+ python -m lidar_slam --no-model /working/90974db6-3605-4c98-972d-ab7450a59c8c Lidar SLAM 0.0.13 ===================================================== The recording path: /working/90974db6-3605-4c98-972d-ab7450a59c8c 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 0.028623853 Adjusted end_distance from 9.223372036854776e+18 to 309.218623853 -=-=-> Lidar cleaning parameters file not found. --> Creating a generic default one. SLAMing on 0.028623853 meters Centerline goodness [0,1] 0.38070557491289203 Centerline is valid? [0, False] SLAMing on 0.058623853000000004 meters Centerline goodness [0,1] 0.3236572833867639 Centerline is valid? [False, False] Translation: X:0.00, Y:0.00, Z:-0.00 [[ 9.99999985e-01 1.86469041e-05 -1.70391447e-04 2.17495296e-03] [-1.86447066e-05 1.00000000e+00 1.28989069e-05 1.01988352e-04] [ 1.70391687e-04 -1.28957298e-05 9.99999985e-01 -1.82729099e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.088623853 meters Centerline goodness [0,1] 0.3323730958928026 Centerline is valid? [False, False] Translation: X:0.00, Y:0.00, Z:-0.00 [[ 9.99999934e-01 8.18677145e-05 -3.53323027e-04 4.45221444e-03] [-8.18627993e-05 9.99999997e-01 1.39258891e-05 3.89241768e-04] [ 3.53324166e-04 -1.38969642e-05 9.99999937e-01 -3.70570292e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.11862385300000002 meters Centerline goodness [0,1] 0.36494827245370876 Centerline is valid? [False, False] Translation: X:0.01, Y:0.00, Z:-0.01 [[ 9.99999890e-01 8.75182879e-05 -4.61032306e-04 6.10383698e-03] [-8.75515660e-05 9.99999994e-01 -7.21619894e-05 1.25390610e-03] [ 4.61025988e-04 7.22023456e-05 9.99999891e-01 -5.10642587e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.148623853 meters Centerline goodness [0,1] 0.35693543809087136 Centerline is valid? [False, False] Translation: X:0.01, Y:0.00, Z:-0.01 [[ 9.99999882e-01 3.73023918e-04 -3.11226548e-04 9.44808718e-03] [-3.73045559e-04 9.99999928e-01 -6.94768157e-05 1.61312121e-03] [ 3.11200609e-04 6.95929092e-05 9.99999949e-01 -6.50415571e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.17862385300000003 meters Centerline goodness [0,1] 0.07322957875059777 Centerline is valid? [False, False] Translation: X:0.01, Y:0.00, Z:-0.01 [[ 9.99999767e-01 5.23837357e-04 -4.37549827e-04 1.13525487e-02] [-5.23823635e-04 9.99999862e-01 3.14753811e-05 7.78787180e-04] [ 4.37566255e-04 -3.12461748e-05 9.99999904e-01 -8.16826435e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.20862385300000003 meters Centerline goodness [0,1] 0.3633612713617067 Centerline is valid? [False, False] Translation: X:0.01, Y:0.00, Z:-0.01 [[ 9.99999718e-01 7.13426656e-04 -2.33350151e-04 1.40760783e-02] [-7.13416220e-04 9.99999745e-01 4.48034194e-05 3.31648768e-04] [ 2.33382055e-04 -4.46369310e-05 9.99999972e-01 -9.51488344e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.23862385300000002 meters Centerline goodness [0,1] 0.33267574143486556 Centerline is valid? [False, False] Translation: X:0.02, Y:0.00, Z:-0.01 [[ 9.99999684e-01 7.14812877e-04 -3.47211549e-04 1.57508947e-02] [-7.14814835e-04 9.99999745e-01 -5.51577536e-06 1.11946064e-03] [ 3.47207518e-04 5.76396559e-06 9.99999940e-01 -1.08302088e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.268623853 meters Centerline goodness [0,1] 0.3647345623925299 Centerline is valid? [False, False] Translation: X:0.02, Y:0.00, Z:-0.01 [[ 9.99999574e-01 7.89039180e-04 -4.79869084e-04 1.78186920e-02] [-7.89040770e-04 9.99999689e-01 -3.12287129e-06 1.38397738e-03] [ 4.79866471e-04 3.50150623e-06 9.99999885e-01 -1.24344239e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.298623853 meters Centerline goodness [0,1] 0.6064333436573603 Centerline is valid? [False, False] Translation: X:0.02, Y:-0.00, Z:-0.01 [[ 9.99999341e-01 1.06625956e-03 -4.24826694e-04 2.09879790e-02] [-1.06609307e-03 9.99999355e-01 3.91948868e-04 -1.86498607e-03] [ 4.25244339e-04 -3.91495705e-04 9.99999833e-01 -1.39135214e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.328623853 meters Centerline goodness [0,1] 0.499484343800057 Centerline is valid? [False, False] Translation: X:0.02, Y:-0.00, Z:-0.02 [[ 9.99999226e-01 1.13857695e-03 -5.02203739e-04 2.29380585e-02] [-1.13830456e-03 9.99999205e-01 5.42344405e-04 -3.05919660e-03] [ 5.02820841e-04 -5.41772324e-04 9.99999727e-01 -1.56258821e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.358623853 meters Centerline goodness [0,1] 0.41771847840328424 Centerline is valid? [False, False] Translation: X:0.03, Y:-0.00, Z:-0.02 [[ 9.99999024e-01 1.21926296e-03 -6.82889529e-04 2.51824914e-02] [-1.21882736e-03 9.99999054e-01 6.37933985e-04 -3.51220664e-03] [ 6.83666692e-04 -6.37101037e-04 9.99999563e-01 -1.74341644e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.388623853 meters Centerline goodness [0,1] 0.5957010365521004 Centerline is valid? [False, False] Translation: X:0.03, Y:-0.00, Z:-0.02 [[ 9.99998765e-01 1.30276728e-03 -8.79602588e-04 2.75128282e-02] [-1.30210451e-03 9.99998868e-01 7.53634740e-04 -4.25980078e-03] [ 8.80583404e-04 -7.52488474e-04 9.99999329e-01 -1.92589217e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.418623853 meters Centerline goodness [0,1] 0.39857706116874825 Centerline is valid? [False, False] Translation: X:0.03, Y:-0.01, Z:-0.02 [[ 9.99998384e-01 1.60697447e-03 -8.05570274e-04 3.08548421e-02] [-1.60611838e-03 9.99998146e-01 1.06222780e-03 -6.78146629e-03] [ 8.07275753e-04 -1.06093224e-03 9.99999111e-01 -2.08674831e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.448623853 meters Centerline goodness [0,1] 0.33613445378151263 Centerline is valid? [False, False] Translation: X:0.03, Y:-0.01, Z:-0.02 [[ 9.99998164e-01 1.66606421e-03 -9.46533511e-04 3.27465134e-02] [-1.66501392e-03 9.99997999e-01 1.10932482e-03 -6.91240586e-03] [ 9.48379823e-04 -1.10774679e-03 9.99998937e-01 -2.23053506e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.478623853 meters Centerline goodness [0,1] 0.4268215046209909 Centerline is valid? [False, False] Translation: X:0.04, Y:-0.01, Z:-0.02 [[ 9.99997755e-01 1.95526468e-03 -8.16178728e-04 3.58107666e-02] [-1.95424980e-03 9.99997319e-01 1.24239693e-03 -6.84478581e-03] [ 8.18605754e-04 -1.24079913e-03 9.99998895e-01 -2.32958652e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.508623853 meters Centerline goodness [0,1] 0.4539406009936311 Centerline is valid? [False, False] Translation: X:0.04, Y:-0.01, Z:-0.02 [[ 9.99997286e-01 2.11367279e-03 -9.79837311e-04 3.79682669e-02] [-2.11233163e-03 9.99996834e-01 1.36778080e-03 -7.69218219e-03] [ 9.82725249e-04 -1.36570734e-03 9.99998585e-01 -2.47943432e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.538623853 meters Centerline goodness [0,1] 0.4178298860745493 Centerline is valid? [False, False] Translation: X:0.04, Y:-0.01, Z:-0.03 [[ 0.99999668 0.00229478 -0.00117157 0.04012591] [-0.00229295 0.99999616 0.00155567 -0.00908489] [ 0.00117513 -0.00155297 0.9999981 -0.02645696] [ 0. 0. 0. 1. ]] SLAMing on 0.5686238530000001 meters Centerline goodness [0,1] 0.39615936430857523 Centerline is valid? [False, False] Translation: X:0.04, Y:-0.01, Z:-0.03 [[ 0.99999613 0.00242542 -0.00136304 0.04232959] [-0.00242311 0.99999563 0.00169166 -0.00983824] [ 0.00136714 -0.00168836 0.99999764 -0.02813902] [ 0. 0. 0. 1. ]] SLAMing on 0.5986238530000001 meters Centerline goodness [0,1] 0.3923889133304004 Centerline is valid? [False, False] Translation: X:0.05, Y:-0.01, Z:-0.03 [[ 0.99999539 0.00278871 -0.00119915 0.04568371] [-0.00278636 0.99999421 0.00195338 -0.01091059] [ 0.00120459 -0.00195003 0.99999737 -0.02942016] [ 0. 0. 0. 1. ]] SLAMing on 0.6286238530000001 meters Centerline goodness [0,1] 0.3744290231904427 Centerline is valid? [False, False] Translation: X:0.05, Y:-0.01, Z:-0.03 [[ 0.99999481 0.00292326 -0.00135187 0.04773161] [-0.00292046 0.99999359 0.00207167 -0.01174028] [ 0.00135792 -0.00206771 0.99999694 -0.03109696] [ 0. 0. 0. 1. ]] SLAMing on 0.658623853 meters Centerline goodness [0,1] 0.3764404328966393 Centerline is valid? [False, False] Translation: X:0.05, Y:-0.01, Z:-0.03 [[ 0.99999419 0.00303122 -0.00155999 0.05000355] [-0.00302783 0.99999307 0.0021673 -0.01233983] [ 0.00156655 -0.00216256 0.99999643 -0.03254029] [ 0. 0. 0. 1. ]] SLAMing on 0.6886238530000001 meters Centerline goodness [0,1] 0.3595316242348976 Centerline is valid? [False, False] Translation: X:0.05, Y:-0.01, Z:-0.03 [[ 0.99999378 0.00320143 -0.00148095 0.05286095] [-0.00319807 0.99999232 0.00226434 -0.01258304] [ 0.00148819 -0.00225959 0.99999634 -0.03323903] [ 0. 0. 0. 1. ]] SLAMing on 0.7186238530000001 meters Centerline goodness [0,1] 0.38394255874673633 Centerline is valid? [False, False] Translation: X:0.06, Y:-0.01, Z:-0.03 [[ 0.99999297 0.0033672 -0.00164705 0.05550758] [-0.00336326 0.99999149 0.00238869 -0.01336456] [ 0.00165508 -0.00238313 0.99999579 -0.03496562] [ 0. 0. 0. 1. ]] SLAMing on 0.7486238530000001 meters Centerline goodness [0,1] 0.06459572593082175 Centerline is valid? [False, False] Translation: X:0.06, Y:-0.01, Z:-0.04 [[ 0.99999208 0.00355377 -0.00179448 0.05999632] [-0.00354932 0.99999063 0.00247656 -0.01424764] [ 0.00180327 -0.00247017 0.99999532 -0.03702896] [ 0. 0. 0. 1. ]] SLAMing on 0.7786238530000001 meters Centerline goodness [0,1] 0.3505473531799136 Centerline is valid? [False, False] Translation: X:0.06, Y:-0.01, Z:-0.04 [[ 0.99999134 0.00361161 -0.00206625 0.06276893] [-0.00360644 0.99999038 0.00249725 -0.01430688] [ 0.00207525 -0.00248978 0.99999475 -0.03877958] [ 0. 0. 0. 1. ]] SLAMing on 0.8086238530000001 meters Centerline goodness [0,1] 0.3505473531799136 Centerline is valid? [False, False] Translation: X:0.06, Y:-0.01, Z:-0.04 [[ 0.99999134 0.00361161 -0.00206625 0.06276893] [-0.00360644 0.99999038 0.00249725 -0.01430688] [ 0.00207525 -0.00248978 0.99999475 -0.03877958] [ 0. 0. 0. 1. ]] SLAMing on 0.8386238530000001 meters Centerline goodness [0,1] 0.38452564384767773 Centerline is valid? [False, False] Translation: X:0.07, Y:-0.01, Z:-0.04 [[ 0.99999076 0.00362671 -0.00230861 0.06518945] [-0.00362092 0.99999031 0.00250539 -0.01442682] [ 0.00231767 -0.00249701 0.9999942 -0.04013586] [ 0. 0. 0. 1. ]] SLAMing on 0.8686238530000001 meters Centerline goodness [0,1] 0.3829646310769639 Centerline is valid? [False, False] Translation: X:0.07, Y:-0.02, Z:-0.04 [[ 0.99998993 0.00368171 -0.0025668 0.06763718] [-0.00367496 0.99998979 0.00262776 -0.01524194] [ 0.00257644 -0.0026183 0.99999325 -0.04139458] [ 0. 0. 0. 1. ]] SLAMing on 0.8986238530000001 meters Centerline goodness [0,1] 0.38755620528495804 Centerline is valid? [False, False] Translation: X:0.07, Y:-0.02, Z:-0.04 [[ 0.99998986 0.00377978 -0.00244823 0.0710557 ] [-0.00377263 0.99998862 0.00291891 -0.01784608] [ 0.00245924 -0.00290964 0.99999274 -0.04247599] [ 0. 0. 0. 1. ]] SLAMing on 0.928623853 meters Centerline goodness [0,1] 0.37526473702788565 Centerline is valid? [False, False] Translation: X:0.07, Y:-0.02, Z:-0.04 [[ 0.99998916 0.00377336 -0.00272703 0.07370136] [-0.00376517 0.99998841 0.00299958 -0.01846114] [ 0.00273831 -0.00298928 0.99999178 -0.04380486] [ 0. 0. 0. 1. ]] SLAMing on 0.9586238530000001 meters Centerline goodness [0,1] 0.37930428671820093 Centerline is valid? [False, False] Translation: X:0.08, Y:-0.02, Z:-0.05 [[ 0.99998817 0.0037872 -0.00305261 0.07672711] [-0.00377777 0.9999881 0.00308607 -0.01896617] [ 0.00306426 -0.0030745 0.99999058 -0.04543967] [ 0. 0. 0. 1. ]] SLAMing on 0.9886238530000001 meters Centerline goodness [0,1] 0.3995294738462215 Centerline is valid? [False, False] Translation: X:0.09, Y:-0.02, Z:-0.05 [[ 0.99998554 0.00344952 -0.00412593 0.08886006] [-0.00343615 0.99998884 0.00324311 -0.02144293] [ 0.00413707 -0.00322889 0.99998623 -0.05269925] [ 0. 0. 0. 1. ]] SLAMing on 1.018623853 meters Centerline goodness [0,1] 0.404449829276352 Centerline is valid? [False, False] Translation: X:0.09, Y:-0.02, Z:-0.05 [[ 0.99998391 0.00354593 -0.004427 0.09177443] [-0.00353027 0.9999875 0.00354054 -0.02381976] [ 0.0044395 -0.00352485 0.99998393 -0.05427771] [ 0. 0. 0. 1. ]] SLAMing on 1.048623853 meters Centerline goodness [0,1] 0.41060707138092056 Centerline is valid? [False, False] Translation: X:0.09, Y:-0.03, Z:-0.06 [[ 0.9999823 0.00362426 -0.00471764 0.09432639] [-0.00360606 0.99998605 0.00386071 -0.02616055] [ 0.00473157 -0.00384363 0.99998142 -0.05545914] [ 0. 0. 0. 1. ]] SLAMing on 1.078623853 meters Centerline goodness [0,1] 0.425330396475771 Centerline is valid? [False, False] Translation: X:0.11, Y:-0.03, Z:-0.06 [[ 0.99997968 0.00304034 -0.00560333 0.10527092] [-0.00301722 0.99998692 0.00412954 -0.02968976] [ 0.00561581 -0.00411255 0.99997577 -0.06135323] [ 0. 0. 0. 1. ]] SLAMing on 1.108623853 meters Centerline goodness [0,1] 0.4072708584707512 Centerline is valid? [False, False] Translation: X:0.11, Y:-0.03, Z:-0.06 [[ 9.99980881e-01 -5.33029367e-04 -6.16064741e-03 1.09746083e-01] [ 5.31983169e-04 9.99999844e-01 -1.71457018e-04 -2.53386676e-02] [ 6.16073784e-03 1.68176379e-04 9.99981008e-01 -6.33396991e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.1386238530000001 meters Centerline goodness [0,1] 0.4372387275613082 Centerline is valid? [False, False] Translation: X:0.11, Y:-0.03, Z:-0.06 [[ 9.99979117e-01 -3.63946643e-04 -6.45230792e-03 1.12142267e-01] [ 3.65135151e-04 9.99999917e-01 1.83021804e-04 -2.79955228e-02] [ 6.45224078e-03 -1.85373946e-04 9.99979167e-01 -6.42460594e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.1686238530000002 meters Centerline goodness [0,1] 0.39002912988370286 Centerline is valid? [False, False] Translation: X:0.12, Y:-0.03, Z:-0.07 [[ 9.99979021e-01 -3.97762365e-05 -6.47731230e-03 1.16100511e-01] [ 4.39360765e-05 9.99999793e-01 6.42075955e-04 -3.06994962e-02] [ 6.47728542e-03 -6.42347073e-04 9.99978816e-01 -6.55522548e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.1986238530000002 meters Centerline goodness [0,1] 0.4347293656625031 Centerline is valid? [False, False] Translation: X:0.12, Y:-0.03, Z:-0.07 [[ 9.99977698e-01 1.00238494e-04 -6.67789176e-03 1.18119136e-01] [-9.46824755e-05 9.99999649e-01 8.32312851e-04 -3.19195579e-02] [ 6.67797285e-03 -8.31662009e-04 9.99977356e-01 -6.63810235e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.2286238530000002 meters Centerline goodness [0,1] 0.3965045694083117 Centerline is valid? [False, False] Translation: X:0.12, Y:-0.04, Z:-0.07 [[ 9.99976742e-01 5.49461921e-04 -6.79812548e-03 1.21986446e-01] [-5.41182047e-04 9.99999110e-01 1.21974378e-03 -3.56782414e-02] [ 6.79878963e-03 -1.21603639e-03 9.99976149e-01 -6.74755280e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.2586238530000002 meters Centerline goodness [0,1] 0.3786756650159955 Centerline is valid? [False, False] Translation: X:0.13, Y:-0.04, Z:-0.09 [[ 9.99996095e-01 8.45611110e-04 2.66346997e-03 1.28601338e-01] [-8.48931290e-04 9.99998864e-01 1.24567816e-03 -3.66778935e-02] [-2.66241359e-03 -1.24793440e-03 9.99995677e-01 -9.24710753e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.288623853 meters Centerline goodness [0,1] 0.38126013280920334 Centerline is valid? [False, False] Translation: X:0.13, Y:-0.04, Z:-0.09 [[ 9.99996539e-01 9.69317414e-04 2.44605955e-03 1.30499802e-01] [-9.72535473e-04 9.99998663e-01 1.31476294e-03 -3.68428521e-02] [-2.44478186e-03 -1.31713727e-03 9.99996144e-01 -9.30805818e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.318623853 meters Centerline goodness [0,1] 0.3914975758664033 Centerline is valid? [False, False] Translation: X:0.13, Y:-0.04, Z:-0.09 [[ 0.99999686 0.00112418 0.0022383 0.1326154 ] [-0.00112746 0.99999829 0.00146456 -0.03746587] [-0.00223665 -0.00146708 0.99999642 -0.09404346] [ 0. 0. 0. 1. ]] SLAMing on 1.348623853 meters Centerline goodness [0,1] 0.4093018068257863 Centerline is valid? [False, False] Translation: X:0.14, Y:-0.04, Z:-0.10 [[ 0.99999755 0.00161227 0.00151701 0.14284248] [-0.00161517 0.99999687 0.00191179 -0.04082098] [-0.00151392 -0.00191424 0.99999702 -0.10001459] [ 0. 0. 0. 1. ]] SLAMing on 1.3786238530000001 meters Centerline goodness [0,1] 0.3719267963442431 Centerline is valid? [False, False] Translation: X:0.15, Y:-0.04, Z:-0.10 [[ 0.99999753 0.00185507 0.0012213 0.14580791] [-0.00185779 0.99999579 0.00222719 -0.0431984 ] [-0.00121716 -0.00222945 0.99999677 -0.10142418] [ 0. 0. 0. 1. ]] SLAMing on 1.4086238530000001 meters Centerline goodness [0,1] 0.3690691293582279 Centerline is valid? [False, False] Translation: X:0.15, Y:-0.05, Z:-0.10 [[ 9.99997397e-01 2.07614362e-03 9.46108497e-04 1.48523257e-01] [-2.07856083e-03 9.99994560e-01 2.56111532e-03 -4.56164053e-02] [-9.40786107e-04 -2.56307520e-03 9.99996273e-01 -1.02782170e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.4386238530000002 meters Centerline goodness [0,1] 0.3865868528987917 Centerline is valid? [False, False] Translation: X:0.15, Y:-0.05, Z:-0.10 [[ 9.99997294e-01 2.24578663e-03 6.07057535e-04 1.51783605e-01] [-2.24745645e-03 9.99993654e-01 2.76412758e-03 -4.70235782e-02] [-6.00846042e-04 -2.76548443e-03 9.99995996e-01 -1.04472352e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.4686238530000002 meters Centerline goodness [0,1] 0.3424785450664769 Centerline is valid? [False, False] Translation: X:0.16, Y:-0.05, Z:-0.11 [[ 9.99995289e-01 3.03347108e-03 -4.68531759e-04 1.63652009e-01] [-3.03193623e-03 9.99990146e-01 3.24257153e-03 -4.73568436e-02] [ 4.78363390e-04 -3.24113570e-03 9.99994633e-01 -1.11423705e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.4986238530000002 meters Centerline goodness [0,1] 0.3472768919429804 Centerline is valid? [False, False] Translation: X:0.17, Y:-0.05, Z:-0.11 [[ 9.99994903e-01 3.08851783e-03 -8.09126180e-04 1.66815196e-01] [-3.08596094e-03 9.99990301e-01 3.14247621e-03 -4.58893056e-02] [ 8.18823926e-04 -3.13996326e-03 9.99994735e-01 -1.12864695e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.5286238530000003 meters Centerline goodness [0,1] 0.3624666666666667 Centerline is valid? [False, False] Translation: X:0.17, Y:-0.04, Z:-0.11 [[ 0.99999428 0.00319174 -0.00112201 0.16978436] [-0.00318828 0.99999019 0.00307395 -0.04473341] [ 0.00113181 -0.00307035 0.99999465 -0.11417473] [ 0. 0. 0. 1. ]] SLAMing on 1.558623853 meters Centerline goodness [0,1] 0.193831132808166 Centerline is valid? [False, False] Translation: X:0.18, Y:-0.04, Z:-0.12 [[ 0.99999266 0.00356153 -0.00141224 0.17507408] [-0.00355726 0.99998911 0.00301995 -0.04325082] [ 0.00142298 -0.00301491 0.99999444 -0.11616989] [ 0. 0. 0. 1. ]] SLAMing on 1.588623853 meters Centerline goodness [0,1] 0.2105416816385196 Centerline is valid? [False, False] Translation: X:0.18, Y:-0.04, Z:-0.12 [[ 0.99999217 0.00360432 -0.00163141 0.17721237] [-0.00359937 0.99998895 0.0030237 -0.04323317] [ 0.0016423 -0.0030178 0.9999941 -0.11691767] [ 0. 0. 0. 1. ]] SLAMing on 1.6186238530000001 meters Centerline goodness [0,1] 0.2028568240151769 Centerline is valid? [False, False] Translation: X:0.18, Y:-0.04, Z:-0.12 [[ 0.99999134 0.00370303 -0.00189906 0.17987224] [-0.00369698 0.99998812 0.00317791 -0.04465933] [ 0.00191081 -0.00317086 0.99999315 -0.1180783 ] [ 0. 0. 0. 1. ]] SLAMing on 1.6486238530000001 meters Centerline goodness [0,1] 0.3176178660049628 Centerline is valid? [False, False] Translation: X:0.18, Y:-0.05, Z:-0.12 [[ 0.99999068 0.00375108 -0.00213776 0.18241342] [-0.00374395 0.99998745 0.0033297 -0.0461286 ] [ 0.00215022 -0.00332166 0.99999217 -0.11925515] [ 0. 0. 0. 1. ]] SLAMing on 1.6786238530000002 meters Centerline goodness [0,1] 0.20791768477213124 Centerline is valid? [False, False] Translation: X:0.19, Y:-0.05, Z:-0.12 [[ 0.99999061 0.00366966 -0.00230354 0.18650391] [-0.00366142 0.99998691 0.00357301 -0.04751077] [ 0.00231662 -0.00356454 0.99999096 -0.12043707] [ 0. 0. 0. 1. ]] SLAMing on 1.7086238530000002 meters Centerline goodness [0,1] 0.21054413324606736 Centerline is valid? [False, False] Translation: X:0.19, Y:-0.05, Z:-0.12 [[ 0.99999013 0.00364793 -0.00253572 0.18872696] [-0.00363845 0.99998641 0.00373358 -0.04860104] [ 0.00254931 -0.00372431 0.99998982 -0.12119458] [ 0. 0. 0. 1. ]] SLAMing on 1.7386238530000002 meters Centerline goodness [0,1] 0.3419890995901086 Centerline is valid? [False, False] Translation: X:0.20, Y:-0.05, Z:-0.13 [[ 9.99993473e-01 1.33245162e-03 -3.35841874e-03 1.96778761e-01] [-1.32937174e-03 9.99998694e-01 9.19128212e-04 -4.62953151e-02] [ 3.35963905e-03 -9.14657626e-04 9.99993938e-01 -1.25561155e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.7686238530000002 meters Centerline goodness [0,1] 0.25254348169369933 Centerline is valid? [False, False] Translation: X:0.21, Y:-0.05, Z:-0.13 [[ 9.99991103e-01 -1.86355687e-04 -4.21427979e-03 2.06253724e-01] [ 1.89850283e-04 9.99999638e-01 8.28842549e-04 -5.13800332e-02] [ 4.21412381e-03 -8.29635256e-04 9.99990776e-01 -1.29754641e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.7986238530000003 meters Centerline goodness [0,1] 0.3048523445821907 Centerline is valid? [False, False] Translation: X:0.21, Y:-0.06, Z:-0.13 [[ 9.99989845e-01 -2.22081693e-04 -4.50112474e-03 2.08811382e-01] [ 2.27749864e-04 9.99999182e-01 1.25880539e-03 -5.50106738e-02] [ 4.50084150e-03 -1.25981774e-03 9.99989078e-01 -1.30610544e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.828623853 meters Centerline goodness [0,1] 0.2723432785786122 Centerline is valid? [False, False] Translation: X:0.21, Y:-0.06, Z:-0.13 [[ 9.99988207e-01 -3.84638291e-04 -4.84133055e-03 2.11897981e-01] [ 3.92076420e-04 9.99998744e-01 1.53552571e-03 -5.77326960e-02] [ 4.84073385e-03 -1.53740577e-03 9.99987102e-01 -1.31479174e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.858623853 meters Centerline goodness [0,1] 0.2992756215346092 Centerline is valid? [False, False] Translation: X:0.22, Y:-0.06, Z:-0.13 [[ 9.99985808e-01 -7.33429077e-04 -5.27697727e-03 2.17093433e-01] [ 7.44843377e-04 9.99997387e-01 2.16139754e-03 -6.33871736e-02] [ 5.27537824e-03 -2.16529739e-03 9.99983741e-01 -1.32806402e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.8886238530000001 meters Centerline goodness [0,1] 0.20976520331054338 Centerline is valid? [False, False] Translation: X:0.22, Y:-0.07, Z:-0.13 [[ 9.99984774e-01 -6.27856430e-04 -5.48248591e-03 2.19147333e-01] [ 6.41678513e-04 9.99996620e-01 2.51973928e-03 -6.61232618e-02] [ 5.48088535e-03 -2.52321891e-03 9.99981796e-01 -1.33436072e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.9186238530000002 meters Centerline goodness [0,1] 0.2075335513702492 Centerline is valid? [False, False] Translation: X:0.22, Y:-0.07, Z:-0.13 [[ 9.99983402e-01 -4.85608201e-04 -5.74099439e-03 2.23222787e-01] [ 5.02984537e-04 9.99995296e-01 3.02565559e-03 -6.97494896e-02] [ 5.73949811e-03 -3.02849301e-03 9.99978943e-01 -1.34316531e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.9486238530000002 meters Centerline goodness [0,1] 0.20575546068532446 Centerline is valid? [False, False] Translation: X:0.23, Y:-0.07, Z:-0.14 [[ 9.99982126e-01 -3.54207612e-04 -5.96835614e-03 2.25461299e-01] [ 3.73972459e-04 9.99994449e-01 3.31081599e-03 -7.20726037e-02] [ 5.96715030e-03 -3.31298882e-03 9.99976708e-01 -1.35142373e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.9786238530000002 meters Centerline goodness [0,1] 0.20067514346798698 Centerline is valid? [False, False] Translation: X:0.23, Y:-0.08, Z:-0.14 [[ 9.99980626e-01 -1.92897019e-04 -6.22174384e-03 2.28105277e-01] [ 2.16064471e-04 9.99993046e-01 3.72316952e-03 -7.53947871e-02] [ 6.22098239e-03 -3.72444168e-03 9.99973714e-01 -1.36302015e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.008623853 meters Centerline goodness [0,1] 0.1979280383201515 Centerline is valid? [False, False] Translation: X:0.24, Y:-0.08, Z:-0.14 [[ 9.99972302e-01 -8.11328178e-04 -7.39842268e-03 2.40974915e-01] [ 8.41003744e-04 9.99991611e-01 4.00883796e-03 -8.10570670e-02] [ 7.39510814e-03 -4.01494903e-03 9.99964596e-01 -1.43034584e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.0386238530000003 meters Centerline goodness [0,1] 0.2099570038470242 Centerline is valid? [False, False] Translation: X:0.24, Y:-0.08, Z:-0.14 [[ 9.99970797e-01 -6.30181699e-04 -7.61628071e-03 2.43099773e-01] [ 6.64223616e-04 9.99989798e-01 4.46792213e-03 -8.45005424e-02] [ 7.61338741e-03 -4.47285057e-03 9.99961014e-01 -1.43713215e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.068623853 meters Centerline goodness [0,1] 0.2016768327507824 Centerline is valid? [False, False] Translation: X:0.25, Y:-0.09, Z:-0.14 [[ 9.99969180e-01 -4.65707064e-04 -7.83727085e-03 2.45380369e-01] [ 5.03954444e-04 9.99987971e-01 4.87892422e-03 -8.76055992e-02] [ 7.83490443e-03 -4.88272348e-03 9.99957386e-01 -1.44605551e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.0986238530000003 meters Centerline goodness [0,1] 0.20200453942785235 Centerline is valid? [False, False] Translation: X:0.26, Y:-0.09, Z:-0.17 [[ 9.99998263e-01 -1.68261904e-03 8.02111265e-04 2.56416304e-01] [ 1.67930059e-03 9.99990103e-01 4.12002215e-03 -8.85455661e-02] [-8.09035754e-04 -4.11866800e-03 9.99991191e-01 -1.69730318e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.128623853 meters Centerline goodness [0,1] 0.20582664381708304 Centerline is valid? [False, False] Translation: X:0.26, Y:-0.09, Z:-0.17 [[ 9.99998638e-01 -1.54995004e-03 5.67039683e-04 2.58814193e-01] [ 1.54740293e-03 9.99988834e-01 4.46514065e-03 -9.10160982e-02] [-5.73954096e-04 -4.46425713e-03 9.99989870e-01 -1.70783792e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.1586238530000004 meters Centerline goodness [0,1] 0.1927221896559499 Centerline is valid? [False, False] Translation: X:0.26, Y:-0.10, Z:-0.17 [[ 9.99999149e-01 -1.30412645e-03 2.64854218e-05 2.64667246e-01] [ 1.30397593e-03 9.99986376e-01 5.05439387e-03 -9.51530285e-02] [-3.30766297e-05 -5.05435504e-03 9.99987226e-01 -1.73080337e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.188623853 meters Centerline goodness [0,1] 0.19372311613828264 Centerline is valid? [False, False] Translation: X:0.27, Y:-0.10, Z:-0.17 [[ 9.99999375e-01 -1.10137633e-03 -1.92899710e-04 2.66766024e-01] [ 1.10239584e-03 9.99984988e-01 5.36733677e-03 -9.73573334e-02] [ 1.86985356e-04 -5.36754607e-03 9.99985577e-01 -1.73824896e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.2186238530000004 meters Centerline goodness [0,1] 0.20455530958303858 Centerline is valid? [False, False] Translation: X:0.28, Y:-0.10, Z:-0.18 [[ 9.99999127e-01 -7.80190766e-04 -1.06629958e-03 2.77204689e-01] [ 7.86366211e-04 9.99982851e-01 5.80337729e-03 -1.01619141e-01] [ 1.06175356e-03 -5.80421072e-03 9.99982592e-01 -1.79754652e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.2486238530000002 meters Centerline goodness [0,1] 0.5107321376065863 Centerline is valid? [False, False] Translation: X:0.28, Y:-0.10, Z:-0.18 [[ 9.99998911e-01 -5.93060461e-04 -1.35163118e-03 2.79802837e-01] [ 6.01150471e-04 9.99981862e-01 5.99284177e-03 -1.02626799e-01] [ 1.34805254e-03 -5.99364778e-03 9.99981129e-01 -1.80475403e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.278623853 meters Centerline goodness [0,1] 0.5101832300252027 Centerline is valid? [False, False] Translation: X:0.28, Y:-0.10, Z:-0.18 [[ 9.99998660e-01 -4.39608981e-04 -1.57724338e-03 2.81920799e-01] [ 4.49341241e-04 9.99980831e-01 6.17538473e-03 -1.03686112e-01] [ 1.57449839e-03 -6.17608517e-03 9.99979688e-01 -1.80970212e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.3086238530000003 meters Centerline goodness [0,1] 0.18864157193746733 Centerline is valid? [False, False] Translation: X:0.28, Y:-0.10, Z:-0.18 [[ 9.99998308e-01 -2.92661869e-04 -1.81587433e-03 2.84112596e-01] [ 3.04228610e-04 9.99979647e-01 6.37278840e-03 -1.04970050e-01] [ 1.81397230e-03 -6.37333006e-03 9.99978045e-01 -1.81552247e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.338623853 meters Centerline goodness [0,1] 0.18458650059529258 Centerline is valid? [False, False] Translation: X:0.29, Y:-0.11, Z:-0.18 [[ 9.99997862e-01 8.89699017e-05 -2.06611346e-03 2.87984025e-01] [-7.52375610e-05 9.99977915e-01 6.64558699e-03 -1.06154796e-01] [ 2.06665909e-03 -6.64541733e-03 9.99975783e-01 -1.82153054e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.3686238530000003 meters Centerline goodness [0,1] 0.1819950113274903 Centerline is valid? [False, False] Translation: X:0.29, Y:-0.11, Z:-0.18 [[ 9.99997225e-01 2.22310201e-04 -2.34537456e-03 2.90310501e-01] [-2.06419427e-04 9.99977039e-01 6.77343535e-03 -1.06804608e-01] [ 2.34682651e-03 -6.77293242e-03 9.99974310e-01 -1.82725403e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.398623853 meters Centerline goodness [0,1] 0.1788933860730384 Centerline is valid? [False, False] Translation: X:0.29, Y:-0.11, Z:-0.18 [[ 9.99996513e-01 3.63502910e-04 -2.61562826e-03 2.92590167e-01] [-3.45327716e-04 9.99975818e-01 6.94579119e-03 -1.08122915e-01] [ 2.61808982e-03 -6.94486373e-03 9.99972457e-01 -1.83363875e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.4286238530000004 meters Centerline goodness [0,1] 0.1732606968562025 Centerline is valid? [False, False] Translation: X:0.31, Y:-0.11, Z:-0.19 [[ 0.99999225 0.00113784 -0.00376882 0.30565852] [-0.00111008 0.99997229 0.00736137 -0.11051069] [ 0.00377709 -0.00735713 0.9999658 -0.19032477] [ 0. 0. 0. 1. ]] SLAMing on 2.458623853 meters Centerline goodness [0,1] 0.16957869205892917 Centerline is valid? [False, False] Translation: X:0.31, Y:-0.11, Z:-0.19 [[ 0.99999085 0.00128677 -0.00408084 0.30830063] [-0.00125662 0.99997197 0.00738042 -0.11037115] [ 0.00409023 -0.00737522 0.99996444 -0.19113459] [ 0. 0. 0. 1. ]] SLAMing on 2.4886238530000004 meters Centerline goodness [0,1] 0.17532586744997247 Centerline is valid? [False, False] Translation: X:0.31, Y:-0.11, Z:-0.19 [[ 0.99998821 0.00164458 -0.00456809 0.31285041] [-0.0016106 0.99997108 0.00743337 -0.11008665] [ 0.00458018 -0.00742592 0.99996194 -0.19225779] [ 0. 0. 0. 1. ]] SLAMing on 2.5186238530000002 meters Centerline goodness [0,1] 0.17449311181289762 Centerline is valid? [False, False] Translation: X:0.32, Y:-0.11, Z:-0.19 [[ 0.9999867 0.00173012 -0.00485842 0.31534268] [-0.0016943 0.99997143 0.00736702 -0.1091205 ] [ 0.00487103 -0.0073587 0.99996106 -0.19323135] [ 0. 0. 0. 1. ]] SLAMing on 2.548623853 meters Centerline goodness [0,1] 0.17554715251518271 Centerline is valid? [False, False] Translation: X:0.32, Y:-0.11, Z:-0.19 [[ 0.99998512 0.00178157 -0.00515638 0.31770135] [-0.00174386 0.99997177 0.00730882 -0.10853501] [ 0.00516926 -0.00729972 0.99996 -0.19388809] [ 0. 0. 0. 1. ]] SLAMing on 2.5786238530000003 meters Centerline goodness [0,1] 0.17708405117956494 Centerline is valid? [False, False] Translation: X:0.32, Y:-0.11, Z:-0.19 [[ 0.99998354 0.00182919 -0.00543848 0.32009024] [-0.00178952 0.99997182 0.00729051 -0.10850785] [ 0.00545167 -0.00728066 0.99995863 -0.19474495] [ 0. 0. 0. 1. ]] SLAMing on 2.608623853 meters Centerline goodness [0,1] 0.17558059323982522 Centerline is valid? [False, False] Translation: X:0.33, Y:-0.11, Z:-0.20 [[ 0.99997986 0.00211924 -0.00598298 0.32518009] [-0.00207663 0.9999725 0.0071194 -0.10727118] [ 0.0059979 -0.00710683 0.99995676 -0.19614581] [ 0. 0. 0. 1. ]] SLAMing on 2.6386238530000004 meters Centerline goodness [0,1] 0.17365228495849672 Centerline is valid? [False, False] Translation: X:0.33, Y:-0.11, Z:-0.20 [[ 0.99997775 0.00216335 -0.00631054 0.3276731 ] [-0.0021199 0.99997407 0.00688293 -0.10501024] [ 0.00632527 -0.0068694 0.9999564 -0.19668975] [ 0. 0. 0. 1. ]] SLAMing on 2.668623853 meters Centerline goodness [0,1] 0.17912765365717997 Centerline is valid? [False, False] Translation: X:0.33, Y:-0.10, Z:-0.20 [[ 0.99997616 0.00215421 -0.00656089 0.32948053] [-0.00211092 0.999976 0.00659933 -0.10252524] [ 0.00657495 -0.00658532 0.9999567 -0.19699044] [ 0. 0. 0. 1. ]] SLAMing on 2.6986238530000004 meters Centerline goodness [0,1] 0.17872468047801415 Centerline is valid? [False, False] Translation: X:0.34, Y:-0.10, Z:-0.20 [[ 0.99997032 0.00252229 -0.0072804 0.33546516] [-0.00247616 0.99997684 0.00633917 -0.09954668] [ 0.00729622 -0.00632096 0.9999534 -0.19862212] [ 0. 0. 0. 1. ]] SLAMing on 2.728623853 meters Centerline goodness [0,1] 0.17872468047801415 Centerline is valid? [False, False] Translation: X:0.34, Y:-0.10, Z:-0.20 [[ 0.99997032 0.00252229 -0.0072804 0.33546516] [-0.00247616 0.99997684 0.00633917 -0.09954668] [ 0.00729622 -0.00632096 0.9999534 -0.19862212] [ 0. 0. 0. 1. ]] SLAMing on 2.7586238530000005 meters Centerline goodness [0,1] 0.17505360646014878 Centerline is valid? [False, False] Translation: X:0.35, Y:-0.10, Z:-0.22 [[ 0.9999956 0.00269801 0.00123203 0.34760805] [-0.00270599 0.99997506 0.0065238 -0.0981178 ] [-0.0012144 -0.0065271 0.99997796 -0.22269922] [ 0. 0. 0. 1. ]] SLAMing on 2.7886238530000003 meters Centerline goodness [0,1] 0.17736695190591678 Centerline is valid? [False, False] Translation: X:0.35, Y:-0.10, Z:-0.22 [[ 9.99996025e-01 2.64254719e-03 9.83445272e-04 3.49524884e-01] [-2.64871639e-03 9.99976486e-01 6.32552380e-03 -9.67330311e-02] [-9.66706652e-04 -6.32810352e-03 9.99979510e-01 -2.23298398e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.818623853 meters Centerline goodness [0,1] 0.1838009795395249 Centerline is valid? [False, False] Translation: X:0.35, Y:-0.09, Z:-0.22 [[ 9.99996529e-01 2.60110309e-03 4.20318739e-04 3.54168199e-01] [-2.60360260e-03 9.99978250e-01 6.05978392e-03 -9.49941785e-02] [-4.04547474e-04 -6.06085723e-03 9.99981551e-01 -2.24630412e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.8486238530000003 meters Centerline goodness [0,1] 0.18735964810741979 Centerline is valid? [False, False] Translation: X:0.36, Y:-0.09, Z:-0.23 [[ 9.99996889e-01 2.48659950e-03 1.95372359e-04 3.55821500e-01] [-2.48768850e-03 9.99980162e-01 5.78683092e-03 -9.28381047e-02] [-1.80978952e-04 -5.78729894e-03 9.99983237e-01 -2.25071514e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.878623853 meters Centerline goodness [0,1] 0.18698080118146576 Centerline is valid? [False, False] Translation: X:0.36, Y:-0.09, Z:-0.23 [[ 9.99997189e-01 2.36853043e-03 -1.07788463e-04 3.57906752e-01] [-2.36790605e-03 9.99982265e-01 5.46466343e-03 -9.02553504e-02] [ 1.20729773e-04 -5.46439283e-03 9.99985063e-01 -2.25531216e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.9086238530000004 meters Centerline goodness [0,1] 0.18628355317775114 Centerline is valid? [False, False] Translation: X:0.36, Y:-0.09, Z:-0.23 [[ 9.99997425e-01 2.23955463e-03 -3.66008274e-04 3.59775559e-01] [-2.23761336e-03 9.99983867e-01 5.22091692e-03 -8.83985185e-02] [ 3.77694898e-04 -5.22008449e-03 9.99986304e-01 -2.25969309e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.938623853 meters Centerline goodness [0,1] 0.1894200717675657 Centerline is valid? [False, False] Translation: X:0.37, Y:-0.08, Z:-0.23 [[ 9.99999126e-01 -8.98647135e-05 -1.31917355e-03 3.68410102e-01] [ 9.19772310e-05 9.99998713e-01 1.60142135e-03 -8.39951095e-02] [ 1.31902794e-03 -1.60154128e-03 9.99997848e-01 -2.29614343e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.9686238530000004 meters Centerline goodness [0,1] 0.18736026920506144 Centerline is valid? [False, False] Translation: X:0.37, Y:-0.08, Z:-0.23 [[ 9.99998682e-01 -2.21943894e-04 -1.60811474e-03 3.70354009e-01] [ 2.24221592e-04 9.99998972e-01 1.41633640e-03 -8.27269111e-02] [ 1.60779874e-03 -1.41669511e-03 9.99997704e-01 -2.29864131e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.9986238530000002 meters Centerline goodness [0,1] 0.10075694636758059 Centerline is valid? [False, False] Translation: X:0.37, Y:-0.08, Z:-0.23 [[ 9.99998266e-01 -3.78956688e-04 -1.82314418e-03 3.71682983e-01] [ 3.81039320e-04 9.99999275e-01 1.14211786e-03 -8.06703875e-02] [ 1.82271005e-03 -1.14281057e-03 9.99997686e-01 -2.29775900e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.0286238530000005 meters Centerline goodness [0,1] 0.18947100712105802 Centerline is valid? [False, False] Translation: X:0.37, Y:-0.08, Z:-0.23 [[ 9.99997286e-01 -6.39679946e-04 -2.24019787e-03 3.74560583e-01] [ 6.41383522e-04 9.99999506e-01 7.59822188e-04 -7.83382783e-02] [ 2.23971072e-03 -7.61256952e-04 9.99997202e-01 -2.29370220e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.0586238530000003 meters Centerline goodness [0,1] 0.19051471098065498 Centerline is valid? [False, False] Translation: X:0.38, Y:-0.08, Z:-0.23 [[ 9.99996626e-01 -7.56647026e-04 -2.48523756e-03 3.76144498e-01] [ 7.58264379e-04 9.99999501e-01 6.49906030e-04 -7.76922076e-02] [ 2.48474457e-03 -6.51788304e-04 9.99996701e-01 -2.29545990e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.088623853 meters Centerline goodness [0,1] 0.19196820555478533 Centerline is valid? [False, False] Translation: X:0.38, Y:-0.08, Z:-0.23 [[ 9.99995906e-01 -8.89820313e-04 -2.71948625e-03 3.77681451e-01] [ 8.91173929e-04 9.99999480e-01 4.96575575e-04 -7.67067831e-02] [ 2.71904297e-03 -4.98997077e-04 9.99996179e-01 -2.29847995e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.1186238530000003 meters Centerline goodness [0,1] 0.14826235133192678 Centerline is valid? [False, False] Translation: X:0.38, Y:-0.08, Z:-0.23 [[ 9.99994041e-01 -1.30706616e-03 -3.19528163e-03 3.81204974e-01] [ 1.30797886e-03 9.99999104e-01 2.83567461e-04 -7.61633109e-02] [ 3.19490813e-03 -2.87745132e-04 9.99994855e-01 -2.30569886e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.148623853 meters Centerline goodness [0,1] 0.14890430214070094 Centerline is valid? [False, False] Translation: X:0.38, Y:-0.08, Z:-0.23 [[ 9.99992572e-01 -1.51011181e-03 -3.54630270e-03 3.83369268e-01] [ 1.51121434e-03 9.99998811e-01 3.08236368e-04 -7.69239103e-02] [ 3.54583301e-03 -3.13593302e-04 9.99993664e-01 -2.31017045e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.1786238530000004 meters Centerline goodness [0,1] 0.06916299559471362 Centerline is valid? [False, False] Translation: X:0.39, Y:-0.08, Z:-0.23 [[ 9.99991191e-01 -1.69685815e-03 -3.83919267e-03 3.85099620e-01] [ 1.69851067e-03 9.99998466e-01 4.27213495e-04 -7.84242590e-02] [ 3.83846186e-03 -4.33730641e-04 9.99992539e-01 -2.31219579e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.208623853 meters Centerline goodness [0,1] 0.06865699318529506 Centerline is valid? [False, False] Translation: X:0.39, Y:-0.08, Z:-0.24 [[ 9.99982336e-01 -3.56287745e-03 -4.75752259e-03 3.93395585e-01] [ 3.56045054e-03 9.99993527e-01 -5.18491926e-04 -7.89766354e-02] [ 4.75933912e-03 5.01543843e-04 9.99988549e-01 -2.35185349e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.2386238530000004 meters Centerline goodness [0,1] 0.15374779131405192 Centerline is valid? [False, False] Translation: X:0.40, Y:-0.08, Z:-0.24 [[ 9.99980303e-01 -3.72316254e-03 -5.05297194e-03 3.95305753e-01] [ 3.72131359e-03 9.99993005e-01 -3.75266446e-04 -8.03692992e-02] [ 5.05433378e-03 3.56455361e-04 9.99987163e-01 -2.35819969e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.2686238530000002 meters Centerline goodness [0,1] 0.15254315624061188 Centerline is valid? [False, False] Translation: X:0.40, Y:-0.08, Z:-0.24 [[ 9.99972837e-01 -4.57120560e-03 -5.78188203e-03 4.00281554e-01] [ 4.56867289e-03 9.99989462e-01 -4.51175074e-04 -8.21359643e-02] [ 5.78388352e-03 4.24747290e-04 9.99983183e-01 -2.36955253e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.2986238530000005 meters Centerline goodness [0,1] 0.15317564911793946 Centerline is valid? [False, False] Translation: X:0.40, Y:-0.08, Z:-0.24 [[ 9.99970798e-01 -4.65881522e-03 -6.05790862e-03 4.01803831e-01] [ 4.65706041e-03 9.99989110e-01 -3.03746462e-04 -8.33670939e-02] [ 6.05925775e-03 2.75525546e-04 9.99981605e-01 -2.36972397e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.3286238530000003 meters Centerline goodness [0,1] 0.1554437924932477 Centerline is valid? [False, False] Translation: X:0.40, Y:-0.08, Z:-0.24 [[ 9.99968990e-01 -4.74298277e-03 -6.28670169e-03 4.03094206e-01] [ 4.74167184e-03 9.99988733e-01 -2.23413125e-04 -8.41208746e-02] [ 6.28769050e-03 1.93596721e-04 9.99980214e-01 -2.37067048e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.358623853 meters Centerline goodness [0,1] 0.15363893813459817 Centerline is valid? [False, False] Translation: X:0.41, Y:-0.09, Z:-0.24 [[ 9.99966157e-01 -4.87115448e-03 -6.63001614e-03 4.05058887e-01] [ 4.87040969e-03 9.99988131e-01 -1.28476900e-04 -8.52241593e-02] [ 6.63056328e-03 9.61816570e-05 9.99978013e-01 -2.37221083e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.3886238530000004 meters Centerline goodness [0,1] 0.16817906836055652 Centerline is valid? [False, False] Translation: X:0.41, Y:-0.09, Z:-0.24 [[ 9.99959335e-01 -5.49337304e-03 -7.15207540e-03 4.08362954e-01] [ 5.49379450e-03 9.99984908e-01 3.92835129e-05 -8.84484539e-02] [ 7.15175166e-03 -7.85739479e-05 9.99974423e-01 -2.37472000e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.418623853 meters Centerline goodness [0,1] 0.1611081413995863 Centerline is valid? [False, False] Translation: X:0.41, Y:-0.09, Z:-0.24 [[ 9.99956956e-01 -5.55754837e-03 -7.42966606e-03 4.09840159e-01] [ 5.55979478e-03 9.99984505e-01 2.81736946e-04 -9.04305159e-02] [ 7.42798517e-03 -3.23032238e-04 9.99972360e-01 -2.37567254e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.4486238530000004 meters Centerline goodness [0,1] 0.16033284522232294 Centerline is valid? [False, False] Translation: X:0.41, Y:-0.09, Z:-0.24 [[ 9.99954613e-01 -5.61025845e-03 -7.70051089e-03 4.11294338e-01] [ 5.61462703e-03 9.99984089e-01 5.45809040e-04 -9.24354682e-02] [ 7.69732624e-03 -5.89019764e-04 9.99970202e-01 -2.37661044e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.478623853 meters Centerline goodness [0,1] 0.18895511268392629 Centerline is valid? [False, False] Translation: X:0.41, Y:-0.10, Z:-0.24 [[ 9.99948467e-01 -5.94451898e-03 -8.22962068e-03 4.14539055e-01] [ 5.95212056e-03 9.99981881e-01 8.99501300e-04 -9.58553162e-02] [ 8.22412446e-03 -9.48438640e-04 9.99965732e-01 -2.38013388e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.5086238530000005 meters Centerline goodness [0,1] 0.16030710882937882 Centerline is valid? [False, False] Translation: X:0.42, Y:-0.10, Z:-0.24 [[ 0.99994583 -0.00591859 -0.00856241 0.41629159] [ 0.00592985 0.99998159 0.00129068 -0.09863089] [ 0.00855461 -0.00134139 0.99996251 -0.23809686] [ 0. 0. 0. 1. ]] SLAMing on 3.5386238530000003 meters Centerline goodness [0,1] 0.19469811981782081 Centerline is valid? [False, False] Translation: X:0.42, Y:-0.10, Z:-0.24 [[ 0.99994429 -0.00581605 -0.00880826 0.41749331] [ 0.00583165 0.99998147 0.00174617 -0.10176806] [ 0.00879794 -0.00179744 0.99995968 -0.23816725] [ 0. 0. 0. 1. ]] SLAMing on 3.5686238530000005 meters Centerline goodness [0,1] 0.2027227952792492 Centerline is valid? [False, False] Translation: X:0.44, Y:-0.10, Z:-0.24 [[ 0.99998711 -0.00482598 0.00157843 0.43557786] [ 0.0048312 0.99998283 -0.00331607 -0.10315176] [-0.0015624 0.00332366 0.99999326 -0.24459383] [ 0. 0. 0. 1. ]] SLAMing on 3.5986238530000003 meters Centerline goodness [0,1] 0.21257310622830117 Centerline is valid? [False, False] Translation: X:0.44, Y:-0.11, Z:-0.24 [[ 0.99998818 -0.00466855 0.00135514 0.4366436 ] [ 0.00467257 0.99998464 -0.00297956 -0.10518415] [-0.0013412 0.00298586 0.99999464 -0.24455544] [ 0. 0. 0. 1. ]] SLAMing on 3.628623853 meters Centerline goodness [0,1] 0.21595103490164935 Centerline is valid? [False, False] Translation: X:0.44, Y:-0.11, Z:-0.24 [[ 0.99998928 -0.00449258 0.00112487 0.43770021] [ 0.00449551 0.99998647 -0.00261636 -0.10729219] [-0.0011131 0.00262139 0.99999594 -0.24451202] [ 0. 0. 0. 1. ]] SLAMing on 3.6586238530000004 meters Centerline goodness [0,1] 0.2127963305328684 Centerline is valid? [False, False] Translation: X:0.44, Y:-0.11, Z:-0.24 [[ 9.99991045e-01 -4.15085844e-03 8.25083879e-04 4.39694345e-01] [ 4.15250147e-03 9.99989379e-01 -1.99971053e-03 -1.10895516e-01] [-8.16774601e-04 2.00311879e-03 9.99997660e-01 -2.44696074e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.688623853 meters Centerline goodness [0,1] 0.21041812660593318 Centerline is valid? [False, False] Translation: X:0.44, Y:-0.11, Z:-0.24 [[ 9.99992004e-01 -3.96136860e-03 5.46457380e-04 4.40934577e-01] [ 3.96232536e-03 9.99990599e-01 -1.76101258e-03 -1.12036031e-01] [-5.39476223e-04 1.76316374e-03 9.99998300e-01 -2.44645308e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.7186238530000004 meters Centerline goodness [0,1] 0.20842861809866053 Centerline is valid? [False, False] Translation: X:0.44, Y:-0.11, Z:-0.24 [[ 9.99992950e-01 -3.74092560e-03 3.25326287e-04 4.42025678e-01] [ 3.74140059e-03 9.99991918e-01 -1.47189981e-03 -1.13484975e-01] [-3.19817390e-04 1.47310661e-03 9.99998864e-01 -2.44766963e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.7486238530000002 meters Centerline goodness [0,1] 0.20504201680672274 Centerline is valid? [False, False] Translation: X:0.44, Y:-0.12, Z:-0.25 [[ 9.99994837e-01 -3.21333597e-03 2.94198481e-05 4.43991501e-01] [ 3.21335649e-03 9.99994573e-01 -7.26222821e-04 -1.17565360e-01] [-2.70860906e-05 7.26313608e-04 9.99999736e-01 -2.45057408e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.7786238530000005 meters Centerline goodness [0,1] 0.20494542734942855 Centerline is valid? [False, False] Translation: X:0.44, Y:-0.12, Z:-0.25 [[ 9.99995494e-01 -2.99599230e-03 -1.88890155e-04 4.44991355e-01] [ 2.99590354e-03 9.99995403e-01 -4.68422263e-04 -1.18772896e-01] [ 1.90292677e-04 4.67854256e-04 9.99999872e-01 -2.45097576e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.8086238530000003 meters Centerline goodness [0,1] 0.2022035749982567 Centerline is valid? [False, False] Translation: X:0.45, Y:-0.12, Z:-0.25 [[ 9.99996050e-01 -2.76660731e-03 -4.95597067e-04 4.46480206e-01] [ 2.76643232e-03 9.99996111e-01 -3.53422711e-04 -1.18978705e-01] [ 4.96572922e-04 3.52050279e-04 9.99999815e-01 -2.45292495e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.8386238530000005 meters Centerline goodness [0,1] 0.2000699219205221 Centerline is valid? [False, False] Translation: X:0.45, Y:-0.12, Z:-0.25 [[ 9.99998118e-01 -1.72491804e-03 -8.88059783e-04 4.48693864e-01] [ 1.72498435e-03 9.99998509e-01 7.39083662e-05 -1.19068907e-01] [ 8.87930973e-04 -7.54401163e-05 9.99999603e-01 -2.45597258e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.8686238530000003 meters Centerline goodness [0,1] 0.19967850153760136 Centerline is valid? [False, False] Translation: X:0.45, Y:-0.12, Z:-0.25 [[ 9.99998235e-01 -1.48230327e-03 -1.15440342e-03 4.49872932e-01] [ 1.48242630e-03 9.99998896e-01 1.05721248e-04 -1.18595794e-01] [ 1.15424544e-03 -1.07432379e-04 9.99999328e-01 -2.45777852e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.898623853 meters Centerline goodness [0,1] 0.197166442517275 Centerline is valid? [False, False] Translation: X:0.45, Y:-0.12, Z:-0.25 [[ 9.99998204e-01 -1.22941773e-03 -1.44228171e-03 4.51304615e-01] [ 1.22961869e-03 9.99999234e-01 1.38457048e-04 -1.18200205e-01] [ 1.44211038e-03 -1.40230256e-04 9.99998950e-01 -2.46202203e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.9286238530000004 meters Centerline goodness [0,1] 0.19577297774884328 Centerline is valid? [False, False] Translation: X:0.45, Y:-0.12, Z:-0.25 [[ 9.99998181e-01 -5.28281254e-04 -1.83278179e-03 4.53415576e-01] [ 5.29286016e-04 9.99999710e-01 5.47775131e-04 -1.19278904e-01] [ 1.83249188e-03 -5.48744200e-04 9.99998170e-01 -2.46542526e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.958623853 meters Centerline goodness [0,1] 0.19626059148946107 Centerline is valid? [False, False] Translation: X:0.45, Y:-0.12, Z:-0.25 [[ 9.99997886e-01 -3.94633953e-04 -2.01780180e-03 4.54267165e-01] [ 3.96064152e-04 9.99999671e-01 7.08440013e-04 -1.20050621e-01] [ 2.01752156e-03 -7.09237694e-04 9.99997713e-01 -2.46716884e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.9886238530000004 meters Centerline goodness [0,1] 0.19576495997370702 Centerline is valid? [False, False] Translation: X:0.45, Y:-0.12, Z:-0.25 [[ 9.99997562e-01 -2.64061841e-04 -2.19229026e-03 4.54949391e-01] [ 2.66064741e-04 9.99999547e-01 9.13369253e-04 -1.21105406e-01] [ 2.19204808e-03 -9.13950318e-04 9.99997180e-01 -2.46752619e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.018623853 meters Centerline goodness [0,1] 0.19265393472748837 Centerline is valid? [False, False] Translation: X:0.46, Y:-0.12, Z:-0.25 [[ 9.99996685e-01 9.07432155e-06 -2.57484560e-03 4.56997858e-01] [-5.88527725e-06 9.99999233e-01 1.23854295e-03 -1.22525654e-01] [ 2.57485486e-03 -1.23852369e-03 9.99995918e-01 -2.46873312e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.0486238530000005 meters Centerline goodness [0,1] 0.1914636414357448 Centerline is valid? [False, False] Translation: X:0.46, Y:-0.12, Z:-0.25 [[ 9.99996165e-01 8.54940344e-05 -2.76820461e-03 4.57824093e-01] [-8.17636509e-05 9.99999089e-01 1.34766741e-03 -1.23099919e-01] [ 2.76831731e-03 -1.34743591e-03 9.99995260e-01 -2.46887966e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.078623853000001 meters Centerline goodness [0,1] 0.19093836031916378 Centerline is valid? [False, False] Translation: X:0.46, Y:-0.12, Z:-0.25 [[ 9.99995640e-01 1.92975886e-04 -2.94668129e-03 4.58491005e-01] [-1.88176374e-04 9.99998656e-01 1.62897618e-03 -1.24689922e-01] [ 2.94699169e-03 -1.62841458e-03 9.99994332e-01 -2.46847797e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.108623853 meters Centerline goodness [0,1] 0.18992112794025262 Centerline is valid? [False, False] Translation: X:0.46, Y:-0.13, Z:-0.25 [[ 9.99994726e-01 3.78547705e-04 -3.22547270e-03 4.60011283e-01] [-3.71469825e-04 9.99997523e-01 2.19468655e-03 -1.28138234e-01] [ 3.22629550e-03 -2.19347681e-03 9.99992390e-01 -2.47012547e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.138623853 meters Centerline goodness [0,1] 0.1879748310417152 Centerline is valid? [False, False] Translation: X:0.46, Y:-0.13, Z:-0.25 [[ 9.99994228e-01 4.30164938e-04 -3.37036154e-03 4.60567491e-01] [-4.22414159e-04 9.99997266e-01 2.30006206e-03 -1.28804942e-01] [ 3.37134173e-03 -2.29862510e-03 9.99991675e-01 -2.46981197e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.168623853000001 meters Centerline goodness [0,1] 0.18817729407934514 Centerline is valid? [False, False] Translation: X:0.46, Y:-0.13, Z:-0.25 [[ 9.99993431e-01 4.93957409e-04 -3.59071206e-03 4.61543446e-01] [-4.85502200e-04 9.99997109e-01 2.35523475e-03 -1.28991223e-01] [ 3.59186507e-03 -2.35347598e-03 9.99990780e-01 -2.47149504e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.198623853 meters Centerline goodness [0,1] 0.18903784939241153 Centerline is valid? [False, False] Translation: X:0.46, Y:-0.13, Z:-0.25 [[ 9.99992548e-01 5.36310403e-04 -3.82303092e-03 4.62482539e-01] [-5.27486315e-04 9.99997196e-01 2.30877387e-03 -1.28564750e-01] [ 3.82425842e-03 -2.30674007e-03 9.99990027e-01 -2.47257674e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.228623853 meters Centerline goodness [0,1] 0.18606960578277643 Centerline is valid? [False, False] Translation: X:0.46, Y:-0.13, Z:-0.25 [[ 9.99991087e-01 8.32684563e-04 -4.13918467e-03 4.64180902e-01] [-8.22708032e-04 9.99996754e-01 2.41138330e-03 -1.28517288e-01] [ 4.14117915e-03 -2.40795647e-03 9.99988526e-01 -2.47535668e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.2586238530000005 meters Centerline goodness [0,1] 0.195941867483865 Centerline is valid? [False, False] Translation: X:0.46, Y:-0.13, Z:-0.25 [[ 9.99990190e-01 8.95661218e-04 -4.33793334e-03 4.64778127e-01] [-8.85009608e-04 9.99996591e-01 2.45675474e-03 -1.28689618e-01] [ 4.34011897e-03 -2.45289153e-03 9.99987573e-01 -2.47308932e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.288623853000001 meters Centerline goodness [0,1] 0.19509540570581696 Centerline is valid? [False, False] Translation: X:0.47, Y:-0.13, Z:-0.25 [[ 9.99989226e-01 9.38419626e-04 -4.54606787e-03 4.65535617e-01] [-9.27370083e-04 9.99996613e-01 2.43206986e-03 -1.28406926e-01] [ 4.54833477e-03 -2.42782777e-03 9.99986709e-01 -2.47213681e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.318623853 meters Centerline goodness [0,1] 0.19307549791570167 Centerline is valid? [False, False] Translation: X:0.47, Y:-0.13, Z:-0.25 [[ 0.99998835 0.00101848 -0.00471933 0.46643339] [-0.00100783 0.99999694 0.00225986 -0.12697234] [ 0.00472162 -0.00225508 0.99998631 -0.24715849] [ 0. 