e-01 -6.77730761e-03 -4.50346872e-03 8.92524245e+01] [ 6.77617914e-03 9.99977006e-01 -2.65788062e-04 9.19583973e-01] [ 4.50516650e-03 2.35262952e-04 9.99989824e-01 2.94096269e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.04533619499999 meters Centerline goodness [0,1] 0.9963863973672323 Centerline is valid? [True, True] Translation: X:89.28, Y:0.92, Z:0.30 [[ 9.99968838e-01 -7.81539332e-03 -1.11449279e-03 8.92820355e+01] [ 7.81532496e-03 9.99969458e-01 -6.56783744e-05 9.21422852e-01] [ 1.11497205e-03 5.69662045e-05 9.99999377e-01 2.98965119e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.07533619499999 meters Centerline goodness [0,1] 0.9973885904757861 Centerline is valid? [True, True] Translation: X:89.31, Y:0.92, Z:0.30 [[ 9.99960109e-01 -8.83065358e-03 1.34168129e-03 8.93100075e+01] [ 8.83055616e-03 9.99961007e-01 7.85148264e-05 9.24860004e-01] [-1.34232231e-03 -6.66639024e-05 9.99999097e-01 3.01675948e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.10533619499999 meters Centerline goodness [0,1] 0.9993365010059501 Centerline is valid? [True, True] Translation: X:89.34, Y:0.92, Z:0.30 [[ 9.99936361e-01 -1.11358152e-02 1.80769636e-03 8.93399284e+01] [ 1.11356413e-02 9.99937991e-01 1.06227114e-04 9.22042308e-01] [-1.80876719e-03 -8.60904958e-05 9.99998360e-01 3.01089758e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.135336195 meters Centerline goodness [0,1] 0.9991699478556987 Centerline is valid? [True, True] Translation: X:89.37, Y:0.93, Z:0.30 [[ 9.99913656e-01 -1.31054351e-02 9.63661600e-04 8.93685673e+01] [ 1.31053868e-02 9.99914119e-01 5.64958307e-05 9.25309822e-01] [-9.64319242e-04 -4.38617946e-05 9.99999534e-01 2.98014880e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.165336195 meters Centerline goodness [0,1] 0.9995489400090212 Centerline is valid? [True, True] Translation: X:89.40, Y:0.92, Z:0.30 [[ 9.99847961e-01 -1.74370951e-02 -5.38037503e-05 8.93990502e+01] [ 1.74370949e-02 9.99847962e-01 -3.18492201e-06 9.18797273e-01] [ 5.38511059e-05 2.24625668e-06 9.99999999e-01 2.96451348e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.195336195 meters Centerline goodness [0,1] 0.9996823716251985 Centerline is valid? [True, True] Translation: X:89.43, Y:0.91, Z:0.29 [[ 9.99756802e-01 -2.19450933e-02 -2.17944894e-03 8.94285867e+01] [ 2.19448653e-02 9.99759174e-01 -1.28499565e-04 9.14429554e-01] [ 2.18174400e-03 8.06406005e-05 9.99997617e-01 2.93538648e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.225336195 meters Centerline goodness [0,1] 0.9999573460726396 Centerline is valid? [True, True] Translation: X:89.46, Y:0.91, Z:0.29 [[ 9.99692430e-01 -2.45576398e-02 -3.45951678e-03 8.94586627e+01] [ 2.45570805e-02 9.99698409e-01 -2.04055417e-04 9.10784172e-01] [ 3.46348454e-03 1.19037023e-04 9.99993995e-01 2.91546135e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.255336195 meters Centerline goodness [0,1] 0.9999787234042553 Centerline is valid? [True, True] Translation: X:89.49, Y:0.91, Z:0.29 [[ 9.99534415e-01 -3.02247150e-02 -4.17382523e-03 8.94884456e+01] [ 3.02239504e-02 9.99543122e-01 -2.46144108e-04 9.09036589e-01] [ 4.17935793e-03 1.19880020e-04 9.99991259e-01 2.87483004e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.285336195 meters Centerline goodness [0,1] 0.9998927912860758 Centerline is valid? [True, True] Translation: X:89.52, Y:0.90, Z:0.29 [[ 9.99464216e-01 -3.24954371e-02 -3.91514915e-03 8.95178219e+01] [ 3.24947801e-02 9.99471878e-01 -2.31320455e-04 9.02921437e-01] [ 3.92059834e-03 1.03974606e-04 9.99992309e-01 2.89428441e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.315336195 meters Centerline goodness [0,1] 0.9999572731739623 Centerline is valid? [True, True] Translation: X:89.55, Y:0.90, Z:0.29 [[ 9.99410927e-01 -3.42077810e-02 -2.76152996e-03 8.95471748e+01] [ 3.42074600e-02 9.99414740e-01 -1.63392559e-04 8.98183205e-01] [ 2.76550304e-03 6.88313837e-05 9.99996174e-01 2.92418571e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.34533619499999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:89.58, Y:0.90, Z:0.29 [[ 9.99416111e-01 -3.40464446e-02 -2.87705987e-03 8.95757266e+01] [ 3.40460916e-02 9.99420249e-01 -1.71596831e-04 8.97025190e-01] [ 2.88123415e-03 7.35439930e-05 9.99995847e-01 2.93166805e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.37533619499999 meters Centerline goodness [0,1] 0.9999575848832524 Centerline is valid? [True, True] Translation: X:89.60, Y:0.90, Z:0.29 [[ 9.99495136e-01 -3.14747507e-02 -4.33731100e-03 8.96039743e+01] [ 3.14739298e-02 9.99504540e-01 -2.57414162e-04 9.03096880e-01] [ 4.34326408e-03 1.20771981e-04 9.99990561e-01 2.88243159e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.40533619499999 meters Centerline goodness [0,1] 0.9999573688024896 Centerline is valid? [True, True] Translation: X:89.63, Y:0.91, Z:0.29 [[ 9.99546525e-01 -2.97808994e-02 -4.45455417e-03 8.96325764e+01] [ 2.97800097e-02 9.99556442e-01 -2.65936611e-04 9.05174935e-01] [ 4.46049814e-03 1.33159350e-04 9.99990043e-01 2.88122590e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.43533619499999 meters Centerline goodness [0,1] 0.9998920272954998 Centerline is valid? [True, True] Translation: X:89.66, Y:0.91, Z:0.29 [[ 9.99683247e-01 -2.49251911e-02 -3.48431464e-03 8.96623015e+01] [ 2.49246202e-02 9.99689312e-01 -2.07186648e-04 9.14405638e-01] [ 3.48839627e-03 1.20275802e-04 9.99993908e-01 2.88603129e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.46533619499999 meters Centerline goodness [0,1] 0.9997202375828527 Centerline is valid? [True, True] Translation: X:89.69, Y:0.92, Z:0.29 [[ 9.99756344e-01 -2.18010732e-02 -3.45911070e-03 8.96910735e+01] [ 2.18004912e-02 9.99762320e-01 -2.05854046e-04 9.22370374e-01] [ 3.46277638e-03 1.30393576e-04 9.99993996e-01 2.87456795e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.495336195 meters Centerline goodness [0,1] 0.9990741338845467 Centerline is valid? [True, True] Translation: X:89.72, Y:0.93, Z:0.29 [[ 9.99868419e-01 -1.55574677e-02 -4.59449621e-03 8.97213142e+01] [ 1.55563759e-02 9.99878955e-01 -2.73275001e-04 9.30659674e-01] [ 4.59819153e-03 2.01765333e-04 9.99989408e-01 2.87263052e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.525336195 meters Centerline goodness [0,1] 0.9967613941018767 Centerline is valid? [True, True] Translation: X:89.75, Y:0.94, Z:0.29 [[ 9.99912029e-01 -1.24324197e-02 -4.62258858e-03 8.97509944e+01] [ 1.24312808e-02 9.99922691e-01 -2.75034826e-04 9.36547634e-01] [ 4.62565056e-03 2.17545935e-04 9.99989278e-01 2.88276906e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.555336195 meters Centerline goodness [0,1] 0.9716663110731811 Centerline is valid? [True, True] Translation: X:89.78, Y:0.95, Z:0.29 [[ 9.99957272e-01 -7.65867317e-03 -5.17674571e-03 8.97801274e+01] [ 7.65718116e-03 9.99970636e-01 -3.07972609e-04 9.49355052e-01] [ 5.17895237e-03 2.68320170e-04 9.99986553e-01 2.86929409e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.585336195 meters Centerline goodness [0,1] 0.9808218007859217 Centerline is valid? [True, True] Translation: X:89.81, Y:0.95, Z:0.29 [[ 9.99966368e-01 -6.23317711e-03 -5.33020619e-03 8.98090948e+01] [ 6.23157300e-03 9.99980533e-01 -3.17502637e-04 9.52090875e-01] [ 5.33208148e-03 2.84276390e-04 9.99985744e-01 2.86003821e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.615336195 meters Centerline goodness [0,1] 0.9677734998191913 Centerline is valid? [True, True] Translation: X:89.84, Y:0.97, Z:0.29 [[ 9.99986202e-01 -3.99620447e-03 -3.40957817e-03 8.98362809e+01] [ 3.99553402e-03 9.99991997e-01 -2.03426321e-04 9.67912453e-01] [ 3.41036382e-03 1.89800428e-04 9.99994167e-01 2.85941710e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.645336195 meters Centerline goodness [0,1] 0.9856096675705105 Centerline is valid? [True, True] Translation: X:89.87, Y:0.98, Z:0.29 [[ 9.99997154e-01 -2.38439696e-03 -7.70782539e-05 8.98654885e+01] [ 2.38439660e-03 9.99997157e-01 -4.76107076e-06 9.75197130e-01] [ 7.70893871e-05 4.57727208e-06 9.99999997e-01 2.92391451e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.675336195 meters Centerline goodness [0,1] 0.9873182604240056 Centerline is valid? [True, True] Translation: X:89.89, Y:0.98, Z:0.29 [[ 9.99996907e-01 -2.43474971e-03 -5.07965067e-04 8.98949661e+01] [ 2.43473456e-03 9.99997036e-01 -3.04490886e-05 9.77760012e-01] [ 5.08037697e-04 2.92122343e-05 9.99999871e-01 2.92414398e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.70533619499999 meters Centerline goodness [0,1] 0.9890210235718836 Centerline is valid? [True, True] Translation: X:89.92, Y:0.98, Z:0.29 [[ 9.99986872e-01 -4.22468198e-03 -2.89969129e-03 8.99248284e+01] [ 4.22419774e-03 9.99991063e-01 -1.73102635e-04 9.81619222e-01] [ 2.90039668e-03 1.60851493e-04 9.99995781e-01 2.89205971e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.73533619499999 meters Centerline goodness [0,1] 0.9968423087663524 Centerline is valid? [True, True] Translation: X:89.95, Y:0.98, Z:0.29 [[ 9.99976948e-01 -6.06488106e-03 -3.05289357e-03 8.99546226e+01] [ 6.06435268e-03 9.99981595e-01 -1.82304059e-04 9.80930938e-01] [ 3.05394303e-03 1.63786034e-04 9.99995323e-01 2.89282801e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.76533619499999 meters Centerline goodness [0,1] 0.9949682316319134 Centerline is valid? [True, True] Translation: X:89.98, Y:0.99, Z:0.29 [[ 9.99926770e-01 -1.19519812e-02 -1.89862549e-03 8.99832729e+01] [ 1.19517876e-02 9.99928568e-01 -1.13282850e-04 9.92192844e-01] [ 1.89984382e-03 9.05825861e-05 9.99998191e-01 2.87972932e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.79533619499999 meters Centerline goodness [0,1] 0.9996583313758568 Centerline is valid? [True, True] Translation: X:90.01, Y:0.99, Z:0.29 [[ 9.99874980e-01 -1.56767464e-02 -2.06505477e-03 9.00139247e+01] [ 1.56765253e-02 9.99877108e-01 -1.23221474e-04 9.86802423e-01] [ 2.06673270e-03 9.08331858e-05 9.99997860e-01 2.88165117e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.82533619499999 meters Centerline goodness [0,1] 0.9998076265389877 Centerline is valid? [True, True] Translation: X:90.04, Y:0.98, Z:0.29 [[ 9.99706470e-01 -2.41140926e-02 -2.34167987e-03 9.00439880e+01] [ 2.41138311e-02 9.99709210e-01 -1.39836109e-04 9.83165897e-01] [ 2.34437096e-03 8.33281900e-05 9.99997248e-01 2.86234352e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.85533619499999 meters Centerline goodness [0,1] 0.9998076265389877 Centerline is valid? [True, True] Translation: X:90.07, Y:0.98, Z:0.29 [[ 9.99702116e-01 -2.42939632e-02 -2.34158082e-03 9.00714885e+01] [ 2.42936984e-02 9.99704855e-01 -1.41493258e-04 9.84977589e-01] [ 2.34432715e-03 8.45654515e-05 9.99997248e-01 2.86029966e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.885336195 meters Centerline goodness [0,1] 0.9998294024821939 Centerline is valid? [True, True] Translation: X:90.10, Y:0.98, Z:0.29 [[ 9.99567538e-01 -2.93128696e-02 -2.34359435e-03 9.01022712e+01] [ 2.93126212e-02 9.99570283e-01 -1.40299744e-04 9.76393741e-01] [ 2.34669986e-03 7.15421760e-05 9.99997244e-01 2.87498831e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.915336195 meters Centerline goodness [0,1] 0.9999573760709262 Centerline is valid? [True, True] Translation: X:90.13, Y:0.96, Z:0.29 [[ 9.99241550e-01 -3.89281441e-02 -9.61777332e-04 9.01334990e+01] [ 3.89281067e-02 9.99242012e-01 -5.76317281e-05 9.64307039e-01] [ 9.63291813e-04 2.01478467e-05 9.99999536e-01 2.89545744e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.945336195 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.16, Y:0.96, Z:0.29 [[ 9.98938939e-01 -4.60540390e-02 -1.47006304e-04 9.01625059e+01] [ 4.60540381e-02 9.98938950e-01 -9.06543452e-06 9.58573602e-01] [ 1.47267822e-04 2.28558162e-06 9.99999989e-01 2.89296841e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.975336195 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.19, Y:0.96, Z:0.29 [[ 9.98810473e-01 -4.87573279e-02 -6.02373221e-04 9.01913909e+01] [ 4.87573142e-02 9.98810654e-01 -3.73939673e-05 9.56956949e-01] [ 6.03480021e-04 7.97938571e-06 9.99999818e-01 2.88467539e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.005336195 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.22, Y:0.95, Z:0.29 [[ 9.98674479e-01 -5.14651743e-02 -7.88097634e-04 9.02211177e+01] [ 5.14651519e-02 9.98674790e-01 -4.85990122e-05 9.52086030e-01] [ 7.89554396e-04 7.97502865e-06 9.99999688e-01 2.88375243e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.035336195 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.25, Y:0.95, Z:0.29 [[ 9.98654024e-01 -5.18369864e-02 -1.75147006e-03 9.02499353e+01] [ 5.18368785e-02 9.98655560e-01 -1.06987498e-04 9.49576760e-01] [ 1.75466122e-03 1.60527547e-05 9.99998460e-01 2.87778923e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.065336195 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.28, Y:0.95, Z:0.28 [[ 9.98730537e-01 -5.01219423e-02 -5.01056559e-03 9.02772786e+01] [ 5.01210507e-02 9.98743104e-01 -3.03435569e-04 9.48143420e-01] [ 5.01947661e-03 5.19155564e-05 9.99987401e-01 2.83495915e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.09533619499999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.30, Y:0.96, Z:0.28 [[ 9.98965693e-01 -4.51139252e-02 -5.68140522e-03 9.03048066e+01] [ 4.51126978e-02 9.98981845e-01 -3.44078041e-04 9.56651431e-01] [ 5.69114338e-03 8.74186415e-05 9.99983801e-01 2.80144311e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.12533619499999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.33, Y:0.96, Z:0.28 [[ 9.99108204e-01 -4.19250090e-02 -5.00899907e-03 9.03331355e+01] [ 4.19240064e-02 9.99120756e-01 -3.05031832e-04 9.64003896e-01] [ 5.01738340e-03 9.47624968e-05 9.99987408e-01 2.80058445e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.15533619499999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.36, Y:0.97, Z:0.28 [[ 9.99258857e-01 -3.82820458e-02 -4.02765085e-03 9.03626342e+01] [ 3.82813708e-02 9.99266970e-01 -2.44590728e-04 9.69895391e-01] [ 4.03406190e-03 9.02254561e-05 9.99991859e-01 2.82139555e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.18533619499999 meters Centerline goodness [0,1] 0.9999358892165662 Centerline is valid? [True, True] Translation: X:90.39, Y:0.98, Z:0.28 [[ 9.99536213e-01 -3.03499576e-02 -2.49764669e-03 9.03928383e+01] [ 3.03496735e-02 9.99539331e-01 -1.51578402e-04 9.82120997e-01] [ 2.50109650e-03 7.57053407e-05 9.99996869e-01 2.84107650e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.21533619499999 meters Centerline goodness [0,1] 0.9998063099901003 Centerline is valid? [True, True] Translation: X:90.42, Y:0.99, Z:0.28 [[ 9.99732445e-01 -2.29144295e-02 -3.15695183e-03 9.04229844e+01] [ 2.29139386e-02 9.99737423e-01 -1.91572274e-04 9.89620359e-01] [ 3.16051266e-03 1.19182818e-04 9.99994998e-01 2.84925496e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.245336195 meters Centerline goodness [0,1] 0.998919789041154 Centerline is valid? [True, True] Translation: X:90.45, Y:1.00, Z:0.28 [[ 9.99807650e-01 -1.93559578e-02 -3.16387384e-03 9.04519454e+01] [ 1.93554465e-02 9.99812647e-01 -1.92121903e-04 1.00003507e+00] [ 3.16699978e-03 1.30846758e-04 9.99994976e-01 2.84369952e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.275336195 meters Centerline goodness [0,1] 0.991637910959629 Centerline is valid? [True, True] Translation: X:90.48, Y:1.01, Z:0.29 [[ 9.99915850e-01 -1.28553962e-02 -1.74125334e-03 9.04802825e+01] [ 1.28552316e-02 9.99917363e-01 -1.05688568e-04 1.01466843e+00] [ 1.74246811e-03 8.32954589e-05 9.99998478e-01 2.86051856e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.305336195 meters Centerline goodness [0,1] 0.996539127090944 Centerline is valid? [True, True] Translation: X:90.51, Y:1.02, Z:0.29 [[ 9.99948050e-01 -1.00992132e-02 -1.37927891e-03 9.05104936e+01] [ 1.00991072e-02 9.99948999e-01 -8.38183887e-05 1.01744432e+00] [ 1.38005506e-03 6.98845489e-05 9.99999045e-01 2.86735475e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.335336195 meters Centerline goodness [0,1] 0.9976522314472926 Centerline is valid? [True, True] Translation: X:90.54, Y:1.02, Z:0.29 [[ 9.99967891e-01 -7.87545277e-03 -1.48142809e-03 9.05405251e+01] [ 7.87532800e-03 9.99968985e-01 -9.00389318e-05 1.01980907e+00] [ 1.48209125e-03 7.83693086e-05 9.99998899e-01 2.86471579e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.365336195 meters Centerline goodness [0,1] 0.9581493568823191 Centerline is valid? [True, True] Translation: X:90.57, Y:1.03, Z:0.28 [[ 9.99979047e-01 -5.79731460e-03 -2.88036516e-03 9.05687276e+01] [ 5.79683412e-03 9.99983183e-01 -1.75133510e-04 1.03249582e+00] [ 2.88133203e-03 1.58432842e-04 9.99995836e-01 2.83474739e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.395336195 meters Centerline goodness [0,1] 0.9894709809964047 Centerline is valid? [True, True] Translation: X:90.60, Y:1.03, Z:0.28 [[ 9.99968544e-01 -7.29568940e-03 -3.11183720e-03 9.05987504e+01] [ 7.29513565e-03 9.99973372e-01 -1.89263572e-04 1.02603040e+00] [ 3.11313514e-03 1.66556344e-04 9.99995140e-01 2.84578787e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.425336195 meters Centerline goodness [0,1] 0.9930822281167109 Centerline is valid? [True, True] Translation: X:90.63, Y:1.03, Z:0.28 [[ 9.99956045e-01 -8.95911749e-03 -2.76435512e-03 9.06289609e+01] [ 8.95868694e-03 9.99959856e-01 -1.68095219e-04 1.02751233e+00] [ 2.76575013e-03 1.43322839e-04 9.99996165e-01 2.84282096e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.45533619499999 meters Centerline goodness [0,1] 0.9904225592457498 Centerline is valid? [True, True] Translation: X:90.66, Y:1.04, Z:0.28 [[ 9.99913105e-01 -1.31147966e-02 -1.33619698e-03 9.06576390e+01] [ 1.31146998e-02 9.99913995e-01 -8.12281832e-05 1.03614591e+00] [ 1.33714735e-03 6.36973026e-05 9.99999104e-01 2.83596422e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.48533619499999 meters Centerline goodness [0,1] 0.9996989700475197 Centerline is valid? [True, True] Translation: X:90.69, Y:1.03, Z:0.29 [[ 9.99876688e-01 -1.56840507e-02 -7.87003420e-04 9.06886148e+01] [ 1.56840178e-02 9.99876997e-01 -4.79304045e-05 1.02602467e+00] [ 7.87658359e-04 3.55811184e-05 9.99999689e-01 2.85519717e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.51533619499999 meters Centerline goodness [0,1] 0.9999569910971571 Centerline is valid? [True, True] Translation: X:90.72, Y:1.02, Z:0.29 [[ 9.99785008e-01 -2.07126246e-02 -9.61706397e-04 9.07195127e+01] [ 2.07125779e-02 9.99785470e-01 -5.84817335e-05 1.01676205e+00] [ 9.62711392e-04 3.85497418e-05 9.99999536e-01 2.85849851e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.54533619499999 meters Centerline goodness [0,1] 0.9995306967020777 Centerline is valid? [True, True] Translation: X:90.75, Y:1.02, Z:0.28 [[ 9.99731670e-01 -2.31327025e-02 -1.21092113e-03 9.07476406e+01] [ 2.31326301e-02 9.99732402e-01 -7.38216954e-05 1.02182439e+00] [ 1.21230478e-03 4.57900963e-05 9.99999264e-01 2.84568329e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.57533619499999 meters Centerline goodness [0,1] 0.9997444960183963 Centerline is valid? [True, True] Translation: X:90.78, Y:1.01, Z:0.28 [[ 9.99626730e-01 -2.71946927e-02 -2.61720840e-03 9.07775324e+01] [ 2.71943685e-02 9.99630152e-01 -1.59393226e-04 1.01250699e+00] [ 2.62057508e-03 8.81603997e-05 9.99996562e-01 2.83915697e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.60533619499999 meters Centerline goodness [0,1] 0.9998723947256487 Centerline is valid? [True, True] Translation: X:90.81, Y:1.01, Z:0.28 [[ 9.99512314e-01 -3.08564546e-02 -4.79732468e-03 9.08078295e+01] [ 3.08554081e-02 9.99523816e-01 -2.92006724e-04 1.01012478e+00] [ 4.80405056e-03 1.43840906e-04 9.99988450e-01 2.78595506e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.635336195 meters Centerline goodness [0,1] 0.9998087222647284 Centerline is valid? [True, True] Translation: X:90.84, Y:1.02, Z:0.28 [[ 9.99459918e-01 -3.25310074e-02 -4.64831243e-03 9.08356466e+01] [ 3.25300350e-02 9.99470718e-01 -2.84654640e-04 1.01753259e+00] [ 4.65511226e-03 1.33291137e-04 9.99989156e-01 2.75110210e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.665336195 meters Centerline goodness [0,1] 0.99993615662907 Centerline is valid? [True, True] Translation: X:90.87, Y:1.01, Z:0.28 [[ 9.99388737e-01 -3.48234652e-02 -3.07859656e-03 9.08665295e+01] [ 3.48230508e-02 9.99393476e-01 -1.88124017e-04 1.01020521e+00] [ 3.08328045e-03 8.08028999e-05 9.99995243e-01 2.79373183e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.695336195 meters Centerline goodness [0,1] 0.9998938225987981 Centerline is valid? [True, True] Translation: X:90.90, Y:1.01, Z:0.28 [[ 9.99371177e-01 -3.53536612e-02 -2.71464107e-03 9.08958648e+01] [ 3.53533371e-02 9.99374861e-01 -1.67279662e-04 1.00769602e+00] [ 2.71885799e-03 7.12028522e-05 9.99996301e-01 2.81510539e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.725336195 meters Centerline goodness [0,1] 0.9999785352451275 Centerline is valid? [True, True] Translation: X:90.92, Y:1.00, Z:0.28 [[ 9.99387551e-01 -3.48468573e-02 -3.19690712e-03 9.09245047e+01] [ 3.48464077e-02 9.99392660e-01 -1.96246400e-04 1.00467516e+00] [ 3.20180409e-03 8.47254802e-05 9.99994871e-01 2.82332081e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.755336195 meters Centerline goodness [0,1] 0.9999572274856178 Centerline is valid? [True, True] Translation: X:90.95, Y:1.01, Z:0.28 [[ 9.99409185e-01 -3.42204074e-02 -3.20064366e-03 9.09533038e+01] [ 3.42199493e-02 9.99414306e-01 -1.97808054e-04 1.00778216e+00] [ 3.20553813e-03 8.81653225e-05 9.99994858e-01 2.81537252e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.785336195 meters Centerline goodness [0,1] 0.9999139673936422 Centerline is valid? [True, True] Translation: X:90.98, Y:1.02, Z:0.28 [[ 9.99504982e-01 -3.13806769e-02 -2.24580774e-03 9.09814297e+01] [ 3.13804453e-02 9.99507503e-01 -1.38273213e-04 1.02035472e+00] [ 2.24904080e-03 6.77303186e-05 9.99997469e-01 2.80125393e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.815336195 meters Centerline goodness [0,1] 0.9998282487816398 Centerline is valid? [True, True] Translation: X:91.01, Y:1.03, Z:0.28 [[ 9.99633805e-01 -2.69324283e-02 -2.62666627e-03 9.10107981e+01] [ 2.69320968e-02 9.99637252e-01 -1.61531130e-04 1.02642352e+00] [ 2.63006387e-03 9.07303481e-05 9.99996537e-01 2.80869063e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.84533619499999 meters Centerline goodness [0,1] 0.9998285946907205 Centerline is valid? [True, True] Translation: X:91.04, Y:1.03, Z:0.28 [[ 9.99690610e-01 -2.47107445e-02 -2.83974452e-03 9.10403120e+01] [ 2.47103475e-02 9.99694637e-01 -1.74779845e-04 1.02954133e+00] [ 2.84319631e-03 1.04554695e-04 9.99995953e-01 2.81945671e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.87533619499999 meters Centerline goodness [0,1] 0.9992549228312932 Centerline is valid? [True, True] Translation: X:91.07, Y:1.04, Z:0.28 [[ 9.99730523e-01 -2.31004735e-02 -2.29109951e-03 9.10683018e+01] [ 2.31002102e-02 9.99733145e-01 -1.41337634e-04 1.03713089e+00] [ 2.29375308e-03 8.83746667e-05 9.99997365e-01 2.83279945e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.90533619499999 meters Centerline goodness [0,1] 0.9993154348058616 Centerline is valid? [True, True] Translation: X:91.10, Y:1.04, Z:0.29 [[ 9.99762389e-01 -2.16623842e-02 -2.43029076e-03 9.10981253e+01] [ 2.16620840e-02 9.99765338e-01 -1.49766200e-04 1.03875596e+00] [ 2.43296476e-03 9.70854514e-05 9.99997036e-01 2.85021784e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.93533619499999 meters Centerline goodness [0,1] 0.9997660370937553 Centerline is valid? [True, True] Translation: X:91.13, Y:1.04, Z:0.28 [[ 9.99756309e-01 -2.19708210e-02 -2.14584953e-03 9.11266062e+01] [ 2.19705847e-02 9.99758609e-01 -1.33634339e-04 1.03881227e+00] [ 2.14826759e-03 8.64562050e-05 9.99997689e-01 2.84691139e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.96533619499999 meters Centerline goodness [0,1] 0.999618061449669 Centerline is valid? [True, True] Translation: X:91.15, Y:1.05, Z:0.28 [[ 9.99733167e-01 -2.30898678e-02 -6.73348538e-04 9.11538641e+01] [ 2.30898447e-02 9.99733393e-01 -4.20198715e-05 1.04807849e+00] [ 6.74139251e-04 2.64611460e-05 9.99999772e-01 2.81379845e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.995336195 meters Centerline goodness [0,1] 0.9998079631289207 Centerline is valid? [True, True] Translation: X:91.18, Y:1.05, Z:0.28 [[ 9.99663194e-01 -2.59471425e-02 -4.93579174e-04 9.11829412e+01] [ 2.59471305e-02 9.99663316e-01 -3.06707753e-05 1.04600179e+00] [ 4.94208813e-04 1.78534820e-05 9.99999878e-01 2.79078046e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.025336195 meters Centerline goodness [0,1] 0.9997460371209075 Centerline is valid? [True, True] Translation: X:91.21, Y:1.04, Z:0.28 [[ 9.99609362e-01 -2.79383919e-02 -7.54822084e-04 9.12108486e+01] [ 2.79383643e-02 9.99609647e-01 -4.71088612e-05 1.04304543e+00] [ 7.55843583e-04 2.60019643e-05 9.99999714e-01 2.79649591e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.055336195 meters Centerline goodness [0,1] 0.9998938699269825 Centerline is valid? [True, True] Translation: X:91.24, Y:1.03, Z:0.28 [[ 9.99495492e-01 -3.16953581e-02 -2.04085934e-03 9.12421106e+01] [ 3.16951658e-02 9.99497574e-01 -1.26511166e-04 1.02748169e+00] [ 2.04384377e-03 6.17619649e-05 9.99997909e-01 2.82837226e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.085336195 meters Centerline goodness [0,1] 0.9998932376742895 Centerline is valid? [True, True] Translation: X:91.27, Y:1.03, Z:0.28 [[ 9.99440994e-01 -3.32660827e-02 -3.32666252e-03 9.12697068e+01] [ 3.32655795e-02 9.99446526e-01 -2.06485289e-04 1.03060116e+00] [ 3.33169026e-03 9.57065058e-05 9.99994445e-01 2.79185893e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.115336195 meters Centerline goodness [0,1] 0.9998925678434069 Centerline is valid? [True, True] Translation: X:91.30, Y:1.03, Z:0.27 [[ 9.99373107e-01 -3.48733015e-02 -6.10285641e-03 9.12979535e+01] [ 3.48716280e-02 9.99391727e-01 -3.80445988e-04 1.03458626e+00] [ 6.11241162e-03 1.67390951e-04 9.99981305e-01 2.71571059e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.145336195 meters Centerline goodness [0,1] 0.9998936532244342 Centerline is valid? [True, True] Translation: X:91.33, Y:1.04, Z:0.27 [[ 9.99389344e-01 -3.45305696e-02 -5.34584936e-03 9.13257058e+01] [ 3.45292745e-02 9.99403631e-01 -3.34389464e-04 1.03810365e+00] [ 5.35420792e-03 1.49596967e-04 9.99985655e-01 2.72175472e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.175336195 meters Centerline goodness [0,1] 0.9997656682714839 Centerline is valid? [True, True] Translation: X:91.35, Y:1.04, Z:0.27 [[ 9.99523496e-01 -3.05039163e-02 -4.72135169e-03 9.13542662e+01] [ 3.05028655e-02 9.99534636e-01 -2.94419522e-04 1.04426549e+00] [ 4.72813549e-03 1.50264475e-04 9.99988811e-01 2.73723959e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.20533619499999 meters Centerline goodness [0,1] 0.9998073341468113 Centerline is valid? [True, True] Translation: X:91.38, Y:1.05, Z:0.27 [[ 9.99604335e-01 -2.75095952e-02 -5.86484057e-03 9.13844487e+01] [ 2.75079226e-02 9.99621519e-01 -3.65673158e-04 1.04570055e+00] [ 5.87268035e-03 2.04198893e-04 9.99982735e-01 2.73695158e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.23533619499999 meters Centerline goodness [0,1] 0.9997611603265589 Centerline is valid? [True, True] Translation: X:91.41, Y:1.05, Z:0.28 [[ 9.99756936e-01 -2.11023876e-02 -6.38421261e-03 9.14145091e+01] [ 2.11002759e-02 9.99777285e-01 -3.97952482e-04 1.05066686e+00] [ 6.39118850e-03 2.63147107e-04 9.99979542e-01 2.75735267e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.26533619499999 meters Centerline goodness [0,1] 0.9960375790886432 Centerline is valid? [True, True] Translation: X:91.44, Y:1.07, Z:0.28 [[ 9.99882730e-01 -1.48411856e-02 -3.77689282e-03 9.14429338e+01] [ 1.48404015e-02 9.99889847e-01 -2.35556717e-04 1.07173408e+00] [ 3.77997273e-03 1.79478487e-04 9.99992840e-01 2.76847946e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.29533619499999 meters Centerline goodness [0,1] 0.9856758417561926 Centerline is valid? [True, True] Translation: X:91.47, Y:1.08, Z:0.27 [[ 9.99914961e-01 -1.24771174e-02 -3.79381916e-03 9.14714825e+01] [ 1.24763086e-02 9.99922140e-01 -2.36786439e-04 1.08386329e+00] [ 3.79647818e-03 1.89433445e-04 9.99992775e-01 2.74901177e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.32533619499999 meters Centerline goodness [0,1] 0.9910289115646258 Centerline is valid? [True, True] Translation: X:91.50, Y:1.08, Z:0.28 [[ 9.99940485e-01 -1.03038637e-02 -3.58574664e-03 9.15021869e+01] [ 1.03031278e-02 9.99946896e-01 -2.23639094e-04 1.08473389e+00] [ 3.58786057e-03 1.86681378e-04 9.99993546e-01 2.77329951e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.35533619499999 meters Centerline goodness [0,1] 0.9259259259259259 Centerline is valid? [True, False] Translation: X:91.50, Y:1.08, Z:0.28 [[ 9.99942961e-01 -1.00916185e-02 -3.49781903e-03 9.15011802e+01] [ 1.00925064e-02 9.99949041e-01 2.36276731e-04 1.08271120e+00] [ 3.49525637e-03 -2.71565014e-04 9.99993855e-01 2.78608688e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.385336195 meters Centerline goodness [0,1] 0.9990181639666176 Centerline is valid? [False, True] Translation: X:91.50, Y:1.08, Z:0.28 [[ 9.99942957e-01 -1.01552459e-02 -3.30966989e-03 9.15005492e+01] [ 1.01560275e-02 9.99948402e-01 2.19421729e-04 1.08274848e+00] [ 3.30727084e-03 -2.53022311e-04 9.99994499e-01 2.78559043e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.415336195 meters Centerline goodness [0,1] 0.9993162393162394 Centerline is valid? [True, True] Translation: X:91.53, Y:1.09, Z:0.28 [[ 9.99914042e-01 -1.26332262e-02 -3.50868202e-03 9.15289518e+01] [ 1.26325721e-02 9.99920184e-01 -2.08539420e-04 1.08616961e+00] [ 3.51103649e-03 1.64197816e-04 9.99993823e-01 2.75780173e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.445336195 meters Centerline goodness [0,1] 0.9997855595822701 Centerline is valid? [True, True] Translation: X:91.56, Y:1.08, Z:0.27 [[ 9.99831018e-01 -1.78689331e-02 -4.31694123e-03 9.15597879e+01] [ 1.78679920e-02 9.99840322e-01 -2.56493144e-04 1.07970157e+00] [ 4.32083517e-03 1.79314731e-04 9.99990649e-01 2.72260703e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.475336195 meters Centerline goodness [0,1] 0.9998503122059704 Centerline is valid? [True, True] Translation: X:91.59, Y:1.08, Z:0.27 [[ 9.99775638e-01 -2.05417205e-02 -5.16836130e-03 9.15883622e+01] [ 2.05404053e-02 9.99788976e-01 -3.07436039e-04 1.07811448e+00] [ 5.17358592e-03 2.01206826e-04 9.99986597e-01 2.70759126e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.505336195 meters Centerline goodness [0,1] 0.9995739967623753 Centerline is valid? [True, True] Translation: X:91.62, Y:1.07, Z:0.27 [[ 9.99671085e-01 -2.48740787e-02 -6.24521054e-03 9.16177546e+01] [ 2.48722424e-02 9.99690569e-01 -3.71529697e-04 1.07250859e+00] [ 6.25251954e-03 2.16075105e-04 9.99980429e-01 2.69292721e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.535336195 meters Centerline goodness [0,1] 0.9995959853704176 Centerline is valid? [True, True] Translation: X:91.65, Y:1.07, Z:0.27 [[ 9.99604778e-01 -2.73248273e-02 -6.60621237e-03 9.16469972e+01] [ 2.73228251e-02 9.99626585e-01 -3.93143240e-04 1.07214849e+00] [ 6.61448808e-03 2.12487475e-04 9.99978101e-01 2.68180145e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.565336195 meters Centerline goodness [0,1] 0.9997890028273622 Centerline is valid? [True, True] Translation: X:91.68, Y:1.07, Z:0.27 [[ 9.99584286e-01 -2.80310256e-02 -6.74667377e-03 9.16763729e+01] [ 2.80289416e-02 9.99607031e-01 -4.03264629e-04 1.07001262e+00] [ 6.75532645e-03 2.13994861e-04 9.99977160e-01 2.68310917e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.59533619499999 meters Centerline goodness [0,1] 0.9997668256491786 Centerline is valid? [True, True] Translation: X:91.70, Y:1.07, Z:0.27 [[ 9.99608521e-01 -2.70979610e-02 -6.96461669e-03 9.17047397e+01] [ 2.70957186e-02 9.99632757e-01 -4.16145612e-04 1.07147314e+00] [ 6.97333568e-03 2.27271406e-04 9.99975660e-01 2.66966878e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.62533619499999 meters Centerline goodness [0,1] 0.9998704607280107 Centerline is valid? [True, True] Translation: X:91.73, Y:1.07, Z:0.27 [[ 9.99649613e-01 -2.55850221e-02 -6.78657140e-03 9.17338544e+01] [ 2.55828468e-02 9.99672623e-01 -4.07148832e-04 1.07425480e+00] [ 6.79476654e-03 2.33386356e-04 9.99976888e-01 2.66245641e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.65533619499999 meters Centerline goodness [0,1] 0.9996159016708277 Centerline is valid? [True, True] Translation: X:91.76, Y:1.07, Z:0.27 [[ 9.99747877e-01 -2.15798665e-02 -6.20424144e-03 9.17643729e+01] [ 2.15779763e-02 9.99767099e-01 -3.71449559e-04 1.07485449e+00] [ 6.21081230e-03 2.37480933e-04 9.99980685e-01 2.68280809e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.68533619499999 meters Centerline goodness [0,1] 0.9982532006901987 Centerline is valid? [True, True] Translation: X:91.79, Y:1.08, Z:0.27 [[ 9.99819532e-01 -1.80074986e-02 -6.05251001e-03 9.17939523e+01] [ 1.80056336e-02 9.99837820e-01 -3.62493681e-04 1.07536711e+00] [ 6.05805602e-03 2.53448985e-04 9.99981618e-01 2.71522226e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.71533619499999 meters Centerline goodness [0,1] 0.9972943265409656 Centerline is valid? [True, True] Translation: X:91.82, Y:1.08, Z:0.27 [[ 9.99852309e-01 -1.60605476e-02 -6.11704510e-03 9.18229454e+01] [ 1.60586042e-02 9.99870985e-01 -3.66680559e-04 1.07907542e+00] [ 6.12214500e-03 2.68395197e-04 9.99981223e-01 2.71580184e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.745336195 meters Centerline goodness [0,1] 0.9972943265409656 Centerline is valid? [True, True] Translation: X:91.85, Y:1.08, Z:0.27 [[ 9.99849411e-01 -1.62400159e-02 -6.11693395e-03 9.18504594e+01] [ 1.62380646e-02 9.99868086e-01 -3.68532684e-04 1.08088598e+00] [ 6.12211201e-03 2.69150019e-04 9.99981223e-01 2.71437375e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.775336195 meters Centerline goodness [0,1] 0.9815549006720801 Centerline is valid? [True, True] Translation: X:91.88, Y:1.09, Z:0.26 [[ 9.99883283e-01 -1.30947171e-02 -7.87073641e-03 9.18793342e+01] [ 1.30913987e-02 9.99914192e-01 -4.72990259e-04 1.09312641e+00] [ 7.87625471e-03 3.69896105e-04 9.99968913e-01 2.64948030e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.805336195 meters Centerline goodness [0,1] 0.9802849147799542 Centerline is valid? [True, True] Translation: X:91.91, Y:1.10, Z:0.26 [[ 9.99902109e-01 -1.12608257e-02 -8.30459293e-03 9.19087025e+01] [ 1.12570657e-02 9.99936513e-01 -4.99366169e-04 1.09614292e+00] [ 8.30968897e-03 4.05831937e-04 9.99965392e-01 2.62801396e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.835336195 meters Centerline goodness [0,1] 0.9913039780579593 Centerline is valid? [True, True] Translation: X:91.94, Y:1.09, Z:0.27 [[ 9.99945637e-01 -7.95298990e-03 -6.74336132e-03 9.19393577e+01] [ 7.95043513e-03 9.99968313e-01 -4.05579969e-04 1.08888450e+00] [ 6.74637321e-03 3.51945263e-04 9.99977181e-01 2.68212439e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.865336195 meters Centerline goodness [0,1] 0.9910165684986652 Centerline is valid? [True, True] Translation: X:91.97, Y:1.09, Z:0.27 [[ 9.99962101e-01 -6.85397069e-03 -5.36840788e-03 9.19667125e+01] [ 6.85233219e-03 9.99976470e-01 -3.23545303e-04 1.08929870e+00] [ 5.37049914e-03 2.86746927e-04 9.99985538e-01 2.71617578e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.895336195 meters Centerline goodness [0,1] 0.9920736384556379 Centerline is valid? [True, True] Translation: X:92.00, Y:1.09, Z:0.27 [[ 9.99974715e-01 -5.76423338e-03 -4.16460154e-03 9.19959452e+01] [ 5.76323280e-03 9.99983361e-01 -2.52218763e-04 1.08961593e+00] [ 4.16598609e-03 2.28210818e-04 9.99991296e-01 2.74624097e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.925336195 meters Centerline goodness [0,1] 0.9869610533256759 Centerline is valid? [True, True] Translation: X:92.02, Y:1.09, Z:0.27 [[ 9.99972699e-01 -5.64802529e-03 -4.76446527e-03 9.20239360e+01] [ 5.64671622e-03 9.99984016e-01 -2.88164843e-04 1.09172391e+00] [ 4.76601667e-03 2.61253393e-04 9.99988608e-01 2.73263721e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.95533619499999 meters Centerline goodness [0,1] 0.9793423812989682 Centerline is valid? [True, True] Translation: X:92.05, Y:1.09, Z:0.27 [[ 9.99975230e-01 -4.06074307e-03 -5.74885230e-03 9.20533598e+01] [ 4.05881162e-03 9.99991703e-01 -3.47597001e-04 1.09487246e+00] [ 5.75021610e-03 3.24254883e-04 9.99983415e-01 2.70188736e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.98533619499999 meters Centerline goodness [0,1] 0.920918258797498 Centerline is valid? [True, False] Translation: X:92.06, Y:1.09, Z:0.27 [[ 9.99977177e-01 -1.50099393e-03 -6.58727513e-03 9.20591563e+01] [ 1.51615642e-03 9.99996212e-01 2.29739414e-03 1.09406755e+00] [ 6.58380180e-03 -2.30732904e-03 9.99975665e-01 2.66776669e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.01533619499999 meters Centerline goodness [0,1] 0.9165611012583397 Centerline is valid? [False, False] Translation: X:92.08, Y:1.10, Z:0.26 [[ 9.99997651e-01 8.38398994e-04 -1.99881491e-03 9.20815379e+01] [-8.52882291e-04 9.99973310e-01 -7.25613465e-03 1.10029764e+00] [ 1.99267802e-03 7.25782236e-03 9.99971676e-01 2.60511393e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.04533619499999 meters Centerline goodness [0,1] 0.8371778622729193 Centerline is valid? [False, False] Translation: X:92.08, Y:1.10, Z:0.26 [[ 9.99997398e-01 1.08568642e-03 -2.00654966e-03 9.20810792e+01] [-1.09983334e-03 9.99974454e-01 -7.06276820e-03 1.09977298e+00] [ 1.99883044e-03 7.06495669e-03 9.99973045e-01 2.61427095e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.07533619499999 meters Centerline goodness [0,1] 0.8411042417997596 Centerline is valid? [False, False] Translation: X:92.04, Y:1.09, Z:0.26 [[ 9.99989783e-01 2.47731663e-03 -3.78105503e-03 9.20384138e+01] [-2.48062707e-03 9.99996544e-01 -8.71094164e-04 1.09301265e+00] [ 3.77888398e-03 8.80464651e-04 9.99992472e-01 2.64917647e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.10533619499999 meters Centerline goodness [0,1] 0.7800042408821035 Centerline is valid? [False, False] Translation: X:92.05, Y:1.09, Z:0.26 [[ 9.99974701e-01 5.30851942e-03 -4.73465510e-03 9.20450114e+01] [-5.29914321e-03 9.99983978e-01 1.99068658e-03 1.09358328e+00] [ 4.74514684e-03 -1.96554660e-03 9.99986810e-01 2.60610996e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.135336195 meters Centerline goodness [0,1] 0.7717078167345981 Centerline is valid? [False, False] Translation: X:92.05, Y:1.10, Z:0.26 [[ 9.99976682e-01 4.97448649e-03 -4.67875538e-03 9.20456253e+01] [-4.96861108e-03 9.99986854e-01 1.26655146e-03 1.09682477e+00] [ 4.68499431e-03 -1.24327501e-03 9.99988252e-01 2.59135133e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.165336195 meters Centerline goodness [0,1] 0.7699134059605922 Centerline is valid? [False, False] Translation: X:92.05, Y:1.10, Z:0.26 [[ 9.99979375e-01 4.57463492e-03 -4.50800508e-03 9.20453885e+01] [-4.57285983e-03 9.99989463e-01 4.03994276e-04 1.10082304e+00] [ 4.50980570e-03 -3.83371468e-04 9.99989757e-01 2.58534090e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.195336195 meters Centerline goodness [0,1] 0.7976952899093966 Centerline is valid? [False, False] Translation: X:92.04, Y:1.10, Z:0.26 [[ 9.99979299e-01 4.61723779e-03 -4.48139186e-03 9.20448890e+01] [-4.61469091e-03 9.99989185e-01 5.78498515e-04 1.10000848e+00] [ 4.48401446e-03 -5.57806301e-04 9.99989791e-01 2.59249837e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.225336195 meters Centerline goodness [0,1] 0.8674827262646081 Centerline is valid? [False, False] Translation: X:92.05, Y:1.10, Z:0.26 [[ 9.99983101e-01 2.64723984e-03 -5.17584876e-03 9.20500591e+01] [-2.65308257e-03 9.99995851e-01 -1.12230440e-03 1.09987516e+00] [ 5.17285628e-03 1.13601739e-03 9.99985975e-01 2.56184575e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.255336195 meters Centerline goodness [0,1] 0.8953182760315391 Centerline is valid? [False, False] Translation: X:92.05, Y:1.10, Z:0.26 [[ 9.99983113e-01 2.58723876e-03 -5.20391602e-03 9.20500647e+01] [-2.59312964e-03 9.99996004e-01 -1.12557900e-03 1.09979931e+00] [ 5.20098308e-03 1.13905442e-03 9.99985826e-01 2.56324055e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.285336195 meters Centerline goodness [0,1] 0.9484828453845662 Centerline is valid? [False, False] Translation: X:92.05, Y:1.10, Z:0.26 [[ 9.99983966e-01 2.30102316e-03 -5.17422922e-03 9.20494493e+01] [-2.30792901e-03 9.99996453e-01 -1.32908746e-03 1.10052352e+00] [ 5.17115260e-03 1.34100790e-03 9.99985730e-01 2.57261954e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.315336195 meters Centerline goodness [0,1] 0.9617476938955426 Centerline is valid? [False, True] Translation: X:92.05, Y:1.10, Z:0.26 [[ 9.99983818e-01 2.35417022e-03 -5.17886331e-03 9.20490711e+01] [-2.36008158e-03 9.99996570e-01 -1.13562355e-03 1.09962746e+00] [ 5.17617210e-03 1.14782771e-03 9.99985945e-01 2.57955455e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.34533619499999 meters Centerline goodness [0,1] 0.9928250160633969 Centerline is valid? [True, True] Translation: X:92.08, Y:1.09, Z:0.26 [[ 9.99981314e-01 -1.26025665e-03 -5.98196289e-03 9.20797378e+01] [ 1.25847273e-03 9.99999163e-01 -3.01971469e-04 1.09117951e+00] [ 5.98233844e-03 2.94437689e-04 9.99982062e-01 2.58851096e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.37533619499999 meters Centerline goodness [0,1] 0.997811534500515 Centerline is valid? [True, True] Translation: X:92.11, Y:1.09, Z:0.26 [[ 9.99974632e-01 -3.39247267e-03 -6.26313078e-03 9.21096801e+01] [ 3.39055741e-03 9.99994202e-01 -3.16391409e-04 1.08882657e+00] [ 6.26416781e-03 2.95147879e-04 9.99980336e-01 2.58901574e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.40533619499999 meters Centerline goodness [0,1] 0.9995456414028863 Centerline is valid? [True, True] Translation: X:92.14, Y:1.09, Z:0.26 [[ 9.99944020e-01 -8.02030283e-03 -6.90156500e-03 9.21407821e+01] [ 8.01808864e-03 9.99967794e-01 -3.48433354e-04 1.08594927e+00] [ 6.90413727e-03 2.93076489e-04 9.99976123e-01 2.57286240e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.43533619499999 meters Centerline goodness [0,1] 0.9971036098392078 Centerline is valid? [True, True] Translation: X:92.17, Y:1.10, Z:0.25 [[ 9.99871003e-01 -1.31589815e-02 -9.20970083e-03 9.21698805e+01] [ 1.31552540e-02 9.99913358e-01 -4.65202745e-04 1.09739329e+00] [ 9.21502448e-03 3.43986781e-04 9.99957482e-01 2.47273329e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.46533619499999 meters Centerline goodness [0,1] 0.9971581871779102 Centerline is valid? [True, True] Translation: X:92.20, Y:1.10, Z:0.25 [[ 9.99831833e-01 -1.54380977e-02 -9.89800348e-03 9.21977883e+01] [ 1.54338939e-02 9.99880765e-01 -5.00957587e-04 1.09544728e+00] [ 9.90455712e-03 3.48108607e-04 9.99950888e-01 2.46139445e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.495336195 meters Centerline goodness [0,1] 0.9999569661108123 Centerline is valid? [True, True] Translation: X:92.23, Y:1.08, Z:0.25 [[ 9.99782526e-01 -1.86737076e-02 -9.28405508e-03 9.22284764e+01] [ 1.86701482e-02 9.99825587e-01 -4.69913147e-04 1.07809717e+00] [ 9.29121085e-03 2.96476268e-04 9.99956792e-01 2.54633418e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.525336195 meters Centerline goodness [0,1] 0.9998308560796668 Centerline is valid? [True, True] Translation: X:92.26, Y:1.08, Z:0.25 [[ 9.99764280e-01 -1.94976150e-02 -9.55130936e-03 9.22565126e+01] [ 1.94938787e-02 9.99809859e-01 -4.84131527e-04 1.08243657e+00] [ 9.55893268e-03 2.97825342e-04 9.99954268e-01 2.53242956e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.555336195 meters Centerline goodness [0,1] 0.9998501102760112 Centerline is valid? [True, True] Translation: X:92.28, Y:1.09, Z:0.25 [[ 9.99770026e-01 -1.90674437e-02 -9.81471237e-03 9.22847572e+01] [ 1.90634579e-02 9.99818151e-01 -4.99502912e-04 1.08819132e+00] [ 9.82245182e-03 3.12285682e-04 9.99951710e-01 2.52934204e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.585336195 meters Centerline goodness [0,1] 0.9995499164130481 Centerline is valid? [True, True] Translation: X:92.31, Y:1.10, Z:0.25 [[ 9.99796959e-01 -1.83444042e-02 -8.33806461e-03 9.23115885e+01] [ 1.83415011e-02 9.99831690e-01 -4.24514789e-04 1.10007971e+00] [ 8.34444871e-03 2.71495974e-04 9.99965148e-01 2.50993422e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.615336195 meters Centerline goodness [0,1] 0.9994929970213575 Centerline is valid? [True, True] Translation: X:92.34, Y:1.11, Z:0.25 [[ 9.99833818e-01 -1.70259892e-02 -6.51558515e-03 9.23397126e+01] [ 1.70241859e-02 9.99855023e-01 -3.32131438e-04 1.10608382e+00] [ 6.52029540e-03 2.21153711e-04 9.99978718e-01 2.52347864e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.645336195 meters Centerline goodness [0,1] 0.9998713605763047 Centerline is valid? [True, True] Translation: X:92.37, Y:1.10, Z:0.25 [[ 9.99847832e-01 -1.58053346e-02 -7.38271533e-03 9.23687209e+01] [ 1.58029743e-02 9.99875054e-01 -3.77940253e-04 1.10403996e+00] [ 7.38776636e-03 2.61213882e-04 9.99972676e-01 2.53280793e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.675336195 meters Centerline goodness [0,1] 0.999636697796679 Centerline is valid? [True, True] Translation: X:92.40, Y:1.11, Z:0.25 [[ 9.99854550e-01 -1.54403669e-02 -7.24391963e-03 9.23960880e+01] [ 1.54380849e-02 9.99880757e-01 -3.70848559e-04 1.10787700e+00] [ 7.24878188e-03 2.58962372e-04 9.99973694e-01 2.53886163e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.70533619499999 meters Centerline goodness [0,1] 0.9993447612605948 Centerline is valid? [True, True] Translation: X:92.42, Y:1.12, Z:0.25 [[ 9.99865349e-01 -1.49825607e-02 -6.69384295e-03 9.24237761e+01] [ 1.49805992e-02 9.99887726e-01 -3.43088042e-04 1.11591749e+00] [ 6.69823174e-03 2.42764067e-04 9.99977537e-01 2.54198013e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.73533619499999 meters Centerline goodness [0,1] 0.999721071941983 Centerline is valid? [True, True] Translation: X:92.45, Y:1.12, Z:0.26 [[ 9.99902055e-01 -1.24284977e-02 -6.43529960e-03 9.24534709e+01] [ 1.24266317e-02 9.99922732e-01 -3.29861455e-04 1.12098277e+00] [ 6.43890204e-03 2.49860049e-04 9.99979239e-01 2.55076559e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.76533619499999 meters Centerline goodness [0,1] 0.9986634135992363 Centerline is valid? [True, True] Translation: X:92.48, Y:1.14, Z:0.25 [[ 9.99905492e-01 -1.07753969e-02 -8.53803608e-03 9.24807482e+01] [ 1.07720482e-02 9.99941884e-01 -4.38103522e-04 1.13651054e+00] [ 8.54226062e-03 3.46089982e-04 9.99963454e-01 2.48845143e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.79533619499999 meters Centerline goodness [0,1] 0.9971560762341356 Centerline is valid? [True, True] Translation: X:92.51, Y:1.14, Z:0.25 [[ 9.99891871e-01 -1.12133731e-02 -9.51345252e-03 9.25076229e+01] [ 1.12092212e-02 9.99937055e-01 -4.89632234e-04 1.14079141e+00] [ 9.51834413e-03 3.82940897e-04 9.99954626e-01 2.46732544e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.82533619499999 meters Centerline goodness [0,1] 0.9990849506298944 Centerline is valid? [True, True] Translation: X:92.54, Y:1.14, Z:0.25 [[ 9.99867231e-01 -1.30880661e-02 -9.70686300e-03 9.25370205e+01] [ 1.30838267e-02 9.99914278e-01 -5.00116183e-04 1.13682331e+00] [ 9.71257646e-03 3.73046869e-04 9.99952762e-01 2.48171933e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.85533619499999 meters Centerline goodness [0,1] 0.9987081197848279 Centerline is valid? [True, True] Translation: X:92.56, Y:1.14, Z:0.25 [[ 9.99858193e-01 -1.41441766e-02 -9.13980109e-03 9.25644335e+01] [ 1.41404578e-02 9.99899908e-01 -4.71367522e-04 1.14062277e+00] [ 9.14555337e-03 3.42059707e-04 9.99958120e-01 2.48744280e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.885336195 meters Centerline goodness [0,1] 0.99957310565635 Centerline is valid? [True, True] Translation: X:92.59, Y:1.14, Z:0.25 [[ 9.99844133e-01 -1.58939706e-02 -7.68705595e-03 9.25940794e+01] [ 1.58913912e-02 9.99873645e-01 -3.96515070e-04 1.14168018e+00] [ 7.69238686e-03 2.74295253e-04 9.99970376e-01 2.51272306e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.915336195 meters Centerline goodness [0,1] 0.9998922994076468 Centerline is valid? [True, True] Translation: X:92.62, Y:1.14, Z:0.25 [[ 9.99823579e-01 -1.79093859e-02 -5.66255834e-03 9.26242794e+01] [ 1.79080183e-02 9.99839596e-01 -2.92133969e-04 1.13966208e+00] [ 5.66688198e-03 1.90677232e-04 9.99983925e-01 2.54214339e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.945336195 meters Centerline goodness [0,1] 0.9996613541600525 Centerline is valid? [True, True] Translation: X:92.65, Y:1.15, Z:0.25 [[ 9.99810852e-01 -1.87284053e-02 -5.24472033e-03 9.26517249e+01] [ 1.87272408e-02 9.99824593e-01 -2.71072563e-04 1.14807442e+00] [ 5.24887713e-03 1.72802150e-04 9.99986210e-01 2.51735775e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.975336195 meters Centerline goodness [0,1] 0.999893417462483 Centerline is valid? [True, True] Translation: X:92.68, Y:1.14, Z:0.25 [[ 9.99783852e-01 -1.97077938e-02 -6.62212299e-03 9.26808004e+01] [ 1.97059491e-02 9.99805760e-01 -3.43698553e-04 1.14329833e+00] [ 6.62761025e-03 2.13129044e-04 9.99978014e-01 2.50197085e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.005336195 meters Centerline goodness [0,1] 0.9999355323949716 Centerline is valid? [True, True] Translation: X:92.71, Y:1.14, Z:0.25 [[ 9.99778858e-01 -1.98853072e-02 -6.84178826e-03 9.27088346e+01] [ 1.98833330e-02 9.99802243e-01 -3.56463385e-04 1.14455733e+00] [ 6.84752364e-03 2.20347002e-04 9.99976531e-01 2.49297054e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.035336195 meters Centerline goodness [0,1] 0.9998294788447192 Centerline is valid? [True, True] Translation: X:92.74, Y:1.15, Z:0.25 [[ 9.99793685e-01 -1.86943638e-02 -7.94407489e-03 9.27357759e+01] [ 1.86916618e-02 9.99825210e-01 -4.14244710e-04 1.15159246e+00] [ 7.95043039e-03 2.65671284e-04 9.99968360e-01 2.46711574e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.065336195 meters Centerline goodness [0,1] 0.999511147952135 Centerline is valid? [True, True] Translation: X:92.76, Y:1.15, Z:0.25 [[ 9.99800927e-01 -1.77316178e-02 -9.14850961e-03 9.27632644e+01] [ 1.77279917e-02 9.99842733e-01 -4.77310420e-04 1.15398307e+00] [ 9.15553433e-03 3.15030698e-04 9.99958038e-01 2.45440816e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.09533619499999 meters Centerline goodness [0,1] 0.9988962940951734 Centerline is valid? [True, True] Translation: X:92.79, Y:1.16, Z:0.25 [[ 9.99832385e-01 -1.47041046e-02 -1.09082792e-02 9.27937531e+01] [ 1.46987722e-02 9.99891805e-01 -5.68860899e-04 1.15540740e+00] [ 1.09154636e-02 4.08427239e-04 9.99940341e-01 2.45525707e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.12533619499999 meters Centerline goodness [0,1] 0.9992101443087695 Centerline is valid? [True, True] Translation: X:92.82, Y:1.16, Z:0.25 [[ 9.99889683e-01 -1.05818749e-02 -1.04233258e-02 9.28237187e+01] [ 1.05767799e-02 9.99943916e-01 -5.43810035e-04 1.16248757e+00] [ 1.04284958e-02 4.33504820e-04 9.99945528e-01 2.46022296e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.15533619499999 meters Centerline goodness [0,1] 0.9948843698473766 Centerline is valid? [True, True] Translation: X:92.85, Y:1.17, Z:0.24 [[ 9.99917347e-01 -8.73900312e-03 -9.43020081e-03 9.28513370e+01] [ 8.73474561e-03 9.99961730e-01 -4.92568232e-04 1.17459881e+00] [ 9.43414447e-03 4.10157114e-04 9.99955413e-01 2.44375520e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.18533619499999 meters Centerline goodness [0,1] 0.9909865861695117 Centerline is valid? [True, True] Translation: X:92.88, Y:1.19, Z:0.25 [[ 9.99957322e-01 -7.02225523e-03 -6.00345455e-03 9.28783501e+01] [ 7.02049438e-03 9.99975307e-01 -3.14329780e-04 1.18598667e+00] [ 6.00551361e-03 2.72169146e-04 9.99981930e-01 2.47172191e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.21533619499999 meters Centerline goodness [0,1] 0.9977567457858867 Centerline is valid? [True, True] Translation: X:92.91, Y:1.18, Z:0.25 [[ 9.99961622e-01 -6.83515387e-03 -5.48043732e-03 9.29076412e+01] [ 6.83367716e-03 9.99976609e-01 -2.88131505e-04 1.18307203e+00] [ 5.48227855e-03 2.50668908e-04 9.99984941e-01 2.49449404e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.245336195 meters Centerline goodness [0,1] 0.9931115376412881 Centerline is valid? [True, True] Translation: X:92.94, Y:1.18, Z:0.25 [[ 9.99952163e-01 -5.97794179e-03 -7.74176582e-03 9.29358366e+01] [ 5.97497209e-03 9.99982067e-01 -4.06666376e-04 1.18232748e+00] [ 7.74405802e-03 3.60390088e-04 9.99969949e-01 2.48108591e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.275336195 meters Centerline goodness [0,1] 0.9987737979993546 Centerline is valid? [True, True] Translation: X:92.97, Y:1.18, Z:0.25 [[ 9.99947981e-01 -5.90399290e-03 -8.31730133e-03 9.29653830e+01] [ 5.90054734e-03 9.99982495e-01 -4.38743148e-04 1.17545284e+00] [ 8.31974607e-03 3.89643695e-04 9.99965314e-01 2.49762601e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.305336195 meters Centerline goodness [0,1] 0.9953265072014276 Centerline is valid? [True, True] Translation: X:92.99, Y:1.18, Z:0.25 [[ 9.99946172e-01 -5.79023874e-03 -8.60965503e-03 9.29925704e+01] [ 5.78654197e-03 9.99983155e-01 -4.54223047e-04 1.18166086e+00] [ 8.61214005e-03 4.04378467e-04 9.99962833e-01 2.48470399e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.335336195 meters Centerline goodness [0,1] 0.9915432953456172 Centerline is valid? [True, True] Translation: X:93.02, Y:1.19, Z:0.24 [[ 9.99941766e-01 -5.22472093e-03 -9.44285129e-03 9.30208518e+01] [ 5.22023093e-03 9.99986249e-01 -5.00076794e-04 1.19325828e+00] [ 9.44533421e-03 4.50753808e-04 9.99955290e-01 2.44688320e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.365336195 meters Centerline goodness [0,1] 0.9959059861694455 Centerline is valid? [True, True] Translation: X:93.05, Y:1.20, Z:0.24 [[ 9.99953422e-01 -4.30401019e-03 -8.63883007e-03 9.30491978e+01] [ 4.30020520e-03 9.99990649e-01 -4.58978231e-04 1.20097958e+00] [ 8.64072474e-03 4.21808110e-04 9.99962579e-01 2.43846678e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.395336195 meters Centerline goodness [0,1] 0.9769137817726993 Centerline is valid? [True, True] Translation: X:93.08, Y:1.21, Z:0.24 [[ 9.99961911e-01 -3.97408228e-03 -7.77070427e-03 9.30762198e+01] [ 3.97099291e-03 9.99992030e-01 -4.12954422e-04 1.20935656e+00] [ 7.77228345e-03 3.82081281e-04 9.99969722e-01 2.43975095e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.425336195 meters Centerline goodness [0,1] 0.9942553101284606 Centerline is valid? [True, True] Translation: X:93.10, Y:1.20, Z:0.25 [[ 9.99965704e-01 -4.15546242e-03 -7.16397774e-03 9.31049555e+01] [ 4.15282813e-03 9.99991304e-01 -3.82548488e-04 1.20379286e+00] [ 7.16550511e-03 3.52784600e-04 9.99974265e-01 2.48276614e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.45533619499999 meters Centerline goodness [0,1] 0.9948635225198454 Centerline is valid? [True, True] Translation: X:93.13, Y:1.21, Z:0.25 [[ 9.99963539e-01 -4.66914480e-03 -7.14977144e-03 9.31335078e+01] [ 4.66652647e-03 9.99989038e-01 -3.82850456e-04 1.20533331e+00] [ 7.15148065e-03 3.49471900e-04 9.99974367e-01 2.48379236e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.48533619499999 meters Centerline goodness [0,1] 0.9917386964554973 Centerline is valid? [True, True] Translation: X:93.16, Y:1.21, Z:0.24 [[ 9.99949948e-01 -5.76456293e-03 -8.17748213e-03 9.31610114e+01] [ 5.76117461e-03 9.99983308e-01 -4.37843337e-04 1.21006413e+00] [ 8.17986961e-03 3.90709520e-04 9.99966468e-01 2.44496376e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.51533619499999 meters Centerline goodness [0,1] 0.9945043195620563 Centerline is valid? [True, True] Translation: X:93.19, Y:1.21, Z:0.24 [[ 9.99907574e-01 -7.67852553e-03 -1.12197771e-02 9.31904132e+01] [ 7.67224488e-03 9.99970386e-01 -6.02719284e-04 1.21040089e+00] [ 1.12240728e-02 5.16582700e-04 9.99936875e-01 2.37798356e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.54533619499999 meters Centerline goodness [0,1] 0.9825571513554857 Centerline is valid? [True, True] Translation: X:93.22, Y:1.22, Z:0.24 [[ 9.99897966e-01 -8.80600182e-03 -1.12477392e-02 9.32179009e+01] [ 8.79975322e-03 9.99961098e-01 -6.04913143e-04 1.21744351e+00] [ 1.12526285e-02 5.05874093e-04 9.99936559e-01 2.35611205e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.57533619499999 meters Centerline goodness [0,1] 0.9942065545032815 Centerline is valid? [True, True] Translation: X:93.25, Y:1.22, Z:0.24 [[ 9.99907684e-01 -9.53685479e-03 -9.67842110e-03 9.32472207e+01] [ 9.53224472e-03 9.99954431e-01 -5.22343840e-04 1.21583295e+00] [ 9.68296157e-03 4.30038541e-04 9.99953027e-01 2.39017116e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.60533619499999 meters Centerline goodness [0,1] 0.9943724782331705 Centerline is valid? [True, True] Translation: X:93.28, Y:1.22, Z:0.24 [[ 9.99902983e-01 -1.01567393e-02 -9.53230496e-03 9.32754716e+01] [ 1.01522940e-02 9.99948332e-01 -5.14615547e-04 1.21630460e+00] [ 9.53703926e-03 4.17790858e-04 9.99954434e-01 2.41792815e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.635336195 meters Centerline goodness [0,1] 0.9882700439873351 Centerline is valid? [True, True] Translation: X:93.30, Y:1.22, Z:0.24 [[ 9.99875849e-01 -1.04656891e-02 -1.17794295e-02 9.33035920e+01] [ 1.04589149e-02 9.99945101e-01 -6.36539043e-04 1.22155701e+00] [ 1.17854446e-02 5.13259966e-04 9.99930418e-01 2.38190877e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.665336195 meters Centerline goodness [0,1] 0.9882700439873351 Centerline is valid? [True, True] Translation: X:93.33, Y:1.22, Z:0.24 [[ 9.99873944e-01 -1.06462965e-02 -1.17792876e-02 9.33311044e+01] [ 1.06395040e-02 9.99943195e-01 -6.39161103e-04 1.22321593e+00] [ 1.17854231e-02 5.13754755e-04 9.99930418e-01 2.38081250e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.695336195 meters Centerline goodness [0,1] 0.9937964733375824 Centerline is valid? [True, True] Translation: X:93.36, Y:1.23, Z:0.24 [[ 9.99881284e-01 -1.09919519e-02 -1.07979219e-02 9.33596602e+01] [ 1.09862460e-02 9.99939477e-01 -5.87602391e-04 1.22559569e+00] [ 1.08037273e-02 4.68904007e-04 9.99941528e-01 2.39681616e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.725336195 meters Centerline goodness [0,1] 0.9988313288853002 Centerline is valid? [True, True] Translation: X:93.39, Y:1.23, Z:0.24 [[ 9.99891794e-01 -1.14689680e-02 -9.21212336e-03 9.33890080e+01] [ 1.14648300e-02 9.99934151e-01 -5.01870161e-04 1.22515353e+00] [ 9.21727268e-03 3.96200427e-04 9.99957442e-01 2.43038590e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.755336195 meters Centerline goodness [0,1] 0.9947639539567126 Centerline is valid? [True, True] Translation: X:93.42, Y:1.23, Z:0.24 [[ 9.99879245e-01 -1.21253155e-02 -9.71966345e-03 9.34170911e+01] [ 1.21207217e-02 9.99926400e-01 -5.31392219e-04 1.23105020e+00] [ 9.72539139e-03 4.13518715e-04 9.99952622e-01 2.40413287e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.785336195 meters Centerline goodness [0,1] 0.9993013063454087 Centerline is valid? [True, True] Translation: X:93.45, Y:1.23, Z:0.24 [[ 9.99848770e-01 -1.39810607e-02 -1.03425367e-02 9.34460888e+01] [ 1.39759587e-02 9.99902172e-01 -5.65426002e-04 1.22975902e+00] [ 1.03494301e-02 4.20793627e-04 9.99946355e-01 2.39351890e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.815336195 meters Centerline goodness [0,1] 0.9982332531556652 Centerline is valid? [True, True] Translation: X:93.47, Y:1.24, Z:0.24 [[ 9.99850349e-01 -1.45962923e-02 -9.28594683e-03 9.34737683e+01] [ 1.45922004e-02 9.99893399e-01 -5.08265047e-04 1.23883106e+00] [ 9.29237573e-03 3.72686588e-04 9.99956755e-01 2.39092362e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.84533619499999 meters Centerline goodness [0,1] 0.998603736063805 Centerline is valid? [True, True] Translation: X:93.50, Y:1.24, Z:0.24 [[ 9.99851337e-01 -1.48681233e-02 -8.73170567e-03 9.35022491e+01] [ 1.48644998e-02 9.99889402e-01 -4.79729169e-04 1.23834209e+00] [ 8.73787263e-03 3.49865413e-04 9.99961763e-01 2.41442215e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.87533619499999 meters Centerline goodness [0,1] 0.9996569688913663 Centerline is valid? [True, True] Translation: X:93.53, Y:1.23, Z:0.24 [[ 9.99813255e-01 -1.72326163e-02 -8.74595170e-03 9.35330302e+01] [ 1.72290756e-02 9.99851453e-01 -4.80026787e-04 1.23068224e+00] [ 8.75292463e-03 3.29252481e-04 9.99961638e-01 2.44949890e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.90533619499999 meters Centerline goodness [0,1] 0.9998508257858284 Centerline is valid? [True, True] Translation: X:93.56, Y:1.23, Z:0.25 [[ 9.99788694e-01 -1.87695011e-02 -8.38288538e-03 9.35620306e+01] [ 1.87662977e-02 9.99823791e-01 -4.60636453e-04 1.23123097e+00] [ 8.39005416e-03 3.03223395e-04 9.99964757e-01 2.45511162e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.93533619499999 meters Centerline goodness [0,1] 0.9997226311634556 Centerline is valid? [True, True] Translation: X:93.59, Y:1.24, Z:0.25 [[ 9.99777296e-01 -1.99773204e-02 -6.80188719e-03 9.35899351e+01] [ 1.99752370e-02 9.99800405e-01 -3.74112181e-04 1.23829129e+00] [ 6.80800333e-03 2.38159556e-04 9.99976797e-01 2.45565986e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.96533619499999 meters Centerline goodness [0,1] 0.9998729028978139 Centerline is valid? [True, True] Translation: X:93.62, Y:1.24, Z:0.25 [[ 9.99763075e-01 -2.15790106e-02 -2.85317879e-03 9.36191250e+01] [ 2.15786503e-02 9.99767141e-01 -1.57005900e-04 1.24049882e+00] [ 2.85590244e-03 9.54009538e-05 9.99995917e-01 2.50362408e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.995336195 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.65, Y:1.23, Z:0.25 [[ 9.99751705e-01 -2.21070256e-02 -2.79438073e-03 9.36490093e+01] [ 2.21066794e-02 9.99755606e-01 -1.54723309e-04 1.23251528e+00] [ 2.79711827e-03 9.29104129e-05 9.99996084e-01 2.52702320e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.025336195 meters Centerline goodness [0,1] 0.9998090266726081 Centerline is valid? [True, True] Translation: X:93.68, Y:1.23, Z:0.25 [[ 9.99735497e-01 -2.21490468e-02 -6.19327439e-03 9.36771921e+01] [ 2.21473517e-02 9.99754659e-01 -3.42159306e-04 1.23211812e+00] [ 6.19933343e-03 2.04904178e-04 9.99980763e-01 2.47816188e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.055336195 meters Centerline goodness [0,1] 0.9998929359114366 Centerline is valid? [True, True] Translation: X:93.71, Y:1.23, Z:0.25 [[ 9.99723003e-01 -2.24198784e-02 -7.15999287e-03 9.37058811e+01] [ 2.24176086e-02 9.99748615e-01 -3.97114333e-04 1.23370144e+00] [ 7.16709621e-03 2.36494415e-04 9.99974288e-01 2.45366745e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.085336195 meters Centerline goodness [0,1] 0.9999147957227453 Centerline is valid? [True, True] Translation: X:93.73, Y:1.24, Z:0.24 [[ 9.99729678e-01 -2.21364285e-02 -7.10986884e-03 9.37337321e+01] [ 2.21341833e-02 9.99754931e-01 -3.94333368e-04 1.23826968e+00] [ 7.11685557e-03 2.36855631e-04 9.99974647e-01 2.44454596e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.115336195 meters Centerline goodness [0,1] 0.9996177857051853 Centerline is valid? [True, True] Translation: X:93.76, Y:1.24, Z:0.24 [[ 9.99751562e-01 -2.03769910e-02 -9.03284415e-03 9.37634087e+01] [ 2.03732952e-02 9.99792317e-01 -5.00992930e-04 1.24337201e+00] [ 9.04117692e-03 3.16839664e-04 9.99959078e-01 2.41358956e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.145336195 meters Centerline goodness [0,1] 0.9994900452584833 Centerline is valid? [True, True] Translation: X:93.79, Y:1.25, Z:0.24 [[ 9.99766610e-01 -1.94610800e-02 -9.38041032e-03 9.37924347e+01] [ 1.94570346e-02 9.99810558e-01 -5.22334783e-04 1.24526747e+00] [ 9.38879847e-03 3.39697907e-04 9.99955867e-01 2.41059257e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.175336195 meters Centerline goodness [0,1] 0.9996784221245578 Centerline is valid? [True, True] Translation: X:93.82, Y:1.24, Z:0.25 [[ 9.99790511e-01 -1.87138876e-02 -8.28996858e-03 9.38216210e+01] [ 1.87106903e-02 9.99824832e-01 -4.63079838e-04 1.24075750e+00] [ 8.29718247e-03 3.07871793e-04 9.99965530e-01 2.45249982e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.20533619499999 meters Centerline goodness [0,1] 0.9995737516250719 Centerline is valid? [True, True] Translation: X:93.85, Y:1.25, Z:0.25 [[ 9.99809201e-01 -1.82732453e-02 -6.90291355e-03 9.38495892e+01] [ 1.82710173e-02 9.99832997e-01 -3.85690551e-04 1.24630911e+00] [ 6.90880856e-03 2.59493708e-04 9.99976100e-01 2.47041780e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.23533619499999 meters Centerline goodness [0,1] 0.9997862699837565 Centerline is valid? [True, True] Translation: X:93.88, Y:1.25, Z:0.25 [[ 9.99839493e-01 -1.71440583e-02 -5.20281748e-03 9.38784990e+01] [ 1.71427705e-02 9.99853009e-01 -2.92010081e-04 1.25166592e+00] [ 5.20705895e-03 2.02772505e-04 9.99986423e-01 2.47926268e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.26533619499999 meters Centerline goodness [0,1] 0.9995961141933976 Centerline is valid? [True, True] Translation: X:93.91, Y:1.25, Z:0.25 [[ 9.99832830e-01 -1.72616367e-02 -6.02900912e-03 9.39062096e+01] [ 1.72599107e-02 9.99850979e-01 -3.38209625e-04 1.25321656e+00] [ 6.03394873e-03 2.34092928e-04 9.99981768e-01 2.45195607e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.29533619499999 meters Centerline goodness [0,1] 0.999613717326924 Centerline is valid? [True, True] Translation: X:93.94, Y:1.25, Z:0.25 [[ 9.99817323e-01 -1.79661701e-02 -6.52203373e-03 9.39357453e+01] [ 1.79641565e-02 9.99838564e-01 -3.67192903e-04 1.25075234e+00] [ 6.52757789e-03 2.49962990e-04 9.99978664e-01 2.45116301e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.32533619499999 meters Centerline goodness [0,1] 0.998907712407102 Centerline is valid? [True, True] Translation: X:93.96, Y:1.25, Z:0.24 [[ 9.99811007e-01 -1.81903389e-02 -6.86018646e-03 9.39626383e+01] [ 1.81881147e-02 9.99834508e-01 -3.86475253e-04 1.25465636e+00] [ 6.86608127e-03 2.61628354e-04 9.99976394e-01 2.44102494e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.35533619499999 meters Centerline goodness [0,1] 0.9993225219121818 Centerline is valid? [True, True] Translation: X:93.99, Y:1.26, Z:0.24 [[ 9.99820933e-01 -1.77033819e-02 -6.68526222e-03 9.39913317e+01] [ 1.77012498e-02 9.99843249e-01 -3.77969022e-04 1.25646976e+00] [ 6.69090563e-03 2.59563843e-04 9.99977582e-01 2.44305217e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.385336195 meters Centerline goodness [0,1] 0.9985457967109344 Centerline is valid? [True, True] Translation: X:94.02, Y:1.26, Z:0.24 [[ 9.99833122e-01 -1.70590583e-02 -6.53576865e-03 9.40187403e+01] [ 1.70570069e-02 9.99854450e-01 -3.69492030e-04 1.25917986e+00] [ 6.54112056e-03 2.57949719e-04 9.99978573e-01 2.44579042e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.415336195 meters Centerline goodness [0,1] 0.9980991805356086 Centerline is valid? [True, True] Translation: X:94.05, Y:1.26, Z:0.24 [[ 9.99854217e-01 -1.51669509e-02 -7.84272320e-03 9.40480644e+01] [ 1.51639364e-02 9.99884922e-01 -4.43690937e-04 1.25928541e+00] [ 7.84855012e-03 3.24699699e-04 9.99969147e-01 2.43219902e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.445336195 meters Centerline goodness [0,1] 0.9994895029034523 Centerline is valid? [True, True] Translation: X:94.08, Y:1.26, Z:0.24 [[ 9.99876461e-01 -1.31313975e-02 -8.63886069e-03 9.40777899e+01] [ 1.31276633e-02 9.99913709e-01 -4.88815684e-04 1.25830871e+00] [ 8.64453406e-03 3.75347242e-04 9.99962565e-01 2.42551607e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.475336195 meters Centerline goodness [0,1] 0.9974114500194141 Centerline is valid? [True, True] Translation: X:94.10, Y:1.26, Z:0.24 [[ 9.99889116e-01 -1.25061235e-02 -8.08414537e-03 9.41048512e+01] [ 1.25028270e-02 9.99921732e-01 -4.58190336e-04 1.26481125e+00] [ 8.08924282e-03 3.57064859e-04 9.99967218e-01 2.42006632e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.505336195 meters Centerline goodness [0,1] 0.9984959220421565 Centerline is valid? [True, True] Translation: X:94.13, Y:1.27, Z:0.25 [[ 9.99924310e-01 -1.10901798e-02 -5.32749585e-03 9.41335434e+01] [ 1.10887211e-02 9.99938472e-01 -3.03259901e-04 1.26625166e+00] [ 5.33053127e-03 2.44161832e-04 9.99985763e-01 2.47061290e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.535336195 meters Centerline goodness [0,1] 0.9960005988408153 Centerline is valid? [True, True] Translation: X:94.16, Y:1.27, Z:0.25 [[ 9.99924560e-01 -1.09862088e-02 -5.49349555e-03 9.41607475e+01] [ 1.09846569e-02 9.99939618e-01 -3.12589126e-04 1.27054620e+00] [ 5.49659801e-03 2.52221380e-04 9.99984862e-01 2.45571096e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.565336195 meters Centerline goodness [0,1] 0.9976808606583779 Centerline is valid? [True, True] Translation: X:94.19, Y:1.26, Z:0.24 [[ 9.99881302e-01 -1.28326062e-02 -8.52681720e-03 9.41903246e+01] [ 1.28289201e-02 9.99917587e-01 -4.86851155e-04 1.26318414e+00] [ 8.53236205e-03 3.77403510e-04 9.99963528e-01 2.40357555e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.59533619499999 meters Centerline goodness [0,1] 0.9960045662100456 Centerline is valid? [True, True] Translation: X:94.22, Y:1.26, Z:0.24 [[ 9.99863656e-01 -1.41767562e-02 -8.46692845e-03 9.42187194e+01] [ 1.41731703e-02 9.99899439e-01 -4.83367954e-04 1.26285538e+00] [ 8.47292959e-03 3.63298831e-04 9.99964038e-01 2.39890162e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.62533619499999 meters Centerline goodness [0,1] 0.999059889323334 Centerline is valid? [True, True] Translation: X:94.25, Y:1.26, Z:0.24 [[ 9.99836193e-01 -1.65764690e-02 -7.26692736e-03 9.42492802e+01] [ 1.65738911e-02 9.99862558e-01 -4.14831026e-04 1.25715553e+00] [ 7.27280501e-03 2.94321811e-04 9.99973509e-01 2.43778527e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.65533619499999 meters Centerline goodness [0,1] 0.9995500128567755 Centerline is valid? [True, True] Translation: X:94.28, Y:1.25, Z:0.24 [[ 9.99823920e-01 -1.72687148e-02 -7.34300420e-03 9.42788596e+01] [ 1.72660889e-02 9.99850841e-01 -4.20851833e-04 1.25405499e+00] [ 7.34917650e-03 2.93992766e-04 9.99972951e-01 2.44595586e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.68533619499999 meters Centerline goodness [0,1] 0.9978875042676681 Centerline is valid? [True, True] Translation: X:94.31, Y:1.26, Z:0.24 [[ 9.99794120e-01 -1.83362382e-02 -8.68902608e-03 9.43060875e+01] [ 1.83326014e-02 9.99831820e-01 -4.98018567e-04 1.26129835e+00] [ 8.69669655e-03 3.38623584e-04 9.99962126e-01 2.38460250e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.71533619499999 meters Centerline goodness [0,1] 0.9979589644430121 Centerline is valid? [True, True] Translation: X:94.33, Y:1.26, Z:0.24 [[ 9.99796822e-01 -1.84685985e-02 -8.07617542e-03 9.43338382e+01] [ 1.84654454e-02 9.99829391e-01 -4.64813646e-04 1.26335589e+00] [ 8.08338201e-03 3.15589029e-04 9.99967279e-01 2.37036877e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.745336195 meters Centerline goodness [0,1] 0.9995108152370419 Centerline is valid? [True, True] Translation: X:94.36, Y:1.26, Z:0.24 [[ 9.99819697e-01 -1.76345952e-02 -7.04234431e-03 9.43631242e+01] [ 1.76321687e-02 9.99844459e-01 -4.06492926e-04 1.25883177e+00] [ 7.04841727e-03 2.82247831e-04 9.99975120e-01 2.40434188e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.775336195 meters Centerline goodness [0,1] 0.9995948049732358 Centerline is valid? [True, True] Translation: X:94.39, Y:1.26, Z:0.24 [[ 9.99852854e-01 -1.58845777e-02 -6.47696941e-03 9.43931036e+01] [ 1.58824908e-02 9.99873796e-01 -3.73505376e-04 1.25520656e+00] [ 6.48208497e-03 2.70580009e-04 9.99978954e-01 2.43706437e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.805336195 meters Centerline goodness [0,1] 0.9947533214859947 Centerline is valid? [True, True] Translation: X:94.42, Y:1.26, Z:0.24 [[ 9.99848463e-01 -1.57027352e-02 -7.51501197e-03 9.44206718e+01] [ 1.56999165e-02 9.99876655e-01 -4.33919332e-04 1.26126157e+00] [ 7.52089874e-03 3.15868517e-04 9.99971668e-01 2.41355268e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.835336195 meters Centerline goodness [0,1] 0.9992952181620144 Centerline is valid? [True, True] Translation: X:94.45, Y:1.25, Z:0.24 [[ 9.99818020e-01 -1.66175268e-02 -9.36930977e-03 9.44501907e+01] [ 1.66131678e-02 9.99861844e-01 -5.42885508e-04 1.25415887e+00] [ 9.37703677e-03 3.87132799e-04 9.99955960e-01 2.40242903e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.865336195 meters Centerline goodness [0,1] 0.998224750823459 Centerline is valid? [True, True] Translation: X:94.48, Y:1.26, Z:0.24 [[ 9.99813716e-01 -1.68878952e-02 -9.34513788e-03 9.44773601e+01] [ 1.68835693e-02 9.99857316e-01 -5.41609120e-04 1.25996136e+00] [ 9.35295111e-03 3.83728944e-04 9.99956187e-01 2.37991727e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.895336195 meters Centerline goodness [0,1] 0.9970658391911004 Centerline is valid? [True, True] Translation: X:94.51, Y:1.26, Z:0.24 [[ 9.99827803e-01 -1.67449834e-02 -7.99816681e-03 9.45054475e+01] [ 1.67418063e-02 9.99859738e-01 -4.64022764e-04 1.26227813e+00] [ 8.00481503e-03 3.30039101e-04 9.99967906e-01 2.38828675e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.925336195 meters Centerline goodness [0,1] 0.9992766111359332 Centerline is valid? [True, True] Translation: X:94.53, Y:1.26, Z:0.24 [[ 9.99827576e-01 -1.66418585e-02 -8.23813594e-03 9.45343865e+01] [ 1.66384697e-02 9.99861456e-01 -4.79717624e-04 1.25784865e+00] [ 8.24497799e-03 3.42564934e-04 9.99965951e-01 2.39899565e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.95533619499999 meters Centerline goodness [0,1] 0.9974132033521464 Centerline is valid? [True, True] Translation: X:94.56, Y:1.26, Z:0.24 [[ 9.99836157e-01 -1.59004376e-02 -8.65074696e-03 9.45615498e+01] [ 1.58966679e-02 9.99873513e-01 -5.04351783e-04 1.26272868e+00] [ 8.65767217e-03 3.66751097e-04 9.99962454e-01 2.38401951e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.98533619499999 meters Centerline goodness [0,1] 0.9991251466979623 Centerline is valid? [True, True] Translation: X:94.59, Y:1.26, Z:0.24 [[ 9.99863235e-01 -1.54244736e-02 -5.96624161e-03 9.45903608e+01] [ 1.54226635e-02 9.99881003e-01 -3.49283980e-04 1.25923907e+00] [ 5.97091916e-03 2.57220873e-04 9.99982141e-01 2.44487414e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.015336195 meters Centerline goodness [0,1] 0.9986357144379783 Centerline is valid? [True, True] Translation: X:94.62, Y:1.26, Z:0.25 [[ 9.99869565e-01 -1.53033529e-02 -5.16332043e-03 9.46170985e+01] [ 1.53019949e-02 9.99882872e-01 -3.02415701e-04 1.26103085e+00] [ 5.16734363e-03 2.23367153e-04 9.99986624e-01 2.45875884e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.045336195 meters Centerline goodness [0,1] 0.9996350521660727 Centerline is valid? [True, True] Translation: X:94.65, Y:1.26, Z:0.25 [[ 9.99883269e-01 -1.42568765e-02 -5.49447274e-03 9.46464226e+01] [ 1.42553162e-02 9.99898336e-01 -3.23027035e-04 1.25805511e+00] [ 5.49851951e-03 2.44663882e-04 9.99984853e-01 2.47084573e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.075336195 meters Centerline goodness [0,1] 0.9947030768581437 Centerline is valid? [True, True] Translation: X:94.67, Y:1.27, Z:0.24 [[ 9.99900758e-01 -1.28667599e-02 -5.73766303e-03 9.46744576e+01] [ 1.28650369e-02 9.99917185e-01 -3.37100753e-04 1.27114552e+00] [ 5.74152526e-03 2.63252052e-04 9.99983483e-01 2.43693963e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.105336195 meters Centerline goodness [0,1] 0.9867973380694585 Centerline is valid? [True, True] Translation: X:94.70, Y:1.28, Z:0.24 [[ 9.99922902e-01 -1.05942056e-02 -6.47704478e-03 9.47040432e+01] [ 1.05919630e-02 9.99943831e-01 -3.80445785e-04 1.27595373e+00] [ 6.48071150e-03 3.11811834e-04 9.99978951e-01 2.40289516e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.135336195 meters Centerline goodness [0,1] 0.9958856419453529 Centerline is valid? [True, True] Translation: X:94.73, Y:1.27, Z:0.25 [[ 9.99951760e-01 -8.52760949e-03 -4.87407207e-03 9.47340747e+01] [ 8.52631424e-03 9.99963609e-01 -2.86460281e-04 1.27122543e+00] [ 4.87633752e-03 2.44888592e-04 9.99988081e-01 2.45221837e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.165336195 meters Centerline goodness [0,1] 0.9944719664916123 Centerline is valid? [True, True] Translation: X:94.76, Y:1.27, Z:0.25 [[ 9.99962732e-01 -7.38569821e-03 -4.47065347e-03 9.47632981e+01] [ 7.38459570e-03 9.99972699e-01 -2.63068799e-04 1.27365967e+00] [ 4.47247436e-03 2.30045026e-04 9.99989972e-01 2.46952456e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.195336195 meters Centerline goodness [0,1] 0.9528041032568546 Centerline is valid? [True, True] Translation: X:94.79, Y:1.28, Z:0.24 [[ 9.99963527e-01 -5.79750118e-03 -6.27171362e-03 9.47915233e+01] [ 5.79529866e-03 9.99983139e-01 -3.69299876e-04 1.28357499e+00] [ 6.27374889e-03 3.32939953e-04 9.99980264e-01 2.42782881e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.225336195 meters Centerline goodness [0,1] 0.9701014415376401 Centerline is valid? [True, True] Translation: X:94.82, Y:1.28, Z:0.24 [[ 9.99955434e-01 -5.57992401e-03 -7.61543339e-03 9.48204046e+01] [ 5.57665821e-03 9.99984349e-01 -4.50007590e-04 1.28345909e+00] [ 7.61782521e-03 4.07518866e-04 9.99970901e-01 2.40453542e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.255336195 meters Centerline goodness [0,1] 0.9531213640498403 Centerline is valid? [True, True] Translation: X:94.85, Y:1.29, Z:0.24 [[ 9.99956529e-01 -5.36141365e-03 -7.62856560e-03 9.48479112e+01] [ 5.35812727e-03 9.99985543e-01 -4.51171605e-04 1.28923193e+00] [ 7.63087424e-03 4.10277167e-04 9.99970800e-01 2.38359515e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.285336195 meters Centerline goodness [0,1] 0.9769614608769508 Centerline is valid? [True, True] Translation: X:94.88, Y:1.29, Z:0.24 [[ 9.99970615e-01 -5.67420621e-03 -5.15491371e-03 9.48770115e+01] [ 5.67270361e-03 9.99983863e-01 -3.06062082e-04 1.29238008e+00] [ 5.15656719e-03 2.76810791e-04 9.99986667e-01 2.41685323e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.31533619500001 meters Centerline goodness [0,1] 0.966357554200542 Centerline is valid? [True, True] Translation: X:94.90, Y:1.30, Z:0.24 [[ 9.99971374e-01 -6.02532123e-03 -4.57681386e-03 9.49043693e+01] [ 6.02413974e-03 9.99981818e-01 -2.71888491e-04 1.29658137e+00] [ 4.57836886e-03 2.44309342e-04 9.99989489e-01 2.42056865e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.34533619500002 meters Centerline goodness [0,1] 0.9576316293725649 Centerline is valid? [True, True] Translation: X:94.93, Y:1.29, Z:0.24 [[ 9.99949609e-01 -6.87661328e-03 -7.31376365e-03 9.49336894e+01] [ 6.87360979e-03 9.99976282e-01 -4.35720381e-04 1.29348732e+00] [ 7.31658646e-03 3.85426467e-04 9.99973159e-01 2.39189193e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.37533619500002 meters Centerline goodness [0,1] 0.965830901305839 Centerline is valid? [True, True] Translation: X:94.96, Y:1.29, Z:0.24 [[ 9.99934182e-01 -8.99367303e-03 -7.12352751e-03 9.49626140e+01] [ 8.99087988e-03 9.99959491e-01 -4.24029986e-04 1.29398155e+00] [ 7.12705253e-03 3.59955297e-04 9.99974537e-01 2.40420819e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.40533619500002 meters Centerline goodness [0,1] 0.9816641051912568 Centerline is valid? [True, True] Translation: X:94.99, Y:1.30, Z:0.24 [[ 9.99930558e-01 -1.03219116e-02 -5.68655378e-03 9.49921564e+01] [ 1.03201523e-02 9.99946688e-01 -3.38635569e-04 1.29607685e+00] [ 5.68974599e-03 2.79925953e-04 9.99983774e-01 2.42150449e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.43533619500002 meters Centerline goodness [0,1] 0.9946278317152104 Centerline is valid? [True, True] Translation: X:95.02, Y:1.30, Z:0.24 [[ 9.99901494e-01 -1.28414051e-02 -5.66565729e-03 9.50219586e+01] [ 1.28396984e-02 9.99917511e-01 -3.37519926e-04 1.29525053e+00] [ 5.66952416e-03 2.64741348e-04 9.99983893e-01 2.42049360e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.46533619500002 meters Centerline goodness [0,1] 0.9907640815980681 Centerline is valid? [True, True] Translation: X:95.05, Y:1.30, Z:0.24 [[ 9.99888055e-01 -1.38119617e-02 -5.75380303e-03 9.50496246e+01] [ 1.38102149e-02 9.99904576e-01 -3.43224515e-04 1.29758251e+00] [ 5.75799459e-03 2.63724837e-04 9.99983388e-01 2.40896950e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.49533619500002 meters Centerline goodness [0,1] 0.9940350202039638 Centerline is valid? [True, True] Translation: X:95.08, Y:1.29, Z:0.24 [[ 9.99862073e-01 -1.57596349e-02 -5.24111773e-03 9.50787839e+01] [ 1.57582122e-02 9.99875783e-01 -3.12641030e-04 1.29378136e+00] [ 5.24539380e-03 2.30007263e-04 9.99986216e-01 2.42203783e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.525336195 meters Centerline goodness [0,1] 0.9996572628151575 Centerline is valid? [True, True] Translation: X:95.11, Y:1.28, Z:0.24 [[ 9.99846275e-01 -1.68768747e-02 -4.75364733e-03 9.51087776e+01] [ 1.68757111e-02 9.99857554e-01 -2.84799139e-04 1.28479662e+00] [ 4.75777672e-03 2.04534179e-04 9.99988661e-01 2.44695083e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.555336195 meters Centerline goodness [0,1] 0.9996572628151575 Centerline is valid? [True, True] Translation: X:95.14, Y:1.29, Z:0.24 [[ 9.99843145e-01 -1.70613444e-02 -4.75358660e-03 9.51362874e+01] [ 1.70601780e-02 9.99854424e-01 -2.85812447e-04 1.28659731e+00] [ 4.75777094e-03 2.04670582e-04 9.99988661e-01 2.44585560e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.585336195 meters Centerline goodness [0,1] 0.9995343324019982 Centerline is valid? [True, True] Translation: X:95.17, Y:1.29, Z:0.24 [[ 9.99790457e-01 -1.98971709e-02 -4.81093421e-03 9.51653010e+01] [ 1.98960114e-02 9.99802013e-01 -2.88758384e-04 1.28656968e+00] [ 4.81572719e-03 1.92979475e-04 9.99988386e-01 2.42641603e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.615336195 meters Centerline goodness [0,1] 0.9997866120393487 Centerline is valid? [True, True] Translation: X:95.20, Y:1.28, Z:0.24 [[ 9.99722119e-01 -2.28244416e-02 -5.89321297e-03 9.51959338e+01] [ 2.28227526e-02 9.99739464e-01 -3.53698361e-04 1.28303013e+00] [ 5.89975054e-03 2.19100734e-04 9.99982572e-01 2.40401828e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.645336195 meters Centerline goodness [0,1] 0.9998288074297575 Centerline is valid? [True, True] Translation: X:95.23, Y:1.28, Z:0.24 [[ 9.99708343e-01 -2.34513073e-02 -5.76767040e-03 9.52251871e+01] [ 2.34496910e-02 9.99724958e-01 -3.47702675e-04 1.28363838e+00] [ 5.77423813e-03 2.12351176e-04 9.99983306e-01 2.40428857e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.675336195 meters Centerline goodness [0,1] 0.9998937323330004 Centerline is valid? [True, True] Translation: X:95.25, Y:1.28, Z:0.24 [[ 9.99710890e-01 -2.34282287e-02 -5.40876536e-03 9.52528032e+01] [ 2.34268009e-02 9.99725501e-01 -3.27200965e-04 1.28464753e+00] [ 5.41494640e-03 2.00396299e-04 9.99985319e-01 2.41583986e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.705336195 meters Centerline goodness [0,1] 0.9998495917490331 Centerline is valid? [True, True] Translation: X:95.28, Y:1.28, Z:0.24 [[ 9.99744249e-01 -2.18868563e-02 -5.69232154e-03 9.52826425e+01] [ 2.18852530e-02 9.99760430e-01 -3.43809242e-04 1.28309281e+00] [ 5.69848274e-03 2.19143415e-04 9.99983740e-01 2.43216199e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.735336195 meters Centerline goodness [0,1] 0.9994882074465816 Centerline is valid? [True, True] Translation: X:95.31, Y:1.29, Z:0.24 [[ 9.99774075e-01 -2.03828163e-02 -6.02832059e-03 9.53108346e+01] [ 2.03809892e-02 9.99792220e-01 -3.64357832e-04 1.29029816e+00] [ 6.03449467e-03 2.41412377e-04 9.99981763e-01 2.41545758e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.765336195 meters Centerline goodness [0,1] 0.9777205789273808 Centerline is valid? [True, True] Translation: X:95.34, Y:1.31, Z:0.24 [[ 9.99860275e-01 -1.58091522e-02 -5.43151572e-03 9.53395126e+01] [ 1.58076017e-02 9.99874998e-01 -3.28273885e-04 1.30534750e+00] [ 5.43602651e-03 2.42368780e-04 9.99985195e-01 2.42200541e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.795336195 meters Centerline goodness [0,1] 0.9928052959833117 Centerline is valid? [True, True] Translation: X:95.37, Y:1.31, Z:0.25 [[ 9.99933648e-01 -1.07456465e-02 -4.15103686e-03 9.53694441e+01] [ 1.07446973e-02 9.99942243e-01 -2.50880591e-04 1.30787013e+00] [ 4.15349298e-03 2.06262310e-04 9.99991353e-01 2.45947148e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.825336195 meters Centerline goodness [0,1] 0.8723015468298487 Centerline is valid? [True, False] Translation: X:95.37, Y:1.30, Z:0.25 [[ 9.99970119e-01 -6.25925193e-03 -4.53685981e-03 9.53703232e+01] [ 6.28044110e-03 9.99969367e-01 4.67134701e-03 1.30479607e+00] [ 4.50748170e-03 -4.69970090e-03 9.99978797e-01 2.46365769e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.855336195 meters Centerline goodness [0,1] 0.804752441395816 Centerline is valid? [False, False] Translation: X:95.37, Y:1.30, Z:0.25 [[ 9.99970028e-01 -6.12274791e-03 -4.73867799e-03 9.53714345e+01] [ 6.14565924e-03 9.99969423e-01 4.83559924e-03 1.30400752e+00] [ 4.70892595e-03 -4.86457661e-03 9.99977081e-01 2.45515180e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.885336195 meters Centerline goodness [0,1] 0.9106450100183314 Centerline is valid? [False, False] Translation: X:95.37, Y:1.30, Z:0.25 [[ 9.99970628e-01 -6.02938688e-03 -4.73169167e-03 9.53714383e+01] [ 6.05322949e-03 9.99968973e-01 5.04088001e-03 1.30298144e+00] [ 4.70115145e-03 -5.06937397e-03 9.99976100e-01 2.45499164e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.915336195 meters Centerline goodness [0,1] 0.7917001905568495 Centerline is valid? [False, False] Translation: X:95.39, Y:1.31, Z:0.24 [[ 9.99986930e-01 -5.09893509e-03 3.74374225e-04 9.53936624e+01] [ 5.10104919e-03 9.99969692e-01 -5.88173843e-03 1.31194448e+00] [-3.44372276e-04 5.88357126e-03 9.99982632e-01 2.38395901e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.945336195 meters Centerline goodness [0,1] 0.7924991534033187 Centerline is valid? [False, False] Translation: X:95.39, Y:1.31, Z:0.24 [[ 9.99999664e-01 -8.18816263e-04 5.01593765e-05 9.53941542e+01] [ 8.18858567e-04 9.99999304e-01 -8.49274786e-04 1.30802001e+00] [-4.94639416e-05 8.49315573e-04 9.99999638e-01 2.39366768e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.975336195 meters Centerline goodness [0,1] 0.9354873061850401 Centerline is valid? [False, False] Translation: X:95.39, Y:1.31, Z:0.24 [[ 9.99999401e-01 -1.09286673e-03 -5.71139961e-05 9.53948866e+01] [ 1.09278148e-03 9.99998319e-01 -1.47203834e-03 1.31089904e+00] [ 5.87226419e-05 1.47197505e-03 9.99998915e-01 2.38673898e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.005336195 meters Centerline goodness [0,1] 0.7744053021508327 Centerline is valid? [False, False] Translation: X:95.40, Y:1.31, Z:0.24 [[ 9.99995052e-01 3.12608901e-03 -3.50916059e-04 9.53952831e+01] [-3.12489621e-03 9.99989507e-01 3.34967364e-03 1.30795798e+00] [ 3.61383755e-04 -3.34856049e-03 9.99994328e-01 2.39767898e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.035336195 meters Centerline goodness [0,1] 0.7595054030712194 Centerline is valid? [False, False] Translation: X:95.39, Y:1.31, Z:0.24 [[ 9.99995896e-01 2.85666691e-03 -2.18267683e-04 9.53948839e+01] [-2.85609517e-03 9.99992603e-01 2.57636350e-03 1.31177102e+00] [ 2.25625881e-04 -2.57572953e-03 9.99996657e-01 2.39656894e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.06533619500001 meters Centerline goodness [0,1] 0.9119001919385796 Centerline is valid? [False, False] Translation: X:95.36, Y:1.31, Z:0.24 [[ 9.99990594e-01 1.99863783e-03 -3.84925953e-03 9.53581204e+01] [-1.98293825e-03 9.99989718e-01 4.07810378e-03 1.31182458e+00] [ 3.85737061e-03 -4.07043258e-03 9.99984276e-01 2.38204569e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.09533619500002 meters Centerline goodness [0,1] 0.8389927751806205 Centerline is valid? [False, False] Translation: X:95.36, Y:1.31, Z:0.24 [[ 9.99990571e-01 1.78234295e-03 -3.96002732e-03 9.53587317e+01] [-1.76798041e-03 9.99991858e-01 3.62742384e-03 1.31385819e+00] [ 3.96646039e-03 -3.62038839e-03 9.99985580e-01 2.37708065e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.12533619500002 meters Centerline goodness [0,1] 0.9696626814688301 Centerline is valid? [False, True] Translation: X:95.36, Y:1.32, Z:0.24 [[ 9.99991785e-01 1.00997295e-03 -3.92563650e-03 9.53595791e+01] [-1.00189611e-03 9.99997379e-01 2.05888162e-03 1.32091047e+00] [ 3.92770563e-03 -2.05493162e-03 9.99990175e-01 2.35946162e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.15533619500002 meters Centerline goodness [0,1] 0.9499511407571058 Centerline is valid? [True, False] Translation: X:95.36, Y:1.32, Z:0.24 [[ 9.99991932e-01 5.90525074e-04 -3.97337762e-03 9.53601474e+01] [-5.85537520e-04 9.99999039e-01 1.25628924e-03 1.32449084e+00] [ 3.97411567e-03 -1.25395255e-03 9.99991317e-01 2.35181234e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.18533619500002 meters Centerline goodness [0,1] 0.9951888278622216 Centerline is valid? [False, True] Translation: X:95.36, Y:1.33, Z:0.24 [[ 9.99991719e-01 5.51120383e-05 -4.06925661e-03 9.53597362e+01] [-5.13141575e-05 9.99999563e-01 9.33409233e-04 1.32535427e+00] [ 4.06930627e-03 -9.33192693e-04 9.99991285e-01 2.36511194e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.21533619500002 meters Centerline goodness [0,1] 0.9982980896055823 Centerline is valid? [True, True] Translation: X:95.39, Y:1.32, Z:0.24 [[ 9.99989785e-01 -3.61716625e-03 -2.71030364e-03 9.53891497e+01] [ 3.61681806e-03 9.99993450e-01 -1.33357586e-04 1.32435113e+00] [ 2.71076826e-03 1.23553548e-04 9.99996318e-01 2.39194541e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.24533619500002 meters Centerline goodness [0,1] 0.9996408728901283 Centerline is valid? [True, True] Translation: X:95.42, Y:1.32, Z:0.24 [[ 9.99927196e-01 -1.19109499e-02 -1.93184667e-03 9.54190157e+01] [ 1.19107886e-02 9.99929060e-01 -9.49993409e-05 1.32179737e+00] [ 1.93284116e-03 7.19826073e-05 9.99998129e-01 2.39944709e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.275336195 meters Centerline goodness [0,1] 0.9997658079625292 Centerline is valid? [True, True] Translation: X:95.45, Y:1.32, Z:0.24 [[ 9.99875354e-01 -1.56506797e-02 -2.08175097e-03 9.54491434e+01] [ 1.56505002e-02 9.99877518e-01 -1.02462954e-04 1.32123342e+00] [ 2.08309961e-03 6.98697387e-05 9.99997828e-01 2.39316251e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.305336195 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.48, Y:1.31, Z:0.24 [[ 9.99738517e-01 -2.28536313e-02 -7.80337004e-04 9.54790706e+01] [ 2.28536081e-02 9.99738821e-01 -3.85190286e-05 1.31442363e+00] [ 7.81013496e-04 2.06754404e-05 9.99999695e-01 2.41293441e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.335336195 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.51, Y:1.31, Z:0.24 [[ 9.99547746e-01 -3.00710725e-02 1.82203450e-04 9.55084334e+01] [ 3.00710713e-02 9.99547763e-01 8.85589590e-06 1.30876479e+00] [-1.82387357e-04 -3.37283784e-06 9.99999983e-01 2.41041409e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.365336195 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.54, Y:1.30, Z:0.24 [[ 9.99436823e-01 -3.35552093e-02 -2.89792145e-04 9.55374338e+01] [ 3.35552064e-02 9.99436865e-01 -1.46523895e-05 1.30243337e+00] [ 2.90120617e-04 4.92010237e-06 9.99999958e-01 2.41893097e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.395336195 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.57, Y:1.30, Z:0.24 [[ 9.99245615e-01 -3.88111608e-02 -1.37647253e-03 9.55655482e+01] [ 3.88111034e-02 9.99246563e-01 -6.83556054e-05 1.30025254e+00] [ 1.37808841e-03 1.48816211e-05 9.99999050e-01 2.39152391e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.425336195 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.59, Y:1.30, Z:0.24 [[ 9.99188099e-01 -4.02482116e-02 -1.79558831e-03 9.55949223e+01] [ 4.02481149e-02 9.99189712e-01 -8.99980596e-05 1.30075516e+00] [ 1.79775562e-03 1.76559456e-05 9.99998384e-01 2.38866945e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.455336195 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.62, Y:1.31, Z:0.24 [[ 9.99182946e-01 -4.03583577e-02 -2.15487175e-03 9.56225096e+01] [ 4.03582177e-02 9.99185269e-01 -1.08455648e-04 1.30898551e+00] [ 2.15749320e-03 2.14002509e-05 9.99997672e-01 2.36629569e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.485336195 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.65, Y:1.32, Z:0.24 [[ 9.99271827e-01 -3.81047260e-02 -1.96099299e-03 9.56506957e+01] [ 3.81046051e-02 9.99273751e-01 -9.90244437e-05 1.31580933e+00] [ 1.96334212e-03 2.42294735e-05 9.99998072e-01 2.36492079e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.515336195 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.68, Y:1.32, Z:0.23 [[ 9.99331499e-01 -3.64982429e-02 -2.10562350e-03 9.56780981e+01] [ 3.64981016e-02 9.99333717e-01 -1.05501943e-04 1.32146570e+00] [ 2.10807119e-03 2.85801540e-05 9.99997778e-01 2.34322583e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.545336195 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.71, Y:1.32, Z:0.24 [[ 9.99384480e-01 -3.50056472e-02 -2.29491414e-03 9.57063988e+01] [ 3.50054753e-02 9.99387114e-01 -1.15058996e-04 1.32372829e+00] [ 2.29753533e-03 3.46536151e-05 9.99997360e-01 2.35231984e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.575336195 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.73, Y:1.33, Z:0.24 [[ 9.99460420e-01 -3.27060023e-02 -3.03072446e-03 9.57346693e+01] [ 3.27056918e-02 9.99465014e-01 -1.51994071e-04 1.32853908e+00] [ 3.03407419e-03 5.27901179e-05 9.99995396e-01 2.35919513e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.605336195 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.76, Y:1.33, Z:0.23 [[ 9.99445203e-01 -3.30291109e-02 -4.28527279e-03 9.57636414e+01] [ 3.30284872e-02 9.99454387e-01 -2.16263844e-04 1.32961152e+00] [ 4.29007769e-03 7.46077843e-05 9.99990795e-01 2.33608915e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.635336195 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.79, Y:1.33, Z:0.23 [[ 9.99427343e-01 -3.36237200e-02 -3.79877149e-03 9.57911576e+01] [ 3.36232359e-02 9.99434561e-01 -1.91244550e-04 1.33086991e+00] [ 3.80305387e-03 6.34080428e-05 9.99992766e-01 2.32941782e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.665336195 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.82, Y:1.33, Z:0.24 [[ 9.99364441e-01 -3.55890569e-02 -2.03321271e-03 9.58202102e+01] [ 3.55889194e-02 9.99366508e-01 -1.03759985e-04 1.32616142e+00] [ 2.03561741e-03 3.13341961e-05 9.99997928e-01 2.36403605e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.695336195 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.85, Y:1.32, Z:0.24 [[ 9.99337743e-01 -3.63762364e-02 -9.19379025e-04 9.58479755e+01] [ 3.63762085e-02 9.99338166e-01 -4.70992905e-05 1.32462444e+00] [ 9.20483843e-04 1.36245756e-05 9.99999576e-01 2.37953040e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.725336195 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.88, Y:1.32, Z:0.24 [[ 9.99305588e-01 -3.72543712e-02 6.73448237e-04 9.58764870e+01] [ 3.72543576e-02 9.99305815e-01 3.28185460e-05 1.32265235e+00] [-6.74203374e-04 -7.70687495e-06 9.99999773e-01 2.39559469e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.755336195 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.91, Y:1.32, Z:0.24 [[ 9.99316480e-01 -3.69656411e-02 3.39309269e-04 9.59057310e+01] [ 3.69656378e-02 9.99316537e-01 1.59409675e-05 1.32216309e+00] [-3.39666632e-04 -3.38728799e-06 9.99999942e-01 2.37542962e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.785336195 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.93, Y:1.32, Z:0.24 [[ 9.99351329e-01 -3.60126266e-02 1.07558711e-04 9.59338736e+01] [ 3.60126263e-02 9.99351335e-01 5.01061037e-06 1.32333624e+00] [-1.07669387e-04 -1.13388847e-06 9.99999994e-01 2.36675068e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.81533619500001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.96, Y:1.32, Z:0.24 [[ 9.99490258e-01 -3.19241069e-02 -2.73583175e-04 9.59624379e+01] [ 3.19241042e-02 9.99490296e-01 -1.41996430e-05 1.32199604e+00] [ 2.73897039e-04 5.45850712e-06 9.99999962e-01 2.37205513e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.84533619500002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.99, Y:1.32, Z:0.24 [[ 9.99576021e-01 -2.90888577e-02 -1.27171193e-03 9.59922579e+01] [ 2.90887986e-02 9.99576829e-01 -6.49428306e-05 1.32254276e+00] [ 1.27306289e-03 2.79227241e-05 9.99999189e-01 2.36632904e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.87533619500002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.02, Y:1.33, Z:0.23 [[ 9.99736409e-01 -2.26411899e-02 -3.80643790e-03 9.60219004e+01] [ 2.26406159e-02 9.99743650e-01 -1.93828042e-04 1.32878422e+00] [ 3.80985061e-03 1.07596852e-04 9.99992737e-01 2.32982301e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.90533619500002 meters Centerline goodness [0,1] 0.9999785977227977 Centerline is valid? [True, True] Translation: X:96.05, Y:1.33, Z:0.23 [[ 9.99810256e-01 -1.89923816e-02 -4.32907860e-03 9.60523194e+01] [ 1.89916049e-02 9.99819619e-01 -2.20451144e-04 1.33409245e+00] [ 4.33248461e-03 1.38193165e-04 9.99990605e-01 2.31056165e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.93533619500002 meters Centerline goodness [0,1] 0.9992188159783802 Centerline is valid? [True, True] Translation: X:96.08, Y:1.35, Z:0.22 [[ 9.99869736e-01 -1.53130652e-02 -5.10106459e-03 9.60807061e+01] [ 1.53119384e-02 9.99882732e-01 -2.59869957e-04 1.34935311e+00] [ 5.10444580e-03 1.81728918e-04 9.99986956e-01 2.24739008e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.96533619500002 meters Centerline goodness [0,1] 0.9975707283515349 Centerline is valid? [True, True] Translation: X:96.11, Y:1.36, Z:0.22 [[ 9.99938818e-01 -8.81918506e-03 -6.67700659e-03 9.61110532e+01] [ 8.81710988e-03 9.99961071e-01 -3.40167766e-04 1.35568723e+00] [ 6.67974666e-03 2.81275053e-04 9.99977651e-01 2.21966124e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.99533619500002 meters Centerline goodness [0,1] 0.9585781119822264 Centerline is valid? [True, True] Translation: X:96.14, Y:1.37, Z:0.23 [[ 9.99980745e-01 -3.18496472e-03 -5.32598531e-03 9.61399736e+01] [ 3.18356456e-03 9.99994896e-01 -2.71349405e-04 1.36724986e+00] [ 5.32682236e-03 2.54388562e-04 9.99985780e-01 2.25277173e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.025336195 meters Centerline goodness [0,1] 0.9904419277929155 Centerline is valid? [True, True] Translation: X:96.17, Y:1.36, Z:0.23 [[ 9.99989481e-01 -9.86826436e-04 -4.47938513e-03 9.61700619e+01] [ 9.85812876e-04 9.99999488e-01 -2.28474298e-04 1.36388804e+00] [ 4.47960830e-03 2.24056059e-04 9.99989941e-01 2.29791119e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.055336195 meters Centerline goodness [0,1] 0.9810784229881125 Centerline is valid? [True, True] Translation: X:96.20, Y:1.37, Z:0.23 [[ 9.99984475e-01 2.64108311e-03 -4.90649692e-03 9.61994950e+01] [-2.64234171e-03 9.99996478e-01 -2.50052527e-04 1.37438445e+00] [ 4.90581923e-03 2.63013287e-04 9.99987932e-01 2.28959131e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.085336195 meters Centerline goodness [0,1] 0.9651687535752876 Centerline is valid? [True, True] Translation: X:96.23, Y:1.38, Z:0.23 [[ 9.99971167e-01 4.96186590e-03 -5.74846553e-03 9.62293344e+01] [-4.96363269e-03 9.99987638e-01 -2.93125176e-04 1.38344039e+00] [ 5.74694002e-03 3.21649996e-04 9.99983434e-01 2.25682052e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.115336195 meters Centerline goodness [0,1] 0.9119897959183674 Centerline is valid? [True, False] Translation: X:96.23, Y:1.39, Z:0.22 [[ 9.99974738e-01 4.29678921e-03 -5.66219995e-03 9.62302123e+01] [-4.31005271e-03 9.99987992e-01 -2.33234812e-03 1.39335434e+00] [ 5.65211035e-03 2.35669358e-03 9.99981250e-01 2.23472986e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.145336195 meters Centerline goodness [0,1] 0.8739122108981042 Centerline is valid? [False, False] Translation: X:96.23, Y:1.39, Z:0.22 [[ 9.99975942e-01 4.16425874e-03 -5.54752603e-03 9.62296842e+01] [-4.17872654e-03 9.99987892e-01 -2.59893992e-03 1.39462563e+00] [ 5.53663620e-03 2.62205899e-03 9.99981235e-01 2.23744752e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.175336195 meters Centerline goodness [0,1] 0.9517525248238988 Centerline is valid? [False, True] Translation: X:96.23, Y:1.40, Z:0.23 [[ 9.99979252e-01 3.86239042e-03 -5.15541771e-03 9.62267406e+01] [-3.87688111e-03 9.99988554e-01 -2.80374164e-03 1.39550969e+00] [ 5.14452956e-03 2.82367040e-03 9.99982780e-01 2.26780498e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.205336195 meters Centerline goodness [0,1] 0.9978611211113699 Centerline is valid? [True, True] Translation: X:96.26, Y:1.39, Z:0.23 [[ 9.99996060e-01 -1.88641962e-03 -2.07899832e-03 9.62576848e+01] [ 1.88620609e-03 9.99998216e-01 -1.04664594e-04 1.39224021e+00] [ 2.07919205e-03 1.00742762e-04 9.99997833e-01 2.34708641e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.235336195 meters Centerline goodness [0,1] 0.9996194342255487 Centerline is valid? [True, True] Translation: X:96.29, Y:1.39, Z:0.23 [[ 9.99982116e-01 -5.58327141e-03 -2.14375269e-03 9.62888037e+01] [ 5.58305280e-03 9.99984409e-01 -1.07944258e-04 1.38829906e+00] [ 2.14432195e-03 9.59736432e-05 9.99997696e-01 2.34021125e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.265336195 meters Centerline goodness [0,1] 0.9997028799422738 Centerline is valid? [True, True] Translation: X:96.32, Y:1.39, Z:0.23 [[ 9.99903274e-01 -1.34629995e-02 -3.49152862e-03 9.63180983e+01] [ 1.34624673e-02 9.99909361e-01 -1.75869637e-04 1.38691344e+00] [ 3.49357989e-03 1.28848036e-04 9.99993889e-01 2.29241047e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.295336195 meters Centerline goodness [0,1] 0.9998299717328005 Centerline is valid? [True, True] Translation: X:96.35, Y:1.38, Z:0.23 [[ 9.99831671e-01 -1.79631413e-02 -3.73563972e-03 9.63491565e+01] [ 1.79625634e-02 9.99838642e-01 -1.88191765e-04 1.37955854e+00] [ 3.73841746e-03 1.21058422e-04 9.99993005e-01 2.28462984e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.325336195 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.38, Y:1.37, Z:0.22 [[ 9.99577341e-01 -2.85206256e-02 -5.63136636e-03 9.63786886e+01] [ 2.85194790e-02 9.99593197e-01 -2.83825882e-04 1.37077762e+00] [ 5.63717040e-03 1.23102285e-04 9.99984103e-01 2.22390499e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.355336195 meters Centerline goodness [0,1] 0.9999787157056808 Centerline is valid? [True, True] Translation: X:96.41, Y:1.37, Z:0.22 [[ 9.99403878e-01 -3.36704416e-02 -7.62829070e-03 9.64093066e+01] [ 3.36684884e-02 9.99432982e-01 -3.84353545e-04 1.36502017e+00] [ 7.63690667e-03 1.27291407e-04 9.99970830e-01 2.19045856e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.385336195 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.44, Y:1.36, Z:0.22 [[ 9.99089850e-01 -4.17308385e-02 -8.83223581e-03 9.64388502e+01] [ 4.17285336e-02 9.99128886e-01 -4.45168771e-04 1.35813412e+00] [ 8.84311920e-03 7.62073514e-05 9.99960896e-01 2.15381405e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.415336195 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.47, Y:1.35, Z:0.22 [[ 9.98969986e-01 -4.46277689e-02 -8.20539045e-03 9.64676875e+01] [ 4.46258605e-02 9.99003684e-01 -4.15611765e-04 1.35372781e+00] [ 8.21576311e-03 4.90110702e-05 9.99966249e-01 2.19592980e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.445336195 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.50, Y:1.35, Z:0.22 [[ 9.98876473e-01 -4.66573889e-02 -8.29936568e-03 9.64967378e+01] [ 4.66554952e-02 9.98910950e-01 -4.21742697e-04 1.34994694e+00] [ 8.31000468e-03 3.40578418e-05 9.99965471e-01 2.22092218e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.475336195 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.53, Y:1.36, Z:0.22 [[ 9.98992676e-01 -4.41771508e-02 -7.87482277e-03 9.65250247e+01] [ 4.41753578e-02 9.99023712e-01 -4.01569730e-04 1.35655560e+00] [ 7.88487488e-03 5.32921066e-05 9.99968912e-01 2.23457774e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.505336195 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.55, Y:1.36, Z:0.22 [[ 9.98984063e-01 -4.43715057e-02 -7.87473894e-03 9.65525267e+01] [ 4.43697057e-02 9.99015098e-01 -4.03212166e-04 1.35812517e+00] [ 7.88487422e-03 5.34026787e-05 9.99968912e-01 2.23334402e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.535336195 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.58, Y:1.37, Z:0.22 [[ 9.99082225e-01 -4.21981566e-02 -7.35006044e-03 9.65795296e+01] [ 4.21965293e-02 9.99109259e-01 -3.76390781e-04 1.36501833e+00] [ 7.35939644e-03 6.58982977e-05 9.99972917e-01 2.22226317e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.56533619500001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.61, Y:1.38, Z:0.22 [[ 9.99289346e-01 -3.69623264e-02 -7.38844644e-03 9.66075383e+01] [ 3.69605383e-02 9.99316654e-01 -3.78447916e-04 1.37607328e+00] [ 7.39738589e-03 1.05098013e-04 9.99972633e-01 2.19476945e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.59533619500002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.64, Y:1.38, Z:0.22 [[ 9.99372836e-01 -3.45764178e-02 -7.64237792e-03 9.66365983e+01] [ 3.45744209e-02 9.99402049e-01 -3.93297821e-04 1.37820107e+00] [ 7.65140698e-03 1.28820368e-04 9.99970719e-01 2.21299621e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.62533619500002 meters Centerline goodness [0,1] 0.9999786283687034 Centerline is valid? [True, True] Translation: X:96.67, Y:1.39, Z:0.22 [[ 9.99524923e-01 -2.98029990e-02 -7.85553402e-03 9.66658237e+01] [ 2.98007455e-02 9.99555778e-01 -4.03795859e-04 1.38718731e+00] [ 7.86407875e-03 1.69503255e-04 9.99969063e-01 2.21308903e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.65533619500002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.69, Y:1.39, Z:0.22 [[ 9.99578592e-01 -2.80615231e-02 -7.42898840e-03 9.66928007e+01] [ 2.80594541e-02 9.99606183e-01 -3.82607440e-04 1.39370586e+00] [ 7.43679928e-03 1.73992847e-04 9.99972331e-01 2.21435358e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.68533619500002 meters Centerline goodness [0,1] 0.9999787933411091 Centerline is valid? [True, True] Translation: X:96.72, Y:1.40, Z:0.22 [[ 9.99666156e-01 -2.48430751e-02 -7.09915653e-03 9.67212093e+01] [ 2.48411039e-02 9.99691345e-01 -3.65722958e-04 1.40443306e+00] [ 7.10605103e-03 1.89249979e-04 9.99974734e-01 2.19795081e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.71533619500002 meters Centerline goodness [0,1] 0.9999356375104589 Centerline is valid? [True, True] Translation: X:96.75, Y:1.40, Z:0.22 [[ 9.99683697e-01 -2.40006703e-02 -7.51495216e-03 9.67505855e+01] [ 2.39984243e-02 9.99711921e-01 -3.88914159e-04 1.40252143e+00] [ 7.52212146e-03 2.08444134e-04 9.99971687e-01 2.20490016e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.74533619500002 meters Centerline goodness [0,1] 0.9999788256717556 Centerline is valid? [True, True] Translation: X:96.78, Y:1.41, Z:0.22 [[ 9.99734174e-01 -2.22015664e-02 -6.21861226e-03 9.67783706e+01] [ 2.21999917e-02 9.99753498e-01 -3.22152855e-04 1.40602212e+00] [ 6.22423165e-03 1.84014078e-04 9.99980612e-01 2.23198657e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.775336195 meters Centerline goodness [0,1] 0.9999785757134287 Centerline is valid? [True, True] Translation: X:96.81, Y:1.41, Z:0.23 [[ 9.99748777e-01 -2.18990548e-02 -4.77644392e-03 9.68058324e+01] [ 2.18981156e-02 9.99760177e-01 -2.48855531e-04 1.40911607e+00] [ 4.78074812e-03 1.44197892e-04 9.99988562e-01 2.25881396e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.805336195 meters Centerline goodness [0,1] 0.9998301702543201 Centerline is valid? [True, True] Translation: X:96.83, Y:1.42, Z:0.23 [[ 9.99772868e-01 -2.10922825e-02 -3.05402522e-03 9.68333587e+01] [ 2.10918950e-02 9.99777529e-01 -1.59021214e-04 1.41756119e+00] [ 3.05669990e-03 9.45699162e-05 9.99995324e-01 2.27189839e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.835336195 meters Centerline goodness [0,1] 0.9999361607047859 Centerline is valid? [True, True] Translation: X:96.86, Y:1.42, Z:0.23 [[ 9.99772953e-01 -2.09431961e-02 -3.92754910e-03 9.68626810e+01] [ 2.09425501e-02 9.99780660e-01 -2.05540921e-04 1.41805005e+00] [ 3.93099231e-03 1.23241360e-04 9.99992266e-01 2.26071819e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.865336195 meters Centerline goodness [0,1] 0.9998511619995323 Centerline is valid? [True, True] Translation: X:96.89, Y:1.42, Z:0.22 [[ 9.99784777e-01 -1.97254639e-02 -6.42702006e-03 9.68914467e+01] [ 1.97237141e-02 9.99805412e-01 -3.35531398e-04 1.42121095e+00] [ 6.43238795e-03 2.08694478e-04 9.99979290e-01 2.20628828e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.895336195 meters Centerline goodness [0,1] 0.9998931349918783 Centerline is valid? [True, True] Translation: X:96.92, Y:1.42, Z:0.22 [[ 9.99794634e-01 -1.92014086e-02 -6.48041272e-03 9.69202560e+01] [ 1.91996081e-02 9.99815613e-01 -3.39933501e-04 1.42267263e+00] [ 6.48574502e-03 2.15442305e-04 9.99978944e-01 2.20997421e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.925336195 meters Centerline goodness [0,1] 0.9998502417525994 Centerline is valid? [True, True] Translation: X:96.95, Y:1.43, Z:0.23 [[ 9.99808614e-01 -1.91967051e-02 -3.77107518e-03 9.69480148e+01] [ 1.91960952e-02 9.99815718e-01 -1.97865718e-04 1.42589219e+00] [ 3.77417861e-03 1.25437932e-04 9.99992870e-01 2.26407491e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.955336195 meters Centerline goodness [0,1] 0.9998292787025181 Centerline is valid? [True, True] Translation: X:96.98, Y:1.43, Z:0.23 [[ 9.99788938e-01 -2.01030038e-02 -4.23667694e-03 9.69770327e+01] [ 2.01022375e-02 9.99797905e-01 -2.23393831e-04 1.42991479e+00] [ 4.24031162e-03 1.38179995e-04 9.99991000e-01 2.25523393e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.985336195 meters Centerline goodness [0,1] 0.999978448275862 Centerline is valid? [True, True] Translation: X:97.01, Y:1.43, Z:0.22 [[ 9.99753218e-01 -2.15000528e-02 -5.59019797e-03 9.70055158e+01] [ 2.14987367e-02 9.99768832e-01 -2.95429597e-04 1.43241082e+00] [ 5.59525745e-03 1.75174496e-04 9.99984331e-01 2.21786138e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.015336195 meters Centerline goodness [0,1] 0.9999357285172569 Centerline is valid? [True, True] Translation: X:97.03, Y:1.43, Z:0.22 [[ 9.99679287e-01 -2.49333223e-02 -4.43322026e-03 9.70347265e+01] [ 2.49325299e-02 9.99689109e-01 -2.33920979e-04 1.42557106e+00] [ 4.43767444e-03 1.23314560e-04 9.99990146e-01 2.23071569e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.045336195 meters Centerline goodness [0,1] 0.9999788355309107 Centerline is valid? [True, True] Translation: X:97.06, Y:1.42, Z:0.23 [[ 9.99644651e-01 -2.64861597e-02 -3.00915073e-03 9.70628629e+01] [ 2.64858001e-02 9.99649177e-01 -1.59292181e-04 1.42068131e+00] [ 3.01231409e-03 7.95358117e-05 9.99995460e-01 2.26663898e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.075336195 meters Centerline goodness [0,1] 0.9999787676759098 Centerline is valid? [True, True] Translation: X:97.09, Y:1.42, Z:0.23 [[ 9.99561539e-01 -2.94237215e-02 -3.31263293e-03 9.70907073e+01] [ 2.94233011e-02 9.99567026e-01 -1.75588790e-04 1.41537858e+00] [ 3.31636512e-03 7.80432047e-05 9.99994498e-01 2.26647197e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.105336195 meters Centerline goodness [0,1] 0.9999364393313418 Centerline is valid? [True, True] Translation: X:97.12, Y:1.42, Z:0.22 [[ 9.99523603e-01 -3.05782951e-02 -4.18754999e-03 9.71191552e+01] [ 3.05776296e-02 9.99532370e-01 -2.22876800e-04 1.41684119e+00] [ 4.19240696e-03 9.47252696e-05 9.99991207e-01 2.23609590e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.135336195 meters Centerline goodness [0,1] 0.999978813559322 Centerline is valid? [True, True] Translation: X:97.15, Y:1.42, Z:0.22 [[ 9.99495265e-01 -3.13978856e-02 -4.83605294e-03 9.71470072e+01] [ 3.13970077e-02 9.99506959e-01 -2.57358908e-04 1.42032452e+00] [ 4.84174909e-03 1.05391419e-04 9.99988273e-01 2.20116794e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.165336195 meters Centerline goodness [0,1] 0.9999572704354143 Centerline is valid? [True, True] Translation: X:97.18, Y:1.42, Z:0.22 [[ 9.99503752e-01 -3.10387397e-02 -5.37083398e-03 9.71762634e+01] [ 3.10376458e-02 9.99518175e-01 -2.86929866e-04 1.41948509e+00] [ 5.37715212e-03 1.20089434e-04 9.99985536e-01 2.19137949e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.195336195 meters Centerline goodness [0,1] 0.9999576423745685 Centerline is valid? [True, True] Translation: X:97.21, Y:1.42, Z:0.22 [[ 9.99505369e-01 -3.09278813e-02 -5.69936741e-03 9.72055013e+01] [ 3.09266429e-02 9.99521610e-01 -3.05319439e-04 1.41851171e+00] [ 5.70608378e-03 1.28906118e-04 9.99983712e-01 2.19503179e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.225336195 meters Centerline goodness [0,1] 0.999978789292835 Centerline is valid? [True, True] Translation: X:97.23, Y:1.42, Z:0.22 [[ 9.99528434e-01 -3.03204555e-02 -4.85595847e-03 9.72347662e+01] [ 3.03195451e-02 9.99540223e-01 -2.60993787e-04 1.41735894e+00] [ 4.86163926e-03 1.13640259e-04 9.99988176e-01 2.23506584e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.255336195 meters Centerline goodness [0,1] 0.9999363935121383 Centerline is valid? [True, True] Translation: X:97.26, Y:1.42, Z:0.22 [[ 9.99557489e-01 -2.93608674e-02 -4.77136332e-03 9.72622691e+01] [ 2.93599784e-02 9.99568870e-01 -2.56272241e-04 1.42168675e+00] [ 4.77683062e-03 1.16071714e-04 9.99988584e-01 2.23585506e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.285336195 meters Centerline goodness [0,1] 0.9997879154206698 Centerline is valid? [True, True] Translation: X:97.29, Y:1.43, Z:0.22 [[ 9.99651649e-01 -2.58455514e-02 -5.34684238e-03 9.72899201e+01] [ 2.58443840e-02 9.99665937e-01 -2.87330417e-04 1.43126325e+00] [ 5.35248241e-03 1.49044477e-04 9.99985664e-01 2.19988603e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.31533619500001 meters Centerline goodness [0,1] 0.9997658179340884 Centerline is valid? [True, True] Translation: X:97.32, Y:1.44, Z:0.22 [[ 9.99691413e-01 -2.42759208e-02 -5.26855948e-03 9.73186220e+01] [ 2.42747588e-02 9.99705284e-01 -2.84402326e-04 1.43513108e+00] [ 5.27391088e-03 1.56421553e-04 9.99986081e-01 2.19785187e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.34533619500002 meters Centerline goodness [0,1] 0.9999362583660895 Centerline is valid? [True, True] Translation: X:97.35, Y:1.43, Z:0.22 [[ 9.99745636e-01 -2.20444636e-02 -4.76495724e-03 9.73488324e+01] [ 2.20434896e-02 9.99756980e-01 -2.56824601e-04 1.42895157e+00] [ 4.76946082e-03 1.51722989e-04 9.99988615e-01 2.23690306e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.37533619500002 meters Centerline goodness [0,1] 0.9999354032987382 Centerline is valid? [True, True] Translation: X:97.38, Y:1.43, Z:0.22 [[ 9.99746166e-01 -2.17628008e-02 -5.82956233e-03 9.73776835e+01] [ 2.17613291e-02 9.99763144e-01 -3.15771868e-04 1.43002601e+00] [ 5.83505364e-03 1.88832690e-04 9.99982958e-01 2.21845913e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.40533619500002 meters Centerline goodness [0,1] 0.9996406071624878 Centerline is valid? [True, True] Translation: X:97.40, Y:1.44, Z:0.22 [[ 9.99731272e-01 -2.22010953e-02 -6.67050389e-03 9.74042168e+01] [ 2.21991776e-02 9.99753503e-01 -3.61389915e-04 1.44032238e+00] [ 6.67688288e-03 2.13213098e-04 9.99977687e-01 2.16637283e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.43533619500002 meters Centerline goodness [0,1] 0.9998933128494004 Centerline is valid? [True, True] Translation: X:97.43, Y:1.43, Z:0.22 [[ 9.99699346e-01 -2.38492658e-02 -5.69475644e-03 9.74336784e+01] [ 2.38478940e-02 9.99715551e-01 -3.08684386e-04 1.43256037e+00] [ 5.70049846e-03 1.72783631e-04 9.99983737e-01 2.20620896e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.46533619500002 meters Centerline goodness [0,1] 0.9999783942615159 Centerline is valid? [True, True] Translation: X:97.46, Y:1.43, Z:0.22 [[ 9.99671265e-01 -2.46786540e-02 -6.95172402e-03 9.74621177e+01] [ 2.46766161e-02 9.99695414e-01 -3.78780307e-04 1.42993797e+00] [ 6.95895442e-03 2.07110764e-04 9.99975765e-01 2.19972917e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.49533619500002 meters Centerline goodness [0,1] 0.9998926485743731 Centerline is valid? [True, True] Translation: X:97.49, Y:1.43, Z:0.22 [[ 9.99648322e-01 -2.52699989e-02 -8.04116097e-03 9.74889710e+01] [ 2.52672909e-02 9.99680635e-01 -4.38190549e-04 1.43374952e+00] [ 8.04966598e-03 2.34858093e-04 9.99967573e-01 2.17030842e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.525336195 meters Centerline goodness [0,1] 0.9999573251397602 Centerline is valid? [True, True] Translation: X:97.52, Y:1.43, Z:0.22 [[ 9.99651924e-01 -2.56243665e-02 -6.27876923e-03 9.75178968e+01] [ 2.56227131e-02 9.99671625e-01 -3.43648739e-04 1.43383055e+00] [ 6.28551323e-03 1.82650021e-04 9.99980229e-01 2.19907465e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.555336195 meters Centerline goodness [0,1] 0.999914159405983 Centerline is valid? [True, True] Translation: X:97.55, Y:1.44, Z:0.22 [[ 9.99650433e-01 -2.61529142e-02 -3.87779039e-03 9.75454515e+01] [ 2.61522874e-02 9.99657948e-01 -2.12270883e-04 1.43655706e+00] [ 3.88201548e-03 1.10783591e-04 9.99992459e-01 2.22845801e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.585336195 meters Centerline goodness [0,1] 0.9998929931943672 Centerline is valid? [True, True] Translation: X:97.57, Y:1.44, Z:0.22 [[ 9.99628366e-01 -2.70074191e-02 -3.70527711e-03 9.75730913e+01] [ 2.70068519e-02 9.99635228e-01 -2.03052173e-04 1.43670961e+00] [ 3.70940944e-03 1.02908842e-04 9.99993115e-01 2.22334962e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.615336195 meters Centerline goodness [0,1] 0.9999154441297087 Centerline is valid? [True, True] Translation: X:97.60, Y:1.43, Z:0.22 [[ 9.99586824e-01 -2.85681503e-02 -3.16903302e-03 9.76023940e+01] [ 2.85677400e-02 9.99591844e-01 -1.74645543e-04 1.43253238e+00] [ 3.17272886e-03 8.40412720e-05 9.99994963e-01 2.24435881e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.645336195 meters Centerline goodness [0,1] 0.9999359508102222 Centerline is valid? [True, True] Translation: X:97.63, Y:1.43, Z:0.22 [[ 9.99418764e-01 -3.38867031e-02 -3.71840069e-03 9.76318776e+01] [ 3.38861775e-02 9.99425678e-01 -2.04277045e-04 1.42582711e+00] [ 3.72318741e-03 7.81559260e-05 9.99993066e-01 2.22528446e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.675336195 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.66, Y:1.42, Z:0.22 [[ 9.99303128e-01 -3.69854591e-02 -5.03338981e-03 9.76606432e+01] [ 3.69845283e-02 9.99315800e-01 -2.77921889e-04 1.42198781e+00] [ 5.04022504e-03 9.15706646e-05 9.99987294e-01 2.19063948e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.705336195 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.69, Y:1.41, Z:0.21 [[ 9.99084665e-01 -4.22520089e-02 -6.67828466e-03 9.76889117e+01] [ 4.22504900e-02 9.99106981e-01 -3.68426267e-04 1.41249069e+00] [ 6.68788758e-03 8.59282347e-05 9.99977632e-01 2.14042880e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.735336195 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.72, Y:1.41, Z:0.22 [[ 9.99017082e-01 -4.38880169e-02 -6.22191992e-03 9.77186109e+01] [ 4.38867215e-02 9.99036454e-01 -3.44638804e-04 1.40686330e+00] [ 6.23105033e-03 7.12403861e-05 9.99980584e-01 2.16129545e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.765336195 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.75, Y:1.40, Z:0.22 [[ 9.99036721e-01 -4.36322028e-02 -4.67549572e-03 9.77480400e+01] [ 4.36314640e-02 9.99047660e-01 -2.59962939e-04 1.39987952e+00] [ 4.68238582e-03 5.57137989e-05 9.99989036e-01 2.21272464e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.795336195 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.78, Y:1.40, Z:0.22 [[ 9.99096566e-01 -4.22847549e-02 -4.24868001e-03 9.77759966e+01] [ 4.22841322e-02 9.99105598e-01 -2.36323031e-04 1.40144561e+00] [ 4.25487285e-03 5.64577812e-05 9.99990946e-01 2.22358239e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.825336195 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.81, Y:1.41, Z:0.22 [[ 9.99308326e-01 -3.69806646e-02 -3.91162360e-03 9.78055175e+01] [ 3.69800968e-02 9.99315979e-01 -2.17412628e-04 1.40809029e+00] [ 3.91698803e-03 7.26100305e-05 9.99992326e-01 2.22838732e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.855336195 meters Centerline goodness [0,1] 0.9999153689911984 Centerline is valid? [True, True] Translation: X:97.83, Y:1.42, Z:0.22 [[ 9.99563581e-01 -2.90868631e-02 -5.15777194e-03 9.78339438e+01] [ 2.90857732e-02 9.99576878e-01 -2.86212374e-04 1.41887265e+00] [ 5.16391459e-03 1.36069680e-04 9.99986658e-01 2.17727508e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.885336195 meters Centerline goodness [0,1] 0.9999150670969934 Centerline is valid? [True, True] Translation: X:97.86, Y:1.42, Z:0.22 [[ 9.99656487e-01 -2.55253231e-02 -5.94699658e-03 9.78642929e+01] [ 2.55238094e-02 9.99674160e-01 -3.30302468e-04 1.41976676e+00] [ 5.95348988e-03 1.78398998e-04 9.99982262e-01 2.16760203e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.915336195 meters Centerline goodness [0,1] 0.999299868460135 Centerline is valid? [True, True] Translation: X:97.89, Y:1.43, Z:0.21 [[ 9.99790329e-01 -1.90806955e-02 -7.43141338e-03 9.78929593e+01] [ 1.90781542e-02 9.99817910e-01 -4.12724499e-04 1.43196460e+00] [ 7.43793527e-03 2.70860312e-04 9.99972301e-01 2.12651731e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.945336195 meters Centerline goodness [0,1] 0.9996997254632807 Centerline is valid? [True, True] Translation: X:97.92, Y:1.43, Z:0.21 [[ 9.99828679e-01 -1.68034511e-02 -7.76256202e-03 9.79222966e+01] [ 1.68006064e-02 9.99858767e-01 -4.31527161e-04 1.43080300e+00] [ 7.76871683e-03 3.01037482e-04 9.99969778e-01 2.13317499e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.975336195 meters Centerline goodness [0,1] 0.9994428730607697 Centerline is valid? [True, True] Translation: X:97.95, Y:1.43, Z:0.21 [[ 9.99864956e-01 -1.43395447e-02 -8.02795148e-03 9.79512164e+01] [ 1.43364207e-02 9.99897129e-01 -4.46555669e-04 1.43203699e+00] [ 8.03352903e-03 3.31403274e-04 9.99967676e-01 2.12523129e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.005336195 meters Centerline goodness [0,1] 0.9990211932930462 Centerline is valid? [True, True] Translation: X:97.98, Y:1.43, Z:0.21 [[ 9.99873533e-01 -1.34796177e-02 -8.43903313e-03 9.79792630e+01] [ 1.34761300e-02 9.99909082e-01 -4.70007671e-04 1.43414748e+00] [ 8.44460140e-03 3.56222723e-04 9.99964280e-01 2.12116435e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.035336195 meters Centerline goodness [0,1] 0.9975574010747436 Centerline is valid? [True, True] Translation: X:98.01, Y:1.44, Z:0.21 [[ 9.99897769e-01 -1.17883536e-02 -8.09237618e-03 9.80080943e+01] [ 1.17850898e-02 9.99930452e-01 -4.50887018e-04 1.43511897e+00] [ 8.09712858e-03 3.55471543e-04 9.99967155e-01 2.12756116e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.06533619500001 meters Centerline goodness [0,1] 0.9921778946029592 Centerline is valid? [True, True] Translation: X:98.04, Y:1.44, Z:0.21 [[ 9.99909877e-01 -1.08327846e-02 -7.93023633e-03 9.80352039e+01] [ 1.08296147e-02 9.99941260e-01 -4.42553201e-04 1.44157252e+00] [ 7.93456460e-03 3.56631912e-04 9.99968457e-01 2.11975964e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.09533619500002 meters Centerline goodness [0,1] 0.9931473323543808 Centerline is valid? [True, True] Translation: X:98.07, Y:1.44, Z:0.21 [[ 9.99915064e-01 -8.91554648e-03 -9.50674960e-03 9.80651623e+01] [ 8.91090644e-03 9.99960156e-01 -5.30324773e-04 1.44349857e+00] [ 9.51109896e-03 4.45565973e-04 9.99954669e-01 2.08710403e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.12533619500002 meters Centerline goodness [0,1] 0.9640026349901187 Centerline is valid? [True, True] Translation: X:98.09, Y:1.45, Z:0.21 [[ 9.99915089e-01 -8.47144678e-03 -9.90195931e-03 9.80930228e+01] [ 8.46637936e-03 9.99964006e-01 -5.53565330e-04 1.44804454e+00] [ 9.90629240e-03 4.69684582e-04 9.99950821e-01 2.06826492e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.15533619500002 meters Centerline goodness [0,1] 0.9952659666035463 Centerline is valid? [True, True] Translation: X:98.12, Y:1.44, Z:0.21 [[ 9.99916855e-01 -8.73639133e-03 -9.48460438e-03 9.81221643e+01] [ 8.73173589e-03 9.99961736e-01 -5.32141181e-04 1.43962313e+00] [ 9.48889046e-03 4.49279876e-04 9.99954879e-01 2.10777034e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.18533619500002 meters Centerline goodness [0,1] 0.9840414198661951 Centerline is valid? [True, True] Translation: X:98.15, Y:1.44, Z:0.21 [[ 9.99906043e-01 -1.04715186e-02 -8.84609702e-03 9.81506537e+01] [ 1.04675385e-02 9.99945091e-01 -4.96098758e-04 1.44248397e+00] [ 8.85080619e-03 4.03455284e-04 9.99960749e-01 2.10790480e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.21533619500002 meters Centerline goodness [0,1] 0.9978656193972509 Centerline is valid? [True, True] Translation: X:98.18, Y:1.44, Z:0.21 [[ 9.99885764e-01 -1.24157124e-02 -8.62024851e-03 9.81811733e+01] [ 1.24120051e-02 9.99922851e-01 -4.83432667e-04 1.43722640e+00] [ 8.62558563e-03 3.76382873e-04 9.99962728e-01 2.11210401e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.24533619500002 meters Centerline goodness [0,1] 0.9992353116105187 Centerline is valid? [True, True] Translation: X:98.21, Y:1.44, Z:0.21 [[ 9.99833674e-01 -1.66221789e-02 -7.50516457e-03 9.82109333e+01] [ 1.66194861e-02 9.99861798e-01 -4.21018430e-04 1.43788742e+00] [ 7.51112558e-03 2.96216425e-04 9.99971747e-01 2.08350683e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.275336195 meters Centerline goodness [0,1] 0.9987698833510075 Centerline is valid? [True, True] Translation: X:98.24, Y:1.44, Z:0.21 [[ 9.99818497e-01 -1.79656360e-02 -6.34110787e-03 9.82386953e+01] [ 1.79637371e-02 9.99838576e-01 -3.56281879e-04 1.44128109e+00] [ 6.34648510e-03 2.42307217e-04 9.99979832e-01 2.08250682e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.305336195 meters Centerline goodness [0,1] 0.9994899585591329 Centerline is valid? [True, True] Translation: X:98.27, Y:1.43, Z:0.21 [[ 9.99782410e-01 -1.98317822e-02 -6.46786340e-03 9.82683163e+01] [ 1.98298441e-02 9.99803303e-01 -3.63639644e-04 1.43271926e+00] [ 6.47380281e-03 2.35303797e-04 9.99979017e-01 2.10495052e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.335336195 meters Centerline goodness [0,1] 0.9994904891304348 Centerline is valid? [True, True] Translation: X:98.30, Y:1.43, Z:0.21 [[ 9.99742304e-01 -2.08585202e-02 -8.95805760e-03 9.82961394e+01] [ 2.08548244e-02 9.99782387e-01 -5.05796254e-04 1.42896522e+00] [ 8.96665837e-03 3.18847194e-04 9.99959748e-01 2.08509401e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.365336195 meters Centerline goodness [0,1] 0.9994904891304348 Centerline is valid? [True, True] Translation: X:98.32, Y:1.43, Z:0.21 [[ 9.99738539e-01 -2.10382558e-02 -8.95796678e-03 9.83236504e+01] [ 2.10345527e-02 9.99778621e-01 -5.07403596e-04 1.43068186e+00] [ 8.96665855e-03 3.18844106e-04 9.99959748e-01 2.08385988e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.395336195 meters Centerline goodness [0,1] 0.99880772424365 Centerline is valid? [True, True] Translation: X:98.35, Y:1.43, Z:0.20 [[ 9.99709055e-01 -2.15200828e-02 -1.08945180e-02 9.83518693e+01] [ 2.15146355e-02 9.99768343e-01 -6.16973752e-04 1.43253287e+00] [ 1.09052716e-02 3.82402663e-04 9.99940463e-01 2.04930340e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.425336195 meters Centerline goodness [0,1] 0.9988066825775657 Centerline is valid? [True, True] Translation: X:98.38, Y:1.44, Z:0.20 [[ 9.99736343e-01 -2.09279178e-02 -9.44807258e-03 9.83807273e+01] [ 2.09237761e-02 9.99780930e-01 -5.37004722e-04 1.44106707e+00] [ 9.45724118e-03 3.39173782e-04 9.99955222e-01 2.04121131e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.455336195 meters Centerline goodness [0,1] 0.9983972646650283 Centerline is valid? [True, True] Translation: X:98.41, Y:1.44, Z:0.20 [[ 9.99723689e-01 -2.09965785e-02 -1.05683201e-02 9.84096922e+01] [ 2.09913836e-02 9.99779475e-01 -6.02248211e-04 1.44353301e+00] [ 1.05786347e-02 3.80238141e-04 9.99943972e-01 2.01777936e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.485336195 meters Centerline goodness [0,1] 0.995382782246053 Centerline is valid? [True, True] Translation: X:98.44, Y:1.45, Z:0.20 [[ 9.99696400e-01 -2.08958821e-02 -1.30564277e-02 9.84368692e+01] [ 2.08879334e-02 9.99781546e-01 -7.44881784e-04 1.44670879e+00] [ 1.30691404e-02 4.71933846e-04 9.99914484e-01 1.97198440e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.515336195 meters Centerline goodness [0,1] 0.9947969543147208 Centerline is valid? [True, True] Translation: X:98.46, Y:1.45, Z:0.20 [[ 9.99709760e-01 -2.05244681e-02 -1.26151513e-02 9.84641343e+01] [ 2.05170024e-02 9.99789244e-01 -7.20950946e-04 1.44880134e+00] [ 1.26272897e-02 4.61916608e-04 9.99920166e-01 1.97827291e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.545336195 meters Centerline goodness [0,1] 0.9962010457795326 Centerline is valid? [True, True] Translation: X:98.49, Y:1.45, Z:0.20 [[ 9.99770742e-01 -1.86409854e-02 -1.05345275e-02 9.84929948e+01] [ 1.86356541e-02 9.99826159e-01 -6.04022597e-04 1.45218178e+00] [ 1.05439557e-02 4.07566310e-04 9.99944328e-01 2.04334508e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.575336195 meters Centerline goodness [0,1] 0.9975725571194345 Centerline is valid? [True, True] Translation: X:98.52, Y:1.45, Z:0.21 [[ 9.99799324e-01 -1.75348360e-02 -9.68714173e-03 9.85220421e+01] [ 1.75302604e-02 9.99846178e-01 -5.57047794e-04 1.45468357e+00] [ 9.69541938e-03 3.87117890e-04 9.99952923e-01 2.07174613e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.605336195 meters Centerline goodness [0,1] 0.9979019200610351 Centerline is valid? [True, True] Translation: X:98.55, Y:1.46, Z:0.21 [[ 9.99830827e-01 -1.67599578e-02 -7.57773232e-03 9.85494332e+01] [ 1.67571349e-02 9.99859494e-01 -4.35869277e-04 1.46355348e+00] [ 7.58397276e-03 3.08814457e-04 9.99971194e-01 2.09115960e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.635336195 meters Centerline goodness [0,1] 0.9993390191897654 Centerline is valid? [True, True] Translation: X:98.58, Y:1.46, Z:0.21 [[ 9.99806622e-01 -1.84302929e-02 -6.85876084e-03 9.85789810e+01] [ 1.84280153e-02 9.99830112e-01 -3.95137961e-04 1.46361486e+00] [ 6.86487812e-03 2.68668201e-04 9.99976400e-01 2.10031661e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.665336195 meters Centerline goodness [0,1] 0.9986834840956386 Centerline is valid? [True, True] Translation: X:98.61, Y:1.47, Z:0.21 [[ 9.99785664e-01 -1.94728238e-02 -7.03103080e-03 9.86068195e+01] [ 1.94704537e-02 9.99810351e-01 -4.05380902e-04 1.46854025e+00] [ 7.03759128e-03 2.68396655e-04 9.99975200e-01 2.07904728e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.695336195 meters Centerline goodness [0,1] 0.9991296040760004 Centerline is valid? [True, True] Translation: X:98.64, Y:1.47, Z:0.20 [[ 9.99718131e-01 -2.21084543e-02 -8.65299787e-03 9.86363788e+01] [ 2.21049634e-02 9.99755531e-01 -4.98873290e-04 1.46647424e+00] [ 8.66191180e-03 3.07458472e-04 9.99962438e-01 2.04102910e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.725336195 meters Centerline goodness [0,1] 0.9992131510112073 Centerline is valid? [True, True] Translation: X:98.66, Y:1.47, Z:0.20 [[ 9.99674852e-01 -2.37931695e-02 -9.16926201e-03 9.86641495e+01] [ 2.37893144e-02 9.99716854e-01 -5.29290379e-04 1.46760395e+00] [ 9.17925927e-03 3.10987825e-04 9.99957821e-01 2.02150881e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.755336195 meters Centerline goodness [0,1] 0.9995328591145557 Centerline is valid? [True, True] Translation: X:98.69, Y:1.47, Z:0.20 [[ 9.99593129e-01 -2.65709474e-02 -1.03711445e-02 9.86929224e+01] [ 2.65661608e-02 9.99646878e-01 -5.99039350e-04 1.46705913e+00] [ 1.03833993e-02 3.23274125e-04 9.99946039e-01 2.00024138e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.785336195 meters Centerline goodness [0,1] 0.9992563318035016 Centerline is valid? [True, True] Translation: X:98.72, Y:1.47, Z:0.20 [[ 9.99565475e-01 -2.74519073e-02 -1.07356633e-02 9.87209568e+01] [ 2.74468180e-02 9.99623072e-01 -6.21136882e-04 1.47118175e+00] [ 1.07486681e-02 3.26207187e-04 9.99942178e-01 1.98107192e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.81533619500001 meters Centerline goodness [0,1] 0.9995329483695652 Centerline is valid? [True, True] Translation: X:98.75, Y:1.47, Z:0.20 [[ 9.99550352e-01 -2.75121883e-02 -1.19236564e-02 9.87497818e+01] [ 2.75058886e-02 9.99621402e-01 -6.92032898e-04 1.46946727e+00] [ 1.19381814e-02 3.63750963e-04 9.99928671e-01 1.99392088e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.84533619500002 meters Centerline goodness [0,1] 0.9998727546497572 Centerline is valid? [True, True] Translation: X:98.78, Y:1.47, Z:0.20 [[ 9.99540981e-01 -2.75349030e-02 -1.26355579e-02 9.87787225e+01] [ 2.75278049e-02 9.99620768e-01 -7.35364174e-04 1.47098092e+00] [ 1.26510143e-02 3.87197453e-04 9.99919898e-01 1.99041986e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.87533619500002 meters Centerline goodness [0,1] 0.9995320045097748 Centerline is valid? [True, True] Translation: X:98.81, Y:1.48, Z:0.20 [[ 9.99561558e-01 -2.69802879e-02 -1.21965392e-02 9.88058454e+01] [ 2.69736244e-02 9.99635893e-01 -7.10541907e-04 1.47946181e+00] [ 1.22112690e-02 3.81245508e-04 9.99925367e-01 1.96617522e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.90533619500002 meters Centerline goodness [0,1] 0.9993386243386243 Centerline is valid? [True, True] Translation: X:98.83, Y:1.48, Z:0.20 [[ 9.99626785e-01 -2.55077847e-02 -9.77978594e-03 9.88333314e+01] [ 2.55034213e-02 9.99674572e-01 -5.70633095e-04 1.48460673e+00] [ 9.79115891e-03 3.21002125e-04 9.99952014e-01 2.01755523e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.93533619500002 meters Centerline goodness [0,1] 0.9998090307248345 Centerline is valid? [True, True] Translation: X:98.86, Y:1.49, Z:0.21 [[ 9.99665306e-01 -2.43872007e-02 -8.63368324e-03 9.88625805e+01] [ 2.43837429e-02 9.99702545e-01 -5.05553657e-04 1.48552322e+00] [ 8.64344415e-03 2.94862939e-04 9.99962601e-01 2.05607826e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.96533619500002 meters Centerline goodness [0,1] 0.99930031379866 Centerline is valid? [True, True] Translation: X:98.89, Y:1.49, Z:0.20 [[ 9.99712856e-01 -2.23478838e-02 -8.64743020e-03 9.88904266e+01] [ 2.23443398e-02 9.99750206e-01 -5.06236399e-04 1.49310270e+00] [ 8.65658344e-03 3.12869917e-04 9.99962482e-01 2.04939492e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.99533619500002 meters Centerline goodness [0,1] 0.999067005937235 Centerline is valid? [True, True] Translation: X:98.92, Y:1.50, Z:0.20 [[ 9.99731358e-01 -2.13100472e-02 -9.11562935e-03 9.89178672e+01] [ 2.13060609e-02 9.99772857e-01 -5.34203819e-04 1.49785809e+00] [ 9.12494271e-03 3.39842155e-04 9.99958309e-01 2.03645543e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.025336195 meters Centerline goodness [0,1] 0.999569151227919 Centerline is valid? [True, True] Translation: X:98.95, Y:1.50, Z:0.21 [[ 9.99785280e-01 -1.88434536e-02 -8.62084577e-03 9.89470353e+01] [ 1.88397950e-02 9.99822388e-01 -5.05419865e-04 1.50251183e+00] [ 8.62883846e-03 3.42896374e-04 9.99962712e-01 2.05655718e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.055336195 meters Centerline goodness [0,1] 0.997281852620765 Centerline is valid? [True, True] Translation: X:98.98, Y:1.51, Z:0.20 [[ 9.99814692e-01 -1.74134272e-02 -8.20691858e-03 9.89751167e+01] [ 1.74100610e-02 9.99848317e-01 -4.81441704e-04 1.51368397e+00] [ 8.21405729e-03 3.38469537e-04 9.99966207e-01 2.04447538e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.085336195 meters Centerline goodness [0,1] 0.9989346742233776 Centerline is valid? [True, True] Translation: X:99.00, Y:1.51, Z:0.20 [[ 9.99791352e-01 -1.80519510e-02 -9.55923620e-03 9.90028646e+01] [ 1.80473899e-02 9.99836974e-01 -5.63197255e-04 1.51389744e+00] [ 9.56784461e-03 3.90560482e-04 9.99954151e-01 2.02058005e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.115336195 meters Centerline goodness [0,1] 0.9982382781822426 Centerline is valid? [True, True] Translation: X:99.03, Y:1.51, Z:0.20 [[ 9.99729231e-01 -2.07247199e-02 -1.05806324e-02 9.90317622e+01] [ 2.07192856e-02 9.99785138e-01 -6.22976206e-04 1.51286106e+00] [ 1.05912700e-02 4.03584380e-04 9.99943829e-01 1.99327965e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.145336195 meters Centerline goodness [0,1] 0.9996361457129403 Centerline is valid? [True, True] Translation: X:99.06, Y:1.51, Z:0.20 [[ 9.99695447e-01 -2.29675342e-02 -9.02805868e-03 9.90623509e+01] [ 2.29636688e-02 9.99736159e-01 -5.31585388e-04 1.50620811e+00] [ 9.03788592e-03 3.24106142e-04 9.99959105e-01 2.04131072e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.175336195 meters Centerline goodness [0,1] 0.9997221925419383 Centerline is valid? [True, True] Translation: X:99.09, Y:1.50, Z:0.21 [[ 9.99609858e-01 -2.69563173e-02 -7.31356909e-03 9.90927684e+01] [ 2.69538869e-02 9.99636585e-01 -4.30689193e-04 1.50048301e+00] [ 7.32252102e-03 2.33392049e-04 9.99973163e-01 2.08978046e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.205336195 meters Centerline goodness [0,1] 0.9997885656292287 Centerline is valid? [True, True] Translation: X:99.12, Y:1.51, Z:0.20 [[ 9.99539055e-01 -2.91600856e-02 -8.44791282e-03 9.91201529e+01] [ 2.91569155e-02 9.99574723e-01 -4.98197345e-04 1.50654286e+00] [ 8.45884759e-03 2.51652623e-04 9.99964192e-01 2.02176980e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.235336195 meters Centerline goodness [0,1] 0.9997033835462615 Centerline is valid? [True, True] Translation: X:99.15, Y:1.51, Z:0.20 [[ 9.99507658e-01 -3.02585404e-02 -8.29836469e-03 9.91481643e+01] [ 3.02555157e-02 9.99542077e-01 -4.89825064e-04 1.50766498e+00] [ 8.30938607e-03 2.38512600e-04 9.99965448e-01 2.00957011e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.265336195 meters Centerline goodness [0,1] 0.9998516477694183 Centerline is valid? [True, True] Translation: X:99.18, Y:1.50, Z:0.20 [[ 9.99472100e-01 -3.15087439e-02 -7.91956908e-03 9.91775869e+01] [ 3.15060148e-02 9.99503452e-01 -4.69154999e-04 1.50236269e+00] [ 7.93041912e-03 2.19393271e-04 9.99968530e-01 2.03272627e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.295336195 meters Centerline goodness [0,1] 0.9999786434307193 Centerline is valid? [True, True] Translation: X:99.21, Y:1.50, Z:0.21 [[ 9.99464729e-01 -3.17226916e-02 -7.99543961e-03 9.92056642e+01] [ 3.17199035e-02 9.99496684e-01 -4.75321904e-04 1.49757718e+00] [ 8.00649387e-03 2.21452905e-04 9.99967923e-01 2.06021365e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.325336195 meters Centerline goodness [0,1] 0.999765483423942 Centerline is valid? [True, True] Translation: X:99.23, Y:1.50, Z:0.20 [[ 9.99512735e-01 -2.97387831e-02 -9.48141091e-03 9.92334344e+01] [ 2.97347753e-02 9.99557665e-01 -5.63416013e-04 1.50374903e+00] [ 9.49397226e-03 2.81213857e-04 9.99954892e-01 2.03558515e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.355336195 meters Centerline goodness [0,1] 0.9997459833619102 Centerline is valid? [True, True] Translation: X:99.26, Y:1.51, Z:0.20 [[ 9.99555916e-01 -2.80313808e-02 -1.01100473e-02 9.92619415e+01] [ 2.80267343e-02 9.99606993e-01 -6.01004973e-04 1.50915461e+00] [ 1.01229210e-02 3.17386467e-04 9.99948712e-01 2.01620891e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.385336195 meters Centerline goodness [0,1] 0.9995961828654014 Centerline is valid? [True, True] Translation: X:99.29, Y:1.51, Z:0.20 [[ 9.99627860e-01 -2.52720905e-02 -1.02695210e-02 9.92915513e+01] [ 2.52671489e-02 9.99680548e-01 -6.10668837e-04 1.50969564e+00] [ 1.02816733e-02 3.50960066e-04 9.99947081e-01 2.01545777e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.415336195 meters Centerline goodness [0,1] 0.9998291912204287 Centerline is valid? [True, True] Translation: X:99.32, Y:1.51, Z:0.21 [[ 9.99665238e-01 -2.45339356e-02 -8.21576518e-03 9.93194637e+01] [ 2.45307290e-02 9.99698956e-01 -4.90854351e-04 1.50756039e+00] [ 8.22533446e-03 2.89151323e-04 9.99966130e-01 2.06289478e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.445336195 meters Centerline goodness [0,1] 0.999701428876093 Centerline is valid? [True, True] Translation: X:99.35, Y:1.51, Z:0.21 [[ 9.99691340e-01 -2.37446129e-02 -7.30870659e-03 9.93472305e+01] [ 2.37420547e-02 9.99718022e-01 -4.36597511e-04 1.51260165e+00] [ 7.31701253e-03 2.62939039e-04 9.99973196e-01 2.07436544e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.475336195 meters Centerline goodness [0,1] 0.9996159508417077 Centerline is valid? [True, True] Translation: X:99.38, Y:1.52, Z:0.20 [[ 9.99696579e-01 -2.30346133e-02 -8.72680603e-03 9.93762458e+01] [ 2.30309230e-02 9.99734616e-01 -5.23140276e-04 1.51550876e+00] [ 8.73654041e-03 3.21995146e-04 9.99961784e-01 2.03728422e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.505336195 meters Centerline goodness [0,1] 0.9990434690190243 Centerline is valid? [True, True] Translation: X:99.40, Y:1.52, Z:0.20 [[ 9.99684837e-01 -2.30694367e-02 -9.90084739e-03 9.94042757e+01] [ 2.30646884e-02 9.99733799e-01 -5.93523087e-04 1.51768811e+00] [ 9.91190401e-03 3.64976072e-04 9.99950809e-01 2.00478546e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.535336195 meters Centerline goodness [0,1] 0.9996362624901042 Centerline is valid? [True, True] Translation: X:99.43, Y:1.51, Z:0.20 [[ 9.99697445e-01 -2.27365541e-02 -9.38440257e-03 9.94331376e+01] [ 2.27322682e-02 9.99741430e-01 -5.63132130e-04 1.51035865e+00] [ 9.39477973e-03 3.49632995e-04 9.99955807e-01 2.04909669e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.56533619500001 meters Centerline goodness [0,1] 0.999403570059217 Centerline is valid? [True, True] Translation: X:99.46, Y:1.51, Z:0.21 [[ 9.99708806e-01 -2.26897981e-02 -8.21444967e-03 9.94612093e+01] [ 2.26865085e-02 9.99742506e-01 -4.93438202e-04 1.51095845e+00] [ 8.22353051e-03 3.06937333e-04 9.99966139e-01 2.07768333e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.59533619500002 meters Centerline goodness [0,1] 0.9995104195491603 Centerline is valid? [True, True] Translation: X:99.49, Y:1.51, Z:0.21 [[ 9.99690256e-01 -2.37589118e-02 -7.40983266e-03 9.94905424e+01] [ 2.37562590e-02 9.99717681e-01 -4.45836182e-04 1.51232216e+00] [ 7.41833331e-03 2.69668184e-04 9.99972447e-01 2.08832857e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.62533619500002 meters Centerline goodness [0,1] 0.9992347426822269 Centerline is valid? [True, True] Translation: X:99.52, Y:1.52, Z:0.20 [[ 9.99637470e-01 -2.56348865e-02 -8.23294153e-03 9.95179348e+01] [ 2.56316724e-02 9.99671332e-01 -4.95689396e-04 1.51509142e+00] [ 8.24294257e-03 2.84485634e-04 9.99965986e-01 2.04451059e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.65533619500002 meters Centerline goodness [0,1] 0.9995951675793152 Centerline is valid? [True, True] Translation: X:99.55, Y:1.51, Z:0.21 [[ 9.99600126e-01 -2.70804788e-02 -8.13854955e-03 9.95468732e+01] [ 2.70773713e-02 9.99633220e-01 -4.91790579e-04 1.50940888e+00] [ 8.14888242e-03 2.71223396e-04 9.99966761e-01 2.05286753e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.68533619500002 meters Centerline goodness [0,1] 0.9997034589396538 Centerline is valid? [True, True] Translation: X:99.58, Y:1.50, Z:0.21 [[ 9.99552953e-01 -2.91438287e-02 -6.67317859e-03 9.95766912e+01] [ 2.91417877e-02 9.99575207e-01 -4.02904907e-04 1.50232332e+00] [ 6.68208606e-03 2.08256436e-04 9.99977653e-01 2.07533298e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.71533619500002 meters Centerline goodness [0,1] 0.9996565491778646 Centerline is valid? [True, True] Translation: X:99.60, Y:1.50, Z:0.21 [[ 9.99533194e-01 -2.99500875e-02 -6.03202755e-03 9.96048034e+01] [ 2.99484315e-02 9.99551379e-01 -3.64697727e-04 1.49981785e+00] [ 6.04024419e-03 1.83877721e-04 9.99981741e-01 2.09076605e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.74533619500002 meters Centerline goodness [0,1] 0.9999140542747255 Centerline is valid? [True, True] Translation: X:99.63, Y:1.49, Z:0.21 [[ 9.99492825e-01 -3.10647750e-02 -7.00522098e-03 9.96346273e+01] [ 3.10625577e-02 9.99517352e-01 -4.25131169e-04 1.49230235e+00] [ 7.01504653e-03 2.07315472e-04 9.99975373e-01 2.10365963e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.775336195 meters Centerline goodness [0,1] 0.9996836644312287 Centerline is valid? [True, True] Translation: X:99.66, Y:1.50, Z:0.21 [[ 9.99499752e-01 -3.08926285e-02 -6.77428502e-03 9.96620670e+01] [ 3.08905514e-02 9.99522689e-01 -4.11063671e-04 1.49746383e+00] [ 6.78375042e-03 2.01596638e-04 9.99976970e-01 2.08324566e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.805336195 meters Centerline goodness [0,1] 0.9997655134190275 Centerline is valid? [True, True] Translation: X:99.69, Y:1.50, Z:0.21 [[ 9.99508186e-01 -3.06877011e-02 -6.45382973e-03 9.96913847e+01] [ 3.06858016e-02 9.99529003e-01 -3.93150999e-04 1.49566002e+00] [ 6.46285490e-03 1.94916703e-04 9.99979097e-01 2.07385994e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.835336195 meters Centerline goodness [0,1] 0.9997220618733029 Centerline is valid? [True, True] Translation: X:99.72, Y:1.50, Z:0.21 [[ 9.99503484e-01 -3.07623127e-02 -6.81653848e-03 9.97191260e+01] [ 3.07601963e-02 9.99526707e-01 -4.15128954e-04 1.49768458e+00] [ 6.82608258e-03 2.05244775e-04 9.99976681e-01 2.05537464e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.865336195 meters Centerline goodness [0,1] 0.9997866757685006 Centerline is valid? [True, True] Translation: X:99.75, Y:1.49, Z:0.21 [[ 9.99527285e-01 -3.01575580e-02 -5.97728178e-03 9.97488176e+01] [ 3.01559112e-02 9.99545140e-01 -3.65475550e-04 1.48949449e+00] [ 5.98558480e-03 1.85052406e-04 9.99982069e-01 2.09575074e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.895336195 meters Centerline goodness [0,1] 0.9998716055723181 Centerline is valid? [True, True] Translation: X:99.78, Y:1.49, Z:0.21 [[ 9.99564498e-01 -2.89392019e-02 -5.77379383e-03 9.97774067e+01] [ 2.89376456e-02 9.99581156e-01 -3.52923977e-04 1.48670606e+00] [ 5.78158886e-03 1.85690278e-04 9.99983269e-01 2.10877904e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.925336195 meters Centerline goodness [0,1] 0.9996192329659637 Centerline is valid? [True, True] Translation: X:99.81, Y:1.49, Z:0.21 [[ 9.99583390e-01 -2.81123752e-02 -6.53764533e-03 9.98059747e+01] [ 2.81103526e-02 9.99604745e-01 -4.01082684e-04 1.48875244e+00] [ 6.54633668e-03 2.17140074e-04 9.99978549e-01 2.09007452e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.955336195 meters Centerline goodness [0,1] 0.9994864003081598 Centerline is valid? [True, True] Translation: X:99.84, Y:1.49, Z:0.21 [[ 9.99654034e-01 -2.52104346e-02 -7.49978078e-03 9.98352556e+01] [ 2.52076964e-02 9.99682130e-01 -4.59425292e-04 1.49449033e+00] [ 7.50897913e-03 2.70214150e-04 9.99971771e-01 2.05890017e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.985336195 meters Centerline goodness [0,1] 0.9992562211785707 Centerline is valid? [True, True] Translation: X:99.86, Y:1.50, Z:0.21 [[ 9.99691296e-01 -2.35277225e-02 -7.98492677e-03 9.98644133e+01] [ 2.35245619e-02 9.99723139e-01 -4.89519919e-04 1.49506676e+00] [ 7.99423335e-03 3.01526897e-04 9.99968000e-01 2.05054500e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.015336195 meters Centerline goodness [0,1] 0.99692516487478 Centerline is valid? [True, True] Translation: X:99.89, Y:1.50, Z:0.20 [[ 9.99738170e-01 -2.07019517e-02 -9.74785406e-03 9.98930895e+01] [ 2.06971060e-02 9.99785613e-01 -5.97733497e-04 1.49796679e+00] [ 9.75813850e-03 3.95824624e-04 9.99952310e-01 2.02422168e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.045336195 meters Centerline goodness [0,1] 0.9968120159185245 Centerline is valid? [True, True] Translation: X:99.92, Y:1.50, Z:0.20 [[ 9.99752850e-01 -2.00338393e-02 -9.63762449e-03 9.99217392e+01] [ 2.00290509e-02 9.99799223e-01 -5.93116284e-04 1.49900171e+00] [ 9.64757187e-03 3.99937224e-04 9.99953381e-01 2.03793171e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.075336195 meters Centerline goodness [0,1] 0.9994183290964712 Centerline is valid? [True, True] Translation: X:99.95, Y:1.50, Z:0.21 [[ 9.99799025e-01 -1.85158206e-02 -7.68598576e-03 9.99505117e+01] [ 1.85127192e-02 9.99828512e-01 -4.74472796e-04 1.49812105e+00] [ 7.69345297e-03 3.32088942e-04 9.99970350e-01 2.08459483e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.105336195 meters Centerline goodness [0,1] 0.9990365882378128 Centerline is valid? [True, True] Translation: X:99.98, Y:1.50, Z:0.21 [[ 9.99812608e-01 -1.83108862e-02 -6.28169037e-03 9.99783376e+01] [ 1.83088103e-02 9.99832304e-01 -3.87806420e-04 1.50130416e+00] [ 6.28773804e-03 2.72723470e-04 9.99980195e-01 2.08849218e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.135336195 meters Centerline goodness [0,1] 0.9982619754133107 Centerline is valid? [True, True] Translation: X:100.01, Y:1.50, Z:0.21 [[ 9.99797951e-01 -1.92989452e-02 -5.62210955e-03 1.00005806e+02] [ 1.92972961e-02 9.99813729e-01 -3.47435600e-04 1.50307163e+00] [ 5.62776746e-03 2.38873888e-04 9.99984135e-01 2.09316930e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.165336195 meters Centerline goodness [0,1] 0.9994500264410365 Centerline is valid? [True, True] Translation: X:100.04, Y:1.50, Z:0.22 [[ 9.99709107e-01 -2.40733010e-02 -1.47544894e-03 1.00035677e+02] [ 2.40731926e-02 9.99710195e-01 -9.12116495e-05 1.49757411e+00] [ 1.47721711e-03 5.56663502e-05 9.99998907e-01 2.15904349e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.195336195 meters Centerline goodness [0,1] 0.9998496595863491 Centerline is valid? [True, True] Translation: X:100.07, Y:1.49, Z:0.22 [[ 9.99626896e-01 -2.73081987e-02 5.75777969e-04 1.00066417e+02] [ 2.73081827e-02 9.99627061e-01 3.55198180e-05 1.49203501e+00] [-5.76533222e-04 -1.97831154e-05 9.99999834e-01 2.18920339e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.225336195 meters Centerline goodness [0,1] 0.9998727330575883 Centerline is valid? [True, True] Translation: X:100.10, Y:1.49, Z:0.21 [[ 9.99442984e-01 -3.33587105e-02 -9.57889251e-04 1.00095939e+02] [ 3.33586691e-02 9.99443443e-01 -5.91899677e-05 1.48553480e+00] [ 9.59330632e-04 2.72030874e-05 9.99999539e-01 2.14453747e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.255336195 meters Centerline goodness [0,1] 0.9999573306024919 Centerline is valid? [True, True] Translation: X:100.13, Y:1.47, Z:0.21 [[ 9.99245500e-01 -3.86363052e-02 -3.95822260e-03 1.00125947e+02] [ 3.86356387e-02 9.99253335e-01 -2.44742214e-04 1.47440546e+00] [ 3.96472307e-03 9.16290975e-05 9.99992136e-01 2.10544072e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.285336195 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:100.16, Y:1.47, Z:0.21 [[ 9.99159033e-01 -4.08187052e-02 -3.88075444e-03 1.00155522e+02] [ 4.08180762e-02 9.99166566e-01 -2.41180504e-04 1.46970187e+00] [ 3.88736477e-03 8.25727491e-05 9.99992441e-01 2.11891198e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.31533619500001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:100.18, Y:1.47, Z:0.21 [[ 9.99151628e-01 -4.09995713e-02 -3.88070450e-03 1.00183024e+02] [ 4.09989405e-02 9.99159161e-01 -2.41984286e-04 1.47157302e+00] [ 3.88736270e-03 8.26742206e-05 9.99992441e-01 2.11767798e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.34533619500002 meters Centerline goodness [0,1] 0.9999357230090202 Centerline is valid? [True, True] Translation: X:100.21, Y:1.47, Z:0.21 [[ 9.99044824e-01 -4.34244682e-02 -4.87393758e-03 1.00211093e+02] [ 4.34235045e-02 9.99056709e-01 -3.03423818e-04 1.46944598e+00] [ 4.88251605e-03 9.14905442e-05 9.99988076e-01 2.08948961e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.37533619500002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:100.24, Y:1.47, Z:0.20 [[ 9.99010300e-01 -4.39947081e-02 -6.54881441e-03 1.00239842e+02] [ 4.39929712e-02 9.99031757e-01 -4.09104540e-04 1.47195461e+00] [ 6.56047200e-03 1.20597845e-04 9.99978473e-01 2.04806451e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.40533619500002 meters Centerline goodness [0,1] 0.999936225845539 Centerline is valid? [True, True] Translation: X:100.27, Y:1.47, Z:0.20 [[ 9.99024826e-01 -4.36268963e-02 -6.78905930e-03 1.00268435e+02] [ 4.36250140e-02 9.99047885e-01 -4.25159794e-04 1.47449370e+00] [ 6.80114374e-03 1.28572382e-04 9.99976864e-01 2.02854875e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.43533619500002 meters Centerline goodness [0,1] 0.9999573551674876 Centerline is valid? [True, True] Translation: X:100.30, Y:1.47, Z:0.20 [[ 9.99048617e-01 -4.30200388e-02 -7.15100539e-03 1.00297142e+02] [ 4.30179268e-02 9.99074200e-01 -4.48970745e-04 1.47340874e+00] [ 7.16369973e-03 1.40922176e-04 9.99974330e-01 2.02960608e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.46533619500002 meters Centerline goodness [0,1] 0.9999571109967405 Centerline is valid? [True, True] Translation: X:100.33, Y:1.47, Z:0.21 [[ 9.99160612e-01 -4.02813924e-02 -7.44850797e-03 1.00326593e+02] [ 4.02790274e-02 9.99188361e-01 -4.67310056e-04 1.46971442e+00] [ 7.46128638e-03 1.66899145e-04 9.99972150e-01 2.06370884e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.49533619500002 meters Centerline goodness [0,1] 0.9999151535720346 Centerline is valid? [True, True] Translation: X:100.35, Y:1.48, Z:0.21 [[ 9.99336788e-01 -3.61551500e-02 -4.33463553e-03 1.00354448e+02] [ 3.61543089e-02 9.99346182e-01 -2.72271755e-04 1.47828977e+00] [ 4.34164549e-03 1.15375429e-04 9.99990568e-01 2.10801436e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.525336195 meters Centerline goodness [0,1] 0.9998506889637814 Centerline is valid? [True, True] Translation: X:100.38, Y:1.48, Z:0.21 [[ 9.99407571e-01 -3.42735127e-02 -3.13581315e-03 1.00383169e+02] [ 3.42730598e-02 9.99412486e-01 -1.98053507e-04 1.48452071e+00] [ 3.14075880e-03 9.04622631e-05 9.99995064e-01 2.11371707e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.555336195 meters Centerline goodness [0,1] 0.9999142275115257 Centerline is valid? [True, True] Translation: X:100.41, Y:1.49, Z:0.21 [[ 9.99481346e-01 -3.17255224e-02 -5.52535050e-03 1.00412967e+02] [ 3.17240833e-02 9.99496604e-01 -3.47925505e-04 1.48584571e+00] [ 5.53360718e-03 1.72458372e-04 9.99984675e-01 2.06524413e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.585336195 meters Centerline goodness [0,1] 0.9997003168079459 Centerline is valid? [True, True] Translation: X:100.44, Y:1.49, Z:0.21 [[ 9.99501270e-01 -3.08488665e-02 -6.74976857e-03 1.00440364e+02] [ 3.08466921e-02 9.99524037e-01 -4.26040189e-04 1.48594777e+00] [ 6.75969879e-03 2.17619677e-04 9.99977129e-01 2.05092695e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.615336195 meters Centerline goodness [0,1] 0.9999570585077832 Centerline is valid? [True, True] Translation: X:100.47, Y:1.49, Z:0.21 [[ 9.99571967e-01 -2.89998931e-02 -3.85873895e-03 1.00469463e+02] [ 2.89991643e-02 9.99579406e-01 -2.44705524e-04 1.48506212e+00] [ 3.86421242e-03 1.32700577e-04 9.99992525e-01 2.10112607e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.645336195 meters Centerline goodness [0,1] 0.9996604918624143 Centerline is valid? [True, True] Translation: X:100.50, Y:1.49, Z:0.21 [[ 9.99620353e-01 -2.74862531e-02 -1.91191691e-03 1.00496854e+02] [ 2.74860714e-02 9.99622179e-01 -1.21254383e-04 1.49423556e+00] [ 1.91452738e-03 6.86572645e-05 9.99998165e-01 2.11533573e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.675336195 meters Centerline goodness [0,1] 0.9997020959676561 Centerline is valid? [True, True] Translation: X:100.53, Y:1.49, Z:0.21 [[ 9.99687012e-01 -2.47491578e-02 -3.65472290e-03 1.00527543e+02] [ 2.47484774e-02 9.99693683e-01 -2.31271450e-04 1.49292075e+00] [ 3.65932717e-03 1.40750237e-04 9.99993295e-01 2.11422747e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.705336195 meters Centerline goodness [0,1] 0.9989695811776829 Centerline is valid? [True, True] Translation: X:100.56, Y:1.50, Z:0.20 [[ 9.99718103e-01 -2.23243628e-02 -8.08309700e-03 1.00557280e+02] [ 2.23209544e-02 9.99750726e-01 -5.11645186e-04 1.49651061e+00] [ 8.09250424e-03 3.31078515e-04 9.99967200e-01 2.03546695e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.735336195 meters Centerline goodness [0,1] 0.9786289380324177 Centerline is valid? [True, True] Translation: X:100.59, Y:1.51, Z:0.20 [[ 9.99781237e-01 -1.93273985e-02 -7.99561306e-03 1.00585575e+02] [ 1.93239659e-02 9.99813147e-01 -5.06344286e-04 1.51015083e+00] [ 8.00390537e-03 3.51726562e-04 9.99967906e-01 2.00598011e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.765336195 meters Centerline goodness [0,1] 0.9938748165635168 Centerline is valid? [True, True] Translation: X:100.61, Y:1.51, Z:0.20 [[ 9.99803300e-01 -1.84659604e-02 -7.23661973e-03 1.00614549e+02] [ 1.84631133e-02 9.99829436e-01 -4.60041738e-04 1.50801609e+00] [ 7.24388054e-03 3.26340718e-04 9.99973710e-01 2.03541201e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.795336195 meters Centerline goodness [0,1] 0.992089552238806 Centerline is valid? [True, True] Translation: X:100.64, Y:1.51, Z:0.20 [[ 9.99841531e-01 -1.56859854e-02 -8.41803098e-03 1.00644132e+02] [ 1.56820402e-02 9.99876886e-01 -5.34469115e-04 1.51295061e+00] [ 8.42537828e-03 4.02372518e-04 9.99964425e-01 2.02119104e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.825336195 meters Centerline goodness [0,1] 0.9963172743522926 Centerline is valid? [True, True] Translation: X:100.67, Y:1.51, Z:0.20 [[ 9.99864009e-01 -1.40773282e-02 -8.59021648e-03 1.00674110e+02] [ 1.40731585e-02 9.99900819e-01 -5.45660042e-04 1.51304361e+00] [ 8.59704593e-03 4.24694360e-04 9.99962955e-01 2.02729750e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.855336195 meters Centerline goodness [0,1] 0.9309035687167806 Centerline is valid? [True, False] Translation: X:100.71, Y:1.51, Z:0.21 [[ 9.99922076e-01 -1.15289125e-02 -4.78803651e-03 1.00707446e+02] [ 1.15245827e-02 9.99933156e-01 -9.30901817e-04 1.51338134e+00] [ 4.79844874e-03 8.75649156e-04 9.99988104e-01 2.07233833e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.885336195 meters Centerline goodness [0,1] 0.9921368905557449 Centerline is valid? [False, True] Translation: X:100.71, Y:1.51, Z:0.21 [[ 9.99923696e-01 -1.14665939e-02 -4.59567260e-03 1.00706252e+02] [ 1.14628772e-02 9.99933951e-01 -8.34277754e-04 1.51313640e+00] [ 4.60493539e-03 7.81534465e-04 9.99989092e-01 2.08215963e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.915336195 meters Centerline goodness [0,1] 0.987134675313737 Centerline is valid? [True, True] Translation: X:100.73, Y:1.52, Z:0.21 [[ 9.99896082e-01 -1.38186271e-02 -4.10730648e-03 1.00734572e+02] [ 1.38176868e-02 9.99904498e-01 -2.57217396e-04 1.52194486e+00] [ 4.11046862e-03 2.00437192e-04 9.99991532e-01 2.07497355e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.945336195 meters Centerline goodness [0,1] 0.9962145243835384 Centerline is valid? [True, True] Translation: X:100.77, Y:1.52, Z:0.20 [[ 9.99794599e-01 -1.94124337e-02 -5.82379156e-03 1.00765012e+02] [ 1.94106383e-02 9.99811529e-01 -3.64656302e-04 1.51848101e+00] [ 5.82977281e-03 2.51537890e-04 9.99982975e-01 2.02134514e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.975336195 meters Centerline goodness [0,1] 0.9992979768970579 Centerline is valid? [True, True] Translation: X:100.80, Y:1.51, Z:0.20 [[ 9.99712374e-01 -2.32503975e-02 -5.88118250e-03 1.00795884e+02] [ 2.32486328e-02 9.99729646e-01 -3.68257402e-04 1.51004435e+00] [ 5.88815463e-03 2.31422029e-04 9.99982638e-01 2.03479118e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.005336195 meters Centerline goodness [0,1] 0.9998933128494004 Centerline is valid? [True, True] Translation: X:100.83, Y:1.50, Z:0.21 [[ 9.99503542e-01 -3.11879323e-02 -4.47018032e-03 1.00826793e+02] [ 3.11869921e-02 9.99513528e-01 -2.79908360e-04 1.49969705e+00] [ 4.47673547e-03 1.40357919e-04 9.99989970e-01 2.07457817e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.035336195 meters Centerline goodness [0,1] 0.9999359808796228 Centerline is valid? [True, True] Translation: X:100.86, Y:1.50, Z:0.21 [[ 9.99383442e-01 -3.48922115e-02 -3.90772261e-03 1.00856800e+02] [ 3.48915206e-02 9.99391076e-01 -2.44863893e-04 1.49691551e+00] [ 3.91388695e-03 1.08366536e-04 9.99992335e-01 2.08851173e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.06533619500001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:100.89, Y:1.50, Z:0.21 [[ 9.99182181e-01 -4.02238808e-02 -4.12413542e-03 1.00885450e+02] [ 4.02231566e-02 9.99190688e-01 -2.58431262e-04 1.49868413e+00] [ 4.13119282e-03 9.23341672e-05 9.99991462e-01 2.06709882e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.09533619500002 meters Centerline goodness [0,1] 0.9999786821292289 Centerline is valid? [True, True] Translation: X:100.91, Y:1.50, Z:0.21 [[ 9.99119780e-01 -4.17316675e-02 -4.25820888e-03 1.00914786e+02] [ 4.17309043e-02 9.99128850e-01 -2.67961784e-04 1.49968621e+00] [ 4.26568184e-03 9.00270110e-05 9.99990898e-01 2.05451623e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.12533619500002 meters Centerline goodness [0,1] 0.9999786470789204 Centerline is valid? [True, True] Translation: X:100.94, Y:1.50, Z:0.21 [[ 9.99088263e-01 -4.25787571e-02 -3.11335070e-03 1.00944262e+02] [ 4.25783526e-02 9.99093111e-01 -1.96116823e-04 1.49847533e+00] [ 3.11887765e-03 6.33766718e-05 9.99995134e-01 2.07698970e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.15533619500002 meters Centerline goodness [0,1] 0.9999786784929959 Centerline is valid? [True, True] Translation: X:100.97, Y:1.50, Z:0.21 [[ 9.99087078e-01 -4.26081046e-02 -3.09178252e-03 1.00971012e+02] [ 4.26077051e-02 9.99091860e-01 -1.94991749e-04 1.50153646e+00] [ 3.09728297e-03 6.30799796e-05 9.99995201e-01 2.07735544e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.18533619500002 meters Centerline goodness [0,1] 0.9999576683740422 Centerline is valid? [True, True] Translation: X:101.00, Y:1.50, Z:0.20 [[ 9.99075495e-01 -4.25923876e-02 -5.83462927e-03 1.00999961e+02] [ 4.25909592e-02 9.99092525e-01 -3.68901709e-04 1.50200375e+00] [ 5.84504690e-03 1.20058200e-04 9.99982910e-01 2.03758629e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.21533619500002 meters Centerline goodness [0,1] 0.9999572265708542 Centerline is valid? [True, True] Translation: X:101.03, Y:1.51, Z:0.20 [[ 9.99090681e-01 -4.19941459e-02 -7.36906416e-03 1.01028881e+02] [ 4.19918432e-02 9.99117844e-01 -4.66998844e-04 1.50522232e+00] [ 7.38217472e-03 1.57133606e-04 9.99972739e-01 2.01273575e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.24533619500002 meters Centerline goodness [0,1] 0.9999144421629022 Centerline is valid? [True, True] Translation: X:101.06, Y:1.51, Z:0.20 [[ 9.99142667e-01 -4.06813044e-02 -7.67872533e-03 1.01056286e+02] [ 4.06787651e-02 9.99172158e-01 -4.86642178e-04 1.51204985e+00] [ 7.69216580e-03 1.73863899e-04 9.99970400e-01 1.99241471e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.275336195 meters Centerline goodness [0,1] 0.9998716550086633 Centerline is valid? [True, True] Translation: X:101.09, Y:1.51, Z:0.20 [[ 9.99251357e-01 -3.79445270e-02 -7.54581301e-03 1.01086128e+02] [ 3.79419965e-02 9.99279829e-01 -4.78266977e-04 1.51201238e+00] [ 7.55852635e-03 1.91605715e-04 9.99971416e-01 2.01819844e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.305336195 meters Centerline goodness [0,1] 0.9999786333917354 Centerline is valid? [True, True] Translation: X:101.12, Y:1.51, Z:0.21 [[ 9.99304040e-01 -3.68954517e-02 -5.49186254e-03 1.01115108e+02] [ 3.68940874e-02 9.99319120e-01 -3.49547969e-04 1.51180495e+00] [ 5.50101997e-03 1.46687441e-04 9.99984859e-01 2.07694430e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.335336195 meters Centerline goodness [0,1] 0.9999573987688244 Centerline is valid? [True, True] Translation: X:101.14, Y:1.52, Z:0.21 [[ 9.99340409e-01 -3.59437964e-02 -5.17594240e-03 1.01142650e+02] [ 3.59425722e-02 9.99353803e-01 -3.29374498e-04 1.51791231e+00] [ 5.18443669e-03 1.43120562e-04 9.99986550e-01 2.06431716e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.365336195 meters Centerline goodness [0,1] 0.9998721336629444 Centerline is valid? [True, True] Translation: X:101.17, Y:1.53, Z:0.20 [[ 9.99387503e-01 -3.45104256e-02 -5.80073345e-03 1.01169424e+02] [ 3.45088615e-02 9.99404324e-01 -3.69547235e-04 1.52756651e+00] [ 5.81003132e-03 1.69144181e-04 9.99983107e-01 2.01249231e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.395336195 meters Centerline goodness [0,1] 0.9998937391082586 Centerline is valid? [True, True] Translation: X:101.20, Y:1.53, Z:0.20 [[ 9.99394860e-01 -3.42636538e-02 -5.99304575e-03 1.01198219e+02] [ 3.42619720e-02 9.99412813e-01 -3.83088584e-04 1.52834560e+00] [ 6.00265273e-03 1.77523196e-04 9.99981968e-01 2.00922182e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.425336195 meters Centerline goodness [0,1] 0.999914571898426 Centerline is valid? [True, True] Translation: X:101.23, Y:1.53, Z:0.20 [[ 9.99425694e-01 -3.33319257e-02 -6.10447634e-03 1.01227374e+02] [ 3.33301574e-02 9.99444319e-01 -3.91194557e-04 1.52605854e+00] [ 6.11412346e-03 1.87506735e-04 9.99981291e-01 2.03142361e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.455336195 meters Centerline goodness [0,1] 0.9998074330829964 Centerline is valid? [True, True] Translation: X:101.25, Y:1.53, Z:0.20 [[ 9.99445177e-01 -3.25971969e-02 -6.83814610e-03 1.01254613e+02] [ 3.25949583e-02 9.99468547e-01 -4.38592567e-04 1.52932025e+00] [ 6.84880884e-03 2.15460139e-04 9.99976523e-01 2.02413595e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.485336195 meters Centerline goodness [0,1] 0.9994876611732559 Centerline is valid? [True, True] Translation: X:101.28, Y:1.53, Z:0.20 [[ 9.99454415e-01 -3.16149931e-02 -9.55847038e-03 1.01284180e+02] [ 3.16105764e-02 9.99500073e-01 -6.12836866e-04 1.53320224e+00] [ 9.57306667e-03 3.10353753e-04 9.99954129e-01 1.98300261e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.515336195 meters Centerline goodness [0,1] 0.999574667177066 Centerline is valid? [True, True] Translation: X:101.31, Y:1.54, Z:0.19 [[ 9.99457652e-01 -3.12009050e-02 -1.05311954e-02 1.01312323e+02] [ 3.11955087e-02 9.99513073e-01 -6.76328796e-04 1.53832113e+00] [ 1.05471695e-02 3.47435993e-04 9.99944317e-01 1.94374181e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.545336195 meters Centerline goodness [0,1] 0.9995111583421892 Centerline is valid? [True, True] Translation: X:101.34, Y:1.54, Z:0.19 [[ 9.99474225e-01 -3.08889791e-02 -9.85616748e-03 1.01339782e+02] [ 3.08842326e-02 9.99522768e-01 -6.33445763e-04 1.54343690e+00] [ 9.87103029e-03 3.28712544e-04 9.99951226e-01 1.94194456e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.575336195 meters Centerline goodness [0,1] 0.9996585428315335 Centerline is valid? [True, True] Translation: X:101.37, Y:1.54, Z:0.20 [[ 9.99500047e-01 -3.06517899e-02 -7.75389291e-03 1.01368978e+02] [ 3.06488322e-02 9.99530089e-01 -5.00012991e-04 1.54262248e+00] [ 7.76557556e-03 2.62115245e-04 9.99969813e-01 1.99680625e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.605336195 meters Centerline goodness [0,1] 0.999744566721301 Centerline is valid? [True, True] Translation: X:101.40, Y:1.55, Z:0.20 [[ 9.99516402e-01 -3.03866853e-02 -6.60387985e-03 1.01395495e+02] [ 3.03845321e-02 9.99538193e-01 -4.26163889e-04 1.54607058e+00] [ 6.61377984e-03 2.25301998e-04 9.99978103e-01 2.02040535e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.635336195 meters Centerline goodness [0,1] 0.9998280531315823 Centerline is valid? [True, True] Translation: X:101.43, Y:1.54, Z:0.21 [[ 9.99525822e-01 -3.05090954e-02 -4.16249343e-03 1.01425176e+02] [ 3.05082368e-02 9.99534479e-01 -2.69631003e-04 1.54309969e+00] [ 4.16878190e-03 1.42512815e-04 9.99991300e-01 2.08576113e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.665336195 meters Centerline goodness [0,1] 0.9997453256648061 Centerline is valid? [True, True] Translation: X:101.45, Y:1.55, Z:0.21 [[ 9.99499962e-01 -3.13659756e-02 -4.00022200e-03 1.01452659e+02] [ 3.13651890e-02 9.99507958e-01 -2.59233173e-04 1.54812350e+00] [ 4.00638482e-03 1.33635827e-04 9.99991965e-01 2.05922724e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.695336195 meters Centerline goodness [0,1] 0.9998720300302862 Centerline is valid? [True, True] Translation: X:101.48, Y:1.55, Z:0.20 [[ 9.99467222e-01 -3.22945076e-02 -4.72620689e-03 1.01481588e+02] [ 3.22934152e-02 9.99478384e-01 -3.07290348e-04 1.54697657e+00] [ 4.73366541e-03 1.54501269e-04 9.99988784e-01 2.04411797e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.725336195 meters Centerline goodness [0,1] 0.9998727276584011 Centerline is valid? [True, True] Translation: X:101.51, Y:1.55, Z:0.21 [[ 9.99465814e-01 -3.24071290e-02 -4.22672505e-03 1.01509347e+02] [ 3.24062522e-02 9.99474741e-01 -2.75766035e-04 1.54779117e+00] [ 4.23344171e-03 1.38646407e-04 9.99991029e-01 2.05002906e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.755336195 meters Centerline goodness [0,1] 0.9997858947458571 Centerline is valid? [True, True] Translation: X:101.54, Y:1.55, Z:0.20 [[ 9.99467559e-01 -3.23585267e-02 -4.18627470e-03 1.01537163e+02] [ 3.23576662e-02 9.99476316e-01 -2.73127709e-04 1.55204041e+00] [ 4.19292042e-03 1.37524205e-04 9.99991200e-01 2.04942005e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.785336195 meters Centerline goodness [0,1] 0.9998087710351862 Centerline is valid? [True, True] Translation: X:101.57, Y:1.56, Z:0.21 [[ 9.99446692e-01 -3.29159002e-02 -4.78050386e-03 1.01565004e+02] [ 3.29147840e-02 9.99458113e-01 -3.11991999e-04 1.55512025e+00] [ 4.78818286e-03 1.54470120e-04 9.99988525e-01 2.05167305e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.81533619500001 meters Centerline goodness [0,1] 0.9997871298720651 Centerline is valid? [True, True] Translation: X:101.59, Y:1.56, Z:0.20 [[ 9.99450936e-01 -3.26899519e-02 -5.40313734e-03 1.01593579e+02] [ 3.26885160e-02 9.99465525e-01 -3.53874875e-04 1.55734130e+00] [ 5.41181765e-03 1.77060033e-04 9.99985340e-01 2.04152927e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.84533619500002 meters Centerline goodness [0,1] 0.9998294643047473 Centerline is valid? [True, True] Translation: X:101.62, Y:1.56, Z:0.20 [[ 9.99468023e-01 -3.21133660e-02 -5.69228332e-03 1.01622311e+02] [ 3.21117579e-02 9.99484215e-01 -3.73709729e-04 1.56018639e+00] [ 5.70134840e-03 1.90721701e-04 9.99983729e-01 