0. 0. 1. ]] SLAMing on 4.348623853 meters Centerline goodness [0,1] 0.19284252627662546 Centerline is valid? [False, False] Translation: X:0.47, Y:-0.13, Z:-0.25 [[ 9.99987716e-01 9.81270095e-04 -4.85842147e-03 4.66938387e-01] [-9.70849585e-04 9.99997224e-01 2.14672861e-03 -1.26380043e-01] [ 4.86051451e-03 -2.14198545e-03 9.99985894e-01 -2.47156191e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.378623853000001 meters Centerline goodness [0,1] 0.19260364687776899 Centerline is valid? [False, False] Translation: X:0.47, Y:-0.13, Z:-0.25 [[ 9.99987062e-01 9.37560817e-04 -4.99958650e-03 4.67391225e-01] [-9.27511271e-04 9.99997546e-01 2.01201536e-03 -1.25652296e-01] [ 5.00146061e-03 -2.00735216e-03 9.99985478e-01 -2.47031978e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.408623853000001 meters Centerline goodness [0,1] 0.1944528118265867 Centerline is valid? [False, False] Translation: X:0.47, Y:-0.12, Z:-0.25 [[ 9.99986146e-01 7.97323600e-04 -5.20313860e-03 4.68523174e-01] [-7.88114996e-04 9.99998120e-01 1.77162764e-03 -1.24646121e-01] [ 5.20454138e-03 -1.76750242e-03 9.99984894e-01 -2.47233310e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.438623853 meters Centerline goodness [0,1] 0.19420451379214265 Centerline is valid? [False, False] Translation: X:0.47, Y:-0.13, Z:-0.25 [[ 9.99985452e-01 8.12950807e-04 -5.33250588e-03 4.68968383e-01] [-8.02660033e-04 9.99997812e-01 1.93167586e-03 -1.25769014e-01] [ 5.33406458e-03 -1.92736757e-03 9.99983916e-01 -2.47251952e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.468623853 meters Centerline goodness [0,1] 0.19226319929665447 Centerline is valid? [False, False] Translation: X:0.47, Y:-0.13, Z:-0.25 [[ 9.99983926e-01 7.82342690e-04 -5.61567312e-03 4.69934091e-01] [-7.70070043e-04 9.99997311e-01 2.18725735e-03 -1.27619793e-01] [ 5.61736920e-03 -2.18289773e-03 9.99981840e-01 -2.47211826e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.498623853000001 meters Centerline goodness [0,1] 0.19284552845528458 Centerline is valid? [False, False] Translation: X:0.47, Y:-0.13, Z:-0.24 [[ 9.99986227e-01 -1.41386500e-03 -5.05448206e-03 4.65027396e-01] [ 1.41372945e-03 9.99999000e-01 -3.03907029e-05 -1.26827628e-01] [ 5.05451998e-03 2.32446142e-05 9.99987226e-01 -2.43629368e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.528623853 meters Centerline goodness [0,1] 0.1926758992471419 Centerline is valid? [False, False] Translation: X:0.47, Y:-0.13, Z:-0.24 [[ 9.99985392e-01 -1.46465555e-03 -5.20298263e-03 4.65523603e-01] [ 1.46482396e-03 9.99998927e-01 2.85567809e-05 -1.27316090e-01] [ 5.20293522e-03 -3.61778174e-05 9.99986464e-01 -2.43645843e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.558623853 meters Centerline goodness [0,1] 0.15980234482437128 Centerline is valid? [False, False] Translation: X:0.47, Y:-0.13, Z:-0.24 [[ 9.99984769e-01 -1.49722022e-03 -5.31235345e-03 4.65844948e-01] [ 1.49809242e-03 9.99998865e-01 1.60207839e-04 -1.28276911e-01] [ 5.31210755e-03 -1.68163795e-04 9.99985877e-01 -2.43606085e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.5886238530000005 meters Centerline goodness [0,1] 0.1917465610671113 Centerline is valid? [False, False] Translation: X:0.47, Y:-0.13, Z:-0.25 [[ 0.99997758 -0.00286132 -0.00605407 0.47068357] [ 0.00285442 0.99999527 -0.00114789 -0.12760261] [ 0.00605732 0.00113058 0.99998102 -0.24627624] [ 0. 0. 0. 1. ]] SLAMing on 4.618623853000001 meters Centerline goodness [0,1] 0.1917465610671113 Centerline is valid? [False, False] Translation: X:0.47, Y:-0.13, Z:-0.25 [[ 0.99997758 -0.00286132 -0.00605407 0.47068357] [ 0.00285442 0.99999527 -0.00114789 -0.12760261] [ 0.00605732 0.00113058 0.99998102 -0.24627624] [ 0. 0. 0. 1. ]] SLAMing on 4.648623853 meters Centerline goodness [0,1] 0.19361456892577222 Centerline is valid? [False, False] Translation: X:0.47, Y:-0.13, Z:-0.25 [[ 9.99973809e-01 -3.59676008e-03 -6.28052253e-03 4.71812925e-01] [ 3.59132003e-03 9.99993166e-01 -8.77240108e-04 -1.31618665e-01] [ 6.28363484e-03 8.54661766e-04 9.99979893e-01 -2.46431656e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.678623853 meters Centerline goodness [0,1] 0.2866953788848795 Centerline is valid? [False, False] Translation: X:0.47, Y:-0.13, Z:-0.24 [[ 0.99996747 -0.00593897 -0.0054575 0.46609698] [ 0.00592095 0.99997699 -0.00331132 -0.13182529] [ 0.00547704 0.0032789 0.99997963 -0.24279421] [ 0. 0. 0. 1. ]] SLAMing on 4.708623853000001 meters Centerline goodness [0,1] 0.2354756380510441 Centerline is valid? [False, False] Translation: X:0.47, Y:-0.14, Z:-0.24 [[ 0.99996228 -0.00671974 -0.00550319 0.46638242] [ 0.00670456 0.99997368 -0.00277289 -0.13791984] [ 0.00552168 0.00273589 0.99998101 -0.24256308] [ 0. 0. 0. 1. ]] SLAMing on 4.738623853 meters Centerline goodness [0,1] 0.191156320397594 Centerline is valid? [False, False] Translation: X:0.47, Y:-0.14, Z:-0.24 [[ 0.99996191 -0.00669336 -0.005602 0.46668888] [ 0.00668106 0.99997523 -0.0022123 -0.14123894] [ 0.00561667 0.00217479 0.99998186 -0.2425153 ] [ 0. 0. 0. 1. ]] SLAMing on 4.768623853 meters Centerline goodness [0,1] 0.29934164773517546 Centerline is valid? [False, False] Translation: X:0.47, Y:-0.14, Z:-0.24 [[ 0.99996101 -0.006713 -0.00573733 0.46704022] [ 0.00670281 0.99997593 -0.00179473 -0.14388684] [ 0.00574924 0.00175621 0.99998193 -0.24236775] [ 0. 0. 0. 1. ]] SLAMing on 4.7986238530000005 meters Centerline goodness [0,1] 0.18598202112171558 Centerline is valid? [False, False] Translation: X:0.47, Y:-0.15, Z:-0.24 [[ 0.99996042 -0.00665366 -0.00590721 0.46750597] [ 0.00664634 0.99997712 -0.00125795 -0.14701573] [ 0.00591544 0.00121864 0.99998176 -0.24224572] [ 0. 0. 0. 1. ]] SLAMing on 4.828623853000001 meters Centerline goodness [0,1] 0.9752596920793916 Centerline is valid? [False, True] Translation: X:0.47, Y:-0.15, Z:-0.24 [[ 9.99957928e-01 -6.98912245e-03 -5.94085475e-03 4.67605518e-01] [ 6.98717162e-03 9.99975528e-01 -3.49068064e-04 -1.53801452e-01] [ 5.94314905e-03 3.07543607e-04 9.99982292e-01 -2.42074819e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.858623853 meters Centerline goodness [0,1] 0.9780467406959996 Centerline is valid? [True, True] Translation: X:0.50, Y:-0.16, Z:-0.24 [[ 9.99954861e-01 -8.52777426e-03 -4.18954884e-03 4.96685880e-01] [ 8.52791179e-03 9.99963637e-01 1.49635388e-05 -1.59681833e-01] [ 4.18926889e-03 -5.06909664e-05 9.99991224e-01 -2.40659874e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.888623853 meters Centerline goodness [0,1] 0.9814134176979622 Centerline is valid? [True, True] Translation: X:0.53, Y:-0.17, Z:-0.24 [[ 9.99940107e-01 -1.06412184e-02 -2.55885159e-03 5.25838621e-01] [ 1.06412727e-02 9.99943380e-01 7.60919700e-06 -1.68133259e-01] [ 2.55862574e-03 -3.48381788e-05 9.99996726e-01 -2.37002131e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.918623853000001 meters Centerline goodness [0,1] 0.9792486003794013 Centerline is valid? [True, True] Translation: X:0.55, Y:-0.18, Z:-0.24 [[ 9.99930589e-01 -1.14162143e-02 -2.91315648e-03 5.53895276e-01] [ 1.14162937e-02 9.99934832e-01 1.06421799e-05 -1.75532376e-01] [ 2.91284514e-03 -4.38988913e-05 9.99995757e-01 -2.41051250e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.948623853000001 meters Centerline goodness [0,1] 0.9786685095600092 Centerline is valid? [True, True] Translation: X:0.58, Y:-0.18, Z:-0.24 [[ 9.99923772e-01 -1.20030146e-02 -2.89437134e-03 5.82670056e-01] [ 1.20030895e-02 9.99927960e-01 8.49065951e-06 -1.79491274e-01] [ 2.89406092e-03 -4.32314104e-05 9.99995811e-01 -2.41316195e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.978623853 meters Centerline goodness [0,1] 0.9813979187770513 Centerline is valid? [True, True] Translation: X:0.61, Y:-0.19, Z:-0.24 [[ 9.99917076e-01 -1.27285977e-02 -1.95558771e-03 6.10277460e-01] [ 1.27286347e-02 9.99918988e-01 6.47715826e-06 -1.87063899e-01] [ 1.95534684e-03 -3.13685829e-05 9.99998088e-01 -2.41819180e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.0086238530000005 meters Centerline goodness [0,1] 0.984073937494238 Centerline is valid? [True, True] Translation: X:0.64, Y:-0.19, Z:-0.24 [[ 9.99915718e-01 -1.28866564e-02 -1.57824301e-03 6.39239252e-01] [ 1.28866772e-02 9.99916963e-01 3.03724514e-06 -1.87476970e-01] [ 1.57807282e-03 -2.33752974e-05 9.99998755e-01 -2.40217080e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.038623853000001 meters Centerline goodness [0,1] 0.9821694588957899 Centerline is valid? [True, True] Translation: X:0.67, Y:-0.19, Z:-0.24 [[ 9.99924082e-01 -1.21727145e-02 -1.91207358e-03 6.67012651e-01] [ 1.21727480e-02 9.99925909e-01 5.88572200e-06 -1.92489262e-01] [ 1.91186027e-03 -2.91604650e-05 9.99998172e-01 -2.44451327e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.068623853 meters Centerline goodness [0,1] 0.9869359216155297 Centerline is valid? [True, True] Translation: X:0.70, Y:-0.19, Z:-0.24 [[ 9.99934918e-01 -1.14046532e-02 3.06744895e-04 6.96250239e-01] [ 1.14046543e-02 9.99934965e-01 -1.85093033e-06 -1.91828493e-01] [-3.06703836e-04 5.34912934e-06 9.99999953e-01 -2.39551289e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.098623853 meters Centerline goodness [0,1] 0.9863488228993368 Centerline is valid? [True, True] Translation: X:0.72, Y:-0.19, Z:-0.24 [[ 9.99958732e-01 -9.08472354e-03 -5.45576186e-05 7.24350443e-01] [ 9.08472351e-03 9.99958733e-01 -7.63844246e-07 -1.94876632e-01] [ 5.45623065e-05 2.68171843e-07 9.99999999e-01 -2.39937133e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.128623853000001 meters Centerline goodness [0,1] 0.9895335816632007 Centerline is valid? [True, True] Translation: X:0.75, Y:-0.19, Z:-0.24 [[ 9.99973243e-01 -7.25942823e-03 9.01667448e-04 7.53653560e-01] [ 7.25943611e-03 9.99973650e-01 -5.46304726e-06 -1.94010823e-01] [-9.01604031e-04 1.20084983e-05 9.99999593e-01 -2.39102865e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.158623853000001 meters Centerline goodness [0,1] 0.9903313342302693 Centerline is valid? [True, True] Translation: X:0.78, Y:-0.19, Z:-0.24 [[ 9.99985650e-01 -4.91048099e-03 2.14177867e-03 7.83100720e-01] [ 4.91050829e-03 9.99987943e-01 -7.48805268e-06 -1.91999207e-01] [-2.14171608e-03 1.80051671e-05 9.99997706e-01 -2.37449340e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.188623853 meters Centerline goodness [0,1] 0.9941521803686868 Centerline is valid? [True, True] Translation: X:0.81, Y:-0.19, Z:-0.24 [[ 9.99992589e-01 4.88485394e-04 3.81875908e-03 8.13779273e-01] [-4.88440528e-04 9.99999881e-01 -1.26814470e-05 -1.85771099e-01] [-3.81876482e-03 1.08161163e-05 9.99992708e-01 -2.35100881e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.218623853 meters Centerline goodness [0,1] 0.993009691110052 Centerline is valid? [True, True] Translation: X:0.85, Y:-0.18, Z:-0.24 [[ 9.99989646e-01 3.03827272e-03 3.38779370e-03 8.45182690e-01] [-3.03825365e-03 9.99995384e-01 -1.07738655e-05 -1.83612987e-01] [-3.38781080e-03 4.80777332e-07 9.99994261e-01 -2.38191106e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.248623853000001 meters Centerline goodness [0,1] 0.9945378820637703 Centerline is valid? [True, True] Translation: X:0.88, Y:-0.18, Z:-0.23 [[ 9.99967576e-01 5.73523956e-03 5.65271330e-03 8.77122326e-01] [-5.73522700e-03 9.99983553e-01 -1.84311916e-05 -1.80836931e-01] [-5.65272604e-03 -1.39890000e-05 9.99984023e-01 -2.34320039e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.278623853 meters Centerline goodness [0,1] 0.9950979279667749 Centerline is valid? [True, True] Translation: X:0.91, Y:-0.18, Z:-0.24 [[ 9.99950028e-01 8.29501522e-03 5.57978176e-03 9.08475922e-01] [-8.29504814e-03 9.99965595e-01 -1.72425597e-05 -1.77683348e-01] [-5.57973282e-03 -2.90428603e-05 9.99984433e-01 -2.37617097e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.308623853 meters Centerline goodness [0,1] 0.9949381962804782 Centerline is valid? [True, True] Translation: X:0.94, Y:-0.18, Z:-0.24 [[ 9.99914676e-01 1.22780354e-02 4.45992005e-03 9.40098101e-01] [-1.22780954e-02 9.99924621e-01 -1.39264904e-05 -1.75977845e-01] [-4.45975486e-03 -4.08340219e-05 9.99990054e-01 -2.39101044e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.3386238530000005 meters Centerline goodness [0,1] 0.9965094403771617 Centerline is valid? [True, True] Translation: X:0.97, Y:-0.18, Z:-0.24 [[ 9.99892552e-01 1.36797207e-02 5.26780543e-03 9.73385474e-01] [-1.36798196e-02 9.99906427e-01 -1.72486707e-05 -1.75149805e-01] [-5.26754846e-03 -5.48158108e-05 9.99986125e-01 -2.41152263e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.368623853000001 meters Centerline goodness [0,1] 0.9964502125350456 Centerline is valid? [True, True] Translation: X:1.01, Y:-0.18, Z:-0.24 [[ 9.99879264e-01 1.47108048e-02 5.00503649e-03 1.00542872e+00] [-1.47109020e-02 9.99891789e-01 -1.73960196e-05 -1.75212975e-01] [-5.00475080e-03 -5.62346821e-05 9.99987475e-01 -2.42984786e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.398623853 meters Centerline goodness [0,1] 0.9964459240597444 Centerline is valid? [True, True] Translation: X:1.04, Y:-0.18, Z:-0.24 [[ 9.99852661e-01 1.62427938e-02 5.55236898e-03 1.03787369e+00] [-1.62429308e-02 9.99868075e-01 -2.04305098e-05 -1.76791267e-01] [-5.55196833e-03 -6.97592454e-05 9.99984585e-01 -2.42975001e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.428623853 meters Centerline goodness [0,1] 0.9977907029171739 Centerline is valid? [True, True] Translation: X:1.07, Y:-0.18, Z:-0.24 [[ 9.99832071e-01 1.71915849e-02 6.34654522e-03 1.07129270e+00] [-1.71917759e-02 9.99852210e-01 -2.44581936e-05 -1.77534544e-01] [-6.34602774e-03 -8.46542968e-05 9.99979860e-01 -2.44287077e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.458623853000001 meters Centerline goodness [0,1] 0.9990066374678286 Centerline is valid? [True, True] Translation: X:1.10, Y:-0.18, Z:-0.24 [[ 9.99797953e-01 1.89017980e-02 6.83920088e-03 1.10384347e+00] [-1.89020493e-02 9.99821340e-01 -2.78985694e-05 -1.81086628e-01] [-6.83850632e-03 -1.01381980e-04 9.99976612e-01 -2.43953671e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.488623853000001 meters Centerline goodness [0,1] 0.997516111707841 Centerline is valid? [True, True] Translation: X:1.13, Y:-0.18, Z:-0.25 [[ 9.99784716e-01 1.97655504e-02 6.31224437e-03 1.13460930e+00] [-1.97657758e-02 9.99804638e-01 -2.66755345e-05 -1.78507613e-01] [-6.31153846e-03 -9.80966155e-05 9.99980077e-01 -2.46074449e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.518623853 meters Centerline goodness [0,1] 0.9986070232986587 Centerline is valid? [True, True] Translation: X:1.17, Y:-0.18, Z:-0.25 [[ 9.99760423e-01 2.08556901e-02 6.64354231e-03 1.16703148e+00] [-2.08559568e-02 9.99782490e-01 -2.91294468e-05 -1.78826067e-01] [-6.64270480e-03 -1.09434964e-04 9.99977931e-01 -2.46816912e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.5486238530000005 meters Centerline goodness [0,1] 0.9985912973480614 Centerline is valid? [True, True] Translation: X:1.20, Y:-0.18, Z:-0.25 [[ 9.99723284e-01 2.28821323e-02 5.45557042e-03 1.19931333e+00] [-2.28823408e-02 9.99738165e-01 -2.42076489e-05 -1.77903224e-01] [-5.45469589e-03 -1.00635272e-04 9.99985118e-01 -2.48954244e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.578623853000001 meters Centerline goodness [0,1] 0.9988164887678085 Centerline is valid? [True, True] Translation: X:1.23, Y:-0.18, Z:-0.25 [[ 9.99695425e-01 2.40075965e-02 5.71771454e-03 1.23023031e+00] [-2.40078372e-02 9.99711770e-01 -2.65506291e-05 -1.76559534e-01] [-5.71670394e-03 -1.10727417e-04 9.99983653e-01 -2.50189004e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.608623853 meters Centerline goodness [0,1] 0.9991296974024815 Centerline is valid? [True, True] Translation: X:1.26, Y:-0.18, Z:-0.25 [[ 9.99660674e-01 2.52937911e-02 6.22587459e-03 1.26140219e+00] [-2.52940941e-02 9.99680053e-01 -3.00796034e-05 -1.75538738e-01] [-6.22464347e-03 -1.27408461e-04 9.99980619e-01 -2.50727126e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.638623853 meters Centerline goodness [0,1] 0.9991538444409807 Centerline is valid? [True, True] Translation: X:1.29, Y:-0.17, Z:-0.25 [[ 9.99644367e-01 2.55069260e-02 7.78053323e-03 1.29307351e+00] [-2.55073919e-02 9.99674633e-01 -3.93618331e-05 -1.72869939e-01] [-7.77900570e-03 -1.59113276e-04 9.99969730e-01 -2.47409401e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.668623853000001 meters Centerline goodness [0,1] 0.9993781508872455 Centerline is valid? [True, True] Translation: X:1.32, Y:-0.17, Z:-0.25 [[ 9.99598158e-01 2.72383704e-02 7.84815162e-03 1.32497216e+00] [-2.72388898e-02 9.99628952e-01 -4.07213604e-05 -1.74647234e-01] [-7.84634876e-03 -1.73069940e-04 9.99969202e-01 -2.49428298e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.698623853000001 meters Centerline goodness [0,1] 0.9994678374243331 Centerline is valid? [True, True] Translation: X:1.36, Y:-0.17, Z:-0.25 [[ 9.99586436e-01 2.75327365e-02 8.30087999e-03 1.35761682e+00] [-2.75333173e-02 9.99620885e-01 -4.43290605e-05 -1.74455778e-01] [-8.29895351e-03 -1.84240035e-04 9.99965546e-01 -2.49362160e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.728623853 meters Centerline goodness [0,1] 0.9995568358076667 Centerline is valid? [True, True] Translation: X:1.39, Y:-0.18, Z:-0.25 [[ 9.99583471e-01 2.75565190e-02 8.57451279e-03 1.39027435e+00] [-2.75571160e-02 9.99620229e-01 -4.85282696e-05 -1.76503887e-01] [-8.57259372e-03 -1.87780788e-04 9.99963237e-01 -2.48767037e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.7586238530000005 meters Centerline goodness [0,1] 0.9996904982977406 Centerline is valid? [True, True] Translation: X:1.42, Y:-0.18, Z:-0.25 [[ 9.99573616e-01 2.76813597e-02 9.29135083e-03 1.42132769e+00] [-2.76820675e-02 9.99616777e-01 -5.24422121e-05 -1.76031615e-01] [-9.28924184e-03 -2.04783949e-04 9.99956833e-01 -2.49076531e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.788623853000001 meters Centerline goodness [0,1] 0.9997129799306737 Centerline is valid? [True, True] Translation: X:1.45, Y:-0.18, Z:-0.25 [[ 9.99577407e-01 2.74589457e-02 9.54007180e-03 1.45360497e+00] [-2.74596688e-02 9.99622911e-01 -5.52080439e-05 -1.78605092e-01] [-9.53799029e-03 -2.06782499e-04 9.99954491e-01 -2.48217413e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.818623853 meters Centerline goodness [0,1] 0.9998017926751382 Centerline is valid? [True, True] Translation: X:1.49, Y:-0.18, Z:-0.25 [[ 9.99614914e-01 2.60200429e-02 9.64262544e-03 1.48606087e+00] [-2.60206992e-02 9.99661403e-01 -5.74075860e-05 -1.79867773e-01] [-9.64085422e-03 -1.93522377e-04 9.99953507e-01 -2.49309353e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.848623853 meters Centerline goodness [0,1] 0.999388379204893 Centerline is valid? [True, True] Translation: X:1.52, Y:-0.18, Z:-0.25 [[ 9.99647698e-01 2.47902318e-02 9.48281984e-03 1.51677194e+00] [-2.47907914e-02 9.99692659e-01 -5.85541693e-05 -1.77396764e-01] [-9.48135696e-03 -1.76553068e-04 9.99955035e-01 -2.51211466e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.878623853000001 meters Centerline goodness [0,1] 0.999890384531065 Centerline is valid? [True, True] Translation: X:1.55, Y:-0.18, Z:-0.25 [[ 9.99675700e-01 2.34918763e-02 9.82984901e-03 1.54872876e+00] [-2.34924102e-02 9.99724013e-01 -6.11631806e-05 -1.81015609e-01] [-9.82857294e-03 -1.69783500e-04 9.99951684e-01 -2.51298099e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.908623853000001 meters Centerline goodness [0,1] 0.9999120995033622 Centerline is valid? [True, True] Translation: X:1.58, Y:-0.19, Z:-0.25 [[ 9.99773519e-01 1.90210874e-02 9.54506831e-03 1.57966085e+00] [-1.90213625e-02 9.99819076e-01 -6.19746865e-05 -1.88261455e-01] [-9.54452020e-03 -1.19599554e-04 9.99954443e-01 -2.52472199e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.938623853 meters Centerline goodness [0,1] 0.9999560400914366 Centerline is valid? [True, True] Translation: X:1.61, Y:-0.19, Z:-0.25 [[ 9.99814495e-01 1.64850669e-02 9.96087042e-03 1.61150204e+00] [-1.64852496e-02 9.99864107e-01 -6.37709241e-05 -1.93993253e-01] [-9.96056808e-03 -1.00448341e-04 9.99950387e-01 -2.51299999e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.968623853 meters Centerline goodness [0,1] 0.9999561759098977 Centerline is valid? [True, True] Translation: X:1.64, Y:-0.20, Z:-0.25 [[ 9.99845053e-01 1.41449072e-02 1.04781320e-02 1.64253528e+00] [-1.41449589e-02 9.99899953e-01 -6.91700959e-05 -1.96353911e-01] [-1.04780621e-02 -7.90533690e-05 9.99945100e-01 -2.52310049e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.998623853000001 meters Centerline goodness [0,1] 0.999714687033623 Centerline is valid? [True, True] Translation: X:1.68, Y:-0.20, Z:-0.25 [[ 9.99872337e-01 1.04415435e-02 1.20948061e-02 1.67501726e+00] [-1.04413131e-02 9.99945485e-01 -8.21993860e-05 -2.02845305e-01] [-1.20950050e-02 -4.40967645e-05 9.99926852e-01 -2.46911745e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.028623853000001 meters Centerline goodness [0,1] 0.9999126961608137 Centerline is valid? [True, True] Translation: X:1.71, Y:-0.21, Z:-0.25 [[ 9.99915659e-01 7.03622087e-03 1.09163489e-02 1.70669962e+00] [-7.03581515e-03 9.99975245e-01 -7.55698898e-05 -2.07073795e-01] [-1.09166104e-02 -1.24189698e-06 9.99940412e-01 -2.53159524e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.058623853 meters Centerline goodness [0,1] 0.9997601081694073 Centerline is valid? [True, True] Translation: X:1.74, Y:-0.21, Z:-0.25 [[ 9.99923931e-01 5.35720313e-03 1.11100435e-02 1.73895521e+00] [-5.35665418e-03 9.99985650e-01 -7.91676414e-05 -2.10374200e-01] [-1.11103081e-02 1.96489585e-05 9.99938278e-01 -2.53604992e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.0886238530000005 meters Centerline goodness [0,1] 0.9996735226901731 Centerline is valid? [True, True] Translation: X:1.77, Y:-0.21, Z:-0.25 [[ 9.99930890e-01 4.33630943e-03 1.09275785e-02 1.77217941e+00] [-4.33569760e-03 9.99990598e-01 -7.96795959e-05 -2.13079767e-01] [-1.09278213e-02 3.22954132e-05 9.99940289e-01 -2.53839325e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.118623853000001 meters Centerline goodness [0,1] 0.9998044583496285 Centerline is valid? [True, True] Translation: X:1.80, Y:-0.22, Z:-0.26 [[ 9.99942855e-01 2.49536740e-03 1.03952147e-02 1.80372561e+00] [-2.49469254e-03 9.99996885e-01 -7.78862131e-05 -2.18171560e-01] [-1.03953767e-02 5.19488977e-05 9.99945965e-01 -2.55804569e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.148623853 meters Centerline goodness [0,1] 0.9996741821973153 Centerline is valid? [True, True] Translation: X:1.84, Y:-0.22, Z:-0.26 [[ 9.99942218e-01 1.95805419e-03 1.05700957e-02 1.83554892e+00] [-1.95731028e-03 9.99998081e-01 -8.07228424e-05 -2.20064194e-01] [-1.05702335e-02 6.00292210e-05 9.99944132e-01 -2.55772972e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.178623853 meters Centerline goodness [0,1] 0.9996741821973153 Centerline is valid? [True, True] Translation: X:1.87, Y:-0.22, Z:-0.25 [[ 9.99932673e-01 1.25107011e-03 1.15362278e-02 1.86792007e+00] [-1.25010991e-03 9.99999215e-01 -9.04441260e-05 -2.23152245e-01] [-1.15363319e-02 7.60164839e-05 9.99933451e-01 -2.54890520e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.208623853000001 meters Centerline goodness [0,1] 0.9995655573898689 Centerline is valid? [True, True] Translation: X:1.90, Y:-0.22, Z:-0.25 [[ 9.99928020e-01 1.24583882e-03 1.19332493e-02 1.90071199e+00] [-1.24478601e-03 9.99999221e-01 -9.56520589e-05 -2.23921425e-01] [-1.19333592e-02 8.07908321e-05 9.99928792e-01 -2.54724189e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.238623853000001 meters Centerline goodness [0,1] 0.999669545294325 Centerline is valid? [True, True] Translation: X:1.93, Y:-0.23, Z:-0.25 [[ 9.99913026e-01 4.94925633e-04 1.31793938e-02 1.93396718e+00] [-4.93538422e-04 9.99999872e-01 -1.08508217e-04 -2.25807966e-01] [-1.31794459e-02 1.01994242e-04 9.99913142e-01 -2.54622194e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.268623853 meters Centerline goodness [0,1] 0.9996971204811458 Centerline is valid? [True, True] Translation: X:1.97, Y:-0.23, Z:-0.26 [[ 9.99925535e-01 2.36336063e-04 1.22011761e-02 1.96526723e+00] [-2.35098771e-04 9.99999967e-01 -1.02841755e-04 -2.30269936e-01] [-1.22012000e-02 9.99656157e-05 9.99925558e-01 -2.57417258e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.2986238530000005 meters Centerline goodness [0,1] 0.9986286460600784 Centerline is valid? [True, True] Translation: X:2.00, Y:-0.24, Z:-0.25 [[ 9.99913357e-01 -1.13976013e-03 1.31141227e-02 1.99770338e+00] [ 1.14133831e-03 9.99999342e-01 -1.12857942e-04 -2.35938938e-01] [-1.31139855e-02 1.27815814e-04 9.99914000e-01 -2.52791004e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.328623853000001 meters Centerline goodness [0,1] 0.9996291043962038 Centerline is valid? [True, True] Translation: X:2.03, Y:-0.24, Z:-0.26 [[ 9.99921743e-01 -7.15371530e-04 1.24898249e-02 2.03025142e+00] [ 7.16798864e-04 9.99999737e-01 -1.09803611e-04 -2.35949716e-01] [-1.24897431e-02 1.18747710e-04 9.99921993e-01 -2.58374898e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.358623853 meters Centerline goodness [0,1] 0.9998021108179419 Centerline is valid? [True, True] Translation: X:2.06, Y:-0.24, Z:-0.26 [[ 9.99925784e-01 -1.37306897e-03 1.21054351e-02 2.06214008e+00] [ 1.37446124e-03 9.99999050e-01 -1.06692568e-04 -2.40580748e-01] [-1.21052771e-02 1.23323101e-04 9.99926721e-01 -2.59163434e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.388623853 meters Centerline goodness [0,1] 0.9996552021377467 Centerline is valid? [True, True] Translation: X:2.09, Y:-0.24, Z:-0.26 [[ 9.99942801e-01 -1.07906216e-03 1.06410137e-02 2.09300725e+00] [ 1.08014699e-03 9.99999412e-01 -9.62014685e-05 -2.43859397e-01] [-1.06409037e-02 1.07689825e-04 9.99943378e-01 -2.61421041e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.418623853000001 meters Centerline goodness [0,1] 0.9996539642718111 Centerline is valid? [True, True] Translation: X:2.12, Y:-0.25, Z:-0.26 [[ 9.99939688e-01 -4.62615856e-04 1.09730261e-02 2.12417394e+00] [ 4.63737143e-04 9.99999888e-01 -9.96415354e-05 -2.45373704e-01] [-1.09729787e-02 1.04724125e-04 9.99939790e-01 -2.61546515e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.448623853000001 meters Centerline goodness [0,1] 0.9997160766156332 Centerline is valid? [True, True] Translation: X:2.16, Y:-0.24, Z:-0.26 [[ 9.99916294e-01 2.15171159e-03 1.27583534e-02 2.15588563e+00] [-2.15040215e-03 9.99997681e-01 -1.16350942e-04 -2.44628021e-01] [-1.27585741e-02 8.89056127e-05 9.99918602e-01 -2.60144545e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.478623853 meters Centerline goodness [0,1] 0.9999338770112409 Centerline is valid? [True, True] Translation: X:2.19, Y:-0.24, Z:-0.26 [[ 9.99896581e-01 4.48569274e-03 1.36640660e-02 2.18776763e+00] [-4.48439931e-03 9.99989937e-01 -1.25296889e-04 -2.42255718e-01] [-1.36644905e-02 6.40088025e-05 9.99906634e-01 -2.58772358e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.5086238530000005 meters Centerline goodness [0,1] 0.9999137466307277 Centerline is valid? [True, True] Translation: X:2.22, Y:-0.24, Z:-0.26 [[ 9.99862753e-01 1.01188160e-02 1.31181445e-02 2.21899445e+00] [-1.01181000e-02 9.99948803e-01 -1.20948740e-04 -2.37437197e-01] [-1.31186968e-02 -1.17985578e-05 9.99913946e-01 -2.59370045e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.538623853000001 meters Centerline goodness [0,1] 0.9999137466307277 Centerline is valid? [True, True] Translation: X:2.25, Y:-0.24, Z:-0.26 [[ 9.99860892e-01 1.03010567e-02 1.31181463e-02 2.25146243e+00] [-1.03003588e-02 9.99946943e-01 -1.20765620e-04 -2.37930301e-01] [-1.31186943e-02 -1.43727935e-05 9.99913946e-01 -2.59942872e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.568623853000001 meters Centerline goodness [0,1] 0.9999564838990427 Centerline is valid? [True, True] Translation: X:2.28, Y:-0.23, Z:-0.26 [[ 9.99805446e-01 1.40482946e-02 1.38461649e-02 2.28434171e+00] [-1.40478396e-02 9.99901316e-01 -1.30127598e-04 -2.34130790e-01] [-1.38466266e-02 -6.44064226e-05 9.99904129e-01 -2.59513032e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.598623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:2.32, Y:-0.23, Z:-0.26 [[ 9.99750329e-01 1.76431401e-02 1.37112604e-02 2.31588135e+00] [-1.76429940e-02 9.99844342e-01 -1.31628869e-04 -2.29113155e-01] [-1.37114485e-02 -1.10311680e-04 9.99905988e-01 -2.60827346e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.628623853000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:2.35, Y:-0.22, Z:-0.26 [[ 9.99681701e-01 2.12955391e-02 1.35276059e-02 2.34808953e+00] [-2.12957035e-02 9.99773212e-01 -1.31906077e-04 -2.24975839e-01] [-1.35273470e-02 -1.56215794e-04 9.99908489e-01 -2.61940817e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.658623853000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:2.38, Y:-0.22, Z:-0.26 [[ 9.99538056e-01 2.75361901e-02 1.28620904e-02 2.37899626e+00] [-2.75368206e-02 9.99620782e-01 -1.28114034e-04 -2.17260331e-01] [-1.28607407e-02 -2.26126224e-04 9.99917272e-01 -2.64108796e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.688623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:2.41, Y:-0.22, Z:-0.26 [[ 9.99464760e-01 3.01941900e-02 1.25898841e-02 2.41070964e+00] [-3.01950124e-02 9.99544019e-01 -1.24802024e-04 -2.15784802e-01] [-1.25879117e-02 -2.55416482e-04 9.99920736e-01 -2.64987480e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.718623853 meters Centerline goodness [0,1] 0.9999567642353755 Centerline is valid? [True, True] Translation: X:2.44, Y:-0.21, Z:-0.27 [[ 9.99398262e-01 3.24354331e-02 1.22905039e-02 2.44166348e+00] [-3.24363628e-02 9.99473795e-01 -1.23738805e-04 -2.10330711e-01] [-1.22880501e-02 -2.74994896e-04 9.99924461e-01 -2.66831133e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.748623853000001 meters Centerline goodness [0,1] 0.9999563547486033 Centerline is valid? [True, True] Translation: X:2.47, Y:-0.21, Z:-0.27 [[ 9.99264622e-01 3.60957902e-02 1.29348196e-02 2.47327964e+00] [-3.60970898e-02 9.99348279e-01 -1.33055786e-04 -2.05102513e-01] [-1.29311924e-02 -3.33951403e-04 9.99916333e-01 -2.66428744e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.778623853000001 meters Centerline goodness [0,1] 0.9999139618420769 Centerline is valid? [True, True] Translation: X:2.50, Y:-0.20, Z:-0.27 [[ 9.99221129e-01 3.74170172e-02 1.25340788e-02 2.50499696e+00] [-3.74183461e-02 9.99299680e-01 -1.28552823e-04 -2.02407680e-01] [-1.25301110e-02 -3.40551803e-04 9.99921437e-01 -2.67269764e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.808623853 meters Centerline goodness [0,1] 0.9999565906279165 Centerline is valid? [True, True] Translation: X:2.54, Y:-0.20, Z:-0.27 [[ 9.99169204e-01 3.86919645e-02 1.27997635e-02 2.53686686e+00] [-3.86934294e-02 9.99251120e-01 -1.33263817e-04 -1.99762393e-01] [-1.27953343e-02 -3.62113644e-04 9.99918071e-01 -2.67498209e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.8386238530000005 meters Centerline goodness [0,1] 0.999935095841807 Centerline is valid? [True, True] Translation: X:2.57, Y:-0.20, Z:-0.27 [[ 9.99101578e-01 3.99886111e-02 1.40338223e-02 2.56901500e+00] [-3.99904631e-02 9.99200050e-01 -1.48740233e-04 -1.96221665e-01] [-1.40285439e-02 -4.12612451e-04 9.99901510e-01 -2.65877372e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.868623853000001 meters Centerline goodness [0,1] 0.9999131756023443 Centerline is valid? [True, True] Translation: X:2.60, Y:-0.19, Z:-0.27 [[ 9.99077124e-01 4.04718108e-02 1.43851288e-02 2.60161012e+00] [-4.04737723e-02 9.99180589e-01 -1.54863868e-04 -1.94532640e-01] [-1.43796091e-02 -4.27499481e-04 9.99896517e-01 -2.65715199e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.898623853 meters Centerline goodness [0,1] 0.9999780581459133 Centerline is valid? [True, True] Translation: X:2.63, Y:-0.19, Z:-0.27 [[ 9.99071200e-01 4.05571580e-02 1.45552226e-02 2.63447455e+00] [-4.05591349e-02 9.99177127e-01 -1.59468109e-04 -1.94525623e-01] [-1.45497130e-02 -4.31027240e-04 9.99894054e-01 -2.65799999e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.928623853 meters Centerline goodness [0,1] 0.9999782044855169 Centerline is valid? [True, True] Translation: X:2.67, Y:-0.19, Z:-0.27 [[ 9.99073532e-01 4.05651656e-02 1.43716458e-02 2.66687580e+00] [-4.05670531e-02 9.99176805e-01 -1.60282424e-04 -1.90981929e-01] [-1.43663170e-02 -4.22881391e-04 9.99896710e-01 -2.66826842e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.958623853000001 meters Centerline goodness [0,1] 0.9999566292232294 Centerline is valid? [True, True] Translation: X:2.70, Y:-0.19, Z:-0.27 [[ 9.99082461e-01 4.04374791e-02 1.41083916e-02 2.69944965e+00] [-4.04392491e-02 9.99181986e-01 -1.59914025e-04 -1.90103947e-01] [-1.41033172e-02 -4.10765464e-04 9.99900459e-01 -2.67742156e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.988623853000001 meters Centerline goodness [0,1] 0.9999354519439723 Centerline is valid? [True, True] Translation: X:2.73, Y:-0.18, Z:-0.27 [[ 9.99152272e-01 3.89302043e-02 1.33856679e-02 2.73073688e+00] [-3.89316335e-02 9.99241865e-01 -1.53884640e-04 -1.84762969e-01] [-1.33815105e-02 -3.67371727e-04 9.99910396e-01 -2.70612632e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.018623853 meters Centerline goodness [0,1] 0.9999782755099824 Centerline is valid? [True, True] Translation: X:2.76, Y:-0.19, Z:-0.27 [[ 9.99205293e-01 3.77987306e-02 1.26506569e-02 2.76266209e+00] [-3.77998944e-02 9.99285318e-01 -1.47184288e-04 -1.89068351e-01] [-1.26471791e-02 -3.31126174e-04 9.99919966e-01 -2.71974204e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.0486238530000005 meters Centerline goodness [0,1] 0.9999785287928887 Centerline is valid? [True, True] Translation: X:2.79, Y:-0.19, Z:-0.27 [[ 9.99256360e-01 3.66669765e-02 1.19272514e-02 2.79399963e+00] [-3.66679075e-02 9.99327496e-01 -1.40690939e-04 -1.85545384e-01] [-1.19243889e-02 -2.96761034e-04 9.99928858e-01 -2.74918406e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.078623853000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:2.83, Y:-0.19, Z:-0.28 [[ 9.99320552e-01 3.50069006e-02 1.15304346e-02 2.82665416e+00] [-3.50076337e-02 9.99387035e-01 -1.38309196e-04 -1.89537348e-01] [-1.15282086e-02 -2.65438010e-04 9.99933513e-01 -2.75085485e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.108623853000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:2.86, Y:-0.19, Z:-0.28 [[ 9.99438903e-01 3.14173191e-02 1.16116530e-02 2.85764868e+00] [-3.14178097e-02 9.99506329e-01 -1.40207295e-04 -1.92874819e-01] [-1.16103256e-02 -2.24684079e-04 9.99932573e-01 -2.75135368e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.138623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:2.89, Y:-0.19, Z:-0.28 [[ 9.99482555e-01 3.00618679e-02 1.14413913e-02 2.88920144e+00] [-3.00622618e-02 9.99548019e-01 -1.37595775e-04 -1.92663707e-01] [-1.14403564e-02 -2.06429523e-04 9.99934536e-01 -2.76571718e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.168623853000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:2.92, Y:-0.19, Z:-0.28 [[ 9.99544145e-01 2.78956576e-02 1.15470248e-02 2.92178685e+00] [-2.78958858e-02 9.99610824e-01 -1.41332855e-04 -1.92792262e-01] [-1.15464735e-02 -1.80846056e-04 9.99933321e-01 -2.76094252e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.198623853000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:2.95, Y:-0.19, Z:-0.28 [[ 9.99555542e-01 2.73421081e-02 1.18797268e-02 2.95253964e+00] [-2.73423082e-02 9.99626119e-01 -1.45603526e-04 -1.89988532e-01] [-1.18792663e-02 -1.79280340e-04 9.99929423e-01 -2.76730699e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.228623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:2.99, Y:-0.19, Z:-0.28 [[ 9.99559384e-01 2.68621047e-02 1.26279557e-02 2.98502330e+00] [-2.68622663e-02 9.99639132e-01 -1.56850001e-04 -1.91391686e-01] [-1.26276120e-02 -1.82434620e-04 9.99920252e-01 -2.75423535e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.2586238530000005 meters Centerline goodness [0,1] 0.9998456483870256 Centerline is valid? [True, True] Translation: X:3.02, Y:-0.19, Z:-0.27 [[ 9.99578667e-01 2.56140829e-02 1.36530984e-02 3.01761037e+00] [-2.56141204e-02 9.99671890e-01 -1.72150636e-04 -1.90702094e-01] [-1.36530282e-02 -1.77634003e-04 9.99906777e-01 -2.71113272e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.288623853000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:3.05, Y:-0.19, Z:-0.27 [[ 9.99561282e-01 2.61757217e-02 1.38591359e-02 3.05049632e+00] [-2.61757826e-02 9.99657340e-01 -1.77036474e-04 -1.88321552e-01] [-1.38590210e-02 -1.85814924e-04 9.99903942e-01 -2.74672330e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.318623853000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:3.08, Y:-0.19, Z:-0.28 [[ 9.99570325e-01 2.58056666e-02 1.39008179e-02 3.08285775e+00] [-2.58056532e-02 9.99666962e-01 -1.80363319e-04 -1.88407050e-01] [-1.39008428e-02 -1.78433866e-04 9.99903363e-01 -2.75176223e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.348623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:3.11, Y:-0.19, Z:-0.28 [[ 9.99580801e-01 2.54602177e-02 1.37840280e-02 3.11363980e+00] [-2.54601385e-02 9.99675822e-01 -1.81254403e-04 -1.86060139e-01] [-1.37841743e-02 -1.69764841e-04 9.99904979e-01 -2.76704424e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.378623853000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:3.15, Y:-0.18, Z:-0.28 [[ 9.99602018e-01 2.50077842e-02 1.30543264e-02 3.14575300e+00] [-2.50076504e-02 9.99687245e-01 -1.73513006e-04 -1.82301765e-01] [-1.30545828e-02 -1.53014080e-04 9.99914774e-01 -2.78809776e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.408623853000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:3.18, Y:-0.18, Z:-0.28 [[ 9.99618671e-01 2.42787014e-02 1.31551407e-02 3.17767243e+00] [-2.42784711e-02 9.99705219e-01 -1.77232530e-04 -1.83721714e-01] [-1.31555657e-02 -1.42221756e-04 9.99913452e-01 -2.79041323e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.438623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:3.21, Y:-0.18, Z:-0.28 [[ 9.99661933e-01 2.26970146e-02 1.26832324e-02 3.20854448e+00] [-2.26966418e-02 9.99742383e-01 -1.73352111e-04 -1.80746619e-01] [-1.26838996e-02 -1.14573277e-04 9.99919550e-01 -2.81155467e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.468623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:3.24, Y:-0.18, Z:-0.28 [[ 9.99684931e-01 2.18515187e-02 1.23511478e-02 3.24097584e+00] [-2.18510902e-02 9.99761222e-01 -1.69654412e-04 -1.80935223e-01] [-1.23519058e-02 -1.00285086e-04 9.99923707e-01 -2.81887233e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.498623853000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:3.27, Y:-0.18, Z:-0.28 [[ 9.99704517e-01 2.10769373e-02 1.21095451e-02 3.27196582e+00] [-2.10764446e-02 9.99777853e-01 -1.68317512e-04 -1.80899334e-01] [-1.21104026e-02 -8.69583801e-05 9.99926663e-01 -2.82934002e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.528623853000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:3.30, Y:-0.18, Z:-0.28 [[ 9.99738736e-01 1.93136566e-02 1.22246453e-02 3.30393198e+00] [-1.93130010e-02 9.99813472e-01 -1.71686611e-04 -1.81512554e-01] [-1.22256809e-02 -6.44528310e-05 9.99925261e-01 -2.83174006e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.558623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:3.34, Y:-0.18, Z:-0.28 [[ 9.99753819e-01 1.83287975e-02 1.25042375e-02 3.33621528e+00] [-1.83280074e-02 9.99832012e-01 -1.77784075e-04 -1.81776397e-01] [-1.25053956e-02 -5.14374506e-05 9.99921803e-01 -2.83627963e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.5886238530000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:3.37, Y:-0.18, Z:-0.28 [[ 9.99776472e-01 1.67380379e-02 1.29167950e-02 3.36844509e+00] [-1.67370327e-02 9.99859909e-01 -1.85920782e-04 -1.82229980e-01] [-1.29180974e-02 -3.03095972e-05 9.99916557e-01 -2.82888380e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.618623853000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:3.40, Y:-0.18, Z:-0.28 [[ 9.99786381e-01 1.62756757e-02 1.27394662e-02 3.40008188e+00] [-1.62746338e-02 9.99867542e-01 -1.85452181e-04 -1.82586485e-01] [-1.27407971e-02 -2.19175824e-05 9.99918833e-01 -2.83752125e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.648623853000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:3.43, Y:-0.18, Z:-0.28 [[ 9.99788661e-01 1.60331850e-02 1.28674055e-02 3.43296404e+00] [-1.60320721e-02 9.99871460e-01 -1.89642258e-04 -1.82462742e-01] [-1.28687921e-02 -1.66889946e-05 9.99917194e-01 -2.84641004e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.678623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:3.47, Y:-0.18, Z:-0.29 [[ 9.99798119e-01 1.56636442e-02 1.25845650e-02 3.46627422e+00] [-1.56625208e-02 9.99877318e-01 -1.87826482e-04 -1.82410239e-01] [-1.25859631e-02 -9.31744680e-06 9.99920794e-01 -2.85399788e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.708623853000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:3.50, Y:-0.18, Z:-0.29 [[ 9.99803280e-01 1.56202458e-02 1.22233213e-02 3.49864941e+00] [-1.56191535e-02 9.99877996e-01 -1.84820002e-04 -1.82214508e-01] [-1.22247169e-02 -6.13428711e-06 9.99925275e-01 -2.87104838e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.738623853000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:3.53, Y:-0.18, Z:-0.29 [[ 9.99817704e-01 1.52512538e-02 1.14872903e-02 3.53170514e+00] [-1.52502436e-02 9.99883693e-01 -1.75535772e-04 -1.82001422e-01] [-1.14886314e-02 3.19797794e-07 9.99934003e-01 -2.88677392e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.768623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:3.56, Y:-0.18, Z:-0.29 [[ 9.99815367e-01 1.55750677e-02 1.12538906e-02 3.56417072e+00] [-1.55740933e-02 9.99878701e-01 -1.74219041e-04 -1.81470171e-01] [-1.12552390e-02 -1.08226664e-06 9.99936658e-01 -2.90277596e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.7986238530000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:3.60, Y:-0.18, Z:-0.29 [[ 9.99833630e-01 1.50608598e-02 1.02898992e-02 3.59744513e+00] [-1.50600021e-02 9.99886579e-01 -1.60831016e-04 -1.80195521e-01] [-1.02911543e-02 5.83835591e-06 9.99947045e-01 -2.92597174e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.828623853000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:3.63, Y:-0.18, Z:-0.29 [[ 9.99841492e-01 1.46578623e-02 1.01063636e-02 3.63028064e+00] [-1.46569949e-02 9.99892568e-01 -1.59891465e-04 -1.80420782e-01] [-1.01076215e-02 1.17372008e-05 9.99948917e-01 -2.93719181e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.858623853000001 meters Centerline goodness [0,1] 0.9999134274088823 Centerline is valid? [True, True] Translation: X:3.66, Y:-0.18, Z:-0.29 [[ 9.99844300e-01 1.44989732e-02 1.00576291e-02 3.66217584e+00] [-1.44980853e-02 9.99894884e-01 -1.61185032e-04 -1.81564142e-01] [-1.00589089e-02 1.53435711e-05 9.99949408e-01 -2.92265595e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.888623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:3.69, Y:-0.18, Z:-0.30 [[ 9.99850523e-01 1.38794353e-02 1.03098213e-02 3.69390961e+00] [-1.38784489e-02 9.99903676e-01 -1.67223825e-04 -1.81133601e-01] [-1.03111492e-02 2.41145007e-05 9.99946838e-01 -2.95198099e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.918623853000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:3.73, Y:-0.18, Z:-0.29 [[ 9.99863762e-01 1.27943149e-02 1.04289277e-02 3.72647935e+00] [-1.27932191e-02 9.99918149e-01 -1.71778838e-04 -1.81753105e-01] [-1.04302718e-02 3.83358783e-05 9.99945603e-01 -2.94937530e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.948623853000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:3.76, Y:-0.18, Z:-0.29 [[ 9.99864542e-01 1.18564272e-02 1.14158937e-02 3.75832324e+00] [-1.18550473e-02 9.99929709e-01 -1.88540173e-04 -1.82339952e-01] [-1.14173267e-02 5.31786747e-05 9.99934819e-01 -2.93795971e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.978623853000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:3.79, Y:-0.18, Z:-0.29 [[ 9.99861982e-01 1.13892441e-02 1.20955159e-02 3.79158040e+00] [-1.13876331e-02 9.99935138e-01 -2.02056569e-04 -1.82938527e-01] [-1.20970327e-02 6.42893847e-05 9.99926826e-01 -2.93097681e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.008623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:3.82, Y:-0.18, Z:-0.29 [[ 9.99864398e-01 1.08996236e-02 1.23443491e-02 3.82315843e+00] [-1.08978773e-02 9.99940595e-01 -2.08726781e-04 -1.83999154e-01] [-1.23458909e-02 7.41712748e-05 9.99923784e-01 -2.93784866e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.038623852999999 meters Centerline goodness [0,1] 0.999891795970482 Centerline is valid? [True, True] Translation: X:3.86, Y:-0.18, Z:-0.29 [[ 9.99862875e-01 1.05131835e-02 1.27946578e-02 3.85631647e+00] [-1.05112459e-02 9.99944731e-01 -2.18674171e-04 -1.83395845e-01] [-1.27962496e-02 8.41563910e-05 9.99918121e-01 -2.92801988e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.068623853 meters Centerline goodness [0,1] 0.9999784045264113 Centerline is valid? [True, True] Translation: X:3.89, Y:-0.18, Z:-0.29 [[ 9.99865459e-01 9.46558317e-03 1.33965180e-02 3.88902103e+00] [-9.46332814e-03 9.99955195e-01 -2.31711408e-04 -1.84544414e-01] [-1.33981111e-02 1.04904588e-04 9.99910236e-01 -2.91929785e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.098623853 meters Centerline goodness [0,1] 0.9999353308902781 Centerline is valid? [True, True] Translation: X:3.92, Y:-0.19, Z:-0.29 [[ 9.99865707e-01 9.35969037e-03 1.34522586e-02 3.92097318e+00] [-9.35737017e-03 9.99956191e-01 -2.35409275e-04 -1.85719190e-01] [-1.34538727e-02 1.09499897e-04 9.99909487e-01 -2.92784311e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.128623853 meters Centerline goodness [0,1] 0.9996501738198832 Centerline is valid? [True, True] Translation: X:3.95, Y:-0.19, Z:-0.29 [[ 9.99877934e-01 9.07285955e-03 1.27200978e-02 3.95432035e+00] [-9.07073492e-03 9.99958835e-01 -2.24713184e-04 -1.86154301e-01] [-1.27216129e-02 1.09305119e-04 9.99919071e-01 -2.90471335e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.158623853 meters Centerline goodness [0,1] 0.9999133392551509 Centerline is valid? [True, True] Translation: X:3.99, Y:-0.18, Z:-0.30 [[ 9.99872118e-01 9.87532914e-03 1.25787830e-02 3.98707569e+00] [-9.87328449e-03 9.99951233e-01 -2.24638127e-04 -1.83538958e-01] [-1.25803879e-02 1.00415497e-04 9.99920859e-01 -2.95028560e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.188623853 meters Centerline goodness [0,1] 0.9996749447406059 Centerline is valid? [True, True] Translation: X:4.02, Y:-0.19, Z:-0.29 [[ 9.99883575e-01 9.84228882e-03 1.16604263e-02 4.01868466e+00] [-9.84050492e-03 9.99951559e-01 -2.10352775e-04 -1.85702417e-01] [-1.16619318e-02 9.55838026e-05 9.99931993e-01 -2.94543316e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.218623853 meters Centerline goodness [0,1] 0.9998710065786645 Centerline is valid? [True, True] Translation: X:4.05, Y:-0.19, Z:-0.30 [[ 9.99880837e-01 1.05335403e-02 1.12851923e-02 4.05163491e+00] [-1.05318919e-02 9.99944517e-01 -2.05489028e-04 -1.85170173e-01] [-1.12867307e-02 8.66101160e-05 9.99936299e-01 -2.98870641e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.248623853 meters Centerline goodness [0,1] 0.9999568686650852 Centerline is valid? [True, True] Translation: X:4.08, Y:-0.19, Z:-0.30 [[ 9.99888261e-01 1.06533644e-02 1.04866993e-02 4.08426211e+00] [-1.06519292e-02 9.99943248e-01 -1.92701532e-04 -1.85087115e-01] [-1.04881571e-02 8.09764220e-05 9.99944994e-01 -3.00830485e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.278623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:4.12, Y:-0.19, Z:-0.30 [[ 9.99884629e-01 1.05606527e-02 1.09179676e-02 4.11640631e+00] [-1.05590657e-02 9.99944231e-01 -2.02991342e-04 -1.86950869e-01] [-1.09195024e-02 8.76843858e-05 9.99940377e-01 -3.01800550e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.308623853 meters Centerline goodness [0,1] 0.9998285983631143 Centerline is valid? [True, True] Translation: X:4.15, Y:-0.19, Z:-0.30 [[ 9.99890430e-01 1.02095976e-02 1.07187476e-02 4.14900028e+00] [-1.02080282e-02 9.99947876e-01 -2.01117962e-04 -1.89810081e-01] [-1.07202422e-02 9.16786473e-05 9.99942532e-01 -2.99746353e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.338623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:4.18, Y:-0.19, Z:-0.30 [[ 9.99881416e-01 9.81344866e-03 1.18680323e-02 4.18175772e+00] [-9.81146546e-03 9.99951841e-01 -2.25318029e-04 -1.91747734e-01] [-1.18696719e-02 1.08848521e-04 9.99929547e-01 -3.00894356e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.368623852999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:4.22, Y:-0.19, Z:-0.30 [[ 9.99881865e-01 9.79235121e-03 1.18476135e-02 4.21510996e+00] [-9.79034640e-03 9.99952048e-01 -2.27204022e-04 -1.93236964e-01] [-1.18492702e-02 1.11184941e-04 9.99929789e-01 -3.01018126e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.398623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:4.25, Y:-0.19, Z:-0.30 [[ 9.99879919e-01 9.98908325e-03 1.18475682e-02 4.24758562e+00] [-9.98706461e-03 9.99950102e-01 -2.29537593e-04 -1.94053834e-01] [-1.18492699e-02 1.11187601e-04 9.99929789e-01 -3.01591579e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.428623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:4.28, Y:-0.20, Z:-0.30 [[ 9.99873865e-01 1.06058688e-02 1.18224359e-02 4.27977790e+00] [-1.06038735e-02 9.99943751e-01 -2.31447142e-04 -1.96828369e-01] [-1.18242256e-02 1.06054334e-04 9.99930086e-01 -3.03230842e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.458623853 meters Centerline goodness [0,1] 0.9998057917224117 Centerline is valid? [True, True] Translation: X:4.31, Y:-0.20, Z:-0.30 [[ 9.99870445e-01 1.20510900e-02 1.06706916e-02 4.31324740e+00] [-1.20495303e-02 9.99927380e-01 -2.10449985e-04 -1.98015837e-01] [-1.06724529e-02 8.18458982e-05 9.99943044e-01 -3.00942478e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.488623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:4.34, Y:-0.20, Z:-0.30 [[ 9.99835288e-01 1.41426493e-02 1.13746056e-02 4.34402811e+00] [-1.41409816e-02 9.99899986e-01 -2.27040672e-04 -1.95913102e-01] [-1.13766789e-02 6.61551885e-05 9.99935281e-01 -3.03400060e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.518623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:4.38, Y:-0.19, Z:-0.30 [[ 9.99800071e-01 1.62075800e-02 1.17103584e-02 4.37659329e+00] [-1.62059321e-02 9.99868648e-01 -2.35604932e-04 -1.93922555e-01] [-1.17126388e-02 4.57805551e-05 9.99931404e-01 -3.03202092e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.548623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:4.41, Y:-0.19, Z:-0.30 [[ 9.99708707e-01 2.08461327e-02 1.21630590e-02 4.40792556e+00] [-2.08446664e-02 9.99782696e-01 -2.47332059e-04 -1.87468339e-01] [-1.21655718e-02 -6.27489374e-06 9.99925997e-01 -3.03075430e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.578623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:4.44, Y:-0.18, Z:-0.30 [[ 9.99650543e-01 2.32755719e-02 1.25315690e-02 4.44066235e+00] [-2.32741962e-02 9.99729087e-01 -2.55618393e-04 -1.84301791e-01] [-1.25341237e-02 -3.61331300e-05 9.99921444e-01 -3.03301403e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.608623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:4.47, Y:-0.18, Z:-0.30 [[ 9.99598684e-01 2.53214330e-02 1.27002024e-02 4.47244709e+00] [-2.53201529e-02 9.99679359e-01 -2.61603826e-04 -1.81466651e-01] [-1.27027543e-02 -6.00722252e-05 9.99919315e-01 -3.03723965e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.638623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:4.51, Y:-0.18, Z:-0.30 [[ 9.99491369e-01 2.92771765e-02 1.26431766e-02 4.50514264e+00] [-2.92761950e-02 9.99571326e-01 -2.62741078e-04 -1.75058985e-01] [-1.26454491e-02 -1.07536663e-04 9.99920037e-01 -3.04379357e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.668623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:4.54, Y:-0.17, Z:-0.30 [[ 9.99434746e-01 3.11150522e-02 1.27295920e-02 4.53701559e+00] [-3.11141793e-02 9.99515801e-01 -2.66663232e-04 -1.73669821e-01] [-1.27317256e-02 -1.29558309e-04 9.99918940e-01 -3.04817133e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.698623852999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:4.57, Y:-0.17, Z:-0.31 [[ 9.99344379e-01 3.38333008e-02 1.28887820e-02 4.56839170e+00] [-3.38325980e-02 9.99427477e-01 -2.72629272e-04 -1.68879329e-01] [-1.28906268e-02 -1.63610450e-04 9.99916899e-01 -3.05536654e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.728623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:4.60, Y:-0.17, Z:-0.31 [[ 9.99305784e-01 3.49660456e-02 1.28578810e-02 4.59912962e+00] [-3.49654272e-02 9.99388485e-01 -2.72956350e-04 -1.66217436e-01] [-1.28595624e-02 -1.76814441e-04 9.99917297e-01 -3.06065855e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.758623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:4.63, Y:-0.16, Z:-0.31 [[ 9.99262211e-01 3.60831651e-02 1.31544081e-02 4.63154933e+00] [-3.60825935e-02 9.99348772e-01 -2.80860260e-04 -1.63722102e-01] [-1.31559759e-02 -1.93992117e-04 9.99913438e-01 -3.06206198e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.788623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:4.66, Y:-0.16, Z:-0.31 [[ 9.99218951e-01 3.69977233e-02 1.38800630e-02 4.66333435e+00] [-3.69971417e-02 9.99315327e-01 -2.98765863e-04 -1.61466160e-01] [-1.38816133e-02 -2.14990143e-04 9.99903623e-01 -3.06468649e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.818623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:4.70, Y:-0.16, Z:-0.31 [[ 9.99174921e-01 3.83416110e-02 1.33939366e-02 4.69534335e+00] [-3.83411621e-02 9.99264665e-01 -2.90391351e-04 -1.58054281e-01] [-1.33952217e-02 -2.23387339e-04 9.99910255e-01 -3.07411793e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.848623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:4.73, Y:-0.16, Z:-0.31 [[ 9.99169118e-01 3.86491365e-02 1.29351645e-02 4.72836598e+00] [-3.86487190e-02 9.99252819e-01 -2.82343699e-04 -1.58698017e-01] [-1.29364120e-02 -2.17818435e-04 9.99916297e-01 -3.07942773e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.878623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:4.76, Y:-0.16, Z:-0.31 [[ 9.99154164e-01 3.88988700e-02 1.33354799e-02 4.76057296e+00] [-3.88984111e-02 9.99243127e-01 -2.93880146e-04 -1.55695639e-01] [-1.33368183e-02 -2.25097409e-04 9.99911035e-01 -3.08595238e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.908623853 meters Centerline goodness [0,1] 0.9999358960661553 Centerline is valid? [True, True] Translation: X:4.79, Y:-0.15, Z:-0.31 [[ 9.99170623e-01 3.86288837e-02 1.28792605e-02 4.79197883e+00] [-3.86283985e-02 9.99253604e-01 -2.86529208e-04 -1.53248163e-01] [-1.28807157e-02 -2.11213638e-04 9.99917018e-01 -3.07471031e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.938623853 meters Centerline goodness [0,1] 0.9999784798140656 Centerline is valid? [True, True] Translation: X:4.83, Y:-0.15, Z:-0.31 [[ 9.99163436e-01 3.88855750e-02 1.26625359e-02 4.82522176e+00] [-3.88851183e-02 9.99243648e-01 -2.82356468e-04 -1.52724329e-01] [-1.26639382e-02 -2.10263947e-04 9.99919787e-01 -3.10352931e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.968623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:4.86, Y:-0.15, Z:-0.31 [[ 9.99189816e-01 3.80938002e-02 1.29835874e-02 4.85779979e+00] [-3.80932188e-02 9.99274147e-01 -2.92174475e-04 -1.49974236e-01] [-1.29852932e-02 -2.02648873e-04 9.99915667e-01 -3.11216162e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.998623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:4.89, Y:-0.15, Z:-0.31 [[ 9.99206798e-01 3.76101637e-02 1.30862755e-02 4.88949080e+00] [-3.76095024e-02 9.99292468e-01 -2.96715573e-04 -1.49325347e-01] [-1.30881761e-02 -1.95688094e-04 9.99914327e-01 -3.11537236e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.028623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:4.92, Y:-0.15, Z:-0.31 [[ 9.99230785e-01 3.69269040e-02 1.32000652e-02 4.92123229e+00] [-3.69261421e-02 9.99317952e-01 -3.01527698e-04 -1.49607946e-01] [-1.32021966e-02 -1.86131724e-04 9.99912830e-01 -3.11331008e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.058623853 meters Centerline goodness [0,1] 0.9999141722991095 Centerline is valid? [True, True] Translation: X:4.95, Y:-0.15, Z:-0.31 [[ 9.99261389e-01 3.61373932e-02 1.30677238e-02 4.95227002e+00] [-3.61365497e-02 9.99346816e-01 -3.00739498e-04 -1.49283157e-01] [-1.30700562e-02 -1.71705084e-04 9.99914568e-01 -3.09573299e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.088623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:4.98, Y:-0.15, Z:-0.31 [[ 9.99313009e-01 3.45154810e-02 1.34978011e-02 4.98400706e+00] [-3.45144040e-02 9.99404152e-01 -3.12798870e-04 -1.46080435e-01] [-1.35005549e-02 -1.53284581e-04 9.99908852e-01 -3.12694940e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.118623852999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:5.02, Y:-0.15, Z:-0.31 [[ 9.99345699e-01 3.35900231e-02 1.34120851e-02 5.01627408e+00] [-3.35888466e-02 9.99435686e-01 -3.13031600e-04 -1.45756717e-01] [-1.34150312e-02 -1.37669687e-04 9.99910005e-01 -3.13436086e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.148623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:5.05, Y:-0.15, Z:-0.31 [[ 9.99379233e-01 3.26934516e-02 1.31258438e-02 5.04835743e+00] [-3.26922203e-02 9.99465419e-01 -3.08423678e-04 -1.45524108e-01] [-1.31289104e-02 -1.20880756e-04 9.99913805e-01 -3.13614058e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.178623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:5.08, Y:-0.14, Z:-0.32 [[ 9.99453466e-01 3.05159444e-02 1.27100740e-02 5.08001705e+00] [-3.05145831e-02 9.99534276e-01 -3.01067204e-04 -1.42388550e-01] [-1.27133420e-02 -8.69399476e-05 9.99919178e-01 -3.16167648e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.208623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:5.11, Y:-0.14, Z:-0.32 [[ 9.99487855e-01 2.94567131e-02 1.25031986e-02 5.11183642e+00] [-2.94553025e-02 9.99566054e-01 -2.96989584e-04 -1.42332593e-01] [-1.25065212e-02 -7.14480137e-05 9.99921788e-01 -3.17078099e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.238623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:5.15, Y:-0.14, Z:-0.32 [[ 9.99524861e-01 2.83673983e-02 1.20558318e-02 5.14525943e+00] [-2.83659866e-02 9.99597563e-01 -2.88109107e-04 -1.42487000e-01] [-1.20591530e-02 -5.40033477e-05 9.99927284e-01 -3.17562829e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.268623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:5.18, Y:-0.14, Z:-0.32 [[ 9.99593946e-01 2.61086478e-02 1.14140612e-02 5.17683075e+00] [-2.61072119e-02 9.99659111e-01 -2.74806099e-04 -1.39953452e-01] [-1.14173451e-02 -2.32948023e-05 9.99934820e-01 -3.19529209e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.298623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:5.21, Y:-0.14, Z:-0.32 [[ 9.99617581e-01 2.50063439e-02 1.18057115e-02 5.20923073e+00] [-2.50046976e-02 9.99687292e-01 -2.87057693e-04 -1.39758060e-01] [-1.18091980e-02 -8.25032946e-06 9.99930269e-01 -3.20609769e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.328623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:5.24, Y:-0.14, Z:-0.32 [[ 9.99654302e-01 2.35861554e-02 1.16176502e-02 5.24197807e+00] [-2.35844549e-02 9.99721808e-01 -2.83376466e-04 -1.40116909e-01] [-1.16211020e-02 9.28255675e-06 9.99932473e-01 -3.20597052e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.358623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:5.27, Y:-0.14, Z:-0.32 [[ 9.99717207e-01 2.08101347e-02 1.15084645e-02 5.27496331e+00] [-2.08082573e-02 9.99783445e-01 -2.82864821e-04 -1.38936890e-01] [-1.15118588e-02 4.33137373e-05 9.99933735e-01 -3.20892984e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.388623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:5.31, Y:-0.14, Z:-0.32 [[ 9.99744012e-01 1.94017385e-02 1.16396993e-02 5.30782132e+00] [-1.93996960e-02 9.99811767e-01 -2.88364471e-04 -1.38783321e-01] [-1.16431031e-02 6.24840255e-05 9.99932215e-01 -3.21323863e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.418623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:5.34, Y:-0.14, Z:-0.32 [[ 9.99774669e-01 1.77421932e-02 1.16544391e-02 5.34040155e+00] [-1.77400049e-02 9.99842591e-01 -2.91124252e-04 -1.38702213e-01] [-1.16577698e-02 8.43088453e-05 9.99932042e-01 -3.21491915e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.448623852999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:5.37, Y:-0.14, Z:-0.33 [[ 9.99841507e-01 1.43442782e-02 1.05452575e-02 5.37118560e+00] [-1.43422803e-02 9.99897109e-01 -2.65057321e-04 -1.42053081e-01] [-1.05479745e-02 1.13772272e-04 9.99944362e-01 -3.25491854e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.478623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:5.40, Y:-0.14, Z:-0.33 [[ 9.99868921e-01 1.25747282e-02 1.01988252e-02 5.40368193e+00] [-1.25727516e-02 9.99920927e-01 -2.57901284e-04 -1.43766647e-01] [-1.02012618e-02 1.29640183e-04 9.99947957e-01 -3.26733545e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.508623853 meters Centerline goodness [0,1] 0.9999565151218663 Centerline is valid? [True, True] Translation: X:5.44, Y:-0.14, Z:-0.33 [[ 9.99895717e-01 1.07544834e-02 9.63823151e-03 5.43565116e+00] [-1.07526211e-02 9.99942159e-01 -2.45015627e-04 -1.42216478e-01] [-9.64030904e-03 1.41353824e-04 9.99953521e-01 -3.26245153e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.538623853 meters Centerline goodness [0,1] 0.9998709149975259 Centerline is valid? [True, True] Translation: X:5.47, Y:-0.15, Z:-0.33 [[ 9.99928439e-01 7.41594160e-03 9.38728679e-03 5.46647553e+00] [-7.41401216e-03 9.99972487e-01 -2.40321038e-04 -1.47269522e-01] [-9.38881072e-03 1.70706382e-04 9.99955910e-01 -3.29419845e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.568623853 meters Centerline goodness [0,1] 0.99991336928508 Centerline is valid? [True, True] Translation: X:5.50, Y:-0.15, Z:-0.33 [[ 9.99938532e-01 6.05405471e-03 9.28871123e-03 5.49905003e+00] [-6.05209343e-03 9.99981657e-01 -2.39241094e-04 -1.47807020e-01] [-9.28998923e-03 1.83010240e-04 9.99956830e-01 -3.29811543e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.598623853 meters Centerline goodness [0,1] 0.9999140745832618 Centerline is valid? [True, True] Translation: X:5.53, Y:-0.15, Z:-0.33 [[ 9.99941992e-01 5.15998145e-03 9.45448988e-03 5.53155184e+00] [-5.15789446e-03 9.99986668e-01 -2.45110758e-04 -1.48117751e-01] [-9.45562860e-03 1.96331278e-04 9.99955275e-01 -3.29318980e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.628623853 meters Centerline goodness [0,1] 0.9998498498498498 Centerline is valid? [True, True] Translation: X:5.56, Y:-0.15, Z:-0.33 [[ 9.99940744e-01 4.46048186e-03 9.93041797e-03 5.56294322e+00] [-4.45812129e-03 9.99990029e-01 -2.59833906e-04 -1.49482162e-01] [-9.93147794e-03 2.15547502e-04 9.99950658e-01 -3.29856878e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.658623853 meters Centerline goodness [0,1] 0.9997386873394016 Centerline is valid? [True, True] Translation: X:5.59, Y:-0.15, Z:-0.33 [[ 9.99943258e-01 3.62061141e-03 1.00186146e-02 5.59435607e+00] [-3.61815708e-03 9.99993420e-01 -2.63091767e-04 -1.49726198e-01] [-1.00195012e-02 2.26827917e-04 9.99949778e-01 -3.30417512e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.688623853 meters Centerline goodness [0,1] 0.9998274932614555 Centerline is valid? [True, True] Translation: X:5.63, Y:-0.15, Z:-0.33 [[ 9.99942608e-01 3.67859979e-03 1.00622603e-02 5.62712337e+00] [-3.67612611e-03 9.99993208e-01 -2.64322403e-04 -1.47348880e-01] [-1.00631643e-02 2.27317095e-04 9.99949339e-01 -3.30093672e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.718623853 meters Centerline goodness [0,1] 0.9998061264055835 Centerline is valid? [True, True] Translation: X:5.66, Y:-0.15, Z:-0.33 [[ 9.99942746e-01 3.83169275e-03 9.99117894e-03 5.65942951e+00] [-3.82923668e-03 9.99992633e-01 -2.64942210e-04 -1.50730903e-01] [-9.99212052e-03 2.26668452e-04 9.99950052e-01 -3.31269073e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.748623853 meters Centerline goodness [0,1] 0.9997405910201258 Centerline is valid? [True, True] Translation: X:5.69, Y:-0.15, Z:-0.33 [[ 9.99944517e-01 4.66173808e-03 9.44625058e-03 5.69194878e+00] [-4.65957361e-03 9.99989113e-01 -2.51130289e-04 -1.46469745e-01] [-9.44731844e-03 2.07100855e-04 9.99955352e-01 -3.32240859e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.778623853 meters Centerline goodness [0,1] 0.9997393514194487 Centerline is valid? [True, True] Translation: X:5.72, Y:-0.15, Z:-0.33 [[ 9.99942435e-01 5.12423379e-03 9.42706300e-03 5.72318267e+00] [-5.12207809e-03 9.99986850e-01 -2.52801225e-04 -1.49604509e-01] [-9.42823445e-03 2.04500520e-04 9.99955532e-01 -3.34093851e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.808623853 meters Centerline goodness [0,1] 0.9998693721153009 Centerline is valid? [True, True] Translation: X:5.76, Y:-0.14, Z:-0.33 [[ 9.99937384e-01 5.67635190e-03 9.64406796e-03 5.75574606e+00] [-5.67411839e-03 9.99983869e-01 -2.58939459e-04 -1.43138140e-01] [-9.64538222e-03 2.04201661e-04 9.99953461e-01 -3.32200504e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.838623853 meters Centerline goodness [0,1] 0.9998062724670125 Centerline is valid? [True, True] Translation: X:5.79, Y:-0.15, Z:-0.34 [[ 9.99939378e-01 5.82272737e-03 9.34541717e-03 5.78791650e+00] [-5.82062304e-03 9.99983028e-01 -2.52355268e-04 -1.49869485e-01] [-9.34672796e-03 1.97943820e-04 9.99956299e-01 -3.35267004e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.868623853 meters Centerline goodness [0,1] 0.9998495238504697 Centerline is valid? [True, True] Translation: X:5.82, Y:-0.15, Z:-0.34 [[ 9.99944044e-01 5.74435872e-03 8.88318471e-03 5.82015969e+00] [-5.74243952e-03 9.99983483e-01 -2.41539710e-04 -1.47420655e-01] [-8.88442548e-03 1.90515043e-04 9.99960515e-01 -3.35089019e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.898623853 meters Centerline goodness [0,1] 0.9999133824166305 Centerline is valid? [True, True] Translation: X:5.85, Y:-0.15, Z:-0.33 [[ 9.99943372e-01 5.33740513e-03 9.20676459e-03 5.85221701e+00] [-5.33531142e-03 9.99985735e-01 -2.51955923e-04 -1.48689717e-01] [-9.20797805e-03 2.02820699e-04 9.99957585e-01 -3.34675251e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.928623853 meters Centerline goodness [0,1] 0.9998496402105037 Centerline is valid? [True, True] Translation: X:5.88, Y:-0.16, Z:-0.34 [[ 9.99938445e-01 5.04352011e-03 9.88275311e-03 5.88368716e+00] [-5.04107525e-03 9.99987257e-01 -2.72281203e-04 -1.57657510e-01] [-9.88400043e-03 2.22444740e-04 9.99951127e-01 -3.36411540e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.958623853 meters Centerline goodness [0,1] 0.9998274523337072 Centerline is valid? [True, True] Translation: X:5.92, Y:-0.16, Z:-0.34 [[ 9.99933110e-01 4.96734205e-03 1.04451660e-02 5.91626318e+00] [-4.96458464e-03 9.99987634e-01 -2.89901225e-04 -1.60285153e-01] [-1.04464768e-02 2.38025923e-04 9.99945406e-01 -3.35511879e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.988623853 meters Centerline goodness [0,1] 0.9997416799414475 Centerline is valid? [True, True] Translation: X:5.95, Y:-0.16, Z:-0.34 [[ 9.99930329e-01 5.11130350e-03 1.06400792e-02 5.94878276e+00] [-5.10842971e-03 9.99986908e-01 -2.97251142e-04 -1.61881253e-01] [-1.06414592e-02 2.42876336e-04 9.99943349e-01 -3.35822797e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.018623853 meters Centerline goodness [0,1] 0.9996531766848027 Centerline is valid? [True, True] Translation: X:5.98, Y:-0.17, Z:-0.34 [[ 9.99939502e-01 4.90265034e-03 9.84666575e-03 5.98020696e+00] [-4.90016161e-03 9.99987956e-01 -2.76858565e-04 -1.65670859e-01] [-9.84790450e-03 2.28591562e-04 9.99951482e-01 -3.35837299e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.048623853 meters Centerline goodness [0,1] 0.9996775511081494 Centerline is valid? [True, True] Translation: X:6.01, Y:-0.17, Z:-0.34 [[ 9.99939176e-01 5.03707549e-03 9.81185263e-03 6.01251118e+00] [-5.03459874e-03 9.99987288e-01 -2.77108154e-04 -1.68758235e-01] [-9.81312372e-03 2.27692559e-04 9.99951824e-01 -3.39121961e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.078623853 meters Centerline goodness [0,1] 0.9998259431704452 Centerline is valid? [True, True] Translation: X:6.05, Y:-0.17, Z:-0.34 [[ 9.99945452e-01 5.15177668e-03 9.08582827e-03 6.04598822e+00] [-5.14964834e-03 9.99986707e-01 -2.57627884e-04 -1.66375410e-01] [-9.08703473e-03 2.10825010e-04 9.99958690e-01 -3.38578678e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.108623853 meters Centerline goodness [0,1] 0.9998284991532146 Centerline is valid? [True, True] Translation: X:6.08, Y:-0.17, Z:-0.34 [[ 9.99946488e-01 5.47573895e-03 8.77712497e-03 6.07849789e+00] [-5.47375147e-03 9.99984988e-01 -2.50445702e-04 -1.68077915e-01] [-8.77836457e-03 2.02388499e-04 9.99961449e-01 -3.39425627e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.138623853 meters Centerline goodness [0,1] 0.9997405405405405 Centerline is valid? [True, True] Translation: X:6.11, Y:-0.17, Z:-0.34 [[ 9.99948998e-01 5.59769859e-03 8.40634993e-03 6.11048210e+00] [-5.59586639e-03 9.99984314e-01 -2.41459798e-04 -1.71112032e-01] [-8.40756969e-03 1.94406672e-04 9.99964637e-01 -3.40952145e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.168623853 meters Centerline goodness [0,1] 0.999740977378691 Centerline is valid? [True, True] Translation: X:6.14, Y:-0.17, Z:-0.34 [[ 9.99949652e-01 5.59820419e-03 8.32782200e-03 6.14386127e+00] [-5.59639497e-03 9.99984311e-01 -2.40537615e-04 -1.73446314e-01] [-8.32903793e-03 1.93919723e-04 9.99965294e-01 -3.41125658e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.198623852999999 meters Centerline goodness [0,1] 0.9997626752966559 Centerline is valid? [True, True] Translation: X:6.17, Y:-0.18, Z:-0.34 [[ 9.99952724e-01 4.80565655e-03 8.45316485e-03 6.17431361e+00] [-4.80374160e-03 9.99988432e-01 -2.46825226e-04 -1.81064483e-01] [-8.45425322e-03 2.06206737e-04 9.99964241e-01 -3.41876625e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.228623853 meters Centerline goodness [0,1] 0.9998054180269388 Centerline is valid? [True, True] Translation: X:6.21, Y:-0.19, Z:-0.34 [[ 9.99958641e-01 4.41312059e-03 7.95237300e-03 6.20593464e+00] [-4.41141511e-03 9.99990243e-01 -2.31990104e-04 -1.85778927e-01] [-7.95331921e-03 1.96899291e-04 9.99968352e-01 -3.42954872e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.258623853 meters Centerline goodness [0,1] 0.9997617036026083 Centerline is valid? [True, True] Translation: X:6.24, Y:-0.19, Z:-0.34 [[ 9.99964719e-01 3.64576846e-03 7.56767448e-03 6.23784804e+00] [-3.64419357e-03 9.99993335e-01 -2.21886121e-04 -1.93300138e-01] [-7.56843299e-03 1.94300221e-04 9.99971340e-01 -3.43997061e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.288623853 meters Centerline goodness [0,1] 0.9998690756742603 Centerline is valid? [True, True] Translation: X:6.27, Y:-0.19, Z:-0.34 [[ 9.99962561e-01 3.92102577e-03 7.71379942e-03 6.27117928e+00] [-3.91938949e-03 9.99992293e-01 -2.27229600e-04 -1.94794622e-01] [-7.71463094e-03 1.96987708e-04 9.99970222e-01 -3.43971391e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.318623853 meters Centerline goodness [0,1] 0.9998690756742603 Centerline is valid? [True, True] Translation: X:6.30, Y:-0.20, Z:-0.34 [[ 9.99961788e-01 4.11346083e-03 7.71375533e-03 6.30366709e+00] [-4.11181886e-03 9.99991520e-01 -2.28710320e-04 -1.95947779e-01] [-7.71463071e-03 1.96984016e-04 9.99970222e-01 -3.44545027e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.348623853 meters Centerline goodness [0,1] 0.9999571771154505 Centerline is valid? [True, True] Translation: X:6.33, Y:-0.20, Z:-0.35 [[ 9.99959062e-01 4.95226432e-03 7.57293855e-03 6.33456577e+00] [-4.95069238e-03 9.99987720e-01 -2.26304582e-04 -2.00237656e-01] [-7.57396627e-03 1.88804028e-04 9.99971299e-01 -3.45947334e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.378623853 meters Centerline goodness [0,1] 0.999935143548945 Centerline is valid? [True, True] Translation: X:6.37, Y:-0.20, Z:-0.35 [[ 9.99944335e-01 7.63766253e-03 7.27967373e-03 6.36580107e+00] [-7.63626460e-03 9.99970819e-01 -2.19808952e-04 -2.00887065e-01] [-7.28114013e-03 1.64207201e-04 9.99973479e-01 -3.46187252e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.408623853 meters Centerline goodness [0,1] 0.9999572676965152 Centerline is valid? [True, True] Translation: X:6.40, Y:-0.20, Z:-0.35 [[ 9.99928729e-01 9.52569809e-03 7.19709248e-03 6.39696480e+00] [-9.52438763e-03 9.99954619e-01 -2.16334180e-04 -2.01876190e-01] [-7.19882660e-03 1.47770863e-04 9.99974077e-01 -3.47221802e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.438623853 meters Centerline goodness [0,1] 0.999956915122792 Centerline is valid? [True, True] Translation: X:6.43, Y:-0.20, Z:-0.35 [[ 9.99912558e-01 1.14741331e-02 6.57429613e-03 6.42920399e+00] [-1.14730774e-02 9.99934162e-01 -1.98272878e-04 -2.02479861e-01] [-6.57613830e-03 1.22828132e-04 9.99978369e-01 -3.48421005e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.468623853 meters Centerline goodness [0,1] 0.9999570520529119 Centerline is valid? [True, True] Translation: X:6.46, Y:-0.20, Z:-0.35 [[ 9.99863121e-01 1.52827833e-02 6.33840717e-03 6.45952357e+00] [-1.52818617e-02 9.99883207e-01 -1.93810854e-04 -2.02165435e-01] [-6.34062886e-03 9.69216640e-05 9.99979893e-01 -3.49042461e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.498623853 meters Centerline goodness [0,1] 0.9999785633132543 Centerline is valid? [True, True] Translation: X:6.49, Y:-0.20, Z:-0.35 [[ 9.99829690e-01 1.72809222e-02 6.47775308e-03 6.49139558e+00] [-1.72800119e-02 9.99850670e-01 -1.96467903e-04 -2.02127018e-01] [-6.48018091e-03 8.44987916e-05 9.99979000e-01 -3.49638916e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.528623853 meters Centerline goodness [0,1] 0.9999569735171998 Centerline is valid? [True, True] Translation: X:6.52, Y:-0.20, Z:-0.35 [[ 9.99756864e-01 2.08236656e-02 7.25175392e-03 6.52330899e+00] [-2.08226073e-02 9.99783161e-01 -2.21408481e-04 -2.01552164e-01] [-7.25479200e-03 7.03542243e-05 9.99973681e-01 -3.47533734e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.558623853 meters Centerline goodness [0,1] 0.9999786707618804 Centerline is valid? [True, True] Translation: X:6.55, Y:-0.20, Z:-0.35 [[ 9.99717499e-01 2.24348303e-02 7.84864300e-03 6.55492553e+00] [-2.24336280e-02 9.99748305e-01 -2.41199778e-04 -2.04305318e-01] [-7.85207882e-03 6.50581021e-05 9.99969170e-01 -3.48718709e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.588623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:6.59, Y:-0.20, Z:-0.35 [[ 9.99675906e-01 2.40903722e-02 8.23028099e-03 6.58682618e+00] [-2.40890937e-02 9.99709783e-01 -2.54455767e-04 -2.03185170e-01] [-8.23402236e-03 5.61132890e-05 9.99966098e-01 -3.46968312e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.618623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:6.62, Y:-0.20, Z:-0.35 [[ 9.99639147e-01 2.54310726e-02 8.65077556e-03 6.61775254e+00] [-2.54296955e-02 9.99676577e-01 -2.69164352e-04 -2.03974730e-01] [-8.65482283e-03 4.90806350e-05 9.99962545e-01 -3.46582344e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.648623853 meters Centerline goodness [0,1] 0.9999360040957379 Centerline is valid? [True, True] Translation: X:6.65, Y:-0.21, Z:-0.34 [[ 9.99568880e-01 2.79668173e-02 8.93927891e-03 6.64894598e+00] [-2.79654349e-02 9.99608852e-01 -2.79632678e-04 -2.05954502e-01] [-8.94360276e-03 2.95213009e-05 9.99960005e-01 -3.43477015e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.678623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:6.68, Y:-0.21, Z:-0.35 [[ 9.99501576e-01 3.01989470e-02 9.19904981e-03 6.68081978e+00] [-3.01975646e-02 9.99543908e-01 -2.89164716e-04 -2.05334282e-01] [-9.20358666e-03 1.12316890e-05 9.99957646e-01 -3.46101603e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.708623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:6.71, Y:-0.20, Z:-0.35 [[ 9.99438110e-01 3.23001014e-02 8.95364188e-03 6.71391434e+00] [-3.22988654e-02 9.99478216e-01 -2.82642179e-04 -2.04452330e-01] [-8.95809938e-03 -6.70910850e-06 9.99959875e-01 -3.46843555e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.738623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:6.75, Y:-0.20, Z:-0.35 [[ 9.99260719e-01 3.74130824e-02 8.84744617e-03 6.74578711e+00] [-3.74120593e-02 9.99299884e-01 -2.81171295e-04 -1.99518947e-01] [-8.85177142e-03 -5.00377504e-05 9.99960821e-01 -3.46658154e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.768623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:6.78, Y:-0.20, Z:-0.35 [[ 9.99157881e-01 4.01136594e-02 8.62684392e-03 6.77747546e+00] [-4.01127761e-02 9.99195121e-01 -2.75455469e-04 -1.96828025e-01] [-8.63094988e-03 -7.08231558e-05 9.99962750e-01 -3.47855229e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.798623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:6.81, Y:-0.19, Z:-0.35 [[ 9.98958331e-01 4.49946836e-02 7.59808146e-03 6.80945130e+00] [-4.49941330e-02 9.98987221e-01 -2.43482612e-04 -1.90947853e-01] [-7.60134170e-03 -9.86401035e-05 9.99971105e-01 -3.49626650e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.828623853 meters Centerline goodness [0,1] 0.9999570308303792 Centerline is valid? [True, True] Translation: X:6.84, Y:-0.19, Z:-0.35 [[ 9.98866327e-01 4.70184116e-02 7.43843142e-03 6.84030000e+00] [-4.70179318e-02 9.98894017e-01 -2.39466551e-04 -1.88546248e-01] [-7.44146397e-03 -1.10544587e-04 9.99972306e-01 -3.50658943e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.858623853 meters Centerline goodness [0,1] 0.9999787138934417 Centerline is valid? [True, True] Translation: X:6.87, Y:-0.19, Z:-0.35 [[ 9.98794409e-01 4.85569622e-02 7.20769267e-03 6.87218558e+00] [-4.85565452e-02 9.98820408e-01 -2.32936599e-04 -1.86875526e-01] [-7.21050122e-03 -1.17324882e-04 9.99973997e-01 -3.51356084e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.888623853 meters Centerline goodness [0,1] 0.9999784352626585 Centerline is valid? [True, True] Translation: X:6.90, Y:-0.18, Z:-0.35 [[ 9.98689630e-01 5.06952874e-02 7.00069969e-03 6.90430537e+00] [-5.06949392e-02 9.98714159e-01 -2.27305418e-04 -1.84064163e-01] [-7.00322121e-03 -1.27892481e-04 9.99975469e-01 -3.52844996e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.918623853 meters Centerline goodness [0,1] 0.9999573851529873 Centerline is valid? [True, True] Translation: X:6.94, Y:-0.19, Z:-0.35 [[ 9.98681843e-01 5.08088887e-02 7.28242872e-03 6.93636332e+00] [-5.08085062e-02 9.98708385e-01 -2.37636762e-04 -1.85018824e-01] [-7.28509669e-03 -1.32685806e-04 9.99973455e-01 -3.53064604e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.948623853 meters Centerline goodness [0,1] 0.9999571486726802 Centerline is valid? [True, True] Translation: X:6.97, Y:-0.19, Z:-0.35 [[ 9.98683772e-01 5.07305869e-02 7.55855715e-03 6.96837194e+00] [-5.07301609e-02 9.98712366e-01 -2.48200406e-04 -1.86605820e-01] [-7.56141585e-03 -1.35573103e-04 9.99971403e-01 -3.52804072e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.978623853 meters Centerline goodness [0,1] 0.99997854997855 Centerline is valid? [True, True] Translation: X:7.00, Y:-0.19, Z:-0.35 [[ 9.98706428e-01 5.02141364e-02 8.00070592e-03 7.00020523e+00] [-5.02136307e-02 9.98738465e-01 -2.64190797e-04 -1.88451269e-01] [-8.00387886e-03 -1.37895445e-04 9.99967959e-01 -3.53042403e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.008623853 meters Centerline goodness [0,1] 0.9999782561426397 Centerline is valid? [True, True] Translation: X:7.03, Y:-0.19, Z:-0.35 [[ 9.98815608e-01 4.79775710e-02 8.09531805e-03 7.03225015e+00] [-4.79769696e-02 9.98848406e-01 -2.68585884e-04 -1.92709862e-01] [-8.09888163e-03 -1.20121054e-04 9.99967196e-01 -3.52402790e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.038623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:7.06, Y:-0.19, Z:-0.35 [[ 9.98880785e-01 4.66511145e-02 7.80066036e-03 7.06357254e+00] [-4.66505053e-02 9.98911239e-01 -2.60133103e-04 -1.94891090e-01] [-7.80430280e-03 -1.04062789e-04 9.99969541e-01 -3.53821488e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.068623853 meters Centerline goodness [0,1] 0.9999782915445566 Centerline is valid? [True, True] Translation: X:7.10, Y:-0.20, Z:-0.35 [[ 9.98946659e-01 4.53216691e-02 7.17772321e-03 7.09615378e+00] [-4.53211078e-02 9.98972442e-01 -2.40919811e-04 -1.97958231e-01] [-7.18126657e-03 -8.46363268e-05 9.99974211e-01 -3.54569448e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.098623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:7.13, Y:-0.20, Z:-0.36 [[ 9.99082341e-01 4.24012348e-02 6.05069331e-03 7.12725418e+00] [-4.24007853e-02 9.99100662e-01 -2.02608614e-04 -2.00128386e-01] [-6.05384254e-03 -5.41314595e-05 9.99981674e-01 -3.58177897e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.128623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:7.16, Y:-0.20, Z:-0.36 [[ 9.99151170e-01 4.07798833e-02 5.82580031e-03 7.15823640e+00] [-4.07794337e-02 9.99168154e-01 -1.95994451e-04 -2.02507666e-01] [-5.82894677e-03 -4.17447523e-05 9.99983011e-01 -3.60287568e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.158623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:7.19, Y:-0.21, Z:-0.36 [[ 9.99215292e-01 3.92002471e-02 5.66934105e-03 7.19037106e+00] [-3.91997920e-02 9.99231374e-01 -1.91429187e-04 -2.06852874e-01] [-5.67248752e-03 -3.09580185e-05 9.99983911e-01 -3.60488843e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.188623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:7.22, Y:-0.21, Z:-0.36 [[ 9.99346854e-01 3.56844314e-02 5.69964553e-03 7.22177024e+00] [-3.56839082e-02 9.99363108e-01 -1.93511403e-04 -2.13728928e-01] [-5.70292081e-03 -1.00006161e-05 9.99983738e-01 -3.60864608e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.218623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:7.26, Y:-0.22, Z:-0.36 [[ 9.99410316e-01 3.38390915e-02 5.82547347e-03 7.25508424e+00] [-3.38385112e-02 9.99427294e-01 -1.98171757e-04 -2.17937749e-01] [-5.82884313e-03 9.29549095e-07 9.99983012e-01 -3.59120716e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.248623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:7.29, Y:-0.22, Z:-0.36 [[ 9.99471895e-01 3.18631902e-02 6.37718218e-03 7.28689937e+00] [-3.18624396e-02 9.99492240e-01 -2.19276412e-04 -2.22358917e-01] [-6.38093094e-03 1.59680291e-05 9.99979642e-01 -3.60685476e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.278623853 meters Centerline goodness [0,1] 0.9999784913858 Centerline is valid? [True, True] Translation: X:7.32, Y:-0.23, Z:-0.36 [[ 9.99590154e-01 2.77723423e-02 6.94411198e-03 7.31876942e+00] [-2.77713494e-02 9.99614273e-01 -2.39395122e-04 -2.30449753e-01] [-6.94808202e-03 4.64496471e-05 9.99975861e-01 -3.59913315e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.308623853 meters Centerline goodness [0,1] 0.9999148138683023 Centerline is valid? [True, True] Translation: X:7.35, Y:-0.24, Z:-0.36 [[ 9.99633824e-01 2.60919173e-02 7.17150744e-03 7.35071537e+00] [-2.60908063e-02 9.99659546e-01 -2.48444048e-04 -2.35311995e-01] [-7.17554825e-03 6.12426620e-05 9.99974254e-01 -3.57814229e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.338623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:7.38, Y:-0.24, Z:-0.36 [[ 9.99658577e-01 2.50404528e-02 7.46357068e-03 7.38321572e+00] [-2.50392107e-02 9.99686436e-01 -2.59832740e-04 -2.38867355e-01] [-7.46773670e-03 7.28621086e-05 9.99972113e-01 -3.59881897e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.368623853 meters Centerline goodness [0,1] 0.9999570723331187 Centerline is valid? [True, True] Translation: X:7.41, Y:-0.24, Z:-0.36 [[ 9.99713459e-01 2.28631346e-02 7.09061985e-03 7.41405560e+00] [-2.28619466e-02 9.99738601e-01 -2.48571275e-04 -2.44419922e-01] [-7.09444948e-03 8.63946769e-05 9.99974830e-01 -3.61204881e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.398623853 meters Centerline goodness [0,1] 0.9998499045821987 Centerline is valid? [True, True] Translation: X:7.45, Y:-0.25, Z:-0.36 [[ 9.99739235e-01 2.19040713e-02 6.45551096e-03 7.44588365e+00] [-2.19030691e-02 9.99760073e-01 -2.25915831e-04 -2.48047508e-01] [-6.45891059e-03 8.44614172e-05 9.99979137e-01 -3.60058123e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.428623853 meters Centerline goodness [0,1] 0.9999358178939711 Centerline is valid? [True, True] Translation: X:7.48, Y:-0.25, Z:-0.36 [[ 9.99749857e-01 2.14822887e-02 6.22368404e-03 7.47646343e+00] [-2.14813429e-02 9.99769225e-01 -2.18785944e-04 -2.51151204e-01] [-6.22694780e-03 8.50381249e-05 9.99980609e-01 -3.64295443e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.458623853 meters Centerline goodness [0,1] 0.999935258319306 Centerline is valid? [True, True] Translation: X:7.51, Y:-0.26, Z:-0.36 [[ 9.99776602e-01 2.02849394e-02 5.93857017e-03 7.50705973e+00] [-2.02840529e-02 9.99794235e-01 -2.09486055e-04 -2.56339823e-01] [-5.94159764e-03 8.89809847e-05 9.99982345e-01 -3.64858446e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.488623853 meters Centerline goodness [0,1] 0.999978309908034 Centerline is valid? [True, True] Translation: X:7.54, Y:-0.26, Z:-0.37 [[ 9.99780759e-01 2.01032487e-02 5.85608941e-03 7.53767378e+00] [-2.01023749e-02 9.99797905e-01 -2.08034315e-04 -2.58994034e-01] [-5.85908809e-03 9.02674009e-05 9.99982831e-01 -3.65594377e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.518623853 meters Centerline goodness [0,1] 0.9999569892473118 Centerline is valid? [True, True] Translation: X:7.57, Y:-0.26, Z:-0.37 [[ 9.99780256e-01 2.00510227e-02 6.11531955e-03 7.57041252e+00] [-2.00500715e-02 9.99798954e-01 -2.16808321e-04 -2.61121738e-01] [-6.11843731e-03 9.41480840e-05 9.99981278e-01 -3.65115054e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.548623853 meters Centerline goodness [0,1] 0.9999784226993204 Centerline is valid? [True, True] Translation: X:7.60, Y:-0.26, Z:-0.36 [[ 9.99767417e-01 2.05025356e-02 6.69011429e-03 7.60305573e+00] [-2.05013913e-02 9.99789796e-01 -2.39587862e-04 -2.62794922e-01] [-6.69362016e-03 1.02375487e-04 9.99977592e-01 -3.64573813e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.578623853 meters Centerline goodness [0,1] 0.9999785163383247 Centerline is valid? [True, True] Translation: X:7.64, Y:-0.26, Z:-0.36 [[ 9.99738075e-01 2.18164110e-02 6.91563638e-03 7.63502205e+00] [-2.18152205e-02 9.99761989e-01 -2.47545136e-04 -2.62369456e-01] [-6.91939093e-03 9.66141648e-05 9.99976056e-01 -3.64179358e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.608623853 meters Centerline goodness [0,1] 0.9999357340245496 Centerline is valid? [True, True] Translation: X:7.67, Y:-0.26, Z:-0.37 [[ 9.99709623e-01 2.31445651e-02 6.70804008e-03 7.66589037e+00] [-2.31434641e-02 9.99732125e-01 -2.41717460e-04 -2.61983557e-01] [-6.71183761e-03 8.63999865e-05 9.99977472e-01 -3.65066571e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.638623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:7.70, Y:-0.26, Z:-0.37 [[ 9.99672454e-01 2.46941096e-02 6.72196324e-03 7.69831615e+00] [-2.46930398e-02 9.99695051e-01 -2.42113061e-04 -2.61404826e-01] [-6.72589215e-03 7.60480528e-05 9.99977378e-01 -3.66197415e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.668623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:7.73, Y:-0.25, Z:-0.36 [[ 9.99578135e-01 2.81784059e-02 7.03773138e-03 7.73055880e+00] [-2.81773134e-02 9.99602908e-01 -2.54361325e-04 -2.54557044e-01] [-7.04210426e-03 5.59496560e-05 9.99975203e-01 -3.60572764e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.698623853 meters Centerline goodness [0,1] 0.9998713247120891 Centerline is valid? [True, True] Translation: X:7.76, Y:-0.26, Z:-0.36 [[ 9.99529051e-01 2.98951721e-02 6.92492896e-03 7.76168195e+00] [-2.98941467e-02 9.99553038e-01 -2.51559568e-04 -2.57880418e-01] [-6.92935420e-03 4.44262538e-05 9.99975991e-01 -3.62884338e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.728623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:7.79, Y:-0.26, Z:-0.37 [[ 9.99464555e-01 3.18510590e-02 7.49086404e-03 7.79349217e+00] [-3.18499023e-02 9.99492626e-01 -2.73681781e-04 -2.55685115e-01] [-7.49578043e-03 3.49519514e-05 9.99971906e-01 -3.65491104e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.758623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:7.83, Y:-0.25, Z:-0.36 [[ 9.99358164e-01 3.48892458e-02 8.12402917e-03 7.82559212e+00] [-3.48879743e-02 9.99391185e-01 -2.98223958e-04 -2.50408440e-01] [-8.12948795e-03 1.46016269e-05 9.99966955e-01 -3.64623570e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.788623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:7.86, Y:-0.25, Z:-0.36 [[ 9.99320366e-01 3.59817660e-02 8.00736840e-03 7.85838621e+00] [-3.59805605e-02 9.99352447e-01 -2.94604150e-04 -2.48558912e-01] [-8.01278358e-03 6.29432382e-06 9.99967897e-01 -3.60085060e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.818623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:7.89, Y:-0.25, Z:-0.36 [[ 9.99281003e-01 3.70533056e-02 8.03296997e-03 7.89006808e+00] [-3.70521132e-02 9.99313290e-01 -2.97262271e-04 -2.47364656e-01] [-8.03846820e-03 -5.89971462e-07 9.99967691e-01 -3.62204832e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.848623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:7.92, Y:-0.25, Z:-0.36 [[ 9.99272270e-01 3.72873656e-02 8.03628324e-03 7.92174191e+00] [-3.72861677e-02 9.99304584e-01 -2.98882427e-04 -2.48611993e-01] [-8.04183922e-03 -9.77283109e-07 9.99967664e-01 -3.62797621e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.878623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:7.95, Y:-0.25, Z:-0.36 [[ 9.99273917e-01 3.73325479e-02 7.61050966e-03 7.95445677e+00] [-3.73314667e-02 9.99302897e-01 -2.84123556e-04 -2.50877273e-01] [-7.61581142e-03 -1.94229653e-07 9.99970999e-01 -3.63795129e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.908623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:7.99, Y:-0.25, Z:-0.37 [[ 9.99300385e-01 3.66886302e-02 7.25840253e-03 7.98594953e+00] [-3.66876199e-02 9.99326746e-01 -2.72336840e-04 -2.53760970e-01] [-7.26350744e-03 5.85279603e-06 9.99973620e-01 -3.66168514e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.938623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:8.02, Y:-0.26, Z:-0.37 [[ 9.99305433e-01 3.66623792e-02 6.67249227e-03 8.01914970e+00] [-3.66615194e-02 9.99327709e-01 -2.51166791e-04 -2.55138908e-01] [-6.67721478e-03 6.36863401e-06 9.99977707e-01 -3.66808652e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.968623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:8.05, Y:-0.26, Z:-0.37 [[ 9.99310133e-01 3.65854617e-02 6.38452945e-03 8.05075285e+00] [-3.65846609e-02 9.99330528e-01 -2.42200560e-04 -2.56535815e-01] [-6.38911620e-03 8.45762866e-06 9.99979589e-01 -3.68308088e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.998623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:8.08, Y:-0.26, Z:-0.37 [[ 9.99301771e-01 3.68688992e-02 6.05426079e-03 8.08387414e+00] [-3.68681857e-02 9.99320111e-01 -2.29454887e-04 -2.57524468e-01] [-6.05860432e-03 6.08506437e-06 9.99981646e-01 -3.69069232e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.028623853000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:8.12, Y:-0.26, Z:-0.37 [[ 9.99233433e-01 3.86374282e-02 6.30038697e-03 8.11594155e+00] [-3.86366813e-02 9.99253296e-01 -2.40263005e-04 -2.55797058e-01] [-6.30496559e-03 -3.34721645e-06 9.99980124e-01 -3.69442613e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.058623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:8.15, Y:-0.26, Z:-0.37 [[ 9.99187924e-01 3.97896536e-02 6.34637201e-03 8.14929651e+00] [-3.97889125e-02 9.99208078e-01 -2.43038066e-04 -2.55357597e-01] [-6.35101658e-03 -9.67454025e-06 9.99979832e-01 -3.69580616e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.088623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:8.18, Y:-0.25, Z:-0.37 [[ 9.99133655e-01 4.11733145e-02 6.05778680e-03 8.18152816e+00] [-4.11726578e-02 9.99152019e-01 -2.33128761e-04 -2.54390352e-01] [-6.06224860e-03 -1.64883920e-05 9.99981624e-01 -3.70436541e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.118623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:8.21, Y:-0.25, Z:-0.37 [[ 9.99057416e-01 4.28954433e-02 6.65287179e-03 8.21356345e+00] [-4.28946795e-02 9.99079566e-01 -2.57512810e-04 -2.51141808e-01] [-6.65779439e-03 -2.81027210e-05 9.99977836e-01 -3.71245247e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.148623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:8.25, Y:-0.25, Z:-0.37 [[ 9.99030114e-01 4.35018525e-02 6.81325279e-03 8.24682881e+00] [-4.35010578e-02 9.99053346e-01 -2.64860665e-04 -2.51014587e-01] [-6.81832493e-03 -3.17799233e-05 9.99976754e-01 -3.70927805e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.178623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:8.28, Y:-0.25, Z:-0.37 [[ 9.99013576e-01 4.38660574e-02 6.90243538e-03 8.27985786e+00] [-4.38652413e-02 9.99037421e-01 -2.69647160e-04 -2.51297848e-01] [-6.90761960e-03 -3.33958199e-05 9.99976142e-01 -3.70929338e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.208623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:8.31, Y:-0.25, Z:-0.37 [[ 9.99008814e-01 4.39300280e-02 7.17934127e-03 8.31222466e+00] [-4.39291355e-02 9.99034610e-01 -2.82036866e-04 -2.52043789e-01] [-7.18480029e-03 -3.36249409e-05 9.99974188e-01 -3.71263915e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.238623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:8.34, Y:-0.25, Z:-0.37 [[ 9.99000791e-01 4.41121015e-02 7.17929684e-03 8.34469338e+00] [-4.41112056e-02 9.99026587e-01 -2.83160251e-04 -2.53536706e-01] [-7.18479921e-03 -3.38101242e-05 9.99974188e-01 -3.71837350e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.268623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:8.38, Y:-0.25, Z:-0.37 [[ 9.99002330e-01 4.41233491e-02 6.89011844e-03 8.37709741e+00] [-4.41225114e-02 9.99026090e-01 -2.73622019e-04 -2.54018733e-01] [-6.89548120e-03 -3.06602942e-05 9.99976225e-01 -3.73518211e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.298623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:8.41, Y:-0.26, Z:-0.38 [[ 9.99014374e-01 4.39649244e-02 6.11282588e-03 8.41010136e+00] [-4.39642639e-02 9.99033075e-01 -2.42449286e-04 -2.55256381e-01] [-6.11757450e-03 -2.65355680e-05 9.99981287e-01 -3.75464625e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.328623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:8.44, Y:-0.26, Z:-0.38 [[ 9.99025029e-01 4.37657973e-02 5.79196589e-03 8.44322557e+00] [-4.37651959e-02 9.99041818e-01 -2.30612802e-04 -2.56355727e-01] [-5.79650909e-03 -2.30985600e-05 9.99983200e-01 -3.77175644e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.358623853000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:8.48, Y:-0.26, Z:-0.38 [[ 9.99037304e-01 4.35064068e-02 5.62660363e-03 8.47658017e+00] [-4.35058298e-02 9.99053148e-01 -2.24956771e-04 -2.57364668e-01] [-5.63106312e-03 -2.00498541e-05 9.99984145e-01 -3.78019110e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.388623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:8.51, Y:-0.26, Z:-0.38 [[ 9.99089428e-01 4.22929478e-02 5.62323790e-03 8.50932605e+00] [-4.22923473e-02 9.99105253e-01 -2.25710583e-04 -2.58567021e-01] [-5.62775250e-03 -1.23148726e-05 9.99984164e-01 -3.77261250e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.418623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:8.54, Y:-0.26, Z:-0.38 [[ 9.99125204e-01 4.14067931e-02 5.85694297e-03 8.54186617e+00] [-4.14061193e-02 9.99142371e-01 -2.36297599e-04 -2.60638422e-01] [-5.86170421e-03 -6.42239279e-06 9.99982820e-01 -3.76644587e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.448623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:8.57, Y:-0.26, Z:-0.38 [[ 9.99164508e-01 4.03906648e-02 6.23542124e-03 8.57390952e+00] [-4.03898715e-02 9.99183964e-01 -2.53139836e-04 -2.63195610e-01] [-6.24055740e-03 1.08047640e-06 9.99980528e-01 -3.79313841e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.478623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:8.61, Y:-0.27, Z:-0.38 [[ 9.99247693e-01 3.82074345e-02 6.65124362e-03 8.60682391e+00] [-3.82064748e-02 9.99269829e-01 -2.71343947e-04 -2.67140170e-01] [-6.65675443e-03 1.70192421e-05 9.99977843e-01 -3.76704123e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.508623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:8.64, Y:-0.27, Z:-0.38 [[ 9.99281243e-01 3.73034508e-02 6.74158954e-03 8.63965265e+00] [-3.73024353e-02 9.99303984e-01 -2.76360131e-04 -2.69368656e-01] [-6.74720647e-03 2.46837878e-05 9.99977237e-01 -3.76686005e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.538623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:8.67, Y:-0.27, Z:-0.38 [[ 9.99318834e-01 3.62270109e-02 7.03358662e-03 8.67278354e+00] [-3.62258687e-02 9.99343586e-01 -2.89769749e-04 -2.71217676e-01] [-7.03946717e-03 3.47745823e-05 9.99975222e-01 -3.76340702e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.568623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:8.70, Y:-0.27, Z:-0.38 [[ 9.99393203e-01 3.40862691e-02 7.16607328e-03 8.70378060e+00] [-3.40850155e-02 9.99418893e-01 -2.97025841e-04 -2.73842828e-01] [-7.17203353e-03 5.25898876e-05 9.99974279e-01 -3.77126539e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.598623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:8.74, Y:-0.28, Z:-0.38 [[ 9.99420831e-01 3.31584667e-02 7.64971329e-03 8.73656264e+00] [-3.31570031e-02 9.99450105e-01 -3.18096981e-04 -2.76023002e-01] [-7.65605436e-03 6.42711816e-05 9.99970690e-01 -3.76968716e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.628623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:8.77, Y:-0.28, Z:-0.38 [[ 9.99459726e-01 3.19535840e-02 7.69578879e-03 8.76788100e+00] [-3.19520529e-02 9.99489351e-01 -3.21843979e-04 -2.81441002e-01] [-7.70214301e-03 7.57738443e-05 9.99970335e-01 -3.79545987e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.658623853 meters Centerline goodness [0,1] 0.9998252664686353 Centerline is valid? [True, True] Translation: X:8.80, Y:-0.28, Z:-0.37 [[ 9.99489349e-01 3.09675154e-02 7.87750687e-03 8.79988268e+00] [-3.09658717e-02 9.99520388e-01 -3.30568972e-04 -2.82557397e-01] [-7.88396562e-03 8.64662993e-05 9.99968917e-01 -3.74423584e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.688623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:8.83, Y:-0.29, Z:-0.38 [[ 9.99551498e-01 2.89750478e-02 7.56639149e-03 8.83077049e+00] [-2.89734600e-02 9.99580130e-01 -3.19393810e-04 -2.87168083e-01] [-7.57246905e-03 1.00026019e-04 9.99971323e-01 -3.78207960e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.718623853 meters Centerline goodness [0,1] 0.9999783568522206 Centerline is valid? [True, True] Translation: X:8.86, Y:-0.29, Z:-0.38 [[ 9.99573699e-01 2.83160408e-02 7.11485672e-03 8.86244825e+00] [-2.83146221e-02 9.99599016e-01 -3.00065713e-04 -2.89019849e-01] [-7.12050045e-03 9.84833161e-05 9.99974644e-01 -3.79521865e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.748623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:8.89, Y:-0.29, Z:-0.38 [[ 9.99633220e-01 2.63757002e-02 6.14389808e-03 8.89298371e+00] [-2.63745922e-02 9.99652096e-01 -2.61310110e-04 -2.93358906e-01] [-6.14865283e-03 9.91714601e-05 9.99981092e-01 -3.83118474e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.778623853000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:8.93, Y:-0.30, Z:-0.38 [[ 9.99656142e-01 2.54936467e-02 6.13766431e-03 8.92512157e+00] [-2.54925329e-02 9.99674979e-01 -2.59646340e-04 -2.96698743e-01] [-6.14228877e-03 1.03092449e-04 9.99981131e-01 -3.83527864e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.808623853 meters Centerline