2.03785229e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.87533619500002 meters Centerline goodness [0,1] 0.9997855181880576 Centerline is valid? [True, True] Translation: X:101.65, Y:1.57, Z:0.21 [[ 9.99514121e-01 -3.07184699e-02 -5.28183566e-03 1.01649683e+02] [ 3.07170661e-02 9.99528059e-01 -3.46713295e-04 1.56582818e+00] [ 5.28999345e-03 1.84302339e-04 9.99985991e-01 2.05023709e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.90533619500002 meters Centerline goodness [0,1] 0.999744555846478 Centerline is valid? [True, True] Translation: X:101.68, Y:1.57, Z:0.21 [[ 9.99528806e-01 -3.03872269e-02 -4.33388966e-03 1.01678797e+02] [ 3.03862738e-02 9.99538190e-01 -2.85594682e-04 1.56705071e+00] [ 4.34056665e-03 1.53769353e-04 9.99990568e-01 2.07824932e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.93533619500002 meters Centerline goodness [0,1] 0.9997461392003385 Centerline is valid? [True, True] Translation: X:101.71, Y:1.57, Z:0.21 [[ 9.99549168e-01 -2.98526338e-02 -3.20625983e-03 1.01707583e+02] [ 2.98521073e-02 9.99554304e-01 -2.11971880e-04 1.57111749e+00] [ 3.21115873e-03 1.16162705e-04 9.99994837e-01 2.09633408e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.96533619500002 meters Centerline goodness [0,1] 0.9993025172785492 Centerline is valid? [True, True] Translation: X:101.73, Y:1.58, Z:0.21 [[ 9.99548838e-01 -2.98409585e-02 -3.41134567e-03 1.01734438e+02] [ 2.98403625e-02 9.99554652e-01 -2.25504006e-04 1.58303390e+00] [ 3.41655569e-03 1.23606476e-04 9.99994156e-01 2.06747742e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.99533619500002 meters Centerline goodness [0,1] 0.9995105966465231 Centerline is valid? [True, True] Translation: X:101.76, Y:1.58, Z:0.20 [[ 9.99536459e-01 -3.01156429e-02 -4.46275241e-03 1.01762768e+02] [ 3.01146209e-02 9.99546408e-01 -2.96044981e-04 1.58250209e+00] [ 4.46964373e-03 1.61513655e-04 9.99989998e-01 2.04711522e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.025336195 meters Centerline goodness [0,1] 0.9997871344033378 Centerline is valid? [True, True] Translation: X:101.79, Y:1.58, Z:0.20 [[ 9.99497546e-01 -3.11727555e-02 -5.73714431e-03 1.01791308e+02] [ 3.11710803e-02 9.99513991e-01 -3.81199251e-04 1.58392699e+00] [ 5.74623904e-03 2.02174730e-04 9.99983470e-01 2.01841436e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.055336195 meters Centerline goodness [0,1] 0.9998073135223088 Centerline is valid? [True, True] Translation: X:101.82, Y:1.58, Z:0.20 [[ 9.99465523e-01 -3.20965559e-02 -6.20311680e-03 1.01820396e+02] [ 3.20946091e-02 9.99484750e-01 -4.13153383e-04 1.58048208e+00] [ 6.21318144e-03 2.13845953e-04 9.99980675e-01 2.02624405e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.085336195 meters Centerline goodness [0,1] 0.9998716000770399 Centerline is valid? [True, True] Translation: X:101.85, Y:1.58, Z:0.21 [[ 9.99415185e-01 -3.40229792e-02 -3.42424460e-03 1.01850489e+02] [ 3.40223982e-02 9.99421045e-01 -2.27811061e-04 1.58079058e+00] [ 3.43001293e-03 1.11176820e-04 9.99994111e-01 2.07526911e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.115336195 meters Centerline goodness [0,1] 0.9999572183362211 Centerline is valid? [True, True] Translation: X:101.88, Y:1.59, Z:0.21 [[ 9.99363006e-01 -3.56220354e-02 -2.15690650e-03 1.01878950e+02] [ 3.56218081e-02 9.99365332e-01 -1.43744734e-04 1.58535173e+00] [ 2.16065806e-03 6.68202600e-05 9.99997664e-01 2.08863210e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.145336195 meters Centerline goodness [0,1] 0.9999786013866302 Centerline is valid? [True, True] Translation: X:101.91, Y:1.59, Z:0.21 [[ 9.99324328e-01 -3.66455672e-02 -2.82673119e-03 1.01907557e+02] [ 3.66451784e-02 9.99328322e-01 -1.89242433e-04 1.58627742e+00] [ 2.83176743e-03 8.55284985e-05 9.99995987e-01 2.06830831e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.175336195 meters Centerline goodness [0,1] 0.9999786013866302 Centerline is valid? [True, True] Translation: X:101.94, Y:1.59, Z:0.21 [[ 9.99317449e-01 -3.68326808e-02 -2.82668977e-03 1.01935058e+02] [ 3.68322909e-02 9.99321443e-01 -1.89861352e-04 1.58826516e+00] [ 2.83176480e-03 8.56183021e-05 9.99995987e-01 2.06726152e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.205336195 meters Centerline goodness [0,1] 0.9999573460726396 Centerline is valid? [True, True] Translation: X:101.96, Y:1.59, Z:0.21 [[ 9.99210570e-01 -3.96087470e-02 -3.06338522e-03 1.01962829e+02] [ 3.96083033e-02 9.99215262e-01 -2.05383522e-04 1.58605620e+00] [ 3.06911625e-03 8.38858957e-05 9.99995287e-01 2.06654913e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.235336195 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:101.99, Y:1.59, Z:0.21 [[ 9.99119101e-01 -4.18779968e-02 -2.69355775e-03 1.01991301e+02] [ 4.18776618e-02 9.99122730e-01 -1.80690713e-04 1.58727270e+00] [ 2.69876174e-03 6.77316419e-05 9.99996356e-01 2.07331931e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.265336195 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:102.02, Y:1.59, Z:0.21 [[ 9.99098291e-01 -4.23136858e-02 -3.48679901e-03 1.02018880e+02] [ 4.23131231e-02 9.99104371e-01 -2.35021738e-04 1.58865466e+00] [ 3.49362077e-03 8.72724612e-05 9.99993893e-01 2.06054941e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.295336195 meters Centerline goodness [0,1] 0.9999360722809411 Centerline is valid? [True, True] Translation: X:102.05, Y:1.60, Z:0.21 [[ 9.99116306e-01 -4.18723869e-02 -3.64827784e-03 1.02046063e+02] [ 4.18717690e-02 9.99122963e-01 -2.45599717e-04 1.59597936e+00] [ 3.65536201e-03 9.26228346e-05 9.99993315e-01 2.05047918e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.325336195 meters Centerline goodness [0,1] 0.9999155066432902 Centerline is valid? [True, True] Translation: X:102.07, Y:1.60, Z:0.20 [[ 9.99152808e-01 -4.10064958e-02 -3.48323028e-03 1.02073727e+02] [ 4.10059266e-02 9.99158876e-01 -2.34696852e-04 1.60225602e+00] [ 3.48992455e-03 9.16649334e-05 9.99993906e-01 2.04411393e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.355336195 meters Centerline goodness [0,1] 0.9998932239947039 Centerline is valid? [True, True] Translation: X:102.10, Y:1.61, Z:0.20 [[ 9.99279135e-01 -3.75339563e-02 -5.69320355e-03 1.02103388e+02] [ 3.75323809e-02 9.99295338e-01 -3.83354767e-04 1.61022095e+00] [ 5.70358059e-03 1.69398936e-04 9.99983720e-01 2.01495685e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.385336195 meters Centerline goodness [0,1] 0.9997014161405904 Centerline is valid? [True, True] Translation: X:102.13, Y:1.62, Z:0.20 [[ 9.99408255e-01 -3.39853115e-02 -5.30462241e-03 1.02132778e+02] [ 3.39838935e-02 9.99422317e-01 -3.57251176e-04 1.61736184e+00] [ 5.31369931e-03 1.76768052e-04 9.99985867e-01 2.03566651e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.415336195 meters Centerline goodness [0,1] 0.9997256052514933 Centerline is valid? [True, True] Translation: X:102.16, Y:1.63, Z:0.20 [[ 9.99471684e-01 -3.21839504e-02 -4.53281629e-03 1.02161144e+02] [ 3.21828954e-02 9.99481950e-01 -3.05512387e-04 1.62670921e+00] [ 4.54030066e-03 1.59471828e-04 9.99989680e-01 2.03948089e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.445336195 meters Centerline goodness [0,1] 0.9998306448198484 Centerline is valid? [True, True] Translation: X:102.19, Y:1.63, Z:0.20 [[ 9.99460530e-01 -3.25294413e-02 -4.52587387e-03 1.02188766e+02] [ 3.25283868e-02 9.99470765e-01 -3.06429807e-04 1.62808959e+00] [ 4.53344661e-03 1.59045122e-04 9.99989711e-01 2.03793919e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.475336195 meters Centerline goodness [0,1] 0.9998717811732023 Centerline is valid? [True, True] Translation: X:102.22, Y:1.63, Z:0.20 [[ 9.99421762e-01 -3.37036693e-02 -4.49483916e-03 1.02216279e+02] [ 3.37026420e-02 9.99431858e-01 -3.04113436e-04 1.63204884e+00] [ 4.50253519e-03 1.52449631e-04 9.99989852e-01 2.02738932e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.505336195 meters Centerline goodness [0,1] 0.9998720873217217 Centerline is valid? [True, True] Translation: X:102.25, Y:1.63, Z:0.20 [[ 9.99379225e-01 -3.48847905e-02 -4.92092031e-03 1.02245331e+02] [ 3.48835680e-02 9.99391327e-01 -3.34077235e-04 1.63322041e+00] [ 4.92957929e-03 1.62210590e-04 9.99987836e-01 2.00869158e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.535336195 meters Centerline goodness [0,1] 0.9999149243890507 Centerline is valid? [True, True] Translation: X:102.27, Y:1.63, Z:0.20 [[ 9.99293506e-01 -3.72455627e-02 -5.02561377e-03 1.02274516e+02] [ 3.72443184e-02 9.99306132e-01 -3.40985359e-04 1.62895630e+00] [ 5.03482685e-03 1.53568895e-04 9.99987313e-01 2.00320835e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.56533619500001 meters Centerline goodness [0,1] 0.9999147630412547 Centerline is valid? [True, True] Translation: X:102.30, Y:1.63, Z:0.20 [[ 9.99223082e-01 -3.91739469e-02 -4.31681971e-03 1.02302802e+02] [ 3.91730459e-02 9.99232399e-01 -2.93118812e-04 1.63091693e+00] [ 4.32498873e-03 1.23788106e-04 9.99990640e-01 2.00957059e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.59533619500002 meters Centerline goodness [0,1] 0.9999574386584665 Centerline is valid? [True, True] Translation: X:102.33, Y:1.63, Z:0.20 [[ 9.99198451e-01 -3.97964483e-02 -4.32415035e-03 1.02332037e+02] [ 3.97955450e-02 9.99207800e-01 -2.94776277e-04 1.63301746e+00] [ 4.33245581e-03 1.22458080e-04 9.99990607e-01 2.01751147e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.62533619500002 meters Centerline goodness [0,1] 0.9998936735778841 Centerline is valid? [True, True] Translation: X:102.36, Y:1.64, Z:0.20 [[ 9.99158217e-01 -4.05281258e-02 -6.35043140e-03 1.02358911e+02] [ 4.05261928e-02 9.99178383e-01 -4.32820172e-04 1.64272267e+00] [ 6.36275516e-03 1.75097024e-04 9.99979742e-01 1.97859213e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.65533619500002 meters Centerline goodness [0,1] 0.9999151625697258 Centerline is valid? [True, True] Translation: X:102.39, Y:1.65, Z:0.19 [[ 9.99136958e-01 -4.05768055e-02 -8.88039585e-03 1.02387039e+02] [ 4.05730249e-02 9.99176392e-01 -6.05543490e-04 1.64791245e+00] [ 8.89765291e-03 2.44716359e-04 9.99960385e-01 1.93391306e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.68533619500002 meters Centerline goodness [0,1] 0.999936100875418 Centerline is valid? [True, True] Translation: X:102.41, Y:1.65, Z:0.19 [[ 9.99132196e-01 -4.07405739e-02 -8.66373417e-03 1.02414536e+02] [ 4.07369774e-02 9.99169730e-01 -5.91266301e-04 1.65006004e+00] [ 8.68062946e-03 2.37818855e-04 9.99962294e-01 1.94460806e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.71533619500002 meters Centerline goodness [0,1] 0.9999575317450206 Centerline is valid? [True, True] Translation: X:102.44, Y:1.65, Z:0.20 [[ 9.99123418e-01 -4.14675778e-02 -5.73022302e-03 1.02442629e+02] [ 4.14660148e-02 9.99139838e-01 -3.91352811e-04 1.65317299e+00] [ 5.74152256e-03 1.53400246e-04 9.99983506e-01 2.00747661e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.74533619500002 meters Centerline goodness [0,1] 0.99991522010979 Centerline is valid? [True, True] Translation: X:102.47, Y:1.66, Z:0.20 [[ 9.99103951e-01 -4.20319849e-02 -4.96059397e-03 1.02471839e+02] [ 4.20308149e-02 9.99116257e-01 -3.39913656e-04 1.65655504e+00] [ 4.97049732e-03 1.31111270e-04 9.99987638e-01 2.02284753e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.775336195 meters Centerline goodness [0,1] 0.9999358316221766 Centerline is valid? [True, True] Translation: X:102.50, Y:1.66, Z:0.20 [[ 9.99086748e-01 -4.24630604e-02 -4.74964068e-03 1.02500590e+02] [ 4.24619885e-02 9.99098030e-01 -3.26330962e-04 1.66186202e+00] [ 4.75921365e-03 1.24353752e-04 9.99988667e-01 2.02183744e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.805336195 meters Centerline goodness [0,1] 0.9998722316865417 Centerline is valid? [True, True] Translation: X:102.53, Y:1.67, Z:0.20 [[ 9.99127085e-01 -4.16229215e-02 -3.54956969e-03 1.02527467e+02] [ 4.16223177e-02 9.99133386e-01 -2.43842003e-04 1.67379550e+00] [ 3.55664300e-03 9.58878320e-05 9.99993671e-01 2.01143781e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.835336195 meters Centerline goodness [0,1] 0.9999364918074432 Centerline is valid? [True, True] Translation: X:102.56, Y:1.67, Z:0.20 [[ 9.99128640e-01 -4.14793474e-02 -4.62872552e-03 1.02556046e+02] [ 4.14783143e-02 9.99139353e-01 -3.19010779e-04 1.67452232e+00] [ 4.63797418e-03 1.26741074e-04 9.99989237e-01 2.00822401e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.865336195 meters Centerline goodness [0,1] 0.9999364541410718 Centerline is valid? [True, True] Translation: X:102.58, Y:1.68, Z:0.20 [[ 9.99118321e-01 -4.15755308e-02 -5.83573349e-03 1.02584530e+02] [ 4.15738857e-02 9.99135351e-01 -4.02976037e-04 1.67675692e+00] [ 5.84744157e-03 1.60006625e-04 9.99982891e-01 1.99159411e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.895336195 meters Centerline goodness [0,1] 0.9998723920117399 Centerline is valid? [True, True] Translation: X:102.61, Y:1.68, Z:0.20 [[ 9.99135355e-01 -4.09998196e-02 -6.89618859e-03 1.02612539e+02] [ 4.09975092e-02 9.99159135e-01 -4.76111491e-04 1.68364952e+00] [ 6.90991031e-03 1.92973268e-04 9.99976108e-01 1.97045625e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.925336195 meters Centerline goodness [0,1] 0.999893800046728 Centerline is valid? [True, True] Translation: X:102.64, Y:1.69, Z:0.20 [[ 9.99160737e-01 -4.04399198e-02 -6.51424892e-03 1.02640296e+02] [ 4.04378438e-02 9.99181954e-01 -4.50131129e-04 1.69205367e+00] [ 6.52712323e-03 1.86331170e-04 9.99978681e-01 1.95875158e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.955336195 meters Centerline goodness [0,1] 0.9999787685774947 Centerline is valid? [True, True] Translation: X:102.67, Y:1.70, Z:0.20 [[ 9.99180943e-01 -3.99819100e-02 -6.23624439e-03 1.02668777e+02] [ 3.99799897e-02 9.99200387e-01 -4.32328788e-04 1.69647578e+00] [ 6.24854314e-03 1.82649700e-04 9.99980461e-01 1.96833661e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.985336195 meters Centerline goodness [0,1] 0.9999152290933752 Centerline is valid? [True, True] Translation: X:102.70, Y:1.70, Z:0.20 [[ 9.99145358e-01 -4.07574324e-02 -6.88365855e-03 1.02696357e+02] [ 4.07551116e-02 9.99169051e-01 -4.77145246e-04 1.70233288e+00] [ 6.89738580e-03 1.96193186e-04 9.99976194e-01 1.95151579e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.015336195 meters Centerline goodness [0,1] 0.9999153689911984 Centerline is valid? [True, True] Translation: X:102.72, Y:1.70, Z:0.19 [[ 9.99110223e-01 -4.16341575e-02 -6.73492731e-03 1.02724636e+02] [ 4.16319462e-02 9.99132905e-01 -4.68257223e-04 1.70498417e+00] [ 6.74858298e-03 1.87452447e-04 9.99977210e-01 1.94921489e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.045336195 meters Centerline goodness [0,1] 0.9999151157608811 Centerline is valid? [True, True] Translation: X:102.75, Y:1.71, Z:0.20 [[ 9.99047986e-01 -4.32259082e-02 -5.88582848e-03 1.02753505e+02] [ 4.32242474e-02 9.99065312e-01 -4.09147776e-04 1.70606592e+00] [ 5.89801285e-03 1.54347756e-04 9.99982595e-01 1.97005123e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.075336195 meters Centerline goodness [0,1] 0.9999574069341511 Centerline is valid? [True, True] Translation: X:102.78, Y:1.71, Z:0.20 [[ 9.99024571e-01 -4.37778025e-02 -5.78019375e-03 1.02781549e+02] [ 4.37762020e-02 9.99041281e-01 -4.03181034e-04 1.71292314e+00] [ 5.79230255e-03 1.49752831e-04 9.99983213e-01 1.96564649e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.105336195 meters Centerline goodness [0,1] 0.9998938406335591 Centerline is valid? [True, True] Translation: X:102.81, Y:1.72, Z:0.19 [[ 9.99027801e-01 -4.36776570e-02 -5.97623936e-03 1.02808963e+02] [ 4.36759448e-02 9.99045664e-01 -4.16783627e-04 1.72110216e+00] [ 5.98874015e-03 1.55360530e-04 9.99982055e-01 1.94363706e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.135336195 meters Centerline goodness [0,1] 0.9999360150151431 Centerline is valid? [True, True] Translation: X:102.84, Y:1.72, Z:0.19 [[ 9.98977941e-01 -4.47453677e-02 -6.39726645e-03 1.02837543e+02] [ 4.47434188e-02 9.98998412e-01 -4.47519124e-04 1.72252098e+00] [ 6.41088343e-03 1.60826161e-04 9.99979437e-01 1.94459956e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.165336195 meters Centerline goodness [0,1] 0.9999786734911496 Centerline is valid? [True, True] Translation: X:102.87, Y:1.72, Z:0.20 [[ 9.98926332e-01 -4.58842925e-02 -6.38870749e-03 1.02866922e+02] [ 4.58823656e-02 9.98946749e-01 -4.47931774e-04 1.72150451e+00] [ 6.40253161e-03 1.54321831e-04 9.99979492e-01 1.96552541e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.195336195 meters Centerline goodness [0,1] 0.999935952177626 Centerline is valid? [True, True] Translation: X:102.89, Y:1.72, Z:0.20 [[ 9.98785523e-01 -4.86739878e-02 -7.63686429e-03 1.02894599e+02] [ 4.86713165e-02 9.98814706e-01 -5.35367097e-04 1.72016477e+00] [ 7.65387081e-03 1.63020667e-04 9.99970695e-01 1.95840139e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.225336195 meters Centerline goodness [0,1] 0.9999788668399586 Centerline is valid? [True, True] Translation: X:102.92, Y:1.73, Z:0.19 [[ 9.98599981e-01 -5.23325413e-02 -7.70609399e-03 1.02923235e+02] [ 5.23299279e-02 9.98629704e-01 -5.40519871e-04 1.72645348e+00] [ 7.72382114e-03 1.36503790e-04 9.99970162e-01 1.90996438e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.255336195 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:102.95, Y:1.73, Z:0.19 [[ 9.98501694e-01 -5.44945467e-02 -4.97100676e-03 1.02952435e+02] [ 5.44934800e-02 9.98514065e-01 -3.49894599e-04 1.73213257e+00] [ 4.98268751e-03 7.84828923e-05 9.99987583e-01 1.93815796e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.285336195 meters Centerline goodness [0,1] 0.9999787138934417 Centerline is valid? [True, True] Translation: X:102.98, Y:1.73, Z:0.20 [[ 9.98532942e-01 -5.40285261e-02 -3.58918938e-03 1.02979600e+02] [ 5.40279663e-02 9.98539391e-01 -2.52818318e-04 1.73464137e+00] [ 3.59760638e-03 5.85308159e-05 9.99993527e-01 1.96722057e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.31533619500001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:103.01, Y:1.73, Z:0.20 [[ 9.98626375e-01 -5.23359704e-02 -2.51168902e-03 1.03007668e+02] [ 5.23356905e-02 9.98629533e-01 -1.77066767e-04 1.73281301e+00] [ 2.51751379e-03 4.53725650e-05 9.99996830e-01 2.02705152e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.34533619500002 meters Centerline goodness [0,1] 0.9999787039206082 Centerline is valid? [True, True] Translation: X:103.04, Y:1.74, Z:0.21 [[ 9.98721078e-01 -5.05054011e-02 -2.32656678e-03 1.03035707e+02] [ 5.05051557e-02 9.98723787e-01 -1.64168580e-04 1.73730772e+00] [ 2.33188899e-03 4.64550040e-05 9.99997280e-01 2.05011227e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.37533619500002 meters Centerline goodness [0,1] 0.9999576889716305 Centerline is valid? [True, True] Translation: X:103.06, Y:1.75, Z:0.20 [[ 9.98770213e-01 -4.95383115e-02 -2.00422891e-03 1.03063129e+02] [ 4.95381271e-02 9.98772223e-01 -1.41567908e-04 1.74931810e+00] [ 2.00878120e-03 4.21080630e-05 9.99997982e-01 2.02688746e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.40533619500002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:103.09, Y:1.76, Z:0.20 [[ 9.98770354e-01 -4.94480729e-02 -3.55916246e-03 1.03092019e+02] [ 4.94474880e-02 9.98776693e-01 -2.52208809e-04 1.75552704e+00] [ 3.56727975e-03 7.59070384e-05 9.99993634e-01 1.96316226e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.43533619500002 meters Centerline goodness [0,1] 0.9999788485130505 Centerline is valid? [True, True] Translation: X:103.12, Y:1.76, Z:0.19 [[ 9.98744926e-01 -4.99564755e-02 -3.59487665e-03 1.03119827e+02] [ 4.99558793e-02 9.98751393e-01 -2.55503607e-04 1.75741986e+00] [ 3.60315212e-03 7.55977067e-05 9.99993506e-01 1.94801614e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.46533619500002 meters Centerline goodness [0,1] 0.9999787987364047 Centerline is valid? [True, True] Translation: X:103.15, Y:1.75, Z:0.20 [[ 9.98677939e-01 -5.12828999e-02 -3.52687543e-03 1.03147811e+02] [ 5.12823352e-02 9.98684164e-01 -2.50397755e-04 1.75439181e+00] [ 3.53507577e-03 6.92003060e-05 9.99993749e-01 1.95467205e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.49533619500002 meters Centerline goodness [0,1] 0.9999576082579114 Centerline is valid? [True, True] Translation: X:103.18, Y:1.75, Z:0.20 [[ 9.98603747e-01 -5.26106138e-02 -4.76231122e-03 1.03176064e+02] [ 5.26095985e-02 9.98615099e-01 -3.38307250e-04 1.74982696e+00] [ 4.77351445e-03 8.72916060e-05 9.99988603e-01 1.95921224e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.525336195 meters Centerline goodness [0,1] 0.9999787505312367 Centerline is valid? [True, True] Translation: X:103.20, Y:1.75, Z:0.20 [[ 9.98608075e-01 -5.25104955e-02 -4.95593439e-03 1.03204659e+02] [ 5.25093888e-02 9.98620368e-01 -3.53237932e-04 1.74968521e+00] [ 4.96764573e-03 9.25131648e-05 9.99987657e-01 1.97306838e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.555336195 meters Centerline goodness [0,1] 0.9999363948607047 Centerline is valid? [True, True] Translation: X:103.23, Y:1.76, Z:0.20 [[ 9.98752286e-01 -4.97591287e-02 -4.23083241e-03 1.03232484e+02] [ 4.97582968e-02 9.98761243e-01 -3.01726229e-04 1.75531726e+00] [ 4.24060507e-03 9.08307467e-05 9.99991004e-01 1.99350328e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.585336195 meters Centerline goodness [0,1] 0.9999786948462833 Centerline is valid? [True, True] Translation: X:103.26, Y:1.76, Z:0.20 [[ 9.98932324e-01 -4.60167263e-02 -4.08320528e-03 1.03260963e+02] [ 4.60159199e-02 9.98940664e-01 -2.91277466e-04 1.76386768e+00] [ 4.09228342e-03 1.03074030e-04 9.99991621e-01 1.96879487e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.615336195 meters Centerline goodness [0,1] 0.999914593786698 Centerline is valid? [True, True] Translation: X:103.29, Y:1.77, Z:0.19 [[ 9.99013630e-01 -4.42252897e-02 -3.98621793e-03 1.03288286e+02] [ 4.42245059e-02 9.99021577e-01 -2.84622219e-04 1.77059982e+00] [ 3.99490523e-03 1.08052958e-04 9.99992014e-01 1.94347724e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.645336195 meters Centerline goodness [0,1] 0.9999575623832966 Centerline is valid? [True, True] Translation: X:103.32, Y:1.77, Z:0.20 [[ 9.99148047e-01 -4.11721392e-02 -2.83479900e-03 1.03318329e+02] [ 4.11717305e-02 9.99152064e-01 -2.02407687e-04 1.77083328e+00] [ 2.84072883e-03 8.55216651e-05 9.99995961e-01 1.96818249e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.675336195 meters Centerline goodness [0,1] 0.9997464877997254 Centerline is valid? [True, True] Translation: X:103.35, Y:1.77, Z:0.20 [[ 9.99266352e-01 -3.82630555e-02 -1.64191581e-03 1.03346598e+02] [ 3.82629141e-02 9.99267700e-01 -1.17479189e-04 1.77251349e+00] [ 1.64520855e-03 5.45685167e-05 9.99998645e-01 2.00157979e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.705336195 meters Centerline goodness [0,1] 0.9998094552537421 Centerline is valid? [True, True] Translation: X:103.37, Y:1.77, Z:0.20 [[ 9.99294925e-01 -3.74662599e-02 -2.43554302e-03 1.03374441e+02] [ 3.74659458e-02 9.99297890e-01 -1.74483999e-04 1.77483586e+00] [ 2.44037026e-03 8.31110524e-05 9.99997019e-01 1.99529115e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.735336195 meters Centerline goodness [0,1] 0.9998946991554872 Centerline is valid? [True, True] Translation: X:103.40, Y:1.77, Z:0.20 [[ 9.99304339e-01 -3.70779859e-02 -4.00751100e-03 1.03403543e+02] [ 3.70771295e-02 9.99312365e-01 -2.87806480e-04 1.77422345e+00] [ 4.01542659e-03 1.39019260e-04 9.99991928e-01 1.96155542e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.765336195 meters Centerline goodness [0,1] 0.9998508385007139 Centerline is valid? [True, True] Translation: X:103.43, Y:1.78, Z:0.19 [[ 9.99299664e-01 -3.72960780e-02 -3.03057463e-03 1.03431767e+02] [ 3.72955873e-02 9.99304254e-01 -2.18264233e-04 1.77707938e+00] [ 3.03660651e-03 1.05084314e-04 9.99995384e-01 1.94403360e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.795336195 meters Centerline goodness [0,1] 0.9999359740481475 Centerline is valid? [True, True] Translation: X:103.46, Y:1.77, Z:0.20 [[ 9.99338749e-01 -3.63154756e-02 -1.80331752e-03 1.03461490e+02] [ 3.63152993e-02 9.99340373e-01 -1.30440314e-04 1.77197535e+00] [ 1.80686501e-03 6.48660448e-05 9.99998366e-01 1.97192232e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.825336195 meters Centerline goodness [0,1] 0.99972410280354 Centerline is valid? [True, True] Translation: X:103.49, Y:1.78, Z:0.20 [[ 9.99415771e-01 -3.41738108e-02 -5.17025463e-04 1.03490129e+02] [ 3.41737960e-02 9.99415905e-01 -3.73705578e-05 1.77679768e+00] [ 5.18000565e-04 1.96800021e-05 9.99999866e-01 1.99980441e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.855336195 meters Centerline goodness [0,1] 0.9996597988560737 Centerline is valid? [True, True] Translation: X:103.52, Y:1.78, Z:0.20 [[ 9.99444519e-01 -3.33240779e-02 -4.00176464e-04 1.03518864e+02] [ 3.33240688e-02 9.99444599e-01 -2.94821656e-05 1.77746190e+00] [ 4.00936672e-04 1.61302808e-05 9.99999919e-01 2.01667843e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.885336195 meters Centerline goodness [0,1] 0.9997671563439312 Centerline is valid? [True, True] Translation: X:103.55, Y:1.78, Z:0.20 [[ 9.99460336e-01 -3.28411434e-02 -7.04472149e-04 1.03547601e+02] [ 3.28411152e-02 9.99460584e-01 -5.15681699e-05 1.77545311e+00] [ 7.05785703e-04 2.84046894e-05 9.99999751e-01 2.01250460e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.915336195 meters Centerline goodness [0,1] 0.9998725762949434 Centerline is valid? [True, True] Translation: X:103.58, Y:1.78, Z:0.20 [[ 9.99417384e-01 -3.41302621e-02 -1.33417120e-04 1.03575927e+02] [ 3.41302611e-02 9.99417393e-01 -9.82912404e-06 1.77732793e+00] [ 1.33674861e-04 5.26983631e-06 9.99999991e-01 1.99101504e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.945336195 meters Centerline goodness [0,1] 0.9998933356088403 Centerline is valid? [True, True] Translation: X:103.61, Y:1.77, Z:0.20 [[ 9.99355092e-01 -3.58976371e-02 8.71498621e-04 1.03605710e+02] [ 3.58975961e-02 9.99355472e-01 6.26457937e-05 1.77411150e+00] [-8.73185751e-04 -3.13206875e-05 9.99999618e-01 1.99521372e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.975336195 meters Centerline goodness [0,1] 0.9998089253110272 Centerline is valid? [True, True] Translation: X:103.64, Y:1.77, Z:0.20 [[ 9.99220824e-01 -3.94676589e-02 2.21612974e-04 1.03636471e+02] [ 3.94676563e-02 9.99220848e-01 1.60335218e-05 1.76810779e+00] [-2.22073109e-04 -7.27448421e-06 9.99999975e-01 1.97543698e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.005336195 meters Centerline goodness [0,1] 0.9999158497075777 Centerline is valid? [True, True] Translation: X:103.67, Y:1.76, Z:0.20 [[ 9.99098269e-01 -4.24402230e-02 -1.21518742e-03 1.03665600e+02] [ 4.24401469e-02 9.99099007e-01 -8.83309825e-05 1.76112426e+00] [ 1.21784133e-03 3.66785991e-05 9.99999258e-01 1.95946488e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.035336195 meters Centerline goodness [0,1] 0.99991462477589 Centerline is valid? [True, True] Translation: X:103.69, Y:1.76, Z:0.19 [[ 9.99021059e-01 -4.41749768e-02 -2.34437223e-03 1.03694963e+02] [ 4.41746967e-02 9.99023807e-01 -1.71136458e-04 1.75835405e+00] [ 2.34964362e-03 6.74069932e-05 9.99997237e-01 1.94315843e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.06533619500001 meters Centerline goodness [0,1] 0.9999572603910675 Centerline is valid? [True, True] Translation: X:103.72, Y:1.76, Z:0.19 [[ 9.98934091e-01 -4.60936483e-02 -2.46115342e-03 1.03723691e+02] [ 4.60933463e-02 9.98937121e-01 -1.79312279e-04 1.75895917e+00] [ 2.46680267e-03 6.56783520e-05 9.99996955e-01 1.91709320e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.09533619500002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:103.75, Y:1.76, Z:0.19 [[ 9.98936888e-01 -4.60784961e-02 -1.36585307e-03 1.03751963e+02] [ 4.60784019e-02 9.98937821e-01 -1.00364298e-04 1.75899951e+00] [ 1.36902692e-03 3.73212727e-05 9.99999062e-01 1.92793946e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.12533619500002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:103.78, Y:1.76, Z:0.19 [[ 9.98928475e-01 -4.62605216e-02 -1.36583499e-03 1.03779439e+02] [ 4.62604272e-02 9.98929408e-01 -1.00610882e-04 1.76116726e+00] [ 1.36902705e-03 3.73189647e-05 9.99999062e-01 1.92689315e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.15533619500002 meters Centerline goodness [0,1] 0.999936198719721 Centerline is valid? [True, True] Translation: X:103.81, Y:1.76, Z:0.19 [[ 9.98951706e-01 -4.57588276e-02 -1.27195804e-03 1.03807468e+02] [ 4.57587458e-02 9.98952516e-01 -9.33363890e-05 1.76153080e+00] [ 1.27489665e-03 3.50353403e-05 9.99999187e-01 1.93514810e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.18533619500002 meters Centerline goodness [0,1] 0.9999787338111137 Centerline is valid? [True, True] Translation: X:103.84, Y:1.76, Z:0.19 [[ 9.98983648e-01 -4.50555348e-02 -1.29218812e-03 1.03837104e+02] [ 4.50554490e-02 9.98984483e-01 -9.54119922e-05 1.75731612e+00] [ 1.29517472e-03 3.70949039e-05 9.99999161e-01 1.94624900e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.21533619500002 meters Centerline goodness [0,1] 0.9998939554612938 Centerline is valid? [True, True] Translation: X:103.87, Y:1.76, Z:0.19 [[ 9.98992001e-01 -4.48583184e-02 -1.64704010e-03 1.03865498e+02] [ 4.48581796e-02 9.98993358e-01 -1.21151271e-04 1.75754380e+00] [ 1.65081676e-03 4.71459297e-05 9.99998636e-01 1.93570167e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.24533619500002 meters Centerline goodness [0,1] 0.9999572923339739 Centerline is valid? [True, True] Translation: X:103.89, Y:1.76, Z:0.19 [[ 9.99024824e-01 -4.41177964e-02 -1.73804062e-03 1.03894174e+02] [ 4.41176396e-02 9.99026335e-01 -1.28509459e-04 1.76105832e+00] [ 1.74201791e-03 5.17058896e-05 9.99998481e-01 1.91718656e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.275336195 meters Centerline goodness [0,1] 0.9998710176705792 Centerline is valid? [True, True] Translation: X:103.92, Y:1.76, Z:0.19 [[ 9.99052073e-01 -4.34700398e-02 -2.30461537e-03 1.03923383e+02] [ 4.34697618e-02 9.99054729e-01 -1.70595979e-04 1.76115448e+00] [ 2.30985270e-03 7.02531852e-05 9.99997330e-01 1.90290956e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.305336195 meters Centerline goodness [0,1] 0.9999145043389048 Centerline is valid? [True, True] Translation: X:103.95, Y:1.76, Z:0.19 [[ 9.99094823e-01 -4.24977798e-02 -1.86387223e-03 1.03951394e+02] [ 4.24975964e-02 9.99096560e-01 -1.37960245e-04 1.75891221e+00] [ 1.86805134e-03 5.86252767e-05 9.99998253e-01 1.91467175e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.335336195 meters Centerline goodness [0,1] 0.9997024947936589 Centerline is valid? [True, True] Translation: X:103.98, Y:1.76, Z:0.19 [[ 9.99070144e-01 -4.31089070e-02 -6.85388790e-04 1.03979864e+02] [ 4.31088820e-02 9.99070379e-01 -5.13157710e-05 1.75890811e+00] [ 6.86963805e-04 2.17217103e-05 9.99999764e-01 1.93806854e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.365336195 meters Centerline goodness [0,1] 0.9999147194269146 Centerline is valid? [True, True] Translation: X:104.01, Y:1.76, Z:0.19 [[ 9.98981709e-01 -4.51102506e-02 -7.80999939e-04 1.04009690e+02] [ 4.51102189e-02 9.98982014e-01 -5.81272558e-05 1.75536612e+00] [ 7.82827027e-04 2.28369871e-05 9.99999693e-01 1.91250584e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.395336195 meters Centerline goodness [0,1] 0.9999787138934417 Centerline is valid? [True, True] Translation: X:104.04, Y:1.75, Z:0.19 [[ 9.98930637e-01 -4.62337095e-02 -1.60481033e-04 1.04038915e+02] [ 4.62337080e-02 9.98930650e-01 -1.25131178e-05 1.75321783e+00] [ 1.60887950e-04 5.08010354e-06 9.99999987e-01 1.91606068e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.425336195 meters Centerline goodness [0,1] 0.999936396209214 Centerline is valid? [True, True] Translation: X:104.07, Y:1.75, Z:0.19 [[ 9.98866378e-01 -4.75986466e-02 5.72729981e-04 1.04067038e+02] [ 4.75986301e-02 9.98866542e-01 4.23316610e-05 1.74911252e+00] [-5.74095745e-04 -1.50225103e-05 9.99999835e-01 1.92912749e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.455336195 meters Centerline goodness [0,1] 0.9998942649297919 Centerline is valid? [True, True] Translation: X:104.10, Y:1.74, Z:0.19 [[ 9.98790812e-01 -4.91621235e-02 1.94487744e-05 1.04096439e+02] [ 4.91621235e-02 9.98790812e-01 8.47923666e-07 1.73778576e+00] [-1.94669429e-05 1.09244680e-07 1.00000000e+00 1.93410905e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.485336195 meters Centerline goodness [0,1] 0.9999359699485625 Centerline is valid? [True, True] Translation: X:104.12, Y:1.74, Z:0.20 [[ 9.98790248e-01 -4.91321535e-02 2.01791748e-03 1.04123199e+02] [ 4.91319505e-02 9.98792285e-01 1.50080790e-04 1.74384411e+00] [-2.02285421e-03 -5.07550071e-05 9.99997953e-01 1.95450009e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.515336195 meters Centerline goodness [0,1] 0.9999786274551711 Centerline is valid? [True, True] Translation: X:104.15, Y:1.75, Z:0.19 [[ 9.98829651e-01 -4.83129539e-02 2.27731250e-03 1.04151721e+02] [ 4.83126930e-02 9.98832246e-01 1.69472869e-04 1.74643469e+00] [-2.28284089e-03 -5.92514267e-05 9.99997393e-01 1.94618306e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.545336195 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:104.18, Y:1.74, Z:0.19 [[ 9.98927111e-01 -4.63090700e-02 3.12223261e-04 1.04181603e+02] [ 4.63090650e-02 9.98927159e-01 2.32340719e-05 1.74306163e+00] [-3.12964244e-04 -8.75037699e-06 9.99999951e-01 1.91101443e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.575336195 meters Centerline goodness [0,1] 0.9999572046047845 Centerline is valid? [True, True] Translation: X:104.21, Y:1.74, Z:0.19 [[ 9.98928839e-01 -4.62719980e-02 -2.77768271e-04 1.04209140e+02] [ 4.62719939e-02 9.98928877e-01 -2.11104429e-05 1.74212591e+00] [ 2.78447570e-04 8.23493842e-06 9.99999961e-01 1.91198863e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.605336195 meters Centerline goodness [0,1] 0.9999570916736392 Centerline is valid? [True, True] Translation: X:104.24, Y:1.74, Z:0.19 [[ 9.98909604e-01 -4.66841365e-02 4.41342938e-04 1.04238145e+02] [ 4.66841267e-02 9.98909701e-01 3.24521852e-05 1.74254618e+00] [-4.42376744e-04 -1.18130898e-05 9.99999902e-01 1.92777966e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.635336195 meters Centerline goodness [0,1] 0.9999784733284539 Centerline is valid? [True, True] Translation: X:104.27, Y:1.75, Z:0.19 [[ 9.98900997e-01 -4.68353938e-02 1.80131611e-03 1.04265534e+02] [ 4.68352266e-02 9.98902620e-01 1.34903848e-04 1.75103799e+00] [-1.80565765e-03 -5.03905404e-05 9.99998369e-01 1.92346726e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.665336195 meters Centerline goodness [0,1] 0.9999575668851972 Centerline is valid? [True, True] Translation: X:104.29, Y:1.76, Z:0.19 [[ 9.98911224e-01 -4.66226408e-02 1.64213678e-03 1.04292908e+02] [ 4.66225014e-02 9.98912572e-01 1.23063081e-04 1.75598910e+00] [-1.64608860e-03 -4.63685683e-05 9.99998644e-01 1.91468268e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.695336195 meters Centerline goodness [0,1] 0.9999362989701667 Centerline is valid? [True, True] Translation: X:104.32, Y:1.76, Z:0.19 [[ 9.98964301e-01 -4.54709220e-02 1.64941658e-03 1.04321472e+02] [ 4.54707800e-02 9.98965662e-01 1.23479913e-04 1.75732815e+00] [-1.65332527e-03 -4.83517664e-05 9.99998632e-01 1.91134062e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.725336195 meters Centerline goodness [0,1] 0.9999786210582576 Centerline is valid? [True, True] Translation: X:104.35, Y:1.76, Z:0.20 [[ 9.98991782e-01 -4.46886221e-02 4.28329725e-03 1.04349166e+02] [ 4.46876507e-02 9.99000956e-01 3.22275162e-04 1.75624973e+00] [-4.29342008e-03 -1.30539747e-04 9.99990775e-01 1.97745492e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.755336195 meters Centerline goodness [0,1] 0.9999366232888288 Centerline is valid? [True, True] Translation: X:104.38, Y:1.76, Z:0.20 [[ 9.98978111e-01 -4.49688276e-02 4.53195145e-03 1.04376523e+02] [ 4.49677418e-02 9.98988381e-01 3.41254864e-04 1.75786200e+00] [-4.54271268e-03 -1.37114517e-04 9.99989672e-01 1.98832058e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.785336195 meters Centerline goodness [0,1] 0.9999785177228786 Centerline is valid? [True, True] Translation: X:104.41, Y:1.76, Z:0.19 [[ 9.98873948e-01 -4.73686356e-02 2.65474686e-03 1.04405669e+02] [ 4.73682716e-02 9.98877473e-01 1.99856117e-04 1.75911763e+00] [-2.66123375e-03 -7.38802983e-05 9.99996456e-01 1.92900418e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.81533619500001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:104.44, Y:1.76, Z:0.19 [[ 9.98691582e-01 -5.10743479e-02 2.55652490e-03 1.04435042e+02] [ 5.10740212e-02 9.98694852e-01 1.92981470e-04 1.75741638e+00] [-2.56304466e-03 -6.21569628e-05 9.99996713e-01 1.89464344e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.84533619500002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:104.46, Y:1.75, Z:0.19 [[ 9.98597401e-01 -5.28905203e-02 2.41339773e-03 1.04464326e+02] [ 5.28902347e-02 9.98600315e-01 1.82035740e-04 1.75261457e+00] [-2.41964770e-03 -5.41352448e-05 9.99997071e-01 1.89619693e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.87533619500002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:104.49, Y:1.75, Z:0.19 [[ 9.98452985e-01 -5.55987928e-02 6.41054931e-04 1.04494137e+02] [ 5.55987733e-02 9.98453191e-01 4.82576960e-05 1.74546748e+00] [-6.42746411e-04 -1.25411728e-05 9.99999793e-01 1.87929378e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.90533619500002 meters Centerline goodness [0,1] 0.9999786980231765 Centerline is valid? [True, True] Translation: X:104.52, Y:1.75, Z:0.18 [[ 9.98355164e-01 -5.72847803e-02 -2.32821291e-03 1.04522003e+02] [ 5.72845239e-02 9.98357878e-01 -1.76751560e-04 1.74500025e+00] [ 2.33451487e-03 4.30902644e-05 9.99997274e-01 1.81006224e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.93533619500002 meters Centerline goodness [0,1] 0.9999787901925851 Centerline is valid? [True, True] Translation: X:104.55, Y:1.75, Z:0.18 [[ 9.98328642e-01 -5.77350786e-02 -2.56562313e-03 1.04550549e+02] [ 5.77347663e-02 9.98331938e-01 -1.95686824e-04 1.74551930e+00] [ 2.57264151e-03 4.72341092e-05 9.99996690e-01 1.79586229e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.96533619500002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:104.58, Y:1.74, Z:0.18 [[ 9.98385756e-01 -5.67820824e-02 -1.29500487e-03 1.04579692e+02] [ 5.67820014e-02 9.98386596e-01 -9.92703738e-05 1.74433303e+00] [ 1.29855228e-03 2.55771588e-05 9.99999157e-01 1.82778717e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.995336195 meters Centerline goodness [0,1] 0.9999787116277089 Centerline is valid? [True, True] Translation: X:104.61, Y:1.75, Z:0.18 [[ 9.98596854e-01 -5.29518176e-02 -6.54098339e-04 1.04608098e+02] [ 5.29517962e-02 9.98597068e-01 -4.99806551e-05 1.74982350e+00] [ 6.55827250e-04 1.52748430e-05 9.99999785e-01 1.83958885e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.025336195 meters Centerline goodness [0,1] 0.9999787270251872 Centerline is valid? [True, True] Translation: X:104.64, Y:1.76, Z:0.18 [[ 9.98863638e-01 -4.76431853e-02 -1.24909183e-03 1.04637804e+02] [ 4.76431034e-02 9.98864418e-01 -9.52456564e-05 1.75755048e+00] [ 1.25221119e-03 3.56268119e-05 9.99999215e-01 1.83866820e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.055336195 meters Centerline goodness [0,1] 0.9999356292243321 Centerline is valid? [True, True] Translation: X:104.67, Y:1.77, Z:0.18 [[ 9.98986547e-01 -4.49718991e-02 -1.84590591e-03 1.04666589e+02] [ 4.49717154e-02 9.98988251e-01 -1.40965702e-04 1.76537606e+00] [ 1.85037781e-03 5.78092852e-05 9.99998286e-01 1.82026319e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.085336195 meters Centerline goodness [0,1] 0.9987745874796645 Centerline is valid? [True, True] Translation: X:104.69, Y:1.78, Z:0.18 [[ 9.99197296e-01 -3.99494967e-02 -2.96671251e-03 1.04694751e+02] [ 3.99490005e-02 9.99201694e-01 -2.26352598e-04 1.78210636e+00] [ 2.97338684e-03 1.07653705e-04 9.99995574e-01 1.76841340e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.115336195 meters Centerline goodness [0,1] 0.9996342827639618 Centerline is valid? [True, True] Translation: X:104.72, Y:1.78, Z:0.18 [[ 9.99288203e-01 -3.76435423e-02 -2.45994073e-03 1.04724227e+02] [ 3.76431940e-02 9.99291226e-01 -1.87783625e-04 1.78397201e+00] [ 2.46526603e-03 9.50499352e-05 9.99996957e-01 1.79053790e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.145336195 meters Centerline goodness [0,1] 0.9998273517923042 Centerline is valid? [True, True] Translation: X:104.75, Y:1.79, Z:0.18 [[ 9.99322369e-01 -3.67432993e-02 -2.17532950e-03 1.04752574e+02] [ 3.67430241e-02 9.99324733e-01 -1.66330423e-04 1.78520537e+00] [ 2.17997210e-03 8.62895277e-05 9.99997620e-01 1.79845793e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.175336195 meters Centerline goodness [0,1] 0.9988824459673168 Centerline is valid? [True, True] Translation: X:104.78, Y:1.80, Z:0.18 [[ 9.99369078e-01 -3.54421156e-02 -2.30285609e-03 1.04779706e+02] [ 3.54418037e-02 9.99371726e-01 -1.76130731e-04 1.79844506e+00] [ 2.30765172e-03 9.44022331e-05 9.99997333e-01 1.79273660e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.205336195 meters Centerline goodness [0,1] 0.9997864799077594 Centerline is valid? [True, True] Translation: X:104.81, Y:1.79, Z:0.18 [[ 9.99317378e-01 -3.68669155e-02 -2.36822522e-03 1.04809166e+02] [ 3.68665893e-02 9.99320180e-01 -1.81235607e-04 1.79288610e+00] [ 2.37329685e-03 9.38035049e-05 9.99997179e-01 1.81087903e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.235336195 meters Centerline goodness [0,1] 0.9994207997254162 Centerline is valid? [True, True] Translation: X:104.84, Y:1.80, Z:0.18 [[ 9.99258521e-01 -3.84492986e-02 -2.01466797e-03 1.04836478e+02] [ 3.84490654e-02 9.99260549e-01 -1.54364328e-04 1.80108113e+00] [ 2.01911343e-03 7.67877695e-05 9.99997959e-01 1.80157447e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.265336195 meters Centerline goodness [0,1] 0.9999355697779305 Centerline is valid? [True, True] Translation: X:104.87, Y:1.80, Z:0.18 [[ 9.99119987e-01 -4.19425727e-02 -2.67008454e-04 1.04866835e+02] [ 4.19425687e-02 9.99120023e-01 -2.04772149e-05 1.80193720e+00] [ 2.67632360e-04 9.26017427e-06 9.99999964e-01 1.80215492e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.295336195 meters Centerline goodness [0,1] 0.9998512695208753 Centerline is valid? [True, True] Translation: X:104.89, Y:1.81, Z:0.18 [[ 9.99037015e-01 -4.38430502e-02 -1.68232825e-03 1.04894041e+02] [ 4.38428950e-02 9.99038430e-01 -1.29059140e-04 1.81367961e+00] [ 1.68636892e-03 5.51767174e-05 9.99998577e-01 1.75465865e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.325336195 meters Centerline goodness [0,1] 0.9997863749973297 Centerline is valid? [True, True] Translation: X:104.92, Y:1.81, Z:0.18 [[ 9.98961544e-01 -4.54840898e-02 -2.65172405e-03 1.04921701e+02] [ 4.54837098e-02 9.98965060e-01 -2.03433930e-04 1.81495333e+00] [ 2.65823268e-03 8.26124257e-05 9.99996463e-01 1.75156724e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.355336195 meters Centerline goodness [0,1] 0.9998504944362573 Centerline is valid? [True, True] Translation: X:104.95, Y:1.81, Z:0.18 [[ 9.98892818e-01 -4.70060418e-02 -1.88948985e-03 1.04950908e+02] [ 4.70058501e-02 9.98894603e-01 -1.45718089e-04 1.81252183e+00] [ 1.89425085e-03 5.67396761e-05 9.99998204e-01 1.78336567e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.385336195 meters Centerline goodness [0,1] 0.999978793790822 Centerline is valid? [True, True] Translation: X:104.98, Y:1.81, Z:0.18 [[ 9.98662911e-01 -5.16938472e-02 3.69743498e-04 1.04980677e+02] [ 5.16938402e-02 9.98662979e-01 2.83564488e-05 1.81349086e+00] [-3.70714997e-04 -9.20507246e-06 9.99999931e-01 1.83620433e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.415336195 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:105.01, Y:1.82, Z:0.18 [[ 9.98413021e-01 -5.63155337e-02 1.16970921e-06 1.05009019e+02] [ 5.63155337e-02 9.98413021e-01 3.19359001e-09 1.82143020e+00] [-1.16803276e-06 6.26842760e-08 1.00000000e+00 1.80152820e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.445336195 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:105.04, Y:1.82, Z:0.18 [[ 9.98183760e-01 -6.02147937e-02 -1.83305823e-03 1.05038420e+02] [ 6.02146351e-02 9.98185443e-01 -1.41665441e-04 1.82069021e+00] [ 1.83826240e-03 3.10312104e-05 9.99998310e-01 1.75490764e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.475336195 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:105.07, Y:1.82, Z:0.18 [[ 9.98075573e-01 -6.20044003e-02 -7.77456714e-04 1.05065916e+02] [ 6.20043723e-02 9.98075876e-01 -6.01055619e-05 1.82112605e+00] [ 7.79687600e-04 1.17841776e-05 9.99999696e-01 1.76578085e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.505336195 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:105.10, Y:1.82, Z:0.18 [[ 9.97861877e-01 -6.53580114e-02 -7.42348732e-05 1.05095017e+02] [ 6.53580111e-02 9.97861879e-01 -6.36273702e-06 1.82032181e+00] [ 7.44920059e-05 1.49728904e-06 9.99999997e-01 1.77814964e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.535336195 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:105.12, Y:1.83, Z:0.17 [[ 9.97716474e-01 -6.74906999e-02 -2.61571525e-03 1.05122065e+02] [ 6.74904014e-02 9.97719903e-01 -2.02318110e-04 1.82548329e+00] [ 2.62340576e-03 2.53204392e-05 9.99996559e-01 1.72221530e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.56533619500001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:105.15, Y:1.83, Z:0.17 [[ 9.97681550e-01 -6.79866987e-02 -3.05498238e-03 1.05148593e+02] [ 6.79862929e-02 9.97686227e-01 -2.36596534e-04 1.82893571e+00] [ 3.06399927e-03 2.83510702e-05 9.99995306e-01 1.71617571e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.59533619500002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:105.18, Y:1.83, Z:0.18 [[ 9.97678297e-01 -6.80763733e-02 -1.90358811e-03 1.05175880e+02] [ 6.80762156e-02 9.97680113e-01 -1.47560392e-04 1.83416900e+00] [ 1.90921737e-03 1.76287264e-05 9.99998177e-01 1.75102329e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.62533619500002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:105.20, Y:1.84, Z:0.18 [[ 9.97645421e-01 -6.85788084e-02 -7.48681095e-04 1.05204797e+02] [ 6.85787837e-02 9.97645702e-01 -5.86815094e-05 1.83861471e+00] [ 7.50942785e-04 7.19970032e-06 9.99999718e-01 1.78560950e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.65533619500002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:105.23, Y:1.85, Z:0.18 [[ 9.97706111e-01 -6.76940097e-02 1.91129776e-04 1.05232927e+02] [ 6.76940082e-02 9.97706130e-01 1.42364026e-05 1.84596905e+00] [-1.91655068e-04 -1.26540527e-06 9.99999982e-01 1.78910374e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.68533619500002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:105.26, Y:1.85, Z:0.18 [[ 9.97727698e-01 -6.73706194e-02 8.00066414e-04 1.05259452e+02] [ 6.73705914e-02 9.97728019e-01 6.19426407e-05 1.85088850e+00] [-8.02421792e-04 -7.90094089e-06 9.99999678e-01 1.79056175e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.71533619500002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:105.29, Y:1.86, Z:0.18 [[ 9.97756799e-01 -6.69344097e-02 1.07423427e-03 1.05287046e+02] [ 6.69343587e-02 9.97757378e-01 8.34263738e-05 1.85888449e+00] [-1.07740927e-03 -1.13360495e-05 9.99999420e-01 1.77419301e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.745336195 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:105.32, Y:1.86, Z:0.17 [[ 9.97774562e-01 -6.66777418e-02 3.61297209e-05 1.05315824e+02] [ 6.66777418e-02 9.97774563e-01 2.19675906e-06 1.86413594e+00] [-3.61957914e-05 2.17177888e-07 9.99999999e-01 1.74709636e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.775336195 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:105.34, Y:1.87, Z:0.17 [[ 9.97854059e-01 -6.54082486e-02 -3.00632755e-03 1.05343247e+02] [ 6.54078375e-02 9.97858587e-01 -2.34978904e-04 1.87197023e+00] [ 3.01525932e-03 3.78372689e-05 9.99995453e-01 1.68879821e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.805336195 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:105.37, Y:1.88, Z:0.17 [[ 9.97979386e-01 -6.34616381e-02 -3.12502053e-03 1.05370376e+02] [ 6.34611838e-02 9.97984278e-01 -2.44423957e-04 1.88151793e+00] [ 3.13423290e-03 4.56125683e-05 9.99995087e-01 1.68131532e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.835336195 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:105.40, Y:1.89, Z:0.17 [[ 9.98032403e-01 -6.26113909e-02 -3.33719102e-03 1.05398399e+02] [ 6.26108675e-02 9.98037981e-01 -2.61185676e-04 1.88661245e+00] [ 3.34699659e-03 5.17273431e-05 9.99994397e-01 1.68818989e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.865336195 meters Centerline goodness [0,1] 0.9999575091886379 Centerline is valid? [True, True] Translation: X:105.43, Y:1.89, Z:0.17 [[ 9.98087316e-01 -6.17903963e-02 -1.91234850e-03 1.05426965e+02] [ 6.17902214e-02 9.98089147e-01 -1.50465426e-04 1.89332316e+00] [ 1.91799160e-03 3.20131960e-05 9.99998160e-01 1.71659345e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.895336195 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:105.45, Y:1.90, Z:0.17 [[ 9.98114975e-01 -6.13696185e-02 -5.16424709e-04 1.05454930e+02] [ 6.13696054e-02 9.98115109e-01 -4.12631136e-05 1.89905865e+00] [ 5.17983606e-04 9.49255101e-06 9.99999866e-01 1.74083328e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.925336195 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:105.48, Y:1.90, Z:0.17 [[ 9.98106701e-01 -6.15048027e-02 -4.14817215e-04 1.05482693e+02] [ 6.15047942e-02 9.98106787e-01 -3.33607639e-05 1.90262912e+00] [ 4.16083725e-04 7.78435462e-06 9.99999913e-01 1.74321709e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.955336195 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:105.51, Y:1.91, Z:0.17 [[ 9.98100852e-01 -6.16001142e-02 -3.39000778e-04 1.05510407e+02] [ 6.16001084e-02 9.98100910e-01 -2.74709032e-05 1.90662690e+00] [ 3.40049196e-04 6.53624723e-06 9.99999942e-01 1.74671396e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.985336195 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:105.54, Y:1.91, Z:0.17 [[ 9.98089305e-01 -6.17869227e-02 -3.38995880e-04 1.05537864e+02] [ 6.17869169e-02 9.98089363e-01 -2.75320441e-05 1.90895609e+00] [ 3.40049302e-04 6.53392845e-06 9.99999942e-01 1.74566787e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.015336195 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:105.57, Y:1.92, Z:0.17 [[ 9.98071276e-01 -6.20723398e-02 8.68012212e-04 1.05565842e+02] [ 6.20723040e-02 9.98071653e-01 6.81395785e-05 1.91733929e+00] [-8.70567967e-04 -1.41286382e-05 9.99999621e-01 1.73925208e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.045336195 meters Centerline goodness [0,1] 0.9999788444858152 Centerline is valid? [True, True] Translation: X:105.59, Y:1.93, Z:0.17 [[ 9.98052970e-01 -6.23667580e-02 8.09852777e-04 1.05591927e+02] [ 6.23667266e-02 9.98053299e-01 6.39618305e-05 1.92597699e+00] [-8.12265328e-04 -1.33294282e-05 9.99999670e-01 1.71658740e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.075336195 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:105.62, Y:1.93, Z:0.17 [[ 9.98007848e-01 -6.30780755e-02 -1.22175738e-03 1.05619549e+02] [ 6.30780029e-02 9.98008595e-01 -9.79015892e-05 1.92828470e+00] [ 1.22549981e-03 2.06405385e-05 9.99999249e-01 1.68731318e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.105336195 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:105.65, Y:1.94, Z:0.17 [[ 9.97990285e-01 -6.33124481e-02 -2.63159180e-03 1.05647290e+02] [ 6.33121151e-02 9.97993754e-01 -2.09732053e-04 1.93563509e+00] [ 2.63959083e-03 4.26989085e-05 9.99996515e-01 1.65459015e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.135336195 meters Centerline goodness [0,1] 0.9999787640688044 Centerline is valid? [True, True] Translation: X:105.67, Y:1.94, Z:0.17 [[ 9.97974358e-01 -6.35540919e-02 -2.83876139e-03 1.05673883e+02] [ 6.35537046e-02 9.97978394e-01 -2.26523299e-04 1.94204598e+00] [ 2.84741902e-03 4.56506411e-05 9.99995945e-01 1.65781586e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.165336195 meters Centerline goodness [0,1] 0.9999788503024407 Centerline is valid? [True, True] Translation: X:105.70, Y:1.95, Z:0.17 [[ 9.98000323e-01 -6.31635268e-02 -2.39242225e-03 1.05702641e+02] [ 6.31632487e-02 9.98003190e-01 -1.91660964e-04 1.94536039e+00] [ 2.39975102e-03 4.01645422e-05 9.99997120e-01 1.67917123e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.195336195 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:105.73, Y:1.96, Z:0.17 [[ 9.98098976e-01 -6.16071601e-02 -1.72956225e-03 1.05729171e+02] [ 6.16070127e-02 9.98100474e-01 -1.38431172e-04 1.96120666e+00] [ 1.73480525e-03 3.16148482e-05 9.99998495e-01 1.66734493e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.225336195 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:105.76, Y:1.96, Z:0.17 [[ 9.98082388e-01 -6.18536749e-02 -2.38103120e-03 1.05757323e+02] [ 6.18533942e-02 9.98085227e-01 -1.91421437e-04 1.96418666e+00] [ 2.38831218e-03 4.37795042e-05 9.99997147e-01 1.65965416e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.255336195 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:105.79, Y:1.97, Z:0.17 [[ 9.97973737e-01 -6.35938142e-02 -2.06090129e-03 1.05785738e+02] [ 6.35936069e-02 9.97975864e-01 -1.66032540e-04 1.96878879e+00] [ 2.06728839e-03 3.46359675e-05 9.99997863e-01 1.65694105e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.285336195 meters Centerline goodness [0,1] 0.999957707760626 Centerline is valid? [True, True] Translation: X:105.81, Y:1.97, Z:0.17 [[ 9.97925106e-01 -6.43588581e-02 -1.84955592e-03 1.05813189e+02] [ 6.43586925e-02 9.97926819e-01 -1.48938085e-04 1.97349824e+00] [ 1.85530694e-03 2.95940537e-05 9.99998278e-01 1.65321473e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.31533619500001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:105.84, Y:1.98, Z:0.16 [[ 9.97875410e-01 -6.50889563e-02 -2.84513009e-03 1.05841154e+02] [ 6.50885655e-02 9.97879465e-01 -2.29836536e-04 1.98017631e+00] [ 2.85405671e-03 4.41627911e-05 9.99995926e-01 1.63920340e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.34533619500002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:105.87, Y:1.98, Z:0.16 [[ 9.97834760e-01 -6.56425069e-02 -4.10536295e-03 1.05868891e+02] [ 6.56416960e-02 9.97843203e-01 -3.32104446e-04 1.98367427e+00] [ 4.11830869e-03 6.19023734e-05 9.99991518e-01 1.62309312e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.37533619500002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:105.90, Y:1.99, Z:0.16 [[ 9.97791845e-01 -6.62628416e-02 -4.54648496e-03 1.05896486e+02] [ 6.62618548e-02 9.97802201e-01 -3.67487990e-04 1.98989459e+00] [ 4.56084349e-03 6.54179932e-05 9.99989597e-01 1.61834181e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.40533619500002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:105.93, Y:2.00, Z:0.16 [[ 9.97762245e-01 -6.67642581e-02 -3.61062003e-03 1.05925268e+02] [ 6.67636357e-02 9.97768776e-01 -2.92770997e-04 1.99862906e+00] [ 3.62211057e-03 5.10577269e-05 9.99993439e-01 1.62296977e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.43533619500002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:105.95, Y:2.01, Z:0.16 [[ 9.97755143e-01 -6.68788290e-02 -3.44924892e-03 1.05951371e+02] [ 6.68782616e-02 9.97761104e-01 -2.79724106e-04 2.00569762e+00] [ 3.46023403e-03 4.84163938e-05 9.99994012e-01 1.61215814e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.46533619500002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:105.98, Y:2.01, Z:0.16 [[ 9.97696393e-01 -6.77617283e-02 -3.20235761e-03 1.05980008e+02] [ 6.77612409e-02 9.97701532e-01 -2.60549772e-04 2.01388358e+00] [ 3.21265239e-03 4.29538421e-05 9.99994838e-01 1.61032003e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.495336195 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:106.01, Y:2.02, Z:0.16 [[ 9.97548825e-01 -6.99509857e-02 -1.78900068e-03 1.06007022e+02] [ 6.99508369e-02 9.97550429e-01 -1.45686798e-04 2.02043085e+00] [ 1.79480933e-03 2.01875990e-05 9.99998389e-01 1.63235184e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.525336195 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:106.04, Y:2.02, Z:0.16 [[ 9.97446678e-01 -7.13941807e-02 -1.73093285e-03 1.06036066e+02] [ 7.13940425e-02 9.97448179e-01 -1.41555771e-04 2.02231841e+00] [ 1.73662207e-03 1.76160405e-05 9.99998492e-01 1.64003898e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.555336195 meters Centerline goodness [0,1] 0.9999787802911344 Centerline is valid? [True, True] Translation: X:106.06, Y:2.02, Z:0.16 [[ 9.97256762e-01 -7.39541365e-02 -3.12022297e-03 1.06064807e+02] [ 7.39537000e-02 9.97261643e-01 -2.55188350e-04 2.02477659e+00] [ 3.13055092e-03 2.37362740e-05 9.99995100e-01 1.61789480e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.585336195 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:106.09, Y:2.03, Z:0.16 [[ 9.97160482e-01 -7.52404517e-02 -3.13797840e-03 1.06092022e+02] [ 7.52400174e-02 9.97165420e-01 -2.56416628e-04 2.03000501e+00] [ 3.14837645e-03 1.95869788e-05 9.99995044e-01 1.60816624e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.615336195 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:106.12, Y:2.03, Z:0.16 [[ 9.97125155e-01 -7.57112795e-02 -3.03774376e-03 1.06119770e+02] [ 7.57108714e-02 9.97129782e-01 -2.49306558e-04 2.03395913e+00] [ 3.04790009e-03 1.85996135e-05 9.99995355e-01 1.61250415e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.645336195 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:106.15, Y:2.04, Z:0.16 [[ 9.97047715e-01 -7.67237981e-02 -3.05158727e-03 1.06147019e+02] [ 7.67233919e-02 9.97052385e-01 -2.50124317e-04 2.04214412e+00] [ 3.06178286e-03 1.52577529e-05 9.99995313e-01 1.59674356e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.675336195 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:106.18, Y:2.05, Z:0.16 [[ 9.97023949e-01 -7.69544702e-02 -4.61028945e-03 1.06175040e+02] [ 7.69535408e-02 9.97034608e-01 -3.78904836e-04 2.05377407e+00] [ 4.62577655e-03 2.29990993e-05 9.99989301e-01 1.55713447e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.705336195 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:106.20, Y:2.06, Z:0.15 [[ 9.97063985e-01 -7.63249406e-02 -6.15743123e-03 1.06203285e+02] [ 7.63232658e-02 9.97082997e-01 -5.06856262e-04 2.06188703e+00] [ 6.17815575e-03 3.54128643e-05 9.99980914e-01 1.53533001e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.735336195 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:106.23, Y:2.07, Z:0.15 [[ 9.97116106e-01 -7.56562233e-02 -5.96713590e-03 1.06230294e+02] [ 7.56546347e-02 9.97133960e-01 -4.91829750e-04 2.06730295e+00] [ 5.98724383e-03 3.89698791e-05 9.99982076e-01 1.53193203e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.765336195 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:106.26, Y:2.07, Z:0.16 [[ 9.97185401e-01 -7.47570350e-02 -5.71510585e-03 1.06257921e+02] [ 7.47555553e-02 9.97201777e-01 -4.72395802e-04 2.07310114e+00] [ 5.73442862e-03 4.38302858e-05 9.99983557e-01 1.55479273e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.795336195 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:106.29, Y:2.08, Z:0.15 [[ 9.97150613e-01 -7.51816315e-02 -6.19494031e-03 1.06285854e+02] [ 7.51798941e-02 9.97169855e-01 -5.13172433e-04 2.07817030e+00] [ 6.21598888e-03 4.59752497e-05 9.99980679e-01 1.54546991e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.825336195 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:106.31, Y:2.09, Z:0.15 [[ 9.97204604e-01 -7.44186593e-02 -6.69633880e-03 1.06313189e+02] [ 7.44166111e-02 9.97227086e-01 -5.54856349e-04 2.09139490e+00] [ 6.71906209e-03 5.49864659e-05 9.99977425e-01 1.52656382e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.855336195 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:106.34, Y:2.11, Z:0.15 [[ 9.97372853e-01 -7.22136250e-02 -5.70821241e-03 1.06339534e+02] [ 7.22120990e-02 9.97389186e-01 -4.73252990e-04 2.10645178e+00] [ 5.72748464e-03 5.98076853e-05 9.99983596e-01 1.52697024e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.885336195 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:106.37, Y:2.11, Z:0.15 [[ 9.97434628e-01 -7.13173102e-02 -6.16467052e-03 1.06368319e+02] [ 7.13155044e-02 9.97453676e-01 -5.12527085e-04 2.11249772e+00] [ 6.18552532e-03 7.15756751e-05 9.99980867e-01 1.53624835e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.915336195 meters Centerline goodness [0,1] 0.9999785587169536 Centerline is valid? [True, True] Translation: X:106.40, Y:2.12, Z:0.15 [[ 9.97505924e-01 -7.02216689e-02 -7.13078149e-03 1.06395071e+02] [ 7.02192231e-02 9.97531408e-01 -5.93088511e-04 2.12340540e+00] [ 7.15482616e-03 9.08913672e-05 9.99974400e-01 1.49636581e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.945336195 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:106.42, Y:2.13, Z:0.15 [[ 9.97345995e-01 -7.24073437e-02 -7.62513422e-03 1.06423603e+02] [ 7.24045990e-02 9.97375140e-01 -6.35755613e-04 2.12892163e+00] [ 7.65115269e-03 8.19735292e-05 9.99970726e-01 1.49634833e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.975336195 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:106.45, Y:2.14, Z:0.15 [[ 9.97279911e-01 -7.33811140e-02 -6.92762938e-03 1.06450535e+02] [ 7.33788694e-02 9.97303969e-01 -5.77971446e-04 2.13727721e+00] [ 6.95136447e-03 6.80577000e-05 9.99975837e-01 1.48779977e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.005336195 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:106.48, Y:2.15, Z:0.15 [[ 9.97260182e-01 -7.37628710e-02 -5.58278795e-03 1.06479088e+02] [ 7.37614127e-02 9.97275807e-01 -4.66950955e-04 2.14848250e+00] [ 5.60202300e-03 5.38772685e-05 9.99984307e-01 1.52068657e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.035336195 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:106.51, Y:2.15, Z:0.15 [[ 9.97238710e-01 -7.39886655e-02 -6.37430134e-03 1.06507220e+02] [ 7.39867624e-02 9.97259081e-01 -5.34167164e-04 2.15338323e+00] [ 6.39635221e-03 6.10782547e-05 9.99979541e-01 1.50866936e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.06533619500001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:106.54, Y:2.16, Z:0.14 [[ 9.97154214e-01 -7.46875060e-02 -1.02591037e-02 1.06535351e+02] [ 7.46825993e-02 9.97206983e-01 -8.61078198e-04 2.16333913e+00] [ 1.02947617e-02 9.24512213e-05 9.99947003e-01 1.44233943e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.09533619500002 meters Centerline goodness [0,1] 0.9999785734181826 Centerline is valid? [True, True] Translation: X:106.56, Y:2.17, Z:0.14 [[ 9.97151228e-01 -7.48158911e-02 -9.59222184e-03 1.06563214e+02] [ 7.48115914e-02 9.97197360e-01 -8.06787216e-04 2.17077082e+00] [ 9.62569880e-03 8.68794829e-05 9.99953668e-01 1.44417907e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.12533619500002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:106.59, Y:2.19, Z:0.14 [[ 9.97164421e-01 -7.47144390e-02 -8.99279810e-03 1.06590155e+02] [ 7.47106543e-02 9.97204967e-01 -7.56538321e-04 2.18761457e+00] [ 9.02418727e-03 8.25352674e-05 9.99959278e-01 1.44183146e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.15533619500002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:106.62, Y:2.20, Z:0.14 [[ 9.97150855e-01 -7.48215154e-02 -9.58716319e-03 1.06616748e+02] [ 7.48172077e-02 9.97196938e-01 -8.07690151e-04 2.19785395e+00] [ 9.62072237e-03 8.81041454e-05 9.99953716e-01 1.42531095e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.18533619500002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:106.64, Y:2.21, Z:0.14 [[ 9.97079869e-01 -7.56525207e-02 -1.04130131e-02 1.06644745e+02] [ 7.56474641e-02 9.97134238e-01 -8.79187764e-04 2.20873270e+00] [ 1.04496847e-02 8.89023864e-05 9.99945397e-01 1.40655070e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.21533619500002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:106.67, Y:2.21, Z:0.14 [[ 9.96948651e-01 -7.74889597e-02 -9.42589157e-03 1.06672333e+02] [ 7.74848965e-02 9.96993208e-01 -7.96053099e-04 2.21365821e+00] [ 9.45923520e-03 6.32598309e-05 9.99955258e-01 1.41602167e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.245336195 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:106.70, Y:2.22, Z:0.14 [[ 9.96717264e-01 -8.05200435e-02 -8.43907084e-03 1.06700717e+02] [ 8.05168797e-02 9.96752989e-01 -7.14541161e-04 2.21970450e+00] [ 8.46920398e-03 3.27078591e-05 9.99964135e-01 1.43981030e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.275336195 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:106.73, Y:2.22, Z:0.14 [[ 9.96570876e-01 -8.23234682e-02 -8.32686007e-03 1.06728170e+02] [ 8.23204501e-02 9.96605662e-01 -7.05136038e-04 2.22473897e+00] [ 8.35664514e-03 1.72471699e-05 9.99965082e-01 1.43274219e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.305336195 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:106.76, Y:2.23, Z:0.14 [[ 9.96342821e-01 -8.49243573e-02 -9.42529476e-03 1.06756438e+02] [ 8.49205873e-02 9.96387401e-01 -8.00201314e-04 2.23499998e+00] [ 9.45920154e-03 -3.12673181e-06 9.99955261e-01 1.42442844e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.335336195 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:106.78, Y:2.24, Z:0.14 [[ 9.96309256e-01 -8.52335647e-02 -1.01541511e-02 1.06783882e+02] [ 8.52292036e-02 9.96360999e-01 -8.62235847e-04 2.24230295e+00] [ 1.01906916e-02 -6.37666079e-06 9.99948074e-01 1.39286447e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.365336195 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:106.81, Y:2.25, Z:0.14 [[ 9.96372060e-01 -8.41892883e-02 -1.24451301e-02 1.06811937e+02] [ 8.41826247e-02 9.96449780e-01 -1.05925522e-03 2.25244942e+00] [ 1.24901251e-02 7.74858538e-06 9.99921995e-01 1.36849682e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.395336195 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:106.84, Y:2.26, Z:0.13 [[ 9.96470251e-01 -8.27505459e-02 -1.41203905e-02 1.06840413e+02] [ 8.27417900e-02 9.96570292e-01 -1.20417516e-03 2.26013310e+00] [ 1.41716079e-02 3.15783409e-05 9.99899577e-01 1.34933236e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.425336195 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:106.87, Y:2.27, Z:0.13 [[ 9.96534820e-01 -8.21699854e-02 -1.29013868e-02 1.06867564e+02] [ 8.21626219e-02 9.96618328e-01 -1.10063896e-03 2.26766981e+00] [ 1.29481980e-02 3.68132792e-05 9.99916168e-01 1.34714710e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.455336195 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:106.90, Y:2.28, Z:0.14 [[ 9.96597858e-01 -8.16848691e-02 -1.09677961e-02 1.06895490e+02] [ 8.16794925e-02 9.96658207e-01 -9.38013912e-04 2.28265958e+00] [ 1.10077655e-02 3.89786364e-05 9.99939412e-01 1.39547579e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.485336195 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:106.92, Y:2.30, Z:0.14 [[ 9.96762102e-01 -7.95520629e-02 -1.16953625e-02 1.06921495e+02] [ 7.95457995e-02 9.96830710e-01 -1.00048897e-03 2.30033208e+00] [ 1.17378875e-02 6.69325277e-05 9.99931106e-01 1.35862348e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.515336195 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:106.95, Y:2.31, Z:0.14 [[ 9.96841945e-01 -7.86451749e-02 -1.10032894e-02 1.06948493e+02] [ 7.86395470e-02 9.96902669e-01 -9.43875892e-04 2.30904930e+00] [ 1.10434398e-02 7.56013877e-05 9.99939017e-01 1.36212925e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.545336195 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:106.98, Y:2.32, Z:0.14 [[ 9.96995316e-01 -7.70418084e-02 -8.05599620e-03 1.06976679e+02] [ 7.70387275e-02 9.97027861e-01 -6.92521317e-04 2.31993327e+00] [ 8.08540575e-03 6.98168132e-05 9.99967310e-01 1.42322203e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.575336195 meters Centerline goodness [0,1] 0.9999786489025536 Centerline is valid? [True, True] Translation: X:107.00, Y:2.34, Z:0.14 [[ 9.97158038e-01 -7.45216836e-02 -1.10619071e-02 1.07004180e+02] [ 7.45157213e-02 9.97219386e-01 -9.50752603e-04 2.33543618e+00] [ 1.11019999e-02 1.23764617e-04 9.99938363e-01 1.37293698e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.605336195 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:107.03, Y:2.35, Z:0.13 [[ 9.97224324e-01 -7.33312411e-02 -1.28909891e-02 1.07031047e+02] [ 7.33230344e-02 9.97307627e-01 -1.10873275e-03 2.34624632e+00] [ 1.29375865e-02 1.60448825e-04 9.99916293e-01 1.32485262e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.635336195 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:107.06, Y:2.36, Z:0.13 [[ 9.97290498e-01 -7.25259001e-02 -1.23148690e-02 1.07057885e+02] [ 7.25183146e-02 9.97366515e-01 -1.06198313e-03 2.36081861e+00] [ 1.23594593e-02 1.66052141e-04 9.99923605e-01 1.32099707e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.665336195 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:107.09, Y:2.37, Z:0.13 [[ 9.97238812e-01 -7.32976012e-02 -1.19253081e-02 1.07086476e+02] [ 7.32905223e-02 9.97310101e-01 -1.03013593e-03 2.37052841e+00] [ 1.19687367e-02 1.53279473e-04 9.99928360e-01 1.34456818e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.695336195 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:107.11, Y:2.38, Z:0.13 [[ 9.97146514e-01 -7.43993742e-02 -1.27891786e-02 1.07112816e+02] [ 7.43913032e-02 9.97228514e-01 -1.10630817e-03 2.37554892e+00] [ 1.28360422e-02 1.51747668e-04 9.99917603e-01 1.32716713e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.725336195 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:107.14, Y:2.38, Z:0.13 [[ 9.96931454e-01 -7.70172292e-02 -1.40008348e-02 1.07140959e+02] [ 7.70077731e-02 9.97029753e-01 -1.21405925e-03 2.38022591e+00] [ 1.40527524e-02 1.32160740e-04 9.99901246e-01 1.31264579e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.755336195 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:107.17, Y:2.39, Z:0.13 [[ 9.96816704e-01 -7.86413010e-02 -1.31150209e-02 1.07167891e+02] [ 7.86331334e-02 9.96902972e-01 -1.13806811e-03 2.38677868e+00] [ 1.31639024e-02 1.03170117e-04 9.99913347e-01 1.30536914e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.785336195 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:107.20, Y:2.39, Z:0.13 [[ 9.96800331e-01 -7.88846140e-02 -1.28964062e-02 1.07195129e+02] [ 7.88766995e-02 9.96883748e-01 -1.12197806e-03 2.39157556e+00] [ 1.29447246e-02 1.01162142e-04 9.99916208e-01 1.31457348e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.81533619500001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:107.22, Y:2.41, Z:0.13 [[ 9.96896582e-01 -7.78183384e-02 -1.18958760e-02 1.07221491e+02] [ 7.78115006e-02 9.96967549e-01 -1.03726787e-03 2.40574547e+00] [ 1.19405208e-02 1.08412827e-04 9.99928704e-01 1.33098247e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.84533619500002 meters Centerline goodness [0,1] 0.9999364204726078 Centerline is valid? [True, True] Translation: X:107.25, Y:2.41, Z:0.13 [[ 9.96932801e-01 -7.74119388e-02 -1.15057007e-02 1.07248030e+02] [ 7.74055002e-02 9.96999187e-01 -1.00453204e-03 2.41477670e+00] [ 1.15489371e-02 1.10846416e-04 9.99933303e-01 1.33132624e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.87533619500002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:107.28, Y:2.42, Z:0.14 [[ 9.97003782e-01 -7.65445796e-02 -1.11528352e-02 1.07275699e+02] [ 7.65384482e-02 9.97066153e-01 -9.76184088e-04 2.42329806e+00] [ 1.11948361e-02 1.19638526e-04 9.99937329e-01 1.35339521e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.90533619500002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:107.30, Y:2.44, Z:0.13 [[ 9.97097182e-01 -7.53088584e-02 -1.12154057e-02 1.07302771e+02] [ 7.53025780e-02 9.97160247e-01 -9.81823700e-04 2.43549830e+00] [ 1.12574967e-02 1.34424685e-04 9.99936623e-01 1.33183597e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.93533619500002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:107.33, Y:2.44, Z:0.13 [[ 9.97083182e-01 -7.54940298e-02 -1.12151815e-02 1.07330136e+02] [ 7.54877323e-02 9.97146245e-01 -9.84381642e-04 2.43809627e+00] [ 1.12574911e-02 1.34901759e-04 9.99936623e-01 1.33078987e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.96533619500002 meters Centerline goodness [0,1] 0.9999787721830687 Centerline is valid? [True, True] Translation: X:107.36, Y:2.45, Z:0.13 [[ 9.97164816e-01 -7.42507730e-02 -1.22127581e-02 1.07357330e+02] [ 7.42432100e-02 9.97239588e-01 -1.07211021e-03 2.45133297e+00] [ 1.22586509e-02 1.62356219e-04 9.99924847e-01 1.31292622e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.995336195 meters Centerline goodness [0,1] 0.9999357711741029 Centerline is valid? [True, True] Translation: X:107.38, Y:2.46, Z:0.13 [[ 9.97150304e-01 -7.44784078e-02 -1.20099224e-02 1.07384688e+02] [ 7.44711019e-02 9.97222614e-01 -1.05501045e-03 2.45740184e+00] [ 1.20551417e-02 1.57611840e-04 9.99927322e-01 1.31232152e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.025336195 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:107.41, Y:2.47, Z:0.14 [[ 9.97094744e-01 -7.53611014e-02 -1.10804582e-02 1.07413161e+02] [ 7.53549110e-02 9.97156299e-01 -9.75707015e-04 2.46500283e+00] [ 1.11224791e-02 1.37905391e-04 9.99938134e-01 1.35337382e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.055336195 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:107.44, Y:2.47, Z:0.13 [[ 9.97078581e-01 -7.55492027e-02 -1.12525770e-02 1.07439584e+02] [ 7.55428234e-02 9.97142065e-01 -9.91486376e-04 2.47330420e+00] [ 1.12953238e-02 1.38538395e-04 9.99936196e-01 1.33370122e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.085336195 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:107.47, Y:2.48, Z:0.13 [[ 9.97042424e-01 -7.59003134e-02 -1.20643080e-02 1.07467634e+02] [ 7.58929786e-02 9.97115400e-01 -1.06529584e-03 2.48343247e+00] [ 1.21103636e-02 1.46548879e-04 9.99926656e-01 1.31435303e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.115336195 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:107.50, Y:2.49, Z:0.13 [[ 9.97016540e-01 -7.63881051e-02 -1.10849330e-02 1.07495121e+02] [ 7.63819221e-02 9.97078152e-01 -9.80694730e-04 2.49453894e+00] [ 1.11274579e-02 1.31080381e-04 9.99938079e-01 1.32839971e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.145336195 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:107.52, Y:2.50, Z:0.14 [[ 9.97021782e-01 -7.64919086e-02 -9.82621785e-03 1.07523848e+02] [ 7.64870399e-02 9.97070195e-01 -8.70877757e-04 2.50213377e+00] [ 9.86404406e-03 1.16705776e-04 9.99951342e-01 1.35490603e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.175336195 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:107.55, Y:2.51, Z:0.14 [[ 9.97002390e-01 -7.66249049e-02 -1.07171651e-02 1.07552307e+02] [ 7.66191009e-02 9.97059982e-01 -9.51702218e-04 2.51196342e+00] [ 1.07585805e-02 1.27709832e-04 9.99942117e-01 1.35862911e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.205336195 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:107.58, Y:2.52, Z:0.13 [[ 9.96959344e-01 -7.69649763e-02 -1.21843681e-02 1.07579195e+02] [ 7.69574969e-02 9.97033787e-01 -1.08222724e-03 2.52244492e+00] [ 1.22315203e-02 1.41258093e-04 9.99925182e-01 1.32217243e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.235336195 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:107.61, Y:2.53, Z:0.13 [[ 9.96943508e-01 -7.71518775e-02 -1.22975088e-02 1.07605618e+02] [ 7.71442591e-02 9.97019342e-01 -1.09338052e-03 2.53078718e+00] [ 1.23452105e-02 1.41356409e-04 9.99923785e-01 1.28544902e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.265336195 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:107.63, Y:2.54, Z:0.13 [[ 9.96847964e-01 -7.82432785e-02 -1.31196790e-02 1.07633091e+02] [ 7.82346638e-02 9.96934286e-01 -1.16936273e-03 2.53930304e+00] [ 1.31709525e-02 1.39263186e-04 9.99913250e-01 1.28755354e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.295336195 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:107.66, Y:2.55, Z:0.13 [[ 9.96692204e-01 -8.02426920e-02 -1.28748485e-02 1.07661069e+02] [ 8.02345355e-02 9.96775350e-01 -1.14963107e-03 2.54843639e+00] [ 1.29255811e-02 1.12820839e-04 9.99916455e-01 1.30568387e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.325336195 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:107.69, Y:2.56, Z:0.13 [[ 9.96657003e-01 -8.06892265e-02 -1.28088430e-02 1.07688770e+02] [ 8.06811573e-02 9.96739302e-01 -1.14630723e-03 2.55539027e+00] [ 1.28595719e-02 1.09042854e-04 9.99917306e-01 1.31163101e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.355336195 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:107.72, Y:2.57, Z:0.13 [[ 9.96686094e-01 -8.02395076e-02 -1.33585548e-02 1.07715466e+02] [ 8.02306869e-02 9.96775605e-01 -1.19577029e-03 2.56751590e+00] [ 1.34114295e-02 1.20041597e-04 9.99910056e-01 1.29710385e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.385336195 meters Centerline goodness [0,1] 0.9999786871270248 Centerline is valid? [True, True] Translation: X:107.74, Y:2.58, Z:0.13 [[ 9.96758799e-01 -7.93493937e-02 -1.32503270e-02 1.07743788e+02] [ 7.93406018e-02 9.96846857e-01 -1.18870378e-03 2.57681524e+00] [ 1.33028698e-02 1.33562033e-04 9.99911504e-01 1.29776204e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.415336195 meters Centerline goodness [0,1] 0.9999785172613804 Centerline is valid? [True, True] Translation: X:107.77, Y:2.58, Z:0.13 [[ 9.96811939e-01 -7.86671786e-02 -1.33204429e-02 1.07772067e+02] [ 7.86582052e-02 9.96900925e-01 -1.19704024e-03 2.58259057e+00] [ 1.33733296e-02 1.45461870e-04 9.99910562e-01 1.29524511e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.445336195 meters Centerline goodness [0,1] 0.9999571881154209 Centerline is valid? [True, True] Translation: X:107.80, Y:2.59, Z:0.13 [[ 9.96850348e-01 -7.83813491e-02 -1.20726000e-02 1.07798907e+02] [ 7.83739522e-02 9.96923440e-01 -1.08532037e-03 2.59378542e+00] [ 1.21205268e-02 1.35724613e-04 9.99926535e-01 1.30964273e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.475336195 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:107.83, Y:2.60, Z:0.13 [[ 9.96844505e-01 -7.86292048e-02 -1.08848710e-02 1.07826401e+02] [ 7.86231994e-02 9.96903924e-01 -9.79204979e-04 2.60171336e+00] [ 1.09281647e-02 1.20311722e-04 9.99940279e-01 1.32526471e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.505336195 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:107.85, Y:2.62, Z:0.13 [[ 9.96824438e-01 -7.87884917e-02 -1.15504420e-02 1.07853352e+02] [ 7.87817325e-02 9.96891347e-01 -1.03973247e-03 2.61526207e+00] [ 1.15964547e-02 1.26466902e-04 9.99932751e-01 1.30945000e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.535336195 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:107.88, Y:2.62, Z:0.13 [[ 9.96709226e-01 -8.01135964e-02 -1.23503347e-02 1.07881542e+02] [ 8.01059337e-02 9.96785733e-01 -1.11468887e-03 2.61784623e+00] [ 1.23999391e-02 1.21685589e-04 9.99923110e-01 1.31763958e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.56533619500001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:107.91, Y:2.62, Z:0.13 [[ 9.96662978e-01 -8.06772143e-02 -1.24135003e-02 1.07907854e+02] [ 8.06694986e-02 9.96740274e-01 -1.12183703e-03 2.62246110e+00] [ 1.24635424e-02 1.16702590e-04 9.99922320e-01 1.28718213e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.59533619500002 meters Centerline goodness [0,1] 0.9999787482732972 Centerline is valid? [True, True] Translation: X:107.93, Y:2.63, Z:0.12 [[ 9.96604256e-01 -8.09078512e-02 -1.52930390e-02 1.07934616e+02] [ 8.08961570e-02 9.96721576e-01 -1.38276117e-03 2.63032088e+00] [ 1.53547782e-02 1.40917576e-04 9.99882099e-01 1.21880082e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.62533619500002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:107.96, Y:2.64, Z:0.12 [[ 9.96616755e-01 -8.05894146e-02 -1.61366272e-02 1.07963373e+02] [ 8.05763043e-02 9.96747371e-01 -1.46202567e-03 2.63587312e+00] [ 1.62019646e-02 1.56849492e-04 9.99868727e-01 1.21563423e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.65533619500002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:107.99, Y:2.66, Z:0.12 [[ 9.96831797e-01 -7.77729364e-02 -1.66654716e-02 1.07989559e+02] [ 7.77585382e-02 9.96971076e-01 -1.51118838e-03 2.65652248e+00] [ 1.67325227e-02 2.10517917e-04 9.99859979e-01 1.20206592e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.68533619500002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:108.02, Y:2.66, Z:0.12 [[ 9.96898496e-01 -7.67097642e-02 -1.75784050e-02 1.08017458e+02] [ 7.66935645e-02 9.97053436e-01 -1.59484307e-03 2.66217932e+00] [ 1.76489491e-02 2.41746118e-04 9.99844216e-01 1.18420541e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.71533619500002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:108.05, Y:2.67, Z:0.12 [[ 9.96943517e-01 -7.60658872e-02 -1.78214837e-02 1.08046493e+02] [ 7.60490726e-02 9.97102760e-01 -1.62030129e-03 2.66501878e+00] [ 1.78931002e-02 2.60041565e-04 9.99839872e-01 1.18990147e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.745336195 meters Centerline goodness [0,1] 0.9999573987688244 Centerline is valid? [True, True] Translation: X:108.07, Y:2.67, Z:0.12 [[ 9.97094063e-01 -7.42883691e-02 -1.68720981e-02 1.08073853e+02] [ 7.42730334e-02 9.97236763e-01 -1.53461110e-03 2.67270787e+00] [ 1.69394803e-02 2.77009704e-04 9.99856478e-01 1.19570904e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.775336195 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:108.10, Y:2.69, Z:0.12 [[ 9.97310820e-01 -7.16079659e-02 -1.56021616e-02 1.08101195e+02] [ 7.15944767e-02 9.97432809e-01 -1.42212899e-03 2.68876172e+00] [ 1.56639437e-02 3.01276032e-04 9.99877268e-01 1.22720942e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.805336195 meters Centerline goodness [0,1] 0.9999785467573423 Centerline is valid? [True, True] Translation: X:108.13, Y:2.70, Z:0.12 [[ 9.97392484e-01 -7.04276009e-02 -1.57539032e-02 1.08128022e+02] [ 7.04136926e-02 9.97516841e-01 -1.43647763e-03 2.69754146e+00] [ 1.58159514e-02 3.23441491e-04 9.99874868e-01 1.22178473e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.835336195 meters Centerline goodness [0,1] 0.9999358700299273 Centerline is valid? [True, True] Translation: X:108.16, Y:2.71, Z:0.12 [[ 9.97571777e-01 -6.77312527e-02 -1.62181351e-02 1.08155838e+02] [ 6.77161486e-02 9.97703531e-01 -1.47928186e-03 2.70622025e+00] [ 1.62810843e-02 3.77460186e-04 9.99867383e-01 1.19511922e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.865336195 meters Centerline goodness [0,1] 0.999891894229314 Centerline is valid? [True, True] Translation: X:108.19, Y:2.72, Z:0.12 [[ 9.97781841e-01 -6.47052639e-02 -1.56405251e-02 1.08185090e+02] [ 6.46908398e-02 9.97904334e-01 -1.42693495e-03 2.71559435e+00] [ 1.57000780e-02 4.11971072e-04 9.99876661e-01 1.20867131e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.895336195 meters Centerline goodness [0,1] 0.999405722047712 Centerline is valid? [True, True] Translation: X:108.21, Y:2.73, Z:0.12 [[ 9.97875507e-01 -6.33007206e-02 -1.54107467e-02 1.08213056e+02] [ 6.32865406e-02 9.97994406e-01 -1.40657103e-03 2.72780911e+00] [ 1.54688760e-02 4.28289931e-04 9.99880258e-01 1.17114446e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.925336195 meters Centerline goodness [0,1] 0.9998280753030173 Centerline is valid? [True, True] Translation: X:108.24, Y:2.73, Z:0.12 [[ 9.97951285e-01 -6.21402139e-02 -1.52258610e-02 1.08242212e+02] [ 6.21262287e-02 9.98067332e-01 -1.39024762e-03 2.73000258e+00] [ 1.52828248e-02 4.41474075e-04 9.99883113e-01 1.22923470e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.955336195 meters Centerline goodness [0,1] 0.9999138079641441 Centerline is valid? [True, True] Translation: X:108.27, Y:2.74, Z:0.12 [[ 9.97947292e-01 -6.22595997e-02 -1.49981743e-02 1.08270449e+02] [ 6.22459968e-02 9.98059894e-01 -1.37253855e-03 2.73681114e+00] [ 1.50545300e-02 4.36144814e-04 9.99886579e-01 1.24418298e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.985336195 meters Centerline goodness [0,1] 0.9998497209102619 Centerline is valid? [True, True] Translation: X:108.30, Y:2.75, Z:0.12 [[ 9.97939402e-01 -6.25543412e-02 -1.42795329e-02 1.08298748e+02] [ 6.25420435e-02 9.98041475e-01 -1.30659354e-03 2.74790719e+00] [ 1.43332992e-02 4.10830005e-04 9.99897189e-01 1.20926764e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.015336195 meters Centerline goodness [0,1] 0.9997018485390579 Centerline is valid? [True, True] Translation: X:108.33, Y:2.75, Z:0.12 [[ 9.97873347e-01 -6.33001942e-02 -1.55521149e-02 1.08327200e+02] [ 6.32856883e-02 9.97994436e-01 -1.42359847e-03 2.74939230e+00] [ 1.56110382e-02 4.36344676e-04 9.99878045e-01 1.17633456e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.045336195 meters Centerline goodness [0,1] 0.999826806087766 Centerline is valid? [True, True] Translation: X:108.36, Y:2.75, Z:0.12 [[ 9.97820880e-01 -6.39875691e-02 -1.60960221e-02 1.08356724e+02] [ 6.39721142e-02 9.97950598e-01 -1.47375044e-03 2.74877675e+00] [ 1.61573366e-02 4.40842397e-04 9.99869365e-01 1.23567247e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.075336195 meters Centerline goodness [0,1] 0.9998069746493373 Centerline is valid? [True, True] Translation: X:108.38, Y:2.76, Z:0.12 [[ 9.97767222e-01 -6.47239840e-02 -1.64734894e-02 1.08384249e+02] [ 6.47078816e-02 9.97903108e-01 -1.50917649e-03 2.75936989e+00] [ 1.65366262e-02 4.39842229e-04 9.99863164e-01 1.16377471e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.105336195 meters Centerline goodness [0,1] 0.9997420297955586 Centerline is valid? [True, True] Translation: X:108.41, Y:2.76, Z:0.11 [[ 9.97708582e-01 -6.51250034e-02 -1.83390033e-02 1.08411299e+02] [ 6.51050786e-02 9.97876996e-01 -1.68205235e-03 2.76263068e+00] [ 1.84096132e-02 4.84235820e-04 9.99830411e-01 1.12906898e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.135336195 meters Centerline goodness [0,1] 0.9997432331229271 Centerline is valid? [True, True] Translation: X:108.44, Y:2.77, Z:0.11 [[ 9.97690404e-01 -6.55113802e-02 -1.79476352e-02 1.08439950e+02] [ 6.54923043e-02 9.97851712e-01 -1.64920182e-03 2.76685190e+00] [ 1.80171200e-02 4.69960841e-04 9.99837568e-01 1.12603520e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.165336195 meters Centerline goodness [0,1] 0.9999568854013969 Centerline is valid? [True, True] Translation: X:108.47, Y:2.77, Z:0.12 [[ 9.97679517e-01 -6.61454876e-02 -1.61355326e-02 1.08468717e+02] [ 6.61301461e-02 9.97809904e-01 -1.48309041e-03 2.76638354e+00] [ 1.61982939e-02 4.12603802e-04 9.99868714e-01 1.18887226e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.195336195 meters Centerline goodness [0,1] 0.9997859634853706 Centerline is valid? [True, True] Translation: X:108.50, Y:2.77, Z:0.12 [[ 9.97646620e-01 -6.68233630e-02 -1.53577038e-02 1.08497469e+02] [ 6.68095410e-02 9.97764748e-01 -1.41187350e-03 2.77273802e+00] [ 1.54177215e-02 3.82509683e-04 9.99881067e-01 1.17094673e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.225336195 meters Centerline goodness [0,1] 0.9999351463530632 Centerline is valid? [True, True] Translation: X:108.53, Y:2.77, Z:0.13 [[ 9.97582262e-01 -6.78743738e-02 -1.49231379e-02 1.08527230e+02] [ 6.78614347e-02 9.97693812e-01 -1.37230913e-03 2.76961002e+00] [ 1.49818670e-02 3.56285696e-04 9.99887702e-01 1.25417571e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.255336195 meters Centerline goodness [0,1] 0.9997658727624885 Centerline is valid? [True, True] Translation: X:108.56, Y:2.78, Z:0.12 [[ 9.97525508e-01 -6.85789521e-02 -1.54850913e-02 1.08555954e+02] [ 6.85651077e-02 9.97645628e-01 -1.42381319e-03 2.78185946e+00] [ 1.55462772e-02 3.58553029e-04 9.99879085e-01 1.15430537e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.285336195 meters Centerline goodness [0,1] 0.999978448275862 Centerline is valid? [True, True] Translation: X:108.59, Y:2.78, Z:0.12 [[ 9.97488501e-01 -6.87292606e-02 -1.71166109e-02 1.08585742e+02] [ 6.87123534e-02 9.97635271e-01 -1.57461373e-03 2.77608123e+00] [ 1.71843567e-02 3.94536471e-04 9.99852260e-01 1.19600078e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.31533619500001 meters Centerline goodness [0,1] 0.9998482779547868 Centerline is valid? [True, True] Translation: X:108.61, Y:2.79, Z:0.11 [[ 9.97463044e-01 -6.87288438e-02 -1.85424263e-02 1.08613297e+02] [ 6.87089898e-02 9.97635285e-01 -1.70644511e-03 2.78777148e+00] [ 1.86158608e-02 4.28084552e-04 9.99826618e-01 1.08173061e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.34533619500002 meters Centerline goodness [0,1] 0.9996580612070439 Centerline is valid? [True, True] Translation: X:108.64, Y:2.80, Z:0.11 [[ 9.97550845e-01 -6.76299372e-02 -1.78466795e-02 1.08640752e+02] [ 6.76113511e-02 9.97710381e-01 -1.64344574e-03 2.79602769e+00] [ 1.79169636e-02 4.32782569e-04 9.99839385e-01 1.09935151e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.37533619500002 meters Centerline goodness [0,1] 0.9999357051007287 Centerline is valid? [True, True] Translation: X:108.67, Y:2.79, Z:0.12 [[ 9.97637193e-01 -6.64411607e-02 -1.74814972e-02 1.08670525e+02] [ 6.64231396e-02 9.97790245e-01 -1.61012844e-03 2.79480848e+00] [ 1.75498462e-02 4.45148091e-04 9.99845890e-01 1.18343706e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.40533619500002 meters Centerline goodness [0,1] 0.9998924777428928 Centerline is valid? [True, True] Translation: X:108.70, Y:2.80, Z:0.12 [[ 9.97838494e-01 -6.36177413e-02 -1.64658168e-02 1.08699094e+02] [ 6.36013589e-02 9.97974231e-01 -1.51722383e-03 2.80161189e+00] [ 1.65289833e-02 4.66696015e-04 9.99863278e-01 1.19372231e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.43533619500002 meters Centerline goodness [0,1] 0.9997661017669949 Centerline is valid? [True, True] Translation: X:108.73, Y:2.81, Z:0.12 [[ 9.97914000e-01 -6.23056128e-02 -1.69014709e-02 1.08727654e+02] [ 6.22881537e-02 9.98056992e-01 -1.55796551e-03 2.80572030e+00] [ 1.69657012e-02 5.01954177e-04 9.99855946e-01 1.17487658e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.46533619500002 meters Centerline goodness [0,1] 0.9995302357362488 Centerline is valid? [True, True] Translation: X:108.75, Y:2.82, Z:0.11 [[ 9.98038781e-01 -5.99719771e-02 -1.79430724e-02 1.08754758e+02] [ 5.99519066e-02 9.98199895e-01 -1.65486591e-03 2.81588168e+00] [ 1.80100185e-02 5.75898952e-04 9.99837641e-01 1.14666375e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.495336195 meters Centerline goodness [0,1] 0.9997850571747915 Centerline is valid? [True, True] Translation: X:108.78, Y:2.83, Z:0.12 [[ 9.98068602e-01 -6.00729740e-02 -1.58209725e-02 1.08783362e+02] [ 6.00573372e-02 9.98193858e-01 -1.46205132e-03 2.82579701e+00] [ 1.58802274e-02 5.09062033e-04 9.99873772e-01 1.21559024e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.525336195 meters Centerline goodness [0,1] 0.9997870845487257 Centerline is valid? [True, True] Translation: X:108.81, Y:2.83, Z:0.12 [[ 9.98019835e-01 -6.08831672e-02 -1.58003008e-02 1.08813319e+02] [ 6.08676745e-02 9.98144776e-01 -1.46002409e-03 2.82827097e+00] [ 1.58598786e-02 4.95405431e-04 9.99874101e-01 1.21694462e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.555336195 meters Centerline goodness [0,1] 0.999806750837413 Centerline is valid? [True, True] Translation: X:108.84, Y:2.83, Z:0.12 [[ 9.97899504e-01 -6.26239641e-02 -1.65776550e-02 1.08842119e+02] [ 6.26071387e-02 9.98037072e-01 -1.53249415e-03 2.82592014e+00] [ 1.66410851e-02 4.91395614e-04 9.99861407e-01 1.18270417e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.585336195 meters Centerline goodness [0,1] 0.9998931989063568 Centerline is valid? [True, True] Translation: X:108.87, Y:2.83, Z:0.12 [[ 9.97884630e-01 -6.29443191e-02 -1.62566413e-02 1.08872056e+02] [ 6.29281758e-02 9.98016926e-01 -1.50316470e-03 2.82771721e+00] [ 1.63190188e-02 4.76984174e-04 9.99866722e-01 1.18354467e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.615336195 meters Centerline goodness [0,1] 0.9999354838709678 Centerline is valid? [True, True] Translation: X:108.90, Y:2.83, Z:0.12 [[ 9.97916263e-01 -6.25718606e-02 -1.57446584e-02 1.08901458e+02] [ 6.25566658e-02 9.98040351e-01 -1.45621001e-03 2.83148611e+00] [ 1.58049221e-02 4.68242324e-04 9.99874985e-01 1.20090909e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.645336195 meters Centerline goodness [0,1] 0.9997441310049254 Centerline is valid? [True, True] Translation: X:108.93, Y:2.84, Z:0.12 [[ 9.97922227e-01 -6.22847436e-02 -1.64875845e-02 1.08930196e+02] [ 6.22680393e-02 9.98058298e-01 -1.52507139e-03 2.83700822e+00] [ 1.65505592e-02 4.95253081e-04 9.99862907e-01 1.18314498e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.675336195 meters Centerline goodness [0,1] 0.9996807423803848 Centerline is valid? [True, True] Translation: X:108.96, Y:2.85, Z:0.11 [[ 9.97914448e-01 -6.19473325e-02 -1.81461672e-02 1.08958177e+02] [ 6.19270289e-02 9.98079267e-01 -1.67921872e-03 2.84535909e+00] [ 1.82153364e-02 5.51978396e-04 9.99833935e-01 1.14772816e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.705336195 meters Centerline goodness [0,1] 0.9998483305527268 Centerline is valid? [True, True] Translation: X:108.99, Y:2.84, Z:0.11 [[ 9.97852835e-01 -6.26666861e-02 -1.90422366e-02 1.08988225e+02] [ 6.26444504e-02 9.98034351e-01 -1.76255684e-03 2.84386867e+00] [ 1.91152599e-02 5.65881890e-04 9.99817127e-01 1.14849135e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.735336195 meters Centerline goodness [0,1] 0.9997642974994108 Centerline is valid? [True, True] Translation: X:109.02, Y:2.85, Z:0.11 [[ 9.97859469e-01 -6.25826365e-02 -1.89708487e-02 1.09016368e+02] [ 6.25605379e-02 9.98039625e-01 -1.75669025e-03 2.84556773e+00] [ 1.90435970e-02 5.66103502e-04 9.99818494e-01 1.14237196e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.765336195 meters Centerline goodness [0,1] 0.9998290890446078 Centerline is valid? [True, True] Translation: X:109.05, Y:2.85, Z:0.11 [[ 9.97826104e-01 -6.30746473e-02 -1.90959477e-02 1.09045402e+02] [ 6.30522753e-02 9.98008653e-01 -1.77197494e-03 2.84729542e+00] [ 1.91696877e-02 5.64079900e-04 9.99816086e-01 1.13621403e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.795336195 meters Centerline goodness [0,1] 0.9999141446662374 Centerline is valid? [True, True] Translation: X:109.07, Y:2.85, Z:0.12 [[ 9.97744242e-01 -6.45444160e-02 -1.84511973e-02 1.09074686e+02] [ 6.45237716e-02 9.97914701e-01 -1.71262421e-03 2.84527352e+00] [ 1.85232614e-02 5.18220104e-04 9.99828295e-01 1.15633053e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.825336195 meters Centerline goodness [0,1] 0.9999141446662374 Centerline is valid? [True, True] Translation: X:109.10, Y:2.85, Z:0.12 [[ 9.97733223e-01 -6.47146203e-02 -1.84508621e-02 1.09102846e+02] [ 6.46939383e-02 9.97903677e-01 -1.71623301e-03 2.84803242e+00] [ 1.85232485e-02 5.18683759e-04 9.99828295e-01 1.15525326e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.855336195 meters Centerline goodness [0,1] 0.99959426850883 Centerline is valid? [True, True] Translation: X:109.13, Y:2.85, Z:0.12 [[ 9.97753916e-01 -6.47064283e-02 -1.73262886e-02 1.09130970e+02] [ 6.46881858e-02 9.97904224e-01 -1.61185253e-03 2.85294421e+00] [ 1.73942738e-02 4.87425993e-04 9.99848589e-01 1.16617830e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.885336195 meters Centerline goodness [0,1] 0.9999571312213315 Centerline is valid? [True, True] Translation: X:109.16, Y:2.86, Z:0.12 [[ 9.97827153e-01 -6.38483685e-02 -1.62591125e-02 1.09158846e+02] [ 6.38321769e-02 9.97959500e-01 -1.51339624e-03 2.86101148e+00] [ 1.63225637e-02 4.72253313e-04 9.99866667e-01 1.19035914e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.915336195 meters Centerline goodness [0,1] 0.9998293333333333 Centerline is valid? [True, True] Translation: X:109.19, Y:2.86, Z:0.12 [[ 9.97876646e-01 -6.28460102e-02 -1.71049454e-02 1.09187861e+02] [ 6.28279376e-02 9.98023103e-01 -1.59243421e-03 2.86300764e+00] [ 1.71712089e-02 5.14384461e-04 9.99852432e-01 1.15820321e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.945336195 meters Centerline goodness [0,1] 0.9998296930216716 Centerline is valid? [True, True] Translation: X:109.22, Y:2.86, Z:0.11 [[ 9.97882297e-01 -6.25060229e-02 -1.79977501e-02 1.09217223e+02] [ 6.24859514e-02 9.98044436e-01 -1.67597071e-03 2.86454113e+00] [ 1.80673126e-02 5.47814963e-04 9.99836623e-01 1.13181544e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.975336195 meters Centerline goodness [0,1] 0.9996797403761983 Centerline is valid? [True, True] Translation: X:109.25, Y:2.87, Z:0.11 [[ 9.97936339e-01 -6.14133764e-02 -1.87472959e-02 1.09246733e+02] [ 6.13913971e-02 9.98112242e-01 -1.74621321e-03 2.87099853e+00] [ 1.88191463e-02 5.91686934e-04 9.99822729e-01 1.12936794e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.005336195 meters Centerline goodness [0,1] 0.9995943637916311 Centerline is valid? [True, True] Translation: X:109.28, Y:2.88, Z:0.11 [[ 9.97960345e-01 -6.10836993e-02 -1.85454160e-02 1.09275133e+02] [ 6.10620661e-02 9.98132470e-01 -1.73105395e-03 2.87771530e+00] [ 1.86165210e-02 5.95101780e-04 9.99826520e-01 1.13819928e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.035336195 meters Centerline goodness [0,1] 0.9995056633782535 Centerline is valid? [True, True] Translation: X:109.30, Y:2.88, Z:0.11 [[ 9.97996582e-01 -6.03954052e-02 -1.88472189e-02 1.09304006e+02] [ 6.03729414e-02 9.98174340e-01 -1.75912294e-03 2.88337185e+00] [ 1.89190532e-02 6.17736643e-04 9.99820828e-01 1.14236054e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.06533619500001 meters Centerline goodness [0,1] 0.9997614762452024 Centerline is valid? [True, True] Translation: X:109.33, Y:2.88, Z:0.11 [[ 9.97943145e-01 -6.07048766e-02 -2.06008947e-02 1.09333941e+02] [ 6.06780926e-02 9.98155534e-01 -1.92331212e-03 2.88014551e+00] [ 2.06796515e-02 6.69333153e-04 9.99785929e-01 1.12673293e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.09533619500002 meters Centerline goodness [0,1] 0.999588602113286 Centerline is valid? [True, True] Translation: X:109.36, Y:2.88, Z:0.11 [[ 9.97898407e-01 -6.12972848e-02 -2.10097950e-02 1.09361995e+02] [ 6.12695275e-02 9.98119327e-01 -1.96292969e-03 2.88328202e+00] [ 2.10906047e-02 6.71544204e-04 9.99777343e-01 1.09157045e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.12533619500002 meters Centerline goodness [0,1] 0.9997860871053307 Centerline is valid? [True, True] Translation: X:109.39, Y:2.89, Z:0.11 [[ 9.97888624e-01 -6.16335205e-02 -2.04842195e-02 1.09391091e+02] [ 6.16071241e-02 9.98098635e-01 -1.91778361e-03 2.88507178e+00] [ 2.05634713e-02 6.51760590e-04 9.99788337e-01 1.10533185e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.15533619500002 meters Centerline goodness [0,1] 0.9996986979446896 Centerline is valid? [True, True] Translation: X:109.42, Y:2.89, Z:0.11 [[ 9.97859603e-01 -6.22880306e-02 -1.99101411e-02 1.09418854e+02] [ 6.22632072e-02 9.98058022e-01 -1.86484992e-03 2.88858231e+00] [ 1.99876339e-02 6.21189165e-04 9.99800034e-01 1.10586903e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.18533619500002 meters Centerline goodness [0,1] 0.9995939650382528 Centerline is valid? [True, True] Translation: X:109.45, Y:2.89, Z:0.11 [[ 9.97835751e-01 -6.28164793e-02 -1.94397488e-02 1.09446082e+02] [ 6.27928927e-02 9.98024916e-01 -1.82194896e-03 2.89290651e+00] [ 1.95158021e-02 5.97327748e-04 9.99809370e-01 1.10083540e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.21533619500002 meters Centerline goodness [0,1] 0.9997020325635841 Centerline is valid? [True, True] Translation: X:109.47, Y:2.90, Z:0.11 [[ 9.97754962e-01 -6.41308020e-02 -1.92944469e-02 1.09474004e+02] [ 6.41077432e-02 9.97941338e-01 -1.81189520e-03 2.89753842e+00] [ 1.93709244e-02 5.70903982e-04 9.99812203e-01 1.10085925e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.245336195 meters Centerline goodness [0,1] 0.9998499624906226 Centerline is valid? [True, True] Translation: X:109.50, Y:2.89, Z:0.11 [[ 9.97678435e-01 -6.56310445e-02 -1.81743334e-02 1.09503646e+02] [ 6.56108255e-02 9.97843828e-01 -1.70719015e-03 2.89121159e+00] [ 1.82471911e-02 5.10793777e-04 9.99833376e-01 1.14354318e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.275336195 meters Centerline goodness [0,1] 0.9997628748194615 Centerline is valid? [True, True] Translation: X:109.53, Y:2.89, Z:0.11 [[ 9.97661647e-01 -6.60604248e-02 -1.75288077e-02 1.09532452e+02] [ 6.60416724e-02 9.97815506e-01 -1.64714680e-03 2.89292512e+00] [ 1.75993274e-02 4.85663413e-04 9.99845002e-01 1.14390965e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.305336195 meters Centerline goodness [0,1] 0.9998711838206878 Centerline is valid? [True, True] Translation: X:109.56, Y:2.90, Z:0.11 [[ 9.97683346e-01 -6.55517106e-02 -1.81910569e-02 1.09560401e+02] [ 6.55314133e-02 9.97849041e-01 -1.71028505e-03 2.89572255e+00] [ 1.82640408e-02 5.14237245e-04 9.99833066e-01 1.13076921e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.335336195 meters Centerline goodness [0,1] 0.9996332808421597 Centerline is valid? [True, True] Translation: X:109.59, Y:2.90, Z:0.11 [[ 9.97691909e-01 -6.49169796e-02 -1.99158387e-02 1.09589661e+02] [ 6.48925107e-02 9.97890502e-01 -1.87310659e-03 2.89733373e+00] [ 1.99954227e-02 5.76394515e-04 9.99799905e-01 1.10596097e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.365336195 meters Centerline goodness [0,1] 0.99948484588306 Centerline is valid? [True, True] Translation: X:109.62, Y:2.91, Z:0.11 [[ 9.97702560e-01 -6.46353480e-02 -2.02946775e-02 1.09617086e+02] [ 6.46098544e-02 9.97908773e-01 -1.91004367e-03 2.90666168e+00] [ 2.03756930e-02 5.94419305e-04 9.99792217e-01 1.06102548e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.395336195 meters Centerline goodness [0,1] 0.9996731385238936 Centerline is valid? [True, True] Translation: X:109.65, Y:2.91, Z:0.11 [[ 9.97753226e-01 -6.35170402e-02 -2.13092730e-02 1.09646173e+02] [ 6.34886636e-02 9.97980543e-01 -2.00623149e-03 2.90943679e+00] [ 2.13936698e-02 6.48826671e-04 9.99770919e-01 1.11043016e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.425336195 meters Centerline goodness [0,1] 0.9994791327560388 Centerline is valid? [True, True] Translation: X:109.67, Y:2.92, Z:0.11 [[ 9.97766611e-01 -6.32255405e-02 -2.15481173e-02 1.09673636e+02] [ 6.31964089e-02 9.97999043e-01 -2.03090534e-03 2.91586068e+00] [ 2.16334055e-02 6.64605911e-04 9.99765750e-01 1.07877990e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.455336195 meters Centerline goodness [0,1] 0.9995707049025501 Centerline is valid? [True, True] Translation: X:109.70, Y:2.92, Z:0.11 [[ 9.97895184e-01 -6.11831464e-02 -2.14900972e-02 1.09703635e+02] [ 6.11536925e-02 9.98126306e-01 -2.02570990e-03 2.91594677e+00] [ 2.15737706e-02 7.07247356e-04 9.99767009e-01 1.09056500e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.485336195 meters Centerline goodness [0,1] 0.9992437664750875 Centerline is valid? [True, True] Translation: X:109.73, Y:2.92, Z:0.11 [[ 9.97965326e-01 -5.99469833e-02 -2.17155891e-02 1.09730550e+02] [ 5.99165578e-02 9.98201285e-01 -2.04961835e-03 2.92178483e+00] [ 2.17993973e-02 7.44324700e-04 9.99762088e-01 1.08518734e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.515336195 meters Centerline goodness [0,1] 0.9971327085205632 Centerline is valid? [True, True] Translation: X:109.76, Y:2.93, Z:0.11 [[ 9.98149614e-01 -5.71745686e-02 -2.06982289e-02 1.09758182e+02] [ 5.71463218e-02 9.98363901e-01 -1.95409650e-03 2.93379947e+00] [ 2.07760891e-02 7.67653024e-04 9.99783859e-01 1.09398658e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.545336195 meters Centerline goodness [0,1] 0.9938845767314559 Centerline is valid? [True, True] Translation: X:109.79, Y:2.95, Z:0.11 [[ 9.98331288e-01 -5.42266028e-02 -1.98523380e-02 1.09786516e+02] [ 5.42000217e-02 9.98528338e-01 -1.87494622e-03 2.94523852e+00] [ 1.99247940e-02 7.95820326e-04 9.99801165e-01 1.10839552e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.575336195 meters Centerline goodness [0,1] 0.9979881887208774 Centerline is valid? [True, True] Translation: X:109.82, Y:2.95, Z:0.11 [[ 9.98356046e-01 -5.38136127e-02 -1.97306961e-02 1.09815420e+02] [ 5.37872616e-02 9.98550677e-01 -1.86418408e-03 2.94917261e+00] [ 1.98024184e-02 7.99859331e-04 9.99803593e-01 1.12792168e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.605336195 meters Centerline goodness [0,1] 0.9957543528604511 Centerline is valid? [True, True] Translation: X:109.84, Y:2.95, Z:0.11 [[ 9.98297378e-01 -5.45053729e-02 -2.07728070e-02 1.09844039e+02] [ 5.44762981e-02 9.98513134e-01 -1.96339043e-03 2.95297291e+00] [ 2.08489359e-02 8.28421891e-04 9.99782294e-01 1.08020670e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.635336195 meters Centerline goodness [0,1] 0.9968642006911558 Centerline is valid? [True, True] Translation: X:109.87, Y:2.95, Z:0.11 [[ 9.98166870e-01 -5.67125729e-02 -2.11325434e-02 1.09873467e+02] [ 5.66829535e-02 9.98390229e-01 -1.99845097e-03 2.94914383e+00] [ 2.12118621e-02 7.96932575e-04 9.99774686e-01 1.06046747e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.665336195 meters Centerline goodness [0,1] 0.9992951278381784 Centerline is valid? [True, True] Translation: X:109.90, Y:2.95, Z:0.11 [[ 9.98095397e-01 -5.82342326e-02 -2.03556475e-02 1.09902005e+02] [ 5.82070468e-02 9.98302675e-01 -1.92598315e-03 2.95032263e+00] [ 2.04332555e-02 7.37472791e-04 9.99790947e-01 1.09290707e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.695336195 meters Centerline goodness [0,1] 0.9989132519337723 Centerline is valid? [True, True] Translation: X:109.93, Y:2.96, Z:0.11 [[ 9.98010293e-01 -5.97029596e-02 -2.02734373e-02 1.09929756e+02] [ 5.96762163e-02 9.98215936e-01 -1.92209956e-03 2.95610470e+00] [ 2.03520233e-02 7.08433108e-04 9.99792625e-01 1.09332247e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.725336195 meters Centerline goodness [0,1] 0.9964523941029018 Centerline is valid? [True, True] Translation: X:109.96, Y:2.96, Z:0.10 [[ 9.97814125e-01 -6.22420184e-02 -2.22014087e-02 1.09956698e+02] [ 6.22105548e-02 9.98060826e-01 -2.10572277e-03 2.96267289e+00] [ 2.22894208e-02 7.19957973e-04 9.99751301e-01 1.04125758e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.755336195 meters Centerline goodness [0,1] 0.9981866666666667 Centerline is valid? [True, True] Translation: X:109.99, Y:2.96, Z:0.10 [[ 9.97653935e-01 -6.47010953e-02 -2.23695105e-02 1.09985190e+02] [ 6.46697492e-02 9.97904463e-01 -2.12262384e-03 2.96135509e+00] [ 2.24599704e-02 6.71013391e-04 9.99747518e-01 1.02621071e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.785336195 meters Centerline goodness [0,1] 0.9996769121416417 Centerline is valid? [True, True] Translation: X:110.01, Y:2.96, Z:0.11 [[ 9.97593881e-01 -6.58782592e-02 -2.15986844e-02 1.10014278e+02] [ 6.58492900e-02 9.97827473e-01 -2.05050007e-03 2.95912605e+00] [ 2.16868441e-02 6.23308292e-04 9.99764618e-01 1.06099724e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.81533619500001 meters Centerline goodness [0,1] 0.9998279273853566 Centerline is valid? [True, True] Translation: X:110.04, Y:2.96, Z:0.11 [[ 9.97414899e-01 -6.87720735e-02 -2.08307951e-02 1.10044359e+02] [ 6.87457496e-02 9.97632252e-01 -1.97801671e-03 2.95668487e+00] [ 2.09175053e-02 5.40874713e-04 9.99781059e-01 1.09656787e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.84533619500002 meters Centerline goodness [0,1] 0.9999352429468776 Centerline is valid? [True, True] Translation: X:110.07, Y:2.96, Z:0.11 [[ 9.97336599e-01 -6.98008785e-02 -2.11552591e-02 1.10073667e+02] [ 6.97738700e-02 9.97560803e-01 -2.01302622e-03 2.95668202e+00] [ 2.12441683e-02 5.31580422e-04 9.99774176e-01 1.10637373e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.87533619500002 meters Centerline goodness [0,1] 0.9997178819444444 Centerline is valid? [True, True] Translation: X:110.10, Y:2.96, Z:0.11 [[ 9.97293778e-01 -6.99959260e-02 -2.24875551e-02 1.10102530e+02] [ 6.99654514e-02 9.97547120e-01 -2.14007100e-03 2.96011224e+00] [ 2.25821921e-02 5.60927546e-04 9.99744832e-01 1.07568491e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.90533619500002 meters Centerline goodness [0,1] 0.999763415421013 Centerline is valid? [True, True] Translation: X:110.13, Y:2.96, Z:0.11 [[ 9.97381275e-01 -6.87472432e-02 -2.24590549e-02 1.10129914e+02] [ 6.87164968e-02 9.97633935e-01 -2.13880488e-03 2.96467898e+00] [ 2.25529522e-02 5.89896366e-04 9.99745476e-01 1.05964443e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.93533619500002 meters Centerline goodness [0,1] 0.9998072681328565 Centerline is valid? [True, True] Translation: X:110.16, Y:2.97, Z:0.11 [[ 9.97440295e-01 -6.78242316e-02 -2.26435584e-02 1.10158304e+02] [ 6.77926450e-02 9.97697093e-01 -2.16056631e-03 2.96872367e+00] [ 2.27379512e-02 6.19969184e-04 9.99741267e-01 1.06655083e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.96533619500002 meters Centerline goodness [0,1] 0.9997829766916967 Centerline is valid? [True, True] Translation: X:110.19, Y:2.97, Z:0.11 [[ 9.97500008e-01 -6.60136368e-02 -2.52177192e-02 1.10187815e+02] [ 6.59738891e-02 9.97818449e-01 -2.40583887e-03 2.97465241e+00] [ 2.53215236e-02 7.36113287e-04 9.99679088e-01 1.08059344e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.995336195 meters Centerline goodness [0,1] 0.999740282226647 Centerline is valid? [True, True] Translation: X:110.22, Y:2.98, Z:0.11 [[ 9.97507908e-01 -6.60095471e-02 -2.49141341e-02 1.10215787e+02] [ 6.59706066e-02 9.97818722e-01 -2.38259109e-03 2.97910057e+00] [ 2.50170633e-02 7.33052914e-04 9.99686756e-01 1.07783162e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.025336195 meters Centerline goodness [0,1] 0.9997396002864397 Centerline is valid? [True, True] Translation: X:110.24, Y:2.98, Z:0.10 [[ 9.97506559e-01 -6.62084650e-02 -2.44357250e-02 1.10243187e+02] [ 6.61710406e-02 9.97805556e-01 -2.33785751e-03 2.98463750e+00] [ 2.45368882e-02 7.15090846e-04 9.99698669e-01 1.03213572e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.055336195 meters Centerline goodness [0,1] 0.9997625062072242 Centerline is valid? [True, True] Translation: X:110.27, Y:2.98, Z:0.10 [[ 9.97451387e-01 -6.65920822e-02 -2.56169090e-02 1.10272383e+02] [ 6.65509568e-02 9.97780006e-01 -2.45556684e-03 2.98467525e+00] [ 2.57235609e-02 7.44478747e-04 9.99668817e-01 1.01319204e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.085336195 meters Centerline goodness [0,1] 0.9994607652819119 Centerline is valid? [True, True] Translation: X:110.30, Y:2.98, Z:0.10 [[ 9.97423899e-01 -6.68770937e-02 -2.59426459e-02 1.10300814e+02] [ 6.68349820e-02 9.97760941e-01 -2.48793553e-03 2.98470775e+00] [ 2.60509446e-02 7.47650082e-04 9.99660337e-01 1.01112333e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.115336195 meters Centerline goodness [0,1] 0.9992116421281401 Centerline is valid? [True, True] Translation: X:110.33, Y:2.99, Z:0.10 [[ 9.97432010e-01 -6.69851134e-02 -2.53452326e-02 1.10328295e+02] [ 6.69449155e-02 9.97753709e-01 -2.43216119e-03 2.98895964e+00] [ 2.54512185e-02 7.29180970e-04 9.99675799e-01 1.00072247e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.145336195 meters Centerline goodness [0,1] 0.9995718994819984 Centerline is valid? [True, True] Translation: X:110.36, Y:2.99, Z:0.10 [[ 9.97479754e-01 -6.64702633e-02 -2.48162028e-02 1.10356575e+02] [ 6.64314344e-02 9.97788138e-01 -2.38672212e-03 2.99001901e+00] [ 2.49199589e-02 7.32131044e-04 9.99689182e-01 1.03574151e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.175336195 meters Centerline goodness [0,1] 0.9996346443154954 Centerline is valid? [True, True] Translation: X:110.38, Y:2.99, Z:0.10 [[ 9.97506326e-01 -6.63914448e-02 -2.39438061e-02 1.10384368e+02] [ 6.63552528e-02 9.97793402e-01 -2.30377778e-03 2.99232946e+00] [ 2.40439229e-02 7.09235596e-04 9.99710652e-01 1.03336465e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.205336195 meters Centerline goodness [0,1] 0.9996358417411049 Centerline is valid? [True, True] Translation: X:110.41, Y:2.99, Z:0.11 [[ 9.97525225e-01 -6.66576027e-02 -2.23649060e-02 1.10412949e+02] [ 6.66260005e-02 9.97775690e-01 -2.15602714e-03 2.99420241e+00] [ 2.24588751e-02 6.60607224e-04 9.99747549e-01 1.07021179e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.235336195 meters Centerline goodness [0,1] 0.9998050766698432 Centerline is valid? [True, True] Translation: X:110.44, Y:2.99, Z:0.11 [[ 9.97479431e-01 -6.67417635e-02 -2.40898717e-02 1.10441715e+02] [ 6.67050183e-02 9.97770027e-01 -2.32659945e-03 2.99260435e+00] [ 2.41914333e-02 7.13819758e-04 9.99707090e-01 1.09030036e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.265336195 meters Centerline goodness [0,1] 0.9996115499158358 Centerline is valid? [True, True] Translation: X:110.47, Y:3.00, Z:0.10 [[ 9.97438169e-01 -6.69976220e-02 -2.50682638e-02 1.10469346e+02] [ 6.69578595e-02 9.97752862e-01 -2.42315377e-03 2.99665772e+00] [ 2.51742775e-02 7.38428773e-04 9.99682805e-01 1.03973023e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.295336195 meters Centerline goodness [0,1] 0.9995911692559281 Centerline is valid? [True, True] Translation: X:110.50, Y:2.99, Z:0.10 [[ 9.97310220e-01 -6.82406956e-02 -2.67494300e-02 1.10497148e+02] [ 6.81958268e-02 9.97668600e-01 -2.58712831e-03 2.99417905e+00] [ 2.68636138e-02 7.55970009e-04 9.99638822e-01 9.96442638e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.325336195 meters Centerline goodness [0,1] 0.9994030868934937 Centerline is valid? [True, True] Translation: X:110.53, Y:3.00, Z:0.10 [[ 9.97291144e-01 -6.86162938e-02 -2.64986409e-02 1.10525193e+02] [ 6.85723527e-02 9.97642850e-01 -2.56446392e-03 2.99632872e+00] [ 2.66121437e-02 7.40443001e-04 9.99645560e-01 9.88439261e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.355336195 meters Centerline goodness [0,1] 0.9997410835652794 Centerline is valid? [True, True] Translation: X:110.55, Y:2.99, Z:0.10 [[ 9.97336431e-01 -6.83998050e-02 -2.53280664e-02 1.10554080e+02] [ 6.83594707e-02 9.97657732e-01 -2.45592478e-03 2.99232721e+00] [ 2.54367261e-02 7.17970041e-04 9.99676176e-01 1.03201105e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.385336195 meters Centerline goodness [0,1] 0.9996342591596566 Centerline is valid? [True, True] Translation: X:110.58, Y:2.99, Z:0.10 [[ 9.97390739e-01 -6.75931583e-02 -2.53550501e-02 1.10581836e+02] [ 6.75524257e-02 9.97712692e-01 -2.46057825e-03 2.99174381e+00] [ 2.54633735e-02 7.41362819e-04 9.99675481e-01 1.02547152e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.415336195 meters Centerline goodness [0,1] 0.9999132208096498 Centerline is valid? [True, True] Translation: X:110.61, Y:2.99, Z:0.11 [[ 9.97479144e-01 -6.64271651e-02 -2.49557568e-02 1.10610529e+02] [ 6.63872222e-02 9.97790984e-01 -2.42656836e-03 2.99162104e+00] [ 2.50618192e-02 7.63707962e-04 9.99685612e-01 1.07100981e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.445336195 meters Centerline goodness [0,1] 0.9983319076133448 Centerline is valid? [True, True] Translation: X:110.64, Y:3.00, Z:0.11 [[ 9.97696039e-01 -6.37153486e-02 -2.33016799e-02 1.10636824e+02] [ 6.36797335e-02 9.97967809e-01 -2.26803395e-03 3.00323258e+00] [ 2.33988351e-02 7.78963716e-04 9.99725906e-01 1.05990871e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.475336195 meters Centerline goodness [0,1] 0.9939217478162923 Centerline is valid? [True, True] Translation: X:110.67, Y:3.01, Z:0.10 [[ 9.97801583e-01 -6.17832990e-02 -2.39755190e-02 1.10666034e+02] [ 6.17450309e-02 9.98089227e-01 -2.33385994e-03 3.01148067e+00] [ 2.40739008e-02 8.48359977e-04 9.99709822e-01 1.04480651e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.505336195 meters Centerline goodness [0,1] 0.9922729788411597 Centerline is valid? [True, True] Translation: X:110.69, Y:3.01, Z:0.10 [[ 9.97814214e-01 -6.13687556e-02 -2.45085833e-02 1.10694370e+02] [ 6.13286023e-02 9.98114775e-01 -2.38735154e-03 3.01237225e+00] [ 2.46088879e-02 8.79056148e-04 9.99696769e-01 1.03710319e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.535336195 meters Centerline goodness [0,1] 0.9952339874919128 Centerline is valid? [True, True] Translation: X:110.72, Y:3.01, Z:0.10 [[ 9.97797153e-01 -6.14061612e-02 -2.51022839e-02 1.10723391e+02] [ 6.13639322e-02 9.98112452e-01 -2.44986732e-03 3.00962905e+00] [ 2.52053391e-02 9.04095788e-04 9.99681886e-01 1.03161604e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.56533619500001 meters Centerline goodness [0,1] 0.982376669039453 Centerline is valid? [True, True] Translation: X:110.75, Y:3.01, Z:0.10 [[ 9.97731613e-01 -6.12673138e-02 -2.78916538e-02 1.10752268e+02] [ 6.12151090e-02 9.98120884e-01 -2.72252951e-03 3.00715163e+00] [ 2.80060442e-02 1.00896313e-03 9.99607245e-01 9.71430163e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.59533619500002 meters Centerline goodness [0,1] 0.9865696456718416 Centerline is valid? [True, True] Translation: X:110.78, Y:3.01, Z:0.10 [[ 9.97748544e-01 -6.11885600e-02 -2.74554778e-02 1.10780245e+02] [ 6.11377830e-02 9.98125722e-01 -2.68586489e-03 3.01004019e+00] [ 2.75683628e-02 1.00125074e-03 9.99619419e-01 1.00217026e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.62533619500002 meters Centerline goodness [0,1] 0.9758360302049622 Centerline is valid? [True, True] Translation: X:110.81, Y:3.02, Z:0.10 [[ 9.97736868e-01 -6.14699641e-02 -2.72504258e-02 1.10808151e+02] [ 6.14199243e-02 9.98108442e-01 -2.67031297e-03 3.01516560e+00] [ 2.73630241e-02 9.90550612e-04 9.99625072e-01 9.95867551e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.65533619500002 meters Centerline goodness [0,1] 0.9966612466124661 Centerline is valid? [True, True] Translation: X:110.84, Y:3.01, Z:0.10 [[ 9.97702799e-01 -6.15992717e-02 -2.81896136e-02 1.10837433e+02] [ 6.15456326e-02 9.98100434e-01 -2.76732773e-03 3.01110906e+00] [ 2.83065310e-02 1.02602302e-03 9.99598763e-01 1.02680417e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.68533619500002 meters Centerline goodness [0,1] 0.9899293974964266 Centerline is valid? [True, True] Translation: X:110.87, Y:3.01, Z:0.10 [[ 9.97852716e-01 -6.02080326e-02 -2.57866226e-02 1.10865054e+02] [ 6.01626548e-02 9.98185374e-01 -2.53267114e-03 3.01447257e+00] [ 2.58923166e-02 9.75841100e-04 9.99664261e-01 1.02981235e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.71533619500002 meters Centerline goodness [0,1] 0.9617616426127065 Centerline is valid? [True, True] Translation: X:110.89, Y:3.02, Z:0.10 [[ 9.97975562e-01 -5.89766218e-02 -2.38020059e-02 1.10891855e+02] [ 5.89375766e-02 9.98258929e-01 -2.33921909e-03 3.02478920e+00] [ 2.38985241e-02 9.31650945e-04 9.99713955e-01 1.02109152e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.745336195 meters Centerline goodness [0,1] 0.9617616426127065 Centerline is valid? [True, True] Translation: X:110.92, Y:3.03, Z:0.10 [[ 9.97964698e-01 -5.91603681e-02 -2.38015289e-02 1.10919172e+02] [ 5.91212597e-02 9.98248056e-01 -2.34406762e-03 3.02768732e+00] [ 2.38985059e-02 9.32120356e-04 9.99713955e-01 1.02004555e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.775336195 meters Centerline goodness [0,1] 0.9896649189807323 Centerline is valid? [True, True] Translation: X:110.95, Y:3.03, Z:0.11 [[ 9.98024203e-01 -5.82223229e-02 -2.36188619e-02 1.10947909e+02] [ 5.81835269e-02 9.98303191e-01 -2.32706831e-03 3.02501151e+00] [ 2.37142725e-02 9.48241811e-04 9.99718327e-01 1.07493917e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.805336195 meters Centerline goodness [0,1] 0.9854624121146566 Centerline is valid? [True, True] Translation: X:110.98, Y:3.03, Z:0.11 [[ 9.98005628e-01 -5.82586208e-02 -2.43043078e-02 1.10975598e+02] [ 5.82175143e-02 9.98301047e-01 -2.39608590e-03 3.02769423e+00] [ 2.44026085e-02 9.76370833e-04 9.99701735e-01 1.06221724e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.835336195 meters Centerline goodness [0,1] 0.9723843784331043 Centerline is valid? [True, True] Translation: X:111.00, Y:3.03, Z:0.11 [[ 9.97973732e-01 -5.87303435e-02 -2.44781117e-02 1.11002764e+02] [ 5.86887521e-02 9.98273409e-01 -2.41469966e-03 3.03188835e+00] [ 2.45776641e-02 9.73217003e-04 9.99697450e-01 1.05692692e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.865336195 meters Centerline goodness [0,1] 0.9982198009608785 Centerline is valid? [True, True] Translation: X:111.03, Y:3.03, Z:0.11 [[ 9.97858107e-01 -6.06156772e-02 -2.45954926e-02 1.11032121e+02] [ 6.05742277e-02 9.98160744e-01 -2.42748776e-03 3.02542786e+00] [ 2.46973989e-02 9.32435371e-04 9.99694538e-01 1.10721854e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.895336195 meters Centerline goodness [0,1] 0.9884663941968203 Centerline is valid? [True, True] Translation: X:111.06, Y:3.03, Z:0.11 [[ 9.97783697e-01 -6.23133701e-02 -2.33396272e-02 1.11060862e+02] [ 6.22764902e-02 9.98056275e-01 -2.30438236e-03 3.02695055e+00] [ 2.34378552e-02 8.45765087e-04 9.99724938e-01 1.07461100e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.925336195 meters Centerline goodness [0,1] 0.9992637983673646 Centerline is valid? [True, True] Translation: X:111.09, Y:3.02, Z:0.11 [[ 9.97747863e-01 -6.32132303e-02 -2.24341148e-02 1.11090409e+02] [ 6.31793575e-02 9.97999728e-01 -2.21616283e-03 3.01970328e+00] [ 2.25293313e-02 7.93798768e-04 9.99745867e-01 1.12792688e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.955336195 meters Centerline goodness [0,1] 0.9989615784008308 Centerline is valid? [True, True] Translation: X:111.12, Y:3.02, Z:0.11 [[ 9.97670587e-01 -6.43626959e-02 -2.26018263e-02 1.11118740e+02] [ 6.43285761e-02 9.97926271e-01 -2.23419032e-03 3.01845152e+00] [ 2.26987547e-02 7.75042662e-04 9.99742050e-01 1.10725694e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.985336195 meters Centerline goodness [0,1] 0.9978931527464259 Centerline is valid? [True, True] Translation: X:111.15, Y:3.02, Z:0.11 [[ 9.97626441e-01 -6.50099936e-02 -2.26976788e-02 1.11146488e+02] [ 6.49757194e-02 9.97884320e-01 -2.24505523e-03 3.02011015e+00] [ 2.27956088e-02 7.64928450e-04 9.99739854e-01 1.08815217e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.015336195 meters Centerline goodness [0,1] 0.9996548004314995 Centerline is valid? [True, True] Translation: X:111.18, Y:3.01, Z:0.11 [[ 9.97534929e-01 -6.61459965e-02 -2.34258906e-02 1.11176429e+02] [ 6.61097018e-02 9.97809661e-01 -2.32126293e-03 3.01480270e+00] [ 2.35281222e-02 7.66862209e-04 9.99722881e-01 1.09489178e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.045336195 meters Centerline goodness [0,1] 0.9995479885490433 Centerline is valid? [True, True] Translation: X:111.21, Y:3.02, Z:0.11 [[ 9.97488094e-01 -6.64725442e-02 -2.44725025e-02 1.11205158e+02] [ 6.64329256e-02 9.97787936e-01 -2.42926895e-03 3.01562802e+00] [ 2.45798474e-02 7.97386917e-04 9.99697552e-01 1.08522039e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.075336195 meters Centerline goodness [0,1] 0.9986483297217276 Centerline is valid? [True, True] Translation: X:111.23, Y:3.02, Z:0.11 [[ 9.97489504e-01 -6.62283128e-02 -2.50698832e-02 1.11233026e+02] [ 6.61866310e-02 9.97804155e-01 -2.48967798e-03 3.02064582e+00] [ 2.51797208e-02 8.24136549e-04 9.99682601e-01 1.07005309e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.105336195 meters Centerline goodness [0,1] 0.992146653183295 Centerline is valid? [True, True] Translation: X:111.26, Y:3.03, Z:0.11 [[ 9.97625862e-01 -6.41588735e-02 -2.50255667e-02 1.11260906e+02] [ 6.41166593e-02 9.97939313e-01 -2.48644508e-03 3.02673562e+00] [ 2.51335243e-02 8.75986181e-04 9.99683719e-01 1.06685876e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.135336195 meters Centerline goodness [0,1] 0.9917241980094519 Centerline is valid? [True, True] Translation: X:111.29, Y:3.03, Z:0.11 [[ 9.97722110e-01 -6.27145493e-02 -2.48490713e-02 1.11289845e+02] [ 6.26723636e-02 9.98031090e-01 -2.47362055e-03 3.02817100e+00] [ 2.49552777e-02 9.10635883e-04 9.99688154e-01 1.07667216e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.165336195 meters Centerline goodness [0,1] 0.9771715999226156 Centerline is valid? [True, True] Translation: X:111.32, Y:3.03, Z:0.11 [[ 9.97923370e-01 -5.90838727e-02 -2.56523427e-02 1.11319713e+02] [ 5.90377252e-02 9.98252487e-01 -2.55326227e-03 3.03292395e+00] [ 2.57583715e-02 1.03350413e-03 9.99667664e-01 1.06622425e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.195336195 meters Centerline goodness [0,1] 0.9554549531273356 Centerline is valid? [True, True] Translation: X:111.35, Y:3.04, Z:0.10 [[ 9.98047385e-01 -5.65139164e-02 -2.66006330e-02 1.11347817e+02] [ 5.64633746e-02 9.98401160e-01 -2.64791701e-03 3.04200513e+00] [ 2.67077470e-02 1.14078514e-03 9.99642634e-01 1.03482842e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.225336195 meters Centerline goodness [0,1] 0.9454619107519775 Centerline is valid? [True, False] Translation: X:111.35, Y:3.04, Z:0.10 [[ 9.98276914e-01 -5.20897532e-02 -2.70159366e-02 1.11348584e+02] [ 5.21826278e-02 9.98633789e-01 2.74375120e-03 3.03585831e+00] [ 2.68361058e-02 -4.14878604e-03 9.99631238e-01 1.03397694e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.255336195 meters Centerline goodness [0,1] 0.965950827464028 Centerline is valid? [False, True] Translation: X:111.34, Y:3.03, Z:0.11 [[ 9.98205812e-01 -5.39571970e-02 -2.59572293e-02 1.11341770e+02] [ 5.40050079e-02 9.98540010e-01 1.14391077e-03 3.03259681e+00] [ 2.58576098e-02 -2.54367875e-03 9.99662400e-01 1.07863749e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.285336195 meters Centerline goodness [0,1] 0.9950561602844876 Centerline is valid? [True, True] Translation: X:111.37, Y:3.03, Z:0.11 [[ 9.98137988e-01 -5.53236478e-02 -2.56875584e-02 1.11371142e+02] [ 5.52780069e-02 9.98467912e-01 -2.48402543e-03 3.02956345e+00] [ 2.57856282e-02 1.05944311e-03 9.99666934e-01 1.12990861e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.31533619500001 meters Centerline goodness [0,1] 0.9866776067194956 Centerline is valid? [True, True] Translation: X:111.40, Y:3.03, Z:0.11 [[ 9.98024136e-01 -5.78299650e-02 -2.45666287e-02 1.11400144e+02] [ 5.77889752e-02 9.98325994e-01 -2.37579505e-03 3.03192815e+00] [ 2.46628961e-02 9.51420510e-04 9.99695372e-01 1.10568584e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.34533619500002 meters Centerline goodness [0,1] 0.9982061423415246 Centerline is valid? [True, True] Translation: X:111.43, Y:3.03, Z:0.11 [[ 9.97980736e-01 -5.89794372e-02 -2.35770399e-02 1.11430016e+02] [ 5.89419026e-02 9.98258801e-01 -2.28438131e-03 3.02821876e+00] [ 2.36707191e-02 8.90092955e-04 9.99719413e-01 1.13866451e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.37533619500002 meters Centerline goodness [0,1] 0.9980839199982777 Centerline is valid? [True, True] Translation: X:111.46, Y:3.03, Z:0.12 [[ 9.97858290e-01 -6.14450000e-02 -2.24353450e-02 1.11458796e+02] [ 6.14116249e-02 9.98110157e-01 -2.17423047e-03 3.02893178e+00] [ 2.25265413e-02 7.91782912e-04 9.99745932e-01 1.15318706e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.40533619500002 meters Centerline goodness [0,1] 0.9921136324565928 Centerline is valid? [True, True] Translation: X:111.49, Y:3.03, Z:0.11 [[ 9.97768727e-01 -6.28430851e-02 -2.25458438e-02 1.11486182e+02] [ 6.28097040e-02 9.98023126e-01 -2.18638363e-03 3.03404163e+00] [ 2.26386726e-02 7.65407431e-04 9.99743419e-01 1.12033797e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.43533619500002 meters Centerline goodness [0,1] 0.9989970979856606 Centerline is valid? [True, True] Translation: X:111.52, Y:3.03, Z:0.11 [[ 9.97575521e-01 -6.58199827e-02 -2.26011125e-02 1.11516895e+02] [ 6.57871911e-02 9.97831268e-01 -2.19216504e-03 3.02633463e+00] [ 2.26963850e-02 6.99986473e-04 9.99742159e-01 1.12344179e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.46533619500002 meters Centerline goodness [0,1] 0.999653544671084 Centerline is valid? [True, True] Translation: X:111.55, Y:3.02, Z:0.11 [[ 9.97394814e-01 -6.82190552e-02 -2.34466430e-02 1.11547014e+02] [ 6.81843199e-02 9.97670139e-01 -2.27867211e-03 3.01559324e+00] [ 2.35474645e-02 6.74042331e-04 9.99722493e-01 1.13464496e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.495336195 meters Centerline goodness [0,1] 0.9998707175177763 Centerline is valid? [True, True] Translation: X:111.58, Y:3.01, Z:0.11 [[ 9.97267152e-01 -6.93776126e-02 -2.53963424e-02 1.11576270e+02] [ 6.93371232e-02 9.97590222e-01 -2.47250028e-03 3.01499809e+00] [ 2.55066790e-02 7.04833988e-04 9.99674403e-01 1.09817285e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.525336195 meters Centerline goodness [0,1] 0.9998930595658219 Centerline is valid? [True, True] Translation: X:111.60, Y:3.02, Z:0.11 [[ 9.97173327e-01 -7.01663810e-02 -2.68707000e-02 1.11604358e+02] [ 7.01213047e-02 9.97535038e-01 -2.61730571e-03 3.01694059e+00] [ 2.69881116e-02 7.25698901e-04 9.99635491e-01 1.07126599e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.555336195 meters Centerline goodness [0,1] 0.9997849693581335 Centerline is valid? [True, True] Translation: X:111.63, Y:3.02, Z:0.11 [[ 9.97194710e-01 -7.00051997e-02 -2.64949551e-02 1.11632297e+02] [ 6.99611692e-02 9.97546363e-01 -2.58632229e-03 3.02059516e+00] [ 2.66110021e-02 7.25448866e-04 9.99645601e-01 1.07471305e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.585336195 meters Centerline goodness [0,1] 0.9999126656623217 Centerline is valid? [True, True] Translation: X:111.66, Y:3.02, Z:0.11 [[ 9.97316380e-01 -6.82166338e-02 -2.65806261e-02 1.11661007e+02] [ 6.81716209e-02 9.97670229e-01 -2.59702457e-03 3.01933565e+00] [ 2.66958596e-02 7.78010772e-04 9.99643299e-01 1.11077902e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.615336195 meters Centerline goodness [0,1] 0.9990085779559463 Centerline is valid? [True, True] Translation: X:111.69, Y:3.03, Z:0.11 [[ 9.97390211e-01 -6.71081597e-02 -2.66319642e-02 1.11688555e+02] [ 6.70625359e-02 9.97745377e-01 -2.60360918e-03 3.02521322e+00] [ 2.67466426e-02 8.10807250e-04 9.99641916e-01 1.07351488e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.645336195 meters Centerline goodness [0,1] 0.9963627027258334 Centerline is valid? [True, True] Translation: X:111.72, Y:3.03, Z:0.11 [[ 9.97519521e-01 -6.52889826e-02 -2.63088262e-02 1.11716193e+02] [ 6.52437856e-02 9.97866036e-01 -2.57360292e-03 3.02778576e+00] [ 2.64207121e-02 8.50731733e-04 9.99650550e-01 1.07248643e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.675336195 meters Centerline goodness [0,1] 0.9960750298167624 Centerline is valid? [True, True] Translation: X:111.75, Y:3.03, Z:0.11 [[ 9.97591560e-01 -6.44428479e-02 -2.56553878e-02 1.11745343e+02] [ 6.43994684e-02 9.97921032e-01 -2.51437026e-03 3.02967631e+00] [ 2.57640843e-02 8.56121213e-04 9.99667684e-01 1.09322540e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.705336195 meters Centerline goodness [0,1] 0.9993314643088204 Centerline is valid? [True, True] Translation: X:111.77, Y:3.03, Z:0.11 [[ 9.97617700e-01 -6.39902161e-02 -2.57716282e-02 1.11773833e+02] [ 6.39462583e-02 9.97950144e-01 -2.52705187e-03 3.02956736e+00] [ 2.58805066e-02 8.73032487e-04 9.99664662e-01 1.12535007e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.735336195 meters Centerline goodness [0,1] 0.9958886027741112 Centerline is valid? [True, True] Translation: X:111.80, Y:3.03, Z:0.11 [[ 9.97637897e-01 -6.32610175e-02 -2.67707137e-02 1.11801502e+02] [ 6.32132775e-02 9.97996584e-01 -2.62668406e-03 3.03441209e+00] [ 2.68832476e-02 9.28215004e-04 9.99638149e-01 1.08594331e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.765336195 meters Centerline goodness [0,1] 0.9584125830786656 Centerline is valid? [True, True] Translation: X:111.83, Y:3.04, Z:0.10 [[ 9.97691308e-01 -6.22344283e-02 -2.71832717e-02 1.11828456e+02] [ 6.21847793e-02 9.98061086e-01 -2.66882175e-03 3.04361177e+00] [ 2.72966582e-02 9.72274516e-04 9.99626904e-01 1.01168412e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.795336195 meters Centerline goodness [0,1] 0.9491136821993419 Centerline is valid? [True, False] Translation: X:111.83, Y:3.04, Z:0.10 [[ 9.97718690e-01 -6.17314661e-02 -2.73247507e-02 1.11829336e+02] [ 6.17058871e-02 9.98092790e-01 -1.77913700e-03 3.03955622e+00] [ 2.73824654e-02 8.89802496e-05 9.99625026e-01 1.00626529e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.825336195 meters Centerline goodness [0,1] 0.9808565866320571 Centerline is valid? [False, True] Translation: X:111.81, Y:3.04, Z:0.11 [[ 9.97775361e-01 -5.96857798e-02 -2.96974029e-02 1.11805185e+02] [ 5.93850275e-02 9.98175542e-01 -1.09089782e-02 3.03818879e+00] [ 3.02943321e-02 9.12112855e-03 9.99499404e-01 1.05198696e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.855336195 meters Centerline goodness [0,1] 0.9499270994276761 Centerline is valid? [True, False] Translation: X:111.81, Y:3.03, Z:0.11 [[ 9.98050077e-01 -5.48102211e-02 -2.98644232e-02 1.11805003e+02] [ 5.46799573e-02 9.98490590e-01 -5.16180681e-03 3.03105906e+00] [ 3.01022653e-02 3.51875629e-03 9.99540630e-01 1.05498392e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.885336195 meters Centerline goodness [0,1] 0.9477855876257825 Centerline is valid? [False, False] Translation: X:111.85, Y:3.03, Z:0.11 [[ 9.98183704e-01 -5.32501727e-02 -2.81729103e-02 1.11846022e+02] [ 5.32183349e-02 9.98581132e-01 -1.87922145e-03 3.03222489e+00] [ 2.82330055e-02 3.76492854e-04 9.99601298e-01 1.06704278e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.915336195 meters Centerline goodness [0,1] 0.9743211460337824 Centerline is valid? [False, True] Translation: X:111.84, Y:3.03, Z:0.11 [[ 9.98191553e-01 -5.31764003e-02 -2.80337850e-02 1.11844754e+02] [ 5.31488221e-02 9.98585107e-01 -1.72848602e-03 3.03142399e+00] [ 2.80860348e-02 2.35397490e-04 9.99605482e-01 1.08140714e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.945336195 meters Centerline goodness [0,1] 0.9903429331730975 Centerline is valid? [True, True] Translation: X:111.88, Y:3.03, Z:0.11 [[ 9.98218793e-01 -5.37752961e-02 -2.58352371e-02 1.11875039e+02] [ 5.37297521e-02 9.98552497e-01 -2.45432050e-03 3.02834645e+00] [ 2.59298223e-02 1.06182796e-03 9.99663202e-01 1.11534183e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.975336195 meters Centerline goodness [0,1] 0.987454192713947 Centerline is valid? [True, True] Translation: X:111.90, Y:3.03, Z:0.11 [[ 9.98180705e-01 -5.45106496e-02 -2.57656707e-02 1.11902534e+02] [ 5.44655545e-02 9.98512646e-01 -2.44928147e-03 3.02969375e+00] [ 2.58608599e-02 1.04148396e-03 9.99665010e-01 1.10228830e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.005336195 meters Centerline goodness [0,1] 0.9952947215330653 Centerline is valid? [True, True] Translation: X:111.93, Y:3.02, Z:0.11 [[ 9.98101270e-01 -5.62621494e-02 -2.50684087e-02 1.11932755e+02] [ 5.62199133e-02 9.98415557e-01 -2.38699908e-03 3.02221465e+00] [ 2.51629869e-02 9.73123044e-04 9.99682888e-01 1.11573005e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.035336195 meters Centerline goodness [0,1] 0.9946755766328951 Centerline is valid? [True, True] Translation: X:111.96, Y:3.02, Z:0.11 [[ 9.97963137e-01 -5.79719274e-02 -2.66239223e-02 1.11961708e+02] [ 5.79247714e-02 9.98317720e-01 -2.53966676e-03 3.02056863e+00] [ 2.67263628e-02 9.92309197e-04 9.99642294e-01 1.10393950e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.06533619500001 meters Centerline goodness [0,1] 0.9967700678502526 Centerline is valid? [True, True] Translation: X:111.99, Y:3.02, Z:0.11 [[ 9.97827357e-01 -5.93536805e-02 -2.85955508e-02 1.11990441e+02] [ 5.92997038e-02 9.98236484e-01 -2.73268365e-03 3.02117989e+00] [ 2.87073169e-02 1.03103882e-03 9.99587328e-01 1.07772267e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.09533619500002 meters Centerline goodness [0,1] 0.9959425984453746 Centerline is valid? [True, True] Translation: X:112.02, Y:3.02, Z:0.11 [[ 9.97657329e-01 -6.19112998e-02 -2.91006131e-02 1.12018783e+02] [ 6.18564436e-02 9.98081178e-01 -2.78237667e-03 3.02169600e+00] [ 2.92170348e-02 9.75798043e-04 9.99572615e-01 1.05121475e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.12533619500002 meters Centerline goodness [0,1] 0.9992205767731879 Centerline is valid? [True, True] Translation: X:112.05, Y:3.02, Z:0.11 [[ 9.97597790e-01 -6.33674502e-02 -2.79859827e-02 1.12048529e+02] [ 6.33171618e-02 9.97989856e-01 -2.68033412e-03 3.01660782e+00] [ 2.80995728e-02 9.01902401e-04 9.99604722e-01 1.10708682e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.15533619500002 meters Centerline goodness [0,1] 0.9996754651665946 Centerline is valid? [True, True] Translation: X:112.08, Y:3.01, Z:0.11 [[ 9.97525836e-01 -6.55066284e-02 -2.55164475e-02 1.12077837e+02] [ 6.54655004e-02 9.97851838e-01 -2.44476293e-03 3.01043448e+00] [ 2.56217822e-02 7.68267184e-04 9.99671413e-01 1.14196105e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.18533619500002 meters Centerline goodness [0,1] 0.9995510710162897 Centerline is valid? [True, True] Translation: X:112.11, Y:3.01, Z:0.11 [[ 9.97483914e-01 -6.62275422e-02 -2.52933467e-02 1.12105484e+02] [ 6.61873223e-02 9.97804268e-01 -2.42494475e-03 3.01305958e+00] [ 2.53984074e-02 7.44744494e-04 9.99677131e-01 1.12272341e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.21533619500002 meters Centerline goodness [0,1] 0.9993010251630942 Centerline is valid? [True, True] Translation: X:112.13, Y:3.02, Z:0.11 [[ 9.97544092e-01 -6.59298187e-02 -2.36441212e-02 1.12132700e+02] [ 6.58945570e-02 9.97824014e-01 -2.26822979e-03 3.01801659e+00] [ 2.37422159e-02 7.04640334e-04 9.99717866e-01 1.13657143e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.245336195 meters Centerline goodness [0,1] 0.999721059972106 Centerline is valid? [True, True] Translation: X:112.16, Y:3.02, Z:0.12 [[ 9.97786956e-01 -6.25306894e-02 -2.26075950e-02 1.12161716e+02] [ 6.24975534e-02 9.98042758e-01 -2.16998539e-03 3.01991782e+00] [ 2.26990372e-02 7.52263742e-04 9.99742061e-01 1.19455563e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.275336195 meters Centerline goodness [0,1] 0.9987550174941507 Centerline is valid? [True, True] Translation: X:112.19, Y:3.02, Z:0.12 [[ 9.97872944e-01 -6.06514211e-02 -2.38954492e-02 1.12191482e+02] [ 6.06138493e-02 9.98158654e-01 -2.29418800e-03 3.02264013e+00] [ 2.39905952e-02 8.40912979e-04 9.99711831e-01 1.17554208e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.305336195 meters Centerline goodness [0,1] 0.9806493089038895 Centerline is valid? [True, True] Translation: X:112.22, Y:3.03, Z:0.11 [[ 9.97975744e-01 -5.75410485e-02 -2.70821478e-02 1.12220632e+02] [ 5.74916412e-02 9.98342602e-01 -2.60011305e-03 3.02782981e+00] [ 2.71868751e-02 1.03785263e-03 9.99629830e-01 1.09462616e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.335336195 meters Centerline goodness [0,1] 0.9675698741199061 Centerline is valid? [True, True] Translation: X:112.25, Y:3.03, Z:0.11 [[ 9.98009809e-01 -5.66207714e-02 -2.77580419e-02 1.12249111e+02] [ 5.65684752e-02 9.98395161e-01 -2.66629457e-03 3.03311779e+00] [ 2.78644624e-02 1.09075803e-03 9.99611115e-01 1.07774113e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.365336195 meters Centerline goodness [0,1] 0.9835917312661498 Centerline is valid? [True, True] Translation: X:112.28, Y:3.03, Z:0.11 [[ 9.98000547e-01 -5.64277844e-02 -2.84747879e-02 1.12278190e+02] [ 5.63725351e-02 9.98406045e-01 -2.73997146e-03 3.03313806e+00] [ 2.85840108e-02 1.12929703e-03 9.99590756e-01 1.09498933e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.395336195 meters Centerline goodness [0,1] 0.9874295904830256 Centerline is valid? [True, True] Translation: X:112.31, Y:3.03, Z:0.11 [[ 9.97988097e-01 -5.69260331e-02 -2.79138912e-02 1.12307463e+02] [ 5.68730102e-02 9.98377795e-01 -2.69042326e-03 3.03385010e+00] [ 2.80217643e-02 1.09746337e-03 9.99606711e-01 1.10671996e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.425336195 meters Centerline goodness [0,1] 0.9965642380124117 Centerline is valid? [True, True] Translation: X:112.34, Y:3.03, Z:0.12 [[ 9.98004034e-01 -5.79937776e-02 -2.49933993e-02 1.12338039e+02] [ 5.79515872e-02 9.98316486e-01 -2.40969546e-03 3.03008630e+00] [ 2.50910699e-02 9.56478631e-04 9.99684712e-01 1.16061027e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.455336195 meters Centerline goodness [0,1] 0.9968236133019296 Centerline is valid? [True, True] Translation: X:112.37, Y:3.03, Z:0.12 [[ 9.97982003e-01 -5.86232959e-02 -2.43973346e-02 1.12366180e+02] [ 5.85831793e-02 9.98279750e-01 -2.35642335e-03 3.03208299e+00] [ 2.44935064e-02 9.22394665e-04 9.99699564e-01 1.16761833e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.485336195 meters Centerline goodness [0,1] 0.9831176381920369 Centerline is valid? [True, True] Translation: X:112.39, Y:3.04, Z:0.11 [[ 9.97952675e-01 -5.90548280e-02 -2.45557676e-02 1.12393978e+02] [ 5.90142823e-02 9.98254317e-01 -2.37321487e-03 3.03760761e+00] [ 2.46530509e-02 9.19215119e-04 9.99695645e-01 1.12783437e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.515336195 meters Centerline goodness [0,1] 0.9965339438156572 Centerline is valid? [True, True] Translation: X:112.42, Y:3.03, Z:0.11 [[ 9.97920971e-01 -5.91417481e-02 -2.56122700e-02 1.12423641e+02] [ 5.90975534e-02 9.98249132e-01 -2.47970528e-03 3.03404902e+00] [ 2.57140804e-02 9.60927410e-04 9.99668877e-01 1.14399300e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.545336195 meters Centerline goodness [0,1] 0.994158038147139 Centerline is valid? [True, True] Translation: X:112.45, Y:3.04, Z:0.11 [[ 9.97878487e-01 -5.92610460e-02 -2.69565268e-02 1.12452372e+02] [ 5.92120079e-02 9.98242006e-01 -2.61445394e-03 3.03596030e+00] [ 2.70640726e-02 1.01275726e-03 9.99633188e-01 1.12056881e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.575336195 meters Centerline goodness [0,1] 0.9934364948274363 Centerline is valid? [True, True] Translation: X:112.48, Y:3.03, Z:0.11 [[ 9.97725541e-01 -6.07072482e-02 -2.92980432e-02 1.12480241e+02] [ 6.06498881e-02 9.98155051e-01 -2.84333094e-03 3.03239311e+00] [ 2.94166006e-02 1.05994086e-03 9.99566676e-01 1.07241709e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.605336195 meters Centerline goodness [0,1] 0.988520791314423 Centerline is valid? [True, True] Translation: X:112.51, Y:3.04, Z:0.10 [[ 9.97648314e-01 -6.18801577e-02 -2.94735234e-02 1.12507700e+02] [ 6.18225666e-02 9.98083052e-01 -2.86213968e-03 3.03501539e+00] [ 2.95941338e-02 1.03327997e-03 9.99561464e-01 1.04801092e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.635336195 meters Centerline goodness [0,1] 0.988520791314423 Centerline is valid? [True, True] Translation: X:112.54, Y:3.04, Z:0.10 [[ 9.97636700e-01 -6.20673714e-02 -2.94729860e-02 1.12535045e+02] [ 6.20096987e-02 9.98071427e-01 -2.86766842e-03 3.03787274e+00] [ 2.95941338e-02 1.03328028e-03 9.99561464e-01 1.04801025e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.665336195 meters Centerline goodness [0,1] 0.998301915181738 Centerline is valid? [True, True] Translation: X:112.57, Y:3.04, Z:0.11 [[ 9.97554911e-01 -6.42980188e-02 -2.73854622e-02 1.12565255e+02] [ 6.42490591e-02 9.97930337e-01 -2.66488648e-03 3.03834412e+00] [ 2.75001304e-02 8.98880419e-04 9.99621396e-01 1.11815497e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.695336195 meters Centerline goodness [0,1] 0.9991910935138472 Centerline is valid? [True, True] Translation: X:112.59, Y:3.04, Z:0.11 [[ 9.97493849e-01 -6.55060392e-02 -2.67391286e-02 1.12594024e+02] [ 6.54596753e-02 9.97851811e-01 -2.60653250e-03 3.03969178e+00] [ 2.68524315e-02 8.49665461e-04 9.99639047e-01 1.13663181e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.725336195 meters Centerline goodness [0,1] 0.9976694960552479 Centerline is valid? [True, True] Translation: X:112.62, Y:3.04, Z:0.11 [[ 9.97404201e-01 -6.70639922e-02 -2.62160502e-02 1.12622180e+02] [ 6.70199044e-02 9.97748360e-01 -2.55774551e-03 3.04010563e+00] [ 2.63285537e-02 7.94108941e-04 9.99653028e-01 1.10013497e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.755336195 meters Centerline goodness [0,1] 0.9997203940293371 Centerline is valid? [True, True] Translation: X:112.65, Y:3.03, Z:0.12 [[ 9.97364607e-01 -6.77994917e-02 -2.58276741e-02 1.12651993e+02] [ 6.77568311e-02 9.97698672e-01 -2.52432777e-03 3.03225524e+00] [ 2.59393843e-02 7.67673818e-04 9.99663223e-01 1.15557918e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.785336195 meters Centerline goodness [0,1] 0.9998504273504274 Centerline is valid? [True, True] Translation: X:112.68, Y:3.03, Z:0.12 [[ 9.97267413e-01 -6.98164240e-02 -2.41531371e-02 1.12681989e+02] [ 6.97796936e-02 9.97559632e-01 -2.36125658e-03 3.02637014e+00] [ 2.42590491e-02 6.69405735e-04 9.99705482e-01 1.16392527e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.81533619500001 meters Centerline goodness [0,1] 0.9998703207400363 Centerline is valid? [True, True] Translation: X:112.71, Y:3.03, Z:0.12 [[ 9.97216132e-01 -7.09117113e-02 -2.30546351e-02 1.12710723e+02] [ 7.08785127e-02 9.97482407e-01 -2.25500267e-03 3.02515613e+00] [ 2.31564990e-02 6.14646794e-04 9.99731663e-01 1.20359619e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.84533619500002 meters Centerline goodness [0,1] 0.9999569299681281 Centerline is valid? [True, True] Translation: X:112.74, Y:3.03, Z:0.12 [[ 9.97131178e-01 -7.21488596e-02 -2.28901052e-02 1.12738561e+02] [ 7.21164265e-02 9.97393705e-01 -2.24031580e-03 3.02842951e+00] [ 2.29920831e-02 5.83136138e-04 9.99735477e-01 1.21365400e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.87533619500002 meters Centerline goodness [0,1] 0.9998487696329423 Centerline is valid? [True, True] Translation: X:112.77, Y:3.03, Z:0.12 [[ 9.97078566e-01 -7.24247461e-02 -2.42690859e-02 1.12766718e+02] [ 7.23883318e-02 9.97373691e-01 -2.37678164e-03 3.03145345e+00] [ 2.43774856e-02 6.13039385e-04 9.99702637e-01 1.19385133e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.90533619500002 meters Centerline goodness [0,1] 0.9997413179848671 Centerline is valid? [True, True] Translation: X:112.79, Y:3.04, Z:0.11 [[ 9.97054826e-01 -7.19145819e-02 -2.66452076e-02 1.12794962e+02] [ 7.18704776e-02 9.97410557e-01 -2.61047306e-03 3.03532886e+00] [ 2.67639424e-02 6.87780963e-04 9.99641545e-01 1.11429770e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.93533619500002 meters Centerline goodness [0,1] 0.9997195192992298 Centerline is valid? [True, True] Translation: X:112.82, Y:3.03, Z:0.11 [[ 9.97081738e-01 -7.14062959e-02 -2.70027438e-02 1.12824391e+02] [ 7.13606883e-02 9.97447056e-01 -2.65011875e-03 3.03203087e+00] [ 2.71230425e-02 7.15450623e-04 9.99631847e-01 1.13281637e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.96533619500002 meters Centerline goodness [0,1] 0.9995228386760943 Centerline is valid? [True, True] Translation: X:112.85, Y:3.03, Z:0.11 [[ 9.97152331e-01 -7.02888629e-02 -2.73259011e-02 1.12852473e+02] [ 7.02416922e-02 9.97526392e-01 -2.68349047e-03 3.02883672e+00] [ 2.74469271e-02 7.56431239e-04 9.99622976e-01 1.11817411e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.995336195 meters Centerline goodness [0,1] 0.9996955131690555 Centerline is valid? [True, True] Translation: X:112.88, Y:3.04, Z:0.12 [[ 9.97306617e-01 -6.80301457e-02 -2.74118698e-02 1.12881852e+02] [ 6.79818064e-02 9.97682928e-01 -2.69261214e-03 3.03523349e+00] [ 2.75315333e-02 8.21851472e-04 9.99620598e-01 1.16183102e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.025336195 meters Centerline goodness [0,1] 0.9995018626007104 Centerline is valid? [True, True] Translation: X:112.91, Y:3.05, Z:0.12 [[ 9.97450444e-01 -6.62717316e-02 -2.64701754e-02 1.12908761e+02] [ 6.62259955e-02 9.97801257e-01 -2.60174205e-03 3.04501744e+00] [ 2.65843962e-02 8.42095043e-04 9.99646218e-01 1.16605419e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.055336195 meters Centerline goodness [0,1] 0.9925593961746291 Centerline is valid? [True, True] Translation: X:112.94, Y:3.05, Z:0.12 [[ 9.97686866e-01 -6.31458054e-02 -2.51699165e-02 1.12936298e+02] [ 6.31034285e-02 9.98003923e-01 -2.47516624e-03 3.05479917e+00] [ 2.52759718e-02 8.81132826e-04 9.99680123e-01 1.16699771e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.085336195 meters Centerline goodness [0,1] 0.9984316459004966 Centerline is valid? [True, True] Translation: X:112.97, Y:3.05, Z:0.12 [[ 9.97737193e-01 -6.23010689e-02 -2.52798544e-02 1.12965353e+02] [ 6.22579391e-02 9.98056986e-01 -2.49034883e-03 3.05185251e+00] [ 2.53858867e-02 9.10842018e-04 9.99677311e-01 1.20940904e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.115336195 meters Centerline goodness [0,1] 0.9972227006544954 Centerline is valid? [True, True] Translation: X:112.99, Y:3.05, Z:0.12 [[ 9.97794209e-01 -6.17517860e-02 -2.43604703e-02 1.12992657e+02] [ 6.17115223e-02 9.98091138e-01 -2.40187220e-03 3.05243181e+00] [ 2.44622895e-02 8.93252468e-04 9.99700354e-01 1.21150225e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.145336195 meters Centerline goodness [0,1] 0.9989424384348089 Centerline is valid? [True, True] Translation: X:113.02, Y:3.05, Z:0.12 [[ 9.97813696e-01 -6.13530201e-02 -2.45689738e-02 1.13021252e+02] [ 6.13118379e-02 9.98115710e-01 -2.42670403e-03 3.05484041e+00] [ 2.46715644e-02 9.15029574e-04 9.99695192e-01 1.22258605e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.175336195 meters Centerline goodness [0,1] 0.9968527699935331 Centerline is valid? [True, True] Translation: X:113.05, Y:3.06, Z:0.12 [[ 9.97860911e-01 -6.06980251e-02 -2.42765861e-02 1.13048023e+02] [ 6.06575800e-02 9.98155749e-01 -2.39962297e-03 3.06204706e+00] [ 2.43774663e-02 9.21930996e-04 9.99702400e-01 1.21402403e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.205336195 meters Centerline goodness [0,1] 0.9956065152164595 Centerline is valid? [True, True] Translation: X:113.08, Y:3.07, Z:0.12 [[ 9.97963976e-01 -5.91886499e-02 -2.37614600e-02 1.13075754e+02] [ 5.91494417e-02 9.98246373e-01 -2.35015238e-03 3.06840696e+00] [ 2.38588936e-02 9.39890322e-04 9.99714894e-01 1.23022888e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.235336195 meters Centerline goodness [0,1] 0.9959389108504526 Centerline is valid? [True, True] Translation: X:113.10, Y:3.07, Z:0.12 [[ 9.97977784e-01 -5.87485170e-02 -2.42683633e-02 1.13104537e+02] [ 5.87073856e-02 9.98272338e-01 -2.40447803e-03 3.07106970e+00] [ 2.43676953e-02 9.74883491e-04 9.99702588e-01 1.22966577e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.265336195 meters Centerline goodness [0,1] 0.9946063731095338 Centerline is valid? [True, True] Translation: X:113.13, Y:3.08, Z:0.12 [[ 9.97985031e-01 -5.83787844e-02 -2.48554766e-02 1.13132610e+02] [ 5.83354858e-02 9.98293994e-01 -2.46417339e-03 3.07592422e+00] [ 2.49569285e-02 1.00925185e-03 9.99688018e-01 1.22448897e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.295336195 meters Centerline goodness [0,1] 0.9949260498758502 Centerline is valid? [True, True] Translation: X:113.16, Y:3.08, Z:0.12 [[ 9.97949100e-01 -5.93267983e-02 -2.40400585e-02 1.13160163e+02] [ 5.92865410e-02 9.98238158e-01 -2.38450632e-03 3.08069722e+00] [ 2.41391689e-02 9.54364018e-04 9.99708152e-01 1.23419624e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.325336195 meters Centerline goodness [0,1] 0.9920346171234203 Centerline is valid? [True, True] Translation: X:113.19, Y:3.09, Z:0.12 [[ 9.97807698e-01 -6.23106201e-02 -2.22976223e-02 1.13188998e+02] [ 6.22767198e-02 9.98056469e-01 -2.21221171e-03 3.08714507e+00] [ 2.23921305e-02 8.18739099e-04 9.99748930e-01 1.23898815e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.355336195 meters Centerline goodness [0,1] 0.9995653591220254 Centerline is valid? [True, True] Translation: X:113.22, Y:3.08, Z:0.13 [[ 9.97688847e-01 -6.43365793e-02 -2.18579141e-02 1.13219264e+02] [ 6.43044767e-02 9.97927968e-01 -2.16912713e-03 3.08158344e+00] [ 2.19521780e-02 7.58552216e-04 9.99758734e-01 1.28265131e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.385336195 meters Centerline goodness [0,1] 0.9997208083671585 Centerline is valid? [True, True] Translation: X:113.25, Y:3.08, Z:0.13 [[ 9.97419673e-01 -6.91246972e-02 -1.93848511e-02 1.13249027e+02] [ 6.91003465e-02 9.97607859e-01 -1.92398604e-03 3.07815365e+00] [ 1.94714748e-02 5.79521592e-04 9.99810245e-01 1.31317384e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.415336195 meters Centerline goodness [0,1] 0.9999359207125617 Centerline is valid? [True, True] Translation: X:113.28, Y:3.08, Z:0.13 [[ 9.97145267e-01 -7.33523008e-02 -1.79096745e-02 1.13278589e+02] [ 7.33321890e-02 9.97305986e-01 -1.77800583e-03 3.07604551e+00] [ 1.79918464e-02 4.59574460e-04 9.99838028e-01 1.33068616e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.445336195 meters Centerline goodness [0,1] 0.9998727438545887 Centerline is valid? [True, True] Translation: X:113.31, Y:3.08, Z:0.13 [[ 9.97041765e-01 -7.46084266e-02 -1.84743525e-02 1.13305929e+02] [ 7.45872215e-02 9.97212805e-01 -1.83516199e-03 3.07848344e+00] [ 1.85597794e-02 4.51782523e-04 9.99827650e-01 1.30831440e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.475336195 meters Centerline goodness [0,1] 0.9998088766192398 Centerline is valid? [True, True] Translation: X:113.33, Y:3.08, Z:0.13 [[ 9.96904960e-01 -7.59584188e-02 -2.02686733e-02 1.13334775e+02] [ 7.59331044e-02 9.97110875e-01 -2.01675464e-03 3.07764011e+00] [ 2.03633040e-02 4.71449423e-04 9.99792535e-01 1.27830187e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.505336195 meters Centerline goodness [0,1] 0.9999783886583679 Centerline is valid? [True, True] Translation: X:113.36, Y:3.07, Z:0.13 [[ 9.96880841e-01 -7.60919627e-02 -2.09428451e-02 1.13364237e+02] [ 7.60648882e-02 9.97100685e-01 -2.08750731e-03 3.07419023e+00] [ 2.10409677e-02 4.87980870e-04 9.99778495e-01 1.30239137e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.535336195 meters Centerline goodness [0,1] 0.9999356623560445 Centerline is valid? [True, True] Translation: X:113.39, Y:3.08, Z:0.13 [[ 9.96977628e-01 -7.45026978e-02 -2.20217290e-02 1.13392467e+02] [ 7.44723498e-02 9.97220661e-01 -2.19614437e-03 3.07584668e+00] [ 2.21241418e-02 5.49496906e-04 9.99755080e-01 1.29124523e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.56533619500001 meters Centerline goodness [0,1] 0.9999138506601193 Centerline is valid? [True, True] Translation: X:113.42, Y:3.08, Z:0.13 [[ 9.97080131e-01 -7.30694550e-02 -2.21825999e-02 1.13419578e+02] [ 7.30382769e-02 9.97326682e-01 -2.21355174e-03 3.08215676e+00] [ 2.22850418e-02 5.86909588e-04 9.99751485e-01 1.28781081e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.59533619500002 meters Centerline goodness [0,1] 0.9977788219213191 Centerline is valid? [True, True] Translation: X:113.45, Y:3.10, Z:0.12 [[ 9.97339586e-01 -6.95260115e-02 -2.19062358e-02 1.13446410e+02] [ 6.94947280e-02 9.97579921e-01 -2.18703796e-03 3.09796113e+00] [ 2.20052770e-02 6.58851633e-04 9.99757637e-01 1.23713410e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.62533619500002 meters Centerline goodness [0,1] 0.999442119944212 Centerline is valid? [True, True] Translation: X:113.48, Y:3.10, Z:0.13 [[ 9.97563405e-01 -6.60148620e-02 -2.25674658e-02 1.13476711e+02] [ 6.59807572e-02 9.97818351e-01 -2.25332640e-03 3.09642357e+00] [ 2.26669845e-02 7.58817479e-04 9.99742783e-01 1.28062321e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.65533619500002 meters Centerline goodness [0,1] 0.9970914690220064 Centerline is valid? [True, True] Translation: X:113.50, Y:3.10, Z:0.13 [[ 9.97704490e-01 -6.41905432e-02 -2.15713837e-02 1.13503570e+02] [ 6.41589235e-02 9.97937366e-01 -2.15542710e-03 3.10162526e+00] [ 2.16652479e-02 7.66482533e-04 9.99764987e-01 1.28408830e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.68533619500002 meters Centerline goodness [0,1] 0.9965440261022624 Centerline is valid? [True, True] Translation: X:113.53, Y:3.10, Z:0.13 [[ 9.97959365e-01 -6.02960744e-02 -2.10116441e-02 1.13534039e+02] [ 6.02652072e-02 9.98180192e-01 -2.09975106e-03 3.10251635e+00] [ 2.11000136e-02 8.29195150e-04 9.99777026e-01 1.30732239e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.71533619500002 meters Centerline goodness [0,1] 0.9872515451041196 Centerline is valid? [True, True] Translation: X:113.56, Y:3.11, Z:0.13 [[ 9.98098304e-01 -5.71759788e-02 -2.30365507e-02 1.13563813e+02] [ 5.71380424e-02 9.98363633e-01 -2.30219957e-03 3.11109945e+00] [ 2.31304849e-02 9.81558081e-04 9.99731973e-01 1.27732437e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.745336195 meters Centerline goodness [0,1] 0.9963938129996525 Centerline is valid? [True, True] Translation: X:113.59, Y:3.11, Z:0.13 [[ 9.98158260e-01 -5.62145709e-02 -2.28037269e-02 1.13592100e+02] [ 5.61770979e-02 9.98418214e-01 -2.28108538e-03 3.11377015e+00] [ 2.28958866e-02 9.95837019e-04 9.99737359e-01 1.30067356e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.775336195 meters Centerline goodness [0,1] 0.9779538780445672 Centerline is valid? [True, True] Translation: X:113.62, Y:3.13, Z:0.13 [[ 9.98264312e-01 -5.48755681e-02 -2.13783879e-02 1.13619171e+02] [ 5.48422990e-02 9.98492736e-01 -2.13983740e-03 3.12564538e+00] [ 2.14635898e-02 9.63683371e-04 9.99769166e-01 1.28940302e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.805336195 meters Centerline goodness [0,1] 0.9735245211307145 Centerline is valid? [True, True] Translation: X:113.65, Y:3.13, Z:0.13 [[ 9.98250292e-01 -5.50430034e-02 -2.16014536e-02 1.13645987e+02] [ 5.50090370e-02 9.98483512e-01 -2.16393339e-03 3.12516037e+00] [ 2.16878047e-02 9.71871971e-04 9.99764320e-01 1.27977917e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.835336195 meters Centerline goodness [0,1] 0.9700273060841369 Centerline is valid? [True, True] Translation: X:113.68, Y:3.12, Z:0.13 [[ 9.98134073e-01 -5.67846992e-02 -2.24470708e-02 1.13675710e+02] [ 5.67484369e-02 9.98385974e-01 -2.24968325e-03 3.11851021e+00] [ 2.25385883e-02 9.71649321e-04 9.99745502e-01 1.26285971e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.865336195 meters Centerline goodness [0,1] 0.9773807993831127 Centerline is valid? [True, True] Translation: X:113.71, Y:3.12, Z:0.13 [[ 9.98037464e-01 -5.85653304e-02 -2.21658104e-02 1.13705112e+02] [ 5.85303354e-02 9.98283151e-01 -2.22482534e-03 3.11900752e+00] [ 2.22580527e-02 9.23086722e-04 9.99751833e-01 1.26538521e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.895336195 meters Centerline goodness [0,1] 0.9980739599383667 Centerline is valid? [True, True] Translation: X:113.73, Y:3.11, Z:0.13 [[ 9.98011667e-01 -5.92902087e-02 -2.13865500e-02 1.13734566e+02] [ 5.92577187e-02 9.98240401e-01 -2.15028495e-03 3.11477191e+00] [ 2.14764091e-02 8.78691306e-04 9.99768969e-01 1.31982743e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.925336195 meters Centerline goodness [0,1] 0.9976665025368757 Centerline is valid? [True, True] Translation: X:113.76, Y:3.12, Z:0.13 [[ 9.98024039e-01 -5.94365267e-02 -2.03793331e-02 1.13762168e+02] [ 5.94070304e-02 9.98231737e-01 -2.05025804e-03 3.11807973e+00] [ 2.04651573e-02 8.35531142e-04 9.99790218e-01 1.33150113e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.955336195 meters Centerline goodness [0,1] 0.9882413087934561 Centerline is valid? [True, True] Translation: X:113.79, Y:3.12, Z:0.13 [[ 9.98062475e-01 -5.86639319e-02 -2.07325437e-02 1.13789473e+02] [ 5.86332117e-02 9.98277412e-01 -2.08704543e-03 3.12460845e+00] [ 2.08192643e-02 8.67386108e-04 9.99782879e-01 1.30652134e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.985336195 meters Centerline goodness [0,1] 0.9556841302136317 Centerline is valid? [True, True] Translation: X:113.82, Y:3.13, Z:0.13 [[ 9.98122665e-01 -5.76670637e-02 -2.06313933e-02 1.13817203e+02] [ 5.76364049e-02 9.98335478e-01 -2.07807110e-03 3.12961564e+00] [ 2.07168881e-02 8.85050531e-04 9.99784991e-01 1.27741784e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.015336195 meters Centerline goodness [0,1] 0.9892138425955948 Centerline is valid? [True, True] Translation: X:113.85, Y:3.12, Z:0.13 [[ 9.98169912e-01 -5.72689278e-02 -1.94189824e-02 1.13845358e+02] [ 5.72416204e-02 9.98358431e-01 -1.95961126e-03 3.12463609e+00] [ 1.94993297e-02 8.44450978e-04 9.99809513e-01 1.34076578e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.045336195 meters Centerline goodness [0,1] 0.987108735017677 Centerline is valid? [True, True] Translation: X:113.87, Y:3.13, Z:0.14 [[ 9.98247407e-01 -5.61178432e-02 -1.87856909e-02 1.13873651e+02] [ 5.60920264e-02 9.98423797e-01 -1.89879727e-03 3.13092898e+00] [ 1.88626373e-02 8.41741979e-04 9.99821730e-01 1.35813291e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.075336195 meters Centerline goodness [0,1] 0.9858113722064807 Centerline is valid? [True, True] Translation: X:113.90, Y:3.14, Z:0.13 [[ 9.98244258e-01 -5.60285960e-02 -1.92145045e-02 1.13902003e+02] [ 5.60015093e-02 9.98428789e-01 -1.94530909e-03 3.13519469e+00] [ 1.92933074e-02 8.65852378e-04 9.99813492e-01 1.33750371e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.105336195 meters Centerline goodness [0,1] 0.9966440065398847 Centerline is valid? [True, True] Translation: X:113.93, Y:3.13, Z:0.14 [[ 9.98225250e-01 -5.63534367e-02 -1.92520000e-02 1.13930399e+02] [ 5.63262315e-02 9.98410508e-01 -1.95287574e-03 3.13254084e+00] [ 1.93314504e-02 8.65017260e-04 9.99812756e-01 1.35586376e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.135336195 meters Centerline goodness [0,1] 0.989905498281787 Centerline is valid? [True, True] Translation: X:113.96, Y:3.14, Z:0.13 [[ 9.98154472e-01 -5.74665826e-02 -1.96275747e-02 1.13957376e+02] [ 5.74384967e-02 9.98347059e-01 -1.99216514e-03 3.14037682e+00] [ 1.97096144e-02 8.61110164e-04 9.99805376e-01 1.32969034e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.165336195 meters Centerline goodness [0,1] 0.9896449704142012 Centerline is valid? [True, True] Translation: X:113.99, Y:3.14, Z:0.13 [[ 9.98104154e-01 -5.84448576e-02 -1.92949647e-02 1.13985228e+02] [ 5.84178761e-02 9.98290294e-01 -1.95954177e-03 3.14272267e+00] [ 1.93765011e-02 8.28655928e-04 9.99811915e-01 1.32302881e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.195336195 meters Centerline goodness [0,1] 0.9903545858208163 Centerline is valid? [True, True] Translation: X:114.01, Y:3.14, Z:0.13 [[ 9.98049610e-01 -5.92015154e-02 -1.98029437e-02 1.14013977e+02] [ 5.91731779e-02 9.98245700e-01 -2.01440236e-03 3.14057397e+00] [ 1.98874591e-02 8.38670383e-04 9.99801873e-01 1.32689334e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.225336195 meters Centerline goodness [0,1] 0.987271093616293 Centerline is valid? [True, True] Translation: X:114.04, Y:3.14, Z:0.13 [[ 9.98032035e-01 -5.89740307e-02 -2.13101229e-02 1.14042162e+02] [ 5.89411360e-02 9.98259104e-01 -2.16897628e-03 3.14428429e+00] [ 2.14009374e-02 9.08664956e-04 9.99770561e-01 1.31310292e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.255336195 meters Centerline goodness [0,1] 0.9688915735427364 Centerline is valid? [True, True] Translation: X:114.07, Y:3.15, Z:0.13 [[ 9.98011088e-01 -5.84502418e-02 -2.36101264e-02 1.14069348e+02] [ 5.84096846e-02 9.98289801e-01 -2.40436670e-03 3.15349636e+00] [ 2.37102842e-02 1.02052459e-03 9.99718351e-01 1.26093232e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.285336195 meters Centerline goodness [0,1] 0.9554860135394048 Centerline is valid? [True, True] Translation: X:114.10, Y:3.16, Z:0.12 [[ 9.97990423e-01 -5.85287771e-02 -2.42795772e-02 1.14096359e+02] [ 5.84858580e-02 9.98285170e-01 -2.47467233e-03 3.15983835e+00] [ 2.43827813e-02 1.04968738e-03 9.99702145e-01 1.23235492e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.31533619500001 meters Centerline goodness [0,1] 0.9862437012310505 Centerline is valid? [True, True] Translation: X:114.13, Y:3.16, Z:0.13 [[ 9.97920076e-01 -5.97448887e-02 -2.42089009e-02 1.14125869e+02] [ 5.97024836e-02 9.98213157e-01 -2.47128004e-03 3.15965893e+00] [ 2.43132897e-02 1.02080846e-03 9.99703867e-01 1.26700963e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.34533619500002 meters Centerline goodness [0,1] 0.965873219008617 Centerline is valid? [True, True] Translation: X:114.15, Y:3.17, Z:0.12 [[ 9.97885967e-01 -6.04471517e-02 -2.38692061e-02 1.14152960e+02] [ 6.04060946e-02 9.98170907e-01 -2.43804293e-03 3.16953587e+00] [ 2.39729199e-02 9.91043307e-04 9.99712117e-01 1.23995830e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.37533619500002 meters Centerline goodness [0,1] 0.9883503893930617 Centerline is valid? [True, True] Translation: X:114.18, Y:3.17, Z:0.13 [[ 9.97849672e-01 -6.13709200e-02 -2.30139544e-02 1.14182114e+02] [ 6.13329730e-02 9.98114590e-01 -2.35177846e-03 3.16920737e+00] [ 2.31148945e-02 9.35207124e-04 9.99732378e-01 1.27475602e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.40533619500002 meters Centerline goodness [0,1] 0.9854509346803091 Centerline is valid? [True, True] Translation: X:114.21, Y:3.17, Z:0.13 [[ 9.97739601e-01 -6.35393549e-02 -2.18732699e-02 1.14210413e+02] [ 6.35055801e-02 9.97978979e-01 -2.23598832e-03 3.17180638e+00] [ 2.19711368e-02 8.41859400e-04 9.99758251e-01 1.27792297e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.43533619500002 meters Centerline goodness [0,1] 0.9954448765604521 Centerline is valid? [True, True] Translation: X:114.24, Y:3.17, Z:0.13 [[ 9.97638346e-01 -6.50509927e-02 -2.20476659e-02 1.14239242e+02] [ 6.50169647e-02 9.97881605e-01 -2.25746820e-03 3.17316202e+00] [ 2.21478108e-02 8.18664525e-04 9.99754372e-01 1.28659661e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.46533619500002 meters Centerline goodness [0,1] 0.9982818607448134 Centerline is valid? [True, True] Translation: X:114.27, Y:3.18, Z:0.13 [[ 9.97444671e-01 -6.74785235e-02 -2.34686622e-02 1.14267838e+02] [ 6.74405433e-02 9.97720391e-01 -2.40697332e-03 3.17535683e+00] [ 2.35775818e-02 8.18083381e-04 9.99721675e-01 1.27538429e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.495336195 meters Centerline goodness [0,1] 0.9988144763218589 Centerline is valid? [True, True] Translation: X:114.30, Y:3.18, Z:0.13 [[ 9.97405441e-01 -6.82835535e-02 -2.27978623e-02 1.14295874e+02] [ 6.82478921e-02 9.97665651e-01 -2.33956200e-03 3.17824715e+00] [ 2.29043978e-02 7.77585820e-04 9.99737357e-01 1.28248321e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.525336195 meters Centerline goodness [0,1] 0.9988144763218589 Centerline is valid? [True, True] Translation: X:114.32, Y:3.18, Z:0.13 [[ 9.97392328e-01 -6.84749750e-02 -2.27974130e-02 1.14323206e+02] [ 6.84392636e-02 9.97652531e-01 -2.34393651e-03 3.18124295e+00] [ 2.29043978e-02 7.77586139e-04 9.99737357e-01 1.28248254e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.555336195 meters Centerline goodness [0,1] 0.9995883971317779 Centerline is valid? [True, True] Translation: X:114.35, Y:3.18, Z:0.13 [[ 9.97362274e-01 -6.96099689e-02 -2.05656513e-02 1.14353419e+02] [ 6.95811340e-02 9.97574053e-01 -2.11521447e-03 3.18325172e+00] [ 2.06630001e-02 6.78653775e-04 9.99786267e-01 1.32424689e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.585336195 meters Centerline goodness [0,1] 0.9957865763286047 Centerline is valid? [True, True] Translation: X:114.38, Y:3.19, Z:0.13 [[ 9.97325353e-01 -7.01685012e-02 -2.04577915e-02 1.14380188e+02] [ 7.01400599e-02 9.97534931e-01 -2.10535765e-03 3.19154133e+00] [ 2.05550914e-02 6.64815838e-04 9.99788501e-01 1.28647915e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.615336195 meters Centerline goodness [0,1] 0.9992285273444197 Centerline is valid? [True, True] Translation: X:114.41, Y:3.19, Z:0.13 [[ 9.97259924e-01 -7.10406302e-02 -2.06367043e-02 1.14409235e+02] [ 7.10118054e-02 9.97473207e-01 -2.12716217e-03 3.18983549e+00] [ 2.07356746e-02 6.55883949e-04 9.99784778e-01 1.31461223e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.645336195 meters Centerline goodness [0,1] 0.9998488904239703 Centerline is valid? [True, True] Translation: X:114.44, Y:3.19, Z:0.14 [[ 9.97289629e-01 -7.08704365e-02 -1.97680691e-02 1.14437311e+02] [ 7.08438759e-02 9.97485327e-01 -2.04156116e-03 3.19002283e+00] [ 1.98630452e-02 6.35581137e-04 9.99802508e-01 1.36281667e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.675336195 meters Centerline goodness [0,1] 0.9996547333894391 Centerline is valid? [True, True] Translation: X:114.47, Y:3.20, Z:0.14 [[ 9.97382916e-01 -6.96451404e-02 -1.94132115e-02 1.14465074e+02] [ 6.96192698e-02 9.97571618e-01 -2.00611153e-03 3.19768790e+00] [ 1.95057848e-02 6.49327755e-04 9.99809533e-01 1.36181125e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.705336195 meters Centerline goodness [0,1] 0.9993787755451781 Centerline is valid? [True, True] Translation: X:114.49, Y:3.20, Z:0.14 [[ 9.97492912e-01 -6.81539838e-02 -1.90505760e-02 1.14492348e+02] [ 6.81287767e-02 9.97674591e-01 -1.96981098e-03 3.20205093e+00] [ 1.91405261e-02 6.66980046e-04 9.99816581e-01 1.35545146e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.735336195 meters Centerline goodness [0,1] 0.9993411404646022 Centerline is valid? [True, True] Translation: X:114.52, Y:3.21, Z:0.14 [[ 9.97573891e-01 -6.69978005e-02 -1.89110285e-02 1.14520889e+02] [ 6.69726928e-02 9.97752886e-01 -1.95859387e-03 3.20718356e+00] [ 1.89997547e-02 6.87319603e-04 9.99819252e-01 1.35987199e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.765336195 meters Centerline goodness [0,1] 0.9944634909818786 Centerline is valid? [True, True] Translation: X:114.55, Y:3.22, Z:0.13 [[ 9.97736238e-01 -6.42196447e-02 -1.99558698e-02 1.14548914e+02] [ 6.41911210e-02 9.97935482e-01 -2.06728650e-03 3.22005473e+00] [ 2.00474310e-02 7.81616996e-04 9.99798725e-01 1.32643373e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.795336195 meters Centerline goodness [0,1] 0.9974976473607665 Centerline is valid? [True, True] Translation: X:114.58, Y:3.22, Z:0.14 [[ 9.97818976e-01 -6.30593483e-02 -1.95143250e-02 1.14577393e+02] [ 6.30317863e-02 9.98009466e-01 -2.02487194e-03 3.22158476e+00] [ 1.96031682e-02 7.90432879e-04 9.99807527e-01 1.35293599e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.825336195 meters Centerline goodness [0,1] 0.9703243323505081 Centerline is valid? [True, True] Translation: X:114.61, Y:3.24, Z:0.13 [[ 9.97976804e-01 -6.04441557e-02 -1.97180564e-02 1.14605231e+02] [ 6.04155009e-02 9.98171218e-01 -2.04624934e-03 3.24088646e+00] [ 1.98056802e-02 8.50833120e-04 9.99803486e-01 1.30981460e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.855336195 meters Centerline goodness [0,1] 0.9935762922358785 Centerline is valid? [True, True] Translation: X:114.64, Y:3.24, Z:0.13 [[ 9.98000679e-01 -5.96073924e-02 -2.10143415e-02 1.14635551e+02] [ 5.95746495e-02 9.98221470e-01 -2.18128146e-03 3.23734599e+00] [ 2.11069874e-02 9.24998353e-04 9.99776795e-01 1.33034064e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.885336195 meters Centerline goodness [0,1] 0.9871173115132352 Centerline is valid? [True, True] Translation: X:114.66, Y:3.24, Z:0.13 [[ 9.98013322e-01 -5.92100379e-02 -2.15309253e-02 1.14662582e+02] [ 5.91755391e-02 9.98245087e-01 -2.23645989e-03 3.24134607e+00] [ 2.16255613e-02 9.57912652e-04 9.99765681e-01 1.29906295e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.915336195 meters Centerline goodness [0,1] 0.9762343521636907 Centerline is valid? [True, True] Translation: X:114.69, Y:3.24, Z:0.13 [[ 9.97984064e-01 -5.96087162e-02 -2.17855149e-02 1.14689764e+02] [ 5.95734631e-02 9.98221356e-01 -2.26420058e-03 3.24463816e+00] [ 2.18817323e-02 9.61797528e-04 9.99760104e-01 1.28264489e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.945336195 meters Centerline goodness [0,1] 0.9885522317798605 Centerline is valid? [True, True] Translation: X:114.72, Y:3.24, Z:0.13 [[ 9.97826982e-01 -6.16730942e-02 -2.31893086e-02 1.14719335e+02] [ 6.16336168e-02 9.98095922e-01 -2.41395954e-03 3.23855206e+00] [ 2.32940308e-02 9.79473000e-04 9.99728177e-01 1.28421456e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.975336195 meters Centerline goodness [0,1] 0.9899237933954276 Centerline is valid? [True, True] Translation: X:114.75, Y:3.24, Z:0.13 [[ 9.97665650e-01 -6.48852062e-02 -2.12875645e-02 1.14748441e+02] [ 6.48526624e-02 9.97892389e-01 -2.21630927e-03 3.24089192e+00] [ 2.13865043e-02 8.30580395e-04 9.99770938e-01 1.29618651e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.005336195 meters Centerline goodness [0,1] 0.9966216216216216 Centerline is valid? [True, True] Translation: X:114.78, Y:3.24, Z:0.13 [[ 9.97575599e-01 -6.62800671e-02 -2.12103213e-02 1.14777555e+02] [ 6.62480522e-02 9.97800739e-01 -2.20928189e-03 3.24075676e+00] [ 2.13101057e-02 7.98783227e-04 9.99772595e-01 1.31934107e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.035336195 meters Centerline goodness [0,1] 0.9991018732358224 Centerline is valid? [True, True] Translation: X:114.81, Y:3.24, Z:0.14 [[ 9.97496402e-01 -6.80414466e-02 -1.92688503e-02 1.14807351e+02] [ 6.80153443e-02 9.97682255e-01 -2.00752134e-03 3.24252657e+00] [ 1.93607846e-02 6.91917828e-04 9.99812323e-01 1.35797288e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.06533619500001 meters Centerline goodness [0,1] 0.9987038099487898 Centerline is valid? [True, True] Translation: X:114.83, Y:3.25, Z:0.14 [[ 9.97488269e-01 -6.86077261e-02 -1.76105747e-02 1.14834795e+02] [ 6.85859931e-02 9.97643519e-01 -1.83581242e-03 3.24755738e+00] [ 1.76950267e-02 6.23362600e-04 9.99843236e-01 1.36260830e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.09533619500002 meters Centerline goodness [0,1] 0.9994244788336104 Centerline is valid? [True, True] Translation: X:114.86, Y:3.24, Z:0.14 [[ 9.97421608e-01 -6.97214185e-02 -1.70017694e-02 1.14864481e+02] [ 6.97012759e-02 9.97566329e-01 -1.77515722e-03 3.24143702e+00] [ 1.70841591e-02 5.85535153e-04 9.99853884e-01 1.37624955e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.12533619500002 meters Centerline goodness [0,1] 0.999744832865527 Centerline is valid? [True, True] Translation: X:114.89, Y:3.24, Z:0.14 [[ 9.97352769e-01 -7.05558103e-02 -1.75878240e-02 1.14893326e+02] [ 7.05343317e-02 9.97507657e-01 -1.83933762e-03 3.23828119e+00] [ 1.76737651e-02 5.93923058e-04 9.99843630e-01 1.39017831e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.15533619500002 meters Centerline goodness [0,1] 0.9992501178386254 Centerline is valid? [True, True] Translation: X:114.92, Y:3.25, Z:0.14 [[ 9.97280130e-01 -7.13258828e-02 -1.85731378e-02 1.14919730e+02] [ 7.13019963e-02 9.97452875e-01 -1.94596673e-03 3.24654914e+00] [ 1.86646275e-02 6.16372146e-04 9.99825611e-01 1.36511305e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.18533619500002 meters Centerline goodness [0,1] 0.9979614804748052 Centerline is valid? [True, True] Translation: X:114.95, Y:3.25, Z:0.13 [[ 9.97290367e-01 -7.04365861e-02 -2.12275913e-02 1.14947036e+02] [ 7.04051601e-02 9.97515996e-01 -2.22509530e-03 3.25471957e+00] [ 2.13315900e-02 7.24534144e-04 9.99772193e-01 1.30487512e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.21533619500002 meters Centerline goodness [0,1] 0.9993751615961389 Centerline is valid? [True, True] Translation: X:114.98, Y:3.25, Z:0.13 [[ 9.97298694e-01 -7.01535847e-02 -2.17667086e-02 1.14975963e+02] [ 7.01203922e-02 9.97535918e-01 -2.28536971e-03 3.25182122e+00] [ 2.18734005e-02 7.52906081e-04 9.99760465e-01 1.31808414e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.245336195 meters Centerline goodness [0,1] 0.9984131068793961 Centerline is valid? [True, True] Translation: X:115.00, Y:3.25, Z:0.13 [[ 9.97371426e-01 -6.95493951e-02 -2.03253756e-02 1.15003879e+02] [ 6.95203029e-02 9.97578252e-01 -2.13527978e-03 3.25343228e+00] [ 2.04246600e-02 7.16640771e-04 9.99791138e-01 1.33051134e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.275336195 meters Centerline goodness [0,1] 0.9976864248837857 Centerline is valid? [True, True] Translation: X:115.03, Y:3.26, Z:0.13 [[ 9.97358849e-01 -6.97261191e-02 -2.03370035e-02 1.15030863e+02] [ 6.96969957e-02 9.97565916e-01 -2.13819551e-03 3.25675004e+00] [ 2.04365896e-02 7.15120170e-04 9.99790895e-01 1.33364818e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.305336195 meters Centerline goodness [0,1] 0.9991825144135617 Centerline is valid? [True, True] Translation: X:115.06, Y:3.26, Z:0.14 [[ 9.97345129e-01 -6.99897249e-02 -2.01030223e-02 1.15059479e+02] [ 6.99612527e-02 9.97547463e-01 -2.11699205e-03 3.26144819e+00] [ 2.02018866e-02 7.04939088e-04 9.99795673e-01 1.35560869e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.335336195 meters Centerline goodness [0,1] 0.9994217424826523 Centerline is valid? [True, True] Translation: X:115.09, Y:3.27, Z:0.14 [[ 9.97412406e-01 -6.98258883e-02 -1.71124924e-02 1.15088244e+02] [ 6.98051840e-02 9.97559010e-01 -1.80496647e-03 3.26587710e+00] [ 1.71967544e-02 6.05755268e-04 9.99851941e-01 1.40119980e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.365336195 meters Centerline goodness [0,1] 0.9999135452914605 Centerline is valid? [True, True] Translation: X:115.12, Y:3.26, Z:0.14 [[ 9.97404513e-01 -7.01200282e-02 -1.63529792e-02 1.15117875e+02] [ 7.01011142e-02 9.97538395e-01 -1.72768209e-03 3.26288873e+00] [ 1.64338697e-02 5.76835850e-04 9.99864788e-01 1.42202126e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.395336195 meters Centerline goodness [0,1] 0.9993584397254122 Centerline is valid? [True, True] Translation: X:115.15, Y:3.27, Z:0.14 [[ 9.97364158e-01 -7.07346679e-02 -1.61661319e-02 1.15145718e+02] [ 7.07162482e-02 9.97495008e-01 -1.70893174e-03 3.26508995e+00] [ 1.62465166e-02 5.61219069e-04 9.99867859e-01 1.40378121e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.425336195 meters Centerline goodness [0,1] 0.999763816721776 Centerline is valid? [True, True] Translation: X:115.18, Y:3.26, Z:0.14 [[ 9.97252838e-01 -7.20251227e-02 -1.72962153e-02 1.15175402e+02] [ 7.20041801e-02 9.97402649e-01 -1.83134349e-03 3.26010472e+00] [ 1.73831937e-02 5.80912693e-04 9.99848732e-01 1.41541683e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.455336195 meters Centerline goodness [0,1] 0.9998492646267146 Centerline is valid? [True, True] Translation: X:115.20, Y:3.27, Z:0.14 [[ 9.97276964e-01 -7.15569349e-02 -1.78398926e-02 1.15204084e+02] [ 7.15345235e-02 9.97436330e-01 -1.89205496e-03 3.26525016e+00] [ 1.79295467e-02 6.10734610e-04 9.99839066e-01 1.41546164e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.485336195 meters Centerline goodness [0,1] 0.999061613598072 Centerline is valid? [True, True] Translation: X:115.23, Y:3.28, Z:0.14 [[ 9.97348496e-01 -7.05302522e-02 -1.79293542e-02 1.15231190e+02] [ 7.05074296e-02 9.97509440e-01 -1.90266390e-03 3.27572488e+00] [ 1.80188954e-02 6.33466300e-04 9.99837446e-01 1.38306637e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.515336195 meters Centerline goodness [0,1] 0.9946298427311085 Centerline is valid? [True, True] Translation: X:115.26, Y:3.28, Z:0.14 [[ 9.97576313e-01 -6.72838744e-02 -1.77307477e-02 1.15259454e+02] [ 6.72610404e-02 9.97733638e-01 -1.88170731e-03 3.28245951e+00] [ 1.78171720e-02 6.84558108e-04 9.99841027e-01 1.37925408e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.545336195 meters Centerline goodness [0,1] 0.9949091528745181 Centerline is valid? [True, True] Translation: X:115.29, Y:3.28, Z:0.14 [[ 9.97715326e-01 -6.51757215e-02 -1.77835075e-02 1.15289140e+02] [ 6.51524095e-02 9.97873539e-01 -1.88772303e-03 3.28328897e+00] [ 1.78687253e-02 7.24771836e-04 9.99840079e-01 1.39448576e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.575336195 meters Centerline goodness [0,1] 0.9961051189864749 Centerline is valid? [True, True] Translation: X:115.32, Y:3.29, Z:0.14 [[ 9.97981965e-01 -6.08393519e-02 -1.81815845e-02 1.15319447e+02] [ 6.08142656e-02 9.98147234e-01 -1.92999994e-03 3.28541623e+00] [ 1.82653182e-02 8.20405423e-04 9.99832839e-01 1.41398989e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.605336195 meters Centerline goodness [0,1] 0.9949798547820654 Centerline is valid? [True, True] Translation: X:115.35, Y:3.30, Z:0.14 [[ 9.98273335e-01 -5.63223863e-02 -1.66774486e-02 1.15348513e+02] [ 5.63006495e-02 9.98412291e-01 -1.77039140e-03 3.29638497e+00] [ 1.67506823e-02 8.28383340e-04 9.99859354e-01 1.44465043e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.635336195 meters Centerline goodness [0,1] 0.9902751423149905 Centerline is valid? [True, True] Translation: X:115.38, Y:3.30, Z:0.14 [[ 9.98399441e-01 -5.41475418e-02 -1.63279048e-02 1.15375761e+02] [ 5.41264008e-02 9.98532586e-01 -1.73424915e-03 3.30466173e+00] [ 1.63978503e-02 8.47702669e-04 9.99865187e-01 1.44340084e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.665336195 meters Centerline goodness [0,1] 0.9852329228996394 Centerline is valid? [True, True] Translation: X:115.41, Y:3.31, Z:0.14 [[ 9.98610919e-01 -5.03396228e-02 -1.55613361e-02 1.15406055e+02] [ 5.03199592e-02 9.98731781e-01 -1.65284283e-03 3.31185248e+00] [ 1.56248044e-02 8.67501101e-04 9.99877549e-01 1.44468459e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.695336195 meters Centerline goodness [0,1] 0.9879397199453552 Centerline is valid? [True, True] Translation: X:115.44, Y:3.31, Z:0.14 [[ 9.98642193e-01 -4.97505567e-02 -1.54484078e-02 1.15435065e+02] [ 4.97310669e-02 9.98761293e-01 -1.64345188e-03 3.31336471e+00] [ 1.55110344e-02 8.72954591e-04 9.99879316e-01 1.44575874e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.725336195 meters Centerline goodness [0,1] 0.9886000128813414 Centerline is valid? [True, True] Translation: X:115.46, Y:3.31, Z:0.14 [[ 9.98589977e-01 -5.04206080e-02 -1.66078216e-02 1.15463545e+02] [ 5.03981277e-02 9.98727639e-01 -1.76962155e-03 3.31377623e+00] [ 1.66759158e-02 9.30123230e-04 9.99860515e-01 1.44308466e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.755336195 meters Centerline goodness [0,1] 0.9702503871966959 Centerline is valid? [True, True] Translation: X:115.49, Y:3.32, Z:0.14 [[ 9.98550133e-01 -5.12030528e-02 -1.66096303e-02 1.15490113e+02] [ 5.11806521e-02 9.98687841e-01 -1.77122292e-03 3.32369443e+00] [ 1.66785279e-02 9.18563168e-04 9.99860482e-01 1.42129058e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.785336195 meters Centerline goodness [0,1] 0.9918596431096164 Centerline is valid? [True, True] Translation: X:115.52, Y:3.32, Z:0.14 [[ 9.98441191e-01 -5.32999325e-02 -1.65621882e-02 1.15520545e+02] [ 5.32779438e-02 9.98578160e-01 -1.76636480e-03 3.32289186e+00] [ 1.66327866e-02 8.81212044e-04 9.99861277e-01 1.43911171e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.81533619500001 meters Centerline goodness [0,1] 0.9862630966239814 Centerline is valid? [True, True] Translation: X:115.55, Y:3.33, Z:0.14 [[ 9.98360841e-01 -5.48345557e-02 -1.63951898e-02 1.15547547e+02] [ 5.48131984e-02 9.98495094e-01 -1.74953776e-03 3.32937178e+00] [ 1.64664517e-02 8.47997196e-04 9.99864059e-01 1.42900359e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.84533619500002 meters Centerline goodness [0,1] 0.9893655409564646 Centerline is valid? [True, True] Translation: X:115.58, Y:3.33, Z:0.14 [[ 9.98178232e-01 -5.81870214e-02 -1.59526415e-02 1.15577085e+02] [ 5.81672249e-02 9.98305402e-01 -1.70254119e-03 3.32964305e+00] [ 1.60246740e-02 7.71518672e-04 9.99871299e-01 1.42802328e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.87533619500002 meters Centerline goodness [0,1] 0.9936667022070583 Centerline is valid? [True, True] Translation: X:115.61, Y:3.33, Z:0.14 [[ 9.98090552e-01 -5.98037307e-02 -1.54519811e-02 1.15607281e+02] [ 5.97853479e-02 9.98209894e-01 -1.64928997e-03 3.32853404e+00] [ 1.55229541e-02 7.22338670e-04 9.99879251e-01 1.43159246e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.90533619500002 meters Centerline goodness [0,1] 0.9992960450531166 Centerline is valid? [True, True] Translation: X:115.64, Y:3.32, Z:0.14 [[ 9.97887812e-01 -6.31131836e-02 -1.53831588e-02 1.15638745e+02] [ 6.30953536e-02 9.98006152e-01 -1.64212937e-03 3.32101170e+00] [ 1.54561272e-02 6.68055041e-04 9.99880324e-01 1.44819426e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.93533619500002 meters Centerline goodness [0,1] 0.9977845000213029 Centerline is valid? [True, True] Translation: X:115.67, Y:3.33, Z:0.14 [[ 9.97710972e-01 -6.58770169e-02 -1.52654760e-02 1.15666608e+02] [ 6.58597731e-02 9.97827557e-01 -1.63012245e-03 3.32786542e+00] [ 1.53397002e-02 6.21010273e-04 9.99882147e-01 1.43613397e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.96533619500002 meters Centerline goodness [0,1] 0.9985683148852516 Centerline is valid? [True, True] Translation: X:115.70, Y:3.33, Z:0.14 [[ 9.97603661e-01 -6.74226876e-02 -1.55279214e-02 1.15695383e+02] [ 6.74050213e-02 9.97724316e-01 -1.65887334e-03 3.33179391e+00] [ 1.56044305e-02 6.08238244e-04 9.99878058e-01 1.43034273e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.995336195 meters Centerline goodness [0,1] 0.9996567039285944 Centerline is valid? [True, True] Translation: X:115.73, Y:3.33, Z:0.14 [[ 9.97350789e-01 -7.09165189e-02 -1.61941441e-02 1.15726404e+02] [ 7.08977605e-02 9.97482087e-01 -1.73024427e-03 3.32733572e+00] [ 1.62760715e-02 5.77531937e-04 9.99867369e-01 1.43334104e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.025336195 meters Centerline goodness [0,1] 0.9997629003750484 Centerline is valid? [True, True] Translation: X:115.76, Y:3.33, Z:0.14 [[ 9.97249758e-01 -7.23759481e-02 -1.59575037e-02 1.15755140e+02] [ 7.23579081e-02 9.97377272e-01 -1.70574095e-03 3.32737235e+00] [ 1.60391061e-02 5.46398168e-04 9.99871216e-01 1.43227710e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.055336195 meters Centerline goodness [0,1] 0.9998496725008054 Centerline is valid? [True, True] Translation: X:115.78, Y:3.33, Z:0.14 [[ 9.97099646e-01 -7.42974897e-02 -1.64978613e-02 1.15783454e+02] [ 7.42784470e-02 9.97235979e-01 -1.76487495e-03 3.32698118e+00] [ 1.65833866e-02 5.34320669e-04 9.99862343e-01 1.42553202e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.085336195 meters Centerline goodness [0,1] 0.9998059884886503 Centerline is valid? [True, True] Translation: X:115.81, Y:3.33, Z:0.14 [[ 9.97072957e-01 -7.46717877e-02 -1.64208084e-02 1.15811475e+02] [ 7.46529206e-02 9.97208025e-01 -1.75982081e-03 3.33076838e+00] [ 1.65063709e-02 5.28808430e-04 9.99863621e-01 1.43129897e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.115336195 meters Centerline goodness [0,1] 0.9999357670484958 Centerline is valid? [True, True] Translation: X:115.84, Y:3.33, Z:0.15 [[ 9.97011712e-01 -7.57529263e-02 -1.51373676e-02 1.15840838e+02] [ 7.57369810e-02 9.97126507e-01 -1.62469860e-03 3.33217947e+00] [ 1.52169462e-02 4.73385011e-04 9.99884104e-01 1.45053388e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.145336195 meters Centerline goodness [0,1] 0.9999146521006251 Centerline is valid? [True, True] Translation: X:115.87, Y:3.33, Z:0.14 [[ 9.96857291e-01 -7.78318856e-02 -1.47559798e-02 1.15869169e+02] [ 7.78169506e-02 9.96966404e-01 -1.58448449e-03 3.33304669e+00] [ 1.48345395e-02 4.31239562e-04 9.99889869e-01 1.44864996e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.175336195 meters Centerline goodness [0,1] 0.9999361525528337 Centerline is valid? [True, True] Translation: X:115.90, Y:3.33, Z:0.15 [[ 9.96768646e-01 -7.90313243e-02 -1.43637073e-02 1.15897958e+02] [ 7.90172617e-02 9.96872051e-01 -1.54481974e-03 3.33134001e+00] [ 1.44408675e-02 4.04847068e-04 9.99895643e-01 1.46607880e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.205336195 meters Centerline goodness [0,1] 0.9998726952536547 Centerline is valid? [True, True] Translation: X:115.93, Y:3.33, Z:0.14 [[ 9.96658600e-01 -8.02815936e-02 -1.50499743e-02 1.15925863e+02] [ 8.02662836e-02 9.96772141e-01 -1.61954254e-03 3.33330698e+00] [ 1.51314145e-02 4.06125496e-04 9.99885431e-01 1.43927730e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.235336195 meters Centerline goodness [0,1] 0.9999783807155983 Centerline is valid? [True, True] Translation: X:115.95, Y:3.33, Z:0.15 [[ 9.96641622e-01 -8.03178140e-02 -1.59538738e-02 1.15954851e+02] [ 8.03005689e-02 9.96769212e-01 -1.71964048e-03 3.33059795e+00] [ 1.60404480e-02 4.32760129e-04 9.99871250e-01 1.45215428e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.265336195 meters Centerline goodness [0,1] 0.9999569253300596 Centerline is valid? [True, True] Translation: X:115.98, Y:3.33, Z:0.14 [[ 9.96753262e-01 -7.86595772e-02 -1.71932014e-02 1.15983010e+02] [ 7.86392870e-02 9.96901412e-01 -1.85408986e-03 3.33289959e+00] [ 1.72857687e-02 4.96009014e-04 9.99850467e-01 1.41352742e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.295336195 meters Centerline goodness [0,1] 0.9998065888724131 Centerline is valid? [True, True] Translation: X:116.01, Y:3.34, Z:0.14 [[ 9.96840868e-01 -7.74841635e-02 -1.74495798e-02 1.16010358e+02] [ 7.74630648e-02 9.96993445e-01 -1.88281296e-03 3.33545144e+00] [ 1.75430049e-02 5.25166979e-04 9.99845972e-01 1.40698580e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.325336195 meters Centerline goodness [0,1] 0.9995509078077885 Centerline is valid? [True, True] Translation: X:116.04, Y:3.34, Z:0.14 [[ 9.97126607e-01 -7.38581790e-02 -1.68374444e-02 1.16037764e+02] [ 7.38380015e-02 9.97268592e-01 -1.81775200e-03 3.34242033e+00] [ 1.69257104e-02 5.69285635e-04 9.99856588e-01 1.41979412e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.355336195 meters Centerline goodness [0,1] 0.9986880874034884 Centerline is valid? [True, True] Translation: X:116.07, Y:3.36, Z:0.14 [[ 9.97446640e-01 -6.96415053e-02 -1.58196300e-02 1.16066019e+02] [ 6.96231609e-02 9.97571901e-01 -1.70806035e-03 3.35722177e+00] [ 1.59001702e-02 6.02286418e-04 9.99873403e-01 1.42518707e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.385336195 meters Centerline goodness [0,1] 0.9982917663136317 Centerline is valid? [True, True] Translation: X:116.10, Y:3.36, Z:0.14 [[ 9.97581106e-01 -6.74875968e-02 -1.66541423e-02 1.16095098e+02] [ 6.74669560e-02 9.97719888e-01 -1.79876362e-03 3.36095872e+00] [ 1.67375632e-02 6.70808318e-04 9.99859692e-01 1.42221279e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.415336195 meters Centerline goodness [0,1] 0.9942409828722565 Centerline is valid? [True, True] Translation: X:116.12, Y:3.37, Z:0.14 [[ 9.97837136e-01 -6.37932543e-02 -1.58578559e-02 1.16123753e+02] [ 6.37740685e-02 9.97962892e-01 -1.71313709e-03 3.36932477e+00] [ 1.59348383e-02 6.98111815e-04 9.99872789e-01 1.42277187e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.445336195 meters Centerline goodness [0,1] 0.9942409828722565 Centerline is valid? [True, True] Translation: X:116.15, Y:3.37, Z:0.14 [[ 9.97825290e-01 -6.39783511e-02 -1.58575379e-02 1.16151077e+02] [ 6.39591419e-02 9.97951043e-01 -1.71607870e-03 3.37246949e+00] [ 1.59348383e-02 6.98112208e-04 9.99872789e-01 1.42277120e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.475336195 meters Centerline goodness [0,1] 0.9989047332703376 Centerline is valid? [True, True] Translation: X:116.18, Y:3.37, Z:0.15 [[ 9.97947469e-01 -6.23673441e-02 -1.45314417e-02 1.16180584e+02] [ 6.23510069e-02 9.98053040e-01 -1.57505800e-03 3.37022260e+00] [ 1.46013817e-02 6.65775128e-04 9.99893172e-01 1.46620033e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.505336195 meters Centerline goodness [0,1] 0.987805912541884 Centerline is valid? [True, True] Translation: X:116.21, Y:3.38, Z:0.15 [[ 9.98158375e-01 -5.89153804e-02 -1.44511591e-02 1.16208440e+02] [ 5.88988574e-02 9.98262726e-01 -1.56668894e-03 3.38226532e+00] [ 1.45183556e-02 7.12646926e-04 9.99894349e-01 1.45042045e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.535336195 meters Centerline goodness [0,1] 0.9823491792794713 Centerline is valid? [True, True] Translation: X:116.24, Y:3.39, Z:0.14 [[ 9.98181145e-01 -5.82900747e-02 -1.53840802e-02 1.16236818e+02] [ 5.82712367e-02 9.98299390e-01 -1.67031892e-03 3.38712474e+00] [ 1.54552809e-02 7.70831468e-04 9.99880263e-01 1.43074106e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.56533619500001 meters Centerline goodness [0,1] 0.9704297097926486 Centerline is valid? [True, True] Translation: X:116.26, Y:3.40, Z:0.14 [[ 9.98257125e-01 -5.71524655e-02 -1.47074046e-02 1.16263662e+02] [ 5.71351127e-02 9.98365177e-01 -1.59769260e-03 3.40024244e+00] [ 1.47746726e-02 7.54598801e-04 9.99890564e-01 1.42242974e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.59533619500002 meters Centerline goodness [0,1] 0.9487179487179487 Centerline is valid? [True, False] Translation: X:116.26, Y:3.40, Z:0.14 [[ 9.98492330e-01 -5.27823777e-02 -1.50693991e-02 1.16264046e+02] [ 5.28363070e-02 9.98598050e-01 3.20303666e-03 3.39760991e+00] [ 1.48792087e-02 -3.99441894e-03 9.99881320e-01 1.42426072e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.62533619500002 meters Centerline goodness [0,1] 0.9481538330348768 Centerline is valid? [False, False] Translation: X:116.26, Y:3.40, Z:0.14 [[ 9.98496922e-01 -5.26392318e-02 -1.52645748e-02 1.16264730e+02] [ 5.26983516e-02 9.98604354e-01 3.49671606e-03 3.39620701e+00] [ 1.50592065e-02 -4.29587816e-03 9.99877375e-01 1.42411906e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.65533619500002 meters Centerline goodness [0,1] 0.9760267410419639 Centerline is valid? [False, True] Translation: X:116.27, Y:3.39, Z:0.14 [[ 9.98512983e-01 -5.22927157e-02 -1.54043911e-02 1.16265454e+02] [ 5.23634260e-02 9.98619166e-01 4.22299273e-03 3.39278899e+00] [ 1.51622884e-02 -5.02333976e-03 9.99872427e-01 1.42083130e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.68533619500002 meters Centerline goodness [0,1] 0.9732746024014739 Centerline is valid? [True, True] Translation: X:116.29, Y:3.40, Z:0.14 [[ 9.98509439e-01 -5.24765065e-02 -1.50038755e-02 1.16291766e+02] [ 5.24585922e-02 9.98621842e-01 -1.58533615e-03 3.40072085e+00] [ 1.50663907e-02 7.95890922e-04 9.99886179e-01 1.41930929e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.71533619500002 meters Centerline goodness [0,1] 0.9852437753821948 Centerline is valid? [True, True] Translation: X:116.32, Y:3.41, Z:0.15 [[ 9.98458133e-01 -5.39295877e-02 -1.31512870e-02 1.16320577e+02] [ 5.39159473e-02 9.98544510e-01 -1.38980076e-03 3.41041564e+00] [ 1.32070968e-02 6.78593775e-04 9.99912552e-01 1.45213697e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.745336195 meters Centerline goodness [0,1] 0.9898383963452384 Centerline is valid? [True, True] Translation: X:116.35, Y:3.42, Z:0.15 [[ 9.98433682e-01 -5.47906410e-02 -1.13211821e-02 1.16348747e+02] [ 5.47805817e-02 9.98497699e-01 -1.19697308e-03 3.41948002e+00] [ 1.13697572e-02 5.74917300e-04 9.99935197e-01 1.47927750e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.775336195 meters Centerline goodness [0,1] 0.9868585865019214 Centerline is valid? [True, True] Translation: X:116.38, Y:3.43, Z:0.14 [[ 9.98281013e-01 -5.73185780e-02 -1.22311084e-02 1.16377297e+02] [ 5.73070230e-02 9.98355764e-01 -1.29340971e-03 3.42610583e+00] [ 1.22851340e-02 5.90257944e-04 9.99924361e-01 1.44664150e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.805336195 meters Centerline goodness [0,1] 0.990515708358032 Centerline is valid? [True, True] Translation: X:116.41, Y:3.42, Z:0.14 [[ 9.98050156e-01 -6.09903522e-02 -1.32688388e-02 1.16409024e+02] [ 6.09770768e-02 9.98138180e-01 -1.40314693e-03 3.41787756e+00] [ 1.33297130e-02 5.91316012e-04 9.99910981e-01 1.41099783e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.835336195 meters Centerline goodness [0,1] 0.9990216720900061 Centerline is valid? [True, True] Translation: X:116.44, Y:3.41, Z:0.15 [[ 9.97932283e-01 -6.30555213e-02 -1.24563132e-02 1.16440188e+02] [ 6.30439805e-02 9.98009880e-01 -1.31739118e-03 3.41072991e+00] [ 1.25145924e-02 5.29371618e-04 9.99921549e-01 1.45010272e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.865336195 meters Centerline goodness [0,1] 0.9996091374967429 Centerline is valid? [True, True] Translation: X:116.47, Y:3.41, Z:0.15 [[ 9.97830211e-01 -6.47982858e-02 -1.16641514e-02 1.16469772e+02] [ 6.47882815e-02 9.97898269e-01 -1.23392079e-03 3.41254353e+00] [ 1.17195925e-02 4.75543118e-04 9.99931210e-01 1.47168767e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.895336195 meters Centerline goodness [0,1] 0.9998066138077741 Centerline is valid? [True, True] Translation: X:116.50, Y:3.43, Z:0.15 [[ 9.97617824e-01 -6.77846448e-02 -1.28030851e-02 1.16498321e+02] [ 6.77728351e-02 9.97699859e-01 -1.35453410e-03 3.42515181e+00] [ 1.28654528e-02 4.83605978e-04 9.99917120e-01 1.46843531e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.925336195 meters Centerline goodness [0,1] 0.9994477837011235 Centerline is valid? [True, True] Translation: X:116.53, Y:3.43, Z:0.14 [[ 9.97362881e-01 -7.10479501e-02 -1.48146340e-02 1.16527050e+02] [ 7.10324914e-02 9.97472770e-01 -1.56773217e-03 3.43181647e+00] [ 1.48885782e-02 5.11277515e-04 9.99889028e-01 1.40285967e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.955336195 meters Centerline goodness [0,1] 0.9997406190558533 Centerline is valid? [True, True] Translation: X:116.56, Y:3.43, Z:0.14 [[ 9.97195491e-01 -7.32559849e-02 -1.53203695e-02 1.16556300e+02] [ 7.32396713e-02 9.97313047e-01 -1.62394762e-03 3.42680501e+00] [ 1.53981682e-02 4.97334423e-04 9.99881317e-01 1.40393881e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.985336195 meters Centerline goodness [0,1] 0.9998930275347125 Centerline is valid? [True, True] Translation: X:116.59, Y:3.42, Z:0.14 [[ 9.96828360e-01 -7.82609671e-02 -1.44374899e-02 1.16586663e+02] [ 7.82470043e-02 9.96932828e-01 -1.53034133e-03 3.42210425e+00] [ 1.45129737e-02 3.95797306e-04 9.99894603e-01 1.41132398e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.015336195 meters Centerline goodness [0,1] 0.9999569688885064 Centerline is valid? [True, True] Translation: X:116.62, Y:3.42, Z:0.14 [[ 9.96650563e-01 -8.05935397e-02 -1.38685612e-02 1.16615579e+02] [ 8.05808711e-02 9.96746989e-01 -1.47077187e-03 3.42249081e+00] [ 1.39419813e-02 3.48304865e-04 9.99902745e-01 1.43637805e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.045336195 meters Centerline goodness [0,1] 0.9999353768606078 Centerline is valid? [True, True] Translation: X:116.64, Y:3.43, Z:0.15 [[ 9.96427090e-01 -8.34073829e-02 -1.32763734e-02 1.16644653e+02] [ 8.33959911e-02 9.96515489e-01 -1.41033714e-03 3.42633927e+00] [ 1.33477443e-02 2.98101816e-04 9.99910870e-01 1.45654994e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.075336195 meters Centerline goodness [0,1] 0.9999567857220025 Centerline is valid? [True, True] Translation: X:116.67, Y:3.43, Z:0.14 [[ 9.96383834e-01 -8.38509218e-02 -1.37214605e-02 1.16672567e+02] [ 8.38387570e-02 9.96478264e-01 -1.46040446e-03 3.43085447e+00] [ 1.37955934e-02 3.04733198e-04 9.99904790e-01 1.44412422e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.105336195 meters Centerline goodness [0,1] 0.9999361158432709 Centerline is valid? [True, True] Translation: X:116.70, Y:3.44, Z:0.14 [[ 9.96456020e-01 -8.27223860e-02 -1.52449104e-02 1.16700010e+02] [ 8.27072196e-02 9.96572566e-01 -1.62373124e-03 3.43632692e+00] [ 1.53269784e-02 3.57112614e-04 9.99882471e-01 1.38449686e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.135336195 meters Centerline goodness [0,1] 0.9997856974476566 Centerline is valid? [True, True] Translation: X:116.73, Y:3.44, Z:0.14 [[ 9.96591553e-01 -8.09366483e-02 -1.59541843e-02 1.16729110e+02] [ 8.09198017e-02 9.96719166e-01 -1.69973054e-03 3.43731463e+00] [ 1.60394118e-02 4.02927666e-04 9.99871279e-01 1.37930833e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.165336195 meters Centerline goodness [0,1] 0.9998496531282889 Centerline is valid? [True, True] Translation: X:116.76, Y:3.44, Z:0.14 [[ 9.96657783e-01 -8.01491209e-02 -1.57918091e-02 1.16756865e+02] [ 8.01324926e-02 9.96782799e-01 -1.68395357e-03 3.44397317e+00] [ 1.58759710e-02 4.12888410e-04 9.99873884e-01 1.39101272e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.195336195 meters Centerline goodness [0,1] 0.9997224475852939 Centerline is valid? [True, True] Translation: X:116.78, Y:3.46, Z:0.14 [[ 9.96829196e-01 -7.80356458e-02 -1.55560904e-02 1.16783154e+02] [ 7.80192395e-02 9.96950472e-01 -1.65968177e-03 3.45752393e+00] [ 1.56381660e-02 4.40744900e-04 9.99877619e-01 1.39065106e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.225336195 meters Centerline goodness [0,1] 0.9998079877112135 Centerline is valid? [True, True] Translation: X:116.81, Y:3.46, Z:0.14 [[ 9.96886402e-01 -7.72047311e-02 -1.60290457e-02 1.16811488e+02] [ 7.71871587e-02 9.97015149e-01 -1.71299098e-03 3.46130472e+00] [ 1.61134524e-02 4.70420920e-04 9.99870059e-01 1.37816270e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.255336195 meters Centerline goodness [0,1] 0.9997032200623238 Centerline is valid? [True, True] Translation: X:116.84, Y:3.46, Z:0.14 [[ 9.97022970e-01 -7.56173413e-02 -1.50736505e-02 1.16840490e+02] [ 7.56015820e-02 9.97136800e-01 -1.61340337e-03 3.46077066e+00] [ 1.51524929e-02 4.69008393e-04 9.99885084e-01 1.39473053e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.285336195 meters Centerline goodness [0,1] 0.9998712280551144 Centerline is valid? [True, True] Translation: X:116.87, Y:3.46, Z:0.14 [[ 9.97147550e-01 -7.41152972e-02 -1.42718636e-02 1.16869554e+02] [ 7.41009806e-02 9.97249569e-01 -1.53006645e-03 3.45872662e+00] [ 1.43460112e-02 4.68142917e-04 9.99896981e-01 1.43606418e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.31533619500001 meters Centerline goodness [0,1] 0.9986882471173173 Centerline is valid? [True, True] Translation: X:116.90, Y:3.47, Z:0.14 [[ 9.97205953e-01 -7.33628116e-02 -1.40778290e-02 1.16895776e+02] [ 7.33487977e-02 9.97305206e-01 -1.50991483e-03 3.47227956e+00] [ 1.41506638e-02 4.73104221e-04 9.99899762e-01 1.40643891e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.34533619500002 meters Centerline goodness [0,1] 0.9997870165275174 Centerline is valid? [True, True] Translation: X:116.92, Y:3.47, Z:0.15 [[ 9.97300672e-01 -7.21670476e-02 -1.35383482e-02 1.16924367e+02] [ 7.21539428e-02 9.97392447e-01 -1.45457450e-03 3.47357290e+00] [ 1.36080186e-02 4.73802927e-04 9.99907294e-01 1.45565682e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.37533619500002 meters Centerline goodness [0,1] 0.9980746192024645 Centerline is valid? [True, True] Translation: X:116.95, Y:3.49, Z:0.14 [[ 9.97553173e-01 -6.84368315e-02 -1.42852048e-02 1.16951183e+02] [ 6.84218581e-02 9.97655298e-01 -1.53486734e-03 3.49471575e+00] [ 1.43567517e-02 5.53691529e-04 9.99896783e-01 1.40989870e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.40533619500002 meters Centerline goodness [0,1] 0.9987314828750188 Centerline is valid? [True, True] Translation: X:116.98, Y:3.50, Z:0.14 [[ 9.97832869e-01 -6.38579836e-02 -1.58658094e-02 1.16981530e+02] [ 6.38389358e-02 9.97958759e-01 -1.70464710e-03 3.49504158e+00] [ 1.59422788e-02 6.88096512e-04 9.99872677e-01 1.40140255e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.43533619500002 meters Centerline goodness [0,1] 0.9868367975202225 Centerline is valid? [True, True] Translation: X:117.01, Y:3.51, Z:0.14 [[ 9.97944579e-01 -6.19018900e-02 -1.65763156e-02 1.17008911e+02] [ 6.18808134e-02 9.98081955e-01 -1.78188580e-03 3.50509628e+00] [ 1.66548236e-02 7.52467379e-04 9.99861016e-01 1.36972664e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.46533619500002 meters Centerline goodness [0,1] 0.9828366694557079 Centerline is valid? [True, True] Translation: X:117.04, Y:3.51, Z:0.14 [[ 9.98041615e-01 -5.96951880e-02 -1.86927564e-02 1.17038768e+02] [ 5.96679947e-02 9.98216255e-01 -2.00961216e-03 3.51108843e+00] [ 1.87793775e-02 8.90317276e-04 9.99823256e-01 1.35386030e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.495336195 meters Centerline goodness [0,1] 0.9842744971496181 Centerline is valid? [True, True] Translation: X:117.07, Y:3.52, Z:0.14 [[ 9.98041288e-01 -5.97822243e-02 -1.84302080e-02 1.17066549e+02] [ 5.97557332e-02 9.98211055e-01 -1.98523286e-03 3.51726461e+00] [ 1.85159190e-02 8.80033769e-04 9.99828178e-01 1.35705684e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.525336195 meters Centerline goodness [0,1] 0.9984873368484743 Centerline is valid? [True, True] Translation: X:117.10, Y:3.52, Z:0.14 [[ 9.98035393e-01 -6.05949982e-02 -1.59248518e-02 1.17096571e+02] [ 6.05753253e-02 9.98162155e-01 -1.71527036e-03 3.52032969e+00] [ 1.59995212e-02 7.47247449e-04 9.99871720e-01 1.42409054e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.555336195 meters Centerline goodness [0,1] 0.9993806859437064 Centerline is valid? [True, True] Translation: X:117.13, Y:3.53, Z:0.14 [[ 9.97894637e-01 -6.33764499e-02 -1.37738448e-02 1.17125173e+02] [ 6.33619940e-02 9.97989507e-01 -1.48382453e-03 3.52534035e+00] [ 1.38401921e-02 6.07962268e-04 9.99904035e-01 1.44562770e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.585336195 meters Centerline goodness [0,1] 0.9987676355600884 Centerline is valid? [True, True] Translation: X:117.15, Y:3.53, Z:0.14 [[ 9.97771801e-01 -6.54308369e-02 -1.30475440e-02 1.17153692e+02] [ 6.54180364e-02 9.97856956e-01 -1.40591321e-03 3.53012728e+00] [ 1.31115726e-02 5.49235845e-04 9.99913889e-01 1.43960222e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.615336195 meters Centerline goodness [0,1] 0.9992249063428498 Centerline is valid? [True, True] Translation: X:117.18, Y:3.53, Z:0.14 [[ 9.97529041e-01 -6.90961986e-02 -1.27093913e-02 1.17182828e+02] [ 6.90843465e-02 9.97609882e-01 -1.36974629e-03 3.53300599e+00] [ 1.27736586e-02 4.88341709e-04 9.99918294e-01 1.42951562e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.645336195 meters Centerline goodness [0,1] 0.9997643126499829 Centerline is valid? [True, True] Translation: X:117.21, Y:3.53, Z:0.14 [[ 9.97409692e-01 -7.07546842e-02 -1.29491630e-02 1.17211790e+02] [ 7.07425114e-02 9.97493633e-01 -1.39626296e-03 3.53153700e+00] [ 1.30154998e-02 4.76589900e-04 9.99915181e-01 1.44062748e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.675336195 meters Centerline goodness [0,1] 0.999467303061942 Centerline is valid? [True, True] Translation: X:117.24, Y:3.53, Z:0.14 [[ 9.97123813e-01 -7.42528239e-02 -1.51861385e-02 1.17240957e+02] [ 7.42364822e-02 9.97239321e-01 -1.63777058e-03 3.53467264e+00] [ 1.52658235e-02 5.05694544e-04 9.99883343e-01 1.38262946e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.705336195 meters Centerline goodness [0,1] 0.9995909668252567 Centerline is valid? [True, True] Translation: X:117.27, Y:3.53, Z:0.14 [[ 9.96964407e-01 -7.60159080e-02 -1.68390438e-02 1.17270277e+02] [ 7.59960145e-02 9.97106462e-01 -1.81907841e-03 3.53389523e+00] [ 1.69285983e-02 5.33856206e-04 9.99856558e-01 1.35548229e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.735336195 meters Centerline goodness [0,1] 0.9997647058823529 Centerline is valid? [True, True] Translation: X:117.30, Y:3.54, Z:0.14 [[ 9.96735896e-01 -7.89714323e-02 -1.67650121e-02 1.17298674e+02] [ 7.89521252e-02 9.96876763e-01 -1.81142415e-03 3.53540759e+00] [ 1.68557017e-02 4.81878139e-04 9.99857816e-01 1.36621202e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.765336195 meters Centerline goodness [0,1] 0.999871668734226 Centerline is valid? [True, True] Translation: X:117.33, Y:3.54, Z:0.14 [[ 9.96660105e-01 -8.02092622e-02 -1.53332643e-02 1.17327880e+02] [ 8.01932171e-02 9.96777956e-01 -1.65941743e-03 3.53777433e+00] [ 1.54169605e-02 4.24251357e-04 9.99881062e-01 1.41713461e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.795336195 meters Centerline goodness [0,1] 0.9999568370165746 Centerline is valid? [True, True] Translation: X:117.36, Y:3.54, Z:0.15 [[ 9.96575443e-01 -8.16145604e-02 -1.32834426e-02 1.17356646e+02] [ 8.16026147e-02 9.96663905e-01 -1.43973710e-03 3.54285616e+00] [ 1.33566313e-02 3.50842984e-04 9.99910735e-01 1.45257268e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.825336195 meters Centerline goodness [0,1] 0.9999572274856178 Centerline is valid? [True, True] Translation: X:117.38, Y:3.55, Z:0.14 [[ 9.96584433e-01 -8.14378947e-02 -1.36871024e-02 1.17384009e+02] [ 8.14251864e-02 9.96678352e-01 -1.48412483e-03 3.54670512e+00] [ 1.37625026e-02 3.64580839e-04 9.99905226e-01 1.41830435e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.855336195 meters Centerline goodness [0,1] 0.9998076676496986 Centerline is valid? [True, True] Translation: X:117.41, Y:3.55, Z:0.14 [[ 9.96616732e-01 -8.10031328e-02 -1.39133930e-02 1.17413317e+02] [ 8.09899220e-02 9.96713775e-01 -1.51127069e-03 3.54664230e+00] [ 1.39900881e-02 3.79313044e-04 9.99902062e-01 1.42996259e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.885336195 meters Centerline goodness [0,1] 0.9999148610105998 Centerline is valid? [True, True] Translation: X:117.44, Y:3.56, Z:0.14 [[ 9.96789338e-01 -7.89118655e-02 -1.35621825e-02 1.17440548e+02] [ 7.88991113e-02 9.96881517e-01 -1.47374499e-03 3.55599881e+00] [ 1.36361850e-02 3.98969147e-04 9.99906943e-01 1.43003036e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.915336195 meters Centerline goodness [0,1] 0.9997858397224483 Centerline is valid? [True, True] Translation: X:117.47, Y:3.56, Z:0.14 [[ 9.96897288e-01 -7.74286793e-02 -1.41632053e-02 1.17468583e+02] [ 7.74146075e-02 9.96997797e-01 -1.53993181e-03 3.56112296e+00] [ 1.42399194e-02 4.38714862e-04 9.99898511e-01 1.43323843e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.945336195 meters Centerline goodness [0,1] 0.9996598928662529 Centerline is valid? [True, True] Translation: X:117.50, Y:3.57, Z:0.14 [[ 9.97017491e-01 -7.55162447e-02 -1.59191613e-02 1.17496171e+02] [ 7.54982150e-02 9.97144434e-01 -1.73137955e-03 3.57268277e+00] [ 1.60044503e-02 5.24347433e-04 9.99871783e-01 1.39542471e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.975336195 meters Centerline goodness [0,1] 0.9997644035125295 Centerline is valid? [True, True] Translation: X:117.52, Y:3.58, Z:0.14 [[ 9.97015591e-01 -7.54944953e-02 -1.61397590e-02 1.17524783e+02] [ 7.54759101e-02 9.97146075e-01 -1.75842124e-03 3.57556073e+00] [ 1.62264484e-02 5.35010395e-04 9.99868199e-01 1.40076348e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.005336195 meters Centerline goodness [0,1] 0.9998500428449014 Centerline is valid? [True, True] Translation: X:117.55, Y:3.58, Z:0.14 [[ 9.96959031e-01 -7.64070563e-02 -1.53183826e-02 1.17552442e+02] [ 7.63904109e-02 9.97076585e-01 -1.66968062e-03 3.58002917e+00] [ 1.54011760e-02 4.94425636e-04 9.99881273e-01 1.41161719e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.035336195 meters Centerline goodness [0,1] 0.9996589286094946 Centerline is valid? [True, True] Translation: X:117.58, Y:3.58, Z:0.14 [[ 9.96884102e-01 -7.76374073e-02 -1.39470680e-02 1.17579861e+02] [ 7.76237173e-02 9.96981567e-01 -1.52106328e-03 3.58433905e+00] [ 1.40230612e-02 4.33700536e-04 9.99901578e-01 1.41268754e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.06533619500001 meters Centerline goodness [0,1] 0.9998712031769883 Centerline is valid? [True, True] Translation: X:117.61, Y:3.58, Z:0.15 [[ 9.96664140e-01 -8.07257325e-02 -1.19978248e-02 1.17610303e+02] [ 8.07158225e-02 9.96736296e-01 -1.30871823e-03 3.57834312e+00] [ 1.20643147e-02 3.35938229e-04 9.99927167e-01 1.45634961e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.09533619500002 meters Centerline goodness [0,1] 0.9998714928250161 Centerline is valid? [True, True] Translation: X:117.64, Y:3.58, Z:0.14 [[ 9.96360225e-01 -8.44435824e-02 -1.16440627e-02 1.17639557e+02] [ 8.44344985e-02 9.96428222e-01 -1.27041385e-03 3.57630256e+00] [ 1.17097510e-02 2.82629237e-04 9.99931399e-01 1.41782560e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.12533619500002 meters Centerline goodness [0,1] 0.9999357890456112 Centerline is valid? [True, True] Translation: X:117.67, Y:3.57, Z:0.14 [[ 9.96245720e-01 -8.57184423e-02 -1.21167001e-02 1.17669574e+02] [ 8.57086851e-02 9.96319362e-01 -1.32321871e-03 3.57119395e+00] [ 1.21855272e-02 2.79744537e-04 9.99925715e-01 1.43256723e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.15533619500002 meters Centerline goodness [0,1] 0.999936153911637 Centerline is valid? [True, True] Translation: X:117.70, Y:3.57, Z:0.14 [[ 9.96134506e-01 -8.66954723e-02 -1.41400196e-02 1.17698712e+02] [ 8.66822465e-02 9.96234810e-01 -1.54670795e-03 3.57305920e+00] [ 1.42208723e-02 3.15040489e-04 9.99898829e-01 1.39851822e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.18533619500002 meters Centerline goodness [0,1] 0.9999146083726491 Centerline is valid? [True, True] Translation: X:117.73, Y:3.58, Z:0.14 [[ 9.96096123e-01 -8.70286042e-02 -1.47829818e-02 1.17726646e+02] [ 8.70141749e-02 9.96205760e-01 -1.61770315e-03 3.57587925e+00] [ 1.48676781e-02 3.25058871e-04 9.99889417e-01 1.37752328e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.21533619500002 meters Centerline goodness [0,1] 0.9999356568364611 Centerline is valid? [True, True] Translation: X:117.76, Y:3.58, Z:0.14 [[ 9.96091667e-01 -8.70140313e-02 -1.51640901e-02 1.17755250e+02] [ 8.69988035e-02 9.96207029e-01 -1.66224906e-03 3.57526816e+00] [ 1.52512121e-02 3.36494750e-04 9.99883637e-01 1.39198811e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.245336195 meters Centerline goodness [0,1] 0.9998727762346006 Centerline is valid? [True, True] Translation: X:117.78, Y:3.58, Z:0.14 [[ 9.96187748e-01 -8.58707597e-02 -1.53682571e-02 1.17782401e+02] [ 8.58549626e-02 9.96306219e-01 -1.68595123e-03 3.58475717e+00] [ 1.54562641e-02 3.60082817e-04 9.99880480e-01 1.35072299e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.275336195 meters Centerline goodness [0,1] 0.9999572219964494 Centerline is valid? [True, True] Translation: X:117.81, Y:3.59, Z:0.14 [[ 9.96443723e-01 -8.29231522e-02 -1.49551776e-02 1.17811927e+02] [ 8.29078577e-02 9.96555866e-01 -1.64085621e-03 3.58670728e+00] [ 1.50397350e-02 3.95119130e-04 9.99886819e-01 1.37802186e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.305336195 meters Centerline goodness [0,1] 0.9998518204911092 Centerline is valid? [True, True] Translation: X:117.84, Y:3.59, Z:0.14 [[ 9.96772382e-01 -7.90980711e-02 -1.37227705e-02 1.17839840e+02] [ 7.90848243e-02 9.96866752e-01 -1.50614914e-03 3.59418367e+00] [ 1.37989072e-02 4.16024971e-04 9.99904704e-01 1.39602942e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.335336195 meters Centerline goodness [0,1] 0.9998518204911092 Centerline is valid? [True, True] Translation: X:117.87, Y:3.60, Z:0.14 [[ 9.96757761e-01 -7.92821489e-02 -1.37224607e-02 1.17867137e+02] [ 7.92688808e-02 9.96852129e-01 -1.50896933e-03 3.59738292e+00] [ 1.37988985e-02 4.16312789e-04 9.99904704e-01 1.39550095e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.365336195 meters Centerline goodness [0,1] 0.9997643732327992 Centerline is valid? [True, True] Translation: X:117.90, Y:3.60, Z:0.14 [[ 9.97131166e-01 -7.46698395e-02 -1.24037244e-02 1.17896708e+02] [ 7.46586444e-02 9.97208216e-01 -1.36380783e-03 3.60312549e+00] [ 1.24709312e-02 4.33850048e-04 9.99922141e-01 1.43586532e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.395336195 meters Centerline goodness [0,1] 0.9998932148730325 Centerline is valid? [True, True] Translation: X:117.93, Y:3.61, Z:0.14 [[ 9.97292618e-01 -7.25426226e-02 -1.20416624e-02 1.17926334e+02] [ 7.25319129e-02 9.97365213e-01 -1.32431297e-03 3.60805727e+00] [ 1.21060043e-02 4.47322743e-04 9.99926620e-01 1.43826239e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.425336195 meters Centerline goodness [0,1] 0.9995112102858357 Centerline is valid? [True, True] Translation: X:117.96, Y:3.61, Z:0.14 [[ 9.97504868e-01 -6.94005923e-02 -1.29458830e-02 1.17955273e+02] [ 6.93879481e-02 9.97588736e-01 -1.42386130e-03 3.61215593e+00] [ 1.30134839e-02 5.22020318e-04 9.99915185e-01 1.41692531e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.455336195 meters Centerline goodness [0,1] 0.9993422727658491 Centerline is valid? [True, True] Translation: X:117.98, Y:3.62, Z:0.14 [[ 9.97535099e-01 -6.89253285e-02 -1.31538811e-02 1.17983758e+02] [ 6.89122006e-02 9.97621676e-01 -1.44921814e-03 3.61588766e+00] [ 1.32224847e-02 5.39183066e-04 9.99912434e-01 1.40789722e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.485336195 meters Centerline goodness [0,1] 0.9982635580119856 Centerline is valid? [True, True] Translation: X:118.01, Y:3.62, Z:0.14 [[ 9.97518881e-01 -6.88615712e-02 -1.46344240e-02 1.18012279e+02] [ 6.88452798e-02 9.97626042e-01 -1.61471057e-03 3.62219191e+00] [ 1.47108740e-02 6.03193267e-04 9.99891607e-01 1.36690118e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.515336195 meters Centerline goodness [0,1] 0.9985430548711246 Centerline is valid? [True, True] Translation: X:118.04, Y:3.63, Z:0.14 [[ 9.97477657e-01 -6.93707125e-02 -1.50342137e-02 1.18039916e+02] [ 6.93535328e-02 9.97590761e-01 -1.66170223e-03 3.62579540e+00] [ 1.51132662e-02 6.14835014e-04 9.99885599e-01 1.35784560e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.545336195 meters Centerline goodness [0,1] 0.999043123245726 Centerline is valid? [True, True] Translation: X:118.07, Y:3.63, Z:0.14 [[ 9.97436262e-01 -7.02093949e-02 -1.38399224e-02 1.18068903e+02] [ 7.01949113e-02 9.97532121e-01 -1.53011263e-03 3.62617823e+00] [ 1.39131955e-02 5.54697694e-04 9.99903053e-01 1.37572249e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.575336195 meters Centerline goodness [0,1] 0.999425861739001 Centerline is valid? [True, True] Translation: X:118.10, Y:3.63, Z:0.14 [[ 9.97381614e-01 -7.10395537e-02 -1.35387337e-02 1.18096734e+02] [ 7.10257589e-02 9.97473357e-01 -1.49763317e-03 3.62697869e+00] [ 1.36109173e-02 5.32112951e-04 9.99907226e-01 1.37405984e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.605336195 meters Centerline goodness [0,1] 0.9994031886776367 Centerline is valid? [True, True] Translation: X:118.13, Y:3.62, Z:0.14 [[ 9.97218186e-01 -7.31242542e-02 -1.44475757e-02 1.18126108e+02] [ 7.31087540e-02 9.97322693e-01 -1.59882453e-03 3.62324176e+00] [ 1.45258079e-02 5.38132645e-04 9.99894350e-01 1.37445445e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.635336195 meters Centerline goodness [0,1] 0.9998061096988238 Centerline is valid? [True, True] Translation: X:118.16, Y:3.62, Z:0.14 [[ 9.97079222e-01 -7.51688888e-02 -1.35153243e-02 1.18156644e+02] [ 7.51555105e-02 9.97170704e-01 -1.49576547e-03 3.62181269e+00] [ 1.35895204e-02 4.75645579e-04 9.99907545e-01 1.41402312e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.665336195 meters Centerline goodness [0,1] 0.9996618980199903 Centerline is valid? [True, True] Translation: X:118.18, Y:3.63, Z:0.14 [[ 9.97024913e-01 -7.58864643e-02 -1.35117667e-02 1.18183670e+02] [ 7.58731463e-02 9.97116356e-01 -1.49630012e-03 3.62960838e+00] [ 1.35863525e-02 4.66668249e-04 9.99907592e-01 1.38848819e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.695336195 meters Centerline goodness [0,1] 0.9998501134855038 Centerline is valid? [True, True] Translation: X:118.21, Y:3.62, Z:0.14 [[ 9.96863086e-01 -7.79406202e-02 -1.37567124e-02 1.18213174e+02] [ 7.79270013e-02 9.96957903e-01 -1.52407539e-03 3.62376758e+00] [ 1.38336505e-02 4.47275151e-04 9.99904210e-01 1.39532887e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.725336195 meters Centerline goodness [0,1] 0.9997670379939854 Centerline is valid? [True, True] Translation: X:118.24, Y:3.62, Z:0.14 [[ 9.96661137e-01 -8.07589232e-02 -1.20239352e-02 1.18242513e+02] [ 8.07487209e-02 9.96733600e-01 -1.33236447e-03 3.62177613e+00] [ 1.20922605e-02 3.56998499e-04 9.99926822e-01 1.41233666e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.755336195 meters Centerline goodness [0,1] 0.9998926577930443 Centerline is valid? [True, True] Translation: X:118.27, Y:3.62, Z:0.14 [[ 9.96538249e-01 -8.22748622e-02 -1.19316700e-02 1.18271479e+02] [ 8.22648964e-02 9.96609619e-01 -1.32448046e-03 3.61988208e+00] [ 1.20001885e-02 3.38337845e-04 9.99927938e-01 1.43053273e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.785336195 meters Centerline goodness [0,1] 0.9998924337929996 Centerline is valid? [True, True] Translation: X:118.30, Y:3.62, Z:0.14 [[ 9.96351264e-01 -8.43587584e-02 -1.29521835e-02 1.18300844e+02] [ 8.43471640e-02 9.96435388e-01 -1.43981180e-03 3.62098342e+00] [ 1.30274748e-02 3.42078359e-04 9.99915080e-01 1.41600842e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.81533619500001 meters Centerline goodness [0,1] 0.9999359302921579 Centerline is valid? [True, True] Translation: X:118.33, Y:3.62, Z:0.14 [[ 9.96303014e-01 -8.48625659e-02 -1.33659931e-02 1.18328921e+02] [ 8.48502556e-02 9.96392606e-01 -1.48644166e-03 3.62402265e+00] [ 1.34439199e-02 3.46838379e-04 9.99909566e-01 1.40160866e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.84533619500002 meters Centerline goodness [0,1] 0.9999360191089595 Centerline is valid? [True, True] Translation: X:118.36, Y:3.62, Z:0.14 [[ 9.96252032e-01 -8.53166967e-02 -1.42460712e-02 1.18358729e+02] [ 8.53027197e-02 9.96353816e-01 -1.58699880e-03 3.62081382e+00] [ 1.43295249e-02 3.65822162e-04 9.99897260e-01 1.38113722e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.87533619500002 meters Centerline goodness [0,1] 0.9998713329902214 Centerline is valid? [True, True] Translation: X:118.39, Y:3.62, Z:0.14 [[ 9.96293132e-01 -8.49392170e-02 -1.36133873e-02 1.18385986e+02] [ 8.49263940e-02 9.96386071e-01 -1.51833342e-03 3.62214039e+00] [ 1.36931555e-02 3.56569266e-04 9.99906181e-01 1.40014232e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.90533619500002 meters Centerline goodness [0,1] 0.999871857847639 Centerline is valid? [True, True] Translation: X:118.41, Y:3.63, Z:0.14 [[ 9.96291762e-01 -8.50093475e-02 -1.32716182e-02 1.18414184e+02] [ 8.49971300e-02 9.96380093e-01 -1.48294737e-03 3.62568204e+00] [ 1.33496405e-02 3.49398798e-04 9.99910829e-01 1.40455416e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.93533619500002 meters Centerline goodness [0,1] 0.999893146410788 Centerline is valid? [True, True] Translation: X:118.44, Y:3.63, Z:0.14 [[ 9.96243340e-01 -8.55380247e-02 -1.35075578e-02 1.18442872e+02] [ 8.55253814e-02 9.96334845e-01 -1.51197079e-03 3.62507882e+00] [ 1.35873815e-02 3.51051797e-04 9.99907626e-01 1.40174319e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.96533619500002 meters Centerline goodness [0,1] 0.9999365696887687 Centerline is valid? [True, True] Translation: X:118.47, Y:3.63, Z:0.14 [[ 9.96228319e-01 -8.58218035e-02 -1.27966843e-02 1.18470839e+02] [ 8.58104665e-02 9.96310448e-01 -1.43339297e-03 3.62901859e+00] [ 1.28724866e-02 3.29897222e-04 9.99917092e-01 1.38926855e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.995336195 meters Centerline goodness [0,1] 0.9999357752991801 Centerline is valid? [True, True] Translation: X:118.50, Y:3.63, Z:0.14 [[ 9.96271839e-01 -8.54208993e-02 -1.20703094e-02 1.18499228e+02] [ 8.54107519e-02 9.96344904e-01 -1.35463620e-03 3.62874263e+00] [ 1.21419055e-02 3.18651699e-04 9.99926234e-01 1.43177262e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.025336195 meters Centerline goodness [0,1] 0.9997452229299363 Centerline is valid? [True, True] Translation: X:118.53, Y:3.64, Z:0.14 [[ 9.96381397e-01 -8.39608635e-02 -1.32168344e-02 1.18526855e+02] [ 8.39485635e-02 9.96468985e-01 -1.48366667e-03 3.63637836e+00] [ 1.32947355e-02 3.68763608e-04 9.99911553e-01 1.38561270e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.055336195 meters Centerline goodness [0,1] 0.9998711146435246 Centerline is valid? [True, True] Translation: X:118.56, Y:3.64, Z:0.14 [[ 9.96427887e-01 -8.32785480e-02 -1.40053268e-02 1.18555998e+02] [ 8.32646332e-02 9.96526227e-01 -1.57473516e-03 3.63689904e+00] [ 1.40878171e-02 4.02961627e-04 9.99900681e-01 1.37753448e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.085336195 meters Centerline goodness [0,1] 0.9998297763687044 Centerline is valid? [True, True] Translation: X:118.59, Y:3.64, Z:0.14 [[ 9.96609430e-01 -8.09039979e-02 -1.49728596e-02 1.18585675e+02] [ 8.08878219e-02 9.96721789e-01 -1.68380792e-03 3.63619660e+00] [ 1.50600022e-02 4.66976856e-04 9.99886483e-01 1.39177211e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.115336195 meters Centerline goodness [0,1] 0.9998077005256185 Centerline is valid? [True, True] Translation: X:118.61, Y:3.65, Z:0.14 [[ 9.96722074e-01 -7.94929820e-02 -1.50324096e-02 1.18612108e+02] [ 7.94764902e-02 9.96835304e-01 -1.69226316e-03 3.64598059e+00] [ 1.51193596e-02 4.91992897e-04 9.99885575e-01 1.37206880e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.145336195 meters Centerline goodness [0,1] 0.9988551317658533 Centerline is valid? [True, True] Translation: X:118.64, Y:3.66, Z:0.14 [[ 9.96934013e-01 -7.70482979e-02 -1.36430857e-02 1.18638844e+02] [ 7.70344777e-02 9.97027246e-01 -1.53640265e-03 3.66026634e+00] [ 1.37209054e-02 4.80704076e-04 9.99905748e-01 1.37735832e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.175336195 meters Centerline goodness [0,1] 0.9995989276592152 Centerline is valid? [True, True] Translation: X:118.67, Y:3.66, Z:0.14 [[ 9.96955190e-01 -7.69452779e-02 -1.26401846e-02 1.18666722e+02] [ 7.69333731e-02 9.97035216e-01 -1.42609912e-03 3.66167255e+00] [ 1.27124408e-02 4.49304874e-04 9.99919093e-01 1.40858018e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.205336195 meters Centerline goodness [0,1] 0.999765483423942 Centerline is valid? [True, True] Translation: X:118.70, Y:3.66, Z:0.15 [[ 9.96880401e-01 -7.81749831e-02 -1.08691561e-02 1.18695979e+02] [ 7.81662503e-02 9.96939583e-01 -1.22660073e-03 3.65643531e+00] [ 1.09317814e-02 3.73173049e-04 9.99940177e-01 1.45054019e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.235336195 meters Centerline goodness [0,1] 0.9998277829203711 Centerline is valid? [True, True] Translation: X:118.73, Y:3.66, Z:0.15 [[ 9.96766363e-01 -7.96781480e-02 -1.04024404e-02 1.18725360e+02] [ 7.96702101e-02 9.96820583e-01 -1.17592502e-03 3.65583798e+00] [ 1.04630623e-02 3.43357891e-04 9.99945202e-01 1.46490540e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.265336195 meters Centerline goodness [0,1] 0.9997662260381689 Centerline is valid? [True, True] Translation: X:118.75, Y:3.66, Z:0.14 [[ 9.96510003e-01 -8.27505384e-02 -1.09618710e-02 1.18753985e+02] [ 8.27419078e-02 9.96570239e-01 -1.23929608e-03 3.65603399e+00] [ 1.10268268e-02 3.27964827e-04 9.99939149e-01 1.43933828e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.295336195 meters Centerline goodness [0,1] 0.9998932923575986 Centerline is valid? [True, True] Translation: X:118.78, Y:3.65, Z:0.15 [[ 9.96212236e-01 -8.63581369e-02 -1.01712062e-02 1.18784373e+02] [ 8.63508920e-02 9.96264122e-01 -1.15013514e-03 3.65075440e+00] [ 1.02325314e-02 2.67485969e-04 9.99947611e-01 1.45222952e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.325336195 meters Centerline goodness [0,1] 0.999935347614327 Centerline is valid? [True, True] Translation: X:118.81, Y:3.65, Z:0.14 [[ 9.96042537e-01 -8.82823611e-02 -1.02708342e-02 1.18812478e+02] [ 8.82750550e-02 9.96095458e-01 -1.16340955e-03 3.65403518e+00] [ 1.03334398e-02 2.52146944e-04 9.99946577e-01 1.43741535e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.355336195 meters Centerline goodness [0,1] 0.9999150652935556 Centerline is valid? [True, True] Translation: X:118.84, Y:3.65, Z:0.14 [[ 9.95763360e-01 -9.12718196e-02 -1.11707222e-02 1.18841764e+02] [ 9.12633620e-02 9.95825987e-01 -1.26561451e-03 3.65148704e+00] [ 1.12396104e-02 2.40774897e-04 9.99936805e-01 1.42379151e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.385336195 meters Centerline goodness [0,1] 0.9998520741319922 Centerline is valid? [True, True] Translation: X:118.87, Y:3.65, Z:0.14 [[ 9.95642614e-01 -9.25116189e-02 -1.17211892e-02 1.18870503e+02] [ 9.25023676e-02 9.95711576e-01 -1.33013883e-03 3.65219736e+00] [ 1.17939771e-02 2.40105152e-04 9.99930420e-01 1.41303233e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.415336195 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.90, Y:3.65, Z:0.14 [[ 9.95565666e-01 -9.31495683e-02 -1.31210655e-02 1.18899461e+02] [ 9.31380012e-02 9.95652092e-01 -1.49122155e-03 3.65118056e+00] [ 1.32029230e-02 2.62539163e-04 9.99912803e-01 1.41242060e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.445336195 meters Centerline goodness [0,1] 0.9999573642584578 Centerline is valid? [True, True] Translation: X:118.93, Y:3.66, Z:0.14 [[ 9.95715198e-01 -9.14338148e-02 -1.38239916e-02 1.18926834e+02] [ 9.14208011e-02 9.95811110e-01 -1.57172435e-03 3.65763563e+00] [ 1.39097932e-02 3.01189435e-04 9.99903209e-01 1.37724306e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.475336195 meters Centerline goodness [0,1] 0.9998722398483912 Centerline is valid? [True, True] Translation: X:118.96, Y:3.66, Z:0.14 [[ 9.95812886e-01 -9.04444931e-02 -1.32849252e-02 1.18955716e+02] [ 9.04323547e-02 9.95901451e-01 -1.51282671e-03 3.66150370e+00] [ 1.33673032e-02 3.05105266e-04 9.99910607e-01 1.38869476e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.505336195 meters Centerline goodness [0,1] 0.9999358494600663 Centerline is valid? [True, True] Translation: X:118.98, Y:3.66, Z:0.14 [[ 9.96050153e-01 -8.79370224e-02 -1.22952061e-02 1.18984015e+02] [ 8.79264270e-02 9.96125987e-01 -1.40071302e-03 3.66386399e+00] [ 1.23707489e-02 3.14106868e-04 9.99923430e-01 1.43593398e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.535336195 meters Centerline goodness [0,1] 0.999828421910522 Centerline is valid? [True, True] Translation: X:119.01, Y:3.67, Z:0.14 [[ 9.96196311e-01 -8.63791610e-02 -1.14695458e-02 1.19010661e+02] [ 8.63698295e-02 9.96262286e-01 -1.30736659e-03 3.67323414e+00] [ 1.15396051e-02 3.11771057e-04 9.99933368e-01 1.43902936e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.56533619500001 meters Centerline goodness [0,1] 0.9998498691717068 Centerline is valid? [True, True] Translation: X:119.04, Y:3.68, Z:0.15 [[ 9.96467085e-01 -8.33929535e-02 -9.94803667e-03 1.19039362e+02] [ 8.33857831e-02 9.96516696e-01 -1.13411941e-03 3.68200682e+00] [ 1.00079622e-02 3.00587840e-04 9.99949874e-01 1.46419777e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.59533619500002 meters Centerline goodness [0,1] 0.9998301378007092 Centerline is valid? [True, True] Translation: X:119.07, Y:3.69, Z:0.15 [[ 9.96533341e-01 -8.26318483e-02 -9.65802482e-03 1.19066644e+02] [ 8.26250478e-02 9.96580096e-01 -1.10170405e-03 3.68888855e+00] [ 9.71603114e-03 2.99890055e-04 9.99952753e-01 1.45469631e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.62533619500002 meters Centerline goodness [0,1] 0.9999141336081058 Centerline is valid? [True, True] Translation: X:119.10, Y:3.68, Z:0.15 [[ 9.96432865e-01 -8.38400082e-02 -9.61238340e-03 1.19096093e+02] [ 8.38333100e-02 9.96479187e-01 -1.09836626e-03 3.68422522e+00] [ 9.67062703e-03 2.88610324e-04 9.99953197e-01 1.46620100e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.65533619500002 meters Centerline goodness [0,1] 0.999935683046051 Centerline is valid? [True, True] Translation: X:119.12, Y:3.69, Z:0.15 [[ 9.96325887e-01 -8.50561487e-02 -1.00089217e-02 1.19123629e+02] [ 8.50489408e-02 9.96376118e-01 -1.14436300e-03 3.68545475e+00] [ 1.00699856e-02 2.88910289e-04 9.99949255e-01 1.45533925e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.68533619500002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:119.15, Y:3.69, Z:0.15 [[ 9.96061131e-01 -8.80719781e-02 -1.02737446e-02 1.19153033e+02] [ 8.80645256e-02 9.96114077e-01 -1.17641164e-03 3.68507884e+00] [ 1.03374305e-02 2.67025460e-04 9.99946532e-01 1.45635767e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.71533619500002 meters Centerline goodness [0,1] 0.9999356181728437 Centerline is valid? [True, True] Translation: X:119.18, Y:3.69, Z:0.15 [[ 9.95815559e-01 -9.08472792e-02 -9.90674957e-03 1.19182242e+02] [ 9.08404840e-02 9.95864810e-01 -1.13467972e-03 3.68546105e+00] [ 9.96886584e-03 2.29997795e-04 9.99950283e-01 1.46061705e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.745336195 meters Centerline goodness [0,1] 0.9999148845621875 Centerline is valid? [True, True] Translation: X:119.21, Y:3.69, Z:0.14 [[ 9.95716199e-01 -9.18628416e-02 -1.05103965e-02 1.19209489e+02] [ 9.18552426e-02 9.95771642e-01 -1.20448485e-03 3.68934472e+00] [ 1.05766021e-02 2.33890062e-04 9.99944039e-01 1.42789427e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.775336195 meters Centerline goodness [0,1] 0.9999575731862537 Centerline is valid? [True, True] Translation: X:119.24, Y:3.69, Z:0.14 [[ 9.95663062e-01 -9.22981920e-02 -1.16666784e-02 1.19239352e+02] [ 9.22888339e-02 9.95731378e-01 -1.33911809e-03 3.68532595e+00] [ 1.17404759e-02 2.56606272e-04 9.99931045e-01 1.41184571e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.805336195 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:119.27, Y:3.69, Z:0.14 [[ 9.95663165e-01 -9.23427055e-02 -1.12998717e-02 1.19267345e+02] [ 9.23339043e-02 9.95727253e-01 -1.29922946e-03 3.68679578e+00] [ 1.13715646e-02 2.50233639e-04 9.99935310e-01 1.42518841e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.835336195 meters Centerline goodness [0,1] 0.9998943810730883 Centerline is valid? [True, True] Translation: X:119.29, Y:3.69, Z:0.14 [[ 9.95805320e-01 -9.09325719e-02 -1.01505011e-02 1.19294409e+02] [ 9.09253929e-02 9.95857023e-01 -1.16746445e-03 3.69358091e+00] [ 1.02146084e-02 2.39629010e-04 9.99947801e-01 1.44331060e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.865336195 meters Centerline goodness [0,1] 0.9998932604658113 Centerline is valid? [True, True] Translation: X:119.32, Y:3.70, Z:0.14 [[ 9.95957147e-01 -8.91298331e-02 -1.11907899e-02 1.19322820e+02] [ 8.91209914e-02 9.96019976e-01 -1.28729618e-03 3.70352005e+00] [ 1.12609868e-02 2.84757540e-04 9.99936553e-01 1.42325074e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.895336195 meters Centerline goodness [0,1] 0.9999572256560515 Centerline is valid? [True, True] Translation: X:119.35, Y:3.70, Z:0.14 [[ 9.96004800e-01 -8.85593154e-02 -1.14754244e-02 1.19351948e+02] [ 8.85499539e-02 9.96070859e-01 -1.32232838e-03 3.70413483e+00] [ 1.15474403e-02 3.00897117e-04 9.99933281e-01 1.43978862e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.925336195 meters Centerline goodness [0,1] 0.9999784751818848 Centerline is valid? [True, True] Translation: X:119.38, Y:3.70, Z:0.15 [[ 9.96062502e-01 -8.81275976e-02 -9.64462236e-03 1.19379754e+02] [ 8.81209451e-02 9.96109160e-01 -1.11338239e-03 3.70430038e+00] [ 9.70521640e-03 2.59105209e-04 9.99952870e-01 1.46580631e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.955336195 meters Centerline goodness [0,1] 0.9998511335119731 Centerline is valid? [True, True] Translation: X:119.41, Y:3.71, Z:0.15 [[ 9.96042047e-01 -8.83832578e-02 -9.41488794e-03 1.19406972e+02] [ 8.83769268e-02 9.96086511e-01 -1.08719176e-03 3.70895317e+00] [ 9.47413243e-03 2.50829847e-04 9.99955088e-01 1.45584836e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.985336195 meters Centerline goodness [0,1] 0.9999572622176636 Centerline is valid? [True, True] Translation: X:119.44, Y:3.71, Z:0.15 [[ 9.95944889e-01 -8.94581402e-02 -9.54039249e-03 1.19436035e+02] [ 8.94516707e-02 9.95990553e-01 -1.10354097e-03 3.70644341e+00] [ 9.60086151e-03 2.45661937e-04 9.99953880e-01 1.46921493e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.015336195 meters Centerline goodness [0,1] 0.9999784645202972 Centerline is valid? [True, True] Translation: X:119.46, Y:3.71, Z:0.15 [[ 9.95858573e-01 -9.06299971e-02 -7.20453139e-03 1.19464558e+02] [ 9.06263370e-02 9.95884618e-01 -8.33551044e-04 3.70786720e+00] [ 7.25042672e-03 1.77178664e-04 9.99973700e-01 1.50848395e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.045336195 meters Centerline goodness [0,1] 0.9999787224988297 Centerline is valid? [True, True] Translation: X:119.49, Y:3.71, Z:0.15 [[ 9.95829234e-01 -9.09652606e-02 -7.03263386e-03 1.19491558e+02] [ 9.09617782e-02 9.95854052e-01 -8.14118919e-04 3.71392292e+00] [ 7.07753346e-03 1.71022538e-04 9.99974939e-01 1.49778645e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.075336195 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:119.52, Y:3.72, Z:0.14 [[ 9.95772798e-01 -9.13577607e-02 -9.50231903e-03 1.19518932e+02] [ 9.13514158e-02 9.95818110e-01 -1.10052859e-03 3.71771282e+00] [ 9.56312320e-03 2.27826134e-04 9.99954246e-01 1.42868103e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.105336195 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:119.55, Y:3.71, Z:0.14 [[ 9.95755875e-01 -9.15181833e-02 -9.72930508e-03 1.19547617e+02] [ 9.15115181e-02 9.95803378e-01 -1.12899219e-03 3.71426227e+00] [ 9.79179817e-03 2.33857129e-04 9.99952032e-01 1.44901240e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.135336195 meters Centerline goodness [0,1] 0.9999575109940303 Centerline is valid? [True, True] Translation: X:119.57, Y:3.72, Z:0.14 [[ 9.95851442e-01 -9.04978143e-02 -9.48948418e-03 1.19574631e+02] [ 9.04914208e-02 9.95896626e-01 -1.10184440e-03 3.72115883e+00] [ 9.55025978e-03 2.38556433e-04 9.99954367e-01 1.44790373e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.165336195 meters Centerline goodness [0,1] 0.9999143652322843 Centerline is valid? [True, True] Translation: X:119.60, Y:3.73, Z:0.14 [[ 9.95968944e-01 -8.91642596e-02 -9.77738124e-03 1.19601600e+02] [ 8.91574031e-02 9.96016901e-01 -1.13577891e-03 3.72804689e+00] [ 9.83970785e-03 2.59474606e-04 9.99951555e-01 1.43903943e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.195336195 meters Centerline goodness [0,1] 0.9999150382327953 Centerline is valid? [True, True] Translation: X:119.63, Y:3.73, Z:0.14 [[ 9.96006513e-01 -8.87220938e-02 -9.97079939e-03 1.19630553e+02] [ 8.87149225e-02 9.96056382e-01 -1.16011030e-03 3.73150107e+00] [ 1.00344058e-02 2.70918720e-04 9.99949617e-01 1.44511353e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.225336195 meters Centerline goodness [0,1] 0.9998729136660172 Centerline is valid? [True, True] Translation: X:119.66, Y:3.74, Z:0.14 [[ 9.96042097e-01 -8.81413138e-02 -1.14564200e-02 1.19657307e+02] [ 8.81318010e-02 9.96107930e-01 -1.33354636e-03 3.73890996e+00] [ 1.15293714e-02 3.18593382e-04 9.99933484e-01 1.41549434e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.255336195 meters Centerline goodness [0,1] 0.9998729136660172 Centerline is valid? [True, True] Translation: X:119.68, Y:3.74, Z:0.14 [[ 9.96025743e-01 -8.83259625e-02 -1.14561470e-02 1.19684593e+02] [ 8.83164350e-02 9.96091573e-01 -1.33589036e-03 3.74228466e+00] [ 1.15293653e-02 3.18815132e-04 9.99933484e-01 1.41496572e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.285336195 meters Centerline goodness [0,1] 0.9999570778607606 Centerline is valid? [True, True] Translation: X:119.71, Y:3.74, Z:0.14 [[ 9.95993503e-01 -8.87087944e-02 -1.13000701e-02 1.19713730e+02] [ 8.86995276e-02 9.96057555e-01 -1.31960194e-03 3.74336227e+00] [ 1.13725805e-02 3.12004081e-04 9.99935281e-01 1.42884779e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.31533619500001 meters Centerline goodness [0,1] 0.9999784077904692 Centerline is valid? [True, True] Translation: X:119.74, Y:3.74, Z:0.15 [[ 9.95868839e-01 -9.02825680e-02 -9.71152306e-03 1.19743286e+02] [ 9.02757955e-02 9.95916158e-01 -1.13439079e-03 3.74057810e+00] [ 9.77427845e-03 2.52988970e-04 9.99952199e-01 1.45225838e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.34533619500002 meters Centerline goodness [0,1] 0.9999364581788914 Centerline is valid? [True, True] Translation: X:119.77, Y:3.74, Z:0.14 [[ 9.95668541e-01 -9.23641701e-02 -1.06309395e-02 1.19770913e+02] [ 9.23561659e-02 9.95725261e-01 -1.24245509e-03 3.74087075e+00] [ 1.07002534e-02 2.55240636e-04 9.99942718e-01 1.41287090e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.37533619500002 meters Centerline goodness [0,1] 0.9999787640688044 Centerline is valid? [True, True] Translation: X:119.80, Y:3.74, Z:0.14 [[ 9.95555985e-01 -9.34457875e-02 -1.16690214e-02 1.19799759e+02] [ 9.34361928e-02 9.95624333e-01 -1.36592325e-03 3.74040258e+00] [ 1.17456014e-02 2.69544139e-04 9.99930982e-01 1.39942774e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.40533619500002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:119.83, Y:3.74, Z:0.14 [[ 9.95361823e-01 -9.55424844e-02 -1.12460688e-02 1.19829301e+02] [ 9.55336862e-02 9.95425325e-01 -1.31819399e-03 3.73911009e+00] [ 1.13205652e-02 2.37701568e-04 9.99935892e-01 1.40916784e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.43533619500002 meters Centerline goodness [0,1] 0.9999146539216524 Centerline is valid? [True, True] Translation: X:119.86, Y:3.74, Z:0.14 [[ 9.95287623e-01 -9.64359177e-02 -1.01321654e-02 1.19856633e+02] [ 9.64288177e-02 9.95339174e-01 -1.18808882e-03 3.74342205e+00] [ 1.01995156e-02 2.05457368e-04 9.99947962e-01 1.42258870e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.46533619500002 meters Centerline goodness [0,1] 0.9999571862824849 Centerline is valid? [True, True] Translation: X:119.89, Y:3.75, Z:0.14 [[ 9.95267941e-01 -9.65798581e-02 -1.06797170e-02 1.19885406e+02] [ 9.65719570e-02 9.95325215e-01 -1.25426543e-03 3.74722674e+00] [ 1.07509284e-02 2.16968999e-04 9.99942184e-01 1.41839934e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.495336195 meters Centerline goodness [0,1] 0.9999359343968224 Centerline is valid? [True, True] Translation: X:119.91, Y:3.75, Z:0.14 [[ 9.95272752e-01 -9.63962017e-02 -1.18288693e-02 1.19913876e+02] [ 9.63864854e-02 9.95343013e-01 -1.39010104e-03 3.74776779e+00] [ 1.19077829e-02 2.43386553e-04 9.99929070e-01 1.39818393e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.525336195 meters Centerline goodness [0,1] 0.9999361144828467 Centerline is valid? [True, True] Translation: X:119.94, Y:3.75, Z:0.14 [[ 9.95391009e-01 -9.52325014e-02 -1.12920378e-02 1.19941880e+02] [ 9.52235651e-02 9.95455027e-01 -1.32763387e-03 3.74561784e+00] [ 1.13671497e-02 2.46246725e-04 9.99935362e-01 1.40253184e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.555336195 meters Centerline goodness [0,1] 0.9999574875119567 Centerline is valid? [True, True] Translation: X:119.97, Y:3.75, Z:0.14 [[ 9.95570304e-01 -9.34609273e-02 -1.02384137e-02 1.19970553e+02] [ 9.34534675e-02 9.95622918e-01 -1.20567644e-03 3.75035563e+00] [ 1.03062830e-02 2.43520398e-04 9.99946859e-01 1.42666943e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.585336195 meters Centerline goodness [0,1] 0.9999361579876997 Centerline is valid? [True, True] Translation: X:120.00, Y:3.75, Z:0.14 [[ 9.95652241e-01 -9.25692876e-02 -1.03702181e-02 1.19999479e+02] [ 9.25615676e-02 9.95706212e-01 -1.22296905e-03 3.75457148e+00] [ 1.04389000e-02 2.57768230e-04 9.99945480e-01 1.43221891e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.615336195 meters Centerline goodness [0,1] 0.9999574594801548 Centerline is valid? [True, True] Translation: X:120.03, Y:3.76, Z:0.14 [[ 9.95764296e-01 -9.12876464e-02 -1.09559669e-02 1.20026060e+02] [ 9.12789456e-02 9.95824524e-01 -1.29263804e-03 3.76169183e+00] [ 1.10282224e-02 2.87113701e-04 9.99939146e-01 1.40957757e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.645336195 meters Centerline goodness [0,1] 0.9999787784898774 Centerline is valid? [True, True] Translation: X:120.05, Y:3.76, Z:0.14 [[ 9.95785349e-01 -9.12448004e-02 -9.26957418e-03 1.20054873e+02] [ 9.12385540e-02 9.95828462e-01 -1.09540547e-03 3.76402030e+00] [ 9.33085585e-03 2.45046175e-04 9.99956437e-01 1.44173390e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.675336195 meters Centerline goodness [0,1] 0.9998941888517374 Centerline is valid? [True, True] Translation: X:120.08, Y:3.77, Z:0.14 [[ 9.95778228e-01 -9.13543693e-02 -8.94987720e-03 1.20082594e+02] [ 9.13485477e-02 9.95818419e-01 -1.05795801e-03 3.76717263e+00] [ 9.00910165e-03 2.35933269e-04 9.99959389e-01 1.44697662e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.705336195 meters Centerline goodness [0,1] 0.9998934015563373 Centerline is valid? [True, True] Translation: X:120.11, Y:3.76, Z:0.14 [[ 9.95683823e-01 -9.23158355e-02 -9.56616983e-03 1.20111611e+02] [ 9.23092120e-02 9.95729746e-01 -1.13256550e-03 3.76479207e+00] [ 9.62987358e-03 2.44631547e-04 9.99953602e-01 1.43365891e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.735336195 meters Centerline goodness [0,1] 0.9998724760892668 Centerline is valid? [True, True] Translation: X:120.14, Y:3.77, Z:0.14 [[ 9.95640639e-01 -9.27353349e-02 -9.99374330e-03 1.20138712e+02] [ 9.27281207e-02 9.95690762e-01 -1.18383038e-03 3.76582517e+00] [ 1.00604608e-02 2.51968596e-04 9.99949361e-01 1.42248676e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.765336195 meters Centerline goodness [0,1] 0.9998727681411426 Centerline is valid? [True, True] Translation: X:120.17, Y:3.76, Z:0.14 [[ 9.95666215e-01 -9.24890612e-02 -9.72427526e-03 1.20167633e+02] [ 9.24822017e-02 9.95713669e-01 -1.15367959e-03 3.76461594e+00] [ 9.78929654e-03 2.49357403e-04 9.99952053e-01 1.44162818e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.795336195 meters Centerline goodness [0,1] 0.9999787007454739 Centerline is valid? [True, True] Translation: X:120.20, Y:3.77, Z:0.14 [[ 9.95654826e-01 -9.26067526e-02 -9.77022410e-03 1.20195929e+02] [ 9.25998146e-02 9.95702730e-01 -1.16108708e-03 3.76667101e+00] [ 9.83576331e-03 2.51321010e-04 9.99951596e-01 1.44896563e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.825336195 meters Centerline goodness [0,1] 0.9999786452549757 Centerline is valid? [True, True] Translation: X:120.22, Y:3.77, Z:0.14 [[ 9.95697510e-01 -9.20200733e-02 -1.08983877e-02 1.20224672e+02] [ 9.20113859e-02 9.95757110e-01 -1.29693576e-03 3.77045434e+00] [ 1.09714912e-02 2.88579948e-04 9.99939770e-01 1.41959120e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.855336195 meters Centerline goodness [0,1] 0.9999785839722448 Centerline is valid? [True, True] Translation: X:120.25, Y:3.77, Z:0.14 [[ 9.95769350e-01 -9.13710939e-02 -9.73264601e-03 1.20253197e+02] [ 9.13641178e-02 9.95816877e-01 -1.15993204e-03 3.77383136e+00] [ 9.79791742e-03 2.65810161e-04 9.99951964e-01 1.43591228e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.885336195 meters Centerline goodness [0,1] 0.9999575118966689 Centerline is valid? [True, True] Translation: X:120.28, Y:3.78, Z:0.14 [[ 9.95791491e-01 -9.11114220e-02 -9.90025130e-03 1.20280936e+02] [ 9.11041868e-02 9.95840667e-01 -1.18029754e-03 3.77877683e+00] [ 9.96661144e-03 2.73375904e-04 9.99950295e-01 1.41265223e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.915336195 meters Centerline goodness [0,1] 0.9999142201539748 Centerline is valid? [True, True] Translation: X:120.31, Y:3.77, Z:0.14 [[ 9.95783019e-01 -9.08177285e-02 -1.29737542e-02 1.20310724e+02] [ 9.08052473e-02 9.95867465e-01 -1.54910486e-03 3.77307436e+00] [ 1.30608259e-02 3.64487359e-04 9.99914637e-01 1.37524371e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.945336195 meters Centerline goodness [0,1] 0.9999354297152451 Centerline is valid? [True, True] Translation: X:120.34, Y:3.77, Z:0.14 [[ 9.95786274e-01 -9.06590292e-02 -1.38071642e-02 1.20340054e+02] [ 9.06448450e-02 9.95881914e-01 -1.65095672e-03 3.77350313e+00] [ 1.38999793e-02 3.92451781e-04 9.99903314e-01 1.36328657e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.975336195 meters Centerline goodness [0,1] 0.9997860779531939 Centerline is valid? [True, True] Translation: X:120.37, Y:3.78, Z:0.13 [[ 9.95931136e-01 -8.89708399e-02 -1.43304334e-02 1.20368341e+02] [ 8.89553819e-02 9.96034137e-01 -1.71377864e-03 3.77725896e+00] [ 1.44260772e-02 4.32036330e-04 9.99895845e-01 1.34827413e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.005336195 meters Centerline goodness [0,1] 0.9996828886727834 Centerline is valid? [True, True] Translation: X:120.40, Y:3.78, Z:0.14 [[ 9.95987425e-01 -8.83475828e-02 -1.42742297e-02 1.20397243e+02] [ 8.83321442e-02 9.96089609e-01 -1.70967990e-03 3.78102193e+00] [ 1.43694580e-02 4.41946364e-04 9.99896656e-01 1.35343372e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.035336195 meters Centerline goodness [0,1] 0.9997237921217015 Centerline is valid? [True, True] Translation: X:120.42, Y:3.79, Z:0.13 [[ 9.96122491e-01 -8.68175416e-02 -1.42371674e-02 1.20423690e+02] [ 8.68020151e-02 9.96224121e-01 -1.70607113e-03 3.78977401e+00] [ 1.43315265e-02 4.63641000e-04 9.99897191e-01 1.34676379e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.06533619500001 meters Centerline goodness [0,1] 0.9998285506097169 Centerline is valid? [True, True] Translation: X:120.45, Y:3.79, Z:0.14 [[ 9.96193083e-01 -8.60383077e-02 -1.40268106e-02 1.20452109e+02] [ 8.60231476e-02 9.96291719e-01 -1.68169844e-03 3.79069810e+00] [ 1.41194858e-02 4.68665949e-04 9.99900205e-01 1.36702560e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.09533619500002 meters Centerline goodness [0,1] 0.9997450497153055 Centerline is valid? [True, True] Translation: X:120.48, Y:3.79, Z:0.14 [[ 9.96415028e-01 -8.37191197e-02 -1.21737692e-02 1.20479890e+02] [ 8.37075187e-02 9.96489297e-01 -1.46028518e-03 3.79475503e+00] [ 1.22532845e-02 4.36014089e-04 9.99924831e-01 1.38945492e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.12533619500002 meters Centerline goodness [0,1] 0.9996592337017869 Centerline is valid? [True, True] Translation: X:120.51, Y:3.80, Z:0.14 [[ 9.96552761e-01 -8.23650915e-02 -9.92908814e-03 1.20507781e+02] [ 8.23573011e-02 9.96602155e-01 -1.19164374e-03 3.79934748e+00] [ 9.99350048e-03 3.69802962e-04 9.99949995e-01 1.42085416e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.15533619500002 meters Centerline goodness [0,1] 0.9996829020801623 Centerline is valid? [True, True] Translation: X:120.54, Y:3.80, Z:0.14 [[ 9.96548650e-01 -8.23661868e-02 -1.03246613e-02 1.20536028e+02] [ 8.23577571e-02 9.96602058e-01 -1.23971769e-03 3.80166977e+00] [ 1.03916895e-02 3.85123041e-04 9.99945931e-01 1.41295849e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.18533619500002 meters Centerline goodness [0,1] 0.9996762915965298 Centerline is valid? [True, True] Translation: X:120.57, Y:3.80, Z:0.14 [[ 9.96428201e-01 -8.35839371e-02 -1.20235444e-02 1.20565461e+02] [ 8.35725691e-02 9.96500645e-01 -1.44570788e-03 3.80226954e+00] [ 1.21023077e-02 4.35705610e-04 9.99926669e-01 1.37770554e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.21533619500002 meters Centerline goodness [0,1] 0.9998505582715996 Centerline is valid? [True, True] Translation: X:120.59, Y:3.80, Z:0.14 [[ 9.96299373e-01 -8.52280816e-02 -1.11235342e-02 1.20594834e+02] [ 8.52184503e-02 9.96361393e-01 -1.33784692e-03 3.79987775e+00] [ 1.11970822e-02 3.84965699e-04 9.99937237e-01 1.39142411e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.245336195 meters Centerline goodness [0,1] 0.9999138803367279 Centerline is valid? [True, True] Translation: X:120.62, Y:3.80, Z:0.14 [[ 9.96214205e-01 -8.62279805e-02 -1.10450172e-02 1.20623568e+02] [ 8.62185227e-02 9.96275362e-01 -1.33049864e-03 3.79970108e+00] [ 1.11186047e-02 3.73176581e-04 9.99938117e-01 1.39728976e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.275336195 meters Centerline goodness [0,1] 0.9998095641134152 Centerline is valid? [True, True] Translation: X:120.65, Y:3.80, Z:0.14 [[ 9.96058940e-01 -8.78653658e-02 -1.20940254e-02 1.20652354e+02] [ 8.78541222e-02 9.96132283e-01 -1.45886318e-03 3.79724502e+00] [ 1.21754327e-02 3.90603729e-04 9.99925800e-01 1.38354656e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.305336195 meters Centerline goodness [0,1] 0.9997674762720105 Centerline is valid? [True, True] Translation: X:120.68, Y:3.80, Z:0.14 [[ 9.95976390e-01 -8.87723324e-02 -1.22679893e-02 1.20680408e+02] [ 8.87608254e-02 9.96051868e-01 -1.48036234e-03 3.80034541e+00] [ 1.23509689e-02 3.85489080e-04 9.99923650e-01 1.37888762e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.335336195 meters Centerline goodness [0,1] 0.9998084046493805 Centerline is valid? [True, True] Translation: X:120.71, Y:3.80, Z:0.14 [[ 9.95837086e-01 -9.04158769e-02 -1.15527713e-02 1.20709963e+02] [ 9.04057603e-02 9.95904036e-01 -1.39601516e-03 3.79995133e+00] [ 1.16316735e-02 3.45766598e-04 9.99932290e-01 1.38725710e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.365336195 meters Centerline goodness [0,1] 0.9998502545672358 Centerline is valid? [True, True] Translation: X:120.74, Y:3.80, Z:0.14 [[ 9.95843433e-01 -9.03999186e-02 -1.11225345e-02 1.20736345e+02] [ 9.03905317e-02 9.95905489e-01 -1.34481425e-03 3.80444729e+00] [ 1.11985643e-02 3.33852636e-04 9.99937238e-01 1.38991284e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.395336195 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:120.77, Y:3.80, Z:0.14 [[ 9.95840685e-01 -9.04119425e-02 -1.12699039e-02 1.20765037e+02] [ 9.04022823e-02 9.95904395e-01 -1.36471376e-03 3.80458910e+00] [ 1.13471332e-02 3.40212456e-04 9.99935561e-01 1.39551242e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.425336195 meters Centerline goodness [0,1] 0.9998925863069024 Centerline is valid? [True, True] Translation: X:120.79, Y:3.80, Z:0.14 [[ 9.95847889e-01 -9.00507065e-02 -1.33361181e-02 1.20793174e+02] [ 9.00371396e-02 9.95937098e-01 -1.61545359e-03 3.80358150e+00] [ 1.34274075e-02 4.08000123e-04 9.99909765e-01 1.35054204e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.455336195 meters Centerline goodness [0,1] 0.9997651830504857 Centerline is valid? [True, True] Translation: X:120.82, Y:3.81, Z:0.14 [[ 9.95905831e-01 -8.93830412e-02 -1.34999125e-02 1.20822200e+02] [ 8.93690437e-02 9.95997235e-01 -1.63779741e-03 3.80552814e+00] [ 1.35922669e-02 4.24617714e-04 9.99907531e-01 1.35457581e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.485336195 meters Centerline goodness [0,1] 0.9998716138143535 Centerline is valid? [True, True] Translation: X:120.85, Y:3.81, Z:0.14 [[ 9.96129216e-01 -8.71803326e-02 -1.12327554e-02 1.20849163e+02] [ 8.71704961e-02 9.96192474e-01 -1.36326991e-03 3.81207263e+00] [ 1.13088368e-02 3.78828124e-04 9.99935981e-01 1.39669353e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.515336195 meters Centerline goodness [0,1] 0.9994274323521927 Centerline is valid? [True, True] Translation: X:120.88, Y:3.82, Z:0.14 [[ 9.96329113e-01 -8.48981435e-02 -1.09819823e-02 1.20876334e+02] [ 8.48885974e-02 9.96389556e-01 -1.33333569e-03 3.82082975e+00] [ 1.10555302e-02 3.96196092e-04 9.99938807e-01 1.39492422e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.545336195 meters Centerline goodness [0,1] 0.9996801296541136 Centerline is valid? [True, True] Translation: X:120.91, Y:3.83, Z:0.14 [[ 9.96398488e-01 -8.40267803e-02 -1.13821385e-02 1.20905134e+02] [ 8.40164448e-02 9.96463407e-01 -1.38403056e-03 3.82502286e+00] [ 1.14581801e-02 4.22759143e-04 9.99934264e-01 1.39562881e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.575336195 meters Centerline goodness [0,1] 0.9983031794175663 Centerline is valid? [True, True] Translation: X:120.93, Y:3.83, Z:0.14 [[ 9.96548630e-01 -8.20794832e-02 -1.24010926e-02 1.20933068e+02] [ 8.20670616e-02 9.96625668e-01 -1.50809286e-03 3.83497504e+00] [ 1.24830307e-02 4.85166643e-04 9.99921966e-01 1.35258230e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.605336195 meters Centerline goodness [0,1] 0.9987914254818395 Centerline is valid? [True, True] Translation: X:120.96, Y:3.84, Z:0.14 [[ 9.96615391e-01 -8.12816800e-02 -1.22903152e-02 1.20961271e+02] [ 8.12694093e-02 9.96691049e-01 -1.49538838e-03 3.83774228e+00] [ 1.23711948e-02 4.91500418e-04 9.99923353e-01 1.35166354e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.635336195 meters Centerline goodness [0,1] 0.9979128064234447 Centerline is valid? [True, True] Translation: X:120.99, Y:3.84, Z:0.13 [[ 9.96617290e-01 -8.12243921e-02 -1.25129937e-02 1.20990297e+02] [ 8.12116396e-02 9.96695713e-01 -1.52474757e-03 3.83850365e+00] [ 1.25954939e-02 5.03389055e-04 9.99920547e-01 1.34886743e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.665336195 meters Centerline goodness [0,1] 0.9997625010795406 Centerline is valid? [True, True] Translation: X:121.02, Y:3.83, Z:0.14 [[ 9.96505941e-01 -8.23924543e-02 -1.36891874e-02 1.21020033e+02] [ 8.23772693e-02 9.96599817e-01 -1.67042335e-03 3.83457343e+00] [ 1.37802720e-02 5.36908912e-04 9.99904903e-01 1.35371857e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.695336195 meters Centerline goodness [0,1] 0.9969741524430523 Centerline is valid? [True, True] Translation: X:121.05, Y:3.85, Z:0.13 [[ 9.96230288e-01 -8.54648693e-02 -1.48650609e-02 1.21047676e+02] [ 8.54473008e-02 9.96341040e-01 -1.81416818e-03 3.84558164e+00] [ 1.49657179e-02 5.37149953e-04 9.99887863e-01 1.30361164e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.725336195 meters Centerline goodness [0,1] 0.9995932958023845 Centerline is valid? [True, True] Translation: X:121.08, Y:3.85, Z:0.13 [[ 9.96123375e-01 -8.66768492e-02 -1.50115094e-02 1.21077266e+02] [ 8.66590315e-02 9.96236341e-01 -1.83460034e-03 3.84562369e+00] [ 1.51140286e-02 5.26605414e-04 9.99885638e-01 1.31432316e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.755336195 