goodness [0,1] 0.999956934605198 Centerline is valid? [True, True] Translation: X:8.96, Y:-0.30, Z:-0.38 [[ 9.99679236e-01 2.45519657e-02 6.21505892e-03 8.95690229e+00] [-2.45507992e-02 9.99698549e-01 -2.63927428e-04 -2.99633097e-01] [-6.21966532e-03 1.11258105e-04 9.99980652e-01 -3.83379687e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.838623853 meters Centerline goodness [0,1] 0.9999350086655112 Centerline is valid? [True, True] Translation: X:8.99, Y:-0.31, Z:-0.38 [[ 9.99705757e-01 2.29639108e-02 7.81403779e-03 8.98736721e+00] [-2.29620004e-02 9.99736283e-01 -3.34115675e-04 -3.05669274e-01] [-7.81964970e-03 1.54591424e-04 9.99969414e-01 -3.81335651e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.868623853 meters Centerline goodness [0,1] 0.9999782443163276 Centerline is valid? [True, True] Translation: X:9.02, Y:-0.30, Z:-0.38 [[ 9.99706967e-01 2.27475338e-02 8.27831849e-03 9.02024020e+00] [-2.27453785e-02 9.99741228e-01 -3.54424405e-04 -3.03659015e-01] [-8.28423857e-03 1.66027060e-04 9.99965671e-01 -3.78118797e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.898623853 meters Centerline goodness [0,1] 0.9998249835922117 Centerline is valid? [True, True] Translation: X:9.05, Y:-0.31, Z:-0.38 [[ 9.99713062e-01 2.24985883e-02 8.22241170e-03 9.05131065e+00] [-2.24964374e-02 9.99746860e-01 -3.53991019e-04 -3.12385972e-01] [-8.22829458e-03 1.68914475e-04 9.99966133e-01 -3.77624863e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.928623853 meters Centerline goodness [0,1] 0.9999785715816316 Centerline is valid? [True, True] Translation: X:9.08, Y:-0.31, Z:-0.38 [[ 9.99714547e-01 2.24647367e-02 8.13384763e-03 9.08277896e+00] [-2.24626211e-02 9.99747622e-01 -3.51373587e-04 -3.14655272e-01] [-8.13968834e-03 1.68565749e-04 9.99966858e-01 -3.82126872e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.958623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:9.12, Y:-0.31, Z:-0.38 [[ 9.99704722e-01 2.31335644e-02 7.43692156e-03 9.11581148e+00] [-2.31318095e-02 9.99732372e-01 -3.21921558e-04 -3.09040702e-01] [-7.44237842e-03 1.49797049e-04 9.99972294e-01 -3.80695979e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.988623853 meters Centerline goodness [0,1] 0.9999786384124069 Centerline is valid? [True, True] Translation: X:9.15, Y:-0.32, Z:-0.39 [[ 9.99686771e-01 2.40509779e-02 6.92178568e-03 9.14686165e+00] [-2.40494691e-02 9.99710724e-01 -3.01152635e-04 -3.17582964e-01] [-6.92702640e-03 1.34593035e-04 9.99975999e-01 -3.85726929e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.018623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:9.18, Y:-0.32, Z:-0.39 [[ 9.99630400e-01 2.62915425e-02 6.91499769e-03 9.17840909e+00] [-2.62900818e-02 9.99654310e-01 -3.02062914e-04 -3.18053872e-01] [-6.92054895e-03 1.20155417e-04 9.99976045e-01 -3.86628161e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.048623853 meters Centerline goodness [0,1] 0.9999782924870297 Centerline is valid? [True, True] Translation: X:9.21, Y:-0.31, Z:-0.38 [[ 9.99594982e-01 2.76447339e-02 6.75576725e-03 9.21103855e+00] [-2.76433657e-02 9.99617805e-01 -2.95839509e-04 -3.11256612e-01] [-6.76136364e-03 1.08967544e-04 9.99977136e-01 -3.82834093e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.078623853 meters Centerline goodness [0,1] 0.9998920715781294 Centerline is valid? [True, True] Translation: X:9.24, Y:-0.32, Z:-0.39 [[ 9.99559845e-01 2.89393646e-02 6.52906567e-03 9.24148913e+00] [-2.89381066e-02 9.99581164e-01 -2.87082218e-04 -3.17444686e-01] [-6.53463904e-03 9.80170587e-05 9.99978644e-01 -3.85724973e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.108623853000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:9.27, Y:-0.31, Z:-0.39 [[ 9.99509334e-01 3.06874612e-02 6.27463865e-03 9.27367044e+00] [-3.06863291e-02 9.99529025e-01 -2.76641336e-04 -3.10795001e-01] [-6.28017287e-03 8.39599704e-05 9.99980276e-01 -3.85214649e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.138623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:9.31, Y:-0.31, Z:-0.39 [[ 9.99424726e-01 3.34166304e-02 5.79180347e-03 9.30591662e+00] [-3.34157071e-02 9.99441507e-01 -2.56131190e-04 -3.09531285e-01] [-5.79712783e-03 6.24466362e-05 9.99983195e-01 -3.86838344e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.168623853 meters Centerline goodness [0,1] 0.9999783765082385 Centerline is valid? [True, True] Translation: X:9.34, Y:-0.31, Z:-0.39 [[ 9.99381784e-01 3.46369412e-02 6.02759125e-03 9.33761658e+00] [-3.46359564e-02 9.99399959e-01 -2.67725134e-04 -3.10323932e-01] [-6.03324763e-03 5.87882345e-05 9.99981798e-01 -3.86416652e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.198623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:9.37, Y:-0.31, Z:-0.39 [[ 9.99339759e-01 3.57774130e-02 6.32641853e-03 9.36838697e+00] [-3.57763377e-02 9.99359782e-01 -2.83090443e-04 -3.10911318e-01] [-6.33249649e-03 5.65674488e-05 9.99979948e-01 -3.88609276e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.228623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:9.40, Y:-0.31, Z:-0.39 [[ 9.99269367e-01 3.75449857e-02 7.14884511e-03 9.40057839e+00] [-3.75436573e-02 9.99294937e-01 -3.19981967e-04 -3.10226642e-01] [-7.15581845e-03 5.13543872e-05 9.99974395e-01 -3.86556907e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.258623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:9.43, Y:-0.31, Z:-0.39 [[ 9.99235565e-01 3.83755385e-02 7.45681957e-03 9.43323472e+00] [-3.83741001e-02 9.99263386e-01 -3.35920456e-04 -3.11360839e-01] [-7.46421791e-03 4.95149256e-05 9.99972141e-01 -3.86435418e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.288623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:9.47, Y:-0.31, Z:-0.39 [[ 9.99204524e-01 3.91849649e-02 7.40664700e-03 9.46620172e+00] [-3.91835705e-02 9.99231973e-01 -3.33345446e-04 -3.11734418e-01] [-7.41402063e-03 4.28614029e-05 9.99972515e-01 -3.86779275e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.318623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:9.50, Y:-0.31, Z:-0.39 [[ 9.99140876e-01 4.06835935e-02 7.89648202e-03 9.49789196e+00] [-4.06820335e-02 9.99172079e-01 -3.58146091e-04 -3.09990794e-01] [-7.90451503e-03 3.65934524e-05 9.99968758e-01 -3.87394537e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.348623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:9.53, Y:-0.31, Z:-0.39 [[ 9.99109696e-01 4.13707592e-02 8.26286889e-03 9.53046416e+00] [-4.13690749e-02 9.99143863e-01 -3.74736653e-04 -3.10805420e-01] [-8.27129789e-03 3.25757815e-05 9.99965792e-01 -3.86973893e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.378623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:9.56, Y:-0.31, Z:-0.39 [[ 9.99090108e-01 4.18502693e-02 8.21655127e-03 9.56278034e+00] [-4.18486059e-02 9.99123893e-01 -3.74348140e-04 -3.12733769e-01] [-8.22501926e-03 3.01563084e-05 9.99966174e-01 -3.88503877e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.408623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:9.59, Y:-0.32, Z:-0.39 [[ 9.99089329e-01 4.20591342e-02 7.17925063e-03 9.59366959e+00] [-4.20578610e-02 9.99115123e-01 -3.28291561e-04 -3.15233920e-01] [-7.18670553e-03 2.60486700e-05 9.99974175e-01 -3.90765375e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.438623853000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:9.63, Y:-0.32, Z:-0.39 [[ 9.99085148e-01 4.21619517e-02 7.15794377e-03 9.62655549e+00] [-4.21606838e-02 9.99110789e-01 -3.27999005e-04 -3.16971639e-01] [-7.16540793e-03 2.59151310e-05 9.99974328e-01 -3.90466992e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.468623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:9.66, Y:-0.32, Z:-0.39 [[ 9.99092020e-01 4.19805252e-02 7.26441646e-03 9.65839809e+00] [-4.19792029e-02 9.99118429e-01 -3.34475374e-04 -3.19771420e-01] [-7.27205381e-03 2.92172640e-05 9.99973558e-01 -3.91738905e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.498623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:9.69, Y:-0.32, Z:-0.39 [[ 9.99108168e-01 4.15618324e-02 7.44866065e-03 9.69048592e+00] [-4.15604196e-02 9.99135933e-01 -3.44431789e-04 -3.23158263e-01] [-7.45653972e-03 3.45551520e-05 9.99972199e-01 -3.93787229e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.528623853000001 meters Centerline goodness [0,1] 0.9999354352738621 Centerline is valid? [True, True] Translation: X:9.72, Y:-0.33, Z:-0.39 [[ 9.99187243e-01 3.96974368e-02 6.99767267e-03 9.72298420e+00] [-3.96961359e-02 9.99211745e-01 -3.24743111e-04 -3.27472920e-01] [-7.00504819e-03 4.66986074e-05 9.99975463e-01 -3.91462426e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.558623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:9.76, Y:-0.33, Z:-0.39 [[ 9.99232300e-01 3.85532317e-02 6.96123731e-03 9.75517155e+00] [-3.85519090e-02 9.99256546e-01 -3.24151016e-04 -3.31216105e-01] [-6.96855902e-03 5.55331782e-05 9.99975718e-01 -3.93501947e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.588623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:9.79, Y:-0.34, Z:-0.39 [[ 9.99293625e-01 3.67860843e-02 7.68342493e-03 9.78655555e+00] [-3.67844073e-02 9.99323160e-01 -3.59513890e-04 -3.36778525e-01] [-7.69144959e-03 7.66297060e-05 9.99970417e-01 -3.93425525e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.618623853 meters Centerline goodness [0,1] 0.9998486486486486 Centerline is valid? [True, True] Translation: X:9.82, Y:-0.35, Z:-0.39 [[ 9.99421041e-01 3.28873497e-02 8.71808709e-03 9.81799350e+00] [-3.28850274e-02 9.99459057e-01 -4.09639870e-04 -3.45645527e-01] [-8.72684308e-03 1.22708173e-04 9.99961913e-01 -3.87742014e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.648623853 meters Centerline goodness [0,1] 0.9998700426693236 Centerline is valid? [True, True] Translation: X:9.85, Y:-0.35, Z:-0.39 [[ 9.99477018e-01 3.10806798e-02 8.92643789e-03 9.84862360e+00] [-3.10781598e-02 9.99516869e-01 -4.20919977e-04 -3.52199095e-01] [-8.93520773e-03 1.43282580e-04 9.99960070e-01 -3.87134827e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.678623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:9.88, Y:-0.36, Z:-0.39 [[ 9.99524709e-01 2.91828380e-02 9.93572884e-03 9.88048862e+00] [-2.91796046e-02 9.99574074e-01 -4.70274171e-04 -3.57569673e-01] [-9.94522089e-03 1.80130016e-04 9.99950529e-01 -3.89681249e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.708623853 meters Centerline goodness [0,1] 0.9999351967857606 Centerline is valid? [True, True] Translation: X:9.91, Y:-0.37, Z:-0.39 [[ 9.99653354e-01 2.41958978e-02 1.03792919e-02 9.91005575e+00] [-2.41920684e-02 9.99707207e-01 -4.94353799e-04 -3.72301028e-01] [-1.03882143e-02 2.43085892e-04 9.99946011e-01 -3.89881326e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.738623853 meters Centerline goodness [0,1] 0.9997188520512987 Centerline is valid? [True, True] Translation: X:9.94, Y:-0.38, Z:-0.39 [[ 9.99710004e-01 2.17797744e-02 1.02736725e-02 9.94208809e+00] [-2.17758966e-02 9.99762757e-01 -4.89179700e-04 -3.80346314e-01] [-1.02818894e-02 2.65319410e-04 9.99947105e-01 -3.88533360e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.768623853 meters Centerline goodness [0,1] 0.9997861145570432 Centerline is valid? [True, True] Translation: X:9.97, Y:-0.39, Z:-0.39 [[ 9.99752466e-01 1.98462267e-02 1.00565620e-02 9.97233006e+00] [-1.98424066e-02 9.99803005e-01 -4.79498361e-04 -3.91084937e-01] [-1.00640971e-02 2.79833276e-04 9.99949317e-01 -3.92284251e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.798623853 meters Centerline goodness [0,1] 0.9996572628151575 Centerline is valid? [True, True] Translation: X:10.00, Y:-0.40, Z:-0.39 [[ 9.99817920e-01 1.63330238e-02 9.86706934e-03 1.00025827e+01] [-1.63291723e-02 9.99866559e-01 -4.70788437e-04 -4.02698373e-01] [-9.87344207e-03 3.09581641e-04 9.99951208e-01 -3.92640646e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.828623853 meters Centerline goodness [0,1] 0.9996555287633483 Centerline is valid? [True, True] Translation: X:10.03, Y:-0.41, Z:-0.39 [[ 9.99838156e-01 1.51929247e-02 9.63517285e-03 1.00340753e+01] [-1.51892101e-02 9.99884532e-01 -4.58598089e-04 -4.11695904e-01] [-9.64102774e-03 3.12173204e-04 9.99953475e-01 -3.93301362e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.858623853000001 meters Centerline goodness [0,1] 0.9993367707152179 Centerline is valid? [True, True] Translation: X:10.06, Y:-0.43, Z:-0.40 [[ 9.99847737e-01 1.44168916e-02 9.83133790e-03 1.00644654e+01] [-1.44129689e-02 9.99896017e-01 -4.69732081e-04 -4.27096053e-01] [-9.83708769e-03 3.27961790e-04 9.99951561e-01 -3.95222478e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.888623853 meters Centerline goodness [0,1] 0.9994832931450224 Centerline is valid? [True, True] Translation: X:10.10, Y:-0.43, Z:-0.39 [[ 9.99843043e-01 1.51306371e-02 9.21703160e-03 1.00971123e+01] [-1.51272094e-02 9.99885480e-01 -4.41490800e-04 -4.25693813e-01] [-9.22265610e-03 3.01993537e-04 9.99957425e-01 -3.90891125e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.918623853 meters Centerline goodness [0,1] 0.9993971883140649 Centerline is valid? [True, True] Translation: X:10.13, Y:-0.43, Z:-0.39 [[ 9.99825549e-01 1.66753290e-02 8.41461994e-03 1.01281276e+01] [-1.66725159e-02 9.99860922e-01 -4.04360481e-04 -4.31408862e-01] [-8.42019250e-03 2.63997055e-04 9.99964515e-01 -3.92997361e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.948623853 meters Centerline goodness [0,1] 0.9996792404413651 Centerline is valid? [True, True] Translation: X:10.16, Y:-0.44, Z:-0.40 [[ 9.99788925e-01 1.89411181e-02 7.95856140e-03 1.01585536e+01] [-1.89386540e-02 9.99820574e-01 -3.84862077e-04 -4.35841769e-01] [-7.96442314e-03 2.34056402e-04 9.99968256e-01 -3.97928062e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.978623853 meters Centerline goodness [0,1] 0.999956783854448 Centerline is valid? [True, True] Translation: X:10.19, Y:-0.43, Z:-0.40 [[ 9.99654790e-01 2.50586554e-02 7.89718652e-03 1.01892488e+01] [-2.50564176e-02 9.99685966e-01 -3.82195811e-04 -4.33926642e-01] [-7.90428385e-03 1.84188669e-04 9.99968744e-01 -3.97346801e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.008623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:10.22, Y:-0.43, Z:-0.40 [[ 9.99549527e-01 2.89590059e-02 7.88162263e-03 1.02210214e+01] [-2.89568992e-02 9.99580588e-01 -3.81297481e-04 -4.33776668e-01] [-7.88935899e-03 1.52898364e-04 9.99968867e-01 -3.97930449e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.038623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:10.25, Y:-0.43, Z:-0.40 [[ 9.99418519e-01 3.31325750e-02 8.05334302e-03 1.02523008e+01] [-3.31305085e-02 9.99450958e-01 -3.89910179e-04 -4.32741589e-01] [-8.06184013e-03 1.22872104e-04 9.99967495e-01 -3.97674515e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.068623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:10.28, Y:-0.43, Z:-0.40 [[ 9.99257577e-01 3.75962928e-02 8.41505219e-03 1.02837703e+01] [-3.75942016e-02 9.99293005e-01 -4.06609872e-04 -4.32699481e-01] [-8.42438982e-03 8.99508266e-05 9.99964510e-01 -3.98108624e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.098623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:10.32, Y:-0.43, Z:-0.40 [[ 9.98891621e-01 4.62391139e-02 8.80189174e-03 1.03153456e+01] [-4.62371471e-02 9.98930400e-01 -4.26922269e-04 -4.29549582e-01] [-8.81221774e-03 1.94747142e-05 9.99961171e-01 -3.98772558e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.128623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:10.35, Y:-0.43, Z:-0.40 [[ 9.98685052e-01 5.03682491e-02 9.55023339e-03 1.03473538e+01] [-5.03661059e-02 9.98730714e-01 -4.64950450e-04 -4.27967831e-01] [-9.56153016e-03 -1.66690020e-05 9.99954287e-01 -3.97979813e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.158623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:10.38, Y:-0.43, Z:-0.40 [[ 9.98675588e-01 5.05555518e-02 9.55016574e-03 1.03797926e+01] [-5.05534039e-02 9.98721250e-01 -4.66334396e-04 -4.29748140e-01] [-9.56152926e-03 -1.70766082e-05 9.99954287e-01 -3.98553189e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.188623853000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:10.41, Y:-0.43, Z:-0.40 [[ 9.98466002e-01 5.44072922e-02 1.02708194e-02 1.04131904e+01] [-5.44049895e-02 9.98518825e-01 -5.03677503e-04 -4.28665431e-01] [-1.02830102e-02 -5.58789573e-05 9.99947127e-01 -3.97755899e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.218623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:10.45, Y:-0.42, Z:-0.40 [[ 9.98028281e-01 6.19188198e-02 1.02766806e-02 1.04450418e+01] [-6.19168896e-02 9.98081180e-01 -5.06183065e-04 -4.24468996e-01] [-1.02883038e-02 -1.31115084e-04 9.99947065e-01 -3.97994515e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.248623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:10.48, Y:-0.42, Z:-0.40 [[ 9.97807368e-01 6.54084990e-02 1.01086227e-02 1.04764674e+01] [-6.54067892e-02 9.97858558e-01 -5.00004348e-04 -4.22111961e-01] [-1.01196802e-02 -1.62264534e-04 9.99948782e-01 -3.99484137e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.278623853000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:10.51, Y:-0.42, Z:-0.40 [[ 9.97587721e-01 6.87132504e-02 9.86042103e-03 1.05085593e+01] [-6.87117740e-02 9.97636433e-01 -4.88826025e-04 -4.20412250e-01] [-9.87070409e-03 -1.89880181e-04 9.99951265e-01 -4.00930725e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.308623853 meters Centerline goodness [0,1] 0.9999357078565 Centerline is valid? [True, True] Translation: X:10.54, Y:-0.41, Z:-0.40 [[ 9.97199560e-01 7.42799014e-02 8.69104386e-03 1.05387912e+01] [-7.42789592e-02 9.97237409e-01 -4.31592780e-04 -4.13971312e-01] [-8.69909273e-03 -2.15177562e-04 9.99962139e-01 -4.04116631e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.338623853 meters Centerline goodness [0,1] 0.9999785066414478 Centerline is valid? [True, True] Translation: X:10.57, Y:-0.42, Z:-0.40 [[ 9.97024441e-01 7.66359177e-02 8.31864410e-03 1.05711899e+01] [-7.66351401e-02 9.97059118e-01 -4.12656624e-04 -4.15233867e-01] [-8.32580427e-03 -2.26071717e-04 9.99965314e-01 -4.04765254e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.368623853 meters Centerline goodness [0,1] 0.9998288074297575 Centerline is valid? [True, True] Translation: X:10.60, Y:-0.41, Z:-0.41 [[ 9.96864155e-01 7.87091015e-02 8.16905918e-03 1.06024158e+01] [-7.87084263e-02 9.96897598e-01 -4.04611282e-04 -4.13137302e-01] [-8.17556206e-03 -2.39631309e-04 9.99966551e-01 -4.05940105e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.398623853 meters Centerline goodness [0,1] 0.9996370390930247 Centerline is valid? [True, True] Translation: X:10.63, Y:-0.41, Z:-0.41 [[ 9.96639242e-01 8.14500322e-02 8.72436318e-03 1.06341182e+01] [-8.14493535e-02 9.96677388e-01 -4.33658703e-04 -4.08096859e-01] [-8.73069702e-03 -2.78392459e-04 9.99961848e-01 -4.06652045e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.428623853 meters Centerline goodness [0,1] 0.999806750837413 Centerline is valid? [True, True] Translation: X:10.67, Y:-0.41, Z:-0.41 [[ 9.96584597e-01 8.20314060e-02 9.48627712e-03 1.06673518e+01] [-8.20306168e-02 9.96629698e-01 -4.72913813e-04 -4.11503034e-01] [-9.49309928e-03 -3.06866542e-04 9.99954892e-01 -4.05534746e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.458623853 meters Centerline goodness [0,1] 0.9999138933138159 Centerline is valid? [True, True] Translation: X:10.70, Y:-0.42, Z:-0.40 [[ 9.96633314e-01 8.12292608e-02 1.11285922e-02 1.06997600e+01] [-8.12280884e-02 9.96695383e-01 -5.58042894e-04 -4.16239088e-01] [-1.11371459e-02 -3.47790135e-04 9.99937920e-01 -4.03036794e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.488623853 meters Centerline goodness [0,1] 0.9998489817052123 Centerline is valid? [True, True] Translation: X:10.73, Y:-0.41, Z:-0.40 [[ 9.96713598e-01 8.01501125e-02 1.17457328e-02 1.07309434e+01] [-8.01487224e-02 9.96782742e-01 -5.89775231e-04 -4.14540834e-01] [-1.17552143e-02 -3.53568487e-04 9.99930843e-01 -4.03577784e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.518623853000001 meters Centerline goodness [0,1] 0.9998710731015514 Centerline is valid? [True, True] Translation: X:10.76, Y:-0.42, Z:-0.40 [[ 9.96824365e-01 7.87130364e-02 1.20599954e-02 1.07626450e+01] [-7.87114431e-02 9.96897256e-01 -6.07437966e-04 -4.21883341e-01] [-1.20703896e-02 -3.43750676e-04 9.99927091e-01 -4.02964735e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.548623853 meters Centerline goodness [0,1] 0.9999363543788188 Centerline is valid? [True, True] Translation: X:10.79, Y:-0.42, Z:-0.40 [[ 9.96942444e-01 7.71641668e-02 1.23066896e-02 1.07940376e+01] [-7.71623593e-02 9.97018346e-01 -6.22333094e-04 -4.24385015e-01] [-1.23180171e-02 -3.29182927e-04 9.99924076e-01 -4.03043639e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.578623853 meters Centerline goodness [0,1] 0.9999570935146848 Centerline is valid? [True, True] Translation: X:10.83, Y:-0.43, Z:-0.40 [[ 9.97184046e-01 7.37571580e-02 1.35594730e-02 1.08258573e+01] [-7.37546260e-02 9.97276182e-01 -6.87374916e-04 -4.30207335e-01] [-1.35732382e-02 -3.14634557e-04 9.99907830e-01 -4.01249668e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.608623853000001 meters Centerline goodness [0,1] 0.9999786934844676 Centerline is valid? [True, True] Translation: X:10.86, Y:-0.43, Z:-0.40 [[ 9.97304160e-01 7.20337028e-02 1.39842290e-02 1.08569390e+01] [-7.20308392e-02 9.97402153e-01 -7.08998823e-04 -4.31742232e-01] [-1.39989719e-02 -3.00208276e-04 9.99901965e-01 -4.01919597e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.638623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:10.89, Y:-0.44, Z:-0.40 [[ 9.97436473e-01 7.01740962e-02 1.40028336e-02 1.08890019e+01] [-7.01710123e-02 9.97534722e-01 -7.12035910e-04 -4.36643204e-01] [-1.40182792e-02 -2.72382424e-04 9.99901702e-01 -4.01943268e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.668623853 meters Centerline goodness [0,1] 0.9998930549911236 Centerline is valid? [True, True] Translation: X:10.92, Y:-0.44, Z:-0.40 [[ 9.97593121e-01 6.79085043e-02 1.40142903e-02 1.09202405e+01] [-6.79051558e-02 9.97691525e-01 -7.15194502e-04 -4.40233980e-01] [-1.40305064e-02 -2.38169450e-04 9.99901539e-01 -4.00338634e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.698623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:10.95, Y:-0.45, Z:-0.40 [[ 9.97847072e-01 6.41669746e-02 1.35580096e-02 1.09517270e+01] [-6.41634824e-02 9.97939160e-01 -6.92852057e-04 -4.45517349e-01] [-1.35745269e-02 -1.78568715e-04 9.99907846e-01 -4.04219814e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.728623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:10.98, Y:-0.45, Z:-0.41 [[ 9.97967713e-01 6.23834199e-02 1.29904884e-02 1.09840662e+01] [-6.23800367e-02 9.98052247e-01 -6.65864118e-04 -4.50137374e-01] [-1.30067250e-02 -1.45836251e-04 9.99915398e-01 -4.05419709e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.758623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:11.02, Y:-0.45, Z:-0.41 [[ 9.98078152e-01 6.06803753e-02 1.25656100e-02 1.10161036e+01] [-6.06770500e-02 9.98157241e-01 -6.46048454e-04 -4.54677444e-01] [-1.25816571e-02 -1.17637299e-04 9.99920841e-01 -4.07044333e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.788623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:11.05, Y:-0.46, Z:-0.41 [[ 9.98267796e-01 5.77463179e-02 1.12591928e-02 1.10468940e+01] [-5.77434438e-02 9.98331287e-01 -5.80450466e-04 -4.59113098e-01] [-1.12739233e-02 -7.06995578e-05 9.99936445e-01 -4.10937486e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.818623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:11.08, Y:-0.46, Z:-0.41 [[ 9.98317333e-01 5.68386332e-02 1.14835426e-02 1.10788101e+01] [-5.68355610e-02 9.98383376e-01 -5.93963989e-04 -4.62670322e-01] [-1.14987381e-02 -5.97090381e-05 9.99933886e-01 -4.10912049e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.848623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:11.11, Y:-0.47, Z:-0.41 [[ 9.98407099e-01 5.51754657e-02 1.17869714e-02 1.11103112e+01] [-5.51720892e-02 9.98476673e-01 -6.11681908e-04 -4.66884069e-01] [-1.18027658e-02 -3.96042774e-05 9.99930344e-01 -4.10974100e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.878623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:11.14, Y:-0.47, Z:-0.41 [[ 9.98425694e-01 5.49350534e-02 1.13257934e-02 1.11433539e+01] [-5.49319025e-02 9.98489929e-01 -5.89338912e-04 -4.69600285e-01] [-1.13410661e-02 -3.37362690e-05 9.99935687e-01 -4.12233532e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.908623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:11.18, Y:-0.47, Z:-0.41 [[ 9.98428114e-01 5.49149161e-02 1.12094734e-02 1.11765298e+01] [-5.49118053e-02 9.98491037e-01 -5.85332413e-04 -4.71696382e-01] [-1.12247022e-02 -3.11200839e-05 9.99937001e-01 -4.13255644e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.938623853000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:11.21, Y:-0.47, Z:-0.41 [[ 9.98422637e-01 5.51074835e-02 1.07426300e-02 1.12089663e+01] [-5.51046164e-02 9.98480428e-01 -5.62922218e-04 -4.72729517e-01] [-1.07573270e-02 -2.99342222e-05 9.99942138e-01 -4.14847920e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.968623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:11.24, Y:-0.47, Z:-0.42 [[ 9.98419682e-01 5.52197099e-02 1.04365879e-02 1.12406013e+01] [-5.52169872e-02 9.98474227e-01 -5.49066728e-04 -4.73926051e-01] [-1.04509834e-02 -2.80779145e-05 9.99945387e-01 -4.16021371e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.998623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:11.27, Y:-0.48, Z:-0.42 [[ 9.98402814e-01 5.54870185e-02 1.06307408e-02 1.12735630e+01] [-5.54842004e-02 9.98459408e-01 -5.60064014e-04 -4.75089314e-01] [-1.06454395e-02 -3.06686675e-05 9.99943335e-01 -4.16648760e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.028623853000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:11.31, Y:-0.48, Z:-0.42 [[ 9.98395608e-01 5.55810608e-02 1.08145793e-02 1.13067680e+01] [-5.55781279e-02 9.98454178e-01 -5.71776784e-04 -4.76411057e-01] [-1.08296418e-02 -3.01946388e-05 9.99941357e-01 -4.16940118e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.058623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:11.34, Y:-0.48, Z:-0.42 [[ 9.98386063e-01 5.57916981e-02 1.06092293e-02 1.13396110e+01] [-5.57888683e-02 9.98442430e-01 -5.62715941e-04 -4.77263493e-01] [-1.06240996e-02 -3.00691448e-05 9.99943562e-01 -4.16730208e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.088623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:11.37, Y:-0.48, Z:-0.42 [[ 9.98386555e-01 5.58427249e-02 1.02896146e-02 1.13712999e+01] [-5.58400450e-02 9.98439577e-01 -5.47783377e-04 -4.77932842e-01] [-1.03041481e-02 -2.76729819e-05 9.99946910e-01 -4.19658277e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.118623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:11.40, Y:-0.48, Z:-0.42 [[ 9.98378366e-01 5.59541758e-02 1.04770542e-02 1.14031597e+01] [-5.59513816e-02 9.98433338e-01 -5.59847806e-04 -4.79518588e-01] [-1.04919660e-02 -2.72657183e-05 9.99944957e-01 -4.19754915e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.148623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:11.44, Y:-0.48, Z:-0.42 [[ 9.98376896e-01 5.58324604e-02 1.12387500e-02 1.14358588e+01] [-5.58292059e-02 9.98440151e-01 -6.03346141e-04 -4.80156516e-01] [-1.12549055e-02 -2.50836400e-05 9.99936661e-01 -4.18982173e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.178623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:11.47, Y:-0.48, Z:-0.42 [[ 9.98358334e-01 5.61554589e-02 1.12783919e-02 1.14691262e+01] [-5.61522046e-02 9.98422037e-01 -6.05246497e-04 -4.81171637e-01] [-1.12945829e-02 -2.90536866e-05 9.99936214e-01 -4.18356700e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.208623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:11.50, Y:-0.48, Z:-0.42 [[ 9.98342640e-01 5.64418099e-02 1.12381469e-02 1.15012459e+01] [-5.64385717e-02 9.98405890e-01 -6.05327010e-04 -4.81384503e-01] [-1.12543979e-02 -2.99411970e-05 9.99936667e-01 -4.20377504e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.238623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:11.53, Y:-0.48, Z:-0.42 [[ 9.98368343e-01 5.59604198e-02 1.13614430e-02 1.15345177e+01] [-5.59570550e-02 9.98432988e-01 -6.14077486e-04 -4.83194753e-01] [-1.13780035e-02 -2.26773669e-05 9.99935268e-01 -4.21343109e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.268623853000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:11.57, Y:-0.49, Z:-0.42 [[ 9.98404602e-01 5.54207569e-02 1.08069424e-02 1.15664466e+01] [-5.54176614e-02 9.98463089e-01 -5.85912315e-04 -4.85756717e-01] [-1.08228048e-02 -1.39179217e-05 9.99941432e-01 -4.22864764e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.298623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:11.60, Y:-0.49, Z:-0.42 [[ 9.98495648e-01 5.37996737e-02 1.05846708e-02 1.15991852e+01] [-5.37965975e-02 9.98551749e-01 -5.75336988e-04 -4.89393893e-01] [-1.06002944e-02 5.05220594e-06 9.99943815e-01 -4.22571256e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.328623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:11.63, Y:-0.49, Z:-0.43 [[ 9.98542914e-01 5.29137433e-02 1.05917010e-02 1.16308668e+01] [-5.29105909e-02 9.98599086e-01 -5.77822517e-04 -4.93266719e-01] [-1.06074377e-02 1.65674202e-05 9.99943739e-01 -4.25500309e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.358623853000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:11.66, Y:-0.50, Z:-0.42 [[ 9.98592196e-01 5.20311533e-02 1.03143052e-02 1.16638774e+01] [-5.20281001e-02 9.98645462e-01 -5.64302645e-04 -4.95714202e-01] [-1.03296954e-02 2.68745133e-05 9.99946647e-01 -4.24498232e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.388623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:11.69, Y:-0.50, Z:-0.43 [[ 9.98699892e-01 5.00830460e-02 9.49807088e-03 1.16949870e+01] [-5.00803511e-02 9.98745056e-01 -5.21510695e-04 -5.00384605e-01] [-9.51227017e-03 4.51659503e-05 9.99954756e-01 -4.27676326e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.418623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:11.73, Y:-0.51, Z:-0.43 [[ 9.98739297e-01 4.93969422e-02 8.93077189e-03 1.17253777e+01] [-4.93945208e-02 9.98779225e-01 -4.91630650e-04 -5.05577345e-01] [-8.94415447e-03 4.98796520e-05 9.99959999e-01 -4.32072797e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.448623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:11.76, Y:-0.51, Z:-0.43 [[ 9.98769039e-01 4.88314676e-02 8.71177071e-03 1.17583317e+01] [-4.88291324e-02 9.98807031e-01 -4.80676110e-04 -5.09100917e-01] [-8.72484995e-03 5.46962114e-05 9.99961936e-01 -4.33205032e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.478623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:11.79, Y:-0.51, Z:-0.43 [[ 9.98774365e-01 4.88026269e-02 8.25051308e-03 1.17913381e+01] [-4.88005211e-02 9.98808440e-01 -4.56475406e-04 -5.11912309e-01] [-8.26295930e-03 5.32865968e-05 9.99965860e-01 -4.34792812e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.508623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:11.82, Y:-0.51, Z:-0.44 [[ 9.98771577e-01 4.89282042e-02 7.83377246e-03 1.18232226e+01] [-4.89262997e-02 9.98802297e-01 -4.34697782e-04 -5.13820116e-01] [-7.84565891e-03 5.08862900e-05 9.99969221e-01 -4.36877394e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.538623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:11.86, Y:-0.51, Z:-0.43 [[ 9.98750555e-01 4.93505519e-02 7.86455429e-03 1.18560077e+01] [-4.93486376e-02 9.98781518e-01 -4.37400602e-04 -5.14101730e-01] [-7.87655743e-03 4.87490543e-05 9.99968978e-01 -4.34815586e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.568623853 meters Centerline goodness [0,1] 0.9998498401870562 Centerline is valid? [True, True] Translation: X:11.89, Y:-0.52, Z:-0.43 [[ 9.98728640e-01 4.97523652e-02 8.11203987e-03 1.18887421e+01] [-4.97503293e-02 9.98761583e-01 -4.52694790e-04 -5.15379212e-01] [-8.12451642e-03 4.85425967e-05 9.99966994e-01 -4.31474161e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.598623853000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:11.92, Y:-0.52, Z:-0.43 [[ 9.98691998e-01 5.04717202e-02 8.17918673e-03 1.19201728e+01] [-5.04696541e-02 9.98725490e-01 -4.58948997e-04 -5.17268523e-01] [-8.19192621e-03 4.55479659e-05 9.99966445e-01 -4.34641588e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.628623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:11.95, Y:-0.52, Z:-0.43 [[ 9.98658314e-01 5.10415830e-02 8.73661437e-03 1.19527868e+01] [-5.10392458e-02 9.98696528e-01 -4.90418399e-04 -5.16506857e-01] [-8.75025817e-03 4.38502031e-05 9.99961715e-01 -4.32207492e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.658623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:11.98, Y:-0.52, Z:-0.44 [[ 9.98633760e-01 5.15292150e-02 8.68058175e-03 1.19847103e+01] [-5.15269139e-02 9.98671487e-01 -4.88680886e-04 -5.19744779e-01] [-8.69423082e-03 4.07296429e-05 9.99962204e-01 -4.35542132e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.688623853000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:12.02, Y:-0.52, Z:-0.44 [[ 9.98596655e-01 5.21842024e-02 9.02935983e-03 1.20159559e+01] [-5.21817150e-02 9.98637476e-01 -5.11004956e-04 -5.21435855e-01] [-9.04372349e-03 3.91203582e-05 9.99959104e-01 -4.35324152e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.718623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:12.05, Y:-0.52, Z:-0.44 [[ 9.98552876e-01 5.29483523e-02 9.41415730e-03 1.20480120e+01] [-5.29456791e-02 9.98597252e-01 -5.33131665e-04 -5.21809322e-01] [-9.42918005e-03 3.39212059e-05 9.99955544e-01 -4.35231370e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.748623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:12.08, Y:-0.52, Z:-0.43 [[ 9.98502862e-01 5.38875368e-02 9.38977278e-03 1.20809276e+01] [-5.38849075e-02 9.98547011e-01 -5.32970759e-04 -5.21747713e-01] [-9.40485002e-03 2.62057910e-05 9.99955773e-01 -4.34418924e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.778623853000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:12.11, Y:-0.52, Z:-0.43 [[ 9.98415015e-01 5.54502048e-02 9.62982265e-03 1.21136775e+01] [-5.54474938e-02 9.98461454e-01 -5.48480233e-04 -5.22988871e-01] [-9.64542007e-03 1.36613673e-05 9.99953482e-01 -4.34217215e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.808623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:12.15, Y:-0.52, Z:-0.43 [[ 9.98368287e-01 5.62767587e-02 9.67930541e-03 1.21463543e+01] [-5.62740404e-02 9.98415207e-01 -5.53180990e-04 -5.24209194e-01] [-9.69509695e-03 7.58473449e-06 9.99953001e-01 -4.34236111e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.838623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:12.18, Y:-0.52, Z:-0.44 [[ 9.98297806e-01 5.75264906e-02 9.60169445e-03 1.21783509e+01] [-5.75238506e-02 9.98343980e-01 -5.51128905e-04 -5.23391839e-01] [-9.61749837e-03 -2.13566016e-06 9.99953751e-01 -4.37790077e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.868623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:12.21, Y:-0.53, Z:-0.44 [[ 9.98288104e-01 5.77715012e-02 9.12769631e-03 1.22112776e+01] [-5.77691210e-02 9.98329832e-01 -5.24431246e-04 -5.26081051e-01] [-9.14274870e-03 -3.76551830e-06 9.99958204e-01 -4.39448701e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.898623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:12.24, Y:-0.53, Z:-0.44 [[ 9.98320039e-01 5.72483977e-02 8.92866588e-03 1.22444753e+01] [-5.72460870e-02 9.98359966e-01 -5.14367429e-04 -5.30420267e-01] [-8.94346927e-03 2.37212851e-06 9.99960006e-01 -4.38841189e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.928623853000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:12.28, Y:-0.54, Z:-0.44 [[ 9.98375726e-01 5.62635169e-02 8.96248195e-03 1.22760797e+01] [-5.62611282e-02 9.98415954e-01 -5.18624585e-04 -5.35134055e-01] [-8.97746461e-03 1.35428507e-05 9.99959702e-01 -4.41310580e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.958623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:12.31, Y:-0.54, Z:-0.44 [[ 9.98492403e-01 5.41044345e-02 9.25373773e-03 1.23086156e+01] [-5.41017900e-02 9.98535282e-01 -5.36054266e-04 -5.41010020e-01] [-9.26918652e-03 3.46023370e-05 9.99957040e-01 -4.40183052e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.988623853 meters Centerline goodness [0,1] 0.9999570649607145 Centerline is valid? [True, True] Translation: X:12.34, Y:-0.55, Z:-0.44 [[ 9.98561573e-01 5.27559141e-02 9.57065741e-03 1.23418811e+01] [-5.27530057e-02 9.98607436e-01 -5.56251528e-04 -5.46022717e-01] [-9.58667522e-03 5.05704565e-05 9.99954045e-01 -4.38716175e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.018623853 meters Centerline goodness [0,1] 0.999957127545552 Centerline is valid? [True, True] Translation: X:12.37, Y:-0.55, Z:-0.44 [[ 9.98618328e-01 5.16314150e-02 9.77920073e-03 1.23743334e+01] [-5.16283056e-02 9.98666207e-01 -5.70307813e-04 -5.52120996e-01] [-9.79560310e-03 6.46362704e-05 9.99952020e-01 -4.38066813e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.048623853 meters Centerline goodness [0,1] 0.999957127545552 Centerline is valid? [True, True] Translation: X:12.41, Y:-0.55, Z:-0.44 [[ 9.98608493e-01 5.18212941e-02 9.77909204e-03 1.24067526e+01] [-5.18181757e-02 9.98656372e-01 -5.72162993e-04 -5.54215970e-01] [-9.79560281e-03 6.46321142e-05 9.99952020e-01 -4.38640258e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.078623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:12.44, Y:-0.56, Z:-0.44 [[ 9.98655692e-01 5.08611739e-02 9.99750620e-03 1.24395425e+01] [-5.08578469e-02 9.98705730e-01 -5.86899114e-04 -5.59598836e-01] [-1.00144171e-02 7.76585016e-05 9.99949851e-01 -4.39487477e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.108623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:12.47, Y:-0.57, Z:-0.44 [[ 9.98707391e-01 4.97956744e-02 1.01949975e-02 1.24708600e+01] [-4.97921305e-02 9.98759422e-01 -6.01287839e-04 -5.66290210e-01] [-1.02122913e-02 9.28799641e-05 9.99947849e-01 -4.39348794e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.138623853000002 meters Centerline goodness [0,1] 0.9999357959166203 Centerline is valid? [True, True] Translation: X:12.50, Y:-0.57, Z:-0.44 [[ 9.98686923e-01 5.01632182e-02 1.03961839e-02 1.25023129e+01] [-5.01595492e-02 9.98741029e-01 -6.13525425e-04 -5.69751277e-01] [-1.04138718e-02 9.12519225e-05 9.99945770e-01 -4.38418093e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.168623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:12.53, Y:-0.57, Z:-0.44 [[ 9.98605210e-01 5.17044944e-02 1.06901337e-02 1.25337480e+01] [-5.17006796e-02 9.98662425e-01 -6.33087715e-04 -5.71738957e-01] [-1.07085683e-02 7.95175125e-05 9.99942658e-01 -4.39291573e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.198623853 meters Centerline goodness [0,1] 0.9999572813875005 Centerline is valid? [True, True] Translation: X:12.57, Y:-0.57, Z:-0.44 [[ 9.98530554e-01 5.30408068e-02 1.11087616e-02 1.25663653e+01] [-5.30367508e-02 9.98592343e-01 -6.59603952e-04 -5.72699477e-01] [-1.11281102e-02 6.94620784e-05 9.99938078e-01 -4.38388883e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.228623853000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:12.60, Y:-0.57, Z:-0.44 [[ 9.98447074e-01 5.45740913e-02 1.11851875e-02 1.25974000e+01] [-5.45700541e-02 9.98509722e-01 -6.66056692e-04 -5.74161449e-01] [-1.12048680e-02 5.46460663e-05 9.99937222e-01 -4.39495919e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.258623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:12.63, Y:-0.57, Z:-0.44 [[ 9.98273229e-01 5.75627407e-02 1.17085528e-02 1.26294054e+01] [-5.75585016e-02 9.98341890e-01 -6.98985412e-04 -5.74346510e-01] [-1.17293743e-02 2.38516704e-05 9.99931208e-01 -4.38044427e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.288623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:12.66, Y:-0.58, Z:-0.44 [[ 9.98192002e-01 5.90289514e-02 1.13273836e-02 1.26609178e+01] [-5.90250542e-02 9.98256271e-01 -6.78352729e-04 -5.75800766e-01] [-1.13476741e-02 8.52684053e-06 9.99935613e-01 -4.39533571e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.318623853000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:12.69, Y:-0.58, Z:-0.44 [[ 9.98112255e-01 6.04096096e-02 1.10727195e-02 1.26926121e+01] [-6.04059602e-02 9.98173672e-01 -6.64029101e-04 -5.77295836e-01] [-1.10926108e-02 -6.08267065e-06 9.99938475e-01 -4.40844449e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.348623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:12.72, Y:-0.58, Z:-0.44 [[ 9.97968742e-01 6.27800605e-02 1.08191270e-02 1.27242742e+01] [-6.27766959e-02 9.98027386e-01 -6.50646080e-04 -5.77707828e-01] [-1.08386326e-02 -2.98645946e-05 9.99941260e-01 -4.42929757e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.378623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:12.76, Y:-0.58, Z:-0.44 [[ 9.97911389e-01 6.37432414e-02 1.04718080e-02 1.27575224e+01] [-6.37401255e-02 9.97966331e-01 -6.31371544e-04 -5.80013723e-01] [-1.04907575e-02 -3.74215010e-05 9.99944970e-01 -4.43399900e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.408623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:12.79, Y:-0.58, Z:-0.44 [[ 9.97833676e-01 6.49816481e-02 1.02635723e-02 1.27908527e+01] [-6.49787011e-02 9.97886458e-01 -6.20687261e-04 -5.82065702e-01] [-1.02822131e-02 -4.75709485e-05 9.99947136e-01 -4.44252962e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.438623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:12.82, Y:-0.58, Z:-0.44 [[ 9.97750247e-01 6.62056776e-02 1.05476285e-02 1.28222746e+01] [-6.62026107e-02 9.97805996e-01 -6.40032822e-04 -5.84361167e-01] [-1.05668608e-02 -5.96876398e-05 9.99944167e-01 -4.44600929e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.468623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:12.85, Y:-0.58, Z:-0.44 [[ 9.97534507e-01 6.93117365e-02 1.09905072e-02 1.28539691e+01] [-6.93085706e-02 9.97595045e-01 -6.69138512e-04 -5.82642178e-01] [-1.10104546e-02 -9.42475859e-05 9.99939379e-01 -4.44859233e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.498623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:12.89, Y:-0.58, Z:-0.45 [[ 9.97390818e-01 7.13284795e-02 1.11267162e-02 1.28859596e+01] [-7.13253415e-02 9.97452873e-01 -6.79100610e-04 -5.81514786e-01] [-1.11468142e-02 -1.16288117e-04 9.99937866e-01 -4.45701865e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.528623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:12.92, Y:-0.58, Z:-0.44 [[ 9.97135089e-01 7.47197302e-02 1.17718021e-02 1.29177388e+01] [-7.47164300e-02 9.97204561e-01 -7.20508387e-04 -5.81402841e-01] [-1.17927310e-02 -1.61102833e-04 9.99930450e-01 -4.44251651e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.558623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:12.95, Y:-0.58, Z:-0.44 [[ 9.96997232e-01 7.65016673e-02 1.20006331e-02 1.29492216e+01] [-7.64983437e-02 9.97069436e-01 -7.36413367e-04 -5.80925501e-01] [-1.20218014e-02 -1.83826469e-04 9.99927719e-01 -4.44632555e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.588623853 meters Centerline goodness [0,1] 0.99997875775342 Centerline is valid? [True, True] Translation: X:12.98, Y:-0.58, Z:-0.45 [[ 9.96856067e-01 7.83590809e-02 1.17403563e-02 1.29812436e+01] [-7.83560090e-02 9.96925180e-01 -7.22110673e-04 -5.80457037e-01] [-1.17608407e-02 -2.00087058e-04 9.99930819e-01 -4.45469096e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.618623853 meters Centerline goodness [0,1] 0.9999784779614325 Centerline is valid? [True, True] Translation: X:13.01, Y:-0.58, Z:-0.45 [[ 9.96641605e-01 8.11297001e-02 1.11122583e-02 1.30125612e+01] [-8.11271008e-02 9.96703529e-01 -6.85218576e-04 -5.75594150e-01] [-1.11312187e-02 -2.18587960e-04 9.99938022e-01 -4.47805696e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.648623853 meters Centerline goodness [0,1] 0.9999132734920428 Centerline is valid? [True, True] Translation: X:13.04, Y:-0.58, Z:-0.45 [[ 9.96534605e-01 8.24535825e-02 1.09630129e-02 1.30449663e+01] [-8.24511165e-02 9.96594880e-01 -6.77490771e-04 -5.79922065e-01] [-1.09815441e-02 -2.28769657e-04 9.99939675e-01 -4.47477569e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.678623853 meters Centerline goodness [0,1] 0.9999787247622492 Centerline is valid? [True, True] Translation: X:13.08, Y:-0.58, Z:-0.45 [[ 9.96430783e-01 8.37357965e-02 1.06776373e-02 1.30763489e+01] [-8.37335112e-02 9.96487963e-01 -6.61677741e-04 -5.76787737e-01] [-1.06955431e-02 -2.34759989e-04 9.99942773e-01 -4.49383252e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.708623853 meters Centerline goodness [0,1] 0.9999358233859582 Centerline is valid? [True, True] Translation: X:13.11, Y:-0.58, Z:-0.45 [[ 9.96346909e-01 8.48672851e-02 9.50691221e-03 1.31071982e+01] [-8.48655077e-02 9.96392240e-01 -5.90938232e-04 -5.75746815e-01] [-9.52276487e-03 -2.18029450e-04 9.99954634e-01 -4.51611885e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.738623853 meters Centerline goodness [0,1] 0.9999351687772832 Centerline is valid? [True, True] Translation: X:13.14, Y:-0.58, Z:-0.45 [[ 9.96357832e-01 8.47679256e-02 9.24496098e-03 1.31397828e+01] [-8.47662419e-02 9.96400700e-01 -5.74505742e-04 -5.77356345e-01] [-9.26038525e-03 -2.11247304e-04 9.99957099e-01 -4.52911132e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.768623853 meters Centerline goodness [0,1] 0.999914675767918 Centerline is valid? [True, True] Translation: X:13.17, Y:-0.58, Z:-0.45 [[ 9.96372549e-01 8.45704085e-02 9.46522446e-03 1.31712550e+01] [-8.45686150e-02 9.96417483e-01 -5.90273233e-04 -5.78953166e-01] [-9.48123479e-03 -2.12328878e-04 9.99955030e-01 -4.53447272e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.798623853 meters Centerline goodness [0,1] 0.9999356112637363 Centerline is valid? [True, True] Translation: X:13.20, Y:-0.58, Z:-0.45 [[ 9.96426841e-01 8.38894958e-02 9.80321691e-03 1.32030698e+01] [-8.38875249e-02 9.96475041e-01 -6.12789639e-04 -5.82065675e-01] [-9.82006758e-03 -2.11767559e-04 9.99951760e-01 -4.52992463e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.828623853 meters Centerline goodness [0,1] 0.9999785043313772 Centerline is valid? [True, True] Translation: X:13.23, Y:-0.58, Z:-0.45 [[ 9.96586391e-01 8.18954055e-02 1.04262917e-02 1.32346813e+01] [-8.18930402e-02 9.96640909e-01 -6.54305259e-04 -5.83961101e-01] [-1.04448534e-02 -2.01769007e-04 9.99945431e-01 -4.52362218e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.858623853 meters Centerline goodness [0,1] 0.9999357642977967 Centerline is valid? [True, True] Translation: X:13.27, Y:-0.59, Z:-0.45 [[ 9.96670306e-01 8.08495185e-02 1.05667662e-02 1.32670754e+01] [-8.08470314e-02 9.96726300e-01 -6.63018156e-04 -5.87160480e-01] [-1.05857785e-02 -1.93481170e-04 9.99943950e-01 -4.52682565e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.888623853000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:13.30, Y:-0.59, Z:-0.45 [[ 9.96787324e-01 7.93723605e-02 1.07265395e-02 1.32985683e+01] [-7.93696861e-02 9.96845021e-01 -6.75457097e-04 -5.92209259e-01] [-1.07463101e-02 -1.78074998e-04 9.99942241e-01 -4.52336645e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.918623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:13.33, Y:-0.60, Z:-0.45 [[ 9.97027839e-01 7.62667624e-02 1.09027162e-02 1.33299531e+01] [-7.62638144e-02 9.97087438e-01 -6.86502663e-04 -5.95749604e-01] [-1.09233187e-02 -1.47020461e-04 9.99940328e-01 -4.53826394e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.948623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:13.36, Y:-0.60, Z:-0.45 [[ 9.97161834e-01 7.44997417e-02 1.08657702e-02 1.33613414e+01] [-7.44966898e-02 9.97221025e-01 -6.85904630e-04 -6.02469050e-01] [-1.08866742e-02 -1.25505992e-04 9.99940731e-01 -4.53313284e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.978623853000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:13.39, Y:-0.61, Z:-0.45 [[ 9.97284469e-01 7.27854152e-02 1.12236478e-02 1.33923093e+01] [-7.27820277e-02 9.97347618e-01 -7.10519101e-04 -6.05790717e-01] [-1.12455938e-02 -1.08290180e-04 9.99936760e-01 -4.53397945e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.008623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:13.42, Y:-0.61, Z:-0.45 [[ 9.97531982e-01 6.92881599e-02 1.13620670e-02 1.34244523e+01] [-6.92844420e-02 9.97596685e-01 -7.20989486e-04 -6.12857095e-01] [-1.13847164e-02 -6.80043989e-05 9.99935190e-01 -4.52955223e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.038623853 meters Centerline goodness [0,1] 0.9999349917656236 Centerline is valid? [True, True] Translation: X:13.46, Y:-0.62, Z:-0.45 [[ 9.97658731e-01 6.75232681e-02 1.08473520e-02 1.34568868e+01] [-6.75197573e-02 9.97717699e-01 -6.89962517e-04 -6.17121196e-01] [-1.08691836e-02 -4.40634417e-05 9.99940928e-01 -4.52604767e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.068623853000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:13.49, Y:-0.62, Z:-0.46 [[ 9.97750894e-01 6.61453750e-02 1.08601624e-02 1.34881811e+01] [-6.61417557e-02 9.97809996e-01 -6.92490719e-04 -6.21028366e-01] [-1.08821836e-02 -2.73769714e-05 9.99940787e-01 -4.55911942e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.098623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:13.52, Y:-0.63, Z:-0.46 [[ 9.97951243e-01 6.31451853e-02 1.02956994e-02 1.35209484e+01] [-6.31417570e-02 9.98004351e-01 -6.58025216e-04 -6.28339968e-01] [-1.03167039e-02 6.58853538e-06 9.99946781e-01 -4.56928219e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.128623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:13.55, Y:-0.63, Z:-0.46 [[ 9.98023297e-01 6.20111402e-02 1.02038171e-02 1.35541879e+01] [-6.20076939e-02 9.98075457e-01 -6.54066963e-04 -6.32994524e-01] [-1.02247388e-02 2.00589020e-05 9.99947726e-01 -4.57939273e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.158623853 meters Centerline goodness [0,1] 0.9999352820623449 Centerline is valid? [True, True] Translation: X:13.59, Y:-0.64, Z:-0.46 [[ 9.98074371e-01 6.12072923e-02 1.00606926e-02 1.35860714e+01] [-6.12038813e-02 9.98125076e-01 -6.46869353e-04 -6.36511707e-01] [-1.00814227e-02 2.98702880e-05 9.99949181e-01 -4.58534183e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.188623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:13.62, Y:-0.64, Z:-0.46 [[ 9.98165126e-01 5.96845833e-02 1.02045056e-02 1.36183875e+01] [-5.96809660e-02 9.98217285e-01 -6.58896900e-04 -6.40667983e-01] [-1.02256398e-02 4.86731578e-05 9.99947716e-01 -4.60434841e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.218623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:13.65, Y:-0.64, Z:-0.46 [[ 9.98196008e-01 5.91717261e-02 1.01703632e-02 1.36502341e+01] [-5.91681091e-02 9.98247817e-01 -6.56419800e-04 -6.44335027e-01] [-1.01913844e-02 5.34744631e-05 9.99948065e-01 -4.60729070e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.248623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:13.68, Y:-0.65, Z:-0.46 [[ 9.98226903e-01 5.86174480e-02 1.03462428e-02 1.36826794e+01] [-5.86136578e-02 9.98280517e-01 -6.69447317e-04 -6.47139401e-01] [-1.03676939e-02 6.18291876e-05 9.99946252e-01 -4.60218817e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.278623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:13.72, Y:-0.65, Z:-0.46 [[ 9.98263780e-01 5.79505053e-02 1.05434929e-02 1.37158867e+01] [-5.79465100e-02 9.98319455e-01 -6.84283610e-04 -6.50560773e-01] [-1.05654287e-02 7.21369241e-05 9.99944182e-01 -4.59125469e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.308623853 meters Centerline goodness [0,1] 0.9999349113709834 Centerline is valid? [True, True] Translation: X:13.75, Y:-0.65, Z:-0.46 [[ 9.98245349e-01 5.81922732e-02 1.09490464e-02 1.37480680e+01] [-5.81879526e-02 9.98305391e-01 -7.13020928e-04 -6.52217987e-01] [-1.09719843e-02 7.46672343e-05 9.99939803e-01 -4.58833864e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.338623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:13.78, Y:-0.65, Z:-0.46 [[ 9.98212691e-01 5.87419716e-02 1.09911271e-02 1.37794325e+01] [-5.87376282e-02 9.98273197e-01 -7.17841329e-04 -6.54861924e-01] [-1.10143150e-02 7.09655878e-05 9.99939338e-01 -4.60750331e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.368623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:13.81, Y:-0.65, Z:-0.46 [[ 9.98112673e-01 6.04056980e-02 1.10564243e-02 1.38116487e+01] [-6.04013809e-02 9.98173907e-01 -7.24270830e-04 -6.53480751e-01] [-1.10799843e-02 5.50805993e-05 9.99938614e-01 -4.61101869e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.398623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:13.84, Y:-0.65, Z:-0.46 [[ 9.98039084e-01 6.16188210e-02 1.10049114e-02 1.38442521e+01] [-6.16145995e-02 9.98099754e-01 -7.22556479e-04 -6.53117195e-01] [-1.10285224e-02 4.30764001e-05 9.99939183e-01 -4.62448644e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.428623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:13.88, Y:-0.65, Z:-0.46 [[ 9.97979739e-01 6.26838756e-02 1.03524427e-02 1.38774978e+01] [-6.26801790e-02 9.98033432e-01 -6.81462801e-04 -6.53168320e-01] [-1.03748007e-02 3.11931058e-05 9.99946180e-01 -4.63176235e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.458623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:13.91, Y:-0.65, Z:-0.47 [[ 9.97865435e-01 6.46321873e-02 9.34093837e-03 1.39099184e+01] [-6.46292436e-02 9.97909154e-01 -6.16977666e-04 -6.51551198e-01] [-9.36128453e-03 1.19629061e-05 9.99956182e-01 -4.65960389e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.488623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:13.94, Y:-0.65, Z:-0.47 [[ 9.97802793e-01 6.56356785e-02 9.03015189e-03 1.39426678e+01] [-6.56329650e-02 9.97843654e-01 -5.96828016e-04 -6.51776398e-01] [-9.04985297e-03 2.84101878e-06 9.99959049e-01 -4.66726917e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.518623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:13.97, Y:-0.65, Z:-0.47 [[ 9.97731459e-01 6.67475589e-02 8.75775949e-03 1.39744407e+01] [-6.67450342e-02 9.97769895e-01 -5.80562114e-04 -6.51963440e-01] [-8.77697987e-03 -5.29187132e-06 9.99961482e-01 -4.69538599e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.548623853000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:14.01, Y:-0.65, Z:-0.47 [[ 9.97655607e-01 6.78989454e-02 8.54538848e-03 1.40074159e+01] [-6.78965717e-02 9.97692204e-01 -5.67904807e-04 -6.50905997e-01] [-8.56422760e-03 -1.36291670e-05 9.99963326e-01 -4.68718422e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.578623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:14.04, Y:-0.65, Z:-0.47 [[ 9.97644204e-01 6.80886074e-02 8.36558169e-03 1.40408711e+01] [-6.80863265e-02 9.97679278e-01 -5.57483138e-04 -6.52007066e-01] [-8.38412574e-03 -1.34119037e-05 9.99964853e-01 -4.69454090e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.608623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:14.07, Y:-0.65, Z:-0.47 [[ 9.97632754e-01 6.81958673e-02 8.84379495e-03 1.40731765e+01] [-6.81933042e-02 9.97671952e-01 -5.91397731e-04 -6.53174463e-01] [-8.86353705e-03 -1.30898526e-05 9.99960718e-01 -4.70186728e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.638623853000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:14.11, Y:-0.66, Z:-0.47 [[ 9.97633604e-01 6.81500181e-02 9.09760369e-03 1.41054660e+01] [-6.81472832e-02 9.97675085e-01 -6.10638294e-04 -6.55057815e-01] [-9.11806755e-03 -1.07836929e-05 9.99958429e-01 -4.70595670e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.668623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:14.14, Y:-0.66, Z:-0.47 [[ 9.97689631e-01 6.73261249e-02 9.08802214e-03 1.41372266e+01] [-6.73233560e-02 9.97731022e-01 -6.10603358e-04 -6.58211196e-01] [-9.10851118e-03 -2.64351067e-06 9.99958517e-01 -4.71548982e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.698623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:14.17, Y:-0.66, Z:-0.47 [[ 9.97742712e-01 6.65954214e-02 8.63307569e-03 1.41702803e+01] [-6.65928851e-02 9.97780061e-01 -5.81235420e-04 -6.61550429e-01] [-8.65261840e-03 5.02198685e-06 9.99962565e-01 -4.71688674e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.728623853000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:14.20, Y:-0.67, Z:-0.47 [[ 9.97870097e-01 6.45990037e-02 9.06855203e-03 1.42023877e+01] [-6.45961037e-02 9.97911303e-01 -6.12631804e-04 -6.67837783e-01] [-9.08918598e-03 2.55338300e-05 9.99958692e-01 -4.71878490e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.758623853 meters Centerline goodness [0,1] 0.9999569846220023 Centerline is valid? [True, True] Translation: X:14.23, Y:-0.67, Z:-0.47 [[ 9.97942641e-01 6.33852821e-02 9.63282413e-03 1.42342481e+01] [-6.33819341e-02 9.97989130e-01 -6.52747518e-04 -6.73146510e-01] [-9.65482836e-03 4.08575574e-05 9.99953390e-01 -4.70533162e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.788623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:14.27, Y:-0.68, Z:-0.47 [[ 9.98003443e-01 6.23474218e-02 1.00959085e-02 1.42670112e+01] [-6.23436717e-02 9.98054505e-01 -6.86039774e-04 -6.78079137e-01] [-1.01190398e-02 5.52540517e-05 9.99948800e-01 -4.70844081e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.818623853000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:14.30, Y:-0.68, Z:-0.47 [[ 9.98140583e-01 5.99926348e-02 1.07824268e-02 1.42981819e+01] [-5.99881921e-02 9.98198816e-01 -7.35263898e-04 -6.84937605e-01] [-1.08071161e-02 8.70784425e-05 9.99941598e-01 -4.69960422e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.848623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:14.33, Y:-0.69, Z:-0.47 [[ 9.98198679e-01 5.89866902e-02 1.09529824e-02 1.43286020e+01] [-5.89820213e-02 9.98258764e-01 -7.49083874e-04 -6.90385726e-01] [-1.09780967e-02 1.01705490e-04 9.99939734e-01 -4.70306689e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.878623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:14.36, Y:-0.69, Z:-0.47 [[ 9.98245526e-01 5.80882861e-02 1.14726392e-02 1.43613262e+01] [-5.80830990e-02 9.98311443e-01 -7.85088972e-04 -6.93099908e-01] [-1.14988715e-02 1.17345114e-04 9.99933879e-01 -4.68822704e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.908623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:14.39, Y:-0.70, Z:-0.47 [[ 9.98295118e-01 5.71422485e-02 1.19004720e-02 1.43924638e+01] [-5.71365673e-02 9.98366038e-01 -8.17108545e-04 -6.99233555e-01] [-1.19277185e-02 1.35763351e-04 9.99928853e-01 -4.68767574e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.938623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:14.42, Y:-0.70, Z:-0.47 [[ 9.98283942e-01 5.73371920e-02 1.19003533e-02 1.44248589e+01] [-5.73315042e-02 9.98354861e-01 -8.18833436e-04 -7.01652466e-01] [-1.19277251e-02 1.35163117e-04 9.99928853e-01 -4.69340940e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.968623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:14.46, Y:-0.71, Z:-0.47 [[ 9.98276830e-01 5.75296666e-02 1.15632605e-02 1.44578497e+01] [-5.75242842e-02 9.98343789e-01 -7.97807727e-04 -7.05131945e-01] [-1.15900069e-02 1.31264686e-04 9.99932825e-01 -4.70611202e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.998623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:14.49, Y:-0.71, Z:-0.47 [[ 9.98255643e-01 5.79377913e-02 1.13526547e-02 1.44890481e+01] [-5.79326040e-02 9.98320187e-01 -7.85526264e-04 -7.10337422e-01] [-1.13790960e-02 1.26467179e-04 9.99935248e-01 -4.72811207e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.028623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:14.52, Y:-0.71, Z:-0.47 [[ 9.98201397e-01 5.90961447e-02 1.00805437e-02 1.45219471e+01] [-5.90920997e-02 9.98252290e-01 -6.98904597e-04 -7.12487848e-01] [-1.01042284e-02 1.01967053e-04 9.99948946e-01 -4.74924126e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.058623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:14.56, Y:-0.71, Z:-0.48 [[ 9.98150916e-01 6.00808335e-02 9.22188213e-03 1.45551164e+01] [-6.00774764e-02 9.98193511e-01 -6.40875397e-04 -7.14928799e-01] [-9.24372723e-03 8.56629580e-05 9.99957272e-01 -4.76392712e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.088623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:14.59, Y:-0.72, Z:-0.48 [[ 9.98091284e-01 6.10598312e-02 9.24581821e-03 1.45858481e+01] [-6.10564788e-02 9.98134105e-01 -6.44678335e-04 -7.17387601e-01] [-9.26793043e-03 7.89307238e-05 9.99957049e-01 -4.78165459e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.118623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:14.62, Y:-0.72, Z:-0.48 [[ 9.98034923e-01 6.19613950e-02 9.33153854e-03 1.46177599e+01] [-6.19580062e-02 9.98078544e-01 -6.52083438e-04 -7.19298515e-01] [-9.35401240e-03 7.26385210e-05 9.99956248e-01 -4.78350583e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.148623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:14.65, Y:-0.72, Z:-0.48 [[ 9.97911134e-01 6.39296539e-02 9.29344706e-03 1.46484812e+01] [-6.39263626e-02 9.97954406e-01 -6.51082813e-04 -7.22516195e-01] [-9.31605993e-03 5.56265222e-05 9.99956603e-01 -4.80033977e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.178623853 meters Centerline goodness [0,1] 0.9999785495184367 Centerline is valid? [True, True] Translation: X:14.68, Y:-0.72, Z:-0.48 [[ 9.97850955e-01 6.48413682e-02 9.43760014e-03 1.46811407e+01] [-6.48380032e-02 9.97895583e-01 -6.62404649e-04 -7.23219976e-01] [-9.46069072e-03 4.90659633e-05 9.99955245e-01 -4.78675582e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.208623853 meters Centerline goodness [0,1] 0.9998278348074978 Centerline is valid? [True, True] Translation: X:14.71, Y:-0.72, Z:-0.48 [[ 9.97799283e-01 6.56736548e-02 9.14126887e-03 1.47142278e+01] [-6.56705179e-02 9.97841154e-01 -6.43222304e-04 -7.24726865e-01] [-9.16377704e-03 4.14948932e-05 9.99958011e-01 -4.78939114e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.238623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:14.75, Y:-0.73, Z:-0.48 [[ 9.97720273e-01 6.68667703e-02 9.11546641e-03 1.47458735e+01] [-6.68636838e-02 9.97761912e-01 -6.43276537e-04 -7.28727881e-01] [-9.13807903e-03 3.23163787e-05 9.99958246e-01 -4.81719723e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.268623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:14.78, Y:-0.73, Z:-0.48 [[ 9.97663611e-01 6.77195901e-02 9.02084311e-03 1.47784411e+01] [-6.77165886e-02 9.97704393e-01 -6.38107596e-04 -7.30859009e-01] [-9.04334719e-03 2.57560071e-05 9.99959108e-01 -4.80741910e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.298623853000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:14.81, Y:-0.73, Z:-0.48 [[ 9.97604340e-01 6.85741164e-02 9.11988068e-03 1.48115197e+01] [-6.85710678e-02 9.97646024e-01 -6.46909568e-04 -7.32866936e-01] [-9.14277395e-03 1.99998355e-05 9.99958204e-01 -4.81093010e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.328623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:14.84, Y:-0.73, Z:-0.48 [[ 9.97518068e-01 6.98471645e-02 8.89254020e-03 1.48439823e+01] [-6.98443021e-02 9.97557704e-01 -6.32413241e-04 -7.34820654e-01] [-8.91499426e-03 9.75037028e-06 9.99960261e-01 -4.82018691e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.358623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:14.88, Y:-0.74, Z:-0.48 [[ 9.97474520e-01 7.04036772e-02 9.37568957e-03 1.48768732e+01] [-7.04005014e-02 9.97518582e-01 -6.68739752e-04 -7.37460541e-01] [-9.39950631e-03 6.99761648e-06 9.99955824e-01 -4.82076802e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.388623853000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:14.91, Y:-0.74, Z:-0.48 [[ 9.97411348e-01 7.11804136e-02 1.01957106e-02 1.49088800e+01] [-7.11766740e-02 9.97463457e-01 -7.29622995e-04 -7.39515981e-01] [-1.02217836e-02 2.03748393e-06 9.99947756e-01 -4.80373055e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.418623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:14.94, Y:-0.74, Z:-0.48 [[ 9.97351052e-01 7.19570168e-02 1.06333061e-02 1.49405550e+01] [-7.19529734e-02 9.97407734e-01 -7.62818012e-04 -7.41433959e-01] [-1.06606319e-02 -4.30064619e-06 9.99943174e-01 -4.80437737e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.448623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:14.97, Y:-0.74, Z:-0.48 [[ 9.97281016e-01 7.28885508e-02 1.08551332e-02 1.49723568e+01] [-7.28843695e-02 9.97340092e-01 -7.80815170e-04 -7.42850663e-01] [-1.08831720e-02 -1.24773912e-05 9.99940776e-01 -4.81219052e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.478623853000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:15.01, Y:-0.74, Z:-0.48 [[ 9.97133654e-01 7.48954968e-02 1.07303284e-02 1.50059485e+01] [-7.48915074e-02 9.97191388e-01 -7.73690498e-04 -7.41700541e-01] [-1.07581370e-02 -3.21376364e-05 9.99942129e-01 -4.82463025e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.508623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:15.04, Y:-0.74, Z:-0.48 [[ 9.97019647e-01 7.64254872e-02 1.05341874e-02 1.50390518e+01] [-7.64217082e-02 9.97075294e-01 -7.61396436e-04 -7.42035045e-01] [-1.05615681e-02 -4.59133878e-05 9.99944224e-01 -4.82709349e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.538623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:15.07, Y:-0.74, Z:-0.48 [[ 9.96898419e-01 7.80426119e-02 1.01435702e-02 1.50716280e+01] [-7.80391715e-02 9.96950022e-01 -7.35144830e-04 -7.42014236e-01] [-1.01700051e-02 -5.87310910e-05 9.99948282e-01 -4.83567248e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.568623853000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:15.10, Y:-0.74, Z:-0.48 [[ 9.96765779e-01 7.97563883e-02 9.84376225e-03 1.51023770e+01] [-7.97532135e-02 9.96814383e-01 -7.15273484e-04 -7.41374987e-01] [-9.86945141e-03 -7.21115400e-05 9.99951293e-01 -4.84881824e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.598623853 meters Centerline goodness [0,1] 0.99982828196102 Centerline is valid? [True, True] Translation: X:15.13, Y:-0.74, Z:-0.48 [[ 9.96524229e-01 8.27306700e-02 9.75175955e-03 1.51335673e+01] [-8.27276809e-02 9.96571937e-01 -7.10190851e-04 -7.37202010e-01] [-9.77708447e-03 -9.90180620e-05 9.99952198e-01 -4.84029259e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.628623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:15.17, Y:-0.74, Z:-0.48 [[ 9.96405720e-01 8.41346279e-02 9.84910920e-03 1.51658783e+01] [-8.41316448e-02 9.96454390e-01 -7.17542288e-04 -7.38270412e-01] [-9.87455825e-03 -1.13658517e-04 9.99951239e-01 -4.84951239e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.658623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:15.20, Y:-0.74, Z:-0.49 [[ 9.96329749e-01 8.50764802e-02 9.43521473e-03 1.51967704e+01] [-8.50737698e-02 9.96374417e-01 -6.88974284e-04 -7.37726692e-01] [-9.45962209e-03 -1.16243711e-04 9.99955250e-01 -4.86383250e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.688623853 meters Centerline goodness [0,1] 0.9999569086247387 Centerline is valid? [True, True] Translation: X:15.23, Y:-0.74, Z:-0.49 [[ 9.96293252e-01 8.55430506e-02 9.06324858e-03 1.52284661e+01] [-8.55405578e-02 9.96334469e-01 -6.63052433e-04 -7.35908404e-01] [-9.08674649e-03 -1.14680674e-04 9.99958708e-01 -4.87738676e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.718623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:15.26, Y:-0.74, Z:-0.49 [[ 9.96280903e-01 8.56663833e-02 9.25381735e-03 1.52614949e+01] [-8.56637767e-02 9.96323872e-01 -6.78408389e-04 -7.38533962e-01] [-9.27791592e-03 -1.16831621e-04 9.99956952e-01 -4.88904917e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.748623853 meters Centerline goodness [0,1] 0.9998908177748662 Centerline is valid? [True, True] Translation: X:15.29, Y:-0.74, Z:-0.49 [[ 9.96393025e-01 8.44134262e-02 8.67831124e-03 1.52931539e+01] [-8.44110721e-02 9.96430812e-01 -6.37841981e-04 -7.40863522e-01] [-8.70117914e-03 -9.70042546e-05 9.99962139e-01 -4.87628779e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.778623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:15.33, Y:-0.74, Z:-0.49 [[ 9.96401422e-01 8.43082414e-02 8.73651662e-03 1.53250537e+01] [-8.43058341e-02 9.96439718e-01 -6.44112091e-04 -7.43185134e-01] [-8.75971612e-03 -9.47451169e-05 9.99961628e-01 -4.90596816e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.808623853 meters Centerline goodness [0,1] 0.999978309908034 Centerline is valid? [True, True] Translation: X:15.36, Y:-0.74, Z:-0.49 [[ 9.96404372e-01 8.43212584e-02 8.26148123e-03 1.53565879e+01] [-8.43191034e-02 9.96438617e-01 -6.09426340e-04 -7.43809557e-01] [-8.28344653e-03 -8.93656210e-05 9.99965688e-01 -4.92654427e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.838623853 meters Centerline goodness [0,1] 0.9999786333917354 Centerline is valid? [True, True] Translation: X:15.39, Y:-0.74, Z:-0.49 [[ 9.96442476e-01 8.39316803e-02 7.60696038e-03 1.53892552e+01] [-8.39298341e-02 9.96471508e-01 -5.62169027e-04 -7.44566770e-01] [-7.62730307e-03 -7.82818248e-05 9.99970909e-01 -4.93602085e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.868623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:15.42, Y:-0.75, Z:-0.49 [[ 9.96442090e-01 8.39482968e-02 7.47298845e-03 1.54208915e+01] [-8.39465040e-02 9.96470109e-01 -5.53800081e-04 -7.45933406e-01] [-7.49310019e-03 -7.55015452e-05 9.99971923e-01 -4.94725884e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.898623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:15.45, Y:-0.75, Z:-0.50 [[ 9.96480454e-01 8.34750518e-02 7.65639713e-03 1.54526720e+01] [-8.34731436e-02 9.96509865e-01 -5.69003489e-04 -7.48349061e-01] [-7.67717286e-03 -7.21026828e-05 9.99970527e-01 -4.95255075e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.928623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:15.48, Y:-0.75, Z:-0.49 [[ 9.96526160e-01 8.29030459e-02 7.91817072e-03 1.54848816e+01] [-8.29009755e-02 9.96557615e-01 -5.89905040e-04 -7.51530751e-01] [-7.93981826e-03 -6.85682733e-05 9.99968477e-01 -4.94847835e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.958623853 meters Centerline goodness [0,1] 0.9999351925860318 Centerline is valid? [True, True] Translation: X:15.52, Y:-0.76, Z:-0.49 [[ 9.96685115e-01 8.08788130e-02 8.79770765e-03 1.55156543e+01] [-8.08761609e-02 9.96723941e-01 -6.57390480e-04 -7.55170916e-01] [-8.82205480e-03 -5.63135136e-05 9.99961083e-01 -4.94800637e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.988623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:15.55, Y:-0.76, Z:-0.50 [[ 9.96764634e-01 7.99034729e-02 8.70051892e-03 1.55474078e+01] [-7.99008318e-02 9.96802605e-01 -6.51279837e-04 -7.58259550e-01] [-8.72473944e-03 -4.60059907e-05 9.99961938e-01 -4.95812858e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.018623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:15.58, Y:-0.76, Z:-0.50 [[ 9.96917035e-01 7.79267003e-02 9.15720811e-03 1.55792034e+01] [-7.79236736e-02 9.96959091e-01 -6.87392509e-04 -7.61783838e-01] [-9.18292810e-03 -2.82899936e-05 9.99957836e-01 -4.96140783e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.048623853000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:15.61, Y:-0.77, Z:-0.50 [[ 9.96978064e-01 7.71496006e-02 9.09283658e-03 1.56125110e+01] [-7.71465724e-02 9.97019528e-01 -6.83840067e-04 -7.65001029e-01] [-9.11849362e-03 -1.97076292e-05 9.99958425e-01 -4.96365323e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.078623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:15.64, Y:-0.77, Z:-0.50 [[ 9.97019921e-01 7.66301894e-02 8.89328246e-03 1.56444133e+01] [-7.66272513e-02 9.97059584e-01 -6.71151554e-04 -7.67792872e-01] [-8.91856298e-03 -1.23163197e-05 9.99960229e-01 -4.98399826e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.108623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:15.68, Y:-0.77, Z:-0.50 [[ 9.97071479e-01 7.60499627e-02 8.05414541e-03 1.56764640e+01] [-7.60475319e-02 9.97104008e-01 -6.08085038e-04 -7.69730761e-01] [-8.07706552e-03 -6.19363173e-06 9.99967380e-01 -5.00133825e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.138623853000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:15.71, Y:-0.77, Z:-0.50 [[ 9.97080725e-01 7.59935415e-02 7.41678136e-03 1.57081233e+01] [-7.59914706e-02 9.97108310e-01 -5.61039247e-04 -7.71478459e-01] [-7.43796968e-03 -4.21070270e-06 9.99972338e-01 -5.02271084e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.168623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:15.74, Y:-0.77, Z:-0.50 [[ 9.97061938e-01 7.62712327e-02 7.08459421e-03 1.57411614e+01] [-7.62693436e-02 9.97087107e-01 -5.36841899e-04 -7.72808254e-01] [-7.10490314e-03 -5.07272578e-06 9.99974760e-01 -5.02310338e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.198623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:15.77, Y:-0.77, Z:-0.50 [[ 9.97019896e-01 7.68134302e-02 7.14313569e-03 1.57738214e+01] [-7.68115134e-02 9.97045484e-01 -5.42696886e-04 -7.73613561e-01] [-7.16371759e-03 -7.59547038e-06 9.99974340e-01 -5.02763174e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.228623853000002 meters Centerline goodness [0,1] 0.9999564829521965 Centerline is valid? [True, True] Translation: X:15.81, Y:-0.77, Z:-0.50 [[ 9.96966549e-01 7.74034396e-02 8.14912858e-03 1.58067812e+01] [-7.74009374e-02 9.96999853e-01 -6.22453618e-04 -7.71651364e-01] [-8.17286005e-03 -1.01847560e-05 9.99966602e-01 -5.00226061e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.258623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:15.84, Y:-0.77, Z:-0.50 [[ 9.96924478e-01 7.78713949e-02 8.81083341e-03 1.58382427e+01] [-7.78684902e-02 9.96963412e-01 -6.72773240e-04 -7.72685968e-01] [-8.83646833e-03 -1.53821841e-05 9.99960958e-01 -5.01361140e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.288623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:15.87, Y:-0.77, Z:-0.50 [[ 9.96921745e-01 7.77216514e-02 1.03140492e-02 1.58706352e+01] [-7.77176418e-02 9.96975097e-01 -7.89587735e-04 -7.74091555e-01] [-1.03442183e-02 -1.44263989e-05 9.99946497e-01 -4.98813703e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.318623853000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:15.90, Y:-0.78, Z:-0.50 [[ 9.96957782e-01 7.72688211e-02 1.02328373e-02 1.59033672e+01] [-7.72648354e-02 9.97010295e-01 -7.84855334e-04 -7.77356845e-01] [-1.02628890e-02 -8.17085510e-06 9.99947335e-01 -4.99112151e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.348623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:15.93, Y:-0.78, Z:-0.50 [[ 9.97001421e-01 7.67575344e-02 9.82075902e-03 1.59347123e+01] [-7.67538146e-02 9.97049789e-01 -7.55670979e-04 -7.80144503e-01] [-9.84978914e-03 -3.75676806e-07 9.99951490e-01 -5.01414240e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.378623853 meters Centerline goodness [0,1] 0.9999565245744843 Centerline is valid? [True, True] Translation: X:15.97, Y:-0.78, Z:-0.50 [[ 9.97164523e-01 7.47210215e-02 8.92649888e-03 1.59667466e+01] [-7.47178646e-02 9.97204477e-01 -6.87080333e-04 -7.83079825e-01] [-8.95288399e-03 1.81631974e-05 9.99959922e-01 -5.01724456e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.408623853 meters Centerline goodness [0,1] 0.9999132603274422 Centerline is valid? [True, True] Translation: X:16.00, Y:-0.79, Z:-0.50 [[ 9.97251432e-01 7.35928520e-02 8.58335146e-03 1.59983514e+01] [-7.35898804e-02 9.97288369e-01 -6.61944424e-04 -7.87485547e-01] [-8.60879096e-03 2.84772169e-05 9.99962943e-01 -5.03464442e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.438623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:16.03, Y:-0.79, Z:-0.51 [[ 9.97429059e-01 7.11818456e-02 8.27145875e-03 1.60298073e+01] [-7.11789904e-02 9.97463354e-01 -6.39435403e-04 -7.93832087e-01] [-8.29599318e-03 4.90373693e-05 9.99965586e-01 -5.05692062e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.468623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:16.06, Y:-0.80, Z:-0.51 [[ 9.97496370e-01 7.02253544e-02 8.33010922e-03 1.60616166e+01] [-7.02224138e-02 9.97531150e-01 -6.45331444e-04 -7.98718055e-01] [-8.35486206e-03 5.87553973e-05 9.99965096e-01 -5.07238213e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.498623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:16.09, Y:-0.80, Z:-0.51 [[ 9.97536805e-01 6.96508980e-02 8.31109815e-03 1.60941169e+01] [-6.96479389e-02 9.97571425e-01 -6.45294472e-04 -8.01352761e-01] [-8.33585936e-03 6.48541292e-05 9.99965254e-01 -5.06226949e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.528623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:16.13, Y:-0.81, Z:-0.51 [[ 9.97551119e-01 6.94264487e-02 8.46956319e-03 1.61255052e+01] [-6.94233519e-02 9.97587071e-01 -6.59442111e-04 -8.07252560e-01] [-8.49490946e-03 6.98417500e-05 9.99963915e-01 -5.10253686e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.558623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:16.16, Y:-0.81, Z:-0.51 [[ 9.97558815e-01 6.92476404e-02 9.00968975e-03 1.61586778e+01] [-6.92441131e-02 9.97599498e-01 -7.03231660e-04 -8.07220048e-01] [-9.03675911e-03 7.76469652e-05 9.99959165e-01 -5.06040542e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.588623853 meters Centerline goodness [0,1] 0.9999783160222911 Centerline is valid? [True, True] Translation: X:16.19, Y:-0.81, Z:-0.50 [[ 9.97561340e-01 6.91329899e-02 9.59180561e-03 1.61901535e+01] [-6.91289653e-02 9.97607449e-01 -7.50891028e-04 -8.10715785e-01] [-9.62076807e-03 8.59882629e-05 9.99953716e-01 -5.04859615e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.618623853 meters Centerline goodness [0,1] 0.9999341787704594 Centerline is valid? [True, True] Translation: X:16.22, Y:-0.81, Z:-0.50 [[ 9.97561673e-01 6.91163379e-02 9.67675778e-03 1.62234261e+01] [-6.91122245e-02 9.97608603e-01 -7.59236764e-04 -8.13079079e-01] [-9.70609247e-03 8.86032401e-05 9.99952891e-01 -5.02807983e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.648623853 meters Centerline goodness [0,1] 0.9999351659751037 Centerline is valid? [True, True] Translation: X:16.25, Y:-0.82, Z:-0.50 [[ 9.97612950e-01 6.83116489e-02 1.00955737e-02 1.62546085e+01] [-6.83071075e-02 9.97664026e-01 -7.94361095e-04 -8.18634109e-01] [-1.01262548e-02 1.02865479e-04 9.99948723e-01 -5.04449468e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.678623853 meters Centerline goodness [0,1] 0.9999139062869934 Centerline is valid? [True, True] Translation: X:16.29, Y:-0.82, Z:-0.50 [[ 9.97626479e-01 6.80737635e-02 1.03620458e-02 1.62871598e+01] [-6.80689460e-02 9.97680285e-01 -8.17295736e-04 -8.23161704e-01] [-1.03936452e-02 1.10022328e-04 9.99945979e-01 -5.04338500e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.708623853000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:16.32, Y:-0.83, Z:-0.51 [[ 9.97665215e-01 6.74588315e-02 1.06501189e-02 1.63193611e+01] [-6.74536848e-02 9.97722051e-01 -8.42130292e-04 -8.29179901e-01] [-1.06826676e-02 1.21774332e-04 9.99942931e-01 -5.06904714e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.738623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:16.35, Y:-0.84, Z:-0.51 [[ 9.97766713e-01 6.60384958e-02 1.00250980e-02 1.63506335e+01] [-6.60338439e-02 9.97817067e-01 -7.94685105e-04 -8.36195107e-01] [-1.00556937e-02 1.30914585e-04 9.99949432e-01 -5.07545354e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.768623853 meters Centerline goodness [0,1] 0.9997815830857941 Centerline is valid? [True, True] Translation: X:16.38, Y:-0.84, Z:-0.51 [[ 9.97796633e-01 6.56168190e-02 9.81385008e-03 1.63827013e+01] [-6.56123268e-02 9.97844885e-01 -7.79353654e-04 -8.40056823e-01] [-9.84383882e-03 1.33726913e-04 9.99951539e-01 -5.06413918e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.798623853000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:16.42, Y:-0.85, Z:-0.51 [[ 9.97809252e-01 6.53513817e-02 1.02904152e-02 1.64152500e+01] [-6.53464107e-02 9.97862303e-01 -8.18920834e-04 -8.45573555e-01] [-1.03219351e-02 1.44685085e-04 9.99946717e-01 -5.09063119e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.828623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:16.45, Y:-0.85, Z:-0.51 [[ 9.97796652e-01 6.55435175e-02 1.02902574e-02 1.64476211e+01] [-6.55385363e-02 9.97849701e-01 -8.20897125e-04 -8.48350991e-01] [-1.03219348e-02 1.44679992e-04 9.99946717e-01 -5.09636607e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.858623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:16.48, Y:-0.86, Z:-0.51 [[ 9.97789332e-01 6.55047732e-02 1.12059993e-02 1.64788000e+01] [-6.54988349e-02 9.97852243e-01 -8.96507326e-04 -8.55328064e-01] [-1.12406570e-02 1.60545549e-04 9.99936809e-01 -5.08117471e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.888623853000002 meters Centerline goodness [0,1] 0.9999565368567455 Centerline is valid? [True, True] Translation: X:16.51, Y:-0.86, Z:-0.51 [[ 9.97785648e-01 6.55478514e-02 1.12818643e-02 1.65106721e+01] [-6.55418074e-02 9.97849414e-01 -9.05026683e-04 -8.59898878e-01] [-1.13169243e-02 1.63588857e-04 9.99935948e-01 -5.06689306e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.918623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:16.54, Y:-0.86, Z:-0.51 [[ 9.97760150e-01 6.59221429e-02 1.13557771e-02 1.65430691e+01] [-6.59160260e-02 9.97824757e-01 -9.12506556e-04 -8.64048714e-01] [-1.13912299e-02 1.61934983e-04 9.99935105e-01 -5.08992922e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.948623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:16.57, Y:-0.87, Z:-0.51 [[ 9.97712938e-01 6.67000620e-02 1.09542122e-02 1.65748903e+01] [-6.66944124e-02 9.97773060e-01 -8.80651829e-04 -8.65999891e-01] [-1.09885574e-02 1.48052979e-04 9.99939613e-01 -5.09897105e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.978623853000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:16.61, Y:-0.87, Z:-0.51 [[ 9.97637707e-01 6.79051266e-02 1.03874651e-02 1.66056887e+01] [-6.79000944e-02 9.97691775e-01 -8.36750655e-04 -8.71137555e-01] [-1.04203081e-02 1.29464143e-04 9.99945699e-01 -5.12306358e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.008623853 meters Centerline goodness [0,1] 0.999934544978509 Centerline is valid? [True, True] Translation: X:16.64, Y:-0.87, Z:-0.51 [[ 9.97586078e-01 6.87468988e-02 9.79182845e-03 1.66386111e+01] [-6.87424584e-02 9.97634127e-01 -7.89722399e-04 -8.71512028e-01] [-9.82295319e-03 1.14701711e-04 9.99951747e-01 -5.09730154e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.038623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:16.67, Y:-0.88, Z:-0.52 [[ 9.97418003e-01 7.12160019e-02 9.25246074e-03 1.66695399e+01] [-7.12121249e-02 9.97460913e-01 -7.48218343e-04 -8.77354268e-01] [-9.28225306e-03 8.73990564e-05 9.99956915e-01 -5.15487238e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.068623853000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:16.70, Y:-0.88, Z:-0.51 [[ 9.97295222e-01 7.29153773e-02 9.25142239e-03 1.67021101e+01] [-7.29115610e-02 9.97338128e-01 -7.49570420e-04 -8.76068292e-01] [-9.28145151e-03 7.30073497e-05 9.99956924e-01 -5.13716557e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.098623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:16.73, Y:-0.88, Z:-0.52 [[ 9.97164188e-01 7.47088208e-02 9.06496071e-03 1.67332322e+01] [-7.47052113e-02 9.97205389e-01 -7.36607927e-04 -8.78423721e-01] [-9.09465878e-03 5.73192410e-05 9.99958641e-01 -5.15660306e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.128623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:16.77, Y:-0.88, Z:-0.52 [[ 9.96881786e-01 7.84147003e-02 8.82261604e-03 1.67658310e+01] [-7.84114247e-02 9.96920826e-01 -7.17096608e-04 -8.77704896e-01] [-8.85168059e-03 2.30666536e-05 9.99960823e-01 -5.15772569e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.158623853 meters Centerline goodness [0,1] 0.999956601931214 Centerline is valid? [True, True] Translation: X:16.80, Y:-0.88, Z:-0.51 [[ 9.96739351e-01 8.02263286e-02 8.62571734e-03 1.67992779e+01] [-8.02232552e-02 9.96776673e-01 -7.02275468e-04 -8.78476873e-01] [-8.65425481e-03 8.00247021e-06 9.99962551e-01 -5.13871776e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.188623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:16.83, Y:-0.88, Z:-0.52 [[ 9.96602411e-01 8.18672757e-02 9.02123104e-03 1.68322241e+01] [-8.18639639e-02 9.96643241e-01 -7.36381696e-04 -8.80435827e-01] [-9.05123450e-03 -4.63395798e-06 9.99959037e-01 -5.16204092e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.218623853 meters Centerline goodness [0,1] 0.9999783230729212 Centerline is valid? [True, True] Translation: X:16.86, Y:-0.88, Z:-0.52 [[ 9.96458667e-01 8.36189058e-02 8.83195011e-03 1.68646161e+01] [-8.36157802e-02 9.96497806e-01 -7.23207600e-04 -8.80755392e-01] [-8.86149273e-03 -1.78439168e-05 9.99960736e-01 -5.16943655e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.248623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:16.90, Y:-0.89, Z:-0.52 [[ 9.96446833e-01 8.37281550e-02 9.12720778e-03 1.68971180e+01] [-8.37248163e-02 9.96488633e-01 -7.47947705e-04 -8.85276437e-01] [-9.15778309e-03 -1.88836732e-05 9.99958066e-01 -5.18111939e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.278623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:16.93, Y:-0.89, Z:-0.52 [[ 9.96452698e-01 8.36499116e-02 9.20394591e-03 1.69290000e+01] [-8.36464955e-02 9.96495204e-01 -7.56159986e-04 -8.90096325e-01] [-9.23494067e-03 -1.64001616e-05 9.99957357e-01 -5.18791113e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.308623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:16.96, Y:-0.90, Z:-0.52 [[ 9.96579086e-01 8.21706393e-02 8.83804382e-03 1.69612513e+01] [-8.21674191e-02 9.96618275e-01 -7.27468036e-04 -8.97758442e-01] [-8.86793250e-03 -1.21981895e-06 9.99960679e-01 -5.19464278e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.338623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:16.99, Y:-0.90, Z:-0.52 [[ 9.96654326e-01 8.12504951e-02 8.86063418e-03 1.69929328e+01] [-8.12472059e-02 9.96693713e-01 -7.31138512e-04 -9.03399869e-01] [-8.89074374e-03 8.79059183e-06 9.99960477e-01 -5.20625105e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.368623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:17.03, Y:-0.91, Z:-0.52 [[ 9.96746150e-01 8.01122979e-02 8.89558633e-03 1.70258106e+01] [-8.01089241e-02 9.96785844e-01 -7.35503454e-04 -9.09704734e-01] [-8.92591741e-03 2.04943854e-05 9.99960163e-01 -5.20658831e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.398623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:17.06, Y:-0.92, Z:-0.52 [[ 9.96840938e-01 7.89147005e-02 8.97860122e-03 1.70585159e+01] [-7.89111996e-02 9.96881372e-01 -7.44063406e-04 -9.16126209e-01] [-9.00931784e-03 3.32006707e-05 9.99959415e-01 -5.20853666e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.428623853 meters Centerline goodness [0,1] 0.9999355060624301 Centerline is valid? [True, True] Translation: X:17.09, Y:-0.92, Z:-0.52 [[ 9.96995217e-01 7.69338944e-02 9.03953255e-03 1.70888069e+01] [-7.69302455e-02 9.97036194e-01 -7.51205001e-04 -9.24418131e-01] [-9.07053426e-03 5.35343348e-05 9.99958860e-01 -5.18552510e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.458623853000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:17.12, Y:-0.93, Z:-0.52 [[ 9.96997653e-01 7.68505534e-02 9.46949693e-03 1.71212565e+01] [-7.68465326e-02 9.97042621e-01 -7.88274789e-04 -9.30115550e-01] [-9.50207140e-03 5.82101106e-05 9.99954853e-01 -5.21295787e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.488623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:17.15, Y:-0.94, Z:-0.52 [[ 9.97026102e-01 7.64466961e-02 9.73933622e-03 1.71537829e+01] [-7.64424047e-02 9.97073667e-01 -8.12670586e-04 -9.38007775e-01] [-9.77296167e-03 6.57555063e-05 9.99952241e-01 -5.21525985e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.518623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:17.18, Y:-0.94, Z:-0.52 [[ 9.97025620e-01 7.64697949e-02 9.60647218e-03 1.71849942e+01] [-7.64656027e-02 9.97071896e-01 -8.03458924e-04 -9.43289739e-01] [-9.63978377e-03 6.65044464e-05 9.99953534e-01 -5.22613472e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.548623853000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:17.22, Y:-0.95, Z:-0.52 [[ 9.97030739e-01 7.64232836e-02 9.44389659e-03 1.72174765e+01] [-7.64192160e-02 9.97075462e-01 -7.91344107e-04 -9.47174383e-01] [-9.47675467e-03 6.72992273e-05 9.99955092e-01 -5.22380781e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.578623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:17.25, Y:-0.95, Z:-0.52 [[ 9.97004890e-01 7.67908232e-02 9.18792748e-03 1.72493624e+01] [-7.67869722e-02 9.97047223e-01 -7.71694517e-04 -9.52673620e-01] [-9.22005663e-03 6.38700759e-05 9.99957492e-01 -5.24256095e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.608623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:17.28, Y:-0.96, Z:-0.52 [[ 9.96972970e-01 7.71889083e-02 9.31502190e-03 1.72821768e+01] [-7.71849520e-02 9.97016484e-01 -7.84015440e-04 -9.57101466e-01] [-9.34774767e-03 6.26626840e-05 9.99956307e-01 -5.24575676e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.638623853000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:17.31, Y:-0.96, Z:-0.53 [[ 9.96939077e-01 7.76416355e-02 9.17890538e-03 1.73147663e+01] [-7.76377974e-02 9.96981330e-01 -7.74271517e-04 -9.61945214e-01] [-9.21131301e-03 5.92715357e-05 9.99957573e-01 -5.25042899e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.668623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:17.35, Y:-0.97, Z:-0.53 [[ 9.96840185e-01 7.89920309e-02 8.36089474e-03 1.73461993e+01] [-7.89888772e-02 9.96875246e-01 -7.07260946e-04 -9.67473139e-01] [-8.39063699e-03 4.46084438e-05 9.99964797e-01 -5.27655372e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.698623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:17.38, Y:-0.97, Z:-0.53 [[ 9.96773079e-01 7.98567664e-02 8.14412288e-03 1.73790890e+01] [-7.98538015e-02 9.96806348e-01 -6.89108089e-04 -9.70183843e-01] [-8.17314333e-03 3.65452202e-05 9.99966599e-01 -5.27272846e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.728623853000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:17.41, Y:-0.97, Z:-0.53 [[ 9.96679543e-01 8.10059977e-02 8.24113622e-03 1.74103736e+01] [-8.10029861e-02 9.96713614e-01 -6.99116654e-04 -9.74287842e-01] [-8.27068531e-03 2.92386251e-05 9.99965797e-01 -5.30541798e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.758623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:17.44, Y:-0.98, Z:-0.53 [[ 9.96575243e-01 8.22955381e-02 8.07649150e-03 1.74430098e+01] [-8.22926769e-02 9.96607969e-01 -6.86515382e-04 -9.76708871e-01] [-8.10559294e-03 1.95281284e-05 9.99967149e-01 -5.28947660e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.788623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:17.48, Y:-0.98, Z:-0.53 [[ 9.96300487e-01 8.54968611e-02 8.69636898e-03 1.74752853e+01] [-8.54936470e-02 9.96338440e-01 -7.41354653e-04 -9.77722388e-01] [-8.72791020e-03 -4.87229879e-06 9.99961911e-01 -5.28055431e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.818623853000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:17.51, Y:-0.98, Z:-0.53 [[ 9.96112122e-01 8.76472269e-02 8.86592414e-03 1.75078169e+01] [-8.76439593e-02 9.96151576e-01 -7.57161974e-04 -9.78766639e-01] [-8.89816746e-03 -2.28264740e-05 9.99960410e-01 -5.27581272e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.848623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:17.54, Y:-0.98, Z:-0.53 [[ 9.95900317e-01 9.00010589e-02 9.07563742e-03 1.75398545e+01] [-8.99977148e-02 9.95941669e-01 -7.77033314e-04 -9.78656711e-01] [-9.10873930e-03 -4.29389043e-05 9.99958514e-01 -5.29275485e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.878623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:17.57, Y:-0.98, Z:-0.53 [[ 9.95519676e-01 9.41245479e-02 9.00797249e-03 1.75720834e+01] [-9.41214069e-02 9.95560427e-01 -7.72928248e-04 -9.79445566e-01] [-9.04073246e-03 -7.83777651e-05 9.99959129e-01 -5.28188673e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.908623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:17.60, Y:-0.98, Z:-0.53 [[ 9.95344460e-01 9.59560192e-02 9.04697668e-03 1.76035064e+01] [-9.59529065e-02 9.95385570e-01 -7.78484859e-04 -9.80119092e-01] [-9.07993035e-03 -9.32231151e-05 9.99958772e-01 -5.30187784e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.938623853 meters Centerline goodness [0,1] 0.9999572530831213 Centerline is valid? [True, True] Translation: X:17.63, Y:-0.98, Z:-0.53 [[ 9.95168802e-01 9.77982988e-02 8.63412805e-03 1.76343878e+01] [-9.77955313e-02 9.95206251e-01 -7.43169502e-04 -9.81298211e-01] [-8.66541892e-03 -1.04800037e-04 9.99962449e-01 -5.31590802e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.968623853 meters Centerline goodness [0,1] 0.9999782594517034 Centerline is valid? [True, True] Translation: X:17.67, Y:-0.98, Z:-0.53 [[ 9.94797285e-01 1.01483074e-01 8.91895013e-03 1.76667590e+01] [-1.01480257e-01 9.94837256e-01 -7.68970199e-04 -9.81454305e-01] [-8.95094134e-03 -1.40127890e-04 9.99959930e-01 -5.30614642e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.998623853 meters Centerline goodness [0,1] 0.9999784185082873 Centerline is valid? [True, True] Translation: X:17.70, Y:-0.98, Z:-0.53 [[ 9.94593207e-01 1.03407190e-01 9.55542470e-03 1.76991055e+01] [-1.03404029e-01 9.94639093e-01 -8.25620887e-04 -9.82522811e-01] [-9.58957409e-03 -1.66912484e-04 9.99954005e-01 -5.30314626e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.028623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:17.73, Y:-0.98, Z:-0.53 [[ 9.94418264e-01 1.05027275e-01 1.00790476e-02 1.77305228e+01] [-1.05023822e-01 9.94469323e-01 -8.72762615e-04 -9.82977174e-01] [-1.01149676e-02 -1.90649016e-04 9.99948824e-01 -5.30045472e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.058623853 meters Centerline goodness [0,1] 0.9999567773167358 Centerline is valid? [True, True] Translation: X:17.76, Y:-0.98, Z:-0.53 [[ 9.94136634e-01 1.07689441e-01 9.76413201e-03 1.77628991e+01] [-1.07686306e-01 9.94184561e-01 -8.47693633e-04 -9.82218447e-01] [-9.79863695e-03 -2.08740017e-04 9.99951970e-01 -5.30935725e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.088623853 meters Centerline goodness [0,1] 0.999956619816068 Centerline is valid? [True, True] Translation: X:17.79, Y:-0.98, Z:-0.53 [[ 9.94011880e-01 1.08845492e-01 9.64579078e-03 1.77945816e+01] [-1.08842493e-01 9.94058656e-01 -8.36921900e-04 -9.84707953e-01] [-9.67957700e-03 -2.17961602e-04 9.99953128e-01 -5.31742247e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.118623853000003 meters Centerline goodness [0,1] 0.9999784185082873 Centerline is valid? [True, True] Translation: X:17.83, Y:-0.99, Z:-0.53 [[ 9.93808315e-01 1.10732914e-01 9.12444031e-03 1.78267175e+01] [-1.10730298e-01 9.93850176e-01 -7.93001422e-04 -9.87158941e-01] [-9.15613797e-03 -2.22260585e-04 9.99958057e-01 -5.32667771e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.148623853 meters Centerline goodness [0,1] 0.9998925886143931 Centerline is valid? [True, True] Translation: X:17.86, Y:-0.98, Z:-0.54 [[ 9.93712911e-01 1.11628178e-01 8.59072395e-03 1.78577480e+01] [-1.11625880e-01 9.93750021e-01 -7.47995528e-04 -9.84875395e-01] [-8.62052948e-03 -2.15654306e-04 9.99962819e-01 -5.35557409e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.178623853 meters Centerline goodness [0,1] 0.9998706952286539 Centerline is valid? [True, True] Translation: X:17.89, Y:-0.99, Z:-0.54 [[ 9.93599830e-01 1.12645453e-01 8.38923032e-03 1.78895498e+01] [-1.12643288e-01 9.93635222e-01 -7.31637129e-04 -9.85654280e-01] [-8.41825032e-03 -2.18035961e-04 9.99964542e-01 -5.37163980e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.208623853000002 meters Centerline goodness [0,1] 0.9998496821851915 Centerline is valid? [True, True] Translation: X:17.92, Y:-0.99, Z:-0.54 [[ 9.93478774e-01 1.13740251e-01 7.94233137e-03 1.79209987e+01] [-1.13738338e-01 9.93510498e-01 -6.93667227e-04 -9.91295960e-01] [-7.96968748e-03 -2.14203901e-04 9.99968219e-01 -5.36942332e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.238623853 meters Centerline goodness [0,1] 0.999870731444576 Centerline is valid? [True, True] Translation: X:17.95, Y:-0.99, Z:-0.54 [[ 9.93389520e-01 1.14528062e-01 7.78355384e-03 1.79518712e+01] [-1.14526238e-01 9.93419990e-01 -6.81165023e-04 -9.90855748e-01] [-7.81035049e-03 -2.14758946e-04 9.99969476e-01 -5.37840795e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.268623853 meters Centerline goodness [0,1] 0.9999569141946186 Centerline is valid? [True, True] Translation: X:17.98, Y:-0.99, Z:-0.54 [[ 9.93398776e-01 1.14411124e-01 8.30461927e-03 1.79844595e+01] [-1.14409026e-01 9.93433462e-01 -7.28797564e-04 -9.93477350e-01] [-8.33346922e-03 -2.26136796e-04 9.99965250e-01 -5.37245169e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.298623853000002 meters Centerline goodness [0,1] 0.9996784772683429 Centerline is valid? [True, True] Translation: X:18.02, Y:-0.99, Z:-0.54 [[ 9.93395845e-01 1.14432093e-01 8.36607278e-03 1.80167097e+01] [-1.14429965e-01 9.93431046e-01 -7.34155281e-04 -9.89057854e-01] [-8.39512736e-03 -2.28022609e-04 9.99964734e-01 -5.39872164e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.328623853 meters Centerline goodness [0,1] 0.999826772335542 Centerline is valid? [True, True] Translation: X:18.05, Y:-1.00, Z:-0.54 [[ 9.93522154e-01 1.13331174e-01 8.35315365e-03 1.80488756e+01] [-1.13328992e-01 9.93557245e-01 -7.35603519e-04 -9.95653556e-01] [-8.38270313e-03 -2.15816092e-04 9.99964841e-01 -5.38519851e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.358623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:18.08, Y:-1.00, Z:-0.54 [[ 9.93578440e-01 1.12824354e-01 8.51754021e-03 1.80808395e+01] [-1.12822071e-01 9.93614925e-01 -7.49602843e-04 -1.00013835e+00] [-8.54772853e-03 -2.16177302e-04 9.99963444e-01 -5.38033458e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.388623853000002 meters Centerline goodness [0,1] 0.9999784315417134 Centerline is valid? [True, True] Translation: X:18.11, Y:-1.00, Z:-0.54 [[ 9.93815988e-01 1.10711766e-01 8.52570380e-03 1.81131565e+01] [-1.10709389e-01 9.93852537e-01 -7.51724939e-04 -1.00343401e+00] [-8.55651715e-03 -1.96799193e-04 9.99963373e-01 -5.37896175e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.418623853 meters Centerline goodness [0,1] 0.999871335749362 Centerline is valid? [True, True] Translation: X:18.14, Y:-1.00, Z:-0.54 [[ 9.93941980e-01 1.09588460e-01 8.34919644e-03 1.81446413e+01] [-1.09586128e-01 9.93977030e-01 -7.37638906e-04 -1.00408774e+00] [-8.37974619e-03 -1.81785835e-04 9.99964873e-01 -5.36178869e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.448623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:18.18, Y:-1.01, Z:-0.54 [[ 9.94098619e-01 1.08084215e-01 9.25949545e-03 1.81760834e+01] [-1.08081266e-01 9.94141724e-01 -8.19731391e-04 -1.00898518e+00] [-9.29385080e-03 -1.85884145e-04 9.99956794e-01 -5.37992873e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.478623853000002 meters Centerline goodness [0,1] 0.9999786320220517 Centerline is valid? [True, True] Translation: X:18.21, Y:-1.01, Z:-0.54 [[ 9.94263027e-01 1.06563505e-01 9.23317367e-03 1.82076003e+01] [-1.06560492e-01 9.94305884e-01 -8.19054338e-04 -1.00932448e+00] [-9.26788021e-03 -1.69536087e-04 9.99957038e-01 -5.40048502e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.508623853 meters Centerline goodness [0,1] 0.9999569485104185 Centerline is valid? [True, True] Translation: X:18.24, Y:-1.02, Z:-0.54 [[ 9.94688779e-01 1.02538680e-01 8.94722643e-03 1.82382470e+01] [-1.02535666e-01 9.94729010e-01 -7.96143594e-04 -1.01652517e+00] [-8.98170120e-03 -1.25494723e-04 9.99959656e-01 -5.39164237e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.538623853 meters Centerline goodness [0,1] 0.9998500813843914 Centerline is valid? [True, True] Translation: X:18.27, Y:-1.02, Z:-0.54 [[ 9.94854320e-01 1.00915455e-01 8.99736580e-03 1.82704133e+01] [-1.00912349e-01 9.94894999e-01 -7.99608026e-04 -1.01989272e+00] [-9.03212705e-03 -1.12451824e-04 9.99959203e-01 -5.37020687e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.568623853000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:18.30, Y:-1.02, Z:-0.54 [[ 9.95160210e-01 9.77992841e-02 9.56332981e-03 1.83013200e+01] [-9.77956141e-02 9.95206156e-01 -8.51766670e-04 -1.02423387e+00] [-9.60078686e-03 -8.76074127e-05 9.99953908e-01 -5.40038410e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.598623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:18.33, Y:-1.03, Z:-0.54 [[ 9.95280018e-01 9.65381477e-02 9.90311106e-03 1.83329352e+01] [-9.65341347e-02 9.95329282e-01 -8.83556024e-04 -1.02822580e+00] [-9.94215328e-03 -7.66026017e-05 9.99950573e-01 -5.40070328e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.628623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:18.36, Y:-1.03, Z:-0.54 [[ 9.95393394e-01 9.53647542e-02 9.87701961e-03 1.83645717e+01] [-9.53606889e-02 9.95442394e-01 -8.82803198e-04 -1.03263949e+00] [-9.91619235e-03 -6.31429233e-05 9.99950831e-01 -5.39902314e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.658623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:18.40, Y:-1.04, Z:-0.54 [[ 9.95498090e-01 9.43359660e-02 9.18034360e-03 1.83967310e+01] [-9.43323986e-02 9.95540418e-01 -8.21795032e-04 -1.03578702e+00] [-9.21692793e-03 -4.79084473e-05 9.99957522e-01 -5.42342561e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.688623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:18.43, Y:-1.04, Z:-0.55 [[ 9.95713896e-01 9.21468692e-02 7.92417482e-03 1.84288215e+01] [-9.21441343e-02 9.95745426e-01 -7.10313879e-04 -1.03987946e+00] [-7.95591403e-03 -2.28968282e-05 9.99968351e-01 -5.45336129e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.718623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:18.46, Y:-1.04, Z:-0.55 [[ 9.95806388e-01 9.11642702e-02 7.66245440e-03 1.84614254e+01] [-9.11616739e-02 9.95835868e-01 -6.88159057e-04 -1.04346381e+00] [-7.69328245e-03 -1.32489842e-05 9.99970406e-01 -5.46600289e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.748623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:18.49, Y:-1.05, Z:-0.55 [[ 9.96087378e-01 8.81362349e-02 6.47601821e-03 1.84924066e+01] [-8.81343099e-02 9.96108430e-01 -5.82598478e-04 -1.04978715e+00] [-6.50216436e-03 9.55959525e-06 9.99978861e-01 -5.50390201e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.778623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:18.52, Y:-1.05, Z:-0.55 [[ 9.96071282e-01 8.83179724e-02 6.47593944e-03 1.85247422e+01] [-8.83160455e-02 9.96092333e-01 -5.83471725e-04 -1.05291325e+00] [-6.50216466e-03 9.25006710e-06 9.99978861e-01 -5.50963602e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.808623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:18.56, Y:-1.06, Z:-0.55 [[ 9.96231693e-01 8.65136826e-02 6.14791774e-03 1.85561040e+01] [-8.65119045e-02 9.96250662e-01 -5.55072445e-04 -1.05821623e+00] [-6.17288848e-03 2.11126898e-05 9.99980947e-01 -5.50948621e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.838623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:18.59, Y:-1.06, Z:-0.55 [[ 9.96395811e-01 8.46019282e-02 6.15648497e-03 1.85881720e+01] [-8.46001022e-02 9.96414830e-01 -5.56886208e-04 -1.06378192e+00] [-6.18152657e-03 3.40398265e-05 9.99980894e-01 -5.51707610e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.868623853000003 meters Centerline goodness [0,1] 0.9998271316824409 Centerline is valid? [True, True] Translation: X:18.62, Y:-1.07, Z:-0.55 [[ 9.96657344e-01 8.14213855e-02 6.68552361e-03 1.86197101e+01] [-8.14191518e-02 9.96679765e-01 -6.06054669e-04 -1.07041563e+00] [-6.71267192e-03 5.96991752e-05 9.99977468e-01 -5.46669867e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.898623853 meters Centerline goodness [0,1] 0.9998061723343312 Centerline is valid? [True, True] Translation: X:18.65, Y:-1.08, Z:-0.55 [[ 9.96714154e-01 8.06899167e-02 7.07336659e-03 1.86517010e+01] [-8.06873889e-02 9.96739250e-01 -6.42484692e-04 -1.07515716e+00] [-7.10214414e-03 6.96421054e-05 9.99974777e-01 -5.46235867e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.928623853 meters Centerline goodness [0,1] 0.9999784575613959 Centerline is valid? [True, True] Translation: X:18.68, Y:-1.08, Z:-0.55 [[ 9.96769570e-01 7.99245834e-02 7.90470667e-03 1.86837106e+01] [-7.99213876e-02 9.96800910e-01 -7.19844663e-04 -1.08069654e+00] [-7.93695209e-03 8.57641289e-05 9.99968498e-01 -5.48124637e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.958623853000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:18.72, Y:-1.08, Z:-0.55 [[ 9.96787431e-01 7.96088458e-02 8.78918284e-03 1.87161383e+01] [-7.96048664e-02 9.96826174e-01 -8.02236795e-04 -1.08427151e+00] [-8.82515265e-03 9.99978285e-05 9.99961053e-01 -5.48159477e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.988623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:18.75, Y:-1.09, Z:-0.55 [[ 9.96814443e-01 7.92691559e-02 8.79585395e-03 1.87491951e+01] [-7.92651421e-02 9.96853244e-01 -8.04553821e-04 -1.08892947e+00] [-8.83195184e-03 1.04786256e-04 9.99960992e-01 -5.48262938e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.018623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:18.78, Y:-1.09, Z:-0.55 [[ 9.96797790e-01 7.95123128e-02 8.48282981e-03 1.87809103e+01] [-7.95085696e-02 9.96833879e-01 -7.78128923e-04 -1.09420257e+00] [-8.51784297e-03 1.01179526e-04 9.99963717e-01 -5.50896020e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.048623853000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:18.81, Y:-1.10, Z:-0.55 [[ 9.96756731e-01 8.01143664e-02 7.59652633e-03 1.88135962e+01] [-8.01113813e-02 9.96785675e-01 -6.96914367e-04 -1.09781891e+00] [-7.62794148e-03 8.60858686e-05 9.99970903e-01 -5.52947646e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.078623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:18.85, Y:-1.10, Z:-0.55 [[ 9.96711423e-01 8.07246010e-02 7.06237608e-03 1.88466995e+01] [-8.07220294e-02 9.96736441e-01 -6.48891130e-04 -1.09973036e+00] [-7.09170908e-03 7.66678722e-05 9.99974851e-01 -5.52731297e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.108623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:18.88, Y:-1.10, Z:-0.55 [[ 9.96669166e-01 8.12822194e-02 6.61615388e-03 1.88793366e+01] [-8.12799677e-02 9.96691124e-01 -6.08950005e-04 -1.10268993e+00] [-6.64375865e-03 6.91609207e-05 9.99977928e-01 -5.54301384e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.138623853000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:18.91, Y:-1.11, Z:-0.56 [[ 9.96584611e-01 8.23676736e-02 5.88900389e-03 1.89114464e+01] [-8.23659032e-02 9.96602008e-01 -5.42933426e-04 -1.10500602e+00] [-5.91371327e-03 5.60259728e-05 9.99982512e-01 -5.57114919e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.168623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:18.94, Y:-1.11, Z:-0.56 [[ 9.96543570e-01 8.28676012e-02 5.82015800e-03 1.89440269e+01] [-8.28658755e-02 9.96560564e-01 -5.37450249e-04 -1.10889791e+00] [-5.84467716e-03 5.33001010e-05 9.99982918e-01 -5.57308641e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.198623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:18.98, Y:-1.11, Z:-0.56 [[ 9.96484428e-01 8.35703131e-02 5.89803534e-03 1.89763387e+01] [-8.35685449e-02 9.96501882e-01 -5.46045991e-04 -1.11196852e+00] [-5.92303655e-03 5.12360966e-05 9.99982457e-01 -5.56826722e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.228623853000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:19.01, Y:-1.11, Z:-0.56 [[ 9.96296502e-01 8.58026784e-02 5.58403085e-03 1.90073137e+01] [-8.58011232e-02 9.96312149e-01 -5.17927639e-04 -1.11313999e+00] [-5.60787736e-03 3.68933761e-05 9.99984275e-01 -5.57640031e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.258623853 meters Centerline goodness [0,1] 0.9998272324802937 Centerline is valid? [True, True] Translation: X:19.04, Y:-1.11, Z:-0.56 [[ 9.96151975e-01 8.74617884e-02 5.62835477e-03 1.90386787e+01] [-8.74602295e-02 9.96167875e-01 -5.22975364e-04 -1.11422893e+00] [-5.65252657e-03 2.87057411e-05 9.99984024e-01 -5.55141647e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.288623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:19.07, Y:-1.11, Z:-0.56 [[ 9.95965471e-01 8.95267383e-02 6.14352219e-03 1.90709127e+01] [-8.95249135e-02 9.95984419e-01 -5.71938377e-04 -1.11450751e+00] [-6.17005616e-03 1.96325822e-05 9.99980965e-01 -5.57941785e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.318623853000002 meters Centerline goodness [0,1] 0.9999785734181826 Centerline is valid? [True, True] Translation: X:19.10, Y:-1.11, Z:-0.56 [[ 9.95545795e-01 9.40816897e-02 6.09959128e-03 1.91020905e+01] [-9.40799694e-02 9.95564481e-01 -5.68987469e-04 -1.11088315e+00] [-6.12606773e-03 -7.39627867e-06 9.99981235e-01 -5.58960081e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.348623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:19.14, Y:-1.11, Z:-0.56 [[ 9.95298427e-01 9.66567931e-02 6.20525088e-03 1.91353317e+01] [-9.66550591e-02 9.95317770e-01 -5.79415571e-04 -1.11043945e+00] [-6.23220092e-03 -2.30774841e-05 9.99980579e-01 -5.57521453e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.378623853 meters Centerline goodness [0,1] 0.9999132697311361 Centerline is valid? [True, True] Translation: X:19.17, Y:-1.11, Z:-0.55 [[ 9.95063709e-01 9.90276499e-02 6.46058572e-03 1.91690252e+01] [-9.90258117e-02 9.95084681e-01 -6.04572133e-04 -1.11015021e+00] [-6.48869924e-03 -3.81769561e-05 9.99978947e-01 -5.53530646e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.408623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:19.20, Y:-1.11, Z:-0.56 [[ 9.94833740e-01 1.01262465e-01 7.19321406e-03 1.92009389e+01] [-1.01260231e-01 9.94859744e-01 -6.75058615e-04 -1.10994582e+00] [-7.22459720e-03 -5.68154290e-05 9.99973901e-01 -5.56700681e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.438623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:19.23, Y:-1.11, Z:-0.55 [[ 9.94517507e-01 1.04192947e-01 8.87462847e-03 1.92344064e+01] [-1.04189642e-01 9.94557098e-01 -8.35091061e-04 -1.10996190e+00] [-8.91333534e-03 -9.41316879e-05 9.99960271e-01 -5.52610532e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.468623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:19.27, Y:-1.11, Z:-0.55 [[ 9.94426688e-01 1.05000999e-01 9.50538300e-03 1.92667510e+01] [-1.04997225e-01 9.94472111e-01 -8.96638382e-04 -1.11148442e+00] [-9.54698622e-03 -1.06397698e-04 9.99954421e-01 -5.52228465e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.498623853 meters Centerline goodness [0,1] 0.9999782990820512 Centerline is valid? [True, True] Translation: X:19.30, Y:-1.11, Z:-0.55 [[ 9.94441726e-01 1.04854615e-01 9.54798407e-03 1.92983143e+01] [-1.04850778e-01 9.94487556e-01 -9.02895817e-04 -1.11424089e+00] [-9.59002413e-03 -1.03236283e-04 9.99954009e-01 -5.53037513e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.528623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:19.33, Y:-1.12, Z:-0.55 [[ 9.94487472e-01 1.04429576e-01 9.44097924e-03 1.93307743e+01] [-1.04425800e-01 9.94532279e-01 -8.93300676e-04 -1.11825490e+00] [-9.48264561e-03 -9.75054832e-05 9.99955034e-01 -5.53437957e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.558623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:19.36, Y:-1.12, Z:-0.55 [[ 9.94554274e-01 1.03818144e-01 9.14273837e-03 1.93634958e+01] [-1.03814562e-01 9.94596293e-01 -8.66739244e-04 -1.12230215e+00] [-9.18331695e-03 -8.71301603e-05 9.99957829e-01 -5.54489883e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.588623853 meters Centerline goodness [0,1] 0.9999784292154705 Centerline is valid? [True, True] Translation: X:19.39, Y:-1.13, Z:-0.56 [[ 9.94781244e-01 1.01705087e-01 8.14570721e-03 1.93946533e+01] [-1.01702160e-01 9.94814592e-01 -7.73753971e-04 -1.12765747e+00] [-8.18216310e-03 -5.87200822e-05 9.99966524e-01 -5.58544667e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.618623853000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:19.43, Y:-1.13, Z:-0.56 [[ 9.94913228e-01 1.00444527e-01 7.65276778e-03 1.94273692e+01] [-1.00441902e-01 9.94942659e-01 -7.27543947e-04 -1.13490097e+00] [-7.68714293e-03 -4.48154546e-05 9.99970452e-01 -5.58245125e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.648623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:19.46, Y:-1.14, Z:-0.56 [[ 9.95015071e-01 9.94629329e-02 7.22036327e-03 1.94594662e+01] [-9.94605606e-02 9.95041267e-01 -6.87783034e-04 -1.13988674e+00] [-7.25296834e-03 -3.37868942e-05 9.99973696e-01 -5.61041481e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.678623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:19.49, Y:-1.15, Z:-0.56 [[ 9.95095910e-01 9.86418613e-02 7.34260309e-03 1.94923637e+01] [-9.86393759e-02 9.95122999e-01 -7.00751289e-04 -1.14591545e+00] [-7.37591661e-03 -2.69550440e-05 9.99972797e-01 -5.60391488e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.708623853000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:19.53, Y:-1.15, Z:-0.56 [[ 9.95227470e-01 9.73445215e-02 6.80646565e-03 1.95252406e+01] [-9.73423486e-02 9.95250744e-01 -6.50579663e-04 -1.15153260e+00] [-6.83747037e-03 -1.50825998e-05 9.99976624e-01 -5.60888796e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.738623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:19.56, Y:-1.16, Z:-0.56 [[ 9.95257596e-01 9.70607981e-02 6.44352823e-03 1.95582529e+01] [-9.70588379e-02 9.95278454e-01 -6.16953826e-04 -1.15525043e+00] [-6.47298685e-03 -1.13733801e-05 9.99979050e-01 -5.62283784e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.768623853 meters Centerline goodness [0,1] 0.9999569503637694 Centerline is valid? [True, True] Translation: X:19.59, Y:-1.16, Z:-0.56 [[ 9.95302218e-01 9.66346787e-02 5.93588053e-03 1.95898526e+01] [-9.66330016e-02 9.95319918e-01 -5.69372036e-04 -1.15852313e+00] [-5.96312120e-03 -6.90470169e-06 9.99982220e-01 -5.61677524e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.798623853000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:19.62, Y:-1.16, Z:-0.56 [[ 9.95258754e-01 9.70782019e-02 5.98625318e-03 1.96226735e+01] [-9.70764986e-02 9.95276757e-01 -5.75148098e-04 -1.16164576e+00] [-6.01381299e-03 -8.70331845e-06 9.99981917e-01 -5.63795026e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.828623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:19.66, Y:-1.16, Z:-0.56 [[ 9.95149935e-01 9.81774657e-02 6.14760385e-03 1.96558280e+01] [-9.81756823e-02 9.95168923e-01 -5.91934902e-04 -1.16349594e+00] [-6.17601897e-03 -1.44812233e-05 9.99980928e-01 -5.63907644e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.858623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:19.69, Y:-1.17, Z:-0.56 [[ 9.95100944e-01 9.86712491e-02 6.17222772e-03 1.96878830e+01] [-9.86694484e-02 9.95120085e-01 -5.96319778e-04 -1.16628420e+00] [-6.20094740e-03 -1.56119303e-05 9.99980774e-01 -5.64553132e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.888623853000002 meters Centerline goodness [0,1] 0.9998923481031736 Centerline is valid? [True, True] Translation: X:19.72, Y:-1.17, Z:-0.56 [[ 9.95044633e-01 9.92410910e-02 6.11430974e-03 1.97207475e+01] [-9.92393356e-02 9.95063418e-01 -5.90572686e-04 -1.16848926e+00] [-6.14273503e-03 -1.91338549e-05 9.99981133e-01 -5.60725914e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.918623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:19.75, Y:-1.17, Z:-0.56 [[ 9.94953094e-01 1.00119725e-01 6.66192420e-03 1.97531272e+01] [-1.00117650e-01 9.94975397e-01 -6.45091328e-04 -1.17035831e+00] [-6.69303704e-03 -2.51405798e-05 9.99977601e-01 -5.64772197e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.948623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:19.78, Y:-1.17, Z:-0.56 [[ 9.94913946e-01 1.00446762e-01 7.52921525e-03 1.97849470e+01] [-1.00444104e-01 9.94942434e-01 -7.31221639e-04 -1.17160272e+00] [-7.56458459e-03 -2.87626750e-05 9.99971388e-01 -5.63264053e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.978623853000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:19.82, Y:-1.17, Z:-0.56 [[ 9.94891294e-01 1.00682690e-01 7.36941444e-03 1.98167442e+01] [-1.00680143e-01 9.94918587e-01 -7.16771814e-04 -1.17438102e+00] [-7.40413392e-03 -2.88436616e-05 9.99972589e-01 -5.64912774e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.008623853 meters Centerline goodness [0,1] 0.9999573342435362 Centerline is valid? [True, True] Translation: X:19.85, Y:-1.18, Z:-0.57 [[ 9.94869475e-01 1.00914984e-01 7.13392306e-03 1.98483371e+01] [-1.00912594e-01 9.94895052e-01 -6.95131626e-04 -1.17768680e+00] [-7.16765395e-03 -2.83374434e-05 9.99974312e-01 -5.66660181e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.038623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:19.88, Y:-1.18, Z:-0.57 [[ 9.94874351e-01 1.00886376e-01 6.85308908e-03 1.98815913e+01] [-1.00884163e-01 9.94897954e-01 -6.68743274e-04 -1.18097971e+00] [-6.88559138e-03 -2.60526224e-05 9.99976294e-01 -5.67407325e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.068623853000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:19.91, Y:-1.18, Z:-0.57 [[ 9.94857859e-01 1.01057959e-01 6.71789026e-03 1.99142977e+01] [-1.01055830e-01 9.94880540e-01 -6.56612994e-04 -1.18448757e+00] [-6.74985426e-03 -2.56453764e-05 9.99977219e-01 -5.66121003e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.098623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:19.95, Y:-1.19, Z:-0.57 [[ 9.94785936e-01 1.01794635e-01 6.22843638e-03 1.99467217e+01] [-1.01792811e-01 9.94805434e-01 -6.09895860e-04 -1.18564614e+00] [-6.25816648e-03 -2.72942242e-05 9.99980417e-01 -5.68888741e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.128623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:19.98, Y:-1.19, Z:-0.57 [[ 9.94743688e-01 1.02192455e-01 6.45732206e-03 1.99795240e+01] [-1.02190496e-01 9.94764646e-01 -6.33500620e-04 -1.18837586e+00] [-6.48825468e-03 -2.97061991e-05 9.99978951e-01 -5.68072556e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.158623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:20.01, Y:-1.19, Z:-0.57 [[ 9.94710818e-01 1.02510839e-01 6.47430441e-03 2.00117402e+01] [-1.02508867e-01 9.94731887e-01 -6.36561661e-04 -1.19057389e+00] [-6.50545151e-03 -3.04788421e-05 9.99978839e-01 -5.70065114e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.188623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:20.04, Y:-1.19, Z:-0.57 [[ 9.94713322e-01 1.02494064e-01 6.35402062e-03 2.00449924e+01] [-1.02492158e-01 9.94733616e-01 -6.25635297e-04 -1.19443716e+00] [-6.38468181e-03 -2.89095231e-05 9.99979617e-01 -5.68902287e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.218623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:20.08, Y:-1.20, Z:-0.57 [[ 9.94722227e-01 1.02409820e-01 6.31816549e-03 2.00783201e+01] [-1.02407927e-01 9.94742292e-01 -6.23306945e-04 -1.19745254e+00] [-6.34877917e-03 -2.70129562e-05 9.99979846e-01 -5.69653441e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.248623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:20.11, Y:-1.20, Z:-0.57 [[ 9.94719323e-01 1.02429355e-01 6.45724181e-03 2.01101091e+01] [-1.02427368e-01 9.94740281e-01 -6.38499538e-04 -1.20046593e+00] [-6.48867963e-03 -2.62704560e-05 9.99978948e-01 -5.70241878e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.278623853000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:20.14, Y:-1.20, Z:-0.57 [[ 9.94697980e-01 1.02622691e-01 6.67167470e-03 2.01425164e+01] [-1.02620567e-01 9.94720354e-01 -6.60889296e-04 -1.20304138e+00] [-6.70427286e-03 -2.72657898e-05 9.99977526e-01 -5.70578401e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.308623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:20.18, Y:-1.21, Z:-0.57 [[ 9.94665664e-01 1.02918959e-01 6.92138995e-03 2.01755969e+01] [-1.02916670e-01 9.94689744e-01 -6.87069525e-04 -1.20579559e+00] [-6.95534808e-03 -2.89219409e-05 9.99975811e-01 -5.71061163e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.338623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:20.21, Y:-1.21, Z:-0.57 [[ 9.94617721e-01 1.03387076e-01 6.83379452e-03 2.02079577e+01] [-1.03384846e-01 9.94641197e-01 -6.79769483e-04 -1.20819148e+00] [-6.86745294e-03 -3.04000202e-05 9.99976418e-01 -5.72199328e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.368623853000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:20.24, Y:-1.21, Z:-0.57 [[ 9.94535988e-01 1.04180256e-01 6.68149433e-03 2.02409301e+01] [-1.04178135e-01 9.94558431e-01 -6.65587415e-04 -1.21004201e+00] [-6.71447759e-03 -3.41149813e-05 9.99977457e-01 -5.72322572e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.398623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:20.27, Y:-1.21, Z:-0.57 [[ 9.94486238e-01 1.04628603e-01 7.06956792e-03 2.02736991e+01] [-1.04626229e-01 9.94511364e-01 -7.05756730e-04 -1.21264614e+00] [-7.10460798e-03 -3.77968791e-05 9.99974761e-01 -5.72008077e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.428623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:20.31, Y:-1.21, Z:-0.57 [[ 9.94332999e-01 1.06042270e-01 7.54482690e-03 2.03071205e+01] [-1.06039595e-01 9.94361622e-01 -7.54835196e-04 -1.21265221e+00] [-7.58233075e-03 -4.94928428e-05 9.99971252e-01 -5.70770274e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.458623853000002 meters Centerline goodness [0,1] 0.9999569067677921 Centerline is valid? [True, True] Translation: X:20.34, Y:-1.21, Z:-0.57 [[ 9.94246651e-01 1.06846013e-01 7.58461711e-03 2.03407242e+01] [-1.06843321e-01 9.94275579e-01 -7.60305575e-04 -1.21319199e+00] [-7.62243518e-03 -5.44344098e-05 9.99970947e-01 -5.69281674e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.488623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:20.37, Y:-1.21, Z:-0.57 [[ 9.94131448e-01 1.07895276e-01 7.82771184e-03 2.03730060e+01] [-1.07892428e-01 9.94162263e-01 -7.86448901e-04 -1.21382824e+00] [-7.86686984e-03 -6.27172523e-05 9.99969054e-01 -5.71729378e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.518623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:20.41, Y:-1.21, Z:-0.57 [[ 9.94045254e-01 1.08701436e-01 7.61781451e-03 2.04059058e+01] [-1.08698753e-01 9.94074441e-01 -7.66530347e-04 -1.21480220e+00] [-7.65599765e-03 -6.60810860e-05 9.99970690e-01 -5.72281069e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.548623853000002 meters Centerline goodness [0,1] 0.9999785600960508 Centerline is valid? [True, True] Translation: X:20.44, Y:-1.21, Z:-0.57 [[ 9.93916486e-01 1.09923648e-01 6.84177559e-03 2.04374100e+01] [-1.09921503e-01 9.93940032e-01 -6.89826361e-04 -1.21217735e+00] [-6.87614288e-03 -6.64284639e-05 9.99976357e-01 -5.74417826e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.578623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:20.47, Y:-1.21, Z:-0.58 [[ 9.93870136e-01 1.10344204e-01 6.80514254e-03 2.04706459e+01] [-1.10342088e-01 9.93893431e-01 -6.86805746e-04 -1.21337954e+00] [-6.83937150e-03 -6.82979172e-05 9.99976609e-01 -5.75131595e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.608623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:20.50, Y:-1.21, Z:-0.58 [[ 9.93837560e-01 1.10654679e-01 6.51516094e-03 2.05027141e+01] [-1.10652738e-01 9.93858912e-01 -6.58795650e-04 -1.21427667e+00] [-6.54804959e-03 -6.61845320e-05 9.99978559e-01 -5.76865430e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.638623853000002 meters Centerline goodness [0,1] 0.99980508089143 Centerline is valid? [True, True] Translation: X:20.54, Y:-1.21, Z:-0.58 [[ 9.93904455e-01 1.10086436e-01 5.90855219e-03 2.05355645e+01] [-1.10084820e-01 9.93922016e-01 -5.98938503e-04 -1.21255905e+00] [-5.93857511e-03 -5.51542600e-05 9.99982365e-01 -5.75516406e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.668623853 meters Centerline goodness [0,1] 0.99980508089143 Centerline is valid? [True, True] Translation: X:20.57, Y:-1.22, Z:-0.58 [[ 9.93884299e-01 1.10268264e-01 5.90855952e-03 2.05678728e+01] [-1.10266652e-01 9.93901860e-01 -5.98868313e-04 -1.21604374e+00] [-5.93856447e-03 -5.63112618e-05 9.99982365e-01 -5.76089744e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.698623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:20.60, Y:-1.22, Z:-0.58 [[ 9.93902380e-01 1.10090585e-01 6.17429685e-03 2.06003571e+01] [-1.10088812e-01 9.93921556e-01 -6.27309471e-04 -1.21860983e+00] [-6.20582760e-03 -5.62366299e-05 9.99980742e-01 -5.79417493e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.728623853000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:20.63, Y:-1.22, Z:-0.58 [[ 9.93946160e-01 1.09671434e-01 6.57318642e-03 2.06320117e+01] [-1.09669407e-01 9.93967894e-01 -6.69120883e-04 -1.22006038e+00] [-6.60691971e-03 -5.58073227e-05 9.99978173e-01 -5.79858587e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.758623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:20.66, Y:-1.22, Z:-0.58 [[ 9.94115576e-01 1.08108690e-01 6.83606781e-03 2.06642217e+01] [-1.08106453e-01 9.94139079e-01 -6.97050360e-04 -1.22280768e+00] [-6.87135936e-03 -4.60744228e-05 9.99976391e-01 -5.78316705e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.788623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:20.70, Y:-1.22, Z:-0.58 [[ 9.94160162e-01 1.07681911e-01 7.08366145e-03 2.06951579e+01] [-1.07679487e-01 9.94185397e-01 -7.23752423e-04 -1.22464686e+00] [-7.12040782e-03 -4.32392081e-05 9.99974649e-01 -5.79674024e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.818623853000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:20.73, Y:-1.23, Z:-0.58 [[ 9.94202956e-01 1.07307433e-01 6.75261447e-03 2.07283752e+01] [-1.07305218e-01 9.94225887e-01 -6.90485904e-04 -1.22763032e+00] [-6.78771838e-03 -3.81076429e-05 9.99976962e-01 -5.79433833e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.848623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:20.76, Y:-1.23, Z:-0.58 [[ 9.94227066e-01 1.07117557e-01 6.19435801e-03 2.07619957e+01] [-1.07115684e-01 9.94246362e-01 -6.34318938e-04 -1.22643822e+00] [-6.22666461e-03 -3.28558368e-05 9.99980614e-01 -5.80614875e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.878623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:20.79, Y:-1.23, Z:-0.58 [[ 9.94206402e-01 1.07321608e-01 5.97516171e-03 2.07943121e+01] [-1.07319862e-01 9.94224357e-01 -6.13068003e-04 -1.22678598e+00] [-6.00644675e-03 -3.17373980e-05 9.99981961e-01 -5.81865526e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.908623853 meters Centerline goodness [0,1] 0.9999782433696669 Centerline is valid? [True, True] Translation: X:20.83, Y:-1.23, Z:-0.58 [[ 9.94254385e-01 1.06891238e-01 5.69923843e-03 2.08278108e+01] [-1.06889638e-01 9.94270719e-01 -5.85434120e-04 -1.22863863e+00] [-5.72916367e-03 -2.71190901e-05 9.99983588e-01 -5.79910274e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.938623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:20.86, Y:-1.23, Z:-0.58 [[ 9.94299562e-01 1.06459515e-01 5.89506225e-03 2.08597763e+01] [-1.06457787e-01 9.94317038e-01 -6.07005669e-04 -1.23081075e+00] [-5.92618236e-03 -2.40298104e-05 9.99982440e-01 -5.82627292e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.968623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:20.89, Y:-1.23, Z:-0.58 [[ 9.94538717e-01 1.04170597e-01 6.42082069e-03 2.08914197e+01] [-1.04168489e-01 9.94559443e-01 -6.62786003e-04 -1.23343777e+00] [-6.45493066e-03 -9.68085064e-06 9.99979167e-01 -5.81796484e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.998623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:20.92, Y:-1.24, Z:-0.58 [[ 9.94667120e-01 1.02924458e-01 6.62384928e-03 2.09231212e+01] [-1.02922180e-01 9.94689176e-01 -6.84862368e-04 -1.23745515e+00] [-6.65916027e-03 -5.30925602e-07 9.99977828e-01 -5.84013008e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.028623853000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:20.96, Y:-1.24, Z:-0.58 [[ 9.94980103e-01 9.99078958e-02 5.74512923e-03 2.09550991e+01] [-9.99061272e-02 9.94996689e-01 -5.94731844e-04 -1.24243661e+00] [-5.77580298e-03 1.77727391e-05 9.99983320e-01 -5.84006553e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.058623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:20.99, Y:-1.25, Z:-0.59 [[ 9.95092046e-01 9.87832655e-02 5.80397104e-03 2.09863961e+01] [-9.87814360e-02 9.95108972e-01 -6.01740903e-04 -1.24665086e+00] [-5.83502559e-03 2.54629923e-05 9.99982976e-01 -5.85893765e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.088623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:21.02, Y:-1.25, Z:-0.59 [[ 9.95268525e-01 9.69668291e-02 6.16416768e-03 2.10196549e+01] [-9.69647226e-02 9.95287613e-01 -6.40382203e-04 -1.25005133e+00] [-6.19721557e-03 3.96454418e-05 9.99980796e-01 -5.85526839e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.118623853000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:21.05, Y:-1.25, Z:-0.59 [[ 9.95307042e-01 9.65797937e-02 6.01965330e-03 2.10523468e+01] [-9.65777713e-02 9.95325244e-01 -6.26442955e-04 -1.25300566e+00] [-6.05201463e-03 4.21383848e-05 9.99981686e-01 -5.86064591e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.148623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:21.08, Y:-1.26, Z:-0.59 [[ 9.95330831e-01 9.63341595e-02 6.02210903e-03 2.10838815e+01] [-9.63321227e-02 9.95349048e-01 -6.28053848e-04 -1.25662545e+00] [-6.05460353e-03 4.49988121e-05 9.99981670e-01 -5.86771363e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.178623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:21.12, Y:-1.26, Z:-0.59 [[ 9.95360095e-01 9.60156765e-02 6.26670593e-03 2.11159713e+01] [-9.60134562e-02 9.95379821e-01 -6.54889908e-04 -1.25969520e+00] [-6.30063232e-03 5.01631858e-05 9.99980150e-01 -5.87195215e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.208623853000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:21.15, Y:-1.26, Z:-0.59 [[ 9.95355788e-01 9.60630742e-02 6.22417663e-03 2.11478542e+01] [-9.60608778e-02 9.95375247e-01 -6.51583935e-04 -1.26388359e+00] [-6.25798451e-03 5.06579710e-05 9.99980417e-01 -5.88811783e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.238623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:21.18, Y:-1.27, Z:-0.59 [[ 9.95358292e-01 9.60187640e-02 6.50140022e-03 2.11806009e+01] [-9.60163587e-02 9.95379523e-01 -6.81819429e-04 -1.26729388e+00] [-6.53682811e-03 5.44138464e-05 9.99978633e-01 -5.88113409e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.268623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:21.21, Y:-1.27, Z:-0.59 [[ 9.95313964e-01 9.63769638e-02 7.84819156e-03 2.12120470e+01] [-9.63734451e-02 9.95344903e-01 -8.26186973e-04 -1.26951478e+00] [-7.89128286e-03 6.59581723e-05 9.99968861e-01 -5.86261215e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.298623853000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:21.24, Y:-1.27, Z:-0.59 [[ 9.95254654e-01 9.70164394e-02 7.48221197e-03 2.12448865e+01] [-9.70132617e-02 9.95282777e-01 -7.87346272e-04 -1.27203881e+00] [-7.52330225e-03 5.77362537e-05 9.99971698e-01 -5.87079091e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.328623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:21.28, Y:-1.27, Z:-0.59 [[ 9.95140646e-01 9.81826328e-02 7.43406141e-03 2.12764846e+01] [-9.81795152e-02 9.95168412e-01 -7.84039407e-04 -1.27315737e+00] [-7.47512214e-03 5.03569369e-05 9.99972060e-01 -5.88570223e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.358623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:21.31, Y:-1.28, Z:-0.59 [[ 9.95068191e-01 9.89389947e-02 7.09727607e-03 2.13089819e+01] [-9.89361681e-02 9.95093500e-01 -7.49130365e-04 -1.27579237e+00] [-7.13657149e-03 4.32584981e-05 9.99974533e-01 -5.89759351e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.388623853000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:21.34, Y:-1.28, Z:-0.59 [[ 9.94992010e-01 9.97167224e-02 6.89028664e-03 2.13417559e+01] [-9.97140690e-02 9.95015866e-01 -7.28416646e-04 -1.27828512e+00] [-6.92857985e-03 3.77102247e-05 9.99975996e-01 -5.90217686e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.418623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:21.37, Y:-1.28, Z:-0.59 [[ 9.94928786e-01 1.00367146e-01 6.56857538e-03 2.13730909e+01] [-1.00364740e-01 9.94950469e-01 -6.95644454e-04 -1.28173602e+00] [-6.60522700e-03 3.28633312e-05 9.99978185e-01 -5.92129402e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.448623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:21.41, Y:-1.28, Z:-0.59 [[ 9.94754206e-01 1.02101506e-01 6.27307106e-03 2.14064227e+01] [-1.02099342e-01 9.94773985e-01 -6.65161734e-04 -1.28271215e+00] [-6.30820192e-03 2.11960084e-05 9.99980103e-01 -5.91575224e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.478623853000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:21.44, Y:-1.29, Z:-0.59 [[ 9.94642963e-01 1.03177207e-01 6.31193845e-03 2.14398510e+01] [-1.03175029e-01 9.94662990e-01 -6.70509873e-04 -1.28503656e+00] [-6.34743290e-03 1.56834911e-05 9.99979855e-01 -5.91695494e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.508623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:21.47, Y:-1.29, Z:-0.59 [[ 9.94496889e-01 1.04569910e-01 6.40867922e-03 2.14726937e+01] [-1.04567685e-01 9.94517538e-01 -6.82095980e-04 -1.28703094e+00] [-6.44487060e-03 8.20157875e-06 9.99979232e-01 -5.92034477e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.538623853 meters Centerline goodness [0,1] 0.999826659733056 Centerline is valid? [True, True] Translation: X:21.50, Y:-1.28, Z:-0.59 [[ 9.94107091e-01 1.08198756e-01 6.64230843e-03 2.15048397e+01] [-1.08196437e-01 9.94129282e-01 -7.08525725e-04 -1.28452861e+00] [-6.67997492e-03 -1.43236560e-05 9.99977689e-01 -5.88138594e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.568623853000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:21.54, Y:-1.29, Z:-0.59 [[ 9.93859227e-01 1.10441204e-01 6.82477283e-03 2.15375336e+01] [-1.10438801e-01 9.93882659e-01 -7.29237623e-04 -1.28500672e+00] [-6.86356125e-03 -2.89601852e-05 9.99976445e-01 -5.92724778e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.598623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:21.57, Y:-1.28, Z:-0.59 [[ 9.93355987e-01 1.14909440e-01 6.30111101e-03 2.15703324e+01] [-1.14907474e-01 9.93375970e-01 -6.74464696e-04 -1.28003019e+00] [-6.33687462e-03 -5.40612043e-05 9.99979920e-01 -5.93448170e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.628623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:21.60, Y:-1.28, Z:-0.59 [[ 9.93109731e-01 1.17031017e-01 6.06662924e-03 2.16014528e+01] [-1.17029227e-01 9.93128258e-01 -6.50426173e-04 -1.27828635e+00] [-6.10106097e-03 -6.40283681e-05 9.99981386e-01 -5.94966670e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.658623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:21.63, Y:-1.28, Z:-0.60 [[ 9.92903560e-01 1.18783687e-01 5.74068392e-03 2.16336256e+01] [-1.18782110e-01 9.92920153e-01 -6.16094533e-04 -1.27742582e+00] [-5.77322274e-03 -7.01680955e-05 9.99983332e-01 -5.96576073e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.688623853000003 meters Centerline goodness [0,1] 0.9999569624066622 Centerline is valid? [True, True] Translation: X:21.67, Y:-1.27, Z:-0.60 [[ 9.92653300e-01 1.20904693e-01 4.63474974e-03 2.16659376e+01] [-1.20903688e-01 9.92664118e-01 -4.97620020e-04 -1.27499612e+00] [-4.66091436e-03 -6.63941794e-05 9.99989136e-01 -5.99550553e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.718623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:21.70, Y:-1.28, Z:-0.60 [[ 9.92629919e-01 1.21097395e-01 4.61144563e-03 2.16974062e+01] [-1.21096390e-01 9.92640628e-01 -4.97685431e-04 -1.27685564e+00] [-4.63777670e-03 -6.44119683e-05 9.99989243e-01 -6.00214416e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.748623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:21.73, Y:-1.28, Z:-0.60 [[ 9.92653114e-01 1.20870962e-01 5.47766367e-03 2.17285223e+01] [-1.20869539e-01 9.92668225e-01 -5.91361883e-04 -1.28117136e+00] [-5.50898115e-03 -7.50654664e-05 9.99984823e-01 -5.97524529e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.778623853000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:21.76, Y:-1.28, Z:-0.60 [[ 9.92876507e-01 1.18957368e-01 6.73690927e-03 2.17598797e+01] [-1.18955178e-01 9.92899360e-01 -7.26129283e-04 -1.28206363e+00] [-6.77545133e-03 -8.04335384e-05 9.99977043e-01 -5.97436437e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.808623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:21.79, Y:-1.29, Z:-0.60 [[ 9.93063394e-01 1.17353229e-01 7.30167762e-03 2.17916830e+01] [-1.17350605e-01 9.93090235e-01 -7.88309339e-04 -1.28767119e+00] [-7.34373539e-03 -7.40151367e-05 9.99973032e-01 -5.95687699e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.838623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:21.82, Y:-1.30, Z:-0.59 [[ 9.93498055e-01 1.13506818e-01 8.82141327e-03 2.18236269e+01] [-1.13502818e-01 9.93537216e-01 -9.54444225e-04 -1.29511823e+00] [-8.87273831e-03 -5.30167808e-05 9.99960635e-01 -5.92973171e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.868623853000003 meters Centerline goodness [0,1] 0.9999784635927035 Centerline is valid? [True, True] Translation: X:21.86, Y:-1.30, Z:-0.59 [[ 9.93727428e-01 1.11424075e-01 9.51177911e-03 2.18555129e+01] [-1.11419311e-01 9.93772949e-01 -1.03096283e-03 -1.30148396e+00] [-9.56742285e-03 -3.52998236e-05 9.99954231e-01 -5.92484034e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.898623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:21.89, Y:-1.31, Z:-0.59 [[ 9.93955939e-01 1.09314275e-01 1.00985248e-02 2.18862541e+01] [-1.09308776e-01 9.94007238e-01 -1.09653645e-03 -1.30780238e+00] [-1.01578739e-02 -1.39484791e-05 9.99948407e-01 -5.92547570e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.928623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:21.92, Y:-1.31, Z:-0.59 [[ 9.94170033e-01 1.07303647e-01 1.05770396e-02 2.19175979e+01] [-1.07297483e-01 9.94226296e-01 -1.15012212e-03 -1.31425216e+00] [-1.06393832e-02 8.52721823e-06 9.99943400e-01 -5.92769505e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.958623853000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:21.95, Y:-1.32, Z:-0.59 [[ 9.94560961e-01 1.03618904e-01 1.05648927e-02 2.19487926e+01] [-1.03612525e-01 9.94617072e-01 -1.15077127e-03 -1.32272740e+00] [-1.06272643e-02 4.98569762e-05 9.99943528e-01 -5.92723127e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.988623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:21.98, Y:-1.33, Z:-0.59 [[ 9.94721106e-01 1.02085618e-01 1.04138422e-02 2.19806527e+01] [-1.02079318e-01 9.94775614e-01 -1.13601548e-03 -1.32815982e+00] [-1.04754071e-02 6.69806579e-05 9.99945129e-01 -5.94092990e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.018623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:22.01, Y:-1.33, Z:-0.60 [[ 9.94841847e-01 1.00956860e-01 9.86969276e-03 2.20118983e+01] [-1.00951131e-01 9.94890801e-01 -1.07824675e-03 -1.33333820e+00] [-9.92812295e-03 7.63283365e-05 9.99950712e-01 -5.96164011e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.048623853000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:22.04, Y:-1.34, Z:-0.60 [[ 9.95009028e-01 9.94696335e-02 7.92626952e-03 2.20423965e+01] [-9.94658857e-02 9.95040595e-01 -8.66622528e-04 -1.33927029e+00] [-7.97316256e-03 7.39038213e-05 9.99968211e-01 -6.00525020e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.078623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:22.07, Y:-1.34, Z:-0.60 [[ 9.95052674e-01 9.90650536e-02 7.50278792e-03 2.20748897e+01] [-9.90616782e-02 9.95080956e-01 -8.21102520e-04 -1.34221384e+00] [-7.54722394e-03 7.38014952e-05 9.99971517e-01 -6.00063379e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.108623853 meters Centerline goodness [0,1] 0.9999349339579673 Centerline is valid? [True, True] Translation: X:22.11, Y:-1.35, Z:-0.60 [[ 9.95042990e-01 9.91936346e-02 7.07612736e-03 2.21077548e+01] [-9.91906298e-02 9.95068147e-01 -7.75200007e-04 -1.34659824e+00] [-7.11812384e-03 6.94718034e-05 9.99974663e-01 -5.97435967e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.138623853000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:22.14, Y:-1.35, Z:-0.60 [[ 9.95030625e-01 9.93004984e-02 7.31201022e-03 2.21389187e+01] [-9.92972801e-02 9.95057489e-01 -8.02767084e-04 -1.35284909e+00] [-7.35558570e-03 7.27151074e-05 9.99972945e-01 -6.02578759e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.168623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:22.17, Y:-1.36, Z:-0.60 [[ 9.95008042e-01 9.95167978e-02 7.44333724e-03 2.21722177e+01] [-9.95134584e-02 9.95035880e-01 -8.18596069e-04 -1.35557202e+00] [-7.48785168e-03 7.37974408e-05 9.99971963e-01 -6.02022381e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.198623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:22.20, Y:-1.36, Z:-0.60 [[ 9.94962845e-01 9.99240793e-02 8.00726062e-03 2.22041031e+01] [-9.99202116e-02 9.94995061e-01 -8.82631594e-04 -1.35822279e+00] [-8.05538092e-03 7.80984670e-05 9.99967552e-01 -6.01587939e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.228623853000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:22.24, Y:-1.36, Z:-0.60 [[ 9.94958021e-01 9.99545079e-02 8.22394174e-03 2.22369074e+01] [-9.99504186e-02 9.94992005e-01 -9.07775663e-04 -1.36298885e+00] [-8.27349255e-03 8.12122569e-05 9.99965771e-01 -6.02263019e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.258623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:22.27, Y:-1.37, Z:-0.60 [[ 9.94990901e-01 9.96391183e-02 8.07171886e-03 2.22693965e+01] [-9.96351569e-02 9.95023637e-01 -8.92427021e-04 -1.36781444e+00] [-8.12047170e-03 8.37297912e-05 9.99967025e-01 -6.02510137e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.288623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:22.30, Y:-1.37, Z:-0.60 [[ 9.95013814e-01 9.94635623e-02 7.38303649e-03 2.23002595e+01] [-9.94602317e-02 9.95041202e-01 -8.17834793e-04 -1.37351722e+00] [-7.42777027e-03 7.94383970e-05 9.99972411e-01 -6.04925795e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.318623853000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:22.33, Y:-1.38, Z:-0.61 [[ 9.95117077e-01 9.84675793e-02 6.79257403e-03 2.23309094e+01] [-9.84647307e-02 9.95140256e-01 -7.53336938e-04 -1.37987825e+00] [-6.83374313e-03 8.08294787e-05 9.99976646e-01 -6.06982432e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.348623853 meters Centerline goodness [0,1] 0.9998709233284571 Centerline is valid? [True, True] Translation: X:22.36, Y:-1.38, Z:-0.60 [[ 9.95144921e-01 9.81983005e-02 6.60904749e-03 2.23638882e+01] [-9.81955941e-02 9.95166864e-01 -7.33542200e-04 -1.38425751e+00] [-6.64913766e-03 8.10014494e-05 9.99977891e-01 -6.03876352e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.378623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:22.40, Y:-1.39, Z:-0.61 [[ 9.95150329e-01 9.81163175e-02 7.00073829e-03 2.23965224e+01] [-9.81132681e-02 9.95174950e-01 -7.78528255e-04 -1.38928847e+00] [-7.04334570e-03 8.78873369e-05 9.99975191e-01 -6.07313849e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.408623853 meters Centerline goodness [0,1] 0.9999783268313828 Centerline is valid? [True, True] Translation: X:22.43, Y:-1.39, Z:-0.61 [[ 9.95039390e-01 9.92328254e-02 7.03263041e-03 2.24284447e+01] [-9.92297647e-02 9.95064239e-01 -7.83678913e-04 -1.39217395e+00] [-7.07568569e-03 8.19451273e-05 9.99974964e-01 -6.06977861e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.438623853000003 meters Centerline goodness [0,1] 0.9999566329849516 Centerline is valid? [True, True] Translation: X:22.46, Y:-1.39, Z:-0.60 [[ 9.94920462e-01 1.00433256e-01 6.81434606e-03 2.24598353e+01] [-1.00430402e-01 9.94943795e-01 -7.60589244e-04 -1.39464525e+00] [-6.85627978e-03 7.23582889e-05 9.99976493e-01 -6.04562035e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.468623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:22.49, Y:-1.40, Z:-0.61 [[ 9.94804670e-01 1.01542793e-01 7.26153752e-03 2.24912901e+01] [-1.01539567e-01 9.94831170e-01 -8.12539033e-04 -1.39825928e+00] [-7.30651135e-03 7.09842490e-05 9.99973305e-01 -6.08214679e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.498623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:22.52, Y:-1.40, Z:-0.61 [[ 9.94493844e-01 1.04436560e-01 8.66023774e-03 2.25227980e+01] [-1.04432071e-01 9.94531549e-01 -9.70143511e-04 -1.40010568e+00] [-8.71419810e-03 6.03951843e-05 9.99962029e-01 -6.06233407e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.528623853000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:22.55, Y:-1.40, Z:-0.61 [[ 9.94337825e-01 1.05870746e-01 9.14740209e-03 2.25546310e+01] [-1.05865795e-01 9.94379899e-01 -1.02509755e-03 -1.40196119e+00] [-9.20452061e-03 5.08962709e-05 9.99957636e-01 -6.05772497e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.558623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:22.59, Y:-1.41, Z:-0.61 [[ 9.94316951e-01 1.06066623e-01 9.14725003e-03 2.25869056e+01] [-1.06061668e-01 9.94359024e-01 -1.02645197e-03 -1.40577566e+00] [-9.20452290e-03 5.04459920e-05 9.99957636e-01 -6.06345899e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.588623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:22.62, Y:-1.41, Z:-0.61 [[ 9.94013301e-01 1.08880166e-01 9.09216846e-03 2.26197330e+01] [-1.08875370e-01 9.94054882e-01 -1.02227169e-03 -1.40546277e+00] [-9.14941956e-03 2.62384496e-05 9.99958143e-01 -6.06976423e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.618623853000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:22.65, Y:-1.41, Z:-0.61 [[ 9.93909747e-01 1.09813079e-01 9.19255614e-03 2.26516084e+01] [-1.09808202e-01 9.93952256e-01 -1.03510351e-03 -1.40877952e+00] [-9.25062982e-03 1.93813992e-05 9.99957212e-01 -6.08896758e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.648623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:22.68, Y:-1.41, Z:-0.61 [[ 9.93849088e-01 1.10385117e-01 8.89477511e-03 2.26836244e+01] [-1.10380559e-01 9.93888890e-01 -1.00318002e-03 -1.41289708e+00] [-8.95115431e-03 1.51992971e-05 9.99959938e-01 -6.10585860e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.678623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:22.71, Y:-1.42, Z:-0.61 [[ 9.93817299e-01 1.10737764e-01 8.02015189e-03 2.27149697e+01] [-1.10734061e-01 9.93849660e-01 -9.05688741e-04 -1.41871553e+00] [-8.07111918e-03 1.19851474e-05 9.99967428e-01 -6.12866839e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.708623853000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:22.75, Y:-1.42, Z:-0.61 [[ 9.93786127e-01 1.11021728e-01 7.95672726e-03 2.27479676e+01] [-1.11018082e-01 9.93817979e-01 -8.99793602e-04 -1.42387931e+00] [-8.00743525e-03 1.08617994e-05 9.99967940e-01 -6.13595406e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.738623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:22.78, Y:-1.43, Z:-0.61 [[ 9.93725520e-01 1.11580295e-01 7.70896422e-03 2.27807101e+01] [-1.11576880e-01 9.93755421e-01 -8.73085704e-04 -1.42854023e+00] [-7.75824415e-03 7.46537226e-06 9.99969904e-01 -6.13313922e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.768623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:22.81, Y:-1.43, Z:-0.61 [[ 9.93645125e-01 1.12281912e-01 7.88279318e-03 2.28128049e+01] [-1.12278344e-01 9.93676392e-01 -8.95121230e-04 -1.43252501e+00] [-7.93345141e-03 4.36588020e-06 9.99968530e-01 -6.14002116e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.798623853000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:22.85, Y:-1.43, Z:-0.61 [[ 9.93382032e-01 1.14502310e-01 9.01992229e-03 2.28450121e+01] [-1.14497720e-01 9.93422982e-01 -1.02528905e-03 -1.43476571e+00] [-9.07799606e-03 -1.42568165e-05 9.99958794e-01 -6.13041969e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.828623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:22.88, Y:-1.44, Z:-0.61 [[ 9.93188351e-01 1.16135404e-01 9.45872782e-03 2.28780798e+01] [-1.16130416e-01 9.93233390e-01 -1.07670817e-03 -1.43773110e+00] [-9.51976823e-03 -2.90719905e-05 9.99954686e-01 -6.12654049e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.858623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:22.91, Y:-1.44, Z:-0.61 [[ 9.92996753e-01 1.17761461e-01 9.47032414e-03 2.29110756e+01] [-1.17756519e-01 9.93041911e-01 -1.07975007e-03 -1.44125478e+00] [-9.53158173e-03 -4.30040856e-05 9.99954573e-01 -6.11700194e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.888623853000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:22.94, Y:-1.44, Z:-0.61 [[ 9.92593001e-01 1.21072807e-01 1.00254349e-02 2.29423443e+01] [-1.21067412e-01 9.92643627e-01 -1.14554667e-03 -1.44129040e+00] [-1.00903786e-02 -7.66918548e-05 9.99949088e-01 -6.11545651e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.918623853 meters Centerline goodness [0,1] 0.999956431761246 Centerline is valid? [True, True] Translation: X:22.97, Y:-1.44, Z:-0.61 [[ 9.92376423e-01 1.22859372e-01 9.72674520e-03 2.29734802e+01] [-1.22854365e-01 9.92424086e-01 -1.11292014e-03 -1.44119224e+00] [-9.78978888e-03 -9.05373933e-05 9.99952075e-01 -6.10762807e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.948623853 meters Centerline goodness [0,1] 0.9999357023447212 Centerline is valid? [True, True] Translation: X:23.00, Y:-1.44, Z:-0.61 [[ 9.91933814e-01 1.26436932e-01 9.00060157e-03 2.30049269e+01] [-1.26432780e-01 9.91974641e-01 -1.03109822e-03 -1.43848991e+00] [-9.05873741e-03 -1.15189890e-04 9.99958962e-01 -6.14964249e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.978623853000002 meters Centerline goodness [0,1] 0.9999140635070682 Centerline is valid? [True, True] Translation: X:23.04, Y:-1.44, Z:-0.61 [[ 9.91697824e-01 1.28279255e-01 8.93633066e-03 2.30367475e+01] [-1.28275224e-01 9.91738078e-01 -1.02513915e-03 -1.43900892e+00] [-8.99400348e-03 -1.29681555e-04 9.99959545e-01 -6.13001081e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.008623853 meters Centerline goodness [0,1] 0.9999783900594273 Centerline is valid? [True, True] Translation: X:23.07, Y:-1.44, Z:-0.62 [[ 9.91482268e-01 1.29921760e-01 9.12407883e-03 2.30688545e+01] [-1.29917615e-01 9.91524238e-01 -1.04802631e-03 -1.44100916e+00] [-9.18290673e-03 -1.46279063e-04 9.99957826e-01 -6.15683841e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.038623853 meters Centerline goodness [0,1] 0.9997614607277616 Centerline is valid? [True, True] Translation: X:23.10, Y:-1.44, Z:-0.61 [[ 9.91158808e-01 1.32439698e-01 7.99650624e-03 2.31004115e+01] [-1.32436587e-01 9.91191054e-01 -9.19610375e-04 -1.43944167e+00] [-8.04785836e-03 -1.47550073e-04 9.99967605e-01 -6.14342592e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.068623853000002 meters Centerline goodness [0,1] 0.9999350635295137 Centerline is valid? [True, True] Translation: X:23.13, Y:-1.44, Z:-0.62 [[ 9.91025864e-01 1.33438751e-01 7.86358741e-03 2.31315116e+01] [-1.33435765e-01 9.91057050e-01 -9.05526665e-04 -1.44075383e+00] [-7.91409609e-03 -1.51883456e-04 9.99968672e-01 -6.18073023e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.098623853 meters Centerline goodness [0,1] 0.999870639472209 Centerline is valid? [True, True] Translation: X:23.16, Y:-1.44, Z:-0.62 [[ 9.90963334e-01 1.33904619e-01 7.82450831e-03 2.31640123e+01] [-1.33901669e-01 9.90994213e-01 -9.02092974e-04 -1.44410965e+00] [-7.87483687e-03 -1.53773659e-04 9.99968981e-01 -6.17086689e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.128623853 meters Centerline goodness [0,1] 0.9999572375454351 Centerline is valid? [True, True] Translation: X:23.20, Y:-1.45, Z:-0.62 [[ 9.91048212e-01 1.33237762e-01 8.43450846e-03 2.31952636e+01] [-1.33234295e-01 9.91084090e-01 -9.74180227e-04 -1.44562419e+00] [-8.48910474e-03 -1.58306214e-04 9.99963954e-01 -6.20467662e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.158623853 meters Centerline goodness [0,1] 0.9999137503503892 Centerline is valid? [True, True] Translation: X:23.23, Y:-1.45, Z:-0.62 [[ 9.91136226e-01 1.32547842e-01 8.94718806e-03 2.32268870e+01] [-1.32543899e-01 9.91176596e-01 -1.03485641e-03 -1.45038514e+00] [-9.00541138e-03 -1.60211508e-04 