meters Centerline goodness [0,1] 0.9987416017916178 Centerline is valid? [True, True] Translation: X:121.11, Y:3.85, Z:0.13 [[ 9.95940368e-01 -8.87478193e-02 -1.50534919e-02 1.21105449e+02] [ 8.87301303e-02 9.96054003e-01 -1.84023817e-03 3.84874499e+00] [ 1.51574080e-02 4.97069179e-04 9.99884996e-01 1.28130049e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.785336195 meters Centerline goodness [0,1] 0.999409681227863 Centerline is valid? [True, True] Translation: X:121.13, Y:3.85, Z:0.13 [[ 9.95825193e-01 -9.01036353e-02 -1.46123056e-02 1.21134792e+02] [ 9.00870766e-02 9.95932286e-01 -1.78883406e-03 3.84712795e+00] [ 1.47140474e-02 4.64986121e-04 9.99891634e-01 1.29168289e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.81533619500001 meters Centerline goodness [0,1] 0.9998087547811305 Centerline is valid? [True, True] Translation: X:121.17, Y:3.84, Z:0.13 [[ 9.95562986e-01 -9.29614765e-02 -1.45775766e-02 1.21166190e+02] [ 9.29453069e-02 9.95669617e-01 -1.78428096e-03 3.84007373e+00] [ 1.46803195e-02 4.21446742e-04 9.99892149e-01 1.31612969e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.84533619500002 meters Centerline goodness [0,1] 0.999872340425532 Centerline is valid? [True, True] Translation: X:121.20, Y:3.84, Z:0.13 [[ 9.95439076e-01 -9.43551184e-02 -1.40768556e-02 1.21195003e+02] [ 9.43401425e-02 9.95538528e-01 -1.72562227e-03 3.84249374e+00] [ 1.41768734e-02 3.89739280e-04 9.99899427e-01 1.32644109e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.87533619500002 meters Centerline goodness [0,1] 0.9998940857481783 Centerline is valid? [True, True] Translation: X:121.22, Y:3.85, Z:0.13 [[ 9.95299407e-01 -9.59129033e-02 -1.34091511e-02 1.21222213e+02] [ 9.58994478e-02 9.95389668e-01 -1.64436396e-03 3.84808216e+00] [ 1.35050462e-02 3.50704292e-04 9.99908741e-01 1.33111873e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.90533619500002 meters Centerline goodness [0,1] 0.9999144933732365 Centerline is valid? [True, True] Translation: X:121.25, Y:3.85, Z:0.13 [[ 9.95240885e-01 -9.65223449e-02 -1.33797511e-02 1.21251195e+02] [ 9.65089702e-02 9.95330758e-01 -1.64321109e-03 3.84875438e+00] [ 1.34758844e-02 3.44124855e-04 9.99909137e-01 1.34408240e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.93533619500002 meters Centerline goodness [0,1] 0.9998938338712418 Centerline is valid? [True, True] Translation: X:121.28, Y:3.85, Z:0.14 [[ 9.95250275e-01 -9.65412058e-02 -1.25174400e-02 1.21279987e+02] [ 9.65294740e-02 9.95328936e-01 -1.53946047e-03 3.84730802e+00] [ 1.26075916e-02 3.23846559e-04 9.99920469e-01 1.36606654e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.96533619500002 meters Centerline goodness [0,1] 0.99991559756921 Centerline is valid? [True, True] Translation: X:121.31, Y:3.85, Z:0.14 [[ 9.95428272e-01 -9.48388572e-02 -1.13201758e-02 1.21307409e+02] [ 9.48291467e-02 9.95492588e-01 -1.39271809e-03 3.85280411e+00] [ 1.14012349e-02 3.12868349e-04 9.99934955e-01 1.38598652e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.995336195 meters Centerline goodness [0,1] 0.9998519458544839 Centerline is valid? [True, True] Translation: X:121.34, Y:3.86, Z:0.14 [[ 9.95528517e-01 -9.37962379e-02 -1.11909900e-02 1.21335206e+02] [ 9.37866746e-02 9.95591363e-01 -1.37747617e-03 3.85878641e+00] [ 1.12708551e-02 3.21751076e-04 9.99936430e-01 1.38725560e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.025336195 meters Centerline goodness [0,1] 0.9995964658907485 Centerline is valid? [True, True] Translation: X:121.36, Y:3.87, Z:0.14 [[ 9.95647814e-01 -9.25245213e-02 -1.11644202e-02 1.21362307e+02] [ 9.25149162e-02 9.95710349e-01 -1.37485478e-03 3.86666907e+00] [ 1.12437365e-02 3.35995755e-04 9.99936731e-01 1.36393681e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.055336195 meters Centerline goodness [0,1] 0.9998521990667427 Centerline is valid? [True, True] Translation: X:121.39, Y:3.87, Z:0.14 [[ 9.95619221e-01 -9.27930313e-02 -1.14812940e-02 1.21390894e+02] [ 9.27828635e-02 9.95685359e-01 -1.41625089e-03 3.86607507e+00] [ 1.15631745e-02 3.44779279e-04 9.99933085e-01 1.37139502e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.085336195 meters Centerline goodness [0,1] 0.9998506156768177 Centerline is valid? [True, True] Translation: X:121.42, Y:3.87, Z:0.14 [[ 9.95572142e-01 -9.32432538e-02 -1.19081945e-02 1.21419218e+02] [ 9.32323206e-02 9.95643295e-01 -1.47119297e-03 3.86811581e+00] [ 1.19934928e-02 3.54450133e-04 9.99928013e-01 1.37611160e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.115336195 meters Centerline goodness [0,1] 0.9998721227621483 Centerline is valid? [True, True] Translation: X:121.45, Y:3.87, Z:0.14 [[ 9.95460193e-01 -9.44075082e-02 -1.20924193e-02 1.21446846e+02] [ 9.43963143e-02 9.95533577e-01 -1.49441407e-03 3.87271124e+00] [ 1.21794933e-02 3.46149903e-04 9.99925767e-01 1.36672368e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.145336195 meters Centerline goodness [0,1] 0.9998721227621483 Centerline is valid? [True, True] Translation: X:121.47, Y:3.88, Z:0.14 [[ 9.95442621e-01 -9.45926456e-02 -1.20921111e-02 1.21474126e+02] [ 9.45814351e-02 9.95516003e-01 -1.49690590e-03 3.87627319e+00] [ 1.21794864e-02 3.46394712e-04 9.99925767e-01 1.36619484e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.175336195 meters Centerline goodness [0,1] 0.9997665732959851 Centerline is valid? [True, True] Translation: X:121.50, Y:3.87, Z:0.14 [[ 9.95275509e-01 -9.63265715e-02 -1.21594395e-02 1.21503201e+02] [ 9.63153411e-02 9.95349729e-01 -1.50719862e-03 3.87476195e+00] [ 1.22480781e-02 3.28937308e-04 9.99924935e-01 1.36605721e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.205336195 meters Centerline goodness [0,1] 0.9999360681939264 Centerline is valid? [True, True] Translation: X:121.53, Y:3.87, Z:0.14 [[ 9.95194068e-01 -9.71170308e-02 -1.25319442e-02 1.21532624e+02] [ 9.71051373e-02 9.95272914e-01 -1.55550915e-03 3.87388646e+00] [ 1.26237710e-02 3.31117316e-04 9.99920262e-01 1.38048391e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.235336195 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.56, Y:3.88, Z:0.14 [[ 9.95131516e-01 -9.78331174e-02 -1.19141731e-02 1.21560908e+02] [ 9.78223943e-02 9.95202786e-01 -1.48088596e-03 3.87685842e+00] [ 1.20018979e-02 3.08203357e-04 9.99927927e-01 1.39050655e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.265336195 meters Centerline goodness [0,1] 0.9998723648663022 Centerline is valid? [True, True] Translation: X:121.59, Y:3.88, Z:0.14 [[ 9.95098203e-01 -9.81976814e-02 -1.16953898e-02 1.21587956e+02] [ 9.81873677e-02 9.95166884e-01 -1.45419602e-03 3.88248232e+00] [ 1.17816633e-02 2.98728303e-04 9.99930549e-01 1.37582046e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.295336195 meters Centerline goodness [0,1] 0.9999356692541922 Centerline is valid? [True, True] Translation: X:121.62, Y:3.88, Z:0.14 [[ 9.95071292e-01 -9.83825715e-02 -1.24093716e-02 1.21616877e+02] [ 9.83709453e-02 9.95148617e-01 -1.54530127e-03 3.88307584e+00] [ 1.25011997e-02 3.16963316e-04 9.99921807e-01 1.37755579e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.325336195 meters Centerline goodness [0,1] 0.9998935739979992 Centerline is valid? [True, True] Translation: X:121.64, Y:3.89, Z:0.14 [[ 9.95130668e-01 -9.77698525e-02 -1.24903506e-02 1.21643725e+02] [ 9.77580190e-02 9.95208998e-01 -1.55593486e-03 3.89039036e+00] [ 1.25826328e-02 3.27326569e-04 9.99920782e-01 1.35902758e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.355336195 meters Centerline goodness [0,1] 0.9999149189603097 Centerline is valid? [True, True] Translation: X:121.67, Y:3.89, Z:0.13 [[ 9.95177399e-01 -9.71982876e-02 -1.32074738e-02 1.21672377e+02] [ 9.71849742e-02 9.95264973e-01 -1.64764696e-03 3.89133541e+00] [ 1.33050845e-02 3.56133017e-04 9.99911420e-01 1.34751618e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.385336195 meters Centerline goodness [0,1] 0.999807803190467 Centerline is valid? [True, True] Translation: X:121.70, Y:3.90, Z:0.13 [[ 9.95167480e-01 -9.72374853e-02 -1.36586247e-02 1.21701344e+02] [ 9.72232195e-02 9.95261139e-01 -1.70617571e-03 3.89528259e+00] [ 1.37598026e-02 3.69995111e-04 9.99905261e-01 1.34187698e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.415336195 meters Centerline goodness [0,1] 0.99985121261717 Centerline is valid? [True, True] Translation: X:121.73, Y:3.90, Z:0.14 [[ 9.95358598e-01 -9.53537822e-02 -1.29968268e-02 1.21729011e+02] [ 9.53406973e-02 9.95443375e-01 -1.62408773e-03 3.90327426e+00] [ 1.30924680e-02 3.77423156e-04 9.99914219e-01 1.35469267e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.445336195 meters Centerline goodness [0,1] 0.9999353267079139 Centerline is valid? [True, True] Translation: X:121.76, Y:3.91, Z:0.14 [[ 9.95485713e-01 -9.40794552e-02 -1.25399749e-02 1.21757401e+02] [ 9.40671633e-02 9.95564619e-01 -1.56777263e-03 3.90543070e+00] [ 1.26318505e-02 3.81095388e-04 9.99920142e-01 1.37544765e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.475336195 meters Centerline goodness [0,1] 0.9992151705413203 Centerline is valid? [True, True] Translation: X:121.78, Y:3.92, Z:0.14 [[ 9.95746769e-01 -9.13111304e-02 -1.22739577e-02 1.21784664e+02] [ 9.12991366e-02 9.95822329e-01 -1.53514016e-03 3.91804538e+00] [ 1.23628566e-02 4.08009108e-04 9.99923494e-01 1.35300543e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.505336195 meters Centerline goodness [0,1] 0.9975834562990527 Centerline is valid? [True, True] Translation: X:121.81, Y:3.93, Z:0.13 [[ 9.95877965e-01 -8.97744005e-02 -1.29474632e-02 1.21813013e+02] [ 8.97609194e-02 9.95962024e-01 -1.61977304e-03 3.92557349e+00] [ 1.30405958e-02 4.50920075e-04 9.99914866e-01 1.34016732e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.535336195 meters Centerline goodness [0,1] 0.9978187208809827 Centerline is valid? [True, True] Translation: X:121.84, Y:3.93, Z:0.13 [[ 9.96141727e-01 -8.67436629e-02 -1.33115601e-02 1.21842188e+02] [ 8.67291411e-02 9.96230537e-01 -1.66543263e-03 3.93477205e+00] [ 1.34058484e-02 5.04506759e-04 9.99910010e-01 1.33246393e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.56533619500001 meters Centerline goodness [0,1] 0.9980842499515681 Centerline is valid? [True, True] Translation: X:121.87, Y:3.94, Z:0.13 [[ 9.96217230e-01 -8.58696193e-02 -1.33281566e-02 1.21870921e+02] [ 8.58549497e-02 9.96306247e-01 -1.66999670e-03 3.93980594e+00] [ 1.34223277e-02 5.19391265e-04 9.99909782e-01 1.33677831e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.59533619500002 meters Centerline goodness [0,1] 0.9962389047690687 Centerline is valid? [True, True] Translation: X:121.90, Y:3.95, Z:0.13 [[ 9.96364626e-01 -8.40683599e-02 -1.37856046e-02 1.21899133e+02] [ 8.40524875e-02 9.96459831e-01 -1.72777483e-03 3.94666884e+00] [ 1.38820524e-02 5.62779369e-04 9.99903481e-01 1.33630835e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.62533619500002 meters Centerline goodness [0,1] 0.9966126561522363 Centerline is valid? [True, True] Translation: X:121.93, Y:3.95, Z:0.13 [[ 9.96325329e-01 -8.44145840e-02 -1.44919225e-02 1.21927037e+02] [ 8.43970359e-02 9.96430545e-01 -1.81930634e-03 3.94825737e+00] [ 1.45937702e-02 5.89545691e-04 9.99893331e-01 1.33952335e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.65533619500002 meters Centerline goodness [0,1] 0.9988177636387086 Centerline is valid? [True, True] Translation: X:121.96, Y:3.95, Z:0.13 [[ 9.96254373e-01 -8.51303786e-02 -1.51671595e-02 1.21956319e+02] [ 8.51112010e-02 9.96369634e-01 -1.90661565e-03 3.94924642e+00] [ 1.52744080e-02 6.08579023e-04 9.99883154e-01 1.34103123e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.68533619500002 meters Centerline goodness [0,1] 0.9943202365504478 Centerline is valid? [True, True] Translation: X:121.98, Y:3.96, Z:0.13 [[ 9.96066845e-01 -8.71011288e-02 -1.62552540e-02 1.21983734e+02] [ 8.70793194e-02 9.96199280e-01 -2.04603778e-03 3.95912860e+00] [ 1.63716846e-02 6.22493936e-04 9.99865781e-01 1.28900764e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.71533619500002 meters Centerline goodness [0,1] 0.9963797436006644 Centerline is valid? [True, True] Translation: X:122.01, Y:3.96, Z:0.13 [[ 9.96017808e-01 -8.78761433e-02 -1.50435656e-02 1.22012392e+02] [ 8.78575152e-02 9.96131247e-01 -1.89599655e-03 3.96326058e+00] [ 1.51519787e-02 5.66756030e-04 9.99885042e-01 1.30696200e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.745336195 meters Centerline goodness [0,1] 0.9994671213897475 Centerline is valid? [True, True] Translation: X:122.04, Y:3.97, Z:0.14 [[ 9.95955931e-01 -8.90664085e-02 -1.17880618e-02 1.22042092e+02] [ 8.90550550e-02 9.96025597e-01 -1.48560981e-03 3.96919327e+00] [ 1.18735292e-02 4.29815411e-04 9.99929415e-01 1.36926180e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.775336195 meters Centerline goodness [0,1] 0.9983750267265341 Centerline is valid? [True, True] Translation: X:122.07, Y:3.98, Z:0.14 [[ 9.95845443e-01 -9.02465004e-02 -1.21418211e-02 1.22069032e+02] [ 9.02345331e-02 9.95919367e-01 -1.53098829e-03 3.97562228e+00] [ 1.22304411e-02 4.29016150e-04 9.99925113e-01 1.35021907e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.805336195 meters Centerline goodness [0,1] 0.9998926001503597 Centerline is valid? [True, True] Translation: X:122.10, Y:3.97, Z:0.14 [[ 9.95633752e-01 -9.23030161e-02 -1.39134511e-02 1.22098783e+02] [ 9.22874660e-02 9.95730856e-01 -1.75693800e-03 3.97020857e+00] [ 1.40162232e-02 4.65229635e-04 9.99901660e-01 1.35451846e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.835336195 meters Centerline goodness [0,1] 0.9998285689795569 Centerline is valid? [True, True] Translation: X:122.13, Y:3.98, Z:0.14 [[ 9.95551818e-01 -9.33231981e-02 -1.29367234e-02 1.22127071e+02] [ 9.33098116e-02 9.95635778e-01 -1.63584183e-03 3.97530648e+00] [ 1.30329266e-02 4.21442083e-04 9.99914979e-01 1.37178557e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.865336195 meters Centerline goodness [0,1] 0.9996990994476326 Centerline is valid? [True, True] Translation: X:122.16, Y:3.98, Z:0.14 [[ 9.95436782e-01 -9.45663055e-02 -1.27603259e-02 1.22155509e+02] [ 9.45533554e-02 9.95518484e-01 -1.61573022e-03 3.97962404e+00] [ 1.28559340e-02 4.01825661e-04 9.99917278e-01 1.37715793e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.895336195 meters Centerline goodness [0,1] 0.9998937142614204 Centerline is valid? [True, True] Translation: X:122.18, Y:3.99, Z:0.14 [[ 9.95261621e-01 -9.63736143e-02 -1.29008397e-02 1.22182791e+02] [ 9.63605216e-02 9.95345156e-01 -1.63409455e-03 3.98738429e+00] [ 1.29982719e-02 3.83219943e-04 9.99915445e-01 1.36483868e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.925336195 meters Centerline goodness [0,1] 0.999849711230865 Centerline is valid? [True, True] Translation: X:122.21, Y:3.99, Z:0.13 [[ 9.95097050e-01 -9.78958535e-02 -1.40805952e-02 1.22210708e+02] [ 9.78803716e-02 9.95196585e-01 -1.78614737e-03 3.99290834e+00] [ 1.41878167e-02 3.99176088e-04 9.99899268e-01 1.34868637e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.955336195 meters Centerline goodness [0,1] 0.9998707982514696 Centerline is valid? [True, True] Translation: X:122.24, Y:4.00, Z:0.14 [[ 9.95005919e-01 -9.87924002e-02 -1.42577155e-02 1.22239640e+02] [ 9.87765826e-02 9.95107987e-01 -1.81110237e-03 3.99599375e+00] [ 1.43668897e-02 3.93729162e-04 9.99896713e-01 1.35308099e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.985336195 meters Centerline goodness [0,1] 0.9999145043389048 Centerline is valid? [True, True] Translation: X:122.27, Y:4.00, Z:0.14 [[ 9.94877186e-01 -1.00317118e-01 -1.24844161e-02 1.22267592e+02] [ 1.00305106e-01 9.94955461e-01 -1.58626651e-03 3.99972750e+00] [ 1.25805677e-02 3.25889681e-04 9.99920808e-01 1.37696352e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.015336195 meters Centerline goodness [0,1] 0.9999571954455954 Centerline is valid? [True, True] Translation: X:122.30, Y:4.00, Z:0.14 [[ 9.94797982e-01 -1.01093261e-01 -1.25350774e-02 1.22295083e+02] [ 1.01081202e-01 9.94876903e-01 -1.59349166e-03 4.00459600e+00] [ 1.26319503e-02 3.18141585e-04 9.99920163e-01 1.36320608e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.045336195 meters Centerline goodness [0,1] 0.9998938248534783 Centerline is valid? [True, True] Translation: X:122.32, Y:4.01, Z:0.13 [[ 9.94595959e-01 -1.02847939e-01 -1.41838051e-02 1.22323462e+02] [ 1.02832641e-01 9.94697033e-01 -1.80563870e-03 4.01072243e+00] [ 1.42942951e-02 3.37322818e-04 9.99897774e-01 1.33472185e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.075336195 meters Centerline goodness [0,1] 0.9999577693785764 Centerline is valid? [True, True] Translation: X:122.35, Y:4.01, Z:0.14 [[ 9.94425751e-01 -1.04738913e-01 -1.21319821e-02 1.22351434e+02] [ 1.04727856e-01 9.94499718e-01 -1.54483094e-03 4.01479820e+00] [ 1.22270567e-02 2.65663191e-04 9.99925211e-01 1.35886245e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.105336195 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.38, Y:4.02, Z:0.14 [[ 9.94307979e-01 -1.05879121e-01 -1.18850201e-02 1.22380573e+02] [ 1.05868566e-01 9.94378977e-01 -1.51559745e-03 4.01562790e+00] [ 1.19786842e-02 2.48720614e-04 9.99928222e-01 1.37379166e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.135336195 meters Centerline goodness [0,1] 0.9999140321090073 Centerline is valid? [True, True] Translation: X:122.41, Y:4.02, Z:0.14 [[ 9.94099576e-01 -1.07713740e-01 -1.27977912e-02 1.22408444e+02] [ 1.07701645e-01 9.94181920e-01 -1.63252567e-03 4.01518033e+00] [ 1.28991781e-02 2.44549898e-04 9.99916772e-01 1.35617347e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.165336195 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.44, Y:4.02, Z:0.13 [[ 9.93957008e-01 -1.08966697e-01 -1.32561209e-02 1.22437807e+02] [ 1.08953800e-01 9.94045372e-01 -1.69339894e-03 4.01524901e+00] [ 1.33617097e-02 2.38861000e-04 9.99910700e-01 1.34671702e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.195336195 meters Centerline goodness [0,1] 0.9999788328429609 Centerline is valid? [True, True] Translation: X:122.47, Y:4.01, Z:0.13 [[ 9.93708124e-01 -1.11178417e-01 -1.35471224e-02 1.22466243e+02] [ 1.11165144e-01 9.93800440e-01 -1.73116362e-03 4.01244984e+00] [ 1.36556042e-02 2.14303539e-04 9.99906735e-01 1.33448014e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.225336195 meters Centerline goodness [0,1] 0.9999786730363198 Centerline is valid? [True, True] Translation: X:122.49, Y:4.01, Z:0.14 [[ 9.93640195e-01 -1.11762969e-01 -1.37186753e-02 1.22494589e+02] [ 1.11749373e-01 9.93734871e-01 -1.75604573e-03 4.01344166e+00] [ 1.38289870e-02 2.11824259e-04 9.99904353e-01 1.35431485e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.255336195 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.52, Y:4.02, Z:0.14 [[ 9.93714771e-01 -1.11194688e-01 -1.29110748e-02 1.22521421e+02] [ 1.11182586e-01 9.93798621e-01 -1.65358445e-03 4.01545935e+00] [ 1.30148782e-02 2.07704603e-04 9.99915281e-01 1.35570630e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.285336195 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.55, Y:4.02, Z:0.14 [[ 9.93806857e-01 -1.10413206e-01 -1.25241650e-02 1.22549194e+02] [ 1.10401747e-01 9.93885747e-01 -1.60473392e-03 4.01778688e+00] [ 1.26247729e-02 2.12105872e-04 9.99920282e-01 1.36231223e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.31533619500001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.58, Y:4.02, Z:0.14 [[ 9.94104370e-01 -1.07670935e-01 -1.27856045e-02 1.22577081e+02] [ 1.07658751e-01 9.94186555e-01 -1.63943786e-03 4.02233131e+00] [ 1.28877959e-02 2.53290123e-04 9.99916917e-01 1.36106999e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.34533619500002 meters Centerline goodness [0,1] 0.9999786050492084 Centerline is valid? [True, True] Translation: X:122.61, Y:4.03, Z:0.13 [[ 9.94252430e-01 -1.06193650e-01 -1.36020174e-02 1.22605193e+02] [ 1.06179712e-01 9.94345425e-01 -1.74486543e-03 4.02640335e+00] [ 1.37103974e-02 2.90578403e-04 9.99905966e-01 1.34412237e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.37533619500002 meters Centerline goodness [0,1] 0.9998945125424586 Centerline is valid? [True, True] Translation: X:122.63, Y:4.03, Z:0.13 [[ 9.94562927e-01 -1.03274748e-01 -1.33757699e-02 1.22633037e+02] [ 1.03260997e-01 9.94652814e-01 -1.71645757e-03 4.03162833e+00] [ 1.34815139e-02 3.25929736e-04 9.99909067e-01 1.33595527e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.40533619500002 meters Centerline goodness [0,1] 0.9998302747427602 Centerline is valid? [True, True] Translation: X:122.66, Y:4.03, Z:0.14 [[ 9.94696677e-01 -1.02124264e-01 -1.22129577e-02 1.22662246e+02] [ 1.02112686e-01 9.94771600e-01 -1.56950299e-03 4.03418375e+00] [ 1.23093878e-02 3.14081486e-04 9.99924187e-01 1.37603225e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.43533619500002 meters Centerline goodness [0,1] 0.9999571743645747 Centerline is valid? [True, True] Translation: X:122.69, Y:4.04, Z:0.14 [[ 9.94897533e-01 -1.00366499e-01 -1.02695579e-02 1.22690546e+02] [ 1.00358214e-01 9.94950494e-01 -1.32023554e-03 4.03641196e+00] [ 1.03502091e-02 2.82864604e-04 9.99946395e-01 1.42131221e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.46533619500002 meters Centerline goodness [0,1] 0.9998505231689088 Centerline is valid? [True, True] Translation: X:122.72, Y:4.04, Z:0.14 [[ 9.95012079e-01 -9.91368975e-02 -1.10832478e-02 1.22718561e+02] [ 9.91271639e-02 9.95073753e-01 -1.42550601e-03 4.03942168e+00] [ 1.11699692e-02 3.19744777e-04 9.99937563e-01 1.40396546e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.495336195 meters Centerline goodness [0,1] 0.9998087507171848 Centerline is valid? [True, True] Translation: X:122.75, Y:4.04, Z:0.14 [[ 9.95264811e-01 -9.65473519e-02 -1.12501032e-02 1.22747631e+02] [ 9.65371536e-02 9.95328329e-01 -1.44732456e-03 4.04163448e+00] [ 1.13372818e-02 3.54418266e-04 9.99935668e-01 1.39908617e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.525336195 meters Centerline goodness [0,1] 0.99959716745113 Centerline is valid? [True, True] Translation: X:122.78, Y:4.05, Z:0.14 [[ 9.95430320e-01 -9.47524083e-02 -1.18515059e-02 1.22775937e+02] [ 9.47409583e-02 9.95500791e-01 -1.52511647e-03 4.04701474e+00] [ 1.19426919e-02 3.95324148e-04 9.99928605e-01 1.37424572e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.555336195 meters Centerline goodness [0,1] 0.9993605592974678 Centerline is valid? [True, True] Translation: X:122.80, Y:4.05, Z:0.14 [[ 9.95611640e-01 -9.27028121e-02 -1.27926206e-02 1.22803724e+02] [ 9.26892944e-02 9.95693719e-01 -1.64683878e-03 4.05132605e+00] [ 1.28901985e-02 4.53872885e-04 9.99916815e-01 1.36399401e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.585336195 meters Centerline goodness [0,1] 0.9987422724365806 Centerline is valid? [True, True] Translation: X:122.83, Y:4.06, Z:0.14 [[ 9.96024397e-01 -8.83072589e-02 -1.17145023e-02 1.22832481e+02] [ 8.82956191e-02 9.96093173e-01 -1.50812741e-03 4.06112391e+00] [ 1.18019144e-02 4.67792456e-04 9.99930246e-01 1.38922353e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.615336195 meters Centerline goodness [0,1] 0.9961593956883381 Centerline is valid? [True, True] Translation: X:122.86, Y:4.07, Z:0.14 [[ 9.96292557e-01 -8.54031304e-02 -1.03656387e-02 1.22859610e+02] [ 8.53938542e-02 9.96346379e-01 -1.33502598e-03 4.07305613e+00] [ 1.04417820e-02 4.44914609e-04 9.99945384e-01 1.39101069e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.645336195 meters Centerline goodness [0,1] 0.9971621217940512 Centerline is valid? [True, True] Translation: X:122.89, Y:4.07, Z:0.14 [[ 9.96341134e-01 -8.45197288e-02 -1.26791473e-02 1.22890051e+02] [ 8.45057750e-02 9.96421651e-01 -1.63323119e-03 4.06975325e+00] [ 1.27718171e-02 5.55794246e-04 9.99918283e-01 1.36483071e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.675336195 meters Centerline goodness [0,1] 0.994356754921928 Centerline is valid? [True, True] Translation: X:122.92, Y:4.07, Z:0.14 [[ 9.96317153e-01 -8.48063988e-02 -1.26493489e-02 1.22917497e+02] [ 8.47925231e-02 9.96397295e-01 -1.63021473e-03 4.07328378e+00] [ 1.27420297e-02 5.51640694e-04 9.99918665e-01 1.35361127e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.705336195 meters Centerline goodness [0,1] 0.9975985548825842 Centerline is valid? [True, True] Translation: X:122.95, Y:4.07, Z:0.14 [[ 9.96181483e-01 -8.65565667e-02 -1.14199240e-02 1.22947338e+02] [ 8.65453697e-02 9.96246823e-01 -1.47197981e-03 4.07282419e+00] [ 1.15044725e-02 4.78017490e-04 9.99933707e-01 1.36660253e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.735336195 meters Centerline goodness [0,1] 0.9977401859504132 Centerline is valid? [True, True] Translation: X:122.98, Y:4.07, Z:0.14 [[ 9.96018783e-01 -8.83655403e-02 -1.17522711e-02 1.22975103e+02] [ 8.83537950e-02 9.96088003e-01 -1.51590156e-03 4.07485951e+00] [ 1.18402497e-02 4.71508680e-04 9.99929791e-01 1.36065233e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.765336195 meters Centerline goodness [0,1] 0.9995907553794129 Centerline is valid? [True, True] Translation: X:123.01, Y:4.07, Z:0.14 [[ 9.95673098e-01 -9.20773703e-02 -1.25235583e-02 1.23006096e+02] [ 9.20643256e-02 9.95751751e-01 -1.61538998e-03 4.07083212e+00] [ 1.26190959e-02 4.55427399e-04 9.99920272e-01 1.35634808e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.795336195 meters Centerline goodness [0,1] 0.9995742325541789 Centerline is valid? [True, True] Translation: X:123.04, Y:4.07, Z:0.14 [[ 9.95382320e-01 -9.51993517e-02 -1.22931395e-02 1.23035655e+02] [ 9.51870165e-02 9.95458144e-01 -1.58597904e-03 4.06898616e+00] [ 1.23882900e-02 4.08508224e-04 9.99923179e-01 1.35234040e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.825336195 meters Centerline goodness [0,1] 0.9996598350199847 Centerline is valid? [True, True] Translation: X:123.07, Y:4.07, Z:0.14 [[ 9.95240882e-01 -9.65649958e-02 -1.30686111e-02 1.23065640e+02] [ 9.65511430e-02 9.95326593e-01 -1.68828746e-03 4.06573877e+00] [ 1.31705657e-02 4.18463354e-04 9.99913177e-01 1.35566108e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.855336195 meters Centerline goodness [0,1] 0.9998084698872101 Centerline is valid? [True, True] Translation: X:123.10, Y:4.06, Z:0.14 [[ 9.95032073e-01 -9.88224909e-02 -1.20535783e-02 1.23096075e+02] [ 9.88108732e-02 9.95105013e-01 -1.55705294e-03 4.06364541e+00] [ 1.21484480e-02 3.58293016e-04 9.99926141e-01 1.37504010e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.885336195 meters Centerline goodness [0,1] 0.9998718770019218 Centerline is valid? [True, True] Translation: X:123.12, Y:4.06, Z:0.14 [[ 9.94971693e-01 -9.96178890e-02 -1.03733728e-02 1.23124733e+02] [ 9.96093063e-02 9.95025721e-01 -1.34206676e-03 4.06486600e+00] [ 1.04554666e-02 3.02033971e-04 9.99945295e-01 1.40917553e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.915336195 meters Centerline goodness [0,1] 0.9997644438733992 Centerline is valid? [True, True] Translation: X:123.15, Y:4.07, Z:0.14 [[ 9.94822009e-01 -1.01174189e-01 -9.64127682e-03 1.23152950e+02] [ 1.01166832e-01 9.94868691e-01 -1.24898721e-03 4.06750879e+00] [ 9.71816972e-03 2.67142530e-04 9.99952742e-01 1.40941296e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.945336195 meters Centerline goodness [0,1] 0.9999356540763142 Centerline is valid? [True, True] Translation: X:123.18, Y:4.06, Z:0.14 [[ 9.94684754e-01 -1.02555724e-01 -9.19581575e-03 1.23182927e+02] [ 1.02549075e-01 9.94727231e-01 -1.19284614e-03 4.06149456e+00] [ 9.26966153e-03 2.43483471e-04 9.99957006e-01 1.42507710e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.975336195 meters Centerline goodness [0,1] 0.999957111916454 Centerline is valid? [True, True] Translation: X:123.21, Y:4.06, Z:0.14 [[ 9.94705372e-01 -1.02306662e-01 -9.72471530e-03 1.23211734e+02] [ 1.02299198e-01 9.94752873e-01 -1.26311855e-03 4.06051257e+00] [ 9.80291392e-03 2.61600227e-04 9.99951916e-01 1.42230790e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.005336195 meters Centerline goodness [0,1] 0.9998299717328005 Centerline is valid? [True, True] Translation: X:123.24, Y:4.07, Z:0.14 [[ 9.94762217e-01 -1.01599769e-01 -1.12079659e-02 1.23239098e+02] [ 1.01589801e-01 9.94825307e-01 -1.45660380e-03 4.06750037e+00] [ 1.12979587e-02 3.10359399e-04 9.99936128e-01 1.37258746e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.035336195 meters Centerline goodness [0,1] 0.9997454823110206 Centerline is valid? [True, True] Translation: X:123.27, Y:4.07, Z:0.13 [[ 9.94902098e-01 -1.00006179e-01 -1.29838198e-02 1.23268139e+02] [ 9.99926626e-02 9.94986743e-01 -1.68770735e-03 4.06885120e+00] [ 1.30875097e-02 3.80816872e-04 9.99914282e-01 1.33911432e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.06533619500001 meters Centerline goodness [0,1] 0.9997454823110206 Centerline is valid? [True, True] Translation: X:123.30, Y:4.07, Z:0.13 [[ 9.94884047e-01 -1.00185637e-01 -1.29834789e-02 1.23295403e+02] [ 1.00172102e-01 9.94968689e-01 -1.69032821e-03 4.07258741e+00] [ 1.30875016e-02 3.81098205e-04 9.99914282e-01 1.33858531e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.09533619500002 meters Centerline goodness [0,1] 0.9996804363109568 Centerline is valid? [True, True] Translation: X:123.32, Y:4.08, Z:0.14 [[ 9.95021464e-01 -9.88584747e-02 -1.26209387e-02 1.23324152e+02] [ 9.88455513e-02 9.95101427e-01 -1.64521544e-03 4.07522211e+00] [ 1.27217576e-02 3.89501032e-04 9.99918999e-01 1.36196704e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.12533619500002 meters Centerline goodness [0,1] 0.9996802932776333 Centerline is valid? [True, True] Translation: X:123.35, Y:4.08, Z:0.14 [[ 9.95075691e-01 -9.83971267e-02 -1.19321231e-02 1.23352952e+02] [ 9.83855180e-02 9.95147157e-01 -1.55745066e-03 4.07955040e+00] [ 1.20274670e-02 3.75833181e-04 9.99927597e-01 1.37144956e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.15533619500002 meters Centerline goodness [0,1] 0.9997855641806407 Centerline is valid? [True, True] Translation: X:123.38, Y:4.08, Z:0.14 [[ 9.95146506e-01 -9.77613933e-02 -1.12312434e-02 1.23380737e+02] [ 9.77510624e-02 9.95209817e-01 -1.46644738e-03 4.08412644e+00] [ 1.13208056e-02 3.61464018e-04 9.99935852e-01 1.38048605e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.18533619500002 meters Centerline goodness [0,1] 0.9995758848103145 Centerline is valid? [True, True] Translation: X:123.41, Y:4.09, Z:0.14 [[ 9.95122488e-01 -9.79654836e-02 -1.15757195e-02 1.23407071e+02] [ 9.79545042e-02 9.95189744e-01 -1.51304957e-03 4.08758293e+00] [ 1.16682640e-02 3.71775784e-04 9.99931854e-01 1.37033784e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.21533619500002 meters Centerline goodness [0,1] 0.9997226370812887 Centerline is valid? [True, True] Translation: X:123.44, Y:4.09, Z:0.14 [[ 9.95030089e-01 -9.88059701e-02 -1.23491777e-02 1.23436170e+02] [ 9.87935130e-02 9.95106642e-01 -1.61623077e-03 4.08829648e+00] [ 1.24484420e-02 3.88179601e-04 9.99922440e-01 1.35985549e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.245336195 meters Centerline goodness [0,1] 0.9996619194523095 Centerline is valid? [True, True] Translation: X:123.46, Y:4.09, Z:0.14 [[ 9.95040049e-01 -9.86988861e-02 -1.24028343e-02 1.23464958e+02] [ 9.86862867e-02 9.95117267e-01 -1.62529134e-03 4.09193610e+00] [ 1.25026890e-02 3.93240308e-04 9.99921761e-01 1.36152226e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.275336195 meters Centerline goodness [0,1] 0.9996172737130828 Centerline is valid? [True, True] Translation: X:123.49, Y:4.10, Z:0.14 [[ 9.95156924e-01 -9.74674360e-02 -1.27591672e-02 1.23493651e+02] [ 9.74539736e-02 9.95238625e-01 -1.67411971e-03 4.09592354e+00] [ 1.28615882e-02 4.22580279e-04 9.99917197e-01 1.35969647e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.305336195 meters Centerline goodness [0,1] 0.9995074419102687 Centerline is valid? [True, True] Translation: X:123.52, Y:4.10, Z:0.14 [[ 9.95320111e-01 -9.57910708e-02 -1.27258609e-02 1.23522330e+02] [ 9.57775391e-02 9.95401363e-01 -1.66995738e-03 4.10138714e+00] [ 1.28273063e-02 4.43290526e-04 9.99917628e-01 1.35908197e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.335336195 meters Centerline goodness [0,1] 0.9994433263392284 Centerline is valid? [True, True] Translation: X:123.55, Y:4.11, Z:0.14 [[ 9.95427421e-01 -9.47942403e-02 -1.17601458e-02 1.23549199e+02] [ 9.47826042e-02 9.95496797e-01 -1.54414409e-03 4.10630228e+00] [ 1.18535634e-02 4.22426128e-04 9.99929655e-01 1.36467533e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.365336195 meters Centerline goodness [0,1] 0.9994664504012293 Centerline is valid? [True, True] Translation: X:123.58, Y:4.11, Z:0.14 [[ 9.95455155e-01 -9.44848702e-02 -1.19014072e-02 1.23577978e+02] [ 9.44729050e-02 9.95526203e-01 -1.56484144e-03 4.11092439e+00] [ 1.19960166e-02 4.33368962e-04 9.99927951e-01 1.35994831e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.395336195 meters Centerline goodness [0,1] 0.999269978958217 Centerline is valid? [True, True] Translation: X:123.61, Y:4.11, Z:0.13 [[ 9.95500777e-01 -9.37918251e-02 -1.34646071e-02 1.23606070e+02] [ 9.37764389e-02 9.95591705e-01 -1.77095355e-03 4.11456449e+00] [ 1.35713521e-02 5.00322729e-04 9.99907780e-01 1.34654327e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.425336195 meters Centerline goodness [0,1] 0.9983591186122832 Centerline is valid? [True, True] Translation: X:123.63, Y:4.12, Z:0.13 [[ 9.95519601e-01 -9.35893597e-02 -1.34816945e-02 1.23632560e+02] [ 9.35739049e-02 9.95610756e-01 -1.77401548e-03 4.12333205e+00] [ 1.35885491e-02 5.04532376e-04 9.99907544e-01 1.32689973e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.455336195 meters Centerline goodness [0,1] 0.9984302088037331 Centerline is valid? [True, True] Translation: X:123.66, Y:4.13, Z:0.13 [[ 9.95532322e-01 -9.34557857e-02 -1.34689554e-02 1.23661438e+02] [ 9.34403149e-02 9.95623301e-01 -1.77476419e-03 4.12618368e+00] [ 1.35758678e-02 5.08291681e-04 9.99907714e-01 1.32877424e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.485336195 meters Centerline goodness [0,1] 0.9992876877914004 Centerline is valid? [True, True] Translation: X:123.69, Y:4.13, Z:0.13 [[ 9.95503991e-01 -9.37611088e-02 -1.34409397e-02 1.23689336e+02] [ 9.37456942e-02 9.95594596e-01 -1.77371677e-03 4.12831023e+00] [ 1.35480326e-02 5.05711893e-04 9.99908093e-01 1.34249489e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.515336195 meters Centerline goodness [0,1] 0.9993545888731121 Centerline is valid? [True, True] Translation: X:123.72, Y:4.14, Z:0.13 [[ 9.95435102e-01 -9.45289164e-02 -1.31621485e-02 1.23716747e+02] [ 9.45141946e-02 9.95521998e-01 -1.73746966e-03 4.13624535e+00] [ 1.32674495e-02 4.85528422e-04 9.99911866e-01 1.33453226e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.545336195 meters Centerline goodness [0,1] 0.9992107340173638 Centerline is valid? [True, True] Translation: X:123.75, Y:4.14, Z:0.13 [[ 9.95223806e-01 -9.67996308e-02 -1.26256270e-02 1.23745883e+02] [ 9.67862642e-02 9.95303793e-01 -1.66688088e-03 4.13823022e+00] [ 1.27276879e-02 4.36932263e-04 9.99918904e-01 1.33199153e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.575336195 meters Centerline goodness [0,1] 0.9997003681191678 Centerline is valid? [True, True] Translation: X:123.78, Y:4.14, Z:0.13 [[ 9.95050852e-01 -9.84752953e-02 -1.32822731e-02 1.23775482e+02] [ 9.84606200e-02 9.95139399e-01 -1.75590588e-03 4.13729414e+00] [ 1.33906266e-02 4.39434804e-04 9.99910245e-01 1.32439603e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.605336195 meters Centerline goodness [0,1] 0.9996572628151575 Centerline is valid? [True, True] Translation: X:123.80, Y:4.14, Z:0.13 [[ 9.94831667e-01 -1.00452220e-01 -1.48090028e-02 1.23804718e+02] [ 1.00434159e-01 9.94941776e-01 -1.96022142e-03 4.13903239e+00] [ 1.49310041e-02 4.62760608e-04 9.99888419e-01 1.30019080e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.635336195 meters Centerline goodness [0,1] 0.9982591711956522 Centerline is valid? [True, True] Translation: X:123.83, Y:4.15, Z:0.13 [[ 9.94827600e-01 -1.00495991e-01 -1.47852160e-02 1.23830393e+02] [ 1.00477949e-01 9.94937355e-01 -1.95995627e-03 4.14812922e+00] [ 1.49073315e-02 4.64230402e-04 9.99888772e-01 1.27694701e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.665336195 meters Centerline goodness [0,1] 0.9996810003827995 Centerline is valid? [True, True] Translation: X:123.86, Y:4.15, Z:0.13 [[ 9.94845646e-01 -1.00203806e-01 -1.55350674e-02 1.23859952e+02] [ 1.00183812e-01 9.94966810e-01 -2.06190428e-03 4.14782220e+00] [ 1.56634871e-02 4.94914217e-04 9.99877198e-01 1.28917753e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.695336195 meters Centerline goodness [0,1] 0.9992096719070404 Centerline is valid? [True, True] Translation: X:123.89, Y:4.15, Z:0.13 [[ 9.94898823e-01 -9.94465428e-02 -1.69327294e-02 1.23888335e+02] [ 9.94226315e-02 9.95042751e-01 -2.25023290e-03 4.15144947e+00] [ 1.70725676e-02 5.55257543e-04 9.99854099e-01 1.27379277e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.725336195 meters Centerline goodness [0,1] 0.9938227052729898 Centerline is valid? [True, True] Translation: X:123.91, Y:4.17, Z:0.12 [[ 9.95003759e-01 -9.85185337e-02 -1.61746210e-02 1.23914070e+02] [ 9.84965806e-02 9.95135066e-01 -2.15025945e-03 4.16759557e+00] [ 1.63077729e-02 5.46371374e-04 9.99866870e-01 1.24717571e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.755336195 meters Centerline goodness [0,1] 0.9985766183000149 Centerline is valid? [True, True] Translation: X:123.94, Y:4.17, Z:0.13 [[ 9.95092564e-01 -9.77483980e-02 -1.53635852e-02 1.23942808e+02] [ 9.77284566e-02 9.95211016e-01 -2.04522585e-03 4.17033109e+00] [ 1.54899268e-02 5.33729566e-04 9.99879881e-01 1.28365373e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.785336195 meters Centerline goodness [0,1] 0.9964829262053971 Centerline is valid? [True, True] Translation: X:123.97, Y:4.18, Z:0.13 [[ 9.95227120e-01 -9.65320105e-02 -1.43021430e-02 1.23969622e+02] [ 9.65145945e-02 9.95329747e-01 -1.90458971e-03 4.17821421e+00] [ 1.44192022e-02 5.15133806e-04 9.99895905e-01 1.29565112e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.81533619500001 meters Centerline goodness [0,1] 0.9987066735644077 Centerline is valid? [True, True] Translation: X:124.00, Y:4.18, Z:0.13 [[ 9.95244676e-01 -9.64253313e-02 -1.37909206e-02 1.23997905e+02] [ 9.64090879e-02 9.95340095e-01 -1.83938993e-03 4.17917761e+00] [ 1.39040200e-02 5.01072954e-04 9.99903209e-01 1.31667581e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.84533619500002 meters Centerline goodness [0,1] 0.998575225943647 Centerline is valid? [True, True] Translation: X:124.03, Y:4.18, Z:0.13 [[ 9.95376033e-01 -9.50670376e-02 -1.37408675e-02 1.24025801e+02] [ 9.50507747e-02 9.95470738e-01 -1.83329060e-03 4.18412416e+00] [ 1.38529170e-02 5.18733424e-04 9.99903909e-01 1.32722674e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.87533619500002 meters Centerline goodness [0,1] 0.9960188047943755 Centerline is valid? [True, True] Translation: X:124.05, Y:4.20, Z:0.13 [[ 9.95465770e-01 -9.40591442e-02 -1.41696120e-02 1.24051876e+02] [ 9.40417339e-02 9.95566459e-01 -1.89152364e-03 4.19593162e+00] [ 1.42847056e-02 5.50412156e-04 9.99897817e-01 1.30656574e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.90533619500002 meters Centerline goodness [0,1] 0.9945113389780028 Centerline is valid? [True, True] Translation: X:124.08, Y:4.20, Z:0.13 [[ 9.95499768e-01 -9.36481250e-02 -1.44996731e-02 1.24079762e+02] [ 9.36298132e-02 9.95605194e-01 -1.93813380e-03 4.20496994e+00] [ 1.46174524e-02 5.71810072e-04 9.99892996e-01 1.29543064e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.93533619500002 meters Centerline goodness [0,1] 0.9913522679101314 Centerline is valid? [True, True] Translation: X:124.11, Y:4.21, Z:0.13 [[ 9.95463630e-01 -9.39908409e-02 -1.47608530e-02 1.24107061e+02] [ 9.39718913e-02 9.95572894e-01 -1.97369749e-03 4.21079407e+00] [ 1.48810146e-02 5.77638798e-04 9.99889105e-01 1.28194163e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.96533619500002 meters Centerline goodness [0,1] 0.9965133689839573 Centerline is valid? [True, True] Translation: X:124.14, Y:4.21, Z:0.13 [[ 9.95331837e-01 -9.52069251e-02 -1.58169735e-02 1.24136035e+02] [ 9.51852742e-02 9.95457321e-01 -2.11778116e-03 4.21097001e+00] [ 1.59467495e-02 6.02352052e-04 9.99872661e-01 1.29352183e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.995336195 meters Centerline goodness [0,1] 0.9901237734881037 Centerline is valid? [True, True] Translation: X:124.16, Y:4.22, Z:0.13 [[ 9.95280351e-01 -9.57749742e-02 -1.56261945e-02 1.24162526e+02] [ 9.57538928e-02 9.95402838e-01 -2.09347845e-03 4.22074015e+00] [ 1.57548612e-02 5.87329010e-04 9.99875712e-01 1.27029461e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.025336195 meters Centerline goodness [0,1] 0.9960560257530859 Centerline is valid? [True, True] Translation: X:124.19, Y:4.22, Z:0.13 [[ 9.95264863e-01 -9.63331320e-02 -1.29530285e-02 1.24190867e+02] [ 9.63186869e-02 9.95349033e-01 -1.73589205e-03 4.22463970e+00] [ 1.30600083e-02 4.80053659e-04 9.99914599e-01 1.31369239e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.055336195 meters Centerline goodness [0,1] 0.9993397793585211 Centerline is valid? [True, True] Translation: X:124.22, Y:4.22, Z:0.14 [[ 9.95261065e-01 -9.65329529e-02 -1.16962334e-02 1.24219505e+02] [ 9.65211628e-02 9.95329695e-01 -1.56967337e-03 4.22473906e+00] [ 1.17931336e-02 4.33300742e-04 9.99930365e-01 1.35617412e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.085336195 meters Centerline goodness [0,1] 0.9906179024007132 Centerline is valid? [True, True] Translation: X:124.25, Y:4.24, Z:0.13 [[ 9.95154400e-01 -9.74926157e-02 -1.27636155e-02 1.24245403e+02] [ 9.74786475e-02 9.95236142e-01 -1.71344379e-03 4.23822947e+00] [ 1.28698595e-02 4.60961157e-04 9.99917074e-01 1.29380506e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.115336195 meters Centerline goodness [0,1] 0.9942153346994536 Centerline is valid? [True, True] Translation: X:124.27, Y:4.24, Z:0.13 [[ 9.95061427e-01 -9.83624291e-02 -1.33262294e-02 1.24273999e+02] [ 9.83472492e-02 9.95150546e-01 -1.79127190e-03 4.23981799e+00] [ 1.34377983e-02 4.71827576e-04 9.99909597e-01 1.28892428e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.145336195 meters Centerline goodness [0,1] 0.9980048912343931 Centerline is valid? [True, True] Translation: X:124.30, Y:4.24, Z:0.13 [[ 9.95033807e-01 -9.85962131e-02 -1.36568374e-02 1.24301923e+02] [ 9.85802569e-02 9.95127406e-01 -1.83829963e-03 4.24167661e+00] [ 1.37715425e-02 4.82875741e-04 9.99905051e-01 1.29422207e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.175336195 meters Centerline goodness [0,1] 0.9995110959952385 Centerline is valid? [True, True] Translation: X:124.33, Y:4.24, Z:0.13 [[ 9.94983761e-01 -9.91366049e-02 -1.33884103e-02 1.24330699e+02] [ 9.91212889e-02 9.95073723e-01 -1.80437522e-03 4.24134712e+00] [ 1.35013349e-02 4.68247557e-04 9.99908743e-01 1.31107289e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.205336195 meters Centerline goodness [0,1] 0.9990464889604611 Centerline is valid? [True, True] Translation: X:124.36, Y:4.25, Z:0.13 [[ 9.94989773e-01 -9.91565309e-02 -1.27802361e-02 1.24358311e+02] [ 9.91425693e-02 9.95071747e-01 -1.72297664e-03 4.24640461e+00] [ 1.28880962e-02 4.47278692e-04 9.99916845e-01 1.31421213e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.235336195 meters Centerline goodness [0,1] 0.9994875408365896 Centerline is valid? [True, True] Translation: X:124.39, Y:4.25, Z:0.13 [[ 9.95044734e-01 -9.87010950e-02 -1.20029806e-02 1.24387369e+02] [ 9.86887200e-02 9.95117034e-01 -1.62040440e-03 4.25024874e+00] [ 1.21043061e-02 4.27816073e-04 9.99926649e-01 1.34454375e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.265336195 meters Centerline goodness [0,1] 0.9998066054967015 Centerline is valid? [True, True] Translation: X:124.42, Y:4.26, Z:0.13 [[ 9.95123051e-01 -9.78518671e-02 -1.24549150e-02 1.24415593e+02] [ 9.78384495e-02 9.95200886e-01 -1.68354509e-03 4.25676885e+00] [ 1.25598805e-02 4.56764957e-04 9.99921017e-01 1.34456200e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.295336195 meters Centerline goodness [0,1] 0.9995313664927042 Centerline is valid? [True, True] Translation: X:124.44, Y:4.26, Z:0.13 [[ 9.95178491e-01 -9.73016948e-02 -1.23349410e-02 1.24443194e+02] [ 9.72884855e-02 9.95254826e-01 -1.66787317e-03 4.26340865e+00] [ 1.24386965e-02 4.59783780e-04 9.99922531e-01 1.33705151e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.325336195 meters Centerline goodness [0,1] 0.9991051263476372 Centerline is valid? [True, True] Translation: X:124.47, Y:4.27, Z:0.13 [[ 9.95231424e-01 -9.68061161e-02 -1.19577741e-02 1.24470246e+02] [ 9.67936578e-02 9.95303155e-01 -1.61759708e-03 4.26855072e+00] [ 1.20582036e-02 4.52446746e-04 9.99927195e-01 1.34106242e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.355336195 meters Centerline goodness [0,1] 0.9974006444683137 Centerline is valid? [True, True] Translation: X:124.50, Y:4.28, Z:0.13 [[ 9.95281607e-01 -9.62013297e-02 -1.26422736e-02 1.24497114e+02] [ 9.61873406e-02 9.95361777e-01 -1.71136497e-03 4.27682163e+00] [ 1.27482715e-02 4.87263404e-04 9.99918619e-01 1.32925126e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.385336195 meters Centerline goodness [0,1] 0.9946363077444932 Centerline is valid? [True, True] Translation: X:124.52, Y:4.28, Z:0.13 [[ 9.95296712e-01 -9.59510935e-02 -1.33357379e-02 1.24524001e+02] [ 9.59354932e-02 9.95385915e-01 -1.80612530e-03 4.28160757e+00] [ 1.34475054e-02 5.18259981e-04 9.99909444e-01 1.30644350e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.415336195 meters Centerline goodness [0,1] 0.9988176619803087 Centerline is valid? [True, True] Translation: X:124.55, Y:4.28, Z:0.13 [[ 9.95274910e-01 -9.59236700e-02 -1.50500377e-02 1.24553651e+02] [ 9.59037557e-02 9.95388519e-01 -2.04105910e-03 4.28042535e+00] [ 1.51764206e-02 5.88059777e-04 9.99884659e-01 1.31135220e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.445336195 meters Centerline goodness [0,1] 0.9956329073277246 Centerline is valid? [True, True] Translation: X:124.58, Y:4.29, Z:0.13 [[ 9.95333254e-01 -9.52834091e-02 -1.52573326e-02 1.24579806e+02] [ 9.52628531e-02 9.95450001e-01 -2.07009434e-03 4.29123311e+00] [ 1.53851574e-02 6.06976696e-04 9.99881457e-01 1.29569711e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.475336195 meters Centerline goodness [0,1] 0.9879706229951039 Centerline is valid? [True, True] Translation: X:124.61, Y:4.30, Z:0.13 [[ 9.95326723e-01 -9.54286386e-02 -1.47678392e-02 1.24607090e+02] [ 9.54093837e-02 9.95436101e-01 -2.00454332e-03 4.29984545e+00] [ 1.48917311e-02 5.86185100e-04 9.99888940e-01 1.28100376e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.505336195 meters Centerline goodness [0,1] 0.9959748695559578 Centerline is valid? [True, True] Translation: X:124.64, Y:4.30, Z:0.13 [[ 9.95301396e-01 -9.58897695e-02 -1.34269525e-02 1.24636128e+02] [ 9.58738617e-02 9.95391818e-01 -1.82496450e-03 4.30276732e+00] [ 1.35400741e-02 5.29095923e-04 9.99908189e-01 1.31386204e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.535336195 meters Centerline goodness [0,1] 0.9996363247406139 Centerline is valid? [True, True] Translation: X:124.67, Y:4.30, Z:0.14 [[ 9.95208065e-01 -9.70322611e-02 -1.20684452e-02 1.24665025e+02] [ 9.70194886e-02 9.95281130e-01 -1.64072319e-03 4.30424629e+00] [ 1.21706989e-02 4.61986565e-04 9.99925828e-01 1.35061115e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.56533619500001 meters Centerline goodness [0,1] 0.9993420773377478 Centerline is valid? [True, True] Translation: X:124.69, Y:4.31, Z:0.13 [[ 9.94963667e-01 -9.94748956e-02 -1.23307487e-02 1.24693260e+02] [ 9.94617437e-02 9.95039974e-01 -1.67681096e-03 4.31020110e+00] [ 1.24363885e-02 4.41928217e-04 9.99922567e-01 1.32787694e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.59533619500002 meters Centerline goodness [0,1] 0.9997004642803654 Centerline is valid? [True, True] Translation: X:124.72, Y:4.31, Z:0.13 [[ 9.94802996e-01 -1.00953977e-01 -1.32398549e-02 1.24721848e+02] [ 1.00938912e-01 9.94890992e-01 -1.80294611e-03 4.31117664e+00] [ 1.33542270e-02 4.57159644e-04 9.99910724e-01 1.32622855e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.62533619500002 meters Centerline goodness [0,1] 0.9994276265581277 Centerline is valid? [True, True] Translation: X:124.75, Y:4.32, Z:0.13 [[ 9.94572993e-01 -1.03320525e-01 -1.22241863e-02 1.24750030e+02] [ 1.03307858e-01 9.94648036e-01 -1.66485156e-03 4.31777097e+00] [ 1.23307762e-02 3.92961903e-04 9.99923896e-01 1.32541366e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.65533619500002 meters Centerline goodness [0,1] 0.999763918101043 Centerline is valid? [True, True] Translation: X:124.78, Y:4.32, Z:0.14 [[ 9.94395148e-01 -1.05226020e-01 -1.02847120e-02 1.24779411e+02] [ 1.05217154e-01 9.94448283e-01 -1.40093247e-03 4.32089540e+00] [ 1.03750287e-02 3.10952326e-04 9.99946130e-01 1.36133351e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.68533619500002 meters Centerline goodness [0,1] 0.9998301990915651 Centerline is valid? [True, True] Translation: X:124.81, Y:4.32, Z:0.14 [[ 9.94314270e-01 -1.06005945e-01 -1.00931315e-02 1.24808359e+02] [ 1.05997425e-01 9.94365451e-01 -1.37681620e-03 4.32189532e+00] [ 1.01822119e-02 2.99142049e-04 9.99948115e-01 1.37563870e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.71533619500002 meters Centerline goodness [0,1] 0.9997872657263812 Centerline is valid? [True, True] Translation: X:124.84, Y:4.33, Z:0.13 [[ 9.94244862e-01 -1.06527749e-01 -1.13575003e-02 1.24835423e+02] [ 1.06516991e-01 9.94309675e-01 -1.54972480e-03 4.32739406e+00] [ 1.14579611e-02 3.31039172e-04 9.99934301e-01 1.34952508e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.745336195 meters Centerline goodness [0,1] 0.9995333941334917 Centerline is valid? [True, True] Translation: X:124.86, Y:4.34, Z:0.13 [[ 9.94323904e-01 -1.05596309e-01 -1.30151073e-02 1.24862577e+02] [ 1.05582086e-01 9.94409003e-01 -1.77709408e-03 4.33671211e+00] [ 1.31299944e-02 3.92844953e-04 9.99913721e-01 1.29495938e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.775336195 meters Centerline goodness [0,1] 0.9996985097768972 Centerline is valid? [True, True] Translation: X:124.89, Y:4.34, Z:0.13 [[ 9.94366525e-01 -1.04753881e-01 -1.61814506e-02 1.24892093e+02] [ 1.04731775e-01 9.94498050e-01 -2.20987977e-03 4.33526610e+00] [ 1.63239145e-02 5.02718428e-04 9.99866630e-01 1.27230983e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.805336195 meters Centerline goodness [0,1] 0.9979377059636441 Centerline is valid? [True, True] Translation: X:124.92, Y:4.34, Z:0.12 [[ 9.94420597e-01 -1.04160089e-01 -1.66838786e-02 1.24918897e+02] [ 1.04136488e-01 9.94560403e-01 -2.27954646e-03 4.34373292e+00] [ 1.68305628e-02 5.29427428e-04 9.99858216e-01 1.24082564e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.835336195 meters Centerline goodness [0,1] 0.9992561105207226 Centerline is valid? [True, True] Translation: X:124.95, Y:4.35, Z:0.13 [[ 9.94626116e-01 -1.02435626e-01 -1.50276822e-02 1.24947528e+02] [ 1.02416240e-01 9.94739507e-01 -2.05598485e-03 4.34984633e+00] [ 1.51592353e-02 5.05857514e-04 9.99884964e-01 1.28615860e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.865336195 meters Centerline goodness [0,1] 0.9994850669412977 Centerline is valid? [True, True] Translation: X:124.98, Y:4.36, Z:0.13 [[ 9.94811552e-01 -1.00897367e-01 -1.30267779e-02 1.24975485e+02] [ 1.00882638e-01 9.94896733e-01 -1.78450425e-03 4.35542304e+00] [ 1.31403506e-02 4.61069715e-04 9.99913556e-01 1.33516138e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.895336195 meters Centerline goodness [0,1] 0.9997218715902527 Centerline is valid? [True, True] Translation: X:125.00, Y:4.36, Z:0.14 [[ 9.94899181e-01 -1.00204042e-01 -1.16089987e-02 1.25003881e+02] [ 1.00192275e-01 9.94966820e-01 -1.59230125e-03 4.36034739e+00] [ 1.17101235e-02 4.21047230e-04 9.99931346e-01 1.36102153e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.925336195 meters Centerline goodness [0,1] 0.9994645993061207 Centerline is valid? [True, True] Translation: X:125.03, Y:4.37, Z:0.14 [[ 9.95086912e-01 -9.84451984e-02 -1.05157193e-02 1.25030633e+02] [ 9.84354342e-02 9.95142393e-01 -1.44337135e-03 4.36683844e+00] [ 1.06067310e-02 4.01160547e-04 9.99943667e-01 1.37417249e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.955336195 meters Centerline goodness [0,1] 0.9994645993061207 Centerline is valid? [True, True] Translation: X:125.06, Y:4.37, Z:0.14 [[ 9.95068288e-01 -9.86333004e-02 -1.05154241e-02 1.25057870e+02] [ 9.86235240e-02 9.95123767e-01 -1.44552044e-03 4.37075655e+00] [ 1.06067249e-02 4.01323369e-04 9.99943667e-01 1.37364357e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.985336195 meters Centerline goodness [0,1] 0.9965382396307456 Centerline is valid? [True, True] Translation: X:125.09, Y:4.38, Z:0.13 [[ 9.95201354e-01 -9.70402632e-02 -1.25479857e-02 1.25085372e+02] [ 9.70262144e-02 9.95280331e-01 -1.72501077e-03 4.37969297e+00] [ 1.26561589e-02 4.99249507e-04 9.99919783e-01 1.31818906e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.015336195 meters Centerline goodness [0,1] 0.9959238838950507 Centerline is valid? [True, True] Translation: X:125.11, Y:4.39, Z:0.13 [[ 9.95279107e-01 -9.62024412e-02 -1.28292426e-02 1.25113199e+02] [ 9.61876699e-02 9.95361651e-01 -1.76491424e-03 4.38558659e+00] [ 1.29395252e-02 5.22567315e-04 9.99916144e-01 1.30680641e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.045336195 meters Centerline goodness [0,1] 0.9813257065948856 Centerline is valid? [True, True] Translation: X:125.14, Y:4.40, Z:0.13 [[ 9.95428498e-01 -9.46272263e-02 -1.29535382e-02 1.25140166e+02] [ 9.46120296e-02 9.95512625e-01 -1.78236519e-03 4.39791014e+00] [ 1.30640711e-02 5.48656566e-04 9.99914511e-01 1.28711563e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.075336195 meters Centerline goodness [0,1] 0.9622983698899036 Centerline is valid? [True, True] Translation: X:125.17, Y:4.40, Z:0.12 [[ 9.95451787e-01 -9.39098174e-02 -1.60214506e-02 1.25169321e+02] [ 9.38864713e-02 9.95580469e-01 -2.20482276e-03 4.40248276e+00] [ 1.61576978e-02 6.90597290e-04 9.99869217e-01 1.22993741e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.105336195 meters Centerline goodness [0,1] 0.9826510845733019 Centerline is valid? [True, True] Translation: X:125.20, Y:4.40, Z:0.12 [[ 9.95430619e-01 -9.39661856e-02 -1.69775683e-02 1.25198797e+02] [ 9.39399243e-02 9.95575119e-01 -2.33952269e-03 4.39931207e+00] [ 1.71222806e-02 7.33961041e-04 9.99853134e-01 1.24439650e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.135336195 meters Centerline goodness [0,1] 0.9768573614416864 Centerline is valid? [True, True] Translation: X:125.23, Y:4.40, Z:0.12 [[ 9.95405436e-01 -9.42047994e-02 -1.71310866e-02 1.25226523e+02] [ 9.41780822e-02 9.95552566e-01 -2.36148831e-03 4.40403163e+00] [ 1.72773607e-02 7.37265422e-04 9.99850463e-01 1.23715367e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.165336195 meters Centerline goodness [0,1] 0.9928284628432783 Centerline is valid? [True, True] Translation: X:125.26, Y:4.40, Z:0.13 [[ 9.95250636e-01 -9.60029205e-02 -1.61124133e-02 1.25256659e+02] [ 9.59795198e-02 9.95380831e-01 -2.22117775e-03 4.40491253e+00] [ 1.62512269e-02 6.64166884e-04 9.99867720e-01 1.26883302e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.195336195 meters Centerline goodness [0,1] 0.9872776784954472 Centerline is valid? [True, True] Translation: X:125.28, Y:4.41, Z:0.13 [[ 9.95150099e-01 -9.70883230e-02 -1.58157396e-02 1.25284123e+02] [ 9.70658657e-02 9.95275565e-01 -2.18324885e-03 4.41249595e+00] [ 1.59529872e-02 6.37491848e-04 9.99872540e-01 1.25504948e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.225336195 meters Centerline goodness [0,1] 0.9849226012748026 Centerline is valid? [True, True] Translation: X:125.31, Y:4.42, Z:0.12 [[ 9.94911837e-01 -9.96263584e-02 -1.50008208e-02 1.25312517e+02] [ 9.96064395e-02 9.95024757e-01 -2.07104254e-03 4.41600728e+00] [ 1.51325185e-02 5.66326384e-04 9.99885337e-01 1.24579792e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.255336195 meters Centerline goodness [0,1] 0.9997001306573564 Centerline is valid? [True, True] Translation: X:125.34, Y:4.40, Z:0.13 [[ 9.94642185e-01 -1.02641319e-01 -1.23159510e-02 1.25344887e+02] [ 1.02628122e-01 9.94718341e-01 -1.70047495e-03 4.40375994e+00] [ 1.24254414e-02 4.27401204e-04 9.99922710e-01 1.33829954e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.285336195 meters Centerline goodness [0,1] 0.999892380542402 Centerline is valid? [True, True] Translation: X:125.37, Y:4.41, Z:0.13 [[ 9.94452007e-01 -1.04480015e-01 -1.22119376e-02 1.25373874e+02] [ 1.04467170e-01 9.94526905e-01 -1.68677435e-03 4.40513078e+00] [ 1.23213347e-02 4.01669579e-04 9.99924009e-01 1.34387956e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.31533619500001 meters Centerline goodness [0,1] 0.999659117540533 Centerline is valid? [True, True] Translation: X:125.40, Y:4.41, Z:0.13 [[ 9.94381066e-01 -1.05078432e-01 -1.28381838e-02 1.25401006e+02] [ 1.05064276e-01 9.94463851e-01 -1.77406572e-03 4.40955516e+00] [ 1.29535257e-02 4.15262874e-04 9.99916013e-01 1.32765126e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.34533619500002 meters Centerline goodness [0,1] 0.999594761762573 Centerline is valid? [True, True] Translation: X:125.43, Y:4.41, Z:0.13 [[ 9.94301935e-01 -1.05827904e-01 -1.28107805e-02 1.25428239e+02] [ 1.05813861e-01 9.94384378e-01 -1.77104386e-03 4.41310315e+00] [ 1.29262658e-02 4.05394195e-04 9.99916370e-01 1.31801026e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.37533619500002 meters Centerline goodness [0,1] 0.9997875504567665 Centerline is valid? [True, True] Translation: X:125.46, Y:4.42, Z:0.13 [[ 9.94394864e-01 -1.04987550e-01 -1.25087821e-02 1.25457257e+02] [ 1.04974065e-01 9.94473452e-01 -1.73162762e-03 4.41593174e+00] [ 1.26214511e-02 4.08823908e-04 9.99920263e-01 1.33339104e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.40533619500002 meters Centerline goodness [0,1] 0.9988466220978662 Centerline is valid? [True, True] Translation: X:125.48, Y:4.42, Z:0.13 [[ 9.94449011e-01 -1.04275793e-01 -1.40614042e-02 1.25483859e+02] [ 1.04258672e-01 9.94548308e-01 -1.94715611e-03 4.42237450e+00] [ 1.41877870e-02 4.70324134e-04 9.99899238e-01 1.29735531e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.43533619500002 meters Centerline goodness [0,1] 0.9994002741603838 Centerline is valid? [True, True] Translation: X:125.51, Y:4.42, Z:0.13 [[ 9.94528132e-01 -1.03166936e-01 -1.64431544e-02 1.25513937e+02] [ 1.03143363e-01 9.94663893e-01 -2.27750871e-03 4.41940024e+00] [ 1.65903755e-02 5.69044243e-04 9.99862208e-01 1.28844357e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.46533619500002 meters Centerline goodness [0,1] 0.9979285012599838 Centerline is valid? [True, True] Translation: X:125.54, Y:4.43, Z:0.13 [[ 9.94718047e-01 -1.01485093e-01 -1.53877394e-02 1.25540223e+02] [ 1.01464233e-01 9.94836903e-01 -2.13230527e-03 4.43087340e+00] [ 1.55246882e-02 5.59737346e-04 9.99879328e-01 1.29460363e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.495336195 meters Centerline goodness [0,1] 0.9991369265956069 Centerline is valid? [True, True] Translation: X:125.57, Y:4.44, Z:0.13 [[ 9.94817068e-01 -1.00608100e-01 -1.47312990e-02 1.25568825e+02] [ 1.00588845e-01 9.94925980e-01 -2.04409362e-03 4.43606713e+00] [ 1.48622045e-02 5.51694858e-04 9.99889399e-01 1.32000647e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.525336195 meters Centerline goodness [0,1] 0.9976464601488455 Centerline is valid? [True, True] Translation: X:125.60, Y:4.44, Z:0.13 [[ 9.94989402e-01 -9.90068803e-02 -1.39185694e-02 1.25595476e+02] [ 9.89895262e-02 9.95086600e-01 -1.93197650e-03 4.44486165e+00] [ 1.40414609e-02 5.44503554e-04 9.99901266e-01 1.31673711e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.555336195 meters Centerline goodness [0,1] 0.9982547993019197 Centerline is valid? [True, True] Translation: X:125.62, Y:4.44, Z:0.13 [[ 9.94972758e-01 -9.92052999e-02 -1.36937883e-02 1.25623496e+02] [ 9.91884804e-02 9.95066843e-01 -1.90367963e-03 4.44499962e+00] [ 1.38150898e-02 5.35843321e-04 9.99904424e-01 1.33350738e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.585336195 meters Centerline goodness [0,1] 0.9988820329800271 Centerline is valid? [True, True] Translation: X:125.65, Y:4.45, Z:0.13 [[ 9.94908989e-01 -9.98207768e-02 -1.38533686e-02 1.25652265e+02] [ 9.98035903e-02 9.95005289e-01 -1.92817518e-03 4.44824523e+00] [ 1.39766469e-02 5.35742894e-04 9.99902178e-01 1.33912656e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.615336195 meters Centerline goodness [0,1] 0.9993343782878492 Centerline is valid? [True, True] Translation: X:125.68, Y:4.45, Z:0.13 [[ 9.94803321e-01 -1.00974509e-01 -1.30575923e-02 1.25681151e+02] [ 1.00959310e-01 9.94888892e-01 -1.81963060e-03 4.45187896e+00] [ 1.31745899e-02 4.91889049e-04 9.99913090e-01 1.34959514e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.645336195 meters Centerline goodness [0,1] 0.9996129864545259 Centerline is valid? [True, True] Translation: X:125.71, Y:4.45, Z:0.14 [[ 9.94695131e-01 -1.02051124e-01 -1.29291773e-02 1.25710239e+02] [ 1.02036284e-01 9.94779042e-01 -1.80395403e-03 4.45383293e+00] [ 1.30457701e-02 4.75139082e-04 9.99914787e-01 1.35611286e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.675336195 meters Centerline goodness [0,1] 0.9993388500255929 Centerline is valid? [True, True] Translation: X:125.74, Y:4.46, Z:0.14 [[ 9.94695779e-01 -1.02084408e-01 -1.26127280e-02 1.25737738e+02] [ 1.02070282e-01 9.94775632e-01 -1.76036649e-03 4.45964907e+00] [ 1.27265404e-02 4.63644419e-04 9.99918907e-01 1.35691133e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.705336195 meters Centerline goodness [0,1] 0.9973669122799567 Centerline is valid? [True, True] Translation: X:125.77, Y:4.47, Z:0.13 [[ 9.94815527e-01 -1.00811975e-01 -1.33795804e-02 1.25765847e+02] [ 1.00795959e-01 9.94905365e-01 -1.86782409e-03 4.46798381e+00] [ 1.34997154e-02 5.09532771e-04 9.99908745e-01 1.32771180e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.735336195 meters Centerline goodness [0,1] 0.9958120355654826 Centerline is valid? [True, True] Translation: X:125.79, Y:4.47, Z:0.13 [[ 9.94858924e-01 -1.00223928e-01 -1.45219010e-02 1.25794289e+02] [ 1.00204958e-01 9.94964746e-01 -2.02994581e-03 4.47324862e+00] [ 1.46522286e-02 5.64343231e-04 9.99892491e-01 1.31250436e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.765336195 meters Centerline goodness [0,1] 0.9959433780985119 Centerline is valid? [True, True] Translation: X:125.82, Y:4.48, Z:0.13 [[ 9.95020271e-01 -9.85361279e-02 -1.50097166e-02 1.25823149e+02] [ 9.85156686e-02 9.95133288e-01 -2.09821704e-03 4.48179599e+00] [ 1.51434188e-02 6.09076222e-04 9.99885146e-01 1.31298578e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.795336195 meters Centerline goodness [0,1] 0.9948785796594255 Centerline is valid? [True, True] Translation: X:125.85, Y:4.49, Z:0.13 [[ 9.95095360e-01 -9.77687237e-02 -1.50499420e-02 1.25851557e+02] [ 9.77480240e-02 9.95208966e-01 -2.10666876e-03 4.48821924e+00] [ 1.51838036e-02 6.25234209e-04 9.99884524e-01 1.31306004e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.825336195 meters Centerline goodness [0,1] 0.9879907024793388 Centerline is valid? [True, True] Translation: X:125.88, Y:4.50, Z:0.13 [[ 9.95162243e-01 -9.69924173e-02 -1.56390853e-02 1.25877805e+02] [ 9.69699497e-02 9.95284899e-01 -2.19038834e-03 4.49911697e+00] [ 1.57777965e-02 6.63270452e-04 9.99875303e-01 1.30351991e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.855336195 meters Centerline goodness [0,1] 0.9931783675127772 Centerline is valid? [True, True] Translation: X:125.91, Y:4.50, Z:0.13 [[ 9.95143051e-01 -9.71914638e-02 -1.56245571e-02 1.25905750e+02] [ 9.71690112e-02 9.95265482e-01 -2.19159729e-03 4.50263512e+00] [ 1.57635869e-02 6.62730044e-04 9.99875527e-01 1.31411286e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.885336195 meters Centerline goodness [0,1] 0.9953257000729019 Centerline is valid? [True, True] Translation: X:125.93, Y:4.51, Z:0.13 [[ 9.95069996e-01 -9.81687007e-02 -1.40928757e-02 1.25933160e+02] [ 9.81505175e-02 9.95169616e-01 -1.97781456e-03 4.50823298e+00] [ 1.42189612e-02 5.84840879e-04 9.99898734e-01 1.33574963e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.915336195 meters Centerline goodness [0,1] 0.9945897588821675 Centerline is valid? [True, True] Translation: X:125.96, Y:4.51, Z:0.13 [[ 9.94994276e-01 -9.89906480e-02 -1.36836442e-02 1.25960364e+02] [ 9.89735665e-02 9.95088207e-01 -1.92158703e-03 4.51323432e+00] [ 1.38066521e-02 5.57649022e-04 9.99904528e-01 1.34083913e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.945336195 meters Centerline goodness [0,1] 0.9966842082745048 Centerline is valid? [True, True] Translation: X:125.99, Y:4.52, Z:0.13 [[ 9.94837064e-01 -1.00469415e-01 -1.43217592e-02 1.25988892e+02] [ 1.00450839e-01 9.94939988e-01 -2.01237843e-03 4.52164097e+00] [ 1.44514734e-02 5.63355929e-04 9.99895413e-01 1.32697650e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.975336195 meters Centerline goodness [0,1] 0.9978758555581779 Centerline is valid? [True, True] Translation: X:126.02, Y:4.53, Z:0.13 [[ 9.94659384e-01 -1.02081409e-01 -1.52347123e-02 1.26017287e+02] [ 1.02060536e-01 9.94775881e-01 -2.14339614e-03 4.52654202e+00] [ 1.53739252e-02 5.77086182e-04 9.99881648e-01 1.31123860e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.005336195 meters Centerline goodness [0,1] 0.9976504261272615 Centerline is valid? [True, True] Translation: X:126.04, Y:4.53, Z:0.13 [[ 9.94538335e-01 -1.03347293e-01 -1.45889296e-02 1.26044650e+02] [ 1.03328281e-01 9.94645189e-01 -2.05302813e-03 4.53491727e+00] [ 1.47229835e-02 5.34366168e-04 9.99891468e-01 1.31334611e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.035336195 meters Centerline goodness [0,1] 0.9982526423457211 Centerline is valid? [True, True] Translation: X:126.07, Y:4.54, Z:0.13 [[ 9.94424084e-01 -1.04513919e-01 -1.40563506e-02 1.26072292e+02] [ 1.04496349e-01 9.94523298e-01 -1.98063201e-03 4.54081389e+00] [ 1.41863717e-02 5.00750858e-04 9.99899243e-01 1.31660794e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.06533619500001 meters Centerline goodness [0,1] 0.9996394485683987 Centerline is valid? [True, True] Translation: X:126.10, Y:4.54, Z:0.13 [[ 9.94148697e-01 -1.07207946e-01 -1.32221010e-02 1.26102681e+02] [ 1.07192640e-01 9.94236525e-01 -1.86296388e-03 4.54216064e+00] [ 1.33456203e-02 4.34751195e-04 9.99910849e-01 1.34397788e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.09533619500002 meters Centerline goodness [0,1] 0.9998063266623628 Centerline is valid? [True, True] Translation: X:126.13, Y:4.55, Z:0.14 [[ 9.93949588e-01 -1.09253689e-01 -1.13069940e-02 1.26132347e+02] [ 1.09242624e-01 9.94013838e-01 -1.59343431e-03 4.54553600e+00] [ 1.14133970e-02 3.48587682e-04 9.99934804e-01 1.39576780e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.12533619500002 meters Centerline goodness [0,1] 0.9994929755994507 Centerline is valid? [True, True] Translation: X:126.16, Y:4.56, Z:0.13 [[ 9.93644481e-01 -1.11883195e-01 -1.23610488e-02 1.26158823e+02] [ 1.11870164e-01 9.93721303e-01 -1.74279853e-03 4.55728995e+00] [ 1.24784274e-02 3.48889588e-04 9.99922081e-01 1.32352764e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.15533619500002 meters Centerline goodness [0,1] 0.9996583021890016 Centerline is valid? [True, True] Translation: X:126.19, Y:4.56, Z:0.13 [[ 9.93466737e-01 -1.13383208e-01 -1.29649668e-02 1.26187911e+02] [ 1.13368970e-01 9.93551270e-01 -1.83029015e-03 4.55548238e+00] [ 1.30888834e-02 3.48507453e-04 9.99914276e-01 1.33337764e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.18533619500002 meters Centerline goodness [0,1] 0.9999576064607754 Centerline is valid? [True, True] Translation: X:126.22, Y:4.56, Z:0.14 [[ 9.93266573e-01 -1.15273453e-01 -1.15562161e-02 1.26217038e+02] [ 1.15262247e-01 9.93333754e-01 -1.63325267e-03 4.55890630e+00] [ 1.16674502e-02 2.90259841e-04 9.99931891e-01 1.36285955e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.21533619500002 meters Centerline goodness [0,1] 0.9998514809471272 Centerline is valid? [True, True] Translation: X:126.24, Y:4.57, Z:0.13 [[ 9.93185759e-01 -1.15812186e-01 -1.30224807e-02 1.26244189e+02] [ 1.15797996e-01 9.93271078e-01 -1.84104304e-03 4.56680074e+00] [ 1.31480686e-02 3.20520563e-04 9.99913509e-01 1.31667775e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.245336195 meters Centerline goodness [0,1] 0.9998712529236315 Centerline is valid? [True, True] Translation: X:126.27, Y:4.57, Z:0.13 [[ 9.93149180e-01 -1.15909905e-01 -1.48189317e-02 1.26272705e+02] [ 1.15891527e-01 9.93259665e-01 -2.09590037e-03 4.56748218e+00] [ 1.49619827e-02 3.64153116e-04 9.99887997e-01 1.32109201e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.275336195 meters Centerline goodness [0,1] 0.9998288953053149 Centerline is valid? [True, True] Translation: X:126.30, Y:4.58, Z:0.13 [[ 9.93169991e-01 -1.15666907e-01 -1.53145411e-02 1.26299450e+02] [ 1.15647235e-01 9.93287985e-01 -2.16691920e-03 4.57584928e+00] [ 1.54623905e-02 3.81034795e-04 9.99880377e-01 1.30811540e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.305336195 meters Centerline goodness [0,1] 0.9997663104671666 Centerline is valid? [True, True] Translation: X:126.33, Y:4.59, Z:0.13 [[ 9.93268576e-01 -1.14867157e-01 -1.49355966e-02 1.26326039e+02] [ 1.14848335e-01 9.93380787e-01 -2.11469840e-03 4.58747874e+00] [ 1.50796441e-02 3.85135062e-04 9.99886222e-01 1.30401468e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.335336195 meters Centerline goodness [0,1] 0.9999358782541786 Centerline is valid? [True, True] Translation: X:126.35, Y:4.59, Z:0.13 [[ 9.93393724e-01 -1.13892418e-01 -1.40508125e-02 1.26354354e+02] [ 1.13875627e-01 9.93493016e-01 -1.99194777e-03 4.59147773e+00] [ 1.41862519e-02 3.78743333e-04 9.99899298e-01 1.32584423e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.365336195 meters Centerline goodness [0,1] 0.9998926508791893 Centerline is valid? [True, True] Translation: X:126.38, Y:4.60, Z:0.13 [[ 9.93448356e-01 -1.13371425e-01 -1.43973345e-02 1.26382689e+02] [ 1.13353706e-01 9.93552596e-01 -2.04352654e-03 4.59650019e+00] [ 1.45361866e-02 3.98146856e-04 9.99894265e-01 1.32261948e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.395336195 meters Centerline goodness [0,1] 0.9998087425887753 Centerline is valid? [True, True] Translation: X:126.41, Y:4.61, Z:0.13 [[ 9.93485171e-01 -1.13027106e-01 -1.45632323e-02 1.26409942e+02] [ 1.13008922e-01 9.93591821e-01 -2.06824075e-03 4.60528406e+00] [ 1.47036757e-02 4.08991339e-04 9.99891811e-01 1.30451403e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.425336195 meters Centerline goodness [0,1] 0.9998721227621483 Centerline is valid? [True, True] Translation: X:126.44, Y:4.61, Z:0.13 [[ 9.93376783e-01 -1.14158927e-01 -1.30501493e-02 1.26438912e+02] [ 1.14144409e-01 9.93462438e-01 -1.85440151e-03 4.60996348e+00] [ 1.31765296e-02 3.52517831e-04 9.99913124e-01 1.33269721e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.455336195 meters Centerline goodness [0,1] 0.9999146684870722 Centerline is valid? [True, True] Translation: X:126.47, Y:4.62, Z:0.13 [[ 9.93329676e-01 -1.14501215e-01 -1.36244981e-02 1.26465821e+02] [ 1.14485407e-01 9.93423041e-01 -1.93715529e-03 4.61558967e+00] [ 1.37566969e-02 3.64427631e-04 9.99905306e-01 1.32032773e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.485336195 meters Centerline goodness [0,1] 0.9998091886276422 Centerline is valid? [True, True] Translation: X:126.49, Y:4.62, Z:0.13 [[ 9.93278389e-01 -1.14836922e-01 -1.45093947e-02 1.26493172e+02] [ 1.14819018e-01 9.93384283e-01 -2.06377070e-03 4.62078563e+00] [ 1.46504017e-02 3.83944377e-04 9.99892603e-01 1.29366623e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.515336195 meters Centerline goodness [0,1] 0.9999356361295859 Centerline is valid? [True, True] Translation: X:126.52, Y:4.62, Z:0.13 [[ 9.93297992e-01 -1.14694110e-01 -1.42954970e-02 1.26521820e+02] [ 1.14676671e-01 9.93400782e-01 -2.03642203e-03 4.62011852e+00] [ 1.44347235e-02 3.83413907e-04 9.99895740e-01 1.32455938e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.545336195 meters Centerline goodness [0,1] 0.999829001367989 Centerline is valid? [True, True] Translation: X:126.55, Y:4.63, Z:0.13 [[ 9.93437467e-01 -1.13592684e-01 -1.33679514e-02 1.26549414e+02] [ 1.13577327e-01 9.93527333e-01 -1.90487328e-03 4.62610115e+00] [ 1.34978048e-02 3.74076287e-04 9.99908831e-01 1.33152212e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.575336195 meters Centerline goodness [0,1] 0.9996597554492291 Centerline is valid? [True, True] Translation: X:126.58, Y:4.64, Z:0.13 [[ 9.93686237e-01 -1.11243457e-01 -1.45793000e-02 1.26576526e+02] [ 1.11224928e-01 9.93793085e-01 -2.07814967e-03 4.63702679e+00] [ 1.47199881e-02 4.43447132e-04 9.99891557e-01 1.31018092e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.605336195 meters Centerline goodness [0,1] 0.9983919382504288 Centerline is valid? [True, True] Translation: X:126.60, Y:4.65, Z:0.13 [[ 9.94049630e-01 -1.07892745e-01 -1.49829698e-02 1.26604078e+02] [ 1.07872791e-01 9.94162411e-01 -2.13599797e-03 4.65040877e+00] [ 1.51259640e-02 5.07033234e-04 9.99885468e-01 1.28651197e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.635336195 meters Centerline goodness [0,1] 0.9995012252510138 Centerline is valid? [True, True] Translation: X:126.63, Y:4.65, Z:0.13 [[ 9.94222223e-01 -1.06304272e-01 -1.48853169e-02 1.26632493e+02] [ 1.06284385e-01 9.94333507e-01 -2.12306451e-03 4.65189300e+00] [ 1.50266602e-02 5.28721174e-04 9.99886954e-01 1.31061971e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.665336195 meters Centerline goodness [0,1] 0.9928095928992062 Centerline is valid? [True, True] Translation: X:126.66, Y:4.66, Z:0.13 [[ 9.94570858e-01 -1.02964395e-01 -1.50712236e-02 1.26659928e+02] [ 1.02943620e-01 9.94684869e-01 -2.14987955e-03 4.66376541e+00] [ 1.52124791e-02 5.86721243e-04 9.99884111e-01 1.28727935e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.695336195 meters Centerline goodness [0,1] 0.9984523783934828 Centerline is valid? [True, True] Translation: X:126.69, Y:4.67, Z:0.13 [[ 9.94834048e-01 -1.00509795e-01 -1.42477697e-02 1.26689132e+02] [ 1.00490972e-01 9.94935894e-01 -2.03276802e-03 4.66776192e+00] [ 1.43799305e-02 5.90494613e-04 9.99896429e-01 1.33127708e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.725336195 meters Centerline goodness [0,1] 0.9898033503277495 Centerline is valid? [True, True] Translation: X:126.72, Y:4.68, Z:0.13 [[ 9.94954263e-01 -9.92513997e-02 -1.46688450e-02 1.26715644e+02] [ 9.92312996e-02 9.95062192e-01 -2.09360777e-03 4.68127262e+00] [ 1.48042065e-02 6.27435423e-04 9.99890215e-01 1.30751401e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.755336195 meters Centerline goodness [0,1] 0.9810844892812106 Centerline is valid? [True, True] Translation: X:126.74, Y:4.69, Z:0.13 [[ 9.95246077e-01 -9.60426466e-02 -1.61572412e-02 1.26744468e+02] [ 9.60178383e-02 9.95376942e-01 -2.30602355e-03 4.69377130e+00] [ 1.63040219e-02 7.43677518e-04 9.99866804e-01 1.27821418e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.785336195 meters Centerline goodness [0,1] 0.9933228091134055 Centerline is valid? [True, True] Translation: X:126.77, Y:4.70, Z:0.13 [[ 9.95351931e-01 -9.52513668e-02 -1.42025083e-02 1.26773069e+02] [ 9.52320790e-02 9.95453028e-01 -2.02976650e-03 4.69722648e+00] [ 1.43312679e-02 6.67797616e-04 9.99897079e-01 1.31484629e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.81533619500001 meters Centerline goodness [0,1] 0.9963343898915411 Centerline is valid? [True, True] Translation: X:126.80, Y:4.70, Z:0.13 [[ 9.95307985e-01 -9.58202233e-02 -1.34350390e-02 1.26801362e+02] [ 9.58029867e-02 9.95398459e-01 -1.92221386e-03 4.70088268e+00] [ 1.35574041e-02 6.26077942e-04 9.99907898e-01 1.33043258e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.84533619500002 meters Centerline goodness [0,1] 0.9973731806045991 Centerline is valid? [True, True] Translation: X:126.83, Y:4.70, Z:0.13 [[ 9.95161351e-01 -9.73075843e-02 -1.36058420e-02 1.26830789e+02] [ 9.72900152e-02 9.95254166e-01 -1.94884386e-03 4.70177374e+00] [ 1.37309083e-02 6.15701513e-04 9.99905537e-01 1.33405976e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.87533619500002 meters Centerline goodness [0,1] 0.9973731806045991 Centerline is valid? [True, True] Translation: X:126.86, Y:4.71, Z:0.13 [[ 9.95142396e-01 -9.75013026e-02 -1.36054524e-02 1.26857996e+02] [ 9.74837145e-02 9.95235207e-01 -1.95156209e-03 4.70585002e+00] [ 1.37309051e-02 6.15772136e-04 9.99905537e-01 1.33353077e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.90533619500002 meters Centerline goodness [0,1] 0.9870506337149023 Centerline is valid? [True, True] Translation: X:126.88, Y:4.72, Z:0.13 [[ 9.95022799e-01 -9.87322549e-02 -1.34748320e-02 1.26884688e+02] [ 9.87150845e-02 9.95113857e-01 -1.93510824e-03 4.71973265e+00] [ 1.36000497e-02 5.95307630e-04 9.99907338e-01 1.30734950e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.93533619500002 meters Centerline goodness [0,1] 0.9941501808125931 Centerline is valid? [True, True] Translation: X:126.91, Y:4.73, Z:0.13 [[ 9.94991931e-01 -9.90506410e-02 -1.34174757e-02 1.26912613e+02] [ 9.90336101e-02 9.95082218e-01 -1.92947537e-03 4.72506151e+00] [ 1.35426073e-02 5.91031364e-04 9.99908120e-01 1.31405598e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.96533619500002 meters Centerline goodness [0,1] 0.9969499752990957 Centerline is valid? [True, True] Translation: X:126.94, Y:4.73, Z:0.13 [[ 9.94961866e-01 -9.91552222e-02 -1.48029601e-02 1.26940542e+02] [ 9.91344945e-02 9.95071765e-01 -2.12933255e-03 4.73027348e+00] [ 1.49411421e-02 6.51120716e-04 9.99888163e-01 1.29479035e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.995336195 meters Centerline goodness [0,1] 0.99913528470751 Centerline is valid? [True, True] Translation: X:126.97, Y:4.73, Z:0.13 [[ 9.94798186e-01 -1.00832701e-01 -1.44684570e-02 1.26970103e+02] [ 1.00813039e-01 9.94903206e-01 -2.08376293e-03 4.73105266e+00] [ 1.46048257e-02 6.14314458e-04 9.99893155e-01 1.31095624e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.025336195 meters Centerline goodness [0,1] 0.9985886277612642 Centerline is valid? [True, True] Translation: X:127.00, Y:4.74, Z:0.13 [[ 9.94723646e-01 -1.01558156e-01 -1.45192715e-02 1.26996615e+02] [ 1.01538423e-01 9.94829419e-01 -2.09179299e-03 4.73932778e+00] [ 1.46566370e-02 6.06492020e-04 9.99892402e-01 1.30322228e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.055336195 meters Centerline goodness [0,1] 0.996105222832333 Centerline is valid? [True, True] Translation: X:127.02, Y:4.75, Z:0.13 [[ 9.94591621e-01 -1.02625573e-01 -1.59843303e-02 1.27024059e+02] [ 1.02601769e-01 9.94719843e-01 -2.30436326e-03 4.74552745e+00] [ 1.61364171e-02 6.51879823e-04 9.99869587e-01 1.26999990e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.085336195 meters Centerline goodness [0,1] 0.9989463271976604 Centerline is valid? [True, True] Translation: X:127.05, Y:4.75, Z:0.13 [[ 9.94377555e-01 -1.04746061e-01 -1.55415684e-02 1.27053748e+02] [ 1.04723816e-01 9.94498820e-01 -2.24057973e-03 4.74999411e+00] [ 1.56907634e-02 6.00409853e-04 9.99876712e-01 1.28438621e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.115336195 meters Centerline goodness [0,1] 0.9975364750355724 Centerline is valid? [True, True] Translation: X:127.08, Y:4.76, Z:0.13 [[ 9.94237541e-01 -1.06173004e-01 -1.47988481e-02 1.27080288e+02] [ 1.06152971e-01 9.94347519e-01 -2.13492322e-03 4.76133247e+00] [ 1.49418691e-02 5.51679117e-04 9.99888212e-01 1.26658855e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.145336195 meters Centerline goodness [0,1] 0.9992447129909365 Centerline is valid? [True, True] Translation: X:127.11, Y:4.76, Z:0.13 [[ 9.93863393e-01 -1.09634068e-01 -1.46944773e-02 1.27110119e+02] [ 1.09614691e-01 9.93971893e-01 -2.12010069e-03 4.76204257e+00] [ 1.48383326e-02 4.96359887e-04 9.99889783e-01 1.27273032e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.175336195 meters Centerline goodness [0,1] 0.9999357532926437 Centerline is valid? [True, True] Translation: X:127.14, Y:4.76, Z:0.13 [[ 9.93365918e-01 -1.14080579e-01 -1.44835641e-02 1.27141462e+02] [ 1.14062224e-01 9.93471410e-01 -2.08983058e-03 4.75599922e+00] [ 1.46274159e-02 4.23938942e-04 9.99892924e-01 1.29360524e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.205336195 meters Centerline goodness [0,1] 0.9999143322196522 Centerline is valid? [True, True] Translation: X:127.17, Y:4.76, Z:0.13 [[ 9.92787829e-01 -1.18989721e-01 -1.46209709e-02 1.27170966e+02] [ 1.18971542e-01 9.92895422e-01 -2.11004609e-03 4.75523984e+00] [ 1.47681689e-02 3.55348622e-04 9.99890882e-01 1.28701845e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.235336195 meters Centerline goodness [0,1] 0.999957414189592 Centerline is valid? [True, True] Translation: X:127.20, Y:4.76, Z:0.13 [[ 9.92500987e-01 -1.21278438e-01 -1.52752137e-02 1.27198838e+02] [ 1.21258851e-01 9.92618470e-01 -2.20547269e-03 4.75855786e+00] [ 1.54299356e-02 3.36678963e-04 9.99880895e-01 1.26669819e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.265336195 meters Centerline goodness [0,1] 0.9999357890456112 Centerline is valid? [True, True] Translation: X:127.23, Y:4.76, Z:0.13 [[ 9.92112650e-01 -1.24451481e-01 -1.49772833e-02 1.27226613e+02] [ 1.24432998e-01 9.92225654e-01 -2.16335839e-03 4.75958796e+00] [ 1.51300779e-02 2.82626968e-04 9.99885494e-01 1.27117599e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.295336195 meters Centerline goodness [0,1] 0.9999575821845175 Centerline is valid? [True, True] Translation: X:127.25, Y:4.76, Z:0.13 [[ 9.91950559e-01 -1.25855354e-01 -1.39469713e-02 1.27254911e+02] [ 1.25839429e-01 9.92048572e-01 -2.01709463e-03 4.76173678e+00] [ 1.40899351e-02 2.45779244e-04 9.99900702e-01 1.28122824e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.325336195 meters Centerline goodness [0,1] 0.9999575164092869 Centerline is valid? [True, True] Translation: X:127.28, Y:4.76, Z:0.13 [[ 9.91755963e-01 -1.27518438e-01 -1.26157379e-02 1.27284811e+02] [ 1.27505516e-01 9.91836179e-01 -1.82668940e-03 4.75767156e+00] [ 1.27456819e-02 2.03053935e-04 9.99918750e-01 1.30964652e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.355336195 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:127.31, Y:4.76, Z:0.14 [[ 9.91981400e-01 -1.25845791e-01 -1.16506868e-02 1.27313184e+02] [ 1.25834630e-01 9.92049794e-01 -1.68902285e-03 4.75991469e+00] [ 1.17706178e-02 2.09419388e-04 9.99930702e-01 1.35081012e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.385336195 meters Centerline goodness [0,1] 0.9998512853197365 Centerline is valid? [True, True] Translation: X:127.34, Y:4.77, Z:0.13 [[ 9.92241763e-01 -1.23723401e-01 -1.21985268e-02 1.27339526e+02] [ 1.23710997e-01 9.92316713e-01 -1.76914307e-03 4.76931064e+00] [ 1.23236864e-02 2.46325729e-04 9.99924030e-01 1.32127778e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.415336195 meters Centerline goodness [0,1] 0.9998493716646583 Centerline is valid? [True, True] Translation: X:127.37, Y:4.78, Z:0.13 [[ 9.92860158e-01 -1.18493657e-01 -1.37098712e-02 1.27368547e+02] [ 1.18477489e-01 9.92954748e-01 -1.98842442e-03 4.77783686e+00] [ 1.38488974e-02 3.49916266e-04 9.99904038e-01 1.29426438e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.445336195 meters Centerline goodness [0,1] 0.9997646505060014 Centerline is valid? [True, True] Translation: X:127.40, Y:4.79, Z:0.13 [[ 9.93673004e-01 -1.11503136e-01 -1.34540583e-02 1.27397730e+02] [ 1.11486925e-01 9.93763985e-01 -1.95131569e-03 4.79054140e+00] [ 1.35877364e-02 4.39018147e-04 9.99907586e-01 1.31702049e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.475336195 meters Centerline goodness [0,1] 0.9986634703099476 Centerline is valid? [True, True] Translation: X:127.43, Y:4.80, Z:0.13 [[ 9.94080962e-01 -1.07745815e-01 -1.39241180e-02 1.27425608e+02] [ 1.07728080e-01 9.94178345e-01 -2.01968108e-03 4.80468900e+00] [ 1.40606688e-02 5.07708004e-04 9.99901015e-01 1.29053058e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.505336195 meters Centerline goodness [0,1] 0.9710767407908936 Centerline is valid? [True, True] Translation: X:127.45, Y:4.82, Z:0.13 [[ 9.94822407e-01 -1.00406543e-01 -1.57132139e-02 1.27452107e+02] [ 1.00383043e-01 9.94946255e-01 -2.27920022e-03 4.82284721e+00] [ 1.58626499e-02 6.90059223e-04 9.99873942e-01 1.25071217e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.535336195 meters Centerline goodness [0,1] 0.9424132994294749 Centerline is valid? [True, False] Translation: X:127.43, Y:4.82, Z:0.12 [[ 9.95410213e-01 -9.50677526e-02 -1.09832149e-02 1.27433859e+02] [ 9.50253154e-02 9.95465464e-01 -4.32432626e-03 4.82342563e+00] [ 1.13445151e-02 3.26079506e-03 9.99930332e-01 1.17701802e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.56533619500001 meters Centerline goodness [0,1] 0.978065781339927 Centerline is valid? [False, True] Translation: X:127.43, Y:4.82, Z:0.12 [[ 9.95831098e-01 -9.04850733e-02 -1.15271436e-02 1.27434337e+02] [ 9.04989863e-02 9.95896308e-01 6.90068353e-04 4.81991998e+00] [ 1.14173988e-02 -1.73038633e-03 9.99933322e-01 1.17909111e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.59533619500002 meters Centerline goodness [0,1] 0.9470864741255187 Centerline is valid? [True, False] Translation: X:127.43, Y:4.82, Z:0.12 [[ 9.96214499e-01 -8.61150737e-02 -1.18686883e-02 1.27434003e+02] [ 8.61805089e-02 9.96266404e-01 5.11578890e-03 4.81930140e+00] [ 1.13838289e-02 -6.11927268e-03 9.99916478e-01 1.18274764e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.62533619500002 meters Centerline goodness [0,1] 0.968667909499195 Centerline is valid? [False, True] Translation: X:127.43, Y:4.83, Z:0.12 [[ 9.96624688e-01 -8.17486822e-02 -7.50897144e-03 1.27428305e+02] [ 8.16640135e-02 9.96599603e-01 -1.09645223e-02 4.83361915e+00] [ 8.37977320e-03 1.03143008e-02 9.99911693e-01 1.19725489e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.65533619500002 meters Centerline goodness [0,1] 0.9874735016380806 Centerline is valid? [True, True] Translation: X:127.46, Y:4.83, Z:0.12 [[ 9.96552831e-01 -8.25424808e-02 -8.31825885e-03 1.27458002e+02] [ 8.25356349e-02 9.96587435e-01 -1.16352848e-03 4.82895332e+00] [ 8.38591278e-03 4.72964830e-04 9.99964726e-01 1.20380081e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.68533619500002 meters Centerline goodness [0,1] 0.9774776690769885 Centerline is valid? [True, True] Translation: X:127.49, Y:4.83, Z:0.12 [[ 9.96236849e-01 -8.61492542e-02 -9.51033188e-03 1.27486636e+02] [ 8.61404770e-02 9.96282114e-01 -1.32946406e-03 4.83487570e+00] [ 9.58950589e-03 5.05236565e-04 9.99953892e-01 1.16624894e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.71533619500002 meters Centerline goodness [0,1] 0.9798110056444623 Centerline is valid? [True, True] Translation: X:127.52, Y:4.84, Z:0.11 [[ 9.95998049e-01 -8.88045316e-02 -1.00817489e-02 1.27516502e+02] [ 8.87948006e-02 9.96048943e-01 -1.40964494e-03 4.83735318e+00] [ 1.01670981e-02 5.08796732e-04 9.99948184e-01 1.14931738e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.745336195 meters Centerline goodness [0,1] 0.9959132754022197 Centerline is valid? [True, True] Translation: X:127.55, Y:4.83, Z:0.11 [[ 9.95355741e-01 -9.57638991e-02 -9.80937403e-03 1.27547329e+02] [ 9.57550266e-02 9.95403986e-01 -1.37127440e-03 4.83492698e+00] [ 9.89560859e-03 4.25608975e-04 9.99950947e-01 1.14756225e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.775336195 meters Centerline goodness [0,1] 0.9991260045618299 Centerline is valid? [True, True] Translation: X:127.58, Y:4.83, Z:0.12 [[ 9.94713010e-01 -1.02265062e-01 -9.37467503e-03 1.27578291e+02] [ 1.02257245e-01 9.94757125e-01 -1.31067568e-03 4.83115651e+00] [ 9.45956111e-03 3.45117710e-04 9.99955198e-01 1.15062787e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.805336195 meters Centerline goodness [0,1] 0.9997220975223925 Centerline is valid? [True, True] Translation: X:127.61, Y:4.83, Z:0.12 [[ 9.94387950e-01 -1.05342870e-01 -9.77163034e-03 1.27608585e+02] [ 1.05334522e-01 9.94435906e-01 -1.36650109e-03 4.82719141e+00] [ 9.86121122e-03 3.29542213e-04 9.99951323e-01 1.16338099e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.835336195 meters Centerline goodness [0,1] 0.9998724218583883 Centerline is valid? [True, True] Translation: X:127.64, Y:4.83, Z:0.11 [[ 9.93759790e-01 -1.11029171e-01 -1.06771951e-02 1.27638645e+02] [ 1.11019530e-01 9.93817103e-01 -1.49327717e-03 4.82698217e+00] [ 1.07769764e-02 2.98581622e-04 9.99941882e-01 1.13396055e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.865336195 meters Centerline goodness [0,1] 0.999978601844521 Centerline is valid? [True, True] Translation: X:127.67, Y:4.82, Z:0.12 [[ 9.93258399e-01 -1.15467661e-01 -1.02455558e-02 1.27669853e+02] [ 1.15459018e-01 9.93311211e-01 -1.43301265e-03 4.82198881e+00] [ 1.03424921e-02 2.40410033e-04 9.99946486e-01 1.15446339e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.895336195 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:127.70, Y:4.82, Z:0.12 [[ 9.93005429e-01 -1.17653360e-01 -9.89466074e-03 1.27699247e+02] [ 1.17645384e-01 9.93054702e-01 -1.38630847e-03 4.82365059e+00] [ 9.98904323e-03 2.12550675e-04 9.99950086e-01 1.16072082e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.925336195 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:127.73, Y:4.82, Z:0.12 [[ 9.92697871e-01 -1.20286469e-01 -9.06106404e-03 1.27728136e+02] [ 1.20279891e-01 9.92739209e-01 -1.26945407e-03 4.82488056e+00] [ 9.14797170e-03 1.70320565e-04 9.99958142e-01 1.18236471e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.955336195 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:127.76, Y:4.83, Z:0.12 [[ 9.92500487e-01 -1.21911290e-01 -8.96772502e-03 1.27757634e+02] [ 1.21904894e-01 9.92540988e-01 -1.25844034e-03 4.82595630e+00] [ 9.05425274e-03 1.55793076e-04 9.99958997e-01 1.18471923e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.985336195 meters Centerline goodness [0,1] 0.9999572137600548 Centerline is valid? [True, True] Translation: X:127.79, Y:4.83, Z:0.12 [[ 9.92480092e-01 -1.22046766e-01 -9.37304559e-03 1.27785121e+02] [ 1.22039781e-01 9.92524338e-01 -1.31580261e-03 4.83012250e+00] [ 9.46356531e-03 1.62023469e-04 9.99955206e-01 1.16508910e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.015336195 meters Centerline goodness [0,1] 0.9999144988564223 Centerline is valid? [True, True] Translation: X:127.81, Y:4.83, Z:0.11 [[ 9.92704625e-01 -1.20137480e-01 -1.02231639e-02 1.27812221e+02] [ 1.20129063e-01 9.92757245e-01 -1.43573214e-03 4.83462407e+00] [ 1.03216053e-02 1.97158832e-04 9.99946711e-01 1.14220530e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.045336195 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:127.84, Y:4.84, Z:0.12 [[ 9.93163417e-01 -1.16308248e-01 -9.94075424e-03 1.27841025e+02] [ 1.16300097e-01 9.93213138e-01 -1.39606715e-03 4.84322131e+00] [ 1.00356618e-02 2.30412134e-04 9.99949615e-01 1.16325048e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.075336195 meters Centerline goodness [0,1] 0.9999139248133244 Centerline is valid? [True, True] Translation: X:127.87, Y:4.86, Z:0.12 [[ 9.93795277e-01 -1.10757217e-01 -1.01875306e-02 1.27869660e+02] [ 1.10748365e-01 9.93847449e-01 -1.43078632e-03 4.85597791e+00] [ 1.02833213e-02 2.93656330e-04 9.99947082e-01 1.17363962e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.105336195 meters Centerline goodness [0,1] 0.9998696757097244 Centerline is valid? [True, True] Translation: X:127.90, Y:4.87, Z:0.12 [[ 9.94116302e-01 -1.07763140e-01 -1.09491904e-02 1.27898407e+02] [ 1.07752729e-01 9.94176536e-01 -1.53809228e-03 4.86534682e+00] [ 1.10511779e-02 3.49237465e-04 9.99938873e-01 1.16280166e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.135336195 meters Centerline goodness [0,1] 0.9975186104218362 Centerline is valid? [True, True] Translation: X:127.93, Y:4.88, Z:0.11 [[ 9.94719179e-01 -1.02051634e-01 -1.09187047e-02 1.27925998e+02] [ 1.02040936e-01 9.94779018e-01 -1.53389789e-03 4.88313128e+00] [ 1.10182351e-02 4.11642804e-04 9.99939213e-01 1.13349588e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.165336195 meters Centerline goodness [0,1] 0.9994237295370627 Centerline is valid? [True, True] Translation: X:127.96, Y:4.88, Z:0.12 [[ 9.94958814e-01 -9.97816280e-02 -1.00292533e-02 1.27955303e+02] [ 9.97724818e-02 9.95009279e-01 -1.40944178e-03 4.88446809e+00] [ 1.01198365e-02 4.01693036e-04 9.99948712e-01 1.17090174e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.195336195 meters Centerline goodness [0,1] 0.9939181286549708 Centerline is valid? [True, True] Translation: X:127.98, Y:4.90, Z:0.12 [[ 9.95275916e-01 -9.67275138e-02 -8.34503565e-03 1.27981436e+02] [ 9.67210702e-02 9.95310835e-01 -1.17325330e-03 4.90251006e+00] [ 8.41939027e-03 3.60569976e-04 9.99964491e-01 1.16521954e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.225336195 meters Centerline goodness [0,1] 0.9985004926952573 Centerline is valid? [True, True] Translation: X:128.01, Y:4.91, Z:0.12 [[ 9.95308396e-01 -9.63588090e-02 -8.72797519e-03 1.28009504e+02] [ 9.63517413e-02 9.95346590e-01 -1.22765885e-03 4.90597746e+00] [ 8.80565609e-03 3.80943558e-04 9.99961157e-01 1.17476549e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.255336195 meters Centerline goodness [0,1] 0.997845655048846 Centerline is valid? [True, True] Translation: X:128.04, Y:4.91, Z:0.12 [[ 9.95261073e-01 -9.68012000e-02 -9.21545994e-03 1.28036835e+02] [ 9.67933171e-02 9.95303656e-01 -1.29864324e-03 4.91231071e+00] [ 9.29789119e-03 4.00494125e-04 9.99956693e-01 1.15878448e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.285336195 meters Centerline goodness [0,1] 0.9922110446114012 Centerline is valid? [True, True] Translation: X:128.06, Y:4.92, Z:0.11 [[ 9.95159187e-01 -9.78592809e-02 -9.04180717e-03 1.28064102e+02] [ 9.78517341e-02 9.95200188e-01 -1.27437231e-03 4.91832464e+00] [ 9.12311735e-03 3.83446804e-04 9.99958310e-01 1.13502228e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.31533619500001 meters Centerline goodness [0,1] 0.9991070859110913 Centerline is valid? [True, True] Translation: X:128.09, Y:4.91, Z:0.11 [[ 9.94981555e-01 -9.95588732e-02 -9.98681058e-03 1.28094220e+02] [ 9.95497313e-02 9.95031589e-01 -1.40959880e-03 4.91193010e+00] [ 1.00775301e-02 4.08340494e-04 9.99949137e-01 1.14112862e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.34533619500002 meters Centerline goodness [0,1] 0.9995501381718472 Centerline is valid? [True, True] Translation: X:128.12, Y:4.91, Z:0.12 [[ 9.94917370e-01 -1.00215360e-01 -9.81367652e-03 1.28122886e+02] [ 1.00206547e-01 9.94965690e-01 -1.38690185e-03 4.91339160e+00] [ 9.90326030e-03 3.96458105e-04 9.99950883e-01 1.15331483e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.37533619500002 meters Centerline goodness [0,1] 0.9988966453775807 Centerline is valid? [True, True] Translation: X:128.15, Y:4.92, Z:0.12 [[ 9.94853891e-01 -1.00966551e-01 -8.45524647e-03 1.28150197e+02] [ 1.00960022e-01 9.94889764e-01 -1.19649715e-03 4.92201972e+00] [ 8.53284436e-03 3.36697970e-04 9.99963538e-01 1.16247763e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.40533619500002 meters Centerline goodness [0,1] 0.9987675570004887 Centerline is valid? [True, True] Translation: X:128.18, Y:4.93, Z:0.11 [[ 9.94673150e-01 -1.02591404e-01 -1.00163782e-02 1.28177697e+02] [ 1.02582327e-01 9.94723508e-01 -1.41724537e-03 4.92524661e+00] [ 1.01089240e-02 3.82192542e-04 9.99948830e-01 1.12965670e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.43533619500002 meters Centerline goodness [0,1] 0.9989364870038712 Centerline is valid? [True, True] Translation: X:128.21, Y:4.93, Z:0.11 [[ 9.94571204e-01 -1.03527497e-01 -1.04965963e-02 1.28206379e+02] [ 1.03517556e-01 9.94626514e-01 -1.48748335e-03 4.92652299e+00] [ 1.05941884e-02 3.92826113e-04 9.99943803e-01 1.11930680e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.46533619500002 meters Centerline goodness [0,1] 0.999194010223344 Centerline is valid? [True, True] Translation: X:128.23, Y:4.93, Z:0.11 [[ 9.94384225e-01 -1.05251483e-01 -1.10516033e-02 1.28234251e+02] [ 1.05240569e-01 9.94445559e-01 -1.56617808e-03 4.92727921e+00] [ 1.11550604e-02 3.94305755e-04 9.99937703e-01 1.10418780e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.495336195 meters Centerline goodness [0,1] 0.9998492808543622 Centerline is valid? [True, True] Translation: X:128.26, Y:4.92, Z:0.11 [[ 9.94097848e-01 -1.07988127e-01 -1.03939251e-02 1.28264599e+02] [ 1.07978621e-01 9.94152125e-01 -1.47306934e-03 4.92438807e+00] [ 1.04922167e-02 3.42053368e-04 9.99944897e-01 1.14008089e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.525336195 meters Centerline goodness [0,1] 0.9998078770413065 Centerline is valid? [True, True] Translation: X:128.29, Y:4.93, Z:0.11 [[ 9.93991508e-01 -1.08995834e-01 -1.00394048e-02 1.28292271e+02] [ 1.08987009e-01 9.94042155e-01 -1.42364088e-03 4.92835854e+00] [ 1.01347625e-02 3.20922240e-04 9.99948590e-01 1.13572802e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.555336195 meters Centerline goodness [0,1] 0.9996583313758568 Centerline is valid? [True, True] Translation: X:128.32, Y:4.93, Z:0.11 [[ 9.93855460e-01 -1.10175070e-01 -1.06197147e-02 1.28320056e+02] [ 1.10165251e-01 9.93912142e-01 -1.50702736e-03 4.93097428e+00] [ 1.07211003e-02 3.27843836e-04 9.99942474e-01 1.10764825e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.585336195 meters Centerline goodness [0,1] 0.9998497596153846 Centerline is valid? [True, True] Translation: X:128.35, Y:4.93, Z:0.11 [[ 9.93824001e-01 -1.10403163e-01 -1.11801737e-02 1.28349385e+02] [ 1.10392267e-01 9.93886826e-01 -1.58892994e-03 4.92952491e+00] [ 1.12872502e-02 3.44911999e-04 9.99936237e-01 1.11715290e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.615336195 meters Centerline goodness [0,1] 0.9993808974851629 Centerline is valid? [True, True] Translation: X:128.38, Y:4.94, Z:0.11 [[ 9.93878976e-01 -1.09897653e-01 -1.12732387e-02 1.28376006e+02] [ 1.09886536e-01 9.93942846e-01 -1.60276762e-03 4.93728319e+00] [ 1.13810953e-02 3.54179898e-04 9.99935171e-01 1.08101758e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.645336195 meters Centerline goodness [0,1] 0.9997844409475976 Centerline is valid? [True, True] Translation: X:128.40, Y:4.94, Z:0.11 [[ 9.93905097e-01 -1.09636973e-01 -1.15061405e-02 1.28404681e+02] [ 1.09625346e-01 9.93971629e-01 -1.63829486e-03 4.93747433e+00] [ 1.16163949e-02 3.66944975e-04 9.99932460e-01 1.10816855e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.675336195 meters Centerline goodness [0,1] 0.9983252066991732 Centerline is valid? [True, True] Translation: X:128.43, Y:4.95, Z:0.11 [[ 9.93910684e-01 -1.09602108e-01 -1.13547460e-02 1.28430064e+02] [ 1.09590776e-01 9.93975476e-01 -1.61727621e-03 4.95041727e+00] [ 1.14635960e-02 3.63052670e-04 9.99934225e-01 1.07127175e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.705336195 meters Centerline goodness [0,1] 0.9991958182549256 Centerline is valid? [True, True] Translation: X:128.46, Y:4.95, Z:0.11 [[ 9.93903987e-01 -1.09719197e-01 -1.07964505e-02 1.28458315e+02] [ 1.09708936e-01 9.93962564e-01 -1.53989488e-03 4.95450813e+00] [ 1.09002237e-02 3.46040559e-04 9.99940531e-01 1.08350453e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.735336195 meters Centerline goodness [0,1] 0.9996196111580727 Centerline is valid? [True, True] Translation: X:128.49, Y:4.95, Z:0.11 [[ 9.93994759e-01 -1.08958020e-01 -1.01276394e-02 1.28487965e+02] [ 1.08948933e-01 9.94046296e-01 -1.44626741e-03 4.95368383e+00] [ 1.02249249e-02 3.34186716e-04 9.99947668e-01 1.11188716e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.765336195 meters Centerline goodness [0,1] 0.9996196111580727 Centerline is valid? [True, True] Translation: X:128.52, Y:4.96, Z:0.11 [[ 9.93974456e-01 -1.09143107e-01 -1.01273524e-02 1.28515154e+02] [ 1.09134010e-01 9.94025991e-01 -1.44827645e-03 4.95776039e+00] [ 1.02249209e-02 3.34311220e-04 9.99947668e-01 1.11042696e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.795336195 meters Centerline goodness [0,1] 0.9992188984356858 Centerline is valid? [True, True] Translation: X:128.54, Y:4.96, Z:0.11 [[ 9.94032114e-01 -1.08705764e-01 -9.12210848e-03 1.28541844e+02] [ 1.08698356e-01 9.94073922e-01 -1.30548234e-03 4.96461385e+00] [ 9.20996361e-03 3.06133182e-04 9.99957541e-01 1.11998961e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.825336195 meters Centerline goodness [0,1] 0.99963888180814 Centerline is valid? [True, True] Translation: X:128.57, Y:4.97, Z:0.12 [[ 9.94113093e-01 -1.08067090e-01 -7.78860701e-03 1.28570488e+02] [ 1.08061657e-01 9.94143567e-01 -1.11621111e-03 4.96759856e+00] [ 7.86361924e-03 2.67990294e-04 9.99969045e-01 1.15430151e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.855336195 meters Centerline goodness [0,1] 0.9997455902306649 Centerline is valid? [True, True] Translation: X:128.60, Y:4.97, Z:0.12 [[ 9.94140280e-01 -1.07790967e-01 -8.13704162e-03 1.28599027e+02] [ 1.07785017e-01 9.94173540e-01 -1.16750871e-03 4.97272792e+00] [ 8.21547836e-03 2.83616265e-04 9.99966212e-01 1.15143923e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.885336195 meters Centerline goodness [0,1] 0.9998487729001037 Centerline is valid? [True, True] Translation: X:128.63, Y:4.98, Z:0.12 [[ 9.94155401e-01 -1.07658343e-01 -8.04482862e-03 1.28627987e+02] [ 1.07652511e-01 9.94187910e-01 -1.15571930e-03 4.97614598e+00] [ 8.12249418e-03 2.82918583e-04 9.99966972e-01 1.16324623e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.915336195 meters Centerline goodness [0,1] 0.9994498518831993 Centerline is valid? [True, True] Translation: X:128.65, Y:4.98, Z:0.11 [[ 9.94239639e-01 -1.06795284e-01 -9.07232374e-03 1.28654370e+02] [ 1.06787831e-01 9.94280977e-01 -1.30336216e-03 4.98439143e+00] [ 9.15963184e-03 3.27040545e-04 9.99957996e-01 1.12183287e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.945336195 meters Centerline goodness [0,1] 0.9990649438966338 Centerline is valid? [True, True] Translation: X:128.68, Y:4.99, Z:0.11 [[ 9.94145425e-01 -1.07509918e-01 -1.07931651e-02 1.28683280e+02] [ 1.07499388e-01 9.94203938e-01 -1.55276616e-03 4.98787265e+00] [ 1.08975450e-02 3.83416738e-04 9.99940546e-01 1.09035353e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.975336195 meters Centerline goodness [0,1] 0.999848978447067 Centerline is valid? [True, True] Translation: X:128.71, Y:4.99, Z:0.11 [[ 9.94032756e-01 -1.08580240e-01 -1.04504300e-02 1.28712513e+02] [ 1.08570407e-01 9.94087622e-01 -1.50534175e-03 4.98677602e+00] [ 1.05520935e-02 3.61751565e-04 9.99944260e-01 1.11609666e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.005336195 meters Centerline goodness [0,1] 0.9997011612021858 Centerline is valid? [True, True] Translation: X:128.74, Y:4.99, Z:0.11 [[ 9.93867855e-01 -1.10195219e-01 -9.14885412e-03 1.28739841e+02] [ 1.10187750e-01 9.93909917e-01 -1.31794374e-03 4.99101319e+00] [ 9.23836793e-03 3.01770268e-04 9.99957280e-01 1.13130712e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.035336195 meters Centerline goodness [0,1] 0.9998922088561204 Centerline is valid? [True, True] Translation: X:128.77, Y:4.99, Z:0.12 [[ 9.93699118e-01 -1.11771061e-01 -8.32427367e-03 1.28768995e+02] [ 1.11764931e-01 9.93733949e-01 -1.19953251e-03 4.99053705e+00] [ 8.40618637e-03 2.61612532e-04 9.99964633e-01 1.16066503e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.06533619500001 meters Centerline goodness [0,1] 0.999810014354471 Centerline is valid? [True, True] Translation: X:128.80, Y:5.00, Z:0.12 [[ 9.93616097e-01 -1.12560593e-01 -7.56077205e-03 1.28796001e+02] [ 1.12555554e-01 9.93644835e-01 -1.09006126e-03 4.99528410e+00] [ 7.63542004e-03 2.32095527e-04 9.99970823e-01 1.15374184e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.09533619500002 meters Centerline goodness [0,1] 0.9998932536293766 Centerline is valid? [True, True] Translation: X:128.83, Y:5.00, Z:0.12 [[ 9.93467508e-01 -1.13975752e-01 -5.64258314e-03 1.28825366e+02] [ 1.13972967e-01 9.93483518e-01 -8.13798045e-04 4.99519684e+00] [ 5.69856659e-03 1.65379976e-04 9.99983749e-01 1.19401269e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.12533619500002 meters Centerline goodness [0,1] 0.9997888379753785 Centerline is valid? [True, True] Translation: X:128.85, Y:5.01, Z:0.12 [[ 9.93480015e-01 -1.13902968e-01 -4.85523991e-03 1.28852080e+02] [ 1.13900903e-01 9.93491869e-01 -7.00635720e-04 5.00594739e+00] [ 4.90344586e-03 1.43051376e-04 9.99987968e-01 1.18494909e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.15533619500002 meters Centerline goodness [0,1] 0.9998078072947809 Centerline is valid? [True, True] Translation: X:128.88, Y:5.01, Z:0.12 [[ 9.93555780e-01 -1.13180826e-01 -6.08381304e-03 1.28881089e+02] [ 1.13177561e-01 9.93574389e-01 -8.79424247e-04 5.00502963e+00] [ 6.14425479e-03 1.85205925e-04 9.99981107e-01 1.16941082e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.18533619500002 meters Centerline goodness [0,1] 0.9999361593462717 Centerline is valid? [True, True] Translation: X:128.91, Y:5.01, Z:0.12 [[ 9.93752867e-01 -1.11372141e-01 -7.17535189e-03 1.28910576e+02] [ 1.11367557e-01 9.93778744e-01 -1.03647684e-03 5.00707860e+00] [ 7.24614684e-03 2.30900418e-04 9.99973720e-01 1.16089611e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.21533619500002 meters Centerline goodness [0,1] 0.9996349032493611 Centerline is valid? [True, True] Translation: X:128.94, Y:5.02, Z:0.11 [[ 9.93889565e-01 -1.09890527e-01 -1.03732288e-02 1.28938086e+02] [ 1.09880862e-01 9.93943635e-01 -1.49879417e-03 5.01656572e+00] [ 1.04751080e-02 3.49816565e-04 9.99945073e-01 1.09235208e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.245336195 meters Centerline goodness [0,1] 0.9995325712828793 Centerline is valid? [True, True] Translation: X:128.97, Y:5.02, Z:0.11 [[ 9.93946758e-01 -1.09359054e-01 -1.05090496e-02 1.28965654e+02] [ 1.09349097e-01 9.94002247e-01 -1.51915312e-03 5.02144888e+00] [ 1.06121520e-02 3.60802229e-04 9.99943624e-01 1.08162526e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.275336195 meters Centerline goodness [0,1] 0.9996586739482891 Centerline is valid? [True, True] Translation: X:128.99, Y:5.03, Z:0.11 [[ 9.94090635e-01 -1.08180251e-01 -8.99122451e-03 1.28994449e+02] [ 1.08172895e-01 9.94131244e-01 -1.30190790e-03 5.02561325e+00] [ 9.07929792e-03 3.21607668e-04 9.99958731e-01 1.13024553e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.305336195 meters Centerline goodness [0,1] 0.999616400988833 Centerline is valid? [True, True] Translation: X:129.02, Y:5.03, Z:0.11 [[ 9.94226867e-01 -1.06941282e-01 -8.74636494e-03 1.29022121e+02] [ 1.06934269e-01 9.94265285e-01 -1.26688357e-03 5.03263815e+00] [ 8.83168919e-03 3.24283538e-04 9.99960947e-01 1.13600113e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.335336195 meters Centerline goodness [0,1] 0.999637271427657 Centerline is valid? [True, True] Translation: X:129.05, Y:5.04, Z:0.11 [[ 9.94245885e-01 -1.06787293e-01 -8.46139687e-03 1.29048749e+02] [ 1.06780721e-01 9.94281839e-01 -1.22597164e-03 5.04026891e+00] [ 8.54393143e-03 3.15403197e-04 9.99963450e-01 1.11817332e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.365336195 meters Centerline goodness [0,1] 0.9995527347077867 Centerline is valid? [True, True] Translation: X:129.08, Y:5.04, Z:0.11 [[ 9.94259515e-01 -1.06658500e-01 -8.48418553e-03 1.29077415e+02] [ 1.06651872e-01 9.94295661e-01 -1.23122527e-03 5.04401526e+00] [ 8.56710951e-03 3.19303173e-04 9.99963251e-01 1.10751517e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.395336195 meters Centerline goodness [0,1] 0.9994467025600647 Centerline is valid? [True, True] Translation: X:129.11, Y:5.05, Z:0.11 [[ 9.94191572e-01 -1.07260346e-01 -8.85080117e-03 1.29105884e+02] [ 1.07253143e-01 9.94230914e-01 -1.28585513e-03 5.04760987e+00] [ 8.93766140e-03 3.29110093e-04 9.99960004e-01 1.09977987e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.425336195 meters Centerline goodness [0,1] 0.999700733203651 Centerline is valid? [True, True] Translation: X:129.13, Y:5.05, Z:0.11 [[ 9.93998774e-01 -1.08926509e-01 -1.00723691e-02 1.29134857e+02] [ 1.08917249e-01 9.94049741e-01 -1.46496842e-03 5.04711866e+00] [ 1.01720098e-02 3.59122080e-04 9.99948199e-01 1.08682957e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.455336195 meters Centerline goodness [0,1] 0.9995928949454693 Centerline is valid? [True, True] Translation: X:129.16, Y:5.05, Z:0.11 [[ 9.93741353e-01 -1.11148453e-01 -1.11420005e-02 1.29163947e+02] [ 1.11137264e-01 9.93803745e-01 -1.62034760e-03 5.04944191e+00] [ 1.12530610e-02 3.71914961e-04 9.99936613e-01 1.06670336e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.485336195 meters Centerline goodness [0,1] 0.9997440382236252 Centerline is valid? [True, True] Translation: X:129.19, Y:5.05, Z:0.11 [[ 9.93632297e-01 -1.12125406e-01 -1.10792957e-02 1.29190893e+02] [ 1.12114395e-01 9.93693999e-01 -1.61197307e-03 5.05475084e+00] [ 1.11901728e-02 3.59559969e-04 9.99937323e-01 1.05457816e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.515336195 meters Centerline goodness [0,1] 0.9999143175391997 Centerline is valid? [True, True] Translation: X:129.22, Y:5.06, Z:0.11 [[ 9.93474792e-01 -1.13596841e-01 -1.01782066e-02 1.29219580e+02] [ 1.13587621e-01 9.93526878e-01 -1.48133697e-03 5.05544995e+00] [ 1.02805971e-02 3.15552665e-04 9.99947103e-01 1.09213703e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.545336195 meters Centerline goodness [0,1] 0.9997889850179362 Centerline is valid? [True, True] Translation: X:129.25, Y:5.06, Z:0.11 [[ 9.93337309e-01 -1.14907756e-01 -8.78622109e-03 1.29246939e+02] [ 1.14900927e-01 9.93376132e-01 -1.27972486e-03 5.06021975e+00] [ 8.87507263e-03 2.61653494e-04 9.99960582e-01 1.09309019e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.575336195 meters Centerline goodness [0,1] 0.9999146921452793 Centerline is valid? [True, True] Translation: X:129.28, Y:5.06, Z:0.11 [[ 9.93236651e-01 -1.15813575e-01 -8.25660209e-03 1.29275842e+02] [ 1.15807561e-01 9.93270939e-01 -1.20443273e-03 5.06287414e+00] [ 8.34053257e-03 2.40109783e-04 9.99965188e-01 1.10389549e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.605336195 meters Centerline goodness [0,1] 0.9999354130336499 Centerline is valid? [True, True] Translation: X:129.30, Y:5.06, Z:0.11 [[ 9.93184649e-01 -1.16275882e-01 -8.01075758e-03 1.29304462e+02] [ 1.16270224e-01 9.93216928e-01 -1.17001242e-03 5.06440771e+00] [ 8.09246426e-03 2.30625793e-04 9.99967229e-01 1.11116348e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.635336195 meters Centerline goodness [0,1] 0.999935368507228 Centerline is valid? [True, True] Translation: X:129.33, Y:5.07, Z:0.11 [[ 9.93110120e-01 -1.16882092e-01 -8.41825043e-03 1.29332652e+02] [ 1.16875851e-01 9.93145769e-01 -1.23129295e-03 5.06616897e+00] [ 8.50446590e-03 2.38919311e-04 9.99963808e-01 1.10735976e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.665336195 meters Centerline goodness [0,1] 0.999914675767918 Centerline is valid? [True, True] Translation: X:129.36, Y:5.07, Z:0.11 [[ 9.93062281e-01 -1.17237216e-01 -9.09621263e-03 1.29359281e+02] [ 1.17229943e-01 9.93103907e-01 -1.33056504e-03 5.06957828e+00] [ 9.18947605e-03 2.54985473e-04 9.99957743e-01 1.09287499e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.695336195 meters Centerline goodness [0,1] 0.9998304438133186 Centerline is valid? [True, True] Translation: X:129.39, Y:5.07, Z:0.11 [[ 9.93039041e-01 -1.17447716e-01 -8.91605853e-03 1.29386467e+02] [ 1.17440733e-01 9.93079036e-01 -1.30463401e-03 5.07282596e+00] [ 9.00757710e-03 2.48444060e-04 9.99959400e-01 1.08577424e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.725336195 meters Centerline goodness [0,1] 0.9999355891446239 Centerline is valid? [True, True] Translation: X:129.41, Y:5.07, Z:0.11 [[ 9.93043959e-01 -1.17426861e-01 -8.63878462e-03 1.29414913e+02] [ 1.17420283e-01 9.93081504e-01 -1.26650994e-03 5.07424243e+00] [ 8.72773950e-03 2.43331507e-04 9.99961883e-01 1.10630494e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.755336195 meters Centerline goodness [0,1] 0.9998713329902214 Centerline is valid? [True, True] Translation: X:129.44, Y:5.08, Z:0.11 [[ 9.93177172e-01 -1.16272836e-01 -8.92936945e-03 1.29443272e+02] [ 1.16265749e-01 9.93217276e-01 -1.31050904e-03 5.08136665e+00] [ 9.02118061e-03 2.63387835e-04 9.99959274e-01 1.10056313e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.785336195 meters Centerline goodness [0,1] 0.9998270980570144 Centerline is valid? [True, True] Translation: X:129.47, Y:5.09, Z:0.11 [[ 9.93348569e-01 -1.14755580e-01 -9.47510847e-03 1.29471823e+02] [ 1.14747515e-01 9.93393713e-01 -1.39222648e-03 5.08648008e+00] [ 9.57227894e-03 2.95721034e-04 9.99954141e-01 1.08058641e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.81533619500001 meters Centerline goodness [0,1] 0.9996780494086841 Centerline is valid? [True, True] Translation: X:129.50, Y:5.10, Z:0.11 [[ 9.93504878e-01 -1.13376307e-01 -9.68868319e-03 1.29498325e+02] [ 1.13367809e-01 9.93552069e-01 -1.42359588e-03 5.09529688e+00] [ 9.78761327e-03 3.15964666e-04 9.99952050e-01 1.06087644e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.84533619500002 meters Centerline goodness [0,1] 0.9994903917613335 Centerline is valid? [True, True] Translation: X:129.53, Y:5.10, Z:0.11 [[ 9.93724750e-01 -1.11412490e-01 -9.91858711e-03 1.29525759e+02] [ 1.11403482e-01 9.93774189e-01 -1.45777319e-03 5.10222672e+00] [ 1.00192500e-02 3.43660152e-04 9.99949747e-01 1.05155085e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.87533619500002 meters Centerline goodness [0,1] 0.9997867531027423 Centerline is valid? [True, True] Translation: X:129.55, Y:5.10, Z:0.11 [[ 9.93806632e-01 -1.10585079e-01 -1.09232951e-02 1.29554049e+02] [ 1.10574097e-01 9.93866585e-01 -1.60615599e-03 5.10422934e+00] [ 1.10339149e-02 3.88374990e-04 9.99939049e-01 1.05611117e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.90533619500002 meters Centerline goodness [0,1] 0.9987568054186137 Centerline is valid? [True, True] Translation: X:129.58, Y:5.12, Z:0.10 [[ 9.94002924e-01 -1.08715881e-01 -1.17917492e-02 1.29580642e+02] [ 1.08702945e-01 9.94072765e-01 -1.73433964e-03 5.11628772e+00] [ 1.19104069e-02 4.42140812e-04 9.99928971e-01 1.01462933e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.93533619500002 meters Centerline goodness [0,1] 0.9991452443532705 Centerline is valid? [True, True] Translation: X:129.61, Y:5.12, Z:0.10 [[ 9.94005690e-01 -1.08796333e-01 -1.07724659e-02 1.29609477e+02] [ 1.08785515e-01 9.94063979e-01 -1.58687798e-03 5.11814011e+00] [ 1.08811668e-02 4.05477482e-04 9.99940716e-01 1.03635627e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.96533619500002 meters Centerline goodness [0,1] 0.9995713122133151 Centerline is valid? [True, True] Translation: X:129.64, Y:5.12, Z:0.11 [[ 9.93966627e-01 -1.09153043e-01 -1.07683676e-02 1.29638840e+02] [ 1.09142236e-01 9.94024874e-01 -1.58793605e-03 5.12010548e+00] [ 1.08773533e-02 4.03071719e-04 9.99940759e-01 1.05156021e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.995336195 meters Centerline goodness [0,1] 0.9995898277276456 Centerline is valid? [True, True] Translation: X:129.67, Y:5.13, Z:0.10 [[ 9.93938194e-01 -1.09406028e-01 -1.08252931e-02 1.29666000e+02] [ 1.09395096e-01 9.93997061e-01 -1.59864759e-03 5.12548368e+00] [ 1.09352112e-02 4.04722917e-04 9.99940127e-01 1.04745197e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.025336195 meters Centerline goodness [0,1] 0.9974268660493958 Centerline is valid? [True, True] Translation: X:129.69, Y:5.14, Z:0.10 [[ 9.93902868e-01 -1.09815281e-01 -9.88395202e-03 1.29692800e+02] [ 1.09806188e-01 9.93951946e-01 -1.45961622e-03 5.13515093e+00] [ 9.98446151e-03 3.65397654e-04 9.99950087e-01 1.01721772e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.055336195 meters Centerline goodness [0,1] 0.9996594005449592 Centerline is valid? [True, True] Translation: X:129.72, Y:5.13, Z:0.10 [[ 9.93696802e-01 -1.11702965e-01 -9.44003173e-03 1.29723351e+02] [ 1.11694748e-01 9.93741585e-01 -1.39489341e-03 5.13016384e+00] [ 9.53676582e-03 3.31699158e-04 9.99954469e-01 1.04529541e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.085336195 meters Centerline goodness [0,1] 0.9996365502202078 Centerline is valid? [True, True] Translation: X:129.75, Y:5.13, Z:0.11 [[ 9.93590244e-01 -1.12648728e-01 -9.41759481e-03 1.29752711e+02] [ 1.12640572e-01 9.93634822e-01 -1.39367028e-03 5.13043306e+00] [ 9.51464532e-03 3.23933927e-04 9.99954682e-01 1.05538877e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.115336195 meters Centerline goodness [0,1] 0.9998704103671706 Centerline is valid? [True, True] Translation: X:129.78, Y:5.13, Z:0.11 [[ 9.93389797e-01 -1.14319218e-01 -1.03839662e-02 1.29781978e+02] [ 1.14309376e-01 9.93444009e-01 -1.53842738e-03 5.13088529e+00] [ 1.04917608e-02 3.41273371e-04 9.99944902e-01 1.05062825e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.145336195 meters Centerline goodness [0,1] 0.9998714900726081 Centerline is valid? [True, True] Translation: X:129.81, Y:5.14, Z:0.10 [[ 9.93314866e-01 -1.14950195e-01 -1.05843736e-02 1.29809032e+02] [ 1.14940005e-01 9.93371198e-01 -1.56816861e-03 5.13633447e+00] [ 1.06944732e-02 3.41117238e-04 9.99942754e-01 1.03601479e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.175336195 meters Centerline goodness [0,1] 0.9999139544388754 Centerline is valid? [True, True] Translation: X:129.84, Y:5.14, Z:0.11 [[ 9.93237819e-01 -1.15692581e-01 -9.68822635e-03 1.29837654e+02] [ 1.15684055e-01 9.93285021e-01 -1.43770577e-03 5.13935292e+00] [ 9.78950200e-03 3.07210434e-04 9.99952034e-01 1.05468618e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.205336195 meters Centerline goodness [0,1] 0.9998051526304395 Centerline is valid? [True, True] Translation: X:129.87, Y:5.14, Z:0.10 [[ 9.93327713e-01 -1.14842494e-01 -1.05477718e-02 1.29866298e+02] [ 1.14832322e-01 9.93383653e-01 -1.56704331e-03 5.14468754e+00] [ 1.06579472e-02 3.45362422e-04 9.99943143e-01 1.04306665e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.235336195 meters Centerline goodness [0,1] 0.9998919152615651 Centerline is valid? [True, True] Translation: X:129.89, Y:5.15, Z:0.10 [[ 9.93399008e-01 -1.14097570e-01 -1.18386821e-02 1.29893226e+02] [ 1.14084693e-01 9.93469469e-01 -1.75966190e-03 5.14988934e+00] [ 1.19621423e-02 3.97433987e-04 9.99928372e-01 1.01048283e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.265336195 meters Centerline goodness [0,1] 0.9978361406932835 Centerline is valid? [True, True] Translation: X:129.92, Y:5.16, Z:0.10 [[ 9.93571986e-01 -1.12553568e-01 -1.20996866e-02 1.29920710e+02] [ 1.12540002e-01 9.93645567e-01 -1.79851006e-03 5.16020393e+00] [ 1.22252287e-02 4.25250468e-04 9.99925179e-01 9.79275953e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.295336195 meters Centerline goodness [0,1] 0.9996584189065135 Centerline is valid? [True, True] Translation: X:129.95, Y:5.17, Z:0.10 [[ 9.93726306e-01 -1.11351545e-01 -1.04336849e-02 1.29948778e+02] [ 1.11341365e-01 9.93781006e-01 -1.55334291e-03 5.16547851e+00] [ 1.05417650e-02 3.81896996e-04 9.99944361e-01 1.02502569e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.325336195 meters Centerline goodness [0,1] 0.9975251189846642 Centerline is valid? [True, True] Translation: X:129.98, Y:5.18, Z:0.10 [[ 9.93773041e-01 -1.10988348e-01 -9.83511285e-03 1.29975576e+02] [ 1.10979284e-01 9.93821641e-01 -1.46429797e-03 5.17632655e+00] [ 9.93686800e-03 3.63686059e-04 9.99950562e-01 1.01640024e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.355336195 meters Centerline goodness [0,1] 0.999472551584455 Centerline is valid? [True, True] Translation: X:130.00, Y:5.18, Z:0.10 [[ 9.93777093e-01 -1.11043508e-01 -8.74236461e-03 1.30004863e+02] [ 1.11036331e-01 9.93815493e-01 -1.30363910e-03 5.17693493e+00] [ 8.83305805e-03 3.24806591e-04 9.99960935e-01 1.04260428e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.385336195 meters Centerline goodness [0,1] 0.9997459941155303 Centerline is valid? [True, True] Translation: X:130.03, Y:5.18, Z:0.10 [[ 9.93621500e-01 -1.12477408e-01 -8.07136881e-03 1.30034739e+02] [ 1.12471327e-01 9.93654240e-01 -1.20486663e-03 5.17572725e+00] [ 8.15567012e-03 2.89383828e-04 9.99966700e-01 1.04992934e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.415336195 meters Centerline goodness [0,1] 0.9997025327214006 Centerline is valid? [True, True] Translation: X:130.06, Y:5.18, Z:0.10 [[ 9.93521882e-01 -1.13339427e-01 -8.27313355e-03 1.30063018e+02] [ 1.13333056e-01 9.93556284e-01 -1.23642114e-03 5.17759017e+00] [ 8.35995909e-03 2.90791948e-04 9.99965013e-01 1.04269449e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.445336195 meters Centerline goodness [0,1] 0.9996818393925253 Centerline is valid? [True, True] Translation: X:130.09, Y:5.18, Z:0.10 [[ 9.93401668e-01 -1.14303714e-01 -9.36951703e-03 1.30092901e+02] [ 1.14295571e-01 9.93445800e-01 -1.40174504e-03 5.17538274e+00] [ 9.46833201e-03 3.21601566e-04 9.99955123e-01 1.03293204e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.475336195 meters Centerline goodness [0,1] 0.9995097516785676 Centerline is valid? [True, True] Translation: X:130.12, Y:5.18, Z:0.10 [[ 9.93479390e-01 -1.13637081e-01 -9.23666404e-03 1.30119721e+02] [ 1.13629137e-01 9.93522274e-01 -1.38203916e-03 5.18121670e+00] [ 9.33388236e-03 3.23473262e-04 9.99956386e-01 1.02554288e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.505336195 meters Centerline goodness [0,1] 0.999617355073234 Centerline is valid? [True, True] Translation: X:130.15, Y:5.19, Z:0.10 [[ 9.93554564e-01 -1.13002597e-01 -8.92984871e-03 1.30148034e+02] [ 1.12995129e-01 9.93594641e-01 -1.33813284e-03 5.18533378e+00] [ 9.02386231e-03 3.20478586e-04 9.99959233e-01 1.03542460e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.535336195 meters Centerline goodness [0,1] 0.9990848727334639 Centerline is valid? [True, True] Translation: X:130.18, Y:5.19, Z:0.10 [[ 9.93800390e-01 -1.10780552e-01 -9.40505352e-03 1.30175705e+02] [ 1.10772168e-01 9.93844827e-01 -1.40923801e-03 5.19204974e+00] [ 9.50327996e-03 3.58683112e-04 9.99954778e-01 1.02277214e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.56533619500001 meters Centerline goodness [0,1] 0.9994667462992193 Centerline is valid? [True, True] Translation: X:130.21, Y:5.19, Z:0.10 [[ 9.93948952e-01 -1.09412028e-01 -9.72050600e-03 1.30205126e+02] [ 1.09403005e-01 9.93996409e-01 -1.45674981e-03 5.19355450e+00] [ 9.82153400e-03 3.84482384e-04 9.99951694e-01 1.03502792e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.59533619500002 meters Centerline goodness [0,1] 0.9982318982595915 Centerline is valid? [True, True] Translation: X:130.23, Y:5.20, Z:0.10 [[ 9.94282798e-01 -1.06400929e-01 -8.97551228e-03 1.30233462e+02] [ 1.06393115e-01 9.94323235e-01 -1.34500589e-03 5.20225465e+00] [ 9.06767028e-03 3.82383509e-04 9.99958815e-01 1.02770111e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.62533619500002 meters Centerline goodness [0,1] 0.9985051040020502 Centerline is valid? [True, True] Translation: X:130.26, Y:5.21, Z:0.10 [[ 9.94587889e-01 -1.03541600e-01 -8.60625728e-03 1.30263716e+02] [ 1.03534308e-01 9.94625047e-01 -1.28983726e-03 5.20537382e+00] [ 8.69355087e-03 3.91813633e-04 9.99962134e-01 1.04480476e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.65533619500002 meters Centerline goodness [0,1] 0.9920457687317893 Centerline is valid? [True, True] Translation: X:130.29, Y:5.22, Z:0.10 [[ 9.94695664e-01 -1.02497250e-01 -8.65156564e-03 1.30290144e+02] [ 1.02489834e-01 9.94733206e-01 -1.29739141e-03 5.21663226e+00] [ 8.73897868e-03 4.03812086e-04 9.99961733e-01 1.02466385e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.68533619500002 meters Centerline goodness [0,1] 0.9920457687317893 Centerline is valid? [True, True] Translation: X:130.32, Y:5.22, Z:0.10 [[ 9.94676812e-01 -1.02680068e-01 -8.65122872e-03 1.30317319e+02] [ 1.02672639e-01 9.94714351e-01 -1.29963709e-03 5.22089758e+00] [ 8.73894819e-03 4.04474390e-04 9.99961733e-01 1.02320311e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.71533619500002 meters Centerline goodness [0,1] 0.9924477726247714 Centerline is valid? [True, True] Translation: X:130.35, Y:5.23, Z:0.10 [[ 9.94926192e-01 -1.00239861e-01 -8.59318094e-03 1.30346610e+02] [ 1.00232448e-01 9.94963211e-01 -1.29010184e-03 5.22778290e+00] [ 8.67921853e-03 4.22240548e-04 9.99962246e-01 1.02726134e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.745336195 meters Centerline goodness [0,1] 0.9866556171777056 Centerline is valid? [True, True] Translation: X:130.37, Y:5.24, Z:0.10 [[ 9.95096178e-01 -9.85641243e-02 -8.28919507e-03 1.30373843e+02] [ 9.85571637e-02 9.95130612e-01 -1.24504503e-03 5.23532127e+00] [ 8.37154854e-03 4.21979993e-04 9.99964869e-01 1.03458469e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.775336195 meters Centerline goodness [0,1] 0.9787328687326569 Centerline is valid? [True, True] Translation: X:130.40, Y:5.24, Z:0.10 [[ 9.95139813e-01 -9.80245866e-02 -9.37726528e-03 1.30401609e+02] [ 9.80156493e-02 9.95183876e-01 -1.40904929e-03 5.24063953e+00] [ 9.47022468e-03 4.83082301e-04 9.99955040e-01 1.00988554e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.805336195 meters Centerline goodness [0,1] 0.9674547983310153 Centerline is valid? [True, True] Translation: X:130.43, Y:5.24, Z:0.10 [[ 9.95111499e-01 -9.80460014e-02 -1.18358280e-02 1.30430198e+02] [ 9.80317359e-02 9.95181696e-01 -1.78089244e-03 5.24474985e+00] [ 1.19534088e-02 6.11899777e-04 9.99928368e-01 9.56489871e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.835336195 meters Centerline goodness [0,1] 0.9948999271418163 Centerline is valid? [True, True] Translation: X:130.46, Y:5.25, Z:0.10 [[ 9.95089987e-01 -9.85364929e-02 -9.29928068e-03 1.30459091e+02] [ 9.85277079e-02 9.95133324e-01 -1.39926457e-03 5.24645821e+00] [ 9.39190271e-03 4.76157350e-04 9.99955782e-01 1.01224510e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.865336195 meters Centerline goodness [0,1] 0.9769113667117727 Centerline is valid? [True, True] Translation: X:130.49, Y:5.26, Z:0.10 [[ 9.95051448e-01 -9.89695774e-02 -8.81130546e-03 1.30485398e+02] [ 9.89616879e-02 9.95090358e-01 -1.32800286e-03 5.26147782e+00] [ 8.89947699e-03 4.49449504e-04 9.99960298e-01 9.91172341e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.895336195 meters Centerline goodness [0,1] 0.9742541974550613 Centerline is valid? [True, True] Translation: X:130.51, Y:5.26, Z:0.09 [[ 9.94809714e-01 -1.01157061e-01 -1.09946476e-02 1.30514804e+02] [ 1.01144895e-01 9.94870323e-01 -1.65839987e-03 5.26205525e+00] [ 1.11060075e-02 5.37739822e-04 9.99938182e-01 9.42572654e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.925336195 meters Centerline goodness [0,1] 0.9893391097519538 Centerline is valid? [True, True] Translation: X:130.55, Y:5.26, Z:0.10 [[ 9.94437094e-01 -1.04771433e-01 -1.08541643e-02 1.30546137e+02] [ 1.04759799e-01 9.94496207e-01 -1.63646828e-03 5.25909469e+00] [ 1.09658804e-02 4.90284687e-04 9.99939753e-01 9.50937178e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.955336195 meters Centerline goodness [0,1] 0.9981683031245341 Centerline is valid? [True, True] Translation: X:130.58, Y:5.26, Z:0.10 [[ 9.94189554e-01 -1.07109109e-01 -1.07130172e-02 1.30576975e+02] [ 1.07097909e-01 9.94247167e-01 -1.61536929e-03 5.25704292e+00] [ 1.08244078e-02 4.58641530e-04 9.99941309e-01 9.71763941e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.985336195 meters Centerline goodness [0,1] 0.9975518893028207 Centerline is valid? [True, True] Translation: X:130.61, Y:5.26, Z:0.09 [[ 9.93631556e-01 -1.12111850e-01 -1.12811534e-02 1.30605587e+02] [ 1.12099750e-01 9.93695503e-01 -1.70120783e-03 5.26211590e+00] [ 1.14007569e-02 4.25759307e-04 9.99934919e-01 9.45083332e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.015336195 meters Centerline goodness [0,1] 0.9976033425947528 Centerline is valid? [True, True] Translation: X:130.63, Y:5.27, Z:0.09 [[ 9.93381052e-01 -1.14365422e-01 -1.07068518e-02 1.30634183e+02] [ 1.14354650e-01 9.93438678e-01 -1.61490480e-03 5.26635259e+00] [ 1.08212900e-02 3.79837536e-04 9.99941376e-01 9.41706320e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.045336195 meters Centerline goodness [0,1] 0.9995967998641853 Centerline is valid? [True, True] Translation: X:130.67, Y:5.26, Z:0.10 [[ 9.92972700e-01 -1.17986125e-01 -9.19194519e-03 1.30665641e+02] [ 1.17978339e-01 9.93015201e-01 -1.38663683e-03 5.26161097e+00] [ 9.29134521e-03 2.92442092e-04 9.99956792e-01 9.80432832e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.075336195 meters Centerline goodness [0,1] 0.9999364191251272 Centerline is valid? [True, True] Translation: X:130.70, Y:5.26, Z:0.10 [[ 9.92621753e-01 -1.20986922e-01 -8.01379980e-03 1.30696664e+02] [ 1.20981101e-01 9.92654074e-01 -1.20896155e-03 5.25911729e+00] [ 8.10119956e-03 2.30523203e-04 9.99967158e-01 9.97267134e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.105336195 meters Centerline goodness [0,1] 0.9998927728929874 Centerline is valid? [True, True] Translation: X:130.73, Y:5.26, Z:0.10 [[ 9.92420699e-01 -1.22678394e-01 -7.15319316e-03 1.30725303e+02] [ 1.22673796e-01 9.92446459e-01 -1.07967277e-03 5.26204373e+00] [ 7.23161375e-03 1.93980247e-04 9.99973833e-01 1.01170772e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.135336195 meters Centerline goodness [0,1] 0.9998712418721432 Centerline is valid? [True, True] Translation: X:130.75, Y:5.27, Z:0.10 [[ 9.92397108e-01 -1.22869014e-01 -7.15440239e-03 1.30752726e+02] [ 1.22864404e-01 9.92422877e-01 -1.08204781e-03 5.26625366e+00] [ 7.23314275e-03 1.94799736e-04 9.99973822e-01 1.01870111e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.165336195 meters Centerline goodness [0,1] 0.9999575164092869 Centerline is valid? [True, True] Translation: X:130.78, Y:5.27, Z:0.10 [[ 9.92431157e-01 -1.22512983e-01 -8.42425060e-03 1.30780438e+02] [ 1.22506582e-01 9.92466884e-01 -1.27371969e-03 5.26999249e+00] [ 8.51683694e-03 2.32052965e-04 9.99963704e-01 9.79743951e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.195336195 meters Centerline goodness [0,1] 0.9997871661168458 Centerline is valid? [True, True] Translation: X:130.81, Y:5.27, Z:0.09 [[ 9.92461087e-01 -1.22177093e-01 -9.68242230e-03 1.30808115e+02] [ 1.22168611e-01 9.92508279e-01 -1.46490693e-03 5.27413415e+00] [ 9.78886237e-03 2.70975041e-04 9.99952051e-01 9.49998939e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.225336195 meters Centerline goodness [0,1] 0.9996814745604349 Centerline is valid? [True, True] Translation: X:130.84, Y:5.28, Z:0.09 [[ 9.92657813e-01 -1.20488409e-01 -1.06305583e-02 1.30837103e+02] [ 1.20478085e-01 9.92714684e-01 -1.60859574e-03 5.27807436e+00] [ 1.07469284e-02 3.16035826e-04 9.99942200e-01 9.39812441e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.255336195 meters Centerline goodness [0,1] 0.9997421074122628 Centerline is valid? [True, True] Translation: X:130.87, Y:5.28, Z:0.09 [[ 9.92774237e-01 -1.19516328e-01 -1.07313865e-02 1.30865066e+02] [ 1.19505743e-01 9.92832180e-01 -1.62455446e-03 5.28303037e+00] [ 1.08486266e-02 3.30353505e-04 9.99941097e-01 9.42632995e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.285336195 meters Centerline goodness [0,1] 0.9997419465829427 Centerline is valid? [True, True] Translation: X:130.89, Y:5.29, Z:0.09 [[ 9.92994073e-01 -1.17574093e-01 -1.17942192e-02 1.30893816e+02] [ 1.17561167e-01 9.93064038e-01 -1.78573920e-03 5.28741074e+00] [ 1.19223716e-02 3.86686273e-04 9.99928851e-01 9.49168446e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.31533619500001 meters Centerline goodness [0,1] 0.9995964401775663 Centerline is valid? [True, True] Translation: X:130.92, Y:5.30, Z:0.10 [[ 9.93279840e-01 -1.15281787e-01 -1.02601059e-02 1.30920459e+02] [ 1.15271875e-01 9.93332764e-01 -1.55424770e-03 5.29829425e+00] [ 1.03708758e-02 3.61101268e-04 9.99946156e-01 9.51090415e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.34533619500002 meters Centerline goodness [0,1] 0.9998073630136987 Centerline is valid? [True, True] Translation: X:130.95, Y:5.30, Z:0.10 [[ 9.93398849e-01 -1.14336986e-01 -9.26173661e-03 1.30949302e+02] [ 1.14328847e-01 9.93441966e-01 -1.40519491e-03 5.29970918e+00] [ 9.36166358e-03 3.37035332e-04 9.99956122e-01 9.73986385e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.37533619500002 meters Centerline goodness [0,1] 0.9995710363761153 Centerline is valid? [True, True] Translation: X:130.98, Y:5.30, Z:0.10 [[ 9.93602468e-01 -1.12634902e-01 -8.21672182e-03 1.30977889e+02] [ 1.12628425e-01 9.93636392e-01 -1.24816270e-03 5.30297159e+00] [ 8.30502050e-03 3.14741098e-04 9.99965463e-01 9.92046300e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.40533619500002 meters Centerline goodness [0,1] 0.9989560474678825 Centerline is valid? [True, True] Translation: X:131.00, Y:5.32, Z:0.10 [[ 9.93874857e-01 -1.10254947e-01 -7.52436667e-03 1.31004418e+02] [ 1.10249451e-01 9.93903292e-01 -1.14263124e-03 5.31814541e+00] [ 7.60447354e-03 3.06075166e-04 9.99971039e-01 9.79131365e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.43533619500002 meters Centerline goodness [0,1] 0.9863988814033303 Centerline is valid? [True, True] Translation: X:131.03, Y:5.33, Z:0.09 [[ 9.94089033e-01 -1.08181966e-01 -9.14636103e-03 1.31031641e+02] [ 1.08173756e-01 9.94131032e-01 -1.38904590e-03 5.33066022e+00] [ 9.24295105e-03 3.91439065e-04 9.99957206e-01 9.32178923e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.46533619500002 meters Centerline goodness [0,1] 0.9961028174713036 Centerline is valid? [True, True] Translation: X:131.06, Y:5.33, Z:0.09 [[ 9.94148357e-01 -1.07541051e-01 -1.01963788e-02 1.31061047e+02] [ 1.07530789e-01 9.94200545e-01 -1.55095807e-03 5.32723160e+00] [ 1.03040370e-02 4.45457753e-04 9.99946813e-01 9.39919047e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.495336195 meters Centerline goodness [0,1] 0.9881857078996105 Centerline is valid? [True, True] Translation: X:131.09, Y:5.33, Z:0.09 [[ 9.94322801e-01 -1.05795817e-01 -1.13759723e-02 1.31088828e+02] [ 1.05782930e-01 9.94387740e-01 -1.73034914e-03 5.33269123e+00] [ 1.14951911e-02 5.17141925e-04 9.99933794e-01 9.12034175e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.525336195 meters Centerline goodness [0,1] 0.9819800447273352 Centerline is valid? [True, True] Translation: X:131.12, Y:5.34, Z:0.09 [[ 9.94369217e-01 -1.05301784e-01 -1.18909837e-02 1.31116044e+02] [ 1.05287660e-01 9.94440161e-01 -1.80938090e-03 5.33887742e+00] [ 1.20154027e-02 5.47218826e-04 9.99927663e-01 8.98807268e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.555336195 meters Centerline goodness [0,1] 0.9772943690881775 Centerline is valid? [True, True] Translation: X:131.14, Y:5.35, Z:0.09 [[ 9.94411520e-01 -1.05018347e-01 -1.08109414e-02 1.31141917e+02] [ 1.05006636e-01 9.94470158e-01 -1.64682360e-03 5.34625617e+00] [ 1.09241053e-02 5.02399769e-04 9.99940204e-01 9.10706514e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.585336195 meters Centerline goodness [0,1] 0.9896472879705297 Centerline is valid? [True, True] Translation: X:131.17, Y:5.35, Z:0.09 [[ 9.94367922e-01 -1.05517438e-01 -9.92504954e-03 1.31170902e+02] [ 1.05507576e-01 9.94417347e-01 -1.51357400e-03 5.35055035e+00] [ 1.00293499e-02 4.57881513e-04 9.99949600e-01 9.33387996e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.615336195 meters Centerline goodness [0,1] 0.9925884551762658 Centerline is valid? [True, True] Translation: X:131.20, Y:5.35, Z:0.09 [[ 9.94272647e-01 -1.06358421e-01 -1.04780614e-02 1.31199331e+02] [ 1.06347456e-01 9.94327743e-01 -1.59967050e-03 5.35350504e+00] [ 1.05887656e-02 4.76193444e-04 9.99943824e-01 9.27748385e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.645336195 meters Centerline goodness [0,1] 0.9918913181914668 Centerline is valid? [True, True] Translation: X:131.23, Y:5.36, Z:0.09 [[ 9.94097475e-01 -1.07991639e-01 -1.03930729e-02 1.31227488e+02] [ 1.07980942e-01 9.94151698e-01 -1.58657002e-03 5.35650917e+00] [ 1.05036274e-02 4.54951458e-04 9.99944732e-01 9.19034385e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.675336195 meters Centerline goodness [0,1] 0.9912620332169682 Centerline is valid? [True, True] Translation: X:131.26, Y:5.36, Z:0.09 [[ 9.93993445e-01 -1.09018216e-01 -9.59477390e-03 1.31255238e+02] [ 1.09009142e-01 9.94039667e-01 -1.46516479e-03 5.36144634e+00] [ 9.69731551e-03 4.10446121e-04 9.99952896e-01 9.23608100e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.705336195 meters Centerline goodness [0,1] 0.9974561234742085 Centerline is valid? [True, True] Translation: X:131.29, Y:5.36, Z:0.09 [[ 9.93760899e-01 -1.11126211e-01 -9.49947539e-03 1.31285541e+02] [ 1.11117414e-01 9.93806227e-01 -1.45054460e-03 5.36266750e+00] [ 9.60183132e-03 3.85937372e-04 9.99953827e-01 9.32375734e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.735336195 meters Centerline goodness [0,1] 0.9991853360488798 Centerline is valid? [True, True] Translation: X:131.32, Y:5.36, Z:0.09 [[ 9.93525441e-01 -1.13224309e-01 -9.35168947e-03 1.31315616e+02] [ 1.13215875e-01 9.93569387e-01 -1.42809067e-03 5.36469503e+00] [ 9.45324695e-03 3.60084713e-04 9.99955252e-01 9.35665372e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.765336195 meters Centerline goodness [0,1] 0.9998282377189969 Centerline is valid? [True, True] Translation: X:131.35, Y:5.36, Z:0.10 [[ 9.93397745e-01 -1.14366043e-01 -9.01821651e-03 1.31345300e+02] [ 1.14358227e-01 9.93438621e-01 -1.37938538e-03 5.36429699e+00] [ 9.11679942e-03 3.38971073e-04 9.99958384e-01 9.54131353e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.795336195 meters Centerline goodness [0,1] 0.9997226074895977 Centerline is valid? [True, True] Translation: X:131.37, Y:5.37, Z:0.09 [[ 9.93137487e-01 -1.16609277e-01 -8.95593134e-03 1.31373899e+02] [ 1.16601662e-01 9.93177817e-01 -1.36954724e-03 5.36542293e+00] [ 9.05453425e-03 3.15872226e-04 9.99958957e-01 9.49729356e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.825336195 meters Centerline goodness [0,1] 0.9999357298941686 Centerline is valid? [True, True] Translation: X:131.40, Y:5.37, Z:0.10 [[ 9.92924708e-01 -1.18441902e-01 -8.48765032e-03 1.31403179e+02] [ 1.18435112e-01 9.92960943e-01 -1.29995717e-03 5.36840412e+00] [ 8.58187466e-03 2.85523771e-04 9.99963134e-01 9.66703673e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.855336195 meters Centerline goodness [0,1] 0.9997862699837565 Centerline is valid? [True, True] Translation: X:131.43, Y:5.38, Z:0.09 [[ 9.92820009e-01 -1.19267163e-01 -9.15277679e-03 1.31430505e+02] [ 1.19259299e-01 9.92862152e-01 -1.40223975e-03 5.37588462e+00] [ 9.25468682e-03 3.00617939e-04 9.99957129e-01 9.39991540e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.885336195 meters Centerline goodness [0,1] 0.9998497209102619 Centerline is valid? [True, True] Translation: X:131.46, Y:5.38, Z:0.09 [[ 9.92790585e-01 -1.19465511e-01 -9.73891792e-03 1.31459894e+02] [ 1.19456596e-01 9.92838300e-01 -1.49410828e-03 5.37732614e+00] [ 9.84766512e-03 3.19958647e-04 9.99951459e-01 9.42471869e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.915336195 meters Centerline goodness [0,1] 0.999894213477203 Centerline is valid? [True, True] Translation: X:131.49, Y:5.38, Z:0.09 [[ 9.92817837e-01 -1.19257166e-01 -9.51165789e-03 1.31488600e+02] [ 1.19248637e-01 9.92863348e-01 -1.46090828e-03 5.38092338e+00] [ 9.61800028e-03 3.16163560e-04 9.99953696e-01 9.46730149e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.945336195 meters Centerline goodness [0,1] 0.9997011293042717 Centerline is valid? [True, True] Translation: X:131.52, Y:5.39, Z:0.10 [[ 9.92970796e-01 -1.18067893e-01 -8.30487815e-03 1.31515653e+02] [ 1.18061349e-01 9.93005484e-01 -1.27559283e-03 5.38819503e+00] [ 8.39739610e-03 2.86141311e-04 9.99964700e-01 9.54940781e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.975336195 meters Centerline goodness [0,1] 0.999681251195308 Centerline is valid? [True, True] Translation: X:131.54, Y:5.39, Z:0.10 [[ 9.93027168e-01 -1.17634281e-01 -7.69538724e-03 1.31544565e+02] [ 1.17628634e-01 9.93056948e-01 -1.18388018e-03 5.39034626e+00] [ 7.78122267e-03 2.70427288e-04 9.99969689e-01 9.78752177e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.005336195 meters Centerline goodness [0,1] 0.9996811563396748 Centerline is valid? [True, True] Translation: X:131.57, Y:5.40, Z:0.10 [[ 9.93080250e-01 -1.17213485e-01 -7.25372819e-03 1.31571632e+02] [ 1.17208458e-01 9.93106707e-01 -1.11584887e-03 5.39773413e+00] [ 7.33451865e-03 2.57929178e-04 9.99973069e-01 9.72916790e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.035336195 meters Centerline goodness [0,1] 0.9997635527277418 Centerline is valid? [True, True] Translation: X:131.60, Y:5.40, Z:0.10 [[ 9.93104154e-01 -1.16975716e-01 -7.79883500e-03 1.31601333e+02] [ 1.16969881e-01 9.93134736e-01 -1.20162317e-03 5.39589883e+00] [ 7.88585467e-03 2.81108152e-04 9.99968867e-01 9.82881626e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.06533619500001 meters Centerline goodness [0,1] 0.999490575649516 Centerline is valid? [True, True] Translation: X:131.63, Y:5.40, Z:0.09 [[ 9.93260415e-01 -1.15565152e-01 -8.85686713e-03 1.31629006e+02] [ 1.15557576e-01 9.93299847e-01 -1.36413089e-03 5.40340774e+00] [ 8.95517076e-03 3.31459121e-04 9.99959847e-01 9.40572834e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.09533619500002 meters Centerline goodness [0,1] 0.998749708618534 Centerline is valid? [True, True] Translation: X:131.66, Y:5.41, Z:0.09 [[ 9.93454748e-01 -1.13825362e-01 -9.56301595e-03 1.31657475e+02] [ 1.13816447e-01 9.93500703e-01 -1.47321216e-03 5.41070855e+00] [ 9.66855197e-03 3.75141119e-04 9.99953188e-01 9.28026211e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.12533619500002 meters Centerline goodness [0,1] 0.997812942235945 Centerline is valid? [True, True] Translation: X:131.69, Y:5.42, Z:0.09 [[ 9.94008040e-01 -1.08758412e-01 -1.09372741e-02 1.31686678e+02] [ 1.08746443e-01 9.94068092e-01 -1.68489605e-03 5.41893121e+00] [ 1.10556418e-02 4.85410563e-04 9.99938767e-01 9.17345267e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.15533619500002 meters Centerline goodness [0,1] 0.952856809454098 Centerline is valid? [True, True] Translation: X:131.71, Y:5.44, Z:0.09 [[ 9.94526386e-01 -1.03833082e-01 -1.16601304e-02 1.31713611e+02] [ 1.03819139e-01 9.94594570e-01 -1.79638182e-03 5.44000462e+00] [ 1.17836263e-02 5.76004420e-04 9.99930405e-01 8.73162943e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.18533619500002 meters Centerline goodness [0,1] 0.9541360235678105 Centerline is valid? [True, True] Translation: X:131.74, Y:5.45, Z:0.09 [[ 9.94712602e-01 -1.02038316e-01 -1.16198692e-02 1.31742214e+02] [ 1.02024338e-01 9.94780291e-01 -1.79096228e-03 5.44678782e+00] [ 1.17419636e-02 5.95983295e-04 9.99930883e-01 8.76365206e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.21533619500002 meters Centerline goodness [0,1] 0.9423718725421423 Centerline is valid? [True, False] Translation: X:131.74, Y:5.44, Z:0.09 [[ 9.95159318e-01 -9.75101184e-02 -1.22355070e-02 1.31742748e+02] [ 9.75536786e-02 9.95225701e-01 3.01388157e-03 5.44429240e+00] [ 1.18832071e-02 -4.19291104e-03 9.99920601e-01 8.79178155e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.245336195 meters Centerline goodness [0,1] 0.9781466290694694 Centerline is valid? [False, True] Translation: X:131.74, Y:5.44, Z:0.09 [[ 9.95173139e-01 -9.73789944e-02 -1.21554262e-02 1.31741965e+02] [ 9.74260102e-02 9.95237179e-01 3.33618825e-03 5.44276701e+00] [ 1.17726575e-02 -4.50433962e-03 9.99920555e-01 8.89239155e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.275336195 meters Centerline goodness [0,1] 0.9600747139855241 Centerline is valid? [True, True] Translation: X:131.77, Y:5.46, Z:0.09 [[ 9.95064369e-01 -9.87244232e-02 -1.00194226e-02 1.31769193e+02] [ 9.87141113e-02 9.95114674e-01 -1.51977765e-03 5.45615740e+00] [ 1.01205136e-02 5.23218198e-04 9.99948649e-01 8.90517366e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.305336195 meters Centerline goodness [0,1] 0.9860838803171085 Centerline is valid? [True, True] Translation: X:131.80, Y:5.46, Z:0.09 [[ 9.94692873e-01 -1.02455550e-01 -9.43122529e-03 1.31799779e+02] [ 1.02446581e-01 9.94737479e-01 -1.43048485e-03 5.45512362e+00] [ 9.52815438e-03 4.56696296e-04 9.99954502e-01 8.94818162e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.335336195 meters Centerline goodness [0,1] 0.992784652935383 Centerline is valid? [True, True] Translation: X:131.83, Y:5.46, Z:0.09 [[ 9.94440237e-01 -1.04852877e-01 -9.72054185e-03 1.31830138e+02] [ 1.04843462e-01 9.94487644e-01 -1.47452503e-03 5.45542145e+00] [ 9.82156695e-03 4.47191754e-04 9.99951667e-01 8.86134380e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.365336195 meters Centerline goodness [0,1] 0.9877695389073553 Centerline is valid? [True, True] Translation: X:131.86, Y:5.46, Z:0.09 [[ 9.93973588e-01 -1.09173128e-01 -9.88603965e-03 1.31860165e+02] [ 1.09163601e-01 9.94022665e-01 -1.49977782e-03 5.45587157e+00] [ 9.99068292e-03 4.11543850e-04 9.99950007e-01 8.59262064e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.395336195 meters Centerline goodness [0,1] 0.9981471227158496 Centerline is valid? [True, True] Translation: X:131.89, Y:5.45, Z:0.09 [[ 9.93797018e-01 -1.10728829e-01 -1.03253888e-02 1.31890218e+02] [ 1.10718514e-01 9.93850570e-01 -1.56706657e-03 5.45065097e+00] [ 1.04354130e-02 4.14134378e-04 9.99945464e-01 8.75331102e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.425336195 meters Centerline goodness [0,1] 0.9943336162988116 Centerline is valid? [True, True] Translation: X:131.92, Y:5.46, Z:0.09 [[ 9.93559442e-01 -1.12835167e-01 -1.03855735e-02 1.31918722e+02] [ 1.12824845e-01 9.93613642e-01 -1.57633475e-03 5.45652860e+00] [ 1.04971135e-02 3.94431560e-04 9.99944826e-01 8.53919809e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.455336195 meters Centerline goodness [0,1] 0.9990689013035382 Centerline is valid? [True, True] Translation: X:131.95, Y:5.46, Z:0.09 [[ 9.93432210e-01 -1.14043325e-01 -9.30402957e-03 1.31947707e+02] [ 1.14035089e-01 9.93475718e-01 -1.41273547e-03 5.45657167e+00] [ 9.40444051e-03 3.42471081e-04 9.99955719e-01 8.87850689e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.485336195 meters Centerline goodness [0,1] 0.9992332268370607 Centerline is valid? [True, True] Translation: X:131.97, Y:5.46, Z:0.09 [[ 9.93391355e-01 -1.14362310e-01 -9.74048280e-03 1.31974925e+02] [ 1.14353282e-01 9.93439044e-01 -1.48063884e-03 5.46027141e+00] [ 9.84590520e-03 3.56997650e-04 9.99951464e-01 8.77532069e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.515336195 meters Centerline goodness [0,1] 0.9991931716845726 Centerline is valid? [True, True] Translation: X:132.00, Y:5.46, Z:0.09 [[ 9.93429452e-01 -1.14006148e-01 -1.00260238e-02 1.32004512e+02] [ 1.13996547e-01 9.93479974e-01 -1.52586779e-03 5.45871720e+00] [ 1.01346121e-02 3.72909912e-04 9.99948574e-01 8.69498747e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.545336195 meters Centerline goodness [0,1] 0.9987465743238937 Centerline is valid? [True, True] Translation: X:132.03, Y:5.46, Z:0.09 [[ 9.93473465e-01 -1.13632467e-01 -9.90642280e-03 1.32031554e+02] [ 1.13623073e-01 9.93522785e-01 -1.50776978e-03 5.46338523e+00] [ 1.00135884e-02 3.72331059e-04 9.99949793e-01 8.60217187e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.575336195 meters Centerline goodness [0,1] 0.9995747485700921 Centerline is valid? [True, True] Translation: X:132.06, Y:5.47, Z:0.09 [[ 9.93616335e-01 -1.12383444e-01 -9.82548476e-03 1.32060734e+02] [ 1.12374121e-01 9.93664840e-01 -1.49764457e-03 5.46530819e+00] [ 9.93154919e-03 3.83953898e-04 9.99950607e-01 8.77098462e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.605336195 meters Centerline goodness [0,1] 0.9995747485700921 Centerline is valid? [True, True] Translation: X:132.09, Y:5.47, Z:0.09 [[ 9.93594775e-01 -1.12573924e-01 -9.82518061e-03 1.32087898e+02] [ 1.12564590e-01 9.93643278e-01 -1.49963925e-03 5.46963000e+00] [ 9.93154494e-03 3.84066292e-04 9.99950607e-01 8.75832029e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.635336195 meters Centerline goodness [0,1] 0.998933720037533 Centerline is valid? [True, True] Translation: X:132.11, Y:5.48, Z:0.09 [[ 9.93701861e-01 -1.11678910e-01 -9.18869296e-03 1.32114267e+02] [ 1.11670707e-01 9.93744276e-01 -1.40265994e-03 5.47779919e+00] [ 9.28785856e-03 3.67717957e-04 9.99956799e-01 8.74233845e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.665336195 meters Centerline goodness [0,1] 0.996405843675342 Centerline is valid? [True, True] Translation: X:132.14, Y:5.49, Z:0.09 [[ 9.93891879e-01 -1.10091094e-01 -7.67355848e-03 1.32141277e+02] [ 1.10085319e-01 9.93921450e-01 -1.17218970e-03 5.48686910e+00] [ 7.75596202e-03 3.20283690e-04 9.99969871e-01 8.89603536e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.695336195 meters Centerline goodness [0,1] 0.9986009242379277 Centerline is valid? [True, True] Translation: X:132.17, Y:5.49, Z:0.09 [[ 9.93971670e-01 -1.09294176e-01 -8.66621033e-03 1.32170312e+02] [ 1.09286765e-01 9.94009379e-01 -1.32558554e-03 5.48660608e+00] [ 8.75917313e-03 3.70492379e-04 9.99961569e-01 8.86744188e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.725336195 meters Centerline goodness [0,1] 0.9874760790984478 Centerline is valid? [True, True] Translation: X:132.20, Y:5.50, Z:0.08 [[ 9.93976666e-01 -1.09117883e-01 -1.01821126e-02 1.32197232e+02] [ 1.09107644e-01 9.94028720e-01 -1.55743760e-03 5.49563696e+00] [ 1.02912566e-02 4.37110314e-04 9.99946948e-01 8.35459373e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.755336195 meters Centerline goodness [0,1] 0.99806459937207 Centerline is valid? [True, True] Translation: X:132.23, Y:5.49, Z:0.08 [[ 9.93966931e-01 -1.09048146e-01 -1.17576307e-02 1.32227161e+02] [ 1.09034458e-01 9.94036339e-01 -1.80092514e-03 5.48877437e+00] [ 1.18838997e-02 5.08073140e-04 9.99929255e-01 8.31966149e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.785336195 meters Centerline goodness [0,1] 0.9965650402167652 Centerline is valid? [True, True] Translation: X:132.25, Y:5.50, Z:0.08 [[ 9.93967956e-01 -1.09104499e-01 -1.11314861e-02 1.32254240e+02] [ 1.09092231e-01 9.94030169e-01 -1.70523530e-03 5.49639425e+00] [ 1.12510819e-02 4.80590594e-04 9.99936589e-01 8.23267594e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.81533619500001 meters Centerline goodness [0,1] 0.999245494524446 Centerline is valid? [True, True] Translation: X:132.28, Y:5.50, Z:0.09 [[ 9.93945250e-01 -1.09414903e-01 -1.00607594e-02 1.32282491e+02] [ 1.09404874e-01 9.93996072e-01 -1.54348964e-03 5.49972831e+00] [ 1.01692361e-02 4.33448084e-04 9.99948198e-01 8.53289238e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.84533619500002 meters Centerline goodness [0,1] 0.9935917906793553 Centerline is valid? [True, True] Translation: X:132.31, Y:5.51, Z:0.08 [[ 9.93939806e-01 -1.09448780e-01 -1.02287249e-02 1.32309169e+02] [ 1.09438415e-01 9.93992339e-01 -1.56936377e-03 5.51210856e+00] [ 1.03390391e-02 4.40437689e-04 9.99946454e-01 8.20709745e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.87533619500002 meters Centerline goodness [0,1] 0.9924577207444548 Centerline is valid? [True, True] Translation: X:132.34, Y:5.52, Z:0.08 [[ 9.94010914e-01 -1.08764116e-01 -1.06146450e-02 1.32337690e+02] [ 1.08752891e-01 9.94067477e-01 -1.63077568e-03 5.51511177e+00] [ 1.07290433e-02 4.66635488e-04 9.99942333e-01 8.06294010e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.90533619500002 meters Centerline goodness [0,1] 0.9948954423592493 Centerline is valid? [True, True] Translation: X:132.37, Y:5.52, Z:0.08 [[ 9.94051720e-01 -1.08405417e-01 -1.04615309e-02 1.32366364e+02] [ 1.08394475e-01 9.94106659e-01 -1.60902124e-03 5.51552053e+00] [ 1.05743042e-02 4.65478186e-04 9.99943982e-01 8.08284771e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.93533619500002 meters Centerline goodness [0,1] 0.9987975607661256 Centerline is valid? [True, True] Translation: X:132.40, Y:5.51, Z:0.08 [[ 9.94140787e-01 -1.07578527e-01 -1.05335281e-02 1.32396397e+02] [ 1.07567367e-01 9.94196475e-01 -1.62197457e-03 5.51088082e+00] [ 1.06468862e-02 4.79407186e-04 9.99943205e-01 8.32165045e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.965336195 meters Centerline goodness [0,1] 0.9921706960337262 Centerline is valid? [True, True] Translation: X:132.42, Y:5.52, Z:0.08 [[ 9.94324322e-01 -1.05798519e-01 -1.12167862e-02 1.32423193e+02] [ 1.05785753e-01 9.94387445e-01 -1.72711649e-03 5.52277717e+00] [ 1.13365578e-02 5.30737758e-04 9.99935598e-01 8.04782186e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.995336195 meters Centerline goodness [0,1] 0.9918248550088814 Centerline is valid? [True, True] Translation: X:132.45, Y:5.53, Z:0.08 [[ 9.94448623e-01 -1.04603924e-01 -1.13997562e-02 1.32451478e+02] [ 1.04590655e-01 9.94513807e-01 -1.75564455e-03 5.53031772e+00] [ 1.15208623e-02 5.53590345e-04 9.99933479e-01 7.93372762e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.025336195 meters Centerline goodness [0,1] 0.9929942191562977 Centerline is valid? [True, True] Translation: X:132.48, Y:5.54, Z:0.08 [[ 9.94524767e-01 -1.03925941e-01 -1.09492622e-02 1.32479463e+02] [ 1.03913650e-01 9.94584892e-01 -1.68705658e-03 5.53502459e+00] [ 1.10652997e-02 5.40041756e-04 9.99938632e-01 7.95408159e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.055336195 meters Centerline goodness [0,1] 0.9930604639208379 Centerline is valid? [True, True] Translation: X:132.51, Y:5.54, Z:0.08 [[ 9.94481922e-01 -1.04392503e-01 -1.03880796e-02 1.32507464e+02] [ 1.04381458e-01 9.94536046e-01 -1.60123772e-03 5.53815571e+00] [ 1.04984768e-02 5.08079071e-04 9.99944760e-01 8.00432713e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.085336195 meters Centerline goodness [0,1] 0.9829416626051578 Centerline is valid? [True, True] Translation: X:132.53, Y:5.55, Z:0.08 [[ 9.94482606e-01 -1.04410180e-01 -1.01420361e-02 1.32533775e+02] [ 1.04399644e-01 9.94534196e-01 -1.56428259e-03 5.54659440e+00] [ 1.02499287e-02 4.96826881e-04 9.99947345e-01 7.85134852e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.115336195 meters Centerline goodness [0,1] 0.9765543849235792 Centerline is valid? [True, True] Translation: X:132.56, Y:5.55, Z:0.08 [[ 9.94473197e-01 -1.04410017e-01 -1.10276741e-02 1.32562113e+02] [ 1.04397536e-01 9.94534190e-01 -1.70300350e-03 5.55365035e+00] [ 1.11452096e-02 5.42329329e-04 9.99937743e-01 7.64481768e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.145336195 meters Centerline goodness [0,1] 0.9760809177463474 Centerline is valid? [True, True] Translation: X:132.59, Y:5.56, Z:0.07 [[ 9.94424707e-01 -1.04835667e-01 -1.13571474e-02 1.32589877e+02] [ 1.04822431e-01 9.94489404e-01 -1.75609676e-03 5.55763784e+00] [ 1.14786643e-02 5.55822205e-04 9.99933963e-01 7.47779435e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.175336195 meters Centerline goodness [0,1] 0.9834318771534306 Centerline is valid? [True, True] Translation: X:132.62, Y:5.56, Z:0.08 [[ 9.94409117e-01 -1.05087855e-01 -1.03465193e-02 1.32618327e+02] [ 1.05076867e-01 9.94462813e-01 -1.60152042e-03 5.56003356e+00] [ 1.04575290e-02 5.05386677e-04 9.99945191e-01 7.67605757e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.205336195 meters Centerline goodness [0,1] 0.9828911427784953 Centerline is valid? [True, True] Translation: X:132.65, Y:5.57, Z:0.08 [[ 9.94395789e-01 -1.05228064e-01 -1.02014582e-02 1.32645298e+02] [ 1.05217387e-01 9.94447991e-01 -1.57919293e-03 5.56633619e+00] [ 1.03109950e-02 4.96972022e-04 9.99946717e-01 7.67312118e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.235336195 meters Centerline goodness [0,1] 0.9840533117588196 Centerline is valid? [True, True] Translation: X:132.67, Y:5.57, Z:0.07 [[ 9.94261643e-01 -1.06372065e-01 -1.13476754e-02 1.32674427e+02] [ 1.06358904e-01 9.94326249e-01 -1.75877328e-03 5.57012167e+00] [ 1.14703759e-02 5.41754490e-04 9.99934066e-01 7.48332379e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.265336195 meters Centerline goodness [0,1] 0.9845681625740897 Centerline is valid? [True, True] Translation: X:132.70, Y:5.58, Z:0.07 [[ 9.94155614e-01 -1.07413352e-01 -1.08160305e-02 1.32701943e+02] [ 1.07401454e-01 9.94214321e-01 -1.67661400e-03 5.57514435e+00] [ 1.09335432e-02 5.05157816e-04 9.99940099e-01 7.48169420e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.295336195 meters Centerline goodness [0,1] 0.99585159841762 Centerline is valid? [True, True] Translation: X:132.73, Y:5.57, Z:0.08 [[ 9.93869703e-01 -1.10078136e-01 -1.02867680e-02 1.32732092e+02] [ 1.10067516e-01 9.93922834e-01 -1.59467140e-03 5.57426824e+00] [ 1.03997920e-02 4.52656597e-04 9.99945818e-01 7.59023965e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.325336195 meters Centerline goodness [0,1] 0.9945260915867945 Centerline is valid? [True, True] Translation: X:132.76, Y:5.58, Z:0.07 [[ 9.93601661e-01 -1.12394301e-01 -1.11022664e-02 1.32760930e+02] [ 1.12382071e-01 9.93663578e-01 -1.72134638e-03 5.57707158e+00] [ 1.12253873e-02 4.62636931e-04 9.99936886e-01 7.29860915e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.355336195 meters Centerline goodness [0,1] 0.990412292583813 Centerline is valid? [True, True] Translation: X:132.79, Y:5.58, Z:0.07 [[ 9.93066905e-01 -1.16931468e-01 -1.20480089e-02 1.32790452e+02] [ 1.16917397e-01 9.93139886e-01 -1.86812803e-03 5.57870861e+00] [ 1.21838011e-02 4.46554274e-04 9.99925675e-01 6.88886950e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.385336195 meters Centerline goodness [0,1] 0.9925996204933586 Centerline is valid? [True, True] Translation: X:132.82, Y:5.58, Z:0.07 [[ 9.92876793e-01 -1.18563549e-01 -1.17626404e-02 1.32818720e+02] [ 1.18550223e-01 9.92946378e-01 -1.82619490e-03 5.58299559e+00] [ 1.18961914e-02 4.18722884e-04 9.99929150e-01 6.88056415e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.415336195 meters Centerline goodness [0,1] 0.9990873588589864 Centerline is valid? [True, True] Translation: X:132.85, Y:5.58, Z:0.07 [[ 9.92602796e-01 -1.20779108e-01 -1.23327708e-02 1.32848162e+02] [ 1.20764629e-01 9.92679323e-01 -1.91481153e-03 5.58286526e+00] [ 1.24737558e-02 4.11284784e-04 9.99922115e-01 6.96659627e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.445336195 meters Centerline goodness [0,1] 0.9977338190443917 Centerline is valid? [True, True] Translation: X:132.87, Y:5.59, Z:0.07 [[ 9.92471446e-01 -1.21697557e-01 -1.37888938e-02 1.32874952e+02] [ 1.21679527e-01 9.92567128e-01 -2.14215889e-03 5.58885811e+00] [ 1.39470982e-02 4.48205457e-04 9.99902634e-01 6.50551998e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.475336195 meters Centerline goodness [0,1] 0.9942237040497781 Centerline is valid? [True, True] Translation: X:132.90, Y:5.60, Z:0.06 [[ 9.92429101e-01 -1.22068226e-01 -1.35582904e-02 1.32901905e+02] [ 1.22050813e-01 9.92521616e-01 -2.10752553e-03 5.59508920e+00] [ 1.37141581e-02 4.36769312e-04 9.99905861e-01 6.39868834e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.505336195 meters Centerline goodness [0,1] 0.9988564652068951 Centerline is valid? [True, True] Translation: X:132.93, Y:5.60, Z:0.07 [[ 9.92450882e-01 -1.21911191e-01 -1.33756341e-02 1.32930411e+02] [ 1.21894221e-01 9.92540918e-01 -2.07980607e-03 5.59619428e+00] [ 1.35294158e-02 4.33692876e-04 9.99908379e-01 6.75501420e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.535336195 meters Centerline goodness [0,1] 0.9987675831881349 Centerline is valid? [True, True] Translation: X:132.96, Y:5.60, Z:0.07 [[ 9.92434315e-01 -1.21941840e-01 -1.42939840e-02 1.32959020e+02] [ 1.21922420e-01 9.92537138e-01 -2.22548464e-03 5.60033921e+00] [ 1.44586897e-02 4.65890200e-04 9.99895359e-01 6.65672566e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.56533619500001 meters Centerline goodness [0,1] 0.9960845732184808 Centerline is valid? [True, True] Translation: X:132.99, Y:5.61, Z:0.06 [[ 9.92456268e-01 -1.21588076e-01 -1.57128978e-02 1.32985752e+02] [ 1.21564559e-01 9.92580511e-01 -2.44677039e-03 5.60921548e+00] [ 1.58938142e-02 5.18181123e-04 9.99873551e-01 6.25077341e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.59533619500002 meters Centerline goodness [0,1] 0.9975837146644998 Centerline is valid? [True, True] Translation: X:133.01, Y:5.61, Z:0.06 [[ 9.92443307e-01 -1.21692886e-01 -1.57201683e-02 1.33013620e+02] [ 1.21669303e-01 9.92567666e-01 -2.45150743e-03 5.61385241e+00] [ 1.59016618e-02 5.20320216e-04 9.99873425e-01 6.32604783e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.62533619500002 meters Centerline goodness [0,1] 0.9849430852871219 Centerline is valid? [True, True] Translation: X:133.04, Y:5.63, Z:0.06 [[ 9.92445910e-01 -1.21672804e-01 -1.57113128e-02 1.33039834e+02] [ 1.21649240e-01 9.92570127e-01 -2.45046130e-03 5.62652632e+00] [ 1.58927343e-02 5.20681021e-04 9.99873567e-01 5.94086029e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.65533619500002 meters Centerline goodness [0,1] 0.9981035180805046 Centerline is valid? [True, True] Translation: X:133.07, Y:5.62, Z:0.06 [[ 9.92437538e-01 -1.21681864e-01 -1.61634461e-02 1.33069318e+02] [ 1.21656873e-01 9.92569007e-01 -2.52420910e-03 5.62493337e+00] [ 1.63504862e-02 5.38725554e-04 9.99866177e-01 6.28950129e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.68533619500002 meters Centerline goodness [0,1] 0.9969928688031617 Centerline is valid? [True, True] Translation: X:133.10, Y:5.63, Z:0.06 [[ 9.92569902e-01 -1.20595936e-01 -1.61743271e-02 1.33096480e+02] [ 1.20570759e-01 9.92701521e-01 -2.52638243e-03 5.63108218e+00] [ 1.63609506e-02 5.57460262e-04 9.99865995e-01 6.27843163e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.715336195 meters Centerline goodness [0,1] 0.9982300884955753 Centerline is valid? [True, True] Translation: X:133.12, Y:5.64, Z:0.06 [[ 9.92648983e-01 -1.19958286e-01 -1.60625892e-02 1.33124699e+02] [ 1.19933319e-01 9.92778771e-01 -2.51218912e-03 5.63603425e+00] [ 1.62479555e-02 5.67282331e-04 9.99867832e-01 6.45037162e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.745336195 meters Centerline goodness [0,1] 0.9945605619324995 Centerline is valid? [True, True] Translation: X:133.15, Y:5.64, Z:0.06 [[ 9.92686276e-01 -1.19699873e-01 -1.56811466e-02 1.33151499e+02] [ 1.19676028e-01 9.92809966e-01 -2.45363364e-03 5.64466365e+00] [ 1.58620983e-02 5.59031101e-04 9.99874033e-01 6.33287865e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.775336195 meters Centerline goodness [0,1] 0.9979679579046438 Centerline is valid? [True, True] Translation: X:133.18, Y:5.65, Z:0.07 [[ 9.92706302e-01 -1.19800393e-01 -1.34931085e-02 1.33179874e+02] [ 1.19782712e-01 9.92797881e-01 -2.11395517e-03 5.64837348e+00] [ 1.36491822e-02 4.82295494e-04 9.99906729e-01 6.72528009e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.805336195 meters Centerline goodness [0,1] 0.9989314641078794 Centerline is valid? [True, True] Translation: X:133.21, Y:5.65, Z:0.07 [[ 9.92655470e-01 -1.20303311e-01 -1.27370228e-02 1.33208225e+02] [ 1.20287569e-01 9.92737080e-01 -1.99767826e-03 5.65063225e+00] [ 1.28848421e-02 4.50900736e-04 9.99916885e-01 6.85388492e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.835336195 meters Centerline goodness [0,1] 0.998397983595352 Centerline is valid? [True, True] Translation: X:133.24, Y:5.65, Z:0.07 [[ 9.92454603e-01 -1.22006073e-01 -1.21810834e-02 1.33236845e+02] [ 1.21991802e-01 9.92529269e-01 -1.91054981e-03 5.64967079e+00] [ 1.23231804e-02 4.10141640e-04 9.99923983e-01 6.94615868e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.865336195 meters Centerline goodness [0,1] 0.9995082317725037 Centerline is valid? [True, True] Translation: X:133.27, Y:5.65, Z:0.07 [[ 9.92200607e-01 -1.23947509e-01 -1.32276278e-02 1.33266339e+02] [ 1.23930816e-01 9.92288686e-01 -2.07744732e-03 5.64928066e+00] [ 1.33831198e-02 4.21933777e-04 9.99910353e-01 6.88905953e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.895336195 meters Centerline goodness [0,1] 0.9998920902125823 Centerline is valid? [True, True] Translation: X:133.30, Y:5.65, Z:0.07 [[ 9.92144078e-01 -1.24322891e-01 -1.39264986e-02 1.33295201e+02] [ 1.24304391e-01 9.92241716e-01 -2.18963586e-03 5.65037509e+00] [ 1.40906748e-02 4.41309324e-04 9.99900624e-01 6.97148199e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.925336195 meters Centerline goodness [0,1] 0.9974334499946972 Centerline is valid? [True, True] Translation: X:133.32, Y:5.66, Z:0.07 [[ 9.92274900e-01 -1.23211957e-01 -1.44684717e-02 1.33321392e+02] [ 1.23191852e-01 9.92380263e-01 -2.27610834e-03 5.66040775e+00] [ 1.46386696e-02 4.76127349e-04 9.99892736e-01 6.55039028e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.955336195 meters Centerline goodness [0,1] 0.9985824605945203 Centerline is valid? [True, True] Translation: X:133.35, Y:5.66, Z:0.07 [[ 9.92433651e-01 -1.21995289e-01 -1.38779862e-02 1.33349875e+02] [ 1.21976636e-01 9.92530565e-01 -2.18584070e-03 5.66371642e+00] [ 1.40409877e-02 4.76511797e-04 9.99901307e-01 6.79289231e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.985336195 meters Centerline goodness [0,1] 0.9957850817438693 Centerline is valid? [True, True] Translation: X:133.38, Y:5.67, Z:0.07 [[ 9.92913847e-01 -1.18095692e-01 -1.32476403e-02 1.33378390e+02] [ 1.18078356e-01 9.93002090e-01 -2.08604020e-03 5.67207441e+00] [ 1.34012869e-02 5.06998615e-04 9.99910070e-01 6.94463216e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.015336195 meters Centerline goodness [0,1] 0.9924747733880622 Centerline is valid? [True, True] Translation: X:133.41, Y:5.68, Z:0.07 [[ 9.93182736e-01 -1.15730382e-01 -1.39474413e-02 1.33406704e+02] [ 1.15710924e-01 9.93280502e-01 -2.19683412e-03 5.67839564e+00] [ 1.41079619e-02 5.67986411e-04 9.99900316e-01 6.87398803e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.045336195 meters Centerline goodness [0,1] 0.9755962521294719 Centerline is valid? [True, True] Translation: X:133.44, Y:5.69, Z:0.07 [[ 9.93678425e-01 -1.11190339e-01 -1.54885573e-02 1.33435784e+02] [ 1.11165795e-01 9.93798881e-01 -2.43938320e-03 5.69051755e+00] [ 1.56637468e-02 7.02164661e-04 9.99877069e-01 6.54093882e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.075336195 meters Centerline goodness [0,1] 0.9412219478148824 Centerline is valid? [True, False] Translation: X:133.44, Y:5.69, Z:0.07 [[ 9.93657810e-01 -1.11390444e-01 -1.53728709e-02 1.33435386e+02] [ 1.11356614e-01 9.93775855e-01 -3.04206332e-03 5.69354358e+00] [ 1.56160447e-02 1.31089914e-03 9.99877203e-01 6.52006922e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.105336195 meters Centerline goodness [0,1] 0.9660679497334674 Centerline is valid? [False, True] Translation: X:133.44, Y:5.69, Z:0.07 [[ 9.94122780e-01 -1.07078456e-01 -1.59405906e-02 1.33435730e+02] [ 1.07111678e-01 9.94246219e-01 1.24264809e-03 5.69353883e+00] [ 1.57158111e-02 -2.94276817e-03 9.99872169e-01 6.51103780e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.135336195 meters Centerline goodness [0,1] 0.9125435465600888 Centerline is valid? [True, False] Translation: X:133.44, Y:5.69, Z:0.07 [[ 9.94574159e-01 -1.02705229e-01 -1.65492631e-02 1.33436160e+02] [ 1.02814247e-01 9.94683224e-01 5.87485603e-03 5.69164710e+00] [ 1.58578960e-02 -7.54448002e-03 9.99845792e-01 6.54255855e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.165336195 meters Centerline goodness [0,1] 0.971239364780009 Centerline is valid? [False, True] Translation: X:133.43, Y:5.70, Z:0.07 [[ 9.94845090e-01 -9.98725463e-02 -1.75704917e-02 1.33432013e+02] [ 9.96801684e-02 9.94953003e-01 -1.15058726e-02 5.70053025e+00] [ 1.86309343e-02 9.69513128e-03 9.99779422e-01 6.97837511e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.195336195 meters Centerline goodness [0,1] 0.9616258141926637 Centerline is valid? [True, True] Translation: X:133.46, Y:5.70, Z:0.07 [[ 9.94782831e-01 -1.00417228e-01 -1.79861001e-02 1.33460054e+02] [ 1.00383947e-01 9.94944985e-01 -2.74602028e-03 5.70173065e+00] [ 1.81709278e-02 9.26178117e-04 9.99834466e-01 6.96011544e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.225336195 meters Centerline goodness [0,1] 0.9810421452648302 Centerline is valid? [True, True] Translation: X:133.49, Y:5.70, Z:0.07 [[ 9.94696062e-01 -1.01342191e-01 -1.75927596e-02 1.33489609e+02] [ 1.01310443e-01 9.94851227e-01 -2.68889887e-03 5.70147293e+00] [ 1.77746774e-02 8.92306851e-04 9.99841620e-01 7.19702696e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.255336195 meters Centerline goodness [0,1] 0.9646956114387922 Centerline is valid? [True, True] Translation: X:133.52, Y:5.71, Z:0.07 [[ 9.94495043e-01 -1.03347812e-01 -1.72869378e-02 1.33517103e+02] [ 1.03317452e-01 9.94644922e-01 -2.64265102e-03 5.71071697e+00] [ 1.74674771e-02 8.42060984e-04 9.99847077e-01 7.01605853e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.285336195 meters Centerline goodness [0,1] 0.9685958496342916 Centerline is valid? [True, True] Translation: X:133.55, Y:5.71, Z:0.07 [[ 9.94364252e-01 -1.04596975e-01 -1.72975903e-02 1.33546021e+02] [ 1.04566716e-01 9.94514351e-01 -2.64706824e-03 5.71443206e+00] [ 1.74795771e-02 8.23397823e-04 9.99846881e-01 6.97282704e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.31533619500001 meters Centerline goodness [0,1] 0.9739738251041047 Centerline is valid? [True, True] Translation: X:133.58, Y:5.72, Z:0.07 [[ 9.94082788e-01 -1.07216700e-01 -1.74353023e-02 1.33575624e+02] [ 1.07186355e-01 9.94235367e-01 -2.66840052e-03 5.71550184e+00] [ 1.76208913e-02 7.83784529e-04 9.99844433e-01 6.84336490e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.34533619500002 meters Centerline goodness [0,1] 0.9900753420271914 Centerline is valid? [True, True] Translation: X:133.61, Y:5.72, Z:0.07 [[ 9.93706246e-01 -1.10738074e-01 -1.68812398e-02 1.33605896e+02] [ 1.10710133e-01 9.93849380e-01 -2.58367018e-03 5.71545720e+00] [ 1.70635203e-02 6.98484893e-04 9.99854164e-01 7.01148698e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.37533619500002 meters Centerline goodness [0,1] 0.9975626443171128 Centerline is valid? [True, True] Translation: X:133.64, Y:5.72, Z:0.07 [[ 9.93506427e-01 -1.12616717e-01 -1.62004233e-02 1.33636100e+02] [ 1.12591231e-01 9.93638297e-01 -2.47967492e-03 5.71588376e+00] [ 1.63766139e-02 6.39547368e-04 9.99865690e-01 7.26145028e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.40533619500002 meters Centerline goodness [0,1] 0.99499459161382 Centerline is valid? [True, True] Translation: X:133.66, Y:5.72, Z:0.07 [[ 9.93058897e-01 -1.16677568e-01 -1.48449564e-02 1.33664584e+02] [ 1.16656618e-01 9.93169708e-01 -2.27244446e-03 5.72146585e+00] [ 1.50087043e-02 5.24908778e-04 9.99887225e-01 7.20934593e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.43533619500002 meters Centerline goodness [0,1] 0.9998500942264862 Centerline is valid? [True, True] Translation: X:133.70, Y:5.71, Z:0.07 [[ 9.92642830e-01 -1.20061254e-01 -1.56687059e-02 1.33696552e+02] [ 1.20038331e-01 9.92766360e-01 -2.39873000e-03 5.71211371e+00] [ 1.58433586e-02 5.00236828e-04 9.99874361e-01 7.39202226e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.465336195 meters Centerline goodness [0,1] 0.9998500942264862 Centerline is valid? [True, True] Translation: X:133.72, Y:5.72, Z:0.07 [[ 9.92619709e-01 -1.20252323e-01 -1.56682120e-02 1.33723707e+02] [ 1.20229374e-01 9.92743234e-01 -2.40195393e-03 5.71645713e+00] [ 1.58433520e-02 5.00447498e-04 9.99874361e-01 7.38881058e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.495336195 meters Centerline goodness [0,1] 0.9996153435196068 Centerline is valid? [True, True] Translation: X:133.75, Y:5.72, Z:0.07 [[ 9.92437810e-01 -1.21741415e-01 -1.56914166e-02 1.33751081e+02] [ 1.21718571e-01 9.92561736e-01 -2.40631364e-03 5.71903119e+00] [ 1.58676477e-02 4.78179842e-04 9.99873987e-01 7.20146056e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.525336195 meters Centerline goodness [0,1] 0.9998723349929785 Centerline is valid? [True, True] Translation: X:133.78, Y:5.72, Z:0.07 [[ 9.92282311e-01 -1.23151918e-01 -1.44713752e-02 1.33780298e+02] [ 1.23132628e-01 9.92387741e-01 -2.21990363e-03 5.71915759e+00] [ 1.46346007e-02 4.20872654e-04 9.99892820e-01 7.42870932e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.555336195 meters Centerline goodness [0,1] 0.9999569809210385 Centerline is valid? [True, True] Translation: X:133.81, Y:5.72, Z:0.08 [[ 9.92274103e-01 -1.23223655e-01 -1.44234065e-02 1.33807898e+02] [ 1.23204456e-01 9.92378836e-01 -2.21559296e-03 5.72103543e+00] [ 1.45864968e-02 4.21447568e-04 9.99893523e-01 7.63620218e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.585336195 meters Centerline goodness [0,1] 0.9997015752563255 Centerline is valid? [True, True] Translation: X:133.83, Y:5.73, Z:0.08 [[ 9.92584029e-01 -1.20668666e-01 -1.46975870e-02 1.33834779e+02] [ 1.20648442e-01 9.92692729e-01 -2.25826016e-03 5.73079942e+00] [ 1.48626890e-02 4.68271998e-04 9.99889434e-01 7.60137628e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.615336195 meters Centerline goodness [0,1] 0.9998493975903614 Centerline is valid? [True, True] Translation: X:133.86, Y:5.74, Z:0.07 [[ 9.92816082e-01 -1.18741798e-01 -1.47177668e-02 1.33863783e+02] [ 1.18721302e-01 9.92925041e-01 -2.26169215e-03 5.73781820e+00] [ 1.48821966e-02 4.98131907e-04 9.99889130e-01 7.45943901e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.645336195 meters Centerline goodness [0,1] 0.996192168560005 Centerline is valid? [True, True] Translation: X:133.89, Y:5.75, Z:0.07 [[ 9.93240193e-01 -1.14991202e-01 -1.58411425e-02 1.33891812e+02] [ 1.14966974e-01 9.93366331e-01 -2.43470622e-03 5.74808652e+00] [ 1.60160274e-02 5.97039864e-04 9.99871557e-01 7.09634758e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.675336195 meters Centerline goodness [0,1] 0.9949397641379603 Centerline is valid? [True, True] Translation: X:133.92, Y:5.76, Z:0.07 [[ 9.93487331e-01 -1.12860216e-01 -1.56682575e-02 1.33920593e+02] [ 1.12836244e-01 9.93610679e-01 -2.40850533e-03 5.75549382e+00] [ 1.58399724e-02 6.24872209e-04 9.99874345e-01 7.10977340e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.705336195 meters Centerline goodness [0,1] 0.9967803837953092 Centerline is valid? [True, True] Translation: X:133.95, Y:5.76, Z:0.07 [[ 9.93524359e-01 -1.12558331e-01 -1.54909644e-02 1.33949147e+02] [ 1.12534818e-01 9.93644922e-01 -2.38403655e-03 5.75958565e+00] [ 1.56608613e-02 6.25325529e-04 9.99877166e-01 7.23632628e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.735336195 meters Centerline goodness [0,1] 0.9931740614334471 Centerline is valid? [True, True] Translation: X:133.98, Y:5.76, Z:0.07 [[ 9.93507402e-01 -1.12604270e-01 -1.62271774e-02 1.33976483e+02] [ 1.12578461e-01 9.93639698e-01 -2.49817592e-03 5.76424359e+00] [ 1.64052729e-02 6.55125617e-04 9.99865210e-01 6.98310674e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.765336195 meters Centerline goodness [0,1] 0.9917889182058047 Centerline is valid? [True, True] Translation: X:134.00, Y:5.77, Z:0.07 [[ 9.93488696e-01 -1.12746551e-01 -1.63836906e-02 1.34003881e+02] [ 1.12720207e-01 9.93623559e-01 -2.52552787e-03 5.76786869e+00] [ 1.65639655e-02 6.62310391e-04 9.99862589e-01 6.92748639e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.795336195 meters Centerline goodness [0,1] 0.9954604272289514 Centerline is valid? [True, True] Translation: X:134.03, Y:5.77, Z:0.07 [[ 9.93396079e-01 -1.13628699e-01 -1.58980597e-02 1.34032938e+02] [ 1.13603964e-01 9.93523085e-01 -2.45331007e-03 5.76890500e+00] [ 1.60738558e-02 6.31026002e-04 9.99870608e-01 6.94075221e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.825336195 meters Centerline goodness [0,1] 0.9982214031629023 Centerline is valid? [True, True] Translation: X:134.06, Y:5.77, Z:0.07 [[ 9.93320665e-01 -1.14291074e-01 -1.58621184e-02 1.34061679e+02] [ 1.14266492e-01 9.93447112e-01 -2.45046883e-03 5.76948796e+00] [ 1.60382424e-02 6.21592699e-04 9.99871186e-01 7.04808589e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.855336195 meters Centerline goodness [0,1] 0.9945661402615045 Centerline is valid? [True, True] Translation: X:134.09, Y:5.78, Z:0.07 [[ 9.93298425e-01 -1.14493897e-01 -1.57919982e-02 1.34088433e+02] [ 1.14469525e-01 9.93423760e-01 -2.44168171e-03 5.77558686e+00] [ 1.59677039e-02 6.17616069e-04 9.99872317e-01 6.92822411e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.885336195 meters Centerline goodness [0,1] 0.9944278480476282 Centerline is valid? [True, True] Translation: X:134.12, Y:5.78, Z:0.07 [[ 9.93292115e-01 -1.14483768e-01 -1.62555147e-02 1.34117326e+02] [ 1.14457898e-01 9.93424914e-01 -2.51609997e-03 5.77750148e+00] [ 1.64366859e-02 6.38650223e-04 9.99864705e-01 6.88371894e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.915336195 meters Centerline goodness [0,1] 0.992310969116081 Centerline is valid? [True, True] Translation: X:134.14, Y:5.78, Z:0.07 [[ 9.93354393e-01 -1.13899390e-01 -1.65522971e-02 1.34144711e+02] [ 1.13872467e-01 9.93492069e-01 -2.56310318e-03 5.77897259e+00] [ 1.67365117e-02 6.61218905e-04 9.99859716e-01 6.78146408e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.945336195 meters Centerline goodness [0,1] 0.9890476089402076 Centerline is valid? [True, True] Translation: X:134.17, Y:5.79, Z:0.07 [[ 9.93478361e-01 -1.12733879e-01 -1.70826793e-02 1.34173945e+02] [ 1.12705025e-01 9.93624969e-01 -2.64557991e-03 5.78553715e+00] [ 1.72720232e-02 7.03022599e-04 9.99850580e-01 6.67106591e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.975336195 meters Centerline goodness [0,1] 0.9857474027646604 Centerline is valid? [True, True] Translation: X:134.20, Y:5.79, Z:0.07 [[ 9.93535803e-01 -1.12115994e-01 -1.77936145e-02 1.34202503e+02] [ 1.12084532e-01 9.93694846e-01 -2.75882017e-03 5.79146566e+00] [ 1.79907309e-02 7.46597658e-04 9.99837875e-01 6.52769202e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.005336195 meters Centerline goodness [0,1] 0.9682254964766176 Centerline is valid? [True, True] Translation: X:134.23, Y:5.80, Z:0.06 [[ 9.93756683e-01 -1.10221484e-01 -1.72881074e-02 1.34230389e+02] [ 1.10191491e-01 9.93906760e-01 -2.68091476e-03 5.79886804e+00] [ 1.74782613e-02 7.59174628e-04 9.99846955e-01 6.36636565e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.035336195 meters Centerline goodness [0,1] 0.9757260789597502 Centerline is valid? [True, True] Translation: X:134.26, Y:5.80, Z:0.07 [[ 9.93829408e-01 -1.09611716e-01 -1.69817412e-02 1.34259588e+02] [ 1.09582637e-01 9.93974192e-01 -2.63635047e-03 5.80000866e+00] [ 1.71683874e-02 7.59178651e-04 9.99852324e-01 6.50071581e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.06533619500001 meters Centerline goodness [0,1] 0.9826223657375934 Centerline is valid? [True, True] Translation: X:134.29, Y:5.80, Z:0.07 [[ 9.93876409e-01 -1.09284797e-01 -1.63253307e-02 1.34288452e+02] [ 1.09257834e-01 9.94010205e-01 -2.53717447e-03 5.80197539e+00] [ 1.65048199e-02 7.37967592e-04 9.99863514e-01 6.69393897e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.09533619500002 meters Centerline goodness [0,1] 0.9805719647693587 Centerline is valid? [True, True] Translation: X:134.32, Y:5.81, Z:0.07 [[ 9.93821802e-01 -1.09847863e-01 -1.58642032e-02 1.34315514e+02] [ 1.09822460e-01 9.93948160e-01 -2.46633085e-03 5.80800290e+00] [ 1.60391167e-02 7.08847551e-04 9.99871114e-01 6.69698678e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.12533619500002 meters Centerline goodness [0,1] 0.9953510294149153 Centerline is valid? [True, True] Translation: X:134.35, Y:5.81, Z:0.07 [[ 9.93565002e-01 -1.12034973e-01 -1.66358425e-02 1.34345345e+02] [ 1.12007323e-01 9.93704012e-01 -2.58758326e-03 5.80786167e+00] [ 1.68210032e-02 7.07595993e-04 9.99858267e-01 6.67082245e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.15533619500002 meters Centerline goodness [0,1] 0.9692079312904252 Centerline is valid? [True, True] Translation: X:134.37, Y:5.82, Z:0.06 [[ 9.93397937e-01 -1.13461514e-01 -1.69417455e-02 1.34371388e+02] [ 1.13433026e-01 9.93542148e-01 -2.63617800e-03 5.81939314e+00] [ 1.71314430e-02 6.97020321e-04 9.99853003e-01 6.15537977e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.18533619500002 meters Centerline goodness [0,1] 0.9896039288219912 Centerline is valid? [True, True] Translation: X:134.40, Y:5.81, Z:0.06 [[ 9.93075454e-01 -1.16280344e-01 -1.67339175e-02 1.34402273e+02] [ 1.16252945e-01 9.93216226e-01 -2.60418548e-03 5.81322275e+00] [ 1.69232140e-02 6.40785490e-04 9.99856587e-01 6.29832434e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.215336195 meters Centerline goodness [0,1] 0.981815080904769 Centerline is valid? [True, True] Translation: X:134.43, Y:5.81, Z:0.06 [[ 9.92816693e-01 -1.18290502e-01 -1.79546955e-02 1.34430636e+02] [ 1.18259271e-01 9.92978818e-01 -2.79502191e-03 5.81480518e+00] [ 1.81592569e-02 6.51635201e-04 9.99834895e-01 5.98385538e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.245336195 meters Centerline goodness [0,1] 0.9824834981735843 Centerline is valid? [True, True] Translation: X:134.46, Y:5.82, Z:0.06 [[ 9.92756083e-01 -1.18764505e-01 -1.81755678e-02 1.34457719e+02] [ 1.18732517e-01 9.92922235e-01 -2.83286709e-03 5.81997905e+00] [ 1.83833694e-02 6.54315126e-04 9.99830797e-01 5.90927225e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.275336195 meters Centerline goodness [0,1] 0.9993733252657965 Centerline is valid? [True, True] Translation: X:134.49, Y:5.82, Z:0.07 [[ 9.92715796e-01 -1.19269484e-01 -1.70334573e-02 1.34486528e+02] [ 1.19241413e-01 9.92861733e-01 -2.65781800e-03 5.82010600e+00] [ 1.72288645e-02 6.07364385e-04 9.99851388e-01 6.54546106e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.305336195 meters Centerline goodness [0,1] 0.9896218791204118 Centerline is valid? [True, True] Translation: X:134.51, Y:5.83, Z:0.06 [[ 9.92673240e-01 -1.19705036e-01 -1.64482009e-02 1.34512620e+02] [ 1.19678906e-01 9.92809331e-01 -2.56738654e-03 5.83487329e+00] [ 1.66372564e-02 5.80073220e-04 9.99861423e-01 6.09220547e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.335336195 meters Centerline goodness [0,1] 0.9959845361925714 Centerline is valid? [True, True] Translation: X:134.54, Y:5.83, Z:0.06 [[ 9.92588138e-01 -1.20274138e-01 -1.74046150e-02 1.34541185e+02] [ 1.20244908e-01 9.92740532e-01 -2.72009977e-03 5.83377480e+00] [ 1.76054244e-02 6.07122430e-04 9.99844828e-01 6.12698828e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.365336195 meters Centerline goodness [0,1] 0.9943454785085668 Centerline is valid? [True, True] Translation: X:134.57, Y:5.84, Z:0.06 [[ 9.92612722e-01 -1.20072096e-01 -1.73976004e-02 1.34568603e+02] [ 1.20042843e-01 9.92764986e-01 -2.71987172e-03 5.83792984e+00] [ 1.75983092e-02 6.11321851e-04 9.99844951e-01 6.09151566e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.395336195 meters Centerline goodness [0,1] 0.9956791043187672 Centerline is valid? [True, True] Translation: X:134.60, Y:5.84, Z:0.06 [[ 9.92645768e-01 -1.19805324e-01 -1.73511951e-02 1.34597284e+02] [ 1.19776134e-01 9.92797212e-01 -2.71560569e-03 5.84194629e+00] [ 1.75515621e-02 6.17375424e-04 9.99845769e-01 6.21859387e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.425336195 meters Centerline goodness [0,1] 0.9952938693679434 Centerline is valid? [True, True] Translation: X:134.62, Y:5.85, Z:0.06 [[ 9.92622887e-01 -1.19972823e-01 -1.75021606e-02 1.34624380e+02] [ 1.19943090e-01 9.92776981e-01 -2.74256405e-03 5.84865078e+00] [ 1.77047753e-02 6.23068632e-04 9.99843064e-01 6.15005575e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.455336195 meters Centerline goodness [0,1] 0.9985391737738727 Centerline is valid? [True, True] Translation: X:134.65, Y:5.86, Z:0.06 [[ 9.92630012e-01 -1.19697723e-01 -1.89239142e-02 1.34652356e+02] [ 1.19662850e-01 9.92810148e-01 -2.96859743e-03 5.85718400e+00] [ 1.91431884e-02 6.82229396e-04 9.99816520e-01 6.08440110e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.485336195 meters Centerline goodness [0,1] 0.9869867720322969 Centerline is valid? [True, True] Translation: X:134.68, Y:5.87, Z:0.05 [[ 9.92715930e-01 -1.18720013e-01 -2.05095163e-02 1.34679193e+02] [ 1.18678831e-01 9.92927480e-01 -3.21791747e-03 5.87119348e+00] [ 2.07464935e-02 7.60432526e-04 9.99784479e-01 5.45560878e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.515336195 meters Centerline goodness [0,1] 0.9951895447095634 Centerline is valid? [True, True] Translation: X:134.71, Y:5.87, Z:0.06 [[ 9.92742646e-01 -1.18598800e-01 -1.99088667e-02 1.34707151e+02] [ 1.18559888e-01 9.92941977e-01 -3.12775745e-03 5.87138461e+00] [ 2.01392977e-02 7.44665202e-04 9.99796906e-01 5.73617053e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.545336195 meters Centerline goodness [0,1] 0.9899603132039043 Centerline is valid? [True, True] Translation: X:134.73, Y:5.87, Z:0.06 [[ 9.92667032e-01 -1.19290819e-01 -1.95413355e-02 1.34734480e+02] [ 1.19253444e-01 9.92859096e-01 -3.07105081e-03 5.87450584e+00] [ 1.97681408e-02 7.18159335e-04 9.99804333e-01 5.72634884e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.575336195 meters Centerline goodness [0,1] 0.997209797657082 Centerline is valid? [True, True] Translation: X:134.76, Y:5.88, Z:0.06 [[ 9.92527170e-01 -1.20447509e-01 -1.95503087e-02 1.34763990e+02] [ 1.20410259e-01 9.92719452e-01 -3.07568542e-03 5.87593021e+00] [ 1.97784304e-02 6.98643602e-04 9.99804144e-01 5.93536147e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.605336195 meters Centerline goodness [0,1] 0.9984302078913874 Centerline is valid? [True, True] Translation: X:134.79, Y:5.89, Z:0.06 [[ 9.92188246e-01 -1.23449175e-01 -1.79662429e-02 1.34791775e+02] [ 1.23418204e-01 9.92350722e-01 -2.82677439e-03 5.88650948e+00] [ 1.81777771e-02 5.87330874e-04 9.99834598e-01 5.96976993e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.635336195 meters Centerline goodness [0,1] 0.9996784910513342 Centerline is valid? [True, True] Translation: X:134.82, Y:5.89, Z:0.06 [[ 9.91879753e-01 -1.25962240e-01 -1.75519255e-02 1.34821000e+02] [ 1.25933022e-01 9.92034894e-01 -2.76455239e-03 5.88783023e+00] [ 1.77603518e-02 5.31736529e-04 9.99842131e-01 6.12674971e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.665336195 meters Centerline goodness [0,1] 0.9997860230239226 Centerline is valid? [True, True] Translation: X:134.85, Y:5.89, Z:0.06 [[ 9.91676169e-01 -1.27537632e-01 -1.76784641e-02 1.34848655e+02] [ 1.27508223e-01 9.91833602e-01 -2.78545058e-03 5.88976134e+00] [ 1.78893445e-02 5.08115412e-04 9.99839844e-01 5.96054600e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.695336195 meters Centerline goodness [0,1] 0.9998505359354315 Centerline is valid? [True, True] Translation: X:134.88, Y:5.89, Z:0.06 [[ 9.91215553e-01 -1.30994478e-01 -1.82256705e-02 1.34878342e+02] [ 1.30963797e-01 9.91382991e-01 -2.87206408e-03 5.88924526e+00] [ 1.84448443e-02 4.59931575e-04 9.99829774e-01 5.79467927e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.725336195 meters Centerline goodness [0,1] 0.9998296567583681 Centerline is valid? [True, True] Translation: X:134.91, Y:5.89, Z:0.06 [[ 9.90799065e-01 -1.33899948e-01 -1.96981601e-02 1.34907231e+02] [ 1.33864612e-01 9.90994757e-01 -3.10757341e-03 5.89094068e+00] [ 1.99368773e-02 4.42094264e-04 9.99801143e-01 5.60809782e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.755336195 meters Centerline goodness [0,1] 0.9997666327223353 Centerline is valid? [True, True] Translation: X:134.93, Y:5.90, Z:0.05 [[ 9.90651425e-01 -1.34995282e-01 -1.96475826e-02 1.34934784e+02] [ 1.34960322e-01 9.90846152e-01 -3.10064468e-03 5.89725813e+00] [ 1.98863040e-02 4.20013989e-04 9.99802160e-01 5.37565808e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.785336195 meters Centerline goodness [0,1] 0.999871407445509 Centerline is valid? [True, True] Translation: X:134.96, Y:5.90, Z:0.06 [[ 9.90406311e-01 -1.36980941e-01 -1.82088056e-02 1.34963928e+02] [ 1.36951196e-01 9.90573619e-01 -2.87652512e-03 5.90013023e+00] [ 1.84311916e-02 3.55210926e-04 9.99830068e-01 5.79435999e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.81533619500001 meters Centerline goodness [0,1] 0.9999786925764936 Centerline is valid? [True, True] Translation: X:134.99, Y:5.90, Z:0.06 [[ 9.90310609e-01 -1.37797822e-01 -1.72237573e-02 1.34991736e+02] [ 1.37771316e-01 9.90460325e-01 -2.72183252e-03 5.90365524e+00] [ 1.74345109e-02 3.22519917e-04 9.99847955e-01 5.93158838e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.84533619500002 meters Centerline goodness [0,1] 0.9999576073593625 Centerline is valid? [True, True] Translation: X:135.02, Y:5.90, Z:0.06 [[ 9.90121897e-01 -1.39414267e-01 -1.49094571e-02 1.35021697e+02] [ 1.39394552e-01 9.90234112e-01 -2.35852203e-03 5.90116810e+00] [ 1.50926646e-02 2.56927212e-04 9.99886066e-01 6.39344697e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.87533619500002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:135.05, Y:5.90, Z:0.07 [[ 9.89998175e-01 -1.40339682e-01 -1.44355911e-02 1.35050547e+02] [ 1.40321262e-01 9.90103387e-01 -2.28609061e-03 5.90189971e+00] [ 1.46135569e-02 2.37605182e-04 9.99893188e-01 6.75053134e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.90533619500002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:135.08, Y:5.91, Z:0.07 [[ 9.89875591e-01 -1.41141725e-01 -1.50109030e-02 1.35078181e+02] [ 1.41121853e-01 9.89989372e-01 -2.38026035e-03 5.90690802e+00] [ 1.51965885e-02 2.37795177e-04 9.99884497e-01 6.71511507e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.93533619500002 meters Centerline goodness [0,1] 0.9999787618137411 Centerline is valid? [True, True] Translation: X:135.11, Y:5.91, Z:0.06 [[ 9.89935365e-01 -1.40693478e-01 -1.52747554e-02 1.35105647e+02] [ 1.40672836e-01 9.90053172e-01 -2.42289215e-03 5.91257289e+00] [ 1.54637051e-02 2.49763480e-04 9.99880399e-01 6.35240443e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.965336195 meters Centerline goodness [0,1] 0.9999786866727765 Centerline is valid? [True, True] Translation: X:135.13, Y:5.91, Z:0.06 [[ 9.90086619e-01 -1.39402382e-01 -1.71890052e-02 1.35133838e+02] [ 1.39376033e-01 9.90235771e-01 -2.72732699e-03 5.91448410e+00] [ 1.74013637e-02 3.04554606e-04 9.99848538e-01 5.95033969e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.995336195 meters Centerline goodness [0,1] 0.999935392169531 Centerline is valid? [True, True] Translation: X:135.16, Y:5.92, Z:0.06 [[ 9.90374393e-01 -1.37261421e-01 -1.78287292e-02 1.35162254e+02] [ 1.37232671e-01 9.90534792e-01 -2.83195104e-03 5.92165372e+00] [ 1.80486942e-02 3.58007661e-04 9.99837045e-01 5.85733134e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.025336195 meters Centerline goodness [0,1] 0.9999785089510219 Centerline is valid? [True, True] Translation: X:135.19, Y:5.92, Z:0.06 [[ 9.90472778e-01 -1.36551193e-01 -1.78170697e-02 1.35191475e+02] [ 1.36522310e-01 9.90632945e-01 -2.83318824e-03 5.92413347e+00] [ 1.80370515e-02 3.73768318e-04 9.99837249e-01 6.04158479e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.055336195 meters Centerline goodness [0,1] 0.9999575569797546 Centerline is valid? [True, True] Translation: X:135.22, Y:5.93, Z:0.06 [[ 9.90736894e-01 -1.34514563e-01 -1.86074995e-02 1.35219246e+02] [ 1.34482691e-01 9.90911524e-01 -2.95939931e-03 5.93033968e+00] [ 1.88364680e-02 4.29599466e-04 9.99822486e-01 5.85627741e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.085336195 meters Centerline goodness [0,1] 0.9998075977510315 Centerline is valid? [True, True] Translation: X:135.25, Y:5.94, Z:0.06 [[ 9.91092985e-01 -1.31865304e-01 -1.86074379e-02 1.35247949e+02] [ 1.31832957e-01 9.91267527e-01 -2.95982674e-03 5.93696900e+00] [ 1.88352474e-02 4.80389959e-04 9.99822486e-01 5.81518828e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.115336195 meters Centerline goodness [0,1] 0.9998063099901003 Centerline is valid? [True, True] Translation: X:135.28, Y:5.94, Z:0.06 [[ 9.91240657e-01 -1.30730316e-01 -1.87495180e-02 1.35276921e+02] [ 1.30697205e-01 9.91417836e-01 -2.98585473e-03 5.94076083e+00] [ 1.89789483e-02 5.09191010e-04 9.99819754e-01 5.91385888e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.145336195 meters Centerline goodness [0,1] 0.999405696820478 Centerline is valid? [True, True] Translation: X:135.30, Y:5.95, Z:0.06 [[ 9.91573805e-01 -1.28136141e-01 -1.90399438e-02 1.35304406e+02] [ 1.28101502e-01 9.91756425e-01 -3.03296774e-03 5.95073326e+00] [ 1.92716193e-02 5.68365971e-04 9.99814124e-01 5.66996090e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.175336195 meters Centerline goodness [0,1] 0.9987615570217582 Centerline is valid? [True, True] Translation: X:135.33, Y:5.96, Z:0.06 [[ 9.91728761e-01 -1.26973827e-01 -1.87539565e-02 1.35331346e+02] [ 1.26939992e-01 9.91905896e-01 -2.98854314e-03 5.95886407e+00] [ 1.89816268e-02 5.83197101e-04 9.99819663e-01 5.63386663e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.205336195 meters Centerline goodness [0,1] 0.9984889759087426 Centerline is valid? [True, True] Translation: X:135.36, Y:5.97, Z:0.06 [[ 9.91898150e-01 -1.25708221e-01 -1.83167460e-02 1.35359804e+02] [ 1.25675670e-01 9.92067078e-01 -2.92207028e-03 5.96542426e+00] [ 1.85387689e-02 5.96426787e-04 9.99827964e-01 5.78753041e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.235336195 meters Centerline goodness [0,1] 0.9954185399272104 Centerline is valid? [True, True] Translation: X:135.39, Y:5.97, Z:0.06 [[ 9.91950688e-01 -1.25192582e-01 -1.89907781e-02 1.35386439e+02] [ 1.25157473e-01 9.92132260e-01 -3.03083411e-03 5.97249928e+00] [ 1.92208016e-02 6.29600180e-04 9.99815065e-01 5.58149081e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.265336195 meters Centerline goodness [0,1] 0.9971871497155426 Centerline is valid? [True, True] Translation: X:135.41, Y:5.98, Z:0.06 [[ 9.91940579e-01 -1.25263122e-01 -1.90535402e-02 1.35413944e+02] [ 1.25227721e-01 9.92123353e-01 -3.04461156e-03 5.97729376e+00] [ 1.92848397e-02 6.34042327e-04 9.99813829e-01 5.59297341e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.295336195 meters Centerline goodness [0,1] 0.9995734243361416 Centerline is valid? [True, True] Translation: X:135.44, Y:5.98, Z:0.06 [[ 9.91806074e-01 -1.26300448e-01 -1.92069990e-02 1.35443366e+02] [ 1.26264605e-01 9.91991840e-01 -3.07243193e-03 5.97760251e+00] [ 1.94412358e-02 6.22092511e-04 9.99810808e-01 5.76778417e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.325336195 meters Centerline goodness [0,1] 0.998042126551776 Centerline is valid? [True, True] Translation: X:135.47, Y:5.98, Z:0.06 [[ 9.91649985e-01 -1.27553810e-01 -1.89824307e-02 1.35470639e+02] [ 1.27518998e-01 9.91831475e-01 -3.03812448e-03 5.98402995e+00] [ 1.92148966e-02 5.92135552e-04 9.99815201e-01 5.56107470e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.355336195 meters Centerline goodness [0,1] 0.9997235513024987 Centerline is valid? [True, True] Translation: X:135.50, Y:5.98, Z:0.06 [[ 9.91350772e-01 -1.29971432e-01 -1.81954375e-02 1.35501241e+02] [ 1.29939843e-01 9.91517601e-01 -2.91272942e-03 5.98384635e+00] [ 1.84196682e-02 5.23224266e-04 9.99830207e-01 5.83652993e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.385336195 meters Centerline goodness [0,1] 0.9998285395859231 Centerline is valid? [True, True] Translation: X:135.53, Y:5.99, Z:0.06 [[ 9.91164858e-01 -1.31448505e-01 -1.77063722e-02 1.35528845e+02] [ 1.31418808e-01 9.91322882e-01 -2.83552590e-03 5.98879586e+00] [ 1.79254576e-02 4.83523290e-04 9.99839209e-01 5.87214917e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.415336195 meters Centerline goodness [0,1] 0.9998285395859231 Centerline is valid? [True, True] Translation: X:135.56, Y:5.99, Z:0.06 [[ 9.91140444e-01 -1.31632532e-01 -1.77058220e-02 1.35555968e+02] [ 1.31602803e-01 9.91298463e-01 -2.83895988e-03 5.99333711e+00] [ 1.79254536e-02 4.83672146e-04 9.99839209e-01 5.86893751e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.445336195 meters Centerline goodness [0,1] 0.9999572512557444 Centerline is valid? [True, True] Translation: X:135.58, Y:6.00, Z:0.06 [[ 9.90814620e-01 -1.34337610e-01 -1.54853346e-02 1.35584811e+02] [ 1.34315198e-01 9.90935549e-01 -2.48312723e-03 5.99729273e+00] [ 1.56785459e-02 3.80402977e-04 9.99877012e-01 6.17203759e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.475336195 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:135.62, Y:5.99, Z:0.06 [[ 9.90263977e-01 -1.38435581e-01 -1.45891979e-02 1.35615241e+02] [ 1.38416127e-01 9.90371396e-01 -2.33978096e-03 5.99391334e+00] [ 1.47726332e-02 2.97620534e-04 9.99890834e-01 6.43013560e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.505336195 meters Centerline goodness [0,1] 0.9999146721276505 Centerline is valid? [True, True] Translation: X:135.64, Y:5.99, Z:0.06 [[ 9.89923929e-01 -1.40805470e-01 -1.49811457e-02 1.35644629e+02] [ 1.40785187e-01 9.90037245e-01 -2.40531019e-03 5.99493908e+00] [ 1.51705730e-02 2.71950719e-04 9.99884883e-01 6.32845277e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.535336195 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:135.67, Y:5.99, Z:0.06 [[ 9.89384897e-01 -1.44406942e-01 -1.62530476e-02 1.35674642e+02] [ 1.44383507e-01 9.89518357e-01 -2.61236430e-03 5.99097962e+00] [ 1.64599325e-02 2.37961776e-04 9.99864498e-01 6.32373940e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.56533619500001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:135.70, Y:6.00, Z:0.06 [[ 9.89190102e-01 -1.45688071e-01 -1.66711454e-02 1.35701998e+02] [ 1.45663572e-01 9.89330549e-01 -2.68103360e-03 5.99646153e+00] [ 1.68838680e-02 2.23673319e-04 9.99857432e-01 6.11801333e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.59533619500002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:135.73, Y:6.00, Z:0.06 [[ 9.88991330e-01 -1.47089090e-01 -1.61539270e-02 1.35730298e+02] [ 1.47066227e-01 9.89123228e-01 -2.60077564e-03 6.00174202e+00] [ 1.63607702e-02 1.96447465e-04 9.99866134e-01 6.35903931e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.62533619500002 meters Centerline goodness [0,1] 0.9999788247750132 Centerline is valid? [True, True] Translation: X:135.76, Y:6.00, Z:0.06 [[ 9.88978464e-01 -1.47303875e-01 -1.49387319e-02 1.35758497e+02] [ 1.47284334e-01 9.89091268e-01 -2.40594401e-03 6.00265986e+00] [ 1.51301741e-02 1.79185636e-04 9.99885516e-01 6.32140484e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.65533619500002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:135.79, Y:6.00, Z:0.06 [[ 9.88926777e-01 -1.47636801e-01 -1.50733008e-02 1.35786367e+02] [ 1.47616898e-01 9.89041629e-01 -2.43067000e-03 6.00355396e+00] [ 1.52669783e-02 1.78680744e-04 9.99883437e-01 6.30731450e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.68533619500002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:135.81, Y:6.01, Z:0.06 [[ 9.88939936e-01 -1.47496579e-01 -1.55744046e-02 1.35814867e+02] [ 1.47475273e-01 9.89062548e-01 -2.51409636e-03 6.00755336e+00] [ 1.57748809e-02 1.89450726e-04 9.99875551e-01 6.28357896e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.715336195 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:135.84, Y:6.02, Z:0.06 [[ 9.88944521e-01 -1.47491959e-01 -1.53250161e-02 1.35840784e+02] [ 1.47471310e-01 9.89063237e-01 -2.47504416e-03 6.01502949e+00] [ 1.55224592e-02 1.87681157e-04 9.99879502e-01 6.22432838e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.745336195 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:135.87, Y:6.02, Z:0.06 [[ 9.89024541e-01 -1.46957614e-01 -1.52943755e-02 1.35869325e+02] [ 1.46936940e-01 9.89142771e-01 -2.47287332e-03 6.02203523e+00] [ 1.54917285e-02 1.98423656e-04 9.99879976e-01 6.27193861e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.775336195 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:135.90, Y:6.03, Z:0.06 [[ 9.89066312e-01 -1.46552699e-01 -1.64358700e-02 1.35896659e+02] [ 1.46528754e-01 9.89202839e-01 -2.65831112e-03 6.02652742e+00] [ 1.66479920e-02 2.20918414e-04 9.99861388e-01 5.89138784e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.805336195 meters Centerline goodness [0,1] 0.9999784663752449 Centerline is valid? [True, True] Translation: X:135.93, Y:6.03, Z:0.06 [[ 9.89265866e-01 -1.45068703e-01 -1.75532638e-02 1.35925760e+02] [ 1.45041104e-01 9.89421549e-01 -2.84210731e-03 6.02660739e+00] [ 1.77798783e-02 2.65654995e-04 9.99841890e-01 5.77535794e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.835336195 meters Centerline goodness [0,1] 0.9999571972777469 Centerline is valid? [True, True] Translation: X:135.95, Y:6.03, Z:0.06 [[ 9.89607229e-01 -1.42914989e-01 -1.59009078e-02 1.35954048e+02] [ 1.42892018e-01 9.89734928e-01 -2.57734477e-03 6.03172512e+00] [ 1.61060250e-02 2.78446206e-04 9.99870251e-01 6.28180336e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.865336195 meters Centerline goodness [0,1] 0.9999786315654515 Centerline is valid? [True, True] Translation: X:135.98, Y:6.04, Z:0.06 [[ 9.89747238e-01 -1.41926429e-01 -1.60403994e-02 1.35982347e+02] [ 1.41902879e-01 9.89877164e-01 -2.60271071e-03 6.03931755e+00] [ 1.62474185e-02 2.99846881e-04 9.99867957e-01 6.25099812e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.895336195 meters Centerline goodness [0,1] 0.9999146429943238 Centerline is valid? [True, True] Translation: X:136.01, Y:6.05, Z:0.06 [[ 9.90066334e-01 -1.39543600e-01 -1.72115504e-02 1.36009402e+02] [ 1.39516112e-01 9.90215861e-01 -2.79348559e-03 6.04979259e+00] [ 1.74329633e-02 3.64447431e-04 9.99847968e-01 5.87160377e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.925336195 meters Centerline goodness [0,1] 0.9998087872864792 Centerline is valid? [True, True] Translation: X:136.04, Y:6.06, Z:0.06 [[ 9.90238918e-01 -1.38334698e-01 -1.70409952e-02 1.36037520e+02] [ 1.38307522e-01 9.90385462e-01 -2.76878377e-03 6.05524460e+00] [ 1.72601728e-02 3.84859624e-04 9.99850958e-01 5.90396208e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.955336195 meters Centerline goodness [0,1] 0.999893119001304 Centerline is valid? [True, True] Translation: X:136.07, Y:6.06, Z:0.06 [[ 9.90567686e-01 -1.36097850e-01 -1.59070856e-02 1.36066417e+02] [ 1.36073838e-01 9.90695320e-01 -2.58728891e-03 6.05764181e+00] [ 1.61111997e-02 3.98346594e-04 9.99870127e-01 6.21173340e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.985336195 meters Centerline goodness [0,1] 0.9998287744531484 Centerline is valid? [True, True] Translation: X:136.09, Y:6.06, Z:0.06 [[ 9.90693481e-01 -1.35190977e-01 -1.58059323e-02 1.36094752e+02] [ 1.35167140e-01 9.90819474e-01 -2.57168988e-03 6.06029823e+00] [ 1.60084948e-02 4.11313743e-04 9.99871771e-01 6.34053952e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.015336195 meters Centerline goodness [0,1] 0.9998490500938045 Centerline is valid? [True, True] Translation: X:136.12, Y:6.07, Z:0.06 [[ 9.90879661e-01 -1.33831769e-01 -1.57020764e-02 1.36122706e+02] [ 1.33808029e-01 9.91003971e-01 -2.55764226e-03 6.06667468e+00] [ 1.59031138e-02 4.33251806e-04 9.99873444e-01 6.33318752e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.045336195 meters Centerline goodness [0,1] 0.999637209500843 Centerline is valid? [True, True] Translation: X:136.15, Y:6.08, Z:0.06 [[ 9.91025843e-01 -1.32926648e-01 -1.40813808e-02 1.36148508e+02] [ 1.32907449e-01 9.91125796e-01 -2.29479203e-03 6.07613892e+00] [ 1.42614588e-02 4.02677813e-04 9.99898219e-01 6.30655101e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.075336195 meters Centerline goodness [0,1] 0.9997455092995143 Centerline is valid? [True, True] Translation: X:136.18, Y:6.08, Z:0.07 [[ 9.90982991e-01 -1.33352271e-01 -1.30339491e-02 1.36177159e+02] [ 1.33335828e-01 9.91068633e-01 -2.12638777e-03 6.07811607e+00] [ 1.32010968e-02 3.69321719e-04 9.99912794e-01 6.51825790e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.105336195 meters Centerline goodness [0,1] 0.9996192007446741 Centerline is valid? [True, True] Translation: X:136.21, Y:6.08, Z:0.06 [[ 9.90859166e-01 -1.34242058e-01 -1.33110476e-02 1.36205303e+02] [ 1.34224979e-01 9.90948503e-01 -2.17225916e-03 6.07973340e+00] [ 1.34821712e-02 3.65727813e-04 9.99909045e-01 6.38677092e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.135336195 meters Centerline goodness [0,1] 0.9995153609507353 Centerline is valid? [True, True] Translation: X:136.23, Y:6.08, Z:0.06 [[ 9.90692042e-01 -1.35438450e-01 -1.36273565e-02 1.36232793e+02] [ 1.35420647e-01 9.90785697e-01 -2.22507870e-03 6.08203559e+00] [ 1.38031511e-02 3.58942322e-04 9.99904668e-01 6.26122350e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.165336195 meters Centerline goodness [0,1] 0.9996546737746315 Centerline is valid? [True, True] Translation: X:136.26, Y:6.08, Z:0.06 [[ 9.90565806e-01 -1.36312211e-01 -1.40841843e-02 1.36262431e+02] [ 1.36293250e-01 9.90665862e-01 -2.30193166e-03 6.08245844e+00] [ 1.42665020e-02 3.60635526e-04 9.99898163e-01 6.31547855e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.195336195 meters Centerline goodness [0,1] 0.999484934329127 Centerline is valid? [True, True] Translation: X:136.29, Y:6.09, Z:0.06 [[ 9.90464486e-01 -1.36772181e-01 -1.65370238e-02 1.36289446e+02] [ 1.36746090e-01 9.90602441e-01 -2.70366532e-03 6.08870770e+00] [ 1.67514024e-02 4.16511131e-04 9.99859599e-01 5.56826734e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.225336195 meters Centerline goodness [0,1] 0.9995717436457463 Centerline is valid? [True, True] Translation: X:136.32, Y:6.09, Z:0.06 [[ 9.90469297e-01 -1.36667245e-01 -1.71066227e-02 1.36318815e+02] [ 1.36639258e-01 9.90616916e-01 -2.79977967e-03 6.09038984e+00] [ 1.73287480e-02 4.35659570e-04 9.99849751e-01 5.72999227e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.255336195 meters Centerline goodness [0,1] 0.9999141133274644 Centerline is valid? [True, True] Translation: X:136.35, Y:6.09, Z:0.06 [[ 9.90512511e-01 -1.36468492e-01 -1.61653001e-02 1.36347028e+02] [ 1.36443419e-01 9.90644324e-01 -2.64906918e-03 6.09103740e+00] [ 1.63755773e-02 4.18287347e-04 9.99865824e-01 6.12557623e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.285336195 meters Centerline goodness [0,1] 0.9997435459052829 Centerline is valid? [True, True] Translation: X:136.37, Y:6.10, Z:0.06 [[ 9.90511574e-01 -1.36573053e-01 -1.53173768e-02 1.36374289e+02] [ 1.36550542e-01 9.90629923e-01 -2.51093375e-03 6.09666240e+00] [ 1.55167777e-02 3.95512834e-04 9.99879529e-01 6.15075915e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.31533619500001 meters Centerline goodness [0,1] 0.9996819338422391 Centerline is valid? [True, True] Translation: X:136.40, Y:6.11, Z:0.06 [[ 9.90465391e-01 -1.36892684e-01 -1.54500032e-02 1.36401413e+02] [ 1.36869805e-01 9.90585805e-01 -2.53362347e-03 6.10503037e+00] [ 1.56513884e-02 3.94827423e-04 9.99877432e-01 6.02377591e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.34533619500002 meters Centerline goodness [0,1] 0.9996590303676078 Centerline is valid? [True, True] Translation: X:136.43, Y:6.11, Z:0.06 [[ 9.90365970e-01 -1.37536868e-01 -1.60889528e-02 1.36428448e+02] [ 1.37512090e-01 9.90496566e-01 -2.64162376e-03 6.11168227e+00] [ 1.62993732e-02 4.03748749e-04 9.99867075e-01 5.82648193e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.37533619500002 meters Centerline goodness [0,1] 0.99955848033135 Centerline is valid? [True, True] Translation: X:136.46, Y:6.12, Z:0.06 [[ 9.90342784e-01 -1.37750240e-01 -1.56857337e-02 1.36455731e+02] [ 1.37726703e-01 9.90466919e-01 -2.57620125e-03 6.11730693e+00] [ 1.58910726e-02 3.90977946e-04 9.99873652e-01 5.85303040e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.40533619500002 meters Centerline goodness [0,1] 0.9995740511990459 Centerline is valid? [True, True] Translation: X:136.48, Y:6.12, Z:0.06 [[ 9.90281313e-01 -1.38129962e-01 -1.62183689e-02 1.36483305e+02] [ 1.38104797e-01 9.90414031e-01 -2.66689370e-03 6.12347626e+00] [ 1.64312780e-02 4.01140454e-04 9.99864917e-01 5.68115699e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.43533619500002 meters Centerline goodness [0,1] 0.9994062387344402 Centerline is valid? [True, True] Translation: X:136.51, Y:6.13, Z:0.05 [[ 9.90133362e-01 -1.38944562e-01 -1.81750774e-02 1.36512104e+02] [ 1.38913040e-01 9.90300064e-01 -2.99163163e-03 6.12776956e+00] [ 1.84144513e-02 4.37359027e-04 9.99830344e-01 5.38582416e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.465336195 meters Centerline goodness [0,1] 0.999618692539084 Centerline is valid? [True, True] Translation: X:136.54, Y:6.13, Z:0.05 [[ 9.90057913e-01 -1.39515049e-01 -1.79131271e-02 1.36539521e+02] [ 1.39484505e-01 9.90219861e-01 -2.94945488e-03 6.13351799e+00] [ 1.81494275e-02 4.21527477e-04 9.99835197e-01 5.40837581e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.495336195 meters Centerline goodness [0,1] 0.9998712391089747 Centerline is valid? [True, True] Translation: X:136.57, Y:6.14, Z:0.06 [[ 9.89896403e-01 -1.40712557e-01 -1.74667670e-02 1.36567599e+02] [ 1.40683646e-01 9.90050414e-01 -2.87916261e-03 6.13908738e+00] [ 1.76981142e-02 3.92784243e-04 9.99843299e-01 5.77204197e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.525336195 meters Centerline goodness [0,1] 0.9996605062700248 Centerline is valid? [True, True] Translation: X:136.59, Y:6.15, Z:0.05 [[ 9.89752268e-01 -1.41748488e-01 -1.72572925e-02 1.36594234e+02] [ 1.41720398e-01 9.89902636e-01 -2.84613444e-03 6.14821916e+00] [ 1.74864746e-02 3.71257657e-04 9.99847031e-01 5.32595581e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.555336195 meters Centerline goodness [0,1] 0.9998720818676047 Centerline is valid? [True, True] Translation: X:136.62, Y:6.15, Z:0.06 [[ 9.89262745e-01 -1.45307771e-01 -1.56484121e-02 1.36624212e+02] [ 1.45285114e-01 9.89386463e-01 -2.58109811e-03 6.14753596e+00] [ 1.58573807e-02 2.79902862e-04 9.99874225e-01 5.72121371e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.585336195 meters Centerline goodness [0,1] 0.9998506602948393 Centerline is valid? [True, True] Translation: X:136.65, Y:6.15, Z:0.06 [[ 9.88998857e-01 -1.47170070e-01 -1.49074393e-02 1.36651521e+02] [ 1.47149707e-01 9.89111173e-01 -2.45981140e-03 6.15103109e+00] [ 1.51071253e-02 2.39125353e-04 9.99885852e-01 5.79773560e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.615336195 meters Centerline goodness [0,1] 0.9999571192727429 Centerline is valid? [True, True] Translation: X:136.68, Y:6.15, Z:0.06 [[ 9.88543227e-01 -1.50142823e-01 -1.54732062e-02 1.36681005e+02] [ 1.50121226e-01 9.88664297e-01 -2.55456931e-03 6.15246695e+00] [ 1.56813568e-02 2.02445504e-04 9.99877019e-01 5.77032641e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.645336195 meters Centerline goodness [0,1] 0.9999786347612435 Centerline is valid? [True, True] Translation: X:136.71, Y:6.15, Z:0.05 [[ 9.88155499e-01 -1.52576722e-01 -1.64028329e-02 1.36709373e+02] [ 1.52552771e-01 9.88291614e-01 -2.70899770e-03 6.15306913e+00] [ 1.66241121e-02 1.74613379e-04 9.99861795e-01 5.45509094e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.675336195 meters Centerline goodness [0,1] 0.99997866757685 Centerline is valid? [True, True] Translation: X:136.74, Y:6.15, Z:0.06 [[ 9.87899833e-01 -1.54359902e-01 -1.50645554e-02 1.36738730e+02] [ 1.54339866e-01 9.88014677e-01 -2.49066059e-03 6.15320788e+00] [ 1.52684600e-02 1.35461716e-04 9.99883421e-01 5.80320496e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.705336195 meters Centerline goodness [0,1] 0.9999569679626482 Centerline is valid? [True, True] Translation: X:136.77, Y:6.16, Z:0.06 [[ 9.87809720e-01 -1.54913231e-01 -1.52920751e-02 1.36766931e+02] [ 1.54892604e-01 9.87928071e-01 -2.53136902e-03 6.15718753e+00] [ 1.54996128e-02 1.31881591e-04 9.99879865e-01 5.90204062e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.735336195 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:136.79, Y:6.17, Z:0.06 [[ 9.87905215e-01 -1.54213235e-01 -1.61729282e-02 1.36793936e+02] [ 1.54190047e-01 9.88037578e-01 -2.67854799e-03 6.16610850e+00] [ 1.63925284e-02 1.52446972e-04 9.99865622e-01 5.61737404e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.765336195 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:136.82, Y:6.17, Z:0.06 [[ 9.88056630e-01 -1.53290070e-01 -1.56923740e-02 1.36821307e+02] [ 1.53268073e-01 9.88181222e-01 -2.60212588e-03 6.17389887e+00] [ 1.59057894e-02 1.65907803e-04 9.99873481e-01 5.71335685e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.795336195 meters Centerline goodness [0,1] 0.9999785894745857 Centerline is valid? [True, True] Translation: X:136.85, Y:6.18, Z:0.06 [[ 9.88536616e-01 -1.50157192e-01 -1.57535904e-02 1.36849158e+02] [ 1.50134581e-01 9.88662111e-01 -2.61500865e-03 6.18366927e+00] [ 1.59676403e-02 2.19873108e-04 9.99872485e-01 5.77045768e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.825336195 meters Centerline goodness [0,1] 0.9998925724598758 Centerline is valid? [True, True] Translation: X:136.88, Y:6.19, Z:0.06 [[ 9.89049391e-01 -1.46798762e-01 -1.52126820e-02 1.36875783e+02] [ 1.46777260e-01 9.89166342e-01 -2.52655201e-03 6.19266959e+00] [ 1.54187678e-02 2.66008949e-04 9.99881088e-01 5.69159436e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.855336195 meters Centerline goodness [0,1] 0.9998720573183214 Centerline is valid? [True, True] Translation: X:136.90, Y:6.20, Z:0.06 [[ 9.89291370e-01 -1.45258831e-01 -1.42287579e-02 1.36903529e+02] [ 1.45239825e-01 9.89393651e-01 -2.36562155e-03 6.19905503e+00] [ 1.44214701e-02 2.73706677e-04 9.99895968e-01 5.90020401e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.885336195 meters Centerline goodness [0,1] 0.999913930369669 Centerline is valid? [True, True] Translation: X:136.93, Y:6.21, Z:0.06 [[ 9.89706351e-01 -1.42471035e-01 -1.35404530e-02 1.36931360e+02] [ 1.42453530e-01 9.89798926e-01 -2.25356542e-03 6.20817099e+00] [ 1.37233937e-02 3.01482682e-04 9.99905784e-01 6.10011265e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.915336195 meters Centerline goodness [0,1] 0.9999354616642285 Centerline is valid? [True, True] Translation: X:136.96, Y:6.21, Z:0.06 [[ 9.89822076e-01 -1.41666541e-01 -1.35221760e-02 1.36958120e+02] [ 1.41648992e-01 9.89914387e-01 -2.25168693e-03 6.21477674e+00] [ 1.37047853e-02 3.13366839e-04 9.99906036e-01 6.11405247e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.945336195 meters Centerline goodness [0,1] 0.9991546200016908 Centerline is valid? [True, True] Translation: X:136.98, Y:6.23, Z:0.06 [[ 9.89984550e-01 -1.40581175e-01 -1.29431390e-02 1.36983766e+02] [ 1.40564994e-01 9.90069106e-01 -2.15602220e-03 6.22765326e+00] [ 1.31176982e-02 3.15076406e-04 9.99913910e-01 5.79151890e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.975336195 meters Centerline goodness [0,1] 0.999226056110932 Centerline is valid? [True, True] Translation: X:137.01, Y:6.23, Z:0.06 [[ 9.89951411e-01 -1.40847636e-01 -1.25756613e-02 1.37012478e+02] [ 1.40832354e-01 9.90031237e-01 -2.09704310e-03 6.22861219e+00] [ 1.27456611e-02 3.04910792e-04 9.99918724e-01 6.08310307e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.005336195 meters Centerline goodness [0,1] 0.9990592259995724 Centerline is valid? [True, True] Translation: X:137.04, Y:6.23, Z:0.06 [[ 9.89851755e-01 -1.41496464e-01 -1.31245644e-02 1.37040082e+02] [ 1.41479867e-01 9.89938712e-01 -2.18922437e-03 6.23447380e+00] [ 1.33022819e-02 3.10145967e-04 9.99911473e-01 5.88537958e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.035336195 meters Centerline goodness [0,1] 0.9983869598437898 Centerline is valid? [True, True] Translation: X:137.07, Y:6.24, Z:0.06 [[ 9.89635654e-01 -1.43097651e-01 -1.20139401e-02 1.37068267e+02] [ 1.43083837e-01 9.89708539e-01 -2.00600552e-03 6.23672089e+00] [ 1.21773538e-02 2.66213935e-04 9.99925818e-01 5.95937069e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.06533619500001 meters Centerline goodness [0,1] 0.997480575021701 Centerline is valid? [True, True] Translation: X:137.10, Y:6.24, Z:0.06 [[ 9.89466469e-01 -1.44397078e-01 -1.02757159e-02 1.37096756e+02] [ 1.44387039e-01 9.89519802e-01 -1.71614078e-03 6.23970163e+00] [ 1.04158301e-02 2.14383556e-04 9.99945731e-01 6.25747797e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.09533619500002 meters Centerline goodness [0,1] 0.9965901583445219 Centerline is valid? [True, True] Translation: X:137.12, Y:6.25, Z:0.06 [[ 9.89389224e-01 -1.44933228e-01 -1.01647747e-02 1.37123016e+02] [ 1.44923423e-01 9.89441416e-01 -1.69853471e-03 6.24851317e+00] [ 1.03036232e-02 2.07397995e-04 9.99946895e-01 6.13531384e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.12533619500002 meters Centerline goodness [0,1] 0.996205661664393 Centerline is valid? [True, True] Translation: X:137.15, Y:6.23, Z:0.06 [[ 9.89278472e-01 -1.45137821e-01 -1.62209292e-02 1.37151673e+02] [ 1.45493754e-01 9.89080545e-01 2.34785568e-02 6.23272770e+00] [ 1.26361789e-02 -2.55868746e-02 9.99592736e-01 6.11913020e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.15533619500002 meters Centerline goodness [0,1] 0.9951611527967258 Centerline is valid? [True, True] Translation: X:137.18, Y:6.28, Z:0.05 [[ 9.89376721e-01 -1.45150021e-01 -8.07311184e-03 1.37177521e+02] [ 1.44880351e-01 9.89067337e-01 -2.74861186e-02 6.27706423e+00] [ 1.19744619e-02 2.60244906e-02 9.99589585e-01 5.49746284e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.18533619500002 meters Centerline goodness [0,1] 0.9946477124322936 Centerline is valid? [True, True] Translation: X:137.21, Y:6.26, Z:0.06 [[ 9.89351398e-01 -1.45014462e-01 -1.24344838e-02 1.37209174e+02] [ 1.44999740e-01 9.89429502e-01 -2.08219440e-03 6.26376509e+00] [ 1.26049934e-02 2.57025021e-04 9.99920521e-01 5.68795596e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.215336195 meters Centerline goodness [0,1] 0.9937202950601088 Centerline is valid? [True, True] Translation: X:137.24, Y:6.24, Z:0.06 [[ 9.89463681e-01 -1.43672103e-01 -1.78871724e-02 1.37237158e+02] [ 1.44289280e-01 9.88723192e-01 4.00880793e-02 6.24347503e+00] [ 1.19259235e-02 -4.22466257e-02 9.99036033e-01 5.82516388e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.245336195 meters Centerline goodness [0,1] 0.9925313703966768 Centerline is valid? [True, True] Translation: X:137.26, Y:6.31, Z:0.06 [[ 9.89708318e-01 -1.43054345e-01 -3.59176333e-03 1.37262333e+02] [ 1.42767853e-01 9.88811659e-01 -4.32301282e-02 6.30768062e+00] [ 9.73583511e-03 4.22724291e-02 9.99058685e-01 6.00821299e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.275336195 meters Centerline goodness [0,1] 0.9925313703966768 Centerline is valid? [True, True] Translation: X:137.29, Y:6.29, Z:0.06 [[ 9.89602502e-01 -1.43442871e-01 -1.05370901e-02 1.37293922e+02] [ 1.43432176e-01 9.89658571e-01 -1.76765463e-03 6.28552790e+00] [ 1.06816789e-02 2.37917685e-04 9.99942921e-01 5.99390264e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.305336195 meters Centerline goodness [0,1] 0.9910735411154847 Centerline is valid? [True, True] Translation: X:137.32, Y:6.27, Z:0.04 [[ 9.89650701e-01 -1.42813112e-01 -1.39966391e-02 1.37323314e+02] [ 1.43331212e-01 9.88483677e-01 4.85405290e-02 6.26800788e+00] [ 6.90322531e-03 -5.00443238e-02 9.98723140e-01 4.10121001e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.335336195 meters Centerline goodness [0,1] 0.9894859059536864 Centerline is valid? [True, True] Translation: X:137.35, Y:6.30, Z:0.04 [[ 9.89781758e-01 -1.42539095e-01 -3.83126067e-03 1.37345909e+02] [ 1.42567063e-01 9.89749183e-01 8.43731257e-03 6.29995467e+00] [ 2.58934022e-03 -8.89730965e-03 9.99957066e-01 4.14499466e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.365336195 meters Centerline goodness [0,1] 0.9882129763833234 Centerline is valid? [True, True] Translation: X:137.37, Y:6.33, Z:0.04 [[ 9.89520015e-01 -1.44375644e-01 -2.41096024e-03 1.37373853e+02] [ 1.44324951e-01 9.89419693e-01 -1.47979628e-02 6.32550425e+00] [ 4.52191695e-03 1.42949187e-02 9.99887597e-01 4.46147127e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.395336195 meters Centerline goodness [0,1] 0.986927963820394 Centerline is valid? [True, True] Translation: X:137.40, Y:6.32, Z:0.05 [[ 9.89274649e-01 -1.45978659e-01 -5.08926331e-03 1.37402275e+02] [ 1.45957889e-01 9.89281717e-01 -4.24011124e-03 6.31840218e+00] [ 5.65368090e-03 3.45181643e-03 9.99978060e-01 4.94226721e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.425336195 meters Centerline goodness [0,1] 0.9853073849722902 Centerline is valid? [True, True] Translation: X:137.43, Y:6.31, Z:0.04 [[ 9.88996609e-01 -1.47873754e-01 -4.36585366e-03 1.37431239e+02] [ 1.47919051e-01 9.88912638e-01 1.31052929e-02 6.30547708e+00] [ 2.37951901e-03 -1.36068832e-02 9.99904591e-01 4.31913538e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.455336195 meters Centerline goodness [0,1] 0.9845446860165175 Centerline is valid? [True, True] Translation: X:137.46, Y:6.31, Z:0.05 [[ 9.88790908e-01 -1.49306866e-01 2.80015801e-05 1.37457807e+02] [ 1.49301388e-01 9.88756201e-01 8.38269804e-03 6.30691897e+00] [-1.27928111e-03 -8.28455493e-03 9.99964864e-01 4.65229539e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.485336195 meters Centerline goodness [0,1] 0.982159524819686 Centerline is valid? [True, True] Translation: X:137.49, Y:6.33, Z:0.05 [[ 9.87938625e-01 -1.54844753e-01 -6.12215186e-04 1.37487221e+02] [ 1.54765305e-01 9.87543892e-01 -2.83683132e-02 6.33285164e+00] [ 4.99727382e-03 2.79314027e-02 9.99597351e-01 5.24644072e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.515336195 meters Centerline goodness [0,1] 0.9799502508899086 Centerline is valid? [True, True] Translation: X:137.52, Y:6.31, Z:0.05 [[ 9.87662919e-01 -1.56542231e-01 -4.06060885e-03 1.37517467e+02] [ 1.56571736e-01 9.87630715e-01 8.41792291e-03 6.30916905e+00] [ 2.69262159e-03 -8.94984689e-03 9.99956324e-01 4.75338205e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.545336195 meters Centerline goodness [0,1] 0.9785106797377134 Centerline is valid? [True, True] Translation: X:137.54, Y:6.35, Z:0.06 [[ 9.87379966e-01 -1.57940313e-01 -1.16473026e-02 1.37543129e+02] [ 1.57154610e-01 9.86245041e-01 -5.12166804e-02 6.34963766e+00] [ 1.95762729e-02 4.87398968e-02 9.98619643e-01 5.95542795e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.575336195 meters Centerline goodness [0,1] 0.976824236204648 Centerline is valid? [True, True] Translation: X:137.58, Y:6.29, Z:0.05 [[ 9.87203441e-01 -1.58877468e-01 -1.36863779e-02 1.37580431e+02] [ 1.59266123e-01 9.86623237e-01 3.47690857e-02 6.29408469e+00] [ 7.97927417e-03 -3.65039374e-02 9.99301653e-01 5.01304005e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.605336195 meters Centerline goodness [0,1] 0.9740698022128241 Centerline is valid? [True, True] Translation: X:137.61, Y:6.32, Z:0.05 [[ 9.87287202e-01 -1.58830311e-01 -6.07562596e-03 1.37605273e+02] [ 1.58841436e-01 9.87303126e-01 1.39145948e-03 6.31596977e+00] [ 5.77747856e-03 -2.33883129e-03 9.99980575e-01 4.93366385e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.635336195 meters Centerline goodness [0,1] 0.9730048964865561 Centerline is valid? [True, True] Translation: X:137.63, Y:6.33, Z:0.05 [[ 9.87417415e-01 -1.57940119e-01 -7.85922569e-03 1.37631444e+02] [ 1.57835907e-01 9.87386574e-01 -1.24731440e-02 6.32638486e+00] [ 9.73010377e-03 1.10757316e-02 9.99891321e-01 5.42571755e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.665336195 meters Centerline goodness [0,1] 0.9697734613985924 Centerline is valid? [True, True] Translation: X:137.66, Y:6.32, Z:0.05 [[ 9.87644476e-01 -1.56454836e-01 -8.95951547e-03 1.37661111e+02] [ 1.56513016e-01 9.87656404e-01 6.20513048e-03 6.32236488e+00] [ 7.87810016e-03 -7.53074362e-03 9.99940610e-01 4.99114079e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.695336195 meters Centerline goodness [0,1] 0.9702096199008436 Centerline is valid? [True, True] Translation: X:137.69, Y:6.34, Z:0.05 [[ 9.87575907e-01 -1.56994902e-01 6.81387725e-03 1.37689408e+02] [ 1.57088183e-01 9.87446844e-01 -1.64934196e-02 6.34241423e+00] [-4.13895879e-03 1.73588834e-02 9.99840756e-01 5.40318266e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.725336195 meters Centerline goodness [0,1] 0.9641916347204078 Centerline is valid? [True, True] Translation: X:137.72, Y:6.36, Z:0.06 [[ 9.88342427e-01 -1.51461521e-01 -1.54484682e-02 1.37715770e+02] [ 1.51113059e-01 9.88278919e-01 -2.16707665e-02 6.35773345e+00] [ 1.85496826e-02 1.90836726e-02 9.99645799e-01 5.91752502e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.755336195 meters Centerline goodness [0,1] 0.9622533902243251 Centerline is valid? [True, True] Translation: X:137.75, Y:6.34, Z:0.05 [[ 9.88507773e-01 -1.50508963e-01 -1.41221331e-02 1.37749739e+02] [ 1.50864073e-01 9.88133610e-01 2.88443980e-02 6.33699365e+00] [ 9.61321396e-03 -3.06434341e-02 9.99484150e-01 4.75410569e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.785336195 meters Centerline goodness [0,1] 0.9582061715835877 Centerline is valid? [True, True] Translation: X:137.77, Y:6.36, Z:0.05 [[ 9.89520590e-01 -1.44106696e-01 -9.06985445e-03 1.37772818e+02] [ 1.44126406e-01 9.89558063e-01 1.55503420e-03 6.36355647e+00] [ 8.75105677e-03 -2.84594389e-03 9.99957659e-01 4.71649229e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.81533619500001 meters Centerline goodness [0,1] 0.9594530062947688 Centerline is valid? [True, True] Translation: X:137.80, Y:6.37, Z:0.05 [[ 9.90089904e-01 -1.40183569e-01 8.39929464e-03 1.37799412e+02] [ 1.40280179e-01 9.90035491e-01 -1.22962586e-02 6.37475415e+00] [-6.59186638e-03 1.33526560e-02 9.99889121e-01 5.25644980e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.84533619500002 meters Centerline goodness [0,1] 0.9558358943500033 Centerline is valid? [True, True] Translation: X:137.83, Y:6.38, Z:0.05 [[ 9.90596926e-01 -1.36653523e-01 6.59890508e-03 1.37828094e+02] [ 1.36649133e-01 9.90618884e-01 1.11368483e-03 6.37733309e+00] [-6.68918894e-03 -2.01478105e-04 9.99977607e-01 5.19430970e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.87533619500002 meters Centerline goodness [0,1] 0.953850360741255 Centerline is valid? [True, True] Translation: X:137.86, Y:6.38, Z:0.05 [[ 9.90709491e-01 -1.35881771e-01 5.55424374e-03 1.37856877e+02] [ 1.35878649e-01 9.90725045e-01 9.37359521e-04 6.38089817e+00] [-5.63009845e-03 -1.73947836e-04 9.99984136e-01 5.07379533e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.90533619500002 meters Centerline goodness [0,1] 0.9365055950097991 Centerline is valid? [True, False] Translation: X:137.86, Y:6.37, Z:0.05 [[ 9.91292301e-01 -1.31596467e-01 4.68442306e-03 1.37858794e+02] [ 1.31562697e-01 9.91283788e-01 6.90706554e-03 6.37041853e+00] [-5.55253806e-03 -6.23062556e-03 9.99965174e-01 5.06207459e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.93533619500002 meters Centerline goodness [0,1] 0.9486602880963999 Centerline is valid? [False, False] Translation: X:137.86, Y:6.36, Z:0.05 [[ 9.91815894e-01 -1.27612469e-01 4.03612719e-03 1.37859836e+02] [ 1.27553766e-01 9.91753487e-01 1.24522174e-02 6.36215804e+00] [-5.59190142e-03 -1.18354839e-02 9.99914322e-01 5.05063804e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.965336195 meters Centerline goodness [0,1] 0.9452448953493329 Centerline is valid? [False, False] Translation: X:137.86, Y:6.35, Z:0.05 [[ 9.92247158e-01 -1.24218767e-01 3.90834358e-03 1.37859162e+02] [ 1.24132296e-01 9.92109797e-01 1.75876044e-02 6.35481873e+00] [-6.06221649e-03 -1.69660988e-02 9.99837687e-01 5.08214103e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.995336195 meters Centerline goodness [0,1] 0.9432814800588951 Centerline is valid? [False, False] Translation: X:137.86, Y:6.35, Z:0.05 [[ 9.92715950e-01 -1.20428015e-01 3.48366470e-03 1.37859194e+02] [ 1.20319200e-01 9.92475655e-01 2.27016318e-02 6.34894513e+00] [-6.19136488e-03 -2.21171203e-02 9.99736215e-01 5.11831682e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.025336195 meters Centerline goodness [0,1] 0.1986314429167637 Centerline is valid? [False, False] Translation: X:137.86, Y:6.34, Z:0.05 [[ 9.92775718e-01 -1.19942795e-01 3.17791322e-03 1.37861437e+02] [ 1.19832583e-01 9.92501782e-01 2.40907692e-02 6.34187226e+00] [-6.04359872e-03 -2.35359132e-02 9.99704724e-01 5.03821812e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.055336195 meters Centerline goodness [0,1] 0.20089238287474764 Centerline is valid? [False, False] Translation: X:137.86, Y:6.33, Z:0.05 [[ 9.92879597e-01 -1.19085276e-01 2.96684354e-03 1.37863978e+02] [ 1.18970001e-01 9.92561907e-01 2.58263536e-02 6.33343133e+00] [-6.02031434e-03 -2.52894942e-02 9.99662042e-01 4.86381399e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.085336195 meters Centerline goodness [0,1] 0.200728675525075 Centerline is valid? [False, False] Translation: X:137.86, Y:6.33, Z:0.05 [[ 9.92908937e-01 -1.18837827e-01 3.06819639e-03 1.37864686e+02] [ 1.18717188e-01 9.92579869e-01 2.62951204e-02 6.33132094e+00] [-6.17028495e-03 -2.57444124e-02 9.99649515e-01 4.73593542e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.115336195 meters Centerline goodness [0,1] 0.20159207802462809 Centerline is valid? [False, False] Translation: X:137.87, Y:6.33, Z:0.05 [[ 9.92934879e-01 -1.18618675e-01 3.15204505e-03 1.37865147e+02] [ 1.18493112e-01 9.92594567e-01 2.67471069e-02 6.32925551e+00] [-6.30140916e-03 -2.61846397e-02 9.99637263e-01 4.64613214e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.145336195 meters Centerline goodness [0,1] 0.20018400838735906 Centerline is valid? [False, False] Translation: X:137.87, Y:6.32, Z:0.05 [[ 9.93452869e-01 -1.14212397e-01 2.63146462e-03 1.37866393e+02] [ 1.14069881e-01 9.92953306e-01 3.21215428e-02 6.32315785e+00] [-6.28159991e-03 -3.16110680e-02 9.99480506e-01 4.54259261e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.175336195 meters Centerline goodness [0,1] 0.20265126940876255 Centerline is valid? [False, False] Translation: X:137.87, Y:6.32, Z:0.04 [[ 9.93460326e-01 -1.14144678e-01 2.75199124e-03 1.37866886e+02] [ 1.13998391e-01 9.92961537e-01 3.21209079e-02 6.32344275e+00] [-6.39905215e-03 -3.15971251e-02 9.99480202e-01 4.42195006e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.205336195 meters Centerline goodness [0,1] 0.2031992431897831 Centerline is valid? [False, False] Translation: X:137.87, Y:6.32, Z:0.04 [[ 9.93495293e-01 -1.13840245e-01 2.73900833e-03 1.37867726e+02] [ 1.13690502e-01 9.92976376e-01 3.27473208e-02 6.32020160e+00] [-6.44773359e-03 -3.22229098e-02 9.99459910e-01 4.34403999e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.235336195 meters Centerline goodness [0,1] 0.2046076593176871 Centerline is valid? [False, False] Translation: X:137.87, Y:6.31, Z:0.04 [[ 9.93568626e-01 -1.13195798e-01 2.84549155e-03 1.37868431e+02] [ 1.13035507e-01 9.93013265e-01 3.38766705e-02 6.31415204e+00] [-6.66030761e-03 -3.33371554e-02 9.99421970e-01 4.28053459e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.265336195 meters Centerline goodness [0,1] 0.2063253012048193 Centerline is valid? [False, False] Translation: X:137.87, Y:6.31, Z:0.04 [[ 9.93575677e-01 -1.13130322e-01 2.98402499e-03 1.37868402e+02] [ 1.12964733e-01 9.93017722e-01 3.39819527e-02 6.31376584e+00] [-6.80757894e-03 -3.34265521e-02 9.99417992e-01 4.21700763e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.295336195 meters Centerline goodness [0,1] 0.156574300756115 Centerline is valid? [False, False] Translation: X:137.87, Y:6.32, Z:0.04 [[ 9.93558454e-01 -1.13273666e-01 3.26730046e-03 1.37868164e+02] [ 1.13100839e-01 9.93013323e-01 3.36562229e-02 6.31588576e+00] [-7.05683664e-03 -3.30698904e-02 9.99428128e-01 4.09505249e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.325336195 meters Centerline goodness [0,1] 0.16264788611427217 Centerline is valid? [False, False] Translation: X:137.87, Y:6.31, Z:0.04 [[ 9.93588714e-01 -1.13000771e-01 3.50609626e-03 1.37868317e+02] [ 1.12816470e-01 9.93028268e-01 3.41658030e-02 6.31351898e+00] [-7.34241477e-03 -3.35512109e-02 9.99410029e-01 4.02430475e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.355336195 meters Centerline goodness [0,1] 0.16747857857422466 Centerline is valid? [False, False] Translation: X:137.87, Y:6.31, Z:0.04 [[ 9.93612414e-01 -1.12786669e-01 3.67943727e-03 1.37868149e+02] [ 1.12593631e-01 9.93039583e-01 3.45696653e-02 6.31163923e+00] [-7.55282424e-03 -3.39345674e-02 9.99395517e-01 3.97838153e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.385336195 meters Centerline goodness [0,1] 0.17300111406290175 Centerline is valid? [False, False] Translation: X:137.87, Y:6.31, Z:0.04 [[ 9.93670110e-01 -1.12266557e-01 3.99161025e-03 1.37868451e+02] [ 1.12056410e-01 9.93069917e-01 3.54330573e-02 6.30718368e+00] [-7.94189540e-03 -3.47614844e-02 9.99364081e-01 3.91294685e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.415336195 meters Centerline goodness [0,1] 0.17648942985265859 Centerline is valid? [False, False] Translation: X:137.87, Y:6.31, Z:0.04 [[ 9.93689360e-01 -1.12086177e-01 4.25972766e-03 1.37868186e+02] [ 1.11863712e-01 9.93078085e-01 3.58109833e-02 6.30559386e+00] [-8.24415840e-03 -3.51084841e-02 9.99349503e-01 3.85959671e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.445336195 meters Centerline goodness [0,1] 0.1794071762870515 Centerline is valid? [False, False] Translation: X:137.87, Y:6.31, Z:0.04 [[ 9.93680732e-01 -1.12154660e-01 4.46477696e-03 1.37867839e+02] [ 1.11926219e-01 9.93076416e-01 3.56616439e-02 6.30679491e+00] [-8.43348426e-03 -3.49365628e-02 9.99353948e-01 3.79296168e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.475336195 meters Centerline goodness [0,1] 0.18274929141973717 Centerline is valid? [False, False] Translation: X:137.87, Y:6.31, Z:0.04 [[ 9.93706635e-01 -1.11921945e-01 4.53885612e-03 1.37868917e+02] [ 1.11688409e-01 9.93091982e-01 3.59724070e-02 6.30518392e+00] [-8.53360339e-03 -3.52390819e-02 9.99342476e-01 3.64944330e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.505336195 meters Centerline goodness [0,1] 0.1852315124328754 Centerline is valid? [False, False] Translation: X:137.87, Y:6.30, Z:0.04 [[ 9.93736985e-01 -1.11649921e-01 4.59342776e-03 1.37869668e+02] [ 1.11410643e-01 9.93106302e-01 3.64354433e-02 6.30252500e+00] [-8.62977643e-03 -3.56954909e-02 9.99325452e-01 3.53508191e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.535336195 meters Centerline goodness [0,1] 0.18182785402702417 Centerline is valid? [False, False] Translation: X:137.87, Y:6.30, Z:0.03 [[ 9.93766671e-01 -1.11371763e-01 4.91257876e-03 1.37870580e+02] [ 1.11117726e-01 9.93124523e-01 3.68311383e-02 6.30072791e+00] [-8.98075123e-03 -3.60556831e-02 9.99309428e-01 3.35380512e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.56533619500001 meters Centerline goodness [0,1] 0.18366604617326743 Centerline is valid? [False, False] Translation: X:137.87, Y:6.30, Z:0.03 [[ 9.93772259e-01 -1.11318986e-01 4.97800931e-03 1.37871549e+02] [ 1.11061116e-01 9.93124667e-01 3.69976323e-02 6.30033226e+00] [-9.06232274e-03 -3.62143574e-02 9.99302954e-01 3.22128065e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.59533619500002 meters Centerline goodness [0,1] 0.18161535986270516 Centerline is valid? [False, False] Translation: X:137.87, Y:6.30, Z:0.03 [[ 9.93778149e-01 -1.11261101e-01 5.09485241e-03 1.37871669e+02] [ 1.10997794e-01 9.93126696e-01 3.71329485e-02 6.29980300e+00] [-9.19128668e-03 -3.63363955e-02 9.99297346e-01 3.14168554e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.62533619500002 meters Centerline goodness [0,1] 0.8369198804248733 Centerline is valid? [False, False] Translation: X:137.87, Y:6.30, Z:0.03 [[ 9.93776455e-01 -1.11270004e-01 5.22909376e-03 1.37872953e+02] [ 1.11002427e-01 9.93128628e-01 3.70673515e-02 6.30082822e+00] [-9.31764708e-03 -3.62562191e-02 9.99299088e-01 2.96200085e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.65533619500002 meters Centerline goodness [0,1] 0.8008219642403186 Centerline is valid? [False, False] Translation: X:137.87, Y:6.30, Z:0.03 [[ 9.93820574e-01 -1.10873983e-01 5.25600778e-03 1.37874294e+02] [ 1.10601218e-01 9.93155458e-01 3.75447340e-02 6.29763800e+00] [-9.38276702e-03 -3.67314082e-02 9.99281125e-01 2.86435297e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.68533619500002 meters Centerline goodness [0,1] 0.8015867896536154 Centerline is valid? [False, False] Translation: X:137.87, Y:6.30, Z:0.03 [[ 9.93837585e-01 -1.10714297e-01 5.40358605e-03 1.37874274e+02] [ 1.10433808e-01 9.93164504e-01 3.77973800e-02 6.29622649e+00] [-9.55136023e-03 -3.69677183e-02 9.99270814e-01 2.79590196e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.715336195 meters Centerline goodness [0,1] 0.7908930056066 Centerline is valid? [False, False] Translation: X:137.88, Y:6.30, Z:0.02 [[ 9.94040749e-01 -1.08906164e-01 4.73671245e-03 1.37880702e+02] [ 1.08634888e-01 9.93289961e-01 3.96675498e-02 6.29748860e+00] [-9.02496961e-03 -3.89165887e-02 9.99201706e-01 2.26792499e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.745336195 meters Centerline goodness [0,1] 0.7895568269148664 Centerline is valid? [False, False] Translation: X:137.88, Y:6.30, Z:0.02 [[ 9.94027469e-01 -1.09024254e-01 4.80662769e-03 1.37880968e+02] [ 1.08752205e-01 9.93286043e-01 3.94435577e-02 6.29912355e+00] [-9.07466065e-03 -3.86852485e-02 9.99210239e-01 2.17633615e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.775336195 meters Centerline goodness [0,1] 0.7690146241777891 Centerline is valid? [False, False] Translation: X:137.88, Y:6.30, Z:0.02 [[ 9.94067622e-01 -1.08642334e-01 5.13861120e-03 1.37880664e+02] [ 1.08352997e-01 9.93309595e-01 3.99459104e-02 6.29565634e+00] [-9.44404874e-03 -3.91521523e-02 9.99188630e-01 2.20099355e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.805336195 meters Centerline goodness [0,1] 0.7870902477346592 Centerline is valid? [False, False] Translation: X:137.88, Y:6.29, Z:0.02 [[ 9.94100172e-01 -1.08330716e-01 5.41330402e-03 1.37880413e+02] [ 1.08024605e-01 9.93319332e-01 4.05880487e-02 6.29194273e+00] [-9.77407191e-03 -3.97638162e-02 9.99161302e-01 2.19183964e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.835336195 meters Centerline goodness [0,1] 0.7797128082396684 Centerline is valid? [False, False] Translation: X:137.88, Y:6.29, Z:0.02 [[ 9.94087982e-01 -1.08435865e-01 5.54505189e-03 1.37880509e+02] [ 1.08124577e-01 9.93309047e-01 4.05735477e-02 6.29277076e+00] [-9.90757794e-03 -3.97341197e-02 9.99161168e-01 2.09044854e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.865336195 meters Centerline goodness [0,1] 0.7926290979215771 Centerline is valid? [False, False] Translation: X:137.88, Y:6.29, Z:0.02 [[ 9.94081506e-01 -1.08489324e-01 5.65912939e-03 1.37881087e+02] [ 1.08170209e-01 9.93290798e-01 4.08973971e-02 6.29179764e+00] [-1.00580921e-02 -4.00431968e-02 9.99147325e-01 2.04337207e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.895336195 meters Centerline goodness [0,1] 0.788036941580756 Centerline is valid? [False, False] Translation: X:137.88, Y:6.29, Z:0.02 [[ 9.94092967e-01 -1.08402617e-01 5.29576355e-03 1.37884166e+02] [ 1.08089939e-01 9.93264587e-01 4.17375854e-02 6.28539565e+00] [-9.78455788e-03 -4.09186213e-02 9.99114572e-01 1.97406238e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.925336195 meters Centerline goodness [0,1] 0.7846562774645773 Centerline is valid? [False, False] Translation: X:137.89, Y:6.28, Z:0.02 [[ 9.94119633e-01 -1.08161210e-01 5.22572682e-03 1.37885187e+02] [ 1.07845546e-01 9.93264862e-01 4.23586045e-02 6.28176387e+00] [-9.77208873e-03 -4.15459490e-02 9.99088805e-01 1.90630771e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.955336195 meters Centerline goodness [0,1] 0.779021879021879 Centerline is valid? [False, False] Translation: X:137.89, Y:6.28, Z:0.02 [[ 9.94163317e-01 -1.07768239e-01 5.03049534e-03 1.37887754e+02] [ 1.07452650e-01 9.93269914e-01 4.32296878e-02 6.27642380e+00] [-9.65542702e-03 -4.24368297e-02 9.99052495e-01 1.80126872e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.985336195 meters Centerline goodness [0,1] 0.7750597558086952 Centerline is valid? [False, False] Translation: X:137.89, Y:6.28, Z:0.02 [[ 9.94171254e-01 -1.07699675e-01 4.92925388e-03 1.37889949e+02] [ 1.07387455e-01 9.93272458e-01 4.33331109e-02 6.27643047e+00] [-9.56305406e-03 -4.25511932e-02 9.99048519e-01 1.62594464e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.015336195 meters Centerline goodness [0,1] 0.7713635289822391 Centerline is valid? [False, False] Translation: X:137.89, Y:6.28, Z:0.01 [[ 9.94153836e-01 -1.07856629e-01 5.00970055e-03 1.37890398e+02] [ 1.07543577e-01 9.93267890e-01 4.30497081e-02 6.27908449e+00] [-9.61917108e-03 -4.22592713e-02 9.99060371e-01 1.48751929e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.045336195 meters Centerline goodness [0,1] 0.7668473719171185 Centerline is valid? [False, False] Translation: X:137.89, Y:6.28, Z:0.01 [[ 9.94191098e-01 -1.07513537e-01 4.99008118e-03 1.37891992e+02] [ 1.07199409e-01 9.93295092e-01 4.32798613e-02 6.27794716e+00] [-9.60979411e-03 -4.24935191e-02 9.99050526e-01 1.42180753e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.075336195 meters Centerline goodness [0,1] 0.7645403780068729 Centerline is valid? [False, False] Translation: X:137.89, Y:6.28, Z:0.01 [[ 9.94225865e-01 -1.07188058e-01 5.06451444e-03 1.37892531e+02] [ 1.06867479e-01 9.93314702e-01 4.36491166e-02 6.27513054e+00] [-9.70932070e-03 -4.28558489e-02 9.99034086e-01 1.35263019e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.105336195 meters Centerline goodness [0,1] 0.7560142591841527 Centerline is valid? [False, False] Translation: X:137.90, Y:6.27, Z:0.01 [[ 9.94435562e-01 -1.05263437e-01 4.18585892e-03 1.37899642e+02] [ 1.04971268e-01 9.93461001e-01 4.49029190e-02 6.27282112e+00] [-8.88512318e-03 -4.42136646e-02 9.98982586e-01 9.69673801e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.135336195 meters Centerline goodness [0,1] 0.7139731033164078 Centerline is valid? [False, False] Translation: X:137.91, Y:6.27, Z:0.01 [[ 9.94672349e-01 -1.03032425e-01 3.35212101e-03 1.37906571e+02] [ 1.02769761e-01 9.93636397e-01 4.60986568e-02 6.27236351e+00] [-8.08044584e-03 -4.55085626e-02 9.98931267e-01 5.82973887e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.165336195 meters Centerline goodness [0,1] 0.6766582451933371 Centerline is valid? [False, False] Translation: X:137.91, Y:6.27, Z:0.00 [[ 9.94684430e-01 -1.02911072e-01 3.49214430e-03 1.37906730e+02] [ 1.02643176e-01 9.93655197e-01 4.59753010e-02 6.27284055e+00] [-8.20135485e-03 -4.53724713e-02 9.98936473e-01 4.90502456e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.195336195 meters Centerline goodness [0,1] 0.5546435823447686 Centerline is valid? [False, False] Translation: X:137.91, Y:6.27, Z:0.00 [[ 9.95128326e-01 -9.85424058e-02 3.00138170e-03 1.37909042e+02] [ 9.82668797e-02 9.93881760e-01 5.04248619e-02 6.27148698e+00] [-7.95200574e-03 -4.98842721e-02 9.98723348e-01 3.66717209e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.225336195 meters Centerline goodness [0,1] 0.5546435823447686 Centerline is valid? [False, False] Translation: X:137.91, Y:6.27, Z:0.00 [[ 9.95128326e-01 -9.85424058e-02 3.00138170e-03 1.37909042e+02] [ 9.82668797e-02 9.93881760e-01 5.04248619e-02 6.27148698e+00] [-7.95200574e-03 -4.98842721e-02 9.98723348e-01 3.66717209e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.255336195 meters Centerline goodness [0,1] 0.5180859483625317 Centerline is valid? [False, False] Translation: X:137.91, Y:6.27, Z:0.00 [[ 9.95137745e-01 -9.84487537e-02 2.95144848e-03 1.37911288e+02] [ 9.81779549e-02 9.93904130e-01 5.01564545e-02 6.27277570e+00] [-7.87129726e-03 -4.96228138e-02 9.98737012e-01 2.33087769e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.285336195 meters Centerline goodness [0,1] 0.5123743232791957 Centerline is valid? [False, False] Translation: X:137.91, Y:6.27, Z:0.00 [[ 9.95162803e-01 -9.81925373e-02 3.03654730e-03 1.37911887e+02] [ 9.79153405e-02 9.93914200e-01 5.04692969e-02 6.27034347e+00] [-7.97377580e-03 -4.99278424e-02 9.98720997e-01 1.43865855e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.31533619500001 meters Centerline goodness [0,1] 0.7412778795388428 Centerline is valid? [False, False] Translation: X:137.91, Y:6.27, Z:0.00 [[ 9.95173588e-01 -9.80762842e-02 3.25148481e-03 1.37912319e+02] [ 9.77870032e-02 9.93917528e-01 5.06522473e-02 6.26866364e+00] [-8.19949194e-03 -5.00898258e-02 9.98711058e-01 1.79593125e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.34533619500002 meters Centerline goodness [0,1] 0.6940551925722146 Centerline is valid? [False, False] Translation: X:137.91, Y:6.27, Z:0.00 [[ 9.95152924e-01 -9.82821701e-02 3.35744218e-03 1.37913495e+02] [ 9.79875057e-02 9.93898902e-01 5.06302327e-02 6.26900540e+00] [-8.31300724e-03 -5.00558367e-02 9.98711824e-01 1.48058737e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.37533619500002 meters Centerline goodness [0,1] 0.6957422224160108 Centerline is valid? [False, False] Translation: X:137.91, Y:6.27, Z:0.00 [[ 9.95146510e-01 -9.83460556e-02 3.38765899e-03 1.37913882e+02] [ 9.80485203e-02 9.93885091e-01 5.07830099e-02 6.26855118e+00] [-8.36125247e-03 -5.02043801e-02 9.98703965e-01 9.48323609e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.40533619500002 meters Centerline goodness [0,1] 0.6701039786886654 Centerline is valid? [False, False] Translation: X:137.92, Y:6.27, Z:0.00 [[ 9.95089843e-01 -9.89126579e-02 3.53418953e-03 1.37915691e+02] [ 9.86066302e-02 9.93827366e-01 5.08320585e-02 6.26949627e+00] [-8.54030828e-03 -5.02339706e-02 9.98700962e-01 2.11500863e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.43533619500002 meters Centerline goodness [0,1] 0.687064772556834 Centerline is valid? [False, False] Translation: X:137.92, Y:6.27, Z:-0.00 [[ 9.95102148e-01 -9.87896371e-02 3.51041036e-03 1.37916516e+02] [ 9.84820321e-02 9.93822122e-01 5.11749867e-02 6.26742726e+00] [-8.54428184e-03 -5.05786268e-02 9.98683532e-01 -3.39285929e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.465336195 meters Centerline goodness [0,1] 0.45435262732063586 Centerline is valid? [False, False] Translation: X:137.92, Y:6.27, Z:-0.00 [[ 9.94681092e-01 -1.02923562e-01 4.03293982e-03 1.37917732e+02] [ 1.02624272e-01 9.93620736e-01 4.67556693e-02 6.26855231e+00] [-8.81947268e-03 -4.60931027e-02 9.98898214e-01 -8.38328552e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.495336195 meters Centerline goodness [0,1] 0.5502728821968634 Centerline is valid? [False, False] Translation: X:137.92, Y:6.27, Z:-0.00 [[ 9.94685127e-01 -1.02883470e-01 4.06082798e-03 1.37920229e+02] [ 1.02580341e-01 9.93611460e-01 4.70482822e-02 6.26710910e+00] [-8.87537573e-03 -4.63816654e-02 9.98884362e-01 -2.09329897e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.525336195 meters Centerline goodness [0,1] 0.5517241379310345 Centerline is valid? [False, False] Translation: X:137.92, Y:6.27, Z:-0.00 [[ 9.94687917e-01 -1.02860052e-01 3.96949381e-03 1.37921566e+02] [ 1.02559989e-01 9.93607111e-01 4.71843032e-02 6.26653475e+00] [-8.79749715e-03 -4.65265450e-02 9.98878313e-01 -3.45381367e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.555336195 meters Centerline goodness [0,1] 0.6398633158873654 Centerline is valid? [False, False] Translation: X:137.92, Y:6.26, Z:-0.00 [[ 9.94684803e-01 -1.02897574e-01 3.77250285e-03 1.37924287e+02] [ 1.02602799e-01 9.93581486e-01 4.76287244e-02 6.26368742e+00] [-8.64916920e-03 -4.69884990e-02 9.98857984e-01 -3.73474791e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.585336195 meters Centerline goodness [0,1] 0.361187382440058 Centerline is valid? [False, False] Translation: X:137.93, Y:6.26, Z:-0.00 [[ 9.94709970e-01 -1.02663941e-01 3.49162845e-03 1.37927782e+02] [ 1.02378075e-01 9.93578527e-01 4.81709447e-02 6.26013908e+00] [-8.41462606e-03 -4.75586528e-02 9.98833003e-01 -4.60863965e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.615336195 meters Centerline goodness [0,1] 0.04814242496789778 Centerline is valid? [False, False] Translation: X:137.93, Y:6.26, Z:-0.01 [[ 9.94730748e-01 -1.02470167e-01 3.25621007e-03 1.37929969e+02] [ 1.02193236e-01 9.93582811e-01 4.84741263e-02 6.25814966e+00] [-8.20246616e-03 -4.78859412e-02 9.98819131e-01 -6.18144059e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.645336195 meters Centerline goodness [0,1] 0.04696592752839368 Centerline is valid? [False, False] Translation: X:137.93, Y:6.26, Z:-0.01 [[ 9.94742805e-01 -1.02359754e-01 3.03857801e-03 1.37933429e+02] [ 1.02092582e-01 9.93588311e-01 4.85733763e-02 6.25796593e+00] [-7.99105445e-03 -4.80078003e-02 9.98814995e-01 -8.02713250e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.675336195 meters Centerline goodness [0,1] 0.043151201638107595 Centerline is valid? [False, False] Translation: X:137.93, Y:6.26, Z:-0.01 [[ 9.94739827e-01 -1.02391205e-01 2.95267366e-03 1.37934845e+02] [ 1.02129653e-01 9.93593957e-01 4.83795581e-02 6.25948253e+00] [-7.88739996e-03 -4.78235177e-02 9.98824659e-01 -9.68009455e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.705336195 meters Centerline goodness [0,1] 0.04310493987369146 Centerline is valid? [False, False] Translation: X:137.94, Y:6.26, Z:-0.01 [[ 9.94932252e-01 -1.00524675e-01 2.14577160e-03 1.37942438e+02] [ 1.00298707e-01 9.93744218e-01 4.91182152e-02 6.26019257e+00] [-7.06994076e-03 -4.86540783e-02 9.98790667e-01 -1.33019224e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.735336195 meters Centerline goodness [0,1] 0.48614571041475463 Centerline is valid? [False, False] Translation: X:137.94, Y:6.26, Z:-0.01 [[ 9.94938574e-01 -1.00461237e-01 2.18491339e-03 1.37943074e+02] [ 1.00234801e-01 9.93760112e-01 4.89267165e-02 6.26144525e+00] [-7.08651824e-03 -4.84600732e-02 9.98799981e-01 -1.42283804e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.765336195 meters Centerline goodness [0,1] 0.04263667277007588 Centerline is valid? [False, False] Translation: X:137.95, Y:6.26, Z:-0.01 [[ 9.94986722e-01 -9.99830047e-02 2.19578211e-03 1.37945218e+02] [ 9.97571239e-02 9.93811762e-01 4.88538347e-02 6.26207201e+00] [-7.06674727e-03 -4.83898719e-02 9.98803525e-01 -1.44912956e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.795336195 meters Centerline goodness [0,1] 0.04140344698553855 Centerline is valid? [False, False] Translation: X:137.95, Y:6.27, Z:-0.02 [[ 9.94978246e-01 -1.00066527e-01 2.23142213e-03 1.37947567e+02] [ 9.98419075e-02 9.93824528e-01 4.84190133e-02 6.26541128e+00] [-7.06276457e-03 -4.79530755e-02 9.98824619e-01 -1.59585211e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.825336195 meters Centerline goodness [0,1] 0.039205549093102365 Centerline is valid? [False, False] Translation: X:137.95, Y:6.27, Z:-0.02 [[ 9.94959778e-01 -1.00232791e-01 2.90300128e-03 1.37948551e+02] [ 9.99767575e-02 9.93817008e-01 4.82949626e-02 6.26878925e+00] [-7.72579095e-03 -4.77613126e-02 9.98828899e-01 -1.71408752e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.855336195 meters Centerline goodness [0,1] 0.04011110382083416 Centerline is valid? [False, False] Translation: X:137.95, Y:6.27, Z:-0.02 [[ 9.94972292e-01 -1.00105102e-01 3.01770446e-03 1.37948490e+02] [ 9.98421527e-02 9.93820717e-01 4.84966692e-02 6.26773981e+00] [-7.85382122e-03 -4.79515480e-02 9.98818786e-01 -1.68071071e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.885336195 meters Centerline goodness [0,1] 0.03860392458967277 Centerline is valid? [False, False] Translation: X:137.95, Y:6.27, Z:-0.02 [[ 9.94992576e-01 -9.98977043e-02 3.19714802e-03 1.37949230e+02] [ 9.96237326e-02 9.93826459e-01 4.88270546e-02 6.26536453e+00] [-8.05512096e-03 -4.82640450e-02 9.98802131e-01 -1.73838681e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.915336195 meters Centerline goodness [0,1] 0.5609268790583535 Centerline is valid? [False, False] Translation: X:137.95, Y:6.26, Z:-0.02 [[ 9.95010938e-01 -9.97154862e-02 3.17090362e-03 1.37951581e+02] [ 9.94401221e-02 9.93827246e-01 4.91840206e-02 6.26271189e+00] [-8.05573893e-03 -4.86233234e-02 9.98784700e-01 -1.75688930e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.945336195 meters Centerline goodness [0,1] 0.5436144260565702 Centerline is valid? [False, False] Translation: X:137.95, Y:6.27, Z:-0.02 [[ 9.94992609e-01 -9.98945407e-02 3.28449969e-03 1.37952946e+02] [ 9.96154457e-02 9.93821795e-01 4.89387745e-02 6.26515534e+00] [-8.15292378e-03 -4.83665321e-02 9.98796380e-01 -1.77900466e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.975336195 meters Centerline goodness [0,1] 0.604927265215595 Centerline is valid? [False, False] Translation: X:137.95, Y:6.26, Z:-0.02 [[ 9.95001266e-01 -9.98115520e-02 3.18343020e-03 1.37954094e+02] [ 9.95365704e-02 9.93824358e-01 4.90470905e-02 6.26446323e+00] [-8.05923670e-03 -4.84850494e-02 9.98791394e-01 -1.87591744e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.005336195 meters Centerline goodness [0,1] 0.03774934952298348 Centerline is valid? [False, False] Translation: X:137.96, Y:6.26, Z:-0.02 [[ 9.95020774e-01 -9.96251480e-02 2.91361740e-03 1.37957652e+02] [ 9.93603198e-02 9.93821991e-01 4.94507638e-02 6.26160423e+00] [-7.82215670e-03 -4.89150393e-02 9.98772313e-01 -2.04149995e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.035336195 meters Centerline goodness [0,1] 0.03816063977746875 Centerline is valid? [False, False] Translation: X:137.97, Y:6.26, Z:-0.03 [[ 9.95070108e-01 -9.91472009e-02 2.30509955e-03 1.37965905e+02] [ 9.89096110e-02 9.93845335e-01 4.98832474e-02 6.26281041e+00] [-7.23669679e-03 -4.94093319e-02 9.98752396e-01 -2.70875362e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.06533619500001 meters Centerline goodness [0,1] 0.03369955400848468 Centerline is valid? [False, False] Translation: X:137.97, Y:6.26, Z:-0.03 [[ 9.95077165e-01 -9.90800532e-02 2.14002940e-03 1.37967421e+02] [ 9.88500788e-02 9.93846827e-01 4.99714561e-02 6.26219826e+00] [-7.07803595e-03 -4.95139127e-02 9.98748354e-01 -2.80963715e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.09533619500002 meters Centerline goodness [0,1] 0.04846440617788039 Centerline is valid? [False, False] Translation: X:137.97, Y:6.26, Z:-0.03 [[ 9.95090037e-01 -9.89457906e-02 2.35571698e-03 1.37968453e+02] [ 9.87036659e-02 9.93850076e-01 5.01957462e-02 6.26050991e+00] [-7.30788729e-03 -4.97167690e-02 9.98736621e-01 -2.75980224e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.12533619500002 meters Centerline goodness [0,1] 0.043325322263491395 Centerline is valid? [False, False] Translation: X:137.97, Y:6.26, Z:-0.03 [[ 9.95097737e-01 -9.88694391e-02 2.30814800e-03 1.37969671e+02] [ 9.86292644e-02 9.93853915e-01 5.02659321e-02 6.26025898e+00] [-7.26372644e-03 -4.97918644e-02 9.98733202e-01 -2.86740403e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.15533619500002 meters Centerline goodness [0,1] 0.04296335285216135 Centerline is valid? [False, False] Translation: X:137.98, Y:6.26, Z:-0.04 [[ 9.95115093e-01 -9.87110593e-02 1.44157736e-03 1.37979771e+02] [ 9.85130627e-02 9.93855904e-01 5.04541248e-02 6.26079179e+00] [-6.41310028e-03 -5.00656469e-02 9.98725339e-01 -3.68116333e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.18533619500002 meters Centerline goodness [0,1] 0.04414336631909854 Centerline is valid? [False, False] Translation: X:137.98, Y:6.26, Z:-0.04 [[ 9.95095529e-01 -9.89069320e-02 1.51888449e-03 1.37981964e+02] [ 9.87066809e-02 9.93851220e-01 5.01671596e-02 6.26427876e+00] [-6.47142504e-03 -4.97711922e-02 9.98739680e-01 -3.83223897e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.215336195 meters SLAMing on 177.245336195 meters SLAMing on 177.275336195 meters Centerline goodness [0,1] 0.605178775366775 Centerline is valid? [False, False] Translation: X:138.04, Y:6.28, Z:-0.05 [[ 9.94973738e-01 -9.99221712e-02 6.54373128e-03 1.38036628e+02] [ 9.95118855e-02 9.93942700e-01 4.66400427e-02 6.27610087e+00] [-1.11644683e-02 -4.57544386e-02 9.98890327e-01 -5.36285062e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.305336195 meters Centerline goodness [0,1] 0.6183175927959588 Centerline is valid? [False, False] Translation: X:138.04, Y:6.28, Z:-0.05 [[ 9.94974124e-01 -9.99253776e-02 6.43516974e-03 1.38037803e+02] [ 9.95210333e-02 9.93945922e-01 4.65517815e-02 6.27700785e+00] [-1.10479151e-02 -4.56773833e-02 9.98895150e-01 -5.46693683e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] Total time of SLAM: 3632.64 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%| | 0/5909 [00:00