9.99959438e-01 -6.19670381e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.188623853000003 meters Centerline goodness [0,1] 0.9999784399120348 Centerline is valid? [True, True] Translation: X:23.26, Y:-1.46, Z:-0.62 [[ 9.91289950e-01 1.31358435e-01 9.44440537e-03 2.32588647e+01] [-1.31353971e-01 9.91334927e-01 -1.09408607e-03 -1.45518024e+00] [-9.50628634e-03 -1.56003628e-04 9.99954802e-01 -6.19305764e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.218623853 meters Centerline goodness [0,1] 0.9998252664686353 Centerline is valid? [True, True] Translation: X:23.29, Y:-1.46, Z:-0.62 [[ 9.91702951e-01 1.28180177e-01 9.75188581e-03 2.32897186e+01] [-1.28175247e-01 9.91750889e-01 -1.13149606e-03 -1.46225454e+00] [-9.81647678e-03 -1.27842387e-04 9.99951809e-01 -6.16159739e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.248623853 meters Centerline goodness [0,1] 0.9998496111373695 Centerline is valid? [True, True] Translation: X:23.32, Y:-1.47, Z:-0.62 [[ 9.91863679e-01 1.26929661e-01 9.76237923e-03 2.33217801e+01] [-1.26924646e-01 9.91911714e-01 -1.13410433e-03 -1.46771932e+00] [-9.82736979e-03 -1.14209634e-04 9.99951704e-01 -6.15886436e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.278623853000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:23.35, Y:-1.48, Z:-0.62 [[ 9.92403708e-01 1.22657729e-01 9.48485683e-03 2.33528519e+01] [-1.22652786e-01 9.92449030e-01 -1.10333087e-03 -1.47745487e+00] [-9.54856902e-03 -6.83944636e-05 9.99954409e-01 -6.21818119e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.308623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:23.38, Y:-1.48, Z:-0.62 [[ 9.92624283e-01 1.20856230e-01 9.52916806e-03 2.33837583e+01] [-1.20851141e-01 9.92670020e-01 -1.11013795e-03 -1.48418150e+00] [-9.59348654e-03 -4.96609457e-05 9.99953980e-01 -6.22973291e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.338623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:23.42, Y:-1.49, Z:-0.62 [[ 9.92830879e-01 1.19143463e-01 9.57498089e-03 2.34157711e+01] [-1.19138233e-01 9.92877049e-01 -1.11676853e-03 -1.49155139e+00] [-9.63983444e-03 -3.19840278e-05 9.99953535e-01 -6.22130688e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.368623853000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:23.45, Y:-1.50, Z:-0.62 [[ 9.93002900e-01 1.17724323e-01 9.28566425e-03 2.34477089e+01] [-1.17719330e-01 9.93046315e-01 -1.08441580e-03 -1.49784982e+00] [-9.34875678e-03 -1.62741402e-05 9.99956299e-01 -6.24204580e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.398623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:23.48, Y:-1.51, Z:-0.63 [[ 9.93289502e-01 1.15319158e-01 8.80100652e-03 2.34793014e+01] [-1.15314560e-01 9.93328491e-01 -1.02980960e-03 -1.50559151e+00] [-8.86104730e-03 8.01486666e-06 9.99960740e-01 -6.26034311e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.428623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:23.51, Y:-1.51, Z:-0.63 [[ 9.93345673e-01 1.14810135e-01 9.11079652e-03 2.35121695e+01] [-1.14805182e-01 9.93387454e-01 -1.06653817e-03 -1.50989434e+00] [-9.17300035e-03 1.34744301e-05 9.99957927e-01 -6.25173210e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.458623853000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:23.54, Y:-1.51, Z:-0.63 [[ 9.93366920e-01 1.14611407e-01 9.29448636e-03 2.35438630e+01] [-1.14606225e-01 9.93410401e-01 -1.08998948e-03 -1.51336922e+00] [-9.35816465e-03 1.75534980e-05 9.99956211e-01 -6.26390671e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.488623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:23.58, Y:-1.52, Z:-0.63 [[ 9.93335669e-01 1.14836445e-01 9.84075362e-03 2.35758002e+01] [-1.14830627e-01 9.93384412e-01 -1.15607472e-03 -1.51717292e+00] [-9.90841076e-03 1.83503454e-05 9.99950910e-01 -6.26591640e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.518623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:23.61, Y:-1.52, Z:-0.62 [[ 9.93294381e-01 1.15147392e-01 1.03609813e-02 2.36088664e+01] [-1.15140941e-01 9.93348417e-01 -1.21894422e-03 -1.52100754e+00] [-1.04324227e-02 1.77973059e-05 9.99945581e-01 -6.24638000e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.548623853000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:23.64, Y:-1.53, Z:-0.62 [[ 9.93238754e-01 1.15635888e-01 1.02527189e-02 2.36404080e+01] [-1.15629577e-01 9.93291670e-01 -1.20820434e-03 -1.52547039e+00] [-1.03236520e-02 1.45178375e-05 9.99946710e-01 -6.24902372e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.578623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:23.67, Y:-1.53, Z:-0.63 [[ 9.93188946e-01 1.16077255e-01 1.00890542e-02 2.36734414e+01] [-1.16071150e-01 9.93240188e-01 -1.19057381e-03 -1.52891734e+00] [-1.01590526e-02 1.14166333e-05 9.99948395e-01 -6.26297874e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.608623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:23.71, Y:-1.53, Z:-0.63 [[ 9.93153088e-01 1.16409262e-01 9.78914431e-03 2.37051363e+01] [-1.16403513e-01 9.93201331e-01 -1.15701820e-03 -1.53206446e+00] [-9.85727879e-03 9.60541834e-06 9.99951416e-01 -6.27767229e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.638623853000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:23.74, Y:-1.54, Z:-0.63 [[ 9.93122291e-01 1.16673704e-01 9.76534934e-03 2.37375562e+01] [-1.16667980e-01 9.93170301e-01 -1.15580869e-03 -1.53526336e+00] [-9.83350743e-03 8.55579702e-06 9.99951650e-01 -6.28313237e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.668623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:23.77, Y:-1.54, Z:-0.63 [[ 9.93088653e-01 1.17045825e-01 8.67185894e-03 2.37682046e+01] [-1.17041312e-01 9.93126515e-01 -1.02795592e-03 -1.53914984e+00] [-8.73257099e-03 5.88561859e-06 9.99961870e-01 -6.31231611e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.698623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:23.80, Y:-1.54, Z:-0.63 [[ 9.93059534e-01 1.17342378e-01 7.97042126e-03 2.37997999e+01] [-1.17338568e-01 9.93091520e-01 -9.45593171e-04 -1.54339143e+00] [-8.02631592e-03 3.79249279e-06 9.99967789e-01 -6.33175475e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.728623853000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:23.83, Y:-1.55, Z:-0.63 [[ 9.92914122e-01 1.18536397e-01 8.40644176e-03 2.38319357e+01] [-1.18532188e-01 9.92949708e-01 -9.98950150e-04 -1.54614527e+00] [-8.46558584e-03 -4.56221981e-06 9.99964166e-01 -6.33373674e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.758623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:23.86, Y:-1.55, Z:-0.63 [[ 9.92806971e-01 1.19427734e-01 8.44604460e-03 2.38644593e+01] [-1.19423505e-01 9.92842896e-01 -1.00502850e-03 -1.54914322e+00] [-8.50562366e-03 -1.08569523e-05 9.99963826e-01 -6.33047228e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.788623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:23.90, Y:-1.55, Z:-0.63 [[ 9.92663210e-01 1.20582923e-01 8.91682888e-03 2.38977867e+01] [-1.20578241e-01 9.92703258e-01 -1.06276671e-03 -1.55179830e+00] [-8.97991660e-03 -2.02061346e-05 9.99959680e-01 -6.31857180e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.818623853000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:23.93, Y:-1.55, Z:-0.63 [[ 9.92296812e-01 1.23480203e-01 9.98378570e-03 2.39297682e+01] [-1.23474452e-01 9.92347035e-01 -1.19277476e-03 -1.55070292e+00] [-1.00546642e-02 -4.91558759e-05 9.99949449e-01 -6.30097679e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.848623853000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:23.96, Y:-1.55, Z:-0.63 [[ 9.92067623e-01 1.25286343e-01 1.02549462e-02 2.39629247e+01] [-1.25280364e-01 9.92120621e-01 -1.22594989e-03 -1.55165433e+00] [-1.03277383e-02 -6.85181968e-05 9.99946665e-01 -6.30093318e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.878623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:24.00, Y:-1.55, Z:-0.63 [[ 9.91818775e-01 1.27263406e-01 9.97714345e-03 2.39956364e+01] [-1.27257826e-01 9.91868952e-01 -1.19469134e-03 -1.55216298e+00] [-1.00480593e-02 -8.47522845e-05 9.99949513e-01 -6.30662324e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.908623853 meters Centerline goodness [0,1] 0.9999785669888762 Centerline is valid? [True, True] Translation: X:24.03, Y:-1.55, Z:-0.63 [[ 9.91370579e-01 1.30719659e-01 9.83599311e-03 2.40269706e+01] [-1.30714389e-01 9.91419365e-01 -1.17946714e-03 -1.54965589e+00] [-9.90577358e-03 -1.16416811e-04 9.99950930e-01 -6.32605433e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.938623853000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:24.06, Y:-1.55, Z:-0.63 [[ 9.91247811e-01 1.31679867e-01 9.39098077e-03 2.40591921e+01] [-1.31675095e-01 9.91292287e-01 -1.12728913e-03 -1.55222975e+00] [-9.45764809e-03 -1.19135407e-04 9.99955268e-01 -6.33526639e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.968623853 meters Centerline goodness [0,1] 0.9999783591940964 Centerline is valid? [True, True] Translation: X:24.09, Y:-1.55, Z:-0.64 [[ 9.91165988e-01 1.32315361e-01 9.09006569e-03 2.40913069e+01] [-1.32310904e-01 9.91207663e-01 -1.09259823e-03 -1.55422062e+00] [-9.15471030e-03 -1.19768612e-04 9.99958088e-01 -6.35223560e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.998623853 meters Centerline goodness [0,1] 0.9999571192727429 Centerline is valid? [True, True] Translation: X:24.12, Y:-1.56, Z:-0.64 [[ 9.91221252e-01 1.31961537e-01 8.15984323e-03 2.41226532e+01] [-1.31957924e-01 9.91254832e-01 -9.81955808e-04 -1.55659727e+00] [-8.21806443e-03 -1.03420510e-04 9.99966226e-01 -6.37662222e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.028623853000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:24.15, Y:-1.56, Z:-0.64 [[ 9.91412119e-01 1.30504231e-01 8.40567051e-03 2.41539135e+01] [-1.30500324e-01 9.91447748e-01 -1.01409121e-03 -1.56233506e+00] [-8.46612629e-03 -9.15604033e-05 9.99964158e-01 -6.38208994e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.058623853 meters Centerline goodness [0,1] 0.9999788283615269 Centerline is valid? [True, True] Translation: X:24.18, Y:-1.57, Z:-0.64 [[ 9.91632610e-01 1.28804487e-01 8.61221973e-03 2.41848293e+01] [-1.28800329e-01 9.91670004e-01 -1.03808550e-03 -1.56895945e+00] [-8.67419005e-03 -7.98572963e-05 9.99962375e-01 -6.39004146e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.088623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:24.22, Y:-1.58, Z:-0.64 [[ 9.92270588e-01 1.23780777e-01 8.79769558e-03 2.42155368e+01] [-1.23776228e-01 9.92309588e-01 -1.06173476e-03 -1.58280735e+00] [-8.86146003e-03 -3.54174060e-05 9.99960736e-01 -6.38829176e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.118623853000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:24.25, Y:-1.59, Z:-0.64 [[ 9.92626915e-01 1.20890685e-01 8.78921462e-03 2.42464630e+01] [-1.20886020e-01 9.92665826e-01 -1.06212776e-03 -1.59251775e+00] [-8.85315435e-03 -8.19657287e-06 9.99960810e-01 -6.39520880e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.148623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:24.28, Y:-1.60, Z:-0.64 [[ 9.92982836e-01 1.17912293e-01 9.04313078e-03 2.42780552e+01] [-1.17907218e-01 9.93024013e-01 -1.09415881e-03 -1.60324250e+00] [-9.10906079e-03 2.02305255e-05 9.99958511e-01 -6.39971027e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.178623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:24.31, Y:-1.62, Z:-0.64 [[ 9.93671199e-01 1.11995125e-01 8.63945098e-03 2.43071739e+01] [-1.11990248e-01 9.93708753e-01 -1.04766726e-03 -1.62009569e+00] [-8.70243169e-03 7.35025156e-05 9.99962130e-01 -6.41087209e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.208623853000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:24.34, Y:-1.63, Z:-0.64 [[ 9.93935759e-01 1.09626212e-01 8.59077455e-03 2.43383034e+01] [-1.09621302e-01 9.93972879e-01 -1.04178262e-03 -1.62999142e+00] [-8.65320360e-03 9.37331117e-05 9.99962556e-01 -6.42122961e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.238623853 meters Centerline goodness [0,1] 0.99997842083684 Centerline is valid? [True, True] Translation: X:24.37, Y:-1.64, Z:-0.64 [[ 9.94351821e-01 1.05780040e-01 8.66251775e-03 2.43687236e+01] [-1.05774880e-01 9.94389544e-01 -1.05288470e-03 -1.64479937e+00] [-8.72529126e-03 1.30661037e-04 9.99961925e-01 -6.42399205e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.268623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:24.40, Y:-1.65, Z:-0.64 [[ 9.94467110e-01 1.04715854e-01 8.35201777e-03 2.43999753e+01] [-1.04711027e-01 9.94502173e-01 -1.01439100e-03 -1.65183394e+00] [-8.41232264e-03 1.34230127e-04 9.99964607e-01 -6.42092118e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.298623853000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:24.43, Y:-1.66, Z:-0.64 [[ 9.94528950e-01 1.04132374e-01 8.28352388e-03 2.44302512e+01] [-1.04127588e-01 9.94563436e-01 -1.00811799e-03 -1.66293322e+00] [-8.34346769e-03 1.40059165e-04 9.99965183e-01 -6.44446360e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.328623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:24.46, Y:-1.67, Z:-0.65 [[ 9.94537890e-01 1.04055316e-01 8.17775387e-03 2.44630866e+01] [-1.04050650e-01 9.94571502e-01 -9.95162721e-04 -1.67013221e+00] [-8.23691292e-03 1.38826430e-04 9.99966066e-01 -6.45148345e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.358623853 meters Centerline goodness [0,1] 0.9999785135686814 Centerline is valid? [True, True] Translation: X:24.49, Y:-1.68, Z:-0.65 [[ 9.94471029e-01 1.04735399e-01 7.60719986e-03 2.44942474e+01] [-1.04731363e-01 9.94500116e-01 -9.28079389e-04 -1.67795110e+00] [-7.66256391e-03 1.26235657e-04 9.99970634e-01 -6.46671467e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.388623853000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:24.53, Y:-1.68, Z:-0.64 [[ 9.94389612e-01 1.05504196e-01 7.62659478e-03 2.45270070e+01] [-1.05500162e-01 9.94418850e-01 -9.30481134e-04 -1.67932009e+00] [-7.68219928e-03 1.20653791e-04 9.99970484e-01 -6.44633284e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.418623853 meters Centerline goodness [0,1] 0.9998045687483714 Centerline is valid? [True, True] Translation: X:24.56, Y:-1.68, Z:-0.64 [[ 9.94271642e-01 1.06628427e-01 7.36759251e-03 2.45580512e+01] [-1.06624688e-01 9.94298932e-01 -8.99515377e-04 -1.68396980e+00] [-7.42150328e-03 1.08795378e-04 9.99972454e-01 -6.41851433e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.448623853 meters Centerline goodness [0,1] 0.9998045687483714 Centerline is valid? [True, True] Translation: X:24.59, Y:-1.69, Z:-0.64 [[ 9.94251447e-01 1.06816560e-01 7.36762524e-03 2.45902833e+01] [-1.06812828e-01 9.94278739e-01 -8.99249306e-04 -1.68810893e+00] [-7.42152785e-03 1.07123034e-04 9.99972454e-01 -6.42424743e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.478623853000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:24.62, Y:-1.70, Z:-0.65 [[ 9.93944174e-01 1.09593538e-01 8.01465490e-03 2.46201071e+01] [-1.09589195e-01 9.93976482e-01 -9.80407287e-04 -1.69770125e+00] [-8.07382479e-03 9.61505350e-05 9.99967402e-01 -6.48096988e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.508623853 meters Centerline goodness [0,1] 0.9999128559290648 Centerline is valid? [True, True] Translation: X:24.65, Y:-1.70, Z:-0.64 [[ 9.93732274e-01 1.11547799e-01 7.29768479e-03 2.46524612e+01] [-1.11544246e-01 9.93759067e-01 -8.93356658e-04 -1.69619598e+00] [-7.35179240e-03 7.37425971e-05 9.99972972e-01 -6.41175520e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.538623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:24.68, Y:-1.70, Z:-0.65 [[ 9.93168659e-01 1.16426710e-01 7.79979711e-03 2.46838054e+01] [-1.16422789e-01 9.93199285e-01 -9.56430238e-04 -1.70014088e+00] [-7.85810694e-03 4.18224063e-05 9.99969124e-01 -6.46205904e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.568623853000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:24.72, Y:-1.70, Z:-0.64 [[ 9.92780986e-01 1.19660218e-01 8.20646011e-03 2.47164580e+01] [-1.19655974e-01 9.92814903e-01 -1.00794955e-03 -1.70128745e+00] [-8.26810736e-03 1.87211708e-05 9.99965818e-01 -6.44754202e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.598623853000003 meters Centerline goodness [0,1] 0.9999784007948508 Centerline is valid? [True, True] Translation: X:24.75, Y:-1.70, Z:-0.64 [[ 9.92339504e-01 1.23254525e-01 8.40417636e-03 2.47498663e+01] [-1.23250192e-01 9.92375091e-01 -1.03356057e-03 -1.70184653e+00] [-8.46748630e-03 -1.01733611e-05 9.99964150e-01 -6.44665288e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.628623853 meters Centerline goodness [0,1] 0.9999784338674546 Centerline is valid? [True, True] Translation: X:24.78, Y:-1.70, Z:-0.64 [[ 9.91822421e-01 1.27324001e-01 8.76832494e-03 2.47828946e+01] [-1.27319426e-01 9.91861178e-01 -1.08023437e-03 -1.70167946e+00] [-8.83450086e-03 -4.49774324e-05 9.99960974e-01 -6.44960998e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.658623853 meters Centerline goodness [0,1] 0.9999571624400274 Centerline is valid? [True, True] Translation: X:24.82, Y:-1.69, Z:-0.65 [[ 9.90750573e-01 1.35406066e-01 8.85999795e-03 2.48154330e+01] [-1.35401693e-01 9.90790182e-01 -1.09431231e-03 -1.69478593e+00] [-8.92657550e-03 -1.15468181e-04 9.99960151e-01 -6.45572067e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.688623853000003 meters Centerline goodness [0,1] 0.9999571615224795 Centerline is valid? [True, True] Translation: X:24.85, Y:-1.69, Z:-0.65 [[ 9.90199948e-01 1.39377672e-01 8.82771209e-03 2.48479946e+01] [-1.39373480e-01 9.90239285e-01 -1.09134825e-03 -1.69429358e+00] [-8.89365688e-03 -1.49695972e-04 9.99960439e-01 -6.45466901e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.718623853 meters Centerline goodness [0,1] 0.9998080409512637 Centerline is valid? [True, True] Translation: X:24.88, Y:-1.69, Z:-0.65 [[ 9.89647587e-01 1.43239264e-01 8.95362292e-03 2.48794196e+01] [-1.43235108e-01 9.89688071e-01 -1.10705752e-03 -1.69117883e+00] [-9.01986790e-03 -1.86876345e-04 9.99959303e-01 -6.46736510e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.748623853 meters Centerline goodness [0,1] 0.997285686806728 Centerline is valid? [True, True] Translation: X:24.91, Y:-1.67, Z:-0.65 [[ 9.88653787e-01 1.49942404e-01 8.99804240e-03 2.49114751e+01] [-1.49938471e-01 9.88694702e-01 -1.11389787e-03 -1.67442353e+00] [-9.06333737e-03 -2.47893372e-04 9.99958896e-01 -6.50390917e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.778623853000003 meters Centerline goodness [0,1] 0.9994227932530945 Centerline is valid? [True, True] Translation: X:24.94, Y:-1.68, Z:-0.65 [[ 9.88205077e-01 1.52867377e-01 9.07140938e-03 2.49420675e+01] [-1.52863502e-01 9.88246674e-01 -1.12307369e-03 -1.68359060e+00] [-9.13647147e-03 -2.76860276e-04 9.99958223e-01 -6.47212771e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.808623853 meters Centerline goodness [0,1] 0.9983701130197945 Centerline is valid? [True, True] Translation: X:24.97, Y:-1.68, Z:-0.65 [[ 9.87416630e-01 1.57871068e-01 9.22634725e-03 2.49731794e+01] [-1.57867273e-01 9.87459679e-01 -1.14276040e-03 -1.67659939e+00] [-9.29105470e-03 -3.28157657e-04 9.99956783e-01 -6.47329560e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.838623853 meters Centerline goodness [0,1] 0.9979990102631409 Centerline is valid? [True, True] Translation: X:25.00, Y:-1.68, Z:-0.65 [[ 9.87139939e-01 1.59578789e-01 9.45256643e-03 2.50037463e+01] [-1.59574885e-01 9.87185132e-01 -1.17060622e-03 -1.67760988e+00] [-9.51823696e-03 -3.52840051e-04 9.99954638e-01 -6.47511355e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.868623853000003 meters Centerline goodness [0,1] 0.9966998132789092 Centerline is valid? [True, True] Translation: X:25.03, Y:-1.68, Z:-0.65 [[ 9.86968488e-01 1.60628783e-01 9.57066565e-03 2.50334845e+01] [-1.60624830e-01 9.87014822e-01 -1.18532553e-03 -1.67709179e+00] [-9.63678625e-03 -3.67407595e-04 9.99953498e-01 -6.47875113e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.898623853 meters Centerline goodness [0,1] 0.9937966587520589 Centerline is valid? [True, True] Translation: X:25.06, Y:-1.68, Z:-0.65 [[ 9.86856777e-01 1.61320850e-01 9.44912009e-03 2.50632046e+01] [-1.61317030e-01 9.86901944e-01 -1.17001993e-03 -1.67553484e+00] [-9.51410360e-03 -3.69661893e-04 9.99954672e-01 -6.49356426e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.928623853 meters Centerline goodness [0,1] 0.9952372779541749 Centerline is valid? [True, True] Translation: X:25.09, Y:-1.68, Z:-0.65 [[ 9.86940624e-01 1.60834013e-01 8.97909164e-03 2.50929718e+01] [-1.60830542e-01 9.86981408e-01 -1.11211679e-03 -1.67674566e+00] [-9.04106272e-03 -3.46518933e-04 9.99959069e-01 -6.50824112e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.958623853000002 meters Centerline goodness [0,1] 0.9968229954614221 Centerline is valid? [True, True] Translation: X:25.12, Y:-1.68, Z:-0.65 [[ 9.87094118e-01 1.59874063e-01 9.24585917e-03 2.51224421e+01] [-1.59870342e-01 9.87137358e-01 -1.14492892e-03 -1.67908481e+00] [-9.30997743e-03 -3.47986059e-04 9.99956601e-01 -6.50775834e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.988623853 meters Centerline goodness [0,1] 0.9982492921520738 Centerline is valid? [True, True] Translation: X:25.15, Y:-1.68, Z:-0.65 [[ 9.87621109e-01 1.56518412e-01 1.03214141e-02 2.51518030e+01] [-1.56513596e-01 9.87674978e-01 -1.27775936e-03 -1.68191595e+00] [-1.03941953e-02 -3.53499514e-04 9.99945916e-01 -6.49558346e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.018623853 meters Centerline goodness [0,1] 0.9993600955590631 Centerline is valid? [True, True] Translation: X:25.18, Y:-1.69, Z:-0.65 [[ 9.87996807e-01 1.54105115e-01 1.06734400e-02 2.51819112e+01] [-1.54099826e-01 9.88054400e-01 -1.32109354e-03 -1.68705133e+00] [-1.07495266e-02 -3.39539048e-04 9.99942165e-01 -6.49436181e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.048623853000002 meters Centerline goodness [0,1] 0.9995526203664252 Centerline is valid? [True, True] Translation: X:25.21, Y:-1.69, Z:-0.65 [[ 9.88411272e-01 1.51402033e-01 1.09809873e-02 2.52120342e+01] [-1.51396268e-01 9.88472216e-01 -1.35915987e-03 -1.69339612e+00] [-1.10601804e-02 -3.19071558e-04 9.99938783e-01 -6.49709776e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.078623853 meters Centerline goodness [0,1] 0.9998080409512637 Centerline is valid? [True, True] Translation: X:25.24, Y:-1.70, Z:-0.65 [[ 9.88838575e-01 1.48586257e-01 1.09725633e-02 2.52423824e+01] [-1.48580330e-01 9.88899409e-01 -1.35796020e-03 -1.70248830e+00] [-1.10525356e-02 -2.87503637e-04 9.99938878e-01 -6.49576136e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.108623853 meters Centerline goodness [0,1] 0.9997840266079219 Centerline is valid? [True, True] Translation: X:25.27, Y:-1.71, Z:-0.65 [[ 9.89715238e-01 1.42638782e-01 1.08593384e-02 2.52727311e+01] [-1.42632615e-01 9.89774788e-01 -1.34420450e-03 -1.71183140e+00] [-1.09400351e-02 -2.18516153e-04 9.99940132e-01 -6.50889124e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.138623853000002 meters Centerline goodness [0,1] 0.9999359261869674 Centerline is valid? [True, True] Translation: X:25.30, Y:-1.72, Z:-0.65 [[ 9.90083414e-01 1.40100166e-01 1.03333324e-02 2.53034663e+01] [-1.40094451e-01 9.90137319e-01 -1.27837311e-03 -1.71796301e+00] [-1.04105183e-02 -1.81946526e-04 9.99945793e-01 -6.52486780e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.168623853 meters Centerline goodness [0,1] 0.999935938500961 Centerline is valid? [True, True] Translation: X:25.34, Y:-1.72, Z:-0.65 [[ 9.90424322e-01 1.37709867e-01 9.78028490e-03 2.53351266e+01] [-1.37704619e-01 9.90472600e-01 -1.21125546e-03 -1.72456374e+00] [-9.85390604e-03 -1.47133531e-04 9.99951438e-01 -6.54173027e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.198623853 meters Centerline goodness [0,1] 0.9999570787818959 Centerline is valid? [True, True] Translation: X:25.37, Y:-1.73, Z:-0.65 [[ 9.90772597e-01 1.35210201e-01 9.37350934e-03 2.53662217e+01] [-1.35205255e-01 9.90816930e-01 -1.16228343e-03 -1.73199840e+00] [-9.44458432e-03 -1.15789150e-04 9.99955392e-01 -6.54933197e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.228623853000002 meters Centerline goodness [0,1] 0.9999782693728541 Centerline is valid? [True, True] Translation: X:25.40, Y:-1.74, Z:-0.66 [[ 9.91407379e-01 1.30518339e-01 8.73916086e-03 2.53976255e+01] [-1.30513846e-01 9.91445893e-01 -1.08492584e-03 -1.74015349e+00] [-8.80600786e-03 -6.49780077e-05 9.99961224e-01 -6.56591759e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.258623853000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:25.43, Y:-1.75, Z:-0.66 [[ 9.91678700e-01 1.28435166e-01 8.81835431e-03 2.54285472e+01] [-1.28430494e-01 9.91717906e-01 -1.09640393e-03 -1.74543976e+00] [-8.88613670e-03 -4.52651774e-05 9.99960516e-01 -6.57689586e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.288623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:25.46, Y:-1.75, Z:-0.66 [[ 9.91959664e-01 1.26267848e-01 8.51209613e-03 2.54587466e+01] [-1.26263404e-01 9.91996184e-01 -1.05961375e-03 -1.75114814e+00] [-8.57776203e-03 -2.36721335e-05 9.99963210e-01 -6.58887177e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.318623853000002 meters Centerline goodness [0,1] 0.9999780845934693 Centerline is valid? [True, True] Translation: X:25.49, Y:-1.76, Z:-0.66 [[ 9.92444575e-01 1.22363804e-01 8.99247083e-03 2.54912680e+01] [-1.22358673e-01 9.92485314e-01 -1.12062811e-03 -1.75871481e+00] [-9.06201956e-03 1.18544920e-05 9.99958939e-01 -6.57730025e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.348623853000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:25.52, Y:-1.76, Z:-0.66 [[ 9.92609642e-01 1.20998232e-01 9.24808623e-03 2.55222873e+01] [-1.20992727e-01 9.92652722e-01 -1.15449165e-03 -1.76490438e+00] [-9.31982942e-03 2.70083698e-05 9.99956569e-01 -6.59987772e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.378623853 meters Centerline goodness [0,1] 0.999978237687972 Centerline is valid? [True, True] Translation: X:25.55, Y:-1.77, Z:-0.66 [[ 9.92764368e-01 1.19711859e-01 9.37978709e-03 2.55546251e+01] [-1.19706123e-01 9.92808677e-01 -1.17259397e-03 -1.77025162e+00] [-9.45270741e-03 4.12915616e-05 9.99955321e-01 -6.58466507e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.408623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:25.58, Y:-1.78, Z:-0.66 [[ 9.93021094e-01 1.17574517e-01 9.23790062e-03 2.55848685e+01] [-1.17568842e-01 9.93064061e-01 -1.15688519e-03 -1.77632817e+00] [-9.30984732e-03 6.27221131e-05 9.99956660e-01 -6.59837641e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.438623853000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:25.62, Y:-1.78, Z:-0.66 [[ 9.93076946e-01 1.17128777e-01 8.88980400e-03 2.56162615e+01] [-1.17123494e-01 9.93116733e-01 -1.11440782e-03 -1.78144511e+00] [-8.95914233e-03 6.54878056e-05 9.99959864e-01 -6.62626488e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.468623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:25.65, Y:-1.79, Z:-0.66 [[ 9.93102951e-01 1.16908331e-01 8.88657391e-03 2.56484752e+01] [-1.16903028e-01 9.93142707e-01 -1.11565985e-03 -1.78553248e+00] [-8.95606600e-03 6.90976989e-05 9.99959891e-01 -6.63846308e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.498623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:25.68, Y:-1.79, Z:-0.66 [[ 9.93127177e-01 1.16713705e-01 8.73617720e-03 2.56813373e+01] [-1.16708563e-01 9.93165598e-01 -1.09787836e-03 -1.78564670e+00] [-8.80460811e-03 7.07461552e-05 9.99961236e-01 -6.61848426e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.528623853000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:25.71, Y:-1.79, Z:-0.66 [[ 9.93108293e-01 1.16887476e-01 8.55778891e-03 2.57129662e+01] [-1.16882533e-01 9.93145162e-01 -1.07720785e-03 -1.79098631e+00] [-8.62503877e-03 6.95280095e-05 9.99962801e-01 -6.64244807e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.558623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:25.75, Y:-1.79, Z:-0.67 [[ 9.93084214e-01 1.17110076e-01 8.30506092e-03 2.57453383e+01] [-1.17105416e-01 9.93118938e-01 -1.04684602e-03 -1.79441610e+00] [-8.37050950e-03 6.70386420e-05 9.99964964e-01 -6.65065785e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.588623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:25.78, Y:-1.80, Z:-0.67 [[ 9.93146709e-01 1.16621678e-01 7.68107397e-03 2.57771915e+01] [-1.16617667e-01 9.93176409e-01 -9.69607731e-04 -1.79948239e+00] [-7.74173874e-03 6.72138006e-05 9.99970030e-01 -6.66747510e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.618623853000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:25.81, Y:-1.80, Z:-0.67 [[ 9.93189925e-01 1.16243691e-01 7.82164128e-03 2.58092684e+01] [-1.16239510e-01 9.93220720e-01 -9.88564166e-04 -1.80451230e+00] [-7.88353053e-03 7.26482224e-05 9.99968922e-01 -6.67544882e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.648623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:25.84, Y:-1.81, Z:-0.67 [[ 9.93194479e-01 1.16191408e-01 8.01774651e-03 2.58424274e+01] [-1.16187002e-01 9.93226838e-01 -1.01470044e-03 -1.80901069e+00] [-8.08134049e-03 7.62369485e-05 9.99967343e-01 -6.67813964e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.678623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:25.87, Y:-1.81, Z:-0.67 [[ 9.93247361e-01 1.15744327e-01 7.93293080e-03 2.58730267e+01] [-1.15739981e-01 9.93279036e-01 -1.00631161e-03 -1.81449855e+00] [-7.99608873e-03 8.13590935e-05 9.99968027e-01 -6.68611525e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.708623853000002 meters Centerline goodness [0,1] 0.9998487140695915 Centerline is valid? [True, True] Translation: X:25.91, Y:-1.82, Z:-0.66 [[ 9.93200522e-01 1.16158486e-01 7.74138166e-03 2.59056817e+01] [-1.16154362e-01 9.93230688e-01 -9.81743177e-04 -1.81854268e+00] [-7.80301564e-03 7.58725888e-05 9.99969553e-01 -6.64668476e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.738623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:25.94, Y:-1.82, Z:-0.67 [[ 9.93202548e-01 1.16115865e-01 8.11199533e-03 2.59381789e+01] [-1.16111322e-01 9.93235672e-01 -1.03038773e-03 -1.82428882e+00] [-8.17676749e-03 8.14892163e-05 9.99966566e-01 -6.69230829e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.768623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:25.97, Y:-1.83, Z:-0.67 [[ 9.93184741e-01 1.16259730e-01 8.23073790e-03 2.59711381e+01] [-1.16255045e-01 9.93218842e-01 -1.04701801e-03 -1.82954603e+00] [-8.29665000e-03 8.30175082e-05 9.99965579e-01 -6.70032152e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.798623853000002 meters Centerline goodness [0,1] 0.999956547244009 Centerline is valid? [True, True] Translation: X:26.00, Y:-1.84, Z:-0.67 [[ 9.93204146e-01 1.16068367e-01 8.58240704e-03 2.60033712e+01] [-1.16063252e-01 9.93241223e-01 -1.09335714e-03 -1.83563652e+00] [-8.65130464e-03 8.98247754e-05 9.99962573e-01 -6.69049388e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.828623853 meters Centerline goodness [0,1] 0.9998704747101872 Centerline is valid? [True, True] Translation: X:26.03, Y:-1.84, Z:-0.67 [[ 9.93189696e-01 1.16176191e-01 8.79324373e-03 2.60346012e+01] [-1.16170810e-01 9.93228616e-01 -1.12207265e-03 -1.84225113e+00] [-8.86405943e-03 9.29127518e-05 9.99960709e-01 -6.66571979e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.858623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:26.07, Y:-1.85, Z:-0.67 [[ 9.93154902e-01 1.16446264e-01 9.14370355e-03 2.60671376e+01] [-1.16440440e-01 9.93196989e-01 -1.16853569e-03 -1.84733861e+00] [-9.21757045e-03 9.58400788e-05 9.99957513e-01 -6.69719464e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.888623853000002 meters Centerline goodness [0,1] 0.9998921111686518 Centerline is valid? [True, True] Translation: X:26.10, Y:-1.85, Z:-0.67 [[ 9.93120595e-01 1.16745389e-01 9.05531887e-03 2.61002246e+01] [-1.16739675e-01 9.93161873e-01 -1.15882403e-03 -1.85211333e+00] [-9.12868481e-03 9.37370315e-05 9.99958328e-01 -6.71135836e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.918623853 meters Centerline goodness [0,1] 0.9999783193131558 Centerline is valid? [True, True] Translation: X:26.13, Y:-1.86, Z:-0.67 [[ 9.93090729e-01 1.17072269e-01 8.05525582e-03 2.61332483e+01] [-1.17067751e-01 9.93123395e-01 -1.03179802e-03 -1.85685533e+00] [-8.12065794e-03 8.16583670e-05 9.99967024e-01 -6.71826802e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.948623853 meters Centerline goodness [0,1] 0.9998487009899278 Centerline is valid? [True, True] Translation: X:26.16, Y:-1.86, Z:-0.67 [[ 9.93065686e-01 1.17325166e-01 7.43969352e-03 2.61649143e+01] [-1.17321309e-01 9.93093550e-01 -9.54250018e-04 -1.86468806e+00] [-7.50026920e-03 7.47983669e-05 9.99971870e-01 -6.70275377e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.978623853000002 meters Centerline goodness [0,1] 0.9999357862967957 Centerline is valid? [True, True] Translation: X:26.20, Y:-1.87, Z:-0.68 [[ 9.93104810e-01 1.16952674e-01 8.05659394e-03 2.61957985e+01] [-1.16948124e-01 9.93137485e-01 -1.03521091e-03 -1.87294828e+00] [-8.12237613e-03 8.58693943e-05 9.99967009e-01 -6.75708366e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.008623853000003 meters Centerline goodness [0,1] 0.9999785001719986 Centerline is valid? [True, True] Translation: X:26.23, Y:-1.88, Z:-0.67 [[ 9.93087967e-01 1.17071767e-01 8.39589607e-03 2.62291451e+01] [-1.17066819e-01 9.93123453e-01 -1.08006851e-03 -1.87619537e+00] [-8.46460683e-03 8.97221941e-05 9.99964171e-01 -6.73262814e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.038623853 meters Centerline goodness [0,1] 0.9999138079641441 Centerline is valid? [True, True] Translation: X:26.26, Y:-1.88, Z:-0.67 [[ 9.92993510e-01 1.17845768e-01 8.73293659e-03 2.62608895e+01] [-1.17840428e-01 9.93031906e-01 -1.12540058e-03 -1.88091235e+00] [-8.80470837e-03 8.84224872e-05 9.99961234e-01 -6.72519493e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.068623853000002 meters Centerline goodness [0,1] 0.9999360040957379 Centerline is valid? [True, True] Translation: X:26.29, Y:-1.89, Z:-0.67 [[ 9.92858430e-01 1.18946568e-01 9.15706920e-03 2.62920553e+01] [-1.18940722e-01 9.92900653e-01 -1.18234098e-03 -1.88517870e+00] [-9.23269539e-03 8.47487927e-05 9.99957374e-01 -6.72350406e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.098623853000003 meters Centerline goodness [0,1] 0.9999128976765456 Centerline is valid? [True, True] Translation: X:26.32, Y:-1.89, Z:-0.67 [[ 9.92454678e-01 1.22207813e-01 9.94798109e-03 2.63247233e+01] [-1.22201072e-01 9.92504532e-01 -1.28496780e-03 -1.88509700e+00] [-1.00304494e-02 5.96183608e-05 9.99949692e-01 -6.70358439e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.128623853 meters Centerline goodness [0,1] 0.9999354172048567 Centerline is valid? [True, True] Translation: X:26.36, Y:-1.89, Z:-0.67 [[ 9.92230148e-01 1.24028606e-01 9.81008886e-03 2.63561536e+01] [-1.24022122e-01 9.92278642e-01 -1.26891831e-03 -1.88784917e+00] [-9.89172382e-03 4.23909592e-05 9.99951075e-01 -6.72433296e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.158623853 meters Centerline goodness [0,1] 0.9999783718314733 Centerline is valid? [True, True] Translation: X:26.39, Y:-1.89, Z:-0.67 [[ 9.92024575e-01 1.25676536e-01 9.62548703e-03 2.63891200e+01] [-1.25670359e-01 9.92071271e-01 -1.24626274e-03 -1.89007691e+00] [-9.70579514e-03 2.66848505e-05 9.99952897e-01 -6.72540542e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.188623853000003 meters Centerline goodness [0,1] 0.9999784524553427 Centerline is valid? [True, True] Translation: X:26.42, Y:-1.89, Z:-0.67 [[ 9.91867645e-01 1.26927606e-01 9.37856208e-03 2.64223060e+01] [-1.26921781e-01 9.91911983e-01 -1.21604678e-03 -1.89372128e+00] [-9.45705801e-03 1.58136488e-05 9.99955281e-01 -6.74078819e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.218623853 meters Centerline goodness [0,1] 0.9998486093689174 Centerline is valid? [True, True] Translation: X:26.45, Y:-1.90, Z:-0.67 [[ 9.91621080e-01 1.28868416e-01 8.97583685e-03 2.64548617e+01] [-1.28863146e-01 9.91661702e-01 -1.16544066e-03 -1.89706709e+00] [-9.05118214e-03 -9.79051175e-07 9.99959037e-01 -6.70826528e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.248623853 meters Centerline goodness [0,1] 0.9999351603700182 Centerline is valid? [True, True] Translation: X:26.49, Y:-1.90, Z:-0.68 [[ 9.91583508e-01 1.29140802e-01 9.20867466e-03 2.64874464e+01] [-1.29135249e-01 9.91626267e-01 -1.19755808e-03 -1.90168034e+00] [-9.28621728e-03 -1.68565194e-06 9.99956882e-01 -6.75265506e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.278623853000003 meters Centerline goodness [0,1] 0.9999568453986406 Centerline is valid? [True, True] Translation: X:26.52, Y:-1.91, Z:-0.68 [[ 9.91534821e-01 1.29513726e-01 9.21378136e-03 2.65197433e+01] [-1.29508166e-01 9.91577629e-01 -1.20002261e-03 -1.90592412e+00] [-9.29159888e-03 -3.39572257e-06 9.99956832e-01 -6.75933140e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.308623853 meters Centerline goodness [0,1] 0.9999353364659224 Centerline is valid? [True, True] Translation: X:26.55, Y:-1.91, Z:-0.68 [[ 9.91548608e-01 1.29425801e-01 8.96216432e-03 2.65525182e+01] [-1.29420522e-01 9.91589110e-01 -1.16889191e-03 -1.91182858e+00] [-9.03806930e-03 -8.74841689e-07 9.99959156e-01 -6.77323622e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.338623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:26.58, Y:-1.92, Z:-0.68 [[ 9.91623794e-01 1.28874141e-01 8.58524764e-03 2.65841253e+01] [-1.28869263e-01 9.91660958e-01 -1.12138981e-03 -1.91816995e+00] [-8.65817305e-03 5.62228745e-06 9.99962517e-01 -6.79568441e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.368623853000003 meters Centerline goodness [0,1] 0.9999350579066999 Centerline is valid? [True, True] Translation: X:26.62, Y:-1.92, Z:-0.68 [[ 9.91681110e-01 1.28453659e-01 8.26032351e-03 2.66162154e+01] [-1.28449117e-01 9.91715512e-01 -1.08027541e-03 -1.92468093e+00] [-8.33065629e-03 1.02574622e-05 9.99965299e-01 -6.81107901e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.398623853 meters Centerline goodness [0,1] 0.9999350579066999 Centerline is valid? [True, True] Translation: X:26.65, Y:-1.93, Z:-0.68 [[ 9.91656947e-01 1.28640077e-01 8.26012013e-03 2.66484110e+01] [-1.28635529e-01 9.91691348e-01 -1.08182703e-03 -1.92910487e+00] [-8.33065598e-03 1.02563709e-05 9.99965299e-01 -6.81681335e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.428623853 meters Centerline goodness [0,1] 0.9999570806240478 Centerline is valid? [True, True] Translation: X:26.68, Y:-1.94, Z:-0.68 [[ 9.91787993e-01 1.27682613e-01 7.32990746e-03 2.66793729e+01] [-1.27678995e-01 9.91815079e-01 -9.61233711e-04 -1.93670899e+00] [-7.39264557e-03 1.74648326e-05 9.99972674e-01 -6.83209752e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.458623853000002 meters Centerline goodness [0,1] 0.9998913846287527 Centerline is valid? [True, True] Translation: X:26.71, Y:-1.94, Z:-0.68 [[ 9.91809201e-01 1.27517847e-01 7.32848859e-03 2.67120053e+01] [-1.27514220e-01 9.91836276e-01 -9.61966132e-04 -1.94243998e+00] [-7.39132868e-03 1.96003553e-05 9.99972684e-01 -6.82565023e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.488623853 meters Centerline goodness [0,1] 0.999913824676304 Centerline is valid? [True, True] Translation: X:26.74, Y:-1.95, Z:-0.68 [[ 9.91801596e-01 1.27573969e-01 7.38077744e-03 2.67438680e+01] [-1.27570274e-01 9.91829059e-01 -9.71124062e-04 -1.94806514e+00] [-7.44435969e-03 2.15945938e-05 9.99972290e-01 -6.84193402e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.518623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:26.78, Y:-1.95, Z:-0.68 [[ 9.91759737e-01 1.27910446e-01 7.17927508e-03 2.67762334e+01] [-1.27906959e-01 9.91785721e-01 -9.44750157e-04 -1.95250907e+00] [-7.24114593e-03 1.86859261e-05 9.99973782e-01 -6.84839937e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.548623853000002 meters Centerline goodness [0,1] 0.9999785522788204 Centerline is valid? [True, True] Translation: X:26.81, Y:-1.96, Z:-0.68 [[ 9.91616809e-01 1.28981934e-01 7.73072659e-03 2.68073163e+01] [-1.28977906e-01 9.91646943e-01 -1.01946117e-03 -1.95557742e+00] [-7.79764347e-03 1.38219095e-05 9.99969598e-01 -6.84601626e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.578623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:26.84, Y:-1.96, Z:-0.69 [[ 9.91527643e-01 1.29659230e-01 7.83697957e-03 2.68390948e+01] [-1.29655103e-01 9.91558614e-01 -1.03452139e-03 -1.96003296e+00] [-7.90495985e-03 9.65216238e-06 9.99968755e-01 -6.85951120e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.608623853 meters Centerline goodness [0,1] 0.9999571761985312 Centerline is valid? [True, True] Translation: X:26.87, Y:-1.96, Z:-0.69 [[ 9.91464716e-01 1.30119574e-01 8.16171522e-03 2.68710303e+01] [-1.30115100e-01 9.91498309e-01 -1.07906090e-03 -1.96448714e+00] [-8.23273378e-03 7.88841405e-06 9.99966110e-01 -6.86260761e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.638623853000002 meters Centerline goodness [0,1] 0.9999131963282046 Centerline is valid? [True, True] Translation: X:26.90, Y:-1.97, Z:-0.68 [[ 9.91401535e-01 1.30591668e-01 8.29538141e-03 2.69038885e+01] [-1.30587053e-01 9.91436239e-01 -1.09796368e-03 -1.96927833e+00] [-8.36772665e-03 5.25346967e-06 9.99964990e-01 -6.84565282e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.668623853 meters Centerline goodness [0,1] 0.999913374913375 Centerline is valid? [True, True] Translation: X:26.94, Y:-1.97, Z:-0.69 [[ 9.91386489e-01 1.30710169e-01 8.22686805e-03 2.69354182e+01] [-1.30705614e-01 9.91420623e-01 -1.09122035e-03 -1.97449058e+00] [-8.29892024e-03 6.52327591e-06 9.99965563e-01 -6.85848831e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.698623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:26.97, Y:-1.98, Z:-0.69 [[ 9.91380495e-01 1.30746099e-01 8.37686449e-03 2.69682107e+01] [-1.30741374e-01 9.91415885e-01 -1.11155076e-03 -1.97952802e+00] [-8.45028745e-03 6.76697203e-06 9.99964296e-01 -6.85944473e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.728623853000002 meters Centerline goodness [0,1] 0.9998701635938717 Centerline is valid? [True, True] Translation: X:27.00, Y:-1.98, Z:-0.68 [[ 9.91359115e-01 1.30916234e-01 8.24887285e-03 2.70001567e+01] [-1.30911645e-01 9.91393433e-01 -1.09624850e-03 -1.98397565e+00] [-8.32139510e-03 6.90243424e-06 9.99965377e-01 -6.81345981e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.758623853000003 meters Centerline goodness [0,1] 0.999805850375356 Centerline is valid? [True, True] Translation: X:27.03, Y:-1.99, Z:-0.68 [[ 9.91396594e-01 1.30610651e-01 8.58201960e-03 2.70323191e+01] [-1.30605658e-01 9.91433738e-01 -1.14211284e-03 -1.98893513e+00] [-8.65767587e-03 1.14264567e-05 9.99962522e-01 -6.83211180e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.788623853 meters Centerline goodness [0,1] 0.9999569512903851 Centerline is valid? [True, True] Translation: X:27.06, Y:-1.99, Z:-0.69 [[ 9.91448419e-01 1.30196608e-01 8.88115381e-03 2.70634521e+01] [-1.30191226e-01 9.91488196e-01 -1.18389104e-03 -1.99474451e+00] [-8.95969777e-03 1.75185913e-05 9.99959861e-01 -6.86416307e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.818623853000002 meters Centerline goodness [0,1] 0.9997856882621461 Centerline is valid? [True, True] Translation: X:27.10, Y:-2.00, Z:-0.68 [[ 9.91464412e-01 1.30105607e-01 8.41729562e-03 2.70962004e+01] [-1.30100759e-01 9.91500141e-01 -1.12332950e-03 -2.00114933e+00] [-8.49190126e-03 1.86446673e-05 9.99963943e-01 -6.82990241e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.848623853000003 meters Centerline goodness [0,1] 0.9998489067322843 Centerline is valid? [True, True] Translation: X:27.13, Y:-2.01, Z:-0.68 [[ 9.91453140e-01 1.30204878e-01 8.20738716e-03 2.71279194e+01] [-1.30200259e-01 9.91487110e-01 -1.09695369e-03 -2.00561157e+00] [-8.28034730e-03 1.89742506e-05 9.99965717e-01 -6.84563470e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.878623853 meters Centerline goodness [0,1] 0.9999360341151385 Centerline is valid? [True, True] Translation: X:27.16, Y:-2.01, Z:-0.69 [[ 9.91459262e-01 1.30152122e-01 8.30403928e-03 2.71609868e+01] [-1.30147379e-01 9.91494037e-01 -1.11131131e-03 -2.01047829e+00] [-8.37804496e-03 2.10709390e-05 9.99964903e-01 -6.88676656e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.908623853 meters Centerline goodness [0,1] 0.9999353963434331 Centerline is valid? [True, True] Translation: X:27.19, Y:-2.01, Z:-0.69 [[ 9.91315900e-01 1.31168741e-01 9.35669088e-03 2.71922386e+01] [-1.31162737e-01 9.91360056e-01 -1.25519782e-03 -2.01389415e+00] [-9.44049231e-03 1.70483721e-05 9.99955437e-01 -6.87084217e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.938623853000003 meters Centerline goodness [0,1] 0.9999130434782608 Centerline is valid? [True, True] Translation: X:27.22, Y:-2.02, Z:-0.69 [[ 9.91179683e-01 1.32152257e-01 9.93064578e-03 2.72238892e+01] [-1.32145537e-01 9.91229429e-01 -1.33271775e-03 -2.01655147e+00] [-1.00196700e-02 8.67224070e-06 9.99949802e-01 -6.86650781e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.968623853 meters Centerline goodness [0,1] 0.9998915871639202 Centerline is valid? [True, True] Translation: X:27.26, Y:-2.02, Z:-0.69 [[ 9.91028075e-01 1.33291637e-01 9.83335460e-03 2.72564197e+01] [-1.33285090e-01 9.91076859e-01 -1.32109171e-03 -2.01872686e+00] [-9.92170067e-03 -1.40058073e-06 9.99950779e-01 -6.87542255e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.998623853 meters Centerline goodness [0,1] 0.9999146047266284 Centerline is valid? [True, True] Translation: X:27.29, Y:-2.02, Z:-0.69 [[ 9.90875224e-01 1.34443232e-01 9.55549000e-03 2.72878796e+01] [-1.34437086e-01 9.90921297e-01 -1.28558190e-03 -2.02131562e+00] [-9.64157633e-03 -1.07609756e-05 9.99953519e-01 -6.88754076e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.028623853000003 meters Centerline goodness [0,1] 0.9998917561482508 Centerline is valid? [True, True] Translation: X:27.32, Y:-2.03, Z:-0.69 [[ 9.90747731e-01 1.35374078e-01 9.63293201e-03 2.73207831e+01] [-1.35367860e-01 9.90794559e-01 -1.29765526e-03 -2.02525880e+00] [-9.71992551e-03 -1.83403848e-05 9.99952760e-01 -6.89359791e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.058623853 meters Centerline goodness [0,1] 0.9999785006342313 Centerline is valid? [True, True] Translation: X:27.35, Y:-2.03, Z:-0.69 [[ 9.90639780e-01 1.36189139e-01 9.23824176e-03 2.73524344e+01] [-1.36183439e-01 9.90682854e-01 -1.24619256e-03 -2.02970132e+00] [-9.32188561e-03 -2.35676167e-05 9.99956550e-01 -6.91326079e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.088623853 meters Centerline goodness [0,1] 0.9999784473468684 Centerline is valid? [True, True] Translation: X:27.38, Y:-2.03, Z:-0.69 [[ 9.90641881e-01 1.36191158e-01 8.97951449e-03 2.73835668e+01] [-1.36185759e-01 9.90682577e-01 -1.21278601e-03 -2.03490600e+00] [-9.06101929e-03 -2.14453884e-05 9.99958948e-01 -6.92191154e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.118623853000003 meters Centerline goodness [0,1] 0.9999786155721404 Centerline is valid? [True, True] Translation: X:27.41, Y:-2.04, Z:-0.69 [[ 9.90701615e-01 1.35677592e-01 1.00945804e-02 2.74143627e+01] [-1.35670715e-01 9.90753042e-01 -1.36612092e-03 -2.04155768e+00] [-1.01865882e-02 -1.61207341e-05 9.99948115e-01 -6.90077864e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.148623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:27.45, Y:-2.05, Z:-0.69 [[ 9.90654678e-01 1.35966895e-01 1.07848273e-02 2.74467277e+01] [-1.35959058e-01 9.90713381e-01 -1.45997922e-03 -2.04675953e+00] [-1.08831816e-02 -1.99597149e-05 9.99940776e-01 -6.88457199e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.178623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:27.48, Y:-2.05, Z:-0.69 [[ 9.90636645e-01 1.36075108e-01 1.10726326e-02 2.74783600e+01] [-1.36066824e-01 9.90698524e-01 -1.50159907e-03 -2.05128951e+00] [-1.11739710e-02 -1.90788771e-05 9.99937569e-01 -6.88713258e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.208623853000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:27.51, Y:-2.05, Z:-0.69 [[ 9.90469440e-01 1.37246822e-01 1.15584824e-02 2.75111952e+01] [-1.37237862e-01 9.90536879e-01 -1.56857044e-03 -2.05478120e+00] [-1.16643844e-02 -3.26403318e-05 9.99931968e-01 -6.88479392e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.238623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:27.54, Y:-2.06, Z:-0.69 [[ 9.90304012e-01 1.38440791e-01 1.14939228e-02 2.75441717e+01] [-1.38431988e-01 9.90370711e-01 -1.56184889e-03 -2.05926422e+00] [-1.15994681e-02 -4.44213684e-05 9.99932723e-01 -6.88826881e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.268623853 meters Centerline goodness [0,1] 0.9999569392412694 Centerline is valid? [True, True] Translation: X:27.58, Y:-2.06, Z:-0.69 [[ 9.90138312e-01 1.39629864e-01 1.13852679e-02 2.75755357e+01] [-1.39621279e-01 9.90203766e-01 -1.54934258e-03 -2.06232327e+00] [-1.14900697e-02 -5.55622164e-05 9.99933985e-01 -6.90251686e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.298623853000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:27.61, Y:-2.06, Z:-0.69 [[ 9.89653008e-01 1.43089885e-01 1.05928961e-02 2.76079921e+01] [-1.43082635e-01 9.89709693e-01 -1.44304966e-03 -2.06273422e+00] [-1.06903778e-02 -8.75410453e-05 9.99942852e-01 -6.91880166e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.328623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:27.64, Y:-2.06, Z:-0.69 [[ 9.89358361e-01 1.45138270e-01 1.02428504e-02 2.76391099e+01] [-1.45131580e-01 9.89411376e-01 -1.39747249e-03 -2.06216932e+00] [-1.03372195e-02 -1.03959962e-04 9.99946564e-01 -6.93798183e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.358623853 meters Centerline goodness [0,1] 0.9999784904605192 Centerline is valid? [True, True] Translation: X:27.67, Y:-2.06, Z:-0.70 [[ 9.89034367e-01 1.47332709e-01 1.02026031e-02 2.76704182e+01] [-1.47326177e-01 9.89086982e-01 -1.39291864e-03 -2.06187153e+00] [-1.02964844e-02 -1.25466107e-04 9.99946982e-01 -6.95281075e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.388623853000002 meters Centerline goodness [0,1] 0.999978501558637 Centerline is valid? [True, True] Translation: X:27.70, Y:-2.06, Z:-0.70 [[ 9.88535412e-01 1.50690909e-01 9.48623325e-03 2.77028105e+01] [-1.50685408e-01 9.88580916e-01 -1.29610292e-03 -2.06016633e+00] [-9.57322008e-03 -1.48193284e-04 9.99954165e-01 -6.96858954e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.418623853000003 meters Centerline goodness [0,1] 0.9999138636461519 Centerline is valid? [True, True] Translation: X:27.73, Y:-2.06, Z:-0.70 [[ 9.88315745e-01 1.52137731e-01 9.27897303e-03 2.77334652e+01] [-1.52132525e-01 9.88359290e-01 -1.26847292e-03 -2.06167281e+00] [-9.36394178e-03 -1.57981833e-04 9.99956145e-01 -6.98303233e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.448623853 meters Centerline goodness [0,1] 0.9999783783783783 Centerline is valid? [True, True] Translation: X:27.76, Y:-2.06, Z:-0.70 [[ 9.88155789e-01 1.53201563e-01 8.79875652e-03 2.77649426e+01] [-1.53196925e-01 9.88194948e-01 -1.20281728e-03 -2.06371159e+00] [-8.87916023e-03 -1.59371580e-04 9.99960567e-01 -6.99657512e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.478623853000002 meters Centerline goodness [0,1] 0.9999140690455219 Centerline is valid? [True, True] Translation: X:27.80, Y:-2.07, Z:-0.70 [[ 9.88012068e-01 1.54143342e-01 8.48430754e-03 2.77950339e+01] [-1.54139060e-01 9.88048483e-01 -1.16021147e-03 -2.06564848e+00] [-8.56174606e-03 -1.61460254e-04 9.99963335e-01 -7.00368756e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.508623853000003 meters Centerline goodness [0,1] 0.9999143175391997 Centerline is valid? [True, True] Translation: X:27.83, Y:-2.06, Z:-0.70 [[ 9.87742983e-01 1.55841169e-01 8.79375909e-03 2.78252401e+01] [-1.55836635e-01 9.87782110e-01 -1.20262586e-03 -2.06427135e+00] [-8.87373653e-03 -1.82504576e-04 9.99960611e-01 -7.00192327e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.538623853 meters Centerline goodness [0,1] 0.9998290050229774 Centerline is valid? [True, True] Translation: X:27.86, Y:-2.07, Z:-0.70 [[ 9.87640586e-01 1.56481273e-01 8.92659358e-03 2.78563139e+01] [-1.56476629e-01 9.87680907e-01 -1.22059283e-03 -2.06553920e+00] [-9.00762596e-03 -1.91296257e-04 9.99959412e-01 -7.00269599e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.568623853000002 meters Centerline goodness [0,1] 0.9998691898491323 Centerline is valid? [True, True] Translation: X:27.89, Y:-2.07, Z:-0.70 [[ 9.87614275e-01 1.56606721e-01 9.61142038e-03 2.78867116e+01] [-1.56601344e-01 9.87661021e-01 -1.31423377e-03 -2.06773276e+00] [-9.69864311e-03 -2.07205310e-04 9.99952946e-01 -6.99611672e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.598623853000003 meters Centerline goodness [0,1] 0.9998926255207662 Centerline is valid? [True, True] Translation: X:27.92, Y:-2.07, Z:-0.70 [[ 9.87708620e-01 1.55973816e-01 1.01907136e-02 2.79178512e+01] [-1.55967739e-01 9.87761167e-01 -1.39327111e-03 -2.07377224e+00] [-1.02833049e-02 -2.13276672e-04 9.99947103e-01 -6.97536945e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.628623853 meters Centerline goodness [0,1] 0.9999355088352896 Centerline is valid? [True, True] Translation: X:27.95, Y:-2.08, Z:-0.70 [[ 9.87787036e-01 1.55476494e-01 1.01897533e-02 2.79479930e+01] [-1.55470389e-01 9.87839570e-01 -1.39346919e-03 -2.07605485e+00] [-1.02824932e-02 -2.07754096e-04 9.99947112e-01 -6.98534073e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.658623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:27.98, Y:-2.08, Z:-0.70 [[ 9.87874777e-01 1.54921955e-01 1.01297702e-02 2.79795884e+01] [-1.54915903e-01 9.87926691e-01 -1.38419666e-03 -2.08342300e+00] [-1.02219128e-02 -2.01849529e-04 9.99947735e-01 -6.97917778e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.688623853000003 meters Centerline goodness [0,1] 0.9999785508987173 Centerline is valid? [True, True] Translation: X:28.01, Y:-2.09, Z:-0.70 [[ 9.87971749e-01 1.54327598e-01 9.73731815e-03 2.80110884e+01] [-1.54321960e-01 9.88019715e-01 -1.33224677e-03 -2.08506190e+00] [-9.82626475e-03 -1.86459847e-04 9.99951704e-01 -6.99773364e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.718623853 meters Centerline goodness [0,1] 0.9999152039345375 Centerline is valid? [True, True] Translation: X:28.04, Y:-2.09, Z:-0.70 [[ 9.88257574e-01 1.52481782e-01 9.81192529e-03 2.80414477e+01] [-1.52475943e-01 9.88306267e-01 -1.34477546e-03 -2.08672461e+00] [-9.90224102e-03 -1.67098035e-04 9.99950958e-01 -7.00406677e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.748623853 meters Centerline goodness [0,1] 0.9999150039310681 Centerline is valid? [True, True] Translation: X:28.07, Y:-2.09, Z:-0.70 [[ 9.88369573e-01 1.51717278e-01 1.03660174e-02 2.80714151e+01] [-1.51710706e-01 9.88423917e-01 -1.42201943e-03 -2.08572840e+00] [-1.04617645e-02 -1.67155085e-04 9.99945260e-01 -7.02187255e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.778623853000003 meters Centerline goodness [0,1] 0.999871931696905 Centerline is valid? [True, True] Translation: X:28.10, Y:-2.09, Z:-0.70 [[ 9.88504319e-01 1.50799454e-01 1.08965648e-02 2.81004750e+01] [-1.50792137e-01 9.88564362e-01 -1.49472782e-03 -2.08841613e+00] [-1.09973598e-02 -1.65571391e-04 9.99939514e-01 -7.01669473e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.808623853 meters Centerline goodness [0,1] 0.9999359945382006 Centerline is valid? [True, True] Translation: X:28.13, Y:-2.09, Z:-0.70 [[ 9.88772575e-01 1.48953007e-01 1.19078174e-02 2.81312775e+01] [-1.48944140e-01 9.88844263e-01 -1.63297406e-03 -2.09222128e+00] [-1.20182133e-02 -1.58959660e-04 9.99927766e-01 -6.99329716e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.838623853 meters Centerline goodness [0,1] 0.9999787964886985 Centerline is valid? [True, True] Translation: X:28.16, Y:-2.09, Z:-0.70 [[ 9.88897729e-01 1.48096399e-01 1.21958364e-02 2.81606271e+01] [-1.48087031e-01 9.88972919e-01 -1.67259478e-03 -2.09442300e+00] [-1.23090572e-02 -1.52020025e-04 9.99924229e-01 -6.99826484e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.868623853000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:28.19, Y:-2.10, Z:-0.70 [[ 9.88972995e-01 1.47594115e-01 1.21816530e-02 2.81921888e+01] [-1.47584739e-01 9.89048005e-01 -1.66999931e-03 -2.10206396e+00] [-1.22947216e-02 -1.46241854e-04 9.99924406e-01 -6.98348181e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.898623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:28.22, Y:-2.10, Z:-0.70 [[ 9.89014245e-01 1.47327533e-01 1.20591064e-02 2.82228137e+01] [-1.47318300e-01 9.89087751e-01 -1.65527181e-03 -2.10470058e+00] [-1.21713815e-02 -1.39439646e-04 9.99925916e-01 -6.99472310e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.928623853 meters Centerline goodness [0,1] 0.9999785186458154 Centerline is valid? [True, True] Translation: X:28.25, Y:-2.11, Z:-0.70 [[ 9.89177180e-01 1.46207151e-01 1.23277943e-02 2.82545524e+01] [-1.46197382e-01 9.89253988e-01 -1.69482416e-03 -2.10586060e+00] [-1.24431151e-02 -1.25809860e-04 9.99922574e-01 -6.99267730e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.958623853000002 meters Centerline goodness [0,1] 0.9999785720407989 Centerline is valid? [True, True] Translation: X:28.28, Y:-2.11, Z:-0.70 [[ 9.89293803e-01 1.45456733e-01 1.18368373e-02 2.82849307e+01] [-1.45447669e-01 9.89364607e-01 -1.62766472e-03 -2.10781214e+00] [-1.19477027e-02 -1.11401774e-04 9.99928617e-01 -7.01519447e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.988623853 meters Centerline goodness [0,1] 0.9999356043531458 Centerline is valid? [True, True] Translation: X:28.32, Y:-2.11, Z:-0.70 [[ 9.89469534e-01 1.44322235e-01 1.10061188e-02 2.83159135e+01] [-1.44314328e-01 9.89530739e-01 -1.51347191e-03 -2.11198605e+00] [-1.11093205e-02 -9.08062857e-05 9.99938285e-01 -7.03016476e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.018623853 meters Centerline goodness [0,1] 0.9999784133837021 Centerline is valid? [True, True] Translation: X:28.35, Y:-2.12, Z:-0.70 [[ 9.89931331e-01 1.41172217e-01 1.03133580e-02 2.83478889e+01] [-1.41165111e-01 9.89985052e-01 -1.41736792e-03 -2.11790818e+00] [-1.04101633e-02 -5.27894235e-05 9.99945811e-01 -7.04559770e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.048623853000002 meters Centerline goodness [0,1] 0.9999570225201995 Centerline is valid? [True, True] Translation: X:28.38, Y:-2.12, Z:-0.71 [[ 9.90175191e-01 1.39440540e-01 1.04607215e-02 2.83788088e+01] [-1.39433108e-01 9.90230445e-01 -1.44000409e-03 -2.12298921e+00] [-1.05593199e-02 -3.27145904e-05 9.99944248e-01 -7.05056467e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.078623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:28.41, Y:-2.13, Z:-0.70 [[ 9.90439504e-01 1.37527732e-01 1.07569116e-02 2.84108640e+01] [-1.37519754e-01 9.90497917e-01 -1.48139369e-03 -2.12879623e+00] [-1.08584313e-02 -1.20570013e-05 9.99941045e-01 -7.04902435e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.108623853 meters Centerline goodness [0,1] 0.9999575434648779 Centerline is valid? [True, True] Translation: X:28.44, Y:-2.14, Z:-0.71 [[ 9.90712829e-01 1.35531306e-01 1.09250239e-02 2.84409020e+01] [-1.35522933e-01 9.90773064e-01 -1.50653884e-03 -2.13543948e+00] [-1.10284026e-02 1.19560810e-05 9.99939185e-01 -7.08224645e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.138623853000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:28.47, Y:-2.14, Z:-0.71 [[ 9.91324851e-01 1.30972163e-01 1.10151395e-02 2.84723214e+01] [-1.30963350e-01 9.91386044e-01 -1.52070355e-03 -2.14439870e+00] [-1.11194254e-02 6.49316503e-05 9.99938175e-01 -7.06111715e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.168623853000003 meters Centerline goodness [0,1] 0.999957184449392 Centerline is valid? [True, True] Translation: X:28.50, Y:-2.15, Z:-0.71 [[ 9.91603892e-01 1.28875268e-01 1.06247961e-02 2.85035279e+01] [-1.28866931e-01 9.91660808e-01 -1.46847450e-03 -2.15010298e+00] [-1.07254439e-02 8.69601711e-05 9.99942477e-01 -7.06804364e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.198623853 meters Centerline goodness [0,1] 0.9999142753048584 Centerline is valid? [True, True] Translation: X:28.53, Y:-2.16, Z:-0.71 [[ 9.92079410e-01 1.25204472e-01 1.01135406e-02 2.85348709e+01] [-1.25196713e-01 9.92130952e-01 -1.39915327e-03 -2.15770456e+00] [-1.02091369e-02 1.21889111e-04 9.99947878e-01 -7.08595176e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.228623853000002 meters Centerline goodness [0,1] 0.9998712031769883 Centerline is valid? [True, True] Translation: X:28.57, Y:-2.16, Z:-0.71 [[ 9.92217451e-01 1.24138238e-01 9.70711006e-03 2.85671593e+01] [-1.24131025e-01 9.92264925e-01 -1.34436879e-03 -2.16177981e+00] [-9.79891241e-03 1.28952651e-04 9.99951981e-01 -7.08938241e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.258623853000003 meters Centerline goodness [0,1] 0.999914089347079 Centerline is valid? [True, True] Translation: X:28.60, Y:-2.17, Z:-0.71 [[ 9.92323617e-01 1.23324015e-01 9.22101865e-03 2.85978871e+01] [-1.23317457e-01 9.92366449e-01 -1.27861033e-03 -2.16786459e+00] [-9.30831289e-03 1.31682652e-04 9.99956668e-01 -7.10864508e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.288623853 meters Centerline goodness [0,1] 0.999914089347079 Centerline is valid? [True, True] Translation: X:28.63, Y:-2.17, Z:-0.71 [[ 9.92300237e-01 1.23512003e-01 9.22085098e-03 2.86300591e+01] [-1.23505442e-01 9.92343070e-01 -1.27981791e-03 -2.17252229e+00] [-9.30832044e-03 1.31138342e-04 9.99956668e-01 -7.11437967e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.318623853000002 meters Centerline goodness [0,1] 0.9998707119462161 Centerline is valid? [True, True] Translation: X:28.66, Y:-2.18, Z:-0.71 [[ 9.92424994e-01 1.22582439e-01 8.13496010e-03 2.86601296e+01] [-1.22577288e-01 9.92458327e-01 -1.13062104e-03 -2.17949581e+00] [-8.21220317e-03 1.24895227e-04 9.99966271e-01 -7.14436055e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.348623853000003 meters Centerline goodness [0,1] 0.9998053927822346 Centerline is valid? [True, True] Translation: X:28.69, Y:-2.18, Z:-0.72 [[ 9.92429152e-01 1.22574879e-01 7.73152534e-03 2.86931626e+01] [-1.22570221e-01 9.92459261e-01 -1.07526897e-03 -2.18383189e+00] [-7.80502489e-03 1.19473507e-04 9.99969533e-01 -7.15163974e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.378623853 meters Centerline goodness [0,1] 0.9998285799995714 Centerline is valid? [True, True] Translation: X:28.73, Y:-2.19, Z:-0.72 [[ 9.92415276e-01 1.22711548e-01 7.33461421e-03 2.87254687e+01] [-1.22707350e-01 9.92442373e-01 -1.02130128e-03 -2.18813137e+00] [-7.40450739e-03 1.13543922e-04 9.99972580e-01 -7.16295517e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.408623853 meters Centerline goodness [0,1] 0.9998285726530525 Centerline is valid? [True, True] Translation: X:28.76, Y:-2.19, Z:-0.72 [[ 9.92394856e-01 1.22855778e-01 7.67518411e-03 2.87572910e+01] [-1.22851173e-01 9.92424528e-01 -1.07048255e-03 -2.19396778e+00] [-7.74855594e-03 1.19436004e-04 9.99969972e-01 -7.17113295e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.438623853000003 meters Centerline goodness [0,1] 0.9997831790290757 Centerline is valid? [True, True] Translation: X:28.79, Y:-2.20, Z:-0.72 [[ 9.92330673e-01 1.23327842e-01 8.37125885e-03 2.87894701e+01] [-1.23322364e-01 9.92365974e-01 -1.16942716e-03 -2.19605937e+00] [-8.45157537e-03 1.28095011e-04 9.99964277e-01 -7.15130345e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.468623853 meters Centerline goodness [0,1] 0.9998916341569137 Centerline is valid? [True, True] Translation: X:28.82, Y:-2.20, Z:-0.71 [[ 9.92246209e-01 1.23963852e-01 8.96792170e-03 2.88209465e+01] [-1.23957576e-01 9.92286726e-01 -1.25449779e-03 -2.20002545e+00] [-9.05426203e-03 1.33128847e-04 9.99959000e-01 -7.14166654e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.498623853 meters Centerline goodness [0,1] 0.9998277458389854 Centerline is valid? [True, True] Translation: X:28.85, Y:-2.21, Z:-0.71 [[ 9.92104171e-01 1.24995826e-01 1.02643622e-02 2.88511980e+01] [-1.24987634e-01 9.92157257e-01 -1.43820155e-03 -2.20668842e+00] [-1.03636306e-02 1.43927409e-04 9.99946286e-01 -7.08326751e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.528623853000003 meters Centerline goodness [0,1] 0.999913614374568 Centerline is valid? [True, True] Translation: X:28.88, Y:-2.21, Z:-0.71 [[ 9.92031086e-01 1.25535598e-01 1.07302384e-02 2.88828400e+01] [-1.25526658e-01 9.92089105e-01 -1.50532159e-03 -2.21048799e+00] [-1.08343240e-02 1.46394849e-04 9.99941296e-01 -7.12682563e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.558623853 meters Centerline goodness [0,1] 0.999892722279437 Centerline is valid? [True, True] Translation: X:28.91, Y:-2.21, Z:-0.71 [[ 9.91935355e-01 1.26303984e-01 1.05619960e-02 2.89138844e+01] [-1.26295346e-01 9.91991575e-01 -1.48355022e-03 -2.21468333e+00] [-1.06647893e-02 1.37654974e-04 9.99943120e-01 -7.10725555e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.588623853 meters Centerline goodness [0,1] 0.9998709205515995 Centerline is valid? [True, True] Translation: X:28.95, Y:-2.22, Z:-0.71 [[ 9.91847419e-01 1.27014429e-01 1.02972341e-02 2.89467963e+01] [-1.27006244e-01 9.91900861e-01 -1.44761915e-03 -2.21847313e+00] [-1.03977039e-02 1.28004290e-04 9.99945934e-01 -7.14116068e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.618623853000003 meters Centerline goodness [0,1] 0.9999783905264068 Centerline is valid? [True, True] Translation: X:28.98, Y:-2.22, Z:-0.71 [[ 9.91608936e-01 1.28849424e-01 1.04663440e-02 2.89787975e+01] [-1.28841046e-01 9.91664164e-01 -1.47367151e-03 -2.22223044e+00] [-1.05689800e-02 1.12811123e-04 9.99944140e-01 -7.14143577e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.648623853 meters Centerline goodness [0,1] 0.9999135471600242 Centerline is valid? [True, True] Translation: X:29.01, Y:-2.23, Z:-0.72 [[ 9.91440300e-01 1.30175134e-01 1.00282766e-02 2.90092337e+01] [-1.30167493e-01 9.91491011e-01 -1.41371350e-03 -2.22650120e+00] [-1.01269765e-02 9.62569065e-05 9.99948716e-01 -7.15471155e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.678623853 meters Centerline goodness [0,1] 0.999830058417419 Centerline is valid? [True, True] Translation: X:29.04, Y:-2.23, Z:-0.72 [[ 9.91230854e-01 1.31781979e-01 9.74191966e-03 2.90404198e+01] [-1.31774831e-01 9.91278722e-01 -1.37485060e-03 -2.23161644e+00] [-9.83813819e-03 7.90545150e-05 9.99951601e-01 -7.18030989e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.708623853000002 meters Centerline goodness [0,1] 0.9999360681939264 Centerline is valid? [True, True] Translation: X:29.07, Y:-2.23, Z:-0.72 [[ 9.90723226e-01 1.35562294e-01 9.50551601e-03 2.90719003e+01] [-1.35555638e-01 9.90768824e-01 -1.34399238e-03 -2.23057901e+00] [-9.59996361e-03 4.29981752e-05 9.99953918e-01 -7.17789761e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.738623853 meters Centerline goodness [0,1] 0.9999142054350857 Centerline is valid? [True, True] Translation: X:29.10, Y:-2.23, Z:-0.72 [[ 9.90459346e-01 1.37466987e-01 9.64938892e-03 2.91033335e+01] [-1.37460216e-01 9.90506349e-01 -1.36457352e-03 -2.23224421e+00] [-9.74536480e-03 2.51475114e-05 9.99952512e-01 -7.18106918e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.768623853 meters Centerline goodness [0,1] 0.9999353071830591 Centerline is valid? [True, True] Translation: X:29.13, Y:-2.23, Z:-0.72 [[ 9.90219152e-01 1.39156189e-01 1.00789678e-02 2.91346512e+01] [-1.39148887e-01 9.90270445e-01 -1.42558364e-03 -2.23415954e+00] [-1.01792827e-02 9.16306749e-06 9.99948190e-01 -7.17670375e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.798623853000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:29.16, Y:-2.23, Z:-0.72 [[ 9.89714731e-01 1.42719676e-01 9.79004861e-03 2.91642372e+01] [-1.42712958e-01 9.89763150e-01 -1.38505118e-03 -2.23408414e+00] [-9.88750341e-03 -2.63612425e-05 9.99951117e-01 -7.19274693e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.828623853000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:29.19, Y:-2.24, Z:-0.72 [[ 9.89513738e-01 1.44119977e-01 9.59138435e-03 2.91943963e+01] [-1.44113593e-01 9.89560221e-01 -1.35711751e-03 -2.23666503e+00] [-9.68684016e-03 -3.93624426e-05 9.99953081e-01 -7.20481874e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.858623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:29.23, Y:-2.24, Z:-0.72 [[ 9.89318844e-01 1.45481266e-01 9.13379099e-03 2.92252246e+01] [-1.45475534e-01 9.89361005e-01 -1.29237107e-03 -2.23937889e+00] [-9.22463242e-03 -5.01760734e-05 9.99957451e-01 -7.21643166e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.888623853000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:29.26, Y:-2.24, Z:-0.72 [[ 9.89038716e-01 1.47345424e-01 9.57830631e-03 2.92559045e+01] [-1.47339208e-01 9.89085093e-01 -1.35526705e-03 -2.24147686e+00] [-9.67345239e-03 -7.08484808e-05 9.99953209e-01 -7.20556486e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.918623853000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:29.29, Y:-2.24, Z:-0.72 [[ 9.88922503e-01 1.48133912e-01 9.41416656e-03 2.92854017e+01] [-1.48127942e-01 9.88967309e-01 -1.33214163e-03 -2.24367352e+00] [-9.50763832e-03 -7.71162821e-05 9.99954798e-01 -7.22138237e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.948623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:29.31, Y:-2.25, Z:-0.72 [[ 9.88853562e-01 1.48585509e-01 9.53835475e-03 2.93144671e+01] [-1.48579402e-01 9.88899560e-01 -1.34968593e-03 -2.24714224e+00] [-9.63301859e-03 -8.25613084e-05 9.99953598e-01 -7.23054987e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.978623853000002 meters Centerline goodness [0,1] 0.9999570843078772 Centerline is valid? [True, True] Translation: X:29.34, Y:-2.25, Z:-0.72 [[ 9.88745940e-01 1.49311504e-01 9.35637810e-03 2.93449317e+01] [-1.49305664e-01 9.88790204e-01 -1.32352641e-03 -2.25109603e+00] [-9.44911272e-03 -8.83288776e-05 9.99955352e-01 -7.23529362e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.008623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:29.37, Y:-2.25, Z:-0.72 [[ 9.88711025e-01 1.49539631e-01 9.40251092e-03 2.93741847e+01] [-1.49533743e-01 9.88755728e-01 -1.33015077e-03 -2.25426948e+00] [-9.49569678e-03 -9.08579206e-05 9.99954911e-01 -7.24450003e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.038623853000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:29.40, Y:-2.26, Z:-0.72 [[ 9.88694011e-01 1.49636251e-01 9.65118431e-03 2.94039203e+01] [-1.49630052e-01 9.88741110e-01 -1.36530122e-03 -2.25802863e+00] [-9.74682125e-03 -9.42420702e-05 9.99952494e-01 -7.24186175e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.068623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:29.43, Y:-2.26, Z:-0.72 [[ 9.88702210e-01 1.49573592e-01 9.78158953e-03 2.94330871e+01] [-1.49567227e-01 9.88750591e-01 -1.38322319e-03 -2.26100184e+00] [-9.87844609e-03 -9.54093958e-05 9.99951202e-01 -7.24491167e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.098623853 meters Centerline goodness [0,1] 0.9999785490583036 Centerline is valid? [True, True] Translation: X:29.46, Y:-2.26, Z:-0.73 [[ 9.88793320e-01 1.48984443e-01 9.56066265e-03 2.94623654e+01] [-1.48978329e-01 9.88839536e-01 -1.35250603e-03 -2.26409406e+00] [-9.65546358e-03 -8.69826195e-05 9.99953381e-01 -7.25122367e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.128623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:29.49, Y:-2.27, Z:-0.72 [[ 9.88875769e-01 1.48419648e-01 9.81434710e-03 2.94913851e+01] [-1.48413183e-01 9.88924467e-01 -1.38786823e-03 -2.26886581e+00] [-9.91163489e-03 -8.41492323e-05 9.99950875e-01 -7.24900007e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.158623853 meters Centerline goodness [0,1] 0.9999785098747126 Centerline is valid? [True, True] Translation: X:29.52, Y:-2.27, Z:-0.72 [[ 9.88981891e-01 1.47696795e-01 1.00237316e-02 2.95201603e+01] [-1.47690018e-01 9.89032684e-01 -1.41712788e-03 -2.27328871e+00] [-1.01231034e-02 -7.88912833e-05 9.99948757e-01 -7.24411302e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.188623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:29.55, Y:-2.28, Z:-0.72 [[ 9.89264348e-01 1.45715044e-01 1.10984200e-02 2.95494500e+01] [-1.45706612e-01 9.89326600e-01 -1.56890482e-03 -2.27854327e+00] [-1.12085752e-02 -6.50515747e-05 9.99937180e-01 -7.23529077e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.218623853000004 meters Centerline goodness [0,1] 0.9999785416934895 Centerline is valid? [True, True] Translation: X:29.58, Y:-2.28, Z:-0.72 [[ 9.89401389e-01 1.44733220e-01 1.17126279e-02 2.95794107e+01] [-1.44723763e-01 9.89470713e-01 -1.65550797e-03 -2.28345196e+00] [-1.18289093e-02 -5.71336922e-05 9.99930034e-01 -7.23037110e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.248623853000005 meters Centerline goodness [0,1] 0.9999569790703177 Centerline is valid? [True, True] Translation: X:29.61, Y:-2.29, Z:-0.72 [[ 9.89562259e-01 1.43580150e-01 1.22993938e-02 2.96093466e+01] [-1.43569633e-01 9.89638691e-01 -1.73844373e-03 -2.28864191e+00] [-1.24215620e-02 -4.55211523e-05 9.99922848e-01 -7.21524406e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.278623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:29.64, Y:-2.29, Z:-0.72 [[ 9.89698175e-01 1.42587536e-01 1.28964171e-02 2.96394688e+01] [-1.42575889e-01 9.89782195e-01 -1.82277266e-03 -2.29304815e+00] [-1.30245487e-02 -3.47233637e-05 9.99915176e-01 -7.22101721e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.308623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:29.67, Y:-2.30, Z:-0.72 [[ 9.89954175e-01 1.40776159e-01 1.31455022e-02 2.96705789e+01] [-1.40763897e-01 9.90041450e-01 -1.85809629e-03 -2.29929979e+00] [-1.32761678e-02 -1.09819343e-05 9.99911868e-01 -7.22450760e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.338623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:29.70, Y:-2.30, Z:-0.72 [[ 9.90080215e-01 1.39934107e-01 1.26338616e-02 2.97021984e+01] [-1.39922717e-01 9.90160818e-01 -1.78535036e-03 -2.30484117e+00] [-1.27593861e-02 -1.24174472e-07 9.99918596e-01 -7.23233969e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.368623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:29.73, Y:-2.31, Z:-0.72 [[ 9.90200720e-01 1.39095563e-01 1.24482079e-02 2.97336996e+01] [-1.39084413e-01 9.90278963e-01 -1.76119318e-03 -2.30967260e+00] [-1.25721726e-02 1.25830588e-05 9.99920967e-01 -7.24346581e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.398623853000004 meters Centerline goodness [0,1] 0.9999785931412425 Centerline is valid? [True, True] Translation: X:29.76, Y:-2.31, Z:-0.73 [[ 9.90455284e-01 1.37297527e-01 1.21539789e-02 2.97639414e+01] [-1.37286736e-01 9.90529852e-01 -1.72179486e-03 -2.31468691e+00] [-1.22752771e-02 3.67807261e-05 9.99924655e-01 -7.25906391e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.428623853000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:29.80, Y:-2.32, Z:-0.73 [[ 9.90572182e-01 1.36444143e-01 1.22371498e-02 2.97958366e+01] [-1.36433119e-01 9.90647765e-01 -1.73507686e-03 -2.32012336e+00] [-1.23594462e-02 4.91663552e-05 9.99923618e-01 -7.26477436e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.458623853 meters Centerline goodness [0,1] 0.9999789074035014 Centerline is valid? [True, True] Translation: X:29.83, Y:-2.33, Z:-0.73 [[ 9.90651524e-01 1.35862448e-01 1.22862755e-02 2.98269814e+01] [-1.35851264e-01 9.90727708e-01 -1.74419662e-03 -2.32538225e+00] [-1.24093244e-02 5.87849825e-05 9.99923000e-01 -7.27168153e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.488623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:29.86, Y:-2.33, Z:-0.73 [[ 9.90973550e-01 1.33560096e-01 1.15379644e-02 2.98585013e+01] [-1.33550058e-01 9.91040712e-01 -1.63954653e-03 -2.33199673e+00] [-1.16535704e-02 8.38514317e-05 9.99932091e-01 -7.29843383e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.518623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:29.89, Y:-2.34, Z:-0.73 [[ 9.91131339e-01 1.32418736e-01 1.11331380e-02 2.98896910e+01] [-1.32409299e-01 9.91193861e-01 -1.58376931e-03 -2.33842654e+00] [-1.12448187e-02 9.55924012e-05 9.99936770e-01 -7.31601070e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.548623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:29.92, Y:-2.34, Z:-0.73 [[ 9.91283683e-01 1.31307359e-01 1.07255747e-02 2.99197977e+01] [-1.31298516e-01 9.91341700e-01 -1.52755261e-03 -2.34482589e+00] [-1.08332884e-02 1.05985929e-04 9.99941313e-01 -7.32959807e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.578623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:29.95, Y:-2.35, Z:-0.74 [[ 9.91567205e-01 1.29181477e-01 1.03259221e-02 2.99503809e+01] [-1.29173150e-01 9.91620961e-01 -1.47214219e-03 -2.35156264e+00] [-1.04295743e-02 1.25896030e-04 9.99945603e-01 -7.35279654e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.608623853000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:29.98, Y:-2.36, Z:-0.74 [[ 9.91685774e-01 1.28257854e-01 1.04521618e-02 2.99810463e+01] [-1.28249249e-01 9.91740845e-01 -1.49221426e-03 -2.35761399e+00] [-1.05572239e-02 1.39325761e-04 9.99944261e-01 -7.35411301e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.638623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:30.01, Y:-2.36, Z:-0.73 [[ 9.91805288e-01 1.27290221e-01 1.09302162e-02 3.00132360e+01] [-1.27280746e-01 9.91865502e-01 -1.56097398e-03 -2.36128486e+00] [-1.10400011e-02 1.56976170e-04 9.99939045e-01 -7.34042328e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.668623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:30.04, Y:-2.37, Z:-0.73 [[ 9.92018436e-01 1.25557667e-01 1.16058274e-02 3.00428337e+01] [-1.25546830e-01 9.92086305e-01 -1.66053233e-03 -2.37094854e+00] [-1.17224750e-02 1.90203838e-04 9.99931271e-01 -7.34335164e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.698623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:30.07, Y:-2.38, Z:-0.73 [[ 9.92082331e-01 1.25015327e-01 1.19923962e-02 3.00733945e+01] [-1.25003721e-01 9.92154790e-01 -1.71547058e-03 -2.37654119e+00] [-1.21127735e-02 2.02793899e-04 9.99926617e-01 -7.34254510e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.728623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:30.11, Y:-2.38, Z:-0.73 [[ 9.92132188e-01 1.24633023e-01 1.18461575e-02 3.01054176e+01] [-1.24621651e-01 9.92202886e-01 -1.69620021e-03 -2.38060840e+00] [-1.19651942e-02 2.06567123e-04 9.99928393e-01 -7.34459558e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.758623853 meters Centerline goodness [0,1] 0.9999573278713009 Centerline is valid? [True, True] Translation: X:30.14, Y:-2.39, Z:-0.73 [[ 9.92210584e-01 1.23995209e-01 1.19727040e-02 3.01352096e+01] [-1.23983521e-01 9.92282792e-01 -1.71652363e-03 -2.38945999e+00] [-1.20931489e-02 2.18734914e-04 9.99926851e-01 -7.32540048e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.788623853000004 meters Centerline goodness [0,1] 0.9999574649085495 Centerline is valid? [True, True] Translation: X:30.17, Y:-2.39, Z:-0.74 [[ 9.92227819e-01 1.23814274e-01 1.24088821e-02 3.01680256e+01] [-1.23801686e-01 9.92305383e-01 -1.78048399e-03 -2.39408898e+00] [-1.25338498e-02 2.30405224e-04 9.99921422e-01 -7.35974827e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.818623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:30.20, Y:-2.40, Z:-0.74 [[ 9.92243166e-01 1.23663734e-01 1.26799226e-02 3.02014129e+01] [-1.23650548e-01 9.92324152e-01 -1.82171740e-03 -2.39675134e+00] [-1.28078739e-02 2.39707263e-04 9.99917947e-01 -7.35508411e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.848623853 meters Centerline goodness [0,1] 0.9999783708958775 Centerline is valid? [True, True] Translation: X:30.23, Y:-2.40, Z:-0.74 [[ 9.92211480e-01 1.23907102e-01 1.27831715e-02 3.02342110e+01] [-1.23893688e-01 9.92293793e-01 -1.83904539e-03 -2.40249187e+00] [-1.29125326e-02 2.40967683e-04 9.99916601e-01 -7.36252520e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.878623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:30.27, Y:-2.41, Z:-0.74 [[ 9.92231715e-01 1.23724955e-01 1.29753119e-02 3.02657543e+01] [-1.23711085e-01 9.92316519e-01 -1.86928610e-03 -2.40965640e+00] [-1.31068937e-02 2.49575041e-04 9.99914070e-01 -7.37107967e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.908623853 meters Centerline goodness [0,1] 0.999978438052525 Centerline is valid? [True, True] Translation: X:30.30, Y:-2.42, Z:-0.74 [[ 9.92258883e-01 1.23550517e-01 1.25530293e-02 3.02979071e+01] [-1.23537493e-01 9.92338253e-01 -1.81066434e-03 -2.41520169e+00] [-1.26805597e-02 2.45878001e-04 9.99919568e-01 -7.38320724e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.938623853 meters Centerline goodness [0,1] 0.9999788426954406 Centerline is valid? [True, True] Translation: X:30.33, Y:-2.42, Z:-0.74 [[ 9.92265322e-01 1.23564882e-01 1.18849199e-02 3.03289504e+01] [-1.23553188e-01 9.92336468e-01 -1.71604542e-03 -2.42433045e+00] [-1.20058824e-02 2.34352624e-04 9.99927899e-01 -7.41242258e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.968623853000004 meters Centerline goodness [0,1] 0.9999786315654515 Centerline is valid? [True, True] Translation: X:30.36, Y:-2.43, Z:-0.74 [[ 9.92358276e-01 1.22923602e-01 1.07163180e-02 3.03593414e+01] [-1.22914033e-01 9.92416112e-01 -1.54952591e-03 -2.43322096e+00] [-1.08255200e-02 2.20498990e-04 9.99941378e-01 -7.44630072e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.998623853000005 meters Centerline goodness [0,1] 0.9999785775492717 Centerline is valid? [True, True] Translation: X:30.39, Y:-2.44, Z:-0.74 [[ 9.92377203e-01 1.22807828e-01 1.02822530e-02 3.03912671e+01] [-1.22799010e-01 9.92430447e-01 -1.48698356e-03 -2.43603277e+00] [-1.03870341e-02 2.12998099e-04 9.99946031e-01 -7.44847143e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.028623853 meters Centerline goodness [0,1] 0.9999567211979572 Centerline is valid? [True, True] Translation: X:30.42, Y:-2.44, Z:-0.74 [[ 9.92302303e-01 1.23400811e-01 1.04104974e-02 3.04228047e+01] [-1.23391786e-01 9.92356889e-01 -1.50723406e-03 -2.44048184e+00] [-1.05169227e-02 2.11061958e-04 9.99944673e-01 -7.44496937e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.058623853 meters Centerline goodness [0,1] 0.9997849277357193 Centerline is valid? [True, True] Translation: X:30.45, Y:-2.45, Z:-0.74 [[ 9.92207944e-01 1.24155025e-01 1.04367841e-02 3.04544060e+01] [-1.24145977e-01 9.92262812e-01 -1.51284986e-03 -2.44513790e+00] [-1.05438606e-02 2.05376898e-04 9.99944391e-01 -7.38694978e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.088623853 meters Centerline goodness [0,1] 0.9999783769758038 Centerline is valid? [True, True] Translation: X:30.48, Y:-2.45, Z:-0.74 [[ 9.92077643e-01 1.25113121e-01 1.13427591e-02 3.04845502e+01] [-1.25102470e-01 9.92142460e-01 -1.64648700e-03 -2.45265361e+00] [-1.14596301e-02 2.14435764e-04 9.99934313e-01 -7.44986525e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.118623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:30.52, Y:-2.45, Z:-0.74 [[ 9.91927606e-01 1.26250442e-01 1.18511639e-02 3.05166855e+01] [-1.26238873e-01 9.91998377e-01 -1.72222939e-03 -2.45308585e+00] [-1.19737676e-02 2.12249299e-04 9.99928289e-01 -7.43170326e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.148623853000004 meters Centerline goodness [0,1] 0.9999360095559063 Centerline is valid? [True, True] Translation: X:30.55, Y:-2.46, Z:-0.74 [[ 9.91622516e-01 1.28569730e-01 1.24342048e-02 3.05470738e+01] [-1.28557144e-01 9.91700452e-01 -1.80963580e-03 -2.46136878e+00] [-1.25636709e-02 1.95969749e-04 9.99921055e-01 -7.43902508e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.178623853000005 meters Centerline goodness [0,1] 0.9999785614749706 Centerline is valid? [True, True] Translation: X:30.58, Y:-2.47, Z:-0.74 [[ 9.91486594e-01 1.29589653e-01 1.26829048e-02 3.05785508e+01] [-1.29576628e-01 9.91567691e-01 -1.84682032e-03 -2.46558053e+00] [-1.28152875e-02 1.87689542e-04 9.99917863e-01 -7.44422322e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.208623853 meters Centerline goodness [0,1] 0.9999785614749706 Centerline is valid? [True, True] Translation: X:30.61, Y:-2.47, Z:-0.74 [[ 9.91463136e-01 1.29769026e-01 1.26826281e-02 3.06106870e+01] [-1.29755991e-01 9.91544232e-01 -1.84871861e-03 -2.47046751e+00] [-1.28152931e-02 1.87289375e-04 9.99917863e-01 -7.44995776e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.238623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:30.64, Y:-2.47, Z:-0.75 [[ 9.91261861e-01 1.31325952e-01 1.23861454e-02 3.06429487e+01] [-1.31313613e-01 9.91339229e-01 -1.80776315e-03 -2.47294189e+00] [-1.25162781e-02 1.65497147e-04 9.99921655e-01 -7.45112552e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.268623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:30.67, Y:-2.48, Z:-0.75 [[ 9.91189187e-01 1.31879852e-01 1.23166457e-02 3.06741747e+01] [-1.31867668e-01 9.91265696e-01 -1.79969788e-03 -2.48008197e+00] [-1.24464122e-02 1.59673742e-04 9.99922528e-01 -7.47147910e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.298623853 meters Centerline goodness [0,1] 0.999978379780771 Centerline is valid? [True, True] Translation: X:30.71, Y:-2.49, Z:-0.75 [[ 9.91131752e-01 1.32322970e-01 1.21853285e-02 3.07051329e+01] [-1.32311045e-01 9.91206642e-01 -1.78324168e-03 -2.48690379e+00] [-1.23141424e-02 1.55173910e-04 9.99924166e-01 -7.48080458e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.328623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:30.74, Y:-2.49, Z:-0.75 [[ 9.91008480e-01 1.33305298e-01 1.14843527e-02 3.07361524e+01] [-1.33294765e-01 9.91075012e-01 -1.68120142e-03 -2.49417034e+00] [-1.16059680e-02 1.35280773e-04 9.99932639e-01 -7.49186255e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.358623853000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:30.77, Y:-2.50, Z:-0.75 [[ 9.90897653e-01 1.34164176e-01 1.10369558e-02 3.07681012e+01] [-1.34154483e-01 9.90959111e-01 -1.61730836e-03 -2.50005337e+00] [-1.11541568e-02 1.21929959e-04 9.99937783e-01 -7.51020314e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.388623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:30.80, Y:-2.50, Z:-0.75 [[ 9.90774671e-01 1.35088699e-01 1.07978979e-02 3.08005426e+01] [-1.35079448e-01 9.90833503e-01 -1.58491948e-03 -2.50379587e+00] [-1.09130237e-02 1.11723994e-04 9.99940445e-01 -7.51731746e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.418623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:30.83, Y:-2.51, Z:-0.75 [[ 9.90414832e-01 1.37714253e-01 1.06416352e-02 3.08318095e+01] [-1.37705414e-01 9.90471997e-01 -1.56248258e-03 -2.50865362e+00] [-1.07554178e-02 8.20951423e-05 9.99942155e-01 -7.53286358e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.448623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:30.86, Y:-2.51, Z:-0.75 [[ 9.90153296e-01 1.39577144e-01 1.07084281e-02 3.08627170e+01] [-1.39568280e-01 9.90211198e-01 -1.57425868e-03 -2.51215234e+00] [-1.08233359e-02 6.42005385e-05 9.99941424e-01 -7.53581874e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.478623853 meters Centerline goodness [0,1] 0.9997838585570398 Centerline is valid? [True, True] Translation: X:30.90, Y:-2.52, Z:-0.75 [[ 9.89949914e-01 1.40988261e-01 1.10217030e-02 3.08953518e+01] [-1.40978935e-01 9.90011266e-01 -1.62248470e-03 -2.51547884e+00] [-1.11403614e-02 5.23506392e-05 9.99937943e-01 -7.47631006e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.508623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:30.93, Y:-2.52, Z:-0.75 [[ 9.89446247e-01 1.44353347e-01 1.25791809e-02 3.09279983e+01] [-1.44341457e-01 9.89526205e-01 -1.85277732e-03 -2.51555678e+00] [-1.27148838e-02 1.75262626e-05 9.99919162e-01 -7.50984973e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.538623853000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:30.96, Y:-2.52, Z:-0.75 [[ 9.89211169e-01 1.45906765e-01 1.31331487e-02 3.09598010e+01] [-1.45893911e-01 9.89298345e-01 -1.93668149e-03 -2.51887963e+00] [-1.32751772e-02 -2.59465791e-07 9.99911881e-01 -7.51376647e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.568623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:30.99, Y:-2.52, Z:-0.75 [[ 9.88984528e-01 1.47424429e-01 1.32529955e-02 3.09926194e+01] [-1.47411443e-01 9.89073323e-01 -1.95674323e-03 -2.52309496e+00] [-1.33966560e-02 -1.84544138e-05 9.99910261e-01 -7.52087520e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.598623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:31.03, Y:-2.53, Z:-0.75 [[ 9.88723717e-01 1.49176247e-01 1.31095239e-02 3.10258251e+01] [-1.49163663e-01 9.88810622e-01 -1.93803021e-03 -2.52656353e+00] [-1.32519445e-02 -3.92881678e-05 9.99912188e-01 -7.53003244e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.628623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:31.06, Y:-2.52, Z:-0.75 [[ 9.88139747e-01 1.52993238e-01 1.31494953e-02 3.10571931e+01] [-1.52980871e-01 9.88227232e-01 -1.94722664e-03 -2.52476161e+00] [-1.32926018e-02 -8.74891950e-05 9.99911646e-01 -7.53070286e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.658623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:31.09, Y:-2.53, Z:-0.75 [[ 9.87807340e-01 1.55140843e-01 1.29606144e-02 3.10877692e+01] [-1.55129012e-01 9.87892355e-01 -1.91940660e-03 -2.52557785e+00] [-1.31014703e-02 -1.14563381e-04 9.99914165e-01 -7.53667969e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.688623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:31.12, Y:-2.53, Z:-0.75 [[ 9.87493229e-01 1.57109103e-01 1.31852799e-02 3.11184632e+01] [-1.57097030e-01 9.87581242e-01 -1.95288600e-03 -2.52689472e+00] [-1.33283513e-02 -1.42906608e-04 9.99911163e-01 -7.53786764e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.718623853000004 meters Centerline goodness [0,1] 0.9999573951387853 Centerline is valid? [True, True] Translation: X:31.15, Y:-2.53, Z:-0.75 [[ 9.87179259e-01 1.59087862e-01 1.29677360e-02 3.11486198e+01] [-1.59076355e-01 9.87264415e-01 -1.92063610e-03 -2.52776440e+00] [-1.31081341e-02 -1.66848047e-04 9.99914071e-01 -7.54457927e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.748623853000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:31.18, Y:-2.53, Z:-0.75 [[ 9.86734723e-01 1.61814871e-01 1.30588487e-02 3.11797294e+01] [-1.61803439e-01 9.86821111e-01 -1.93424542e-03 -2.52738908e+00] [-1.31997372e-02 -2.04379504e-04 9.99912859e-01 -7.54208604e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.778623853 meters Centerline goodness [0,1] 0.9999359111301004 Centerline is valid? [True, True] Translation: X:31.21, Y:-2.53, Z:-0.75 [[ 9.86615171e-01 1.62488654e-01 1.37091946e-02 3.12092089e+01] [-1.62476119e-01 9.86710387e-01 -2.03066906e-03 -2.52690255e+00] [-1.38569654e-02 -2.23927835e-04 9.99903963e-01 -7.54635524e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.808623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:31.24, Y:-2.53, Z:-0.75 [[ 9.86697442e-01 1.61831691e-01 1.54486582e-02 3.12389122e+01] [-1.61815701e-01 9.86818344e-01 -2.28782135e-03 -2.53345958e+00] [-1.56152613e-02 -2.42447977e-04 9.99878045e-01 -7.51783006e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.838623853 meters Centerline goodness [0,1] 0.9998504624981308 Centerline is valid? [True, True] Translation: X:31.27, Y:-2.54, Z:-0.75 [[ 9.86854872e-01 1.60789422e-01 1.62549328e-02 3.12686191e+01] [-1.60771577e-01 9.86988706e-01 -2.40723866e-03 -2.53525285e+00] [-1.64304936e-02 -2.37735988e-04 9.99864982e-01 -7.51587334e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.868623853 meters Centerline goodness [0,1] 0.9999576262208945 Centerline is valid? [True, True] Translation: X:31.30, Y:-2.54, Z:-0.75 [[ 9.87065431e-01 1.59466087e-01 1.65046152e-02 3.12987324e+01] [-1.59447508e-01 9.87203383e-01 -2.44399785e-03 -2.54293211e+00] [-1.66831467e-02 -2.19233978e-04 9.99860803e-01 -7.51608715e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.898623853000004 meters Centerline goodness [0,1] 0.9999139155511557 Centerline is valid? [True, True] Translation: X:31.33, Y:-2.55, Z:-0.75 [[ 9.87620013e-01 1.56040313e-01 1.60664624e-02 3.13291382e+01] [-1.56022254e-01 9.87750675e-01 -2.37908306e-03 -2.55199784e+00] [-1.62408920e-02 -1.57095640e-04 9.99868096e-01 -7.52728072e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.928623853000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:31.36, Y:-2.56, Z:-0.75 [[ 9.87890390e-01 1.54388264e-01 1.53896262e-02 3.13607144e+01] [-1.54371494e-01 9.88010247e-01 -2.27891470e-03 -2.55867284e+00] [-1.55569461e-02 -1.24401642e-04 9.99878976e-01 -7.54780680e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.958623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:31.39, Y:-2.57, Z:-0.76 [[ 9.88147648e-01 1.52781063e-01 1.49054427e-02 3.13912172e+01] [-1.52765111e-01 9.88260056e-01 -2.20968010e-03 -2.56500691e+00] [-1.50680509e-02 -9.35414184e-05 9.99886466e-01 -7.56202649e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.988623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:31.42, Y:-2.57, Z:-0.76 [[ 9.88767003e-01 1.48788406e-01 1.42064749e-02 3.14216621e+01] [-1.48773473e-01 9.88869056e-01 -2.10816339e-03 -2.57360023e+00] [-1.43620137e-02 -2.90642080e-05 9.99896861e-01 -7.58545659e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.018623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:31.45, Y:-2.58, Z:-0.76 [[ 9.89089019e-01 1.46650703e-01 1.40172406e-02 3.14536387e+01] [-1.46635922e-01 9.89188340e-01 -2.08208901e-03 -2.58146778e+00] [-1.41710307e-02 3.94038571e-06 9.99899586e-01 -7.59926727e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.048623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:31.49, Y:-2.59, Z:-0.76 [[ 9.89429373e-01 1.44372205e-01 1.36448817e-02 3.14859850e+01] [-1.44357947e-01 9.89523454e-01 -2.02930203e-03 -2.58997924e+00] [-1.37949052e-02 3.81039326e-05 9.99904845e-01 -7.60983856e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.078623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:31.52, Y:-2.60, Z:-0.76 [[ 9.90149194e-01 1.39242837e-01 1.46971668e-02 3.15158488e+01] [-1.39225683e-01 9.90258258e-01 -2.18896258e-03 -2.60306424e+00] [-1.48587882e-02 1.21176444e-04 9.99889595e-01 -7.59768363e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.108623853000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:31.55, Y:-2.61, Z:-0.76 [[ 9.90475360e-01 1.36864339e-01 1.50570279e-02 3.15466242e+01] [-1.36846023e-01 9.90589787e-01 -2.24495516e-03 -2.61150274e+00] [-1.52225924e-02 1.63078390e-04 9.99884116e-01 -7.59726983e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.138623853 meters Centerline goodness [0,1] 0.9999139174037489 Centerline is valid? [True, True] Translation: X:31.58, Y:-2.62, Z:-0.76 [[ 9.90788227e-01 1.34541597e-01 1.54028505e-02 3.15775907e+01] [-1.34522112e-01 9.90907925e-01 -2.29891792e-03 -2.61987360e+00] [-1.55721068e-02 2.05716834e-04 9.99878726e-01 -7.60016620e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.168623853 meters Centerline goodness [0,1] 0.9998923040472139 Centerline is valid? [True, True] Translation: X:31.61, Y:-2.63, Z:-0.76 [[ 9.91048546e-01 1.32584134e-01 1.56277890e-02 3.16090507e+01] [-1.32563791e-01 9.91171725e-01 -2.33510094e-03 -2.62738809e+00] [-1.57994199e-02 2.42519445e-04 9.99875152e-01 -7.60249016e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.198623853 meters Centerline goodness [0,1] 0.9997662657770601 Centerline is valid? [True, True] Translation: X:31.64, Y:-2.64, Z:-0.76 [[ 9.91431810e-01 1.29667384e-01 1.57903738e-02 3.16388191e+01] [-1.29646203e-01 9.91557504e-01 -2.36203918e-03 -2.64077310e+00] [-1.59633431e-02 2.94638772e-04 9.99872534e-01 -7.61048553e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.228623853 meters Centerline goodness [0,1] 0.9998487238778553 Centerline is valid? [True, True] Translation: X:31.67, Y:-2.64, Z:-0.76 [[ 9.91541113e-01 1.28890640e-01 1.52782268e-02 3.16712802e+01] [-1.28870685e-01 9.91658769e-01 -2.28762724e-03 -2.64286281e+00] [-1.54456413e-02 2.99360903e-04 9.99880664e-01 -7.61902073e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.258623853 meters Centerline goodness [0,1] 0.9998060261218156 Centerline is valid? [True, True] Translation: X:31.70, Y:-2.65, Z:-0.76 [[ 9.91551939e-01 1.28835660e-01 1.50374214e-02 3.17029874e+01] [-1.28816284e-01 9.91665913e-01 -2.25410090e-03 -2.64982562e+00] [-1.52025068e-02 2.97993372e-04 9.99884391e-01 -7.63795835e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.288623853000004 meters Centerline goodness [0,1] 0.9998922506680459 Centerline is valid? [True, True] Translation: X:31.73, Y:-2.65, Z:-0.77 [[ 9.91445404e-01 1.29805532e-01 1.36578038e-02 3.17347393e+01] [-1.29789624e-01 9.91539438e-01 -2.04850815e-03 -2.65205223e+00] [-1.38081588e-02 2.58342775e-04 9.99904629e-01 -7.65587590e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.318623853 meters Centerline goodness [0,1] 0.9999570621954099 Centerline is valid? [True, True] Translation: X:31.77, Y:-2.66, Z:-0.77 [[ 9.91279857e-01 1.31071658e-01 1.35818050e-02 3.17651178e+01] [-1.31056011e-01 9.91372867e-01 -2.03966312e-03 -2.65823349e+00] [-1.37319750e-02 2.41899787e-04 9.99905683e-01 -7.67175995e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.348623853 meters Centerline goodness [0,1] 0.9999785181843569 Centerline is valid? [True, True] Translation: X:31.80, Y:-2.65, Z:-0.77 [[ 9.90834456e-01 1.34444532e-01 1.31052642e-02 3.17987961e+01] [-1.34430241e-01 9.90921103e-01 -1.96931427e-03 -2.65389063e+00] [-1.32510464e-02 1.89520611e-04 9.99912183e-01 -7.67815311e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.378623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:31.83, Y:-2.66, Z:-0.77 [[ 9.90564285e-01 1.36415799e-01 1.31577420e-02 3.18297916e+01] [-1.36401555e-01 9.90651656e-01 -1.97815746e-03 -2.65611282e+00] [-1.33045909e-02 1.64755660e-04 9.99911476e-01 -7.68165085e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.408623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:31.86, Y:-2.66, Z:-0.77 [[ 9.90301488e-01 1.38281617e-01 1.34594996e-02 3.18624952e+01] [-1.38266850e-01 9.90392939e-01 -2.02611014e-03 -2.65811185e+00] [-1.36103672e-02 1.45457275e-04 9.99907364e-01 -7.68363739e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.438623853 meters Centerline goodness [0,1] 0.9999787084548726 Centerline is valid? [True, True] Translation: X:31.90, Y:-2.66, Z:-0.77 [[ 9.89785530e-01 1.41872690e-01 1.40265511e-02 3.18950911e+01] [-1.41857005e-01 9.89884907e-01 -2.11198130e-03 -2.65770370e+00] [-1.41843037e-02 1.00644010e-04 9.99899393e-01 -7.68231964e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.468623853000004 meters Centerline goodness [0,1] 0.9999567885230317 Centerline is valid? [True, True] Translation: X:31.93, Y:-2.66, Z:-0.77 [[ 9.89586639e-01 1.43209025e-01 1.44727223e-02 3.19262904e+01] [-1.43192432e-01 9.89692461e-01 -2.18168417e-03 -2.66068378e+00] [-1.46359810e-02 8.65811998e-05 9.99892885e-01 -7.68031847e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.498623853000005 meters Centerline goodness [0,1] 0.9999351042658129 Centerline is valid? [True, True] Translation: X:31.96, Y:-2.66, Z:-0.77 [[ 9.89385558e-01 1.44596602e-01 1.44236312e-02 3.19584593e+01] [-1.44580234e-01 9.89490686e-01 -2.17666100e-03 -2.66343397e+00] [-1.45867865e-02 6.81849772e-05 9.99893605e-01 -7.68469080e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.528623853 meters Centerline goodness [0,1] 0.9999569438763428 Centerline is valid? [True, True] Translation: X:31.99, Y:-2.67, Z:-0.77 [[ 9.89207161e-01 1.45824248e-01 1.42997341e-02 3.19903642e+01] [-1.45808253e-01 9.89310510e-01 -2.16037310e-03 -2.66768602e+00] [-1.44619120e-02 5.20372924e-05 9.99895420e-01 -7.69782413e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.558623853 meters Centerline goodness [0,1] 0.999914323044959 Centerline is valid? [True, True] Translation: X:32.02, Y:-2.67, Z:-0.77 [[ 9.89053796e-01 1.46921080e-01 1.36668984e-02 3.20222300e+01] [-1.46906541e-01 9.89148217e-01 -2.06720170e-03 -2.67127392e+00] [-1.38223037e-02 3.68169111e-05 9.99904467e-01 -7.69367983e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.588623853 meters Centerline goodness [0,1] 0.9999568276993481 Centerline is valid? [True, True] Translation: X:32.06, Y:-2.68, Z:-0.77 [[ 9.89010581e-01 1.47229025e-01 1.34790211e-02 3.20551268e+01] [-1.47214883e-01 9.89102428e-01 -2.04092080e-03 -2.67619186e+00] [-1.36326153e-02 3.41797571e-05 9.99907071e-01 -7.72418274e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.618623853 meters Centerline goodness [0,1] 0.9999138376701706 Centerline is valid? [True, True] Translation: X:32.09, Y:-2.68, Z:-0.77 [[ 9.89059244e-01 1.47025498e-01 1.20547010e-02 3.20872862e+01] [-1.47014147e-01 9.89132702e-01 -1.82724749e-03 -2.68165327e+00] [-1.21923509e-02 3.50444457e-05 9.99925670e-01 -7.70602830e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.648623853000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:32.12, Y:-2.69, Z:-0.78 [[ 9.89089147e-01 1.46808815e-01 1.22405499e-02 3.21193132e+01] [-1.46797063e-01 9.89164885e-01 -1.85797567e-03 -2.68747671e+00] [-1.23806893e-02 4.08267980e-05 9.99923355e-01 -7.75969028e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.678623853000005 meters Centerline goodness [0,1] 0.9999785264875776 Centerline is valid? [True, True] Translation: X:32.15, Y:-2.69, Z:-0.78 [[ 9.89166563e-01 1.46277726e-01 1.23425176e-02 3.21509832e+01] [-1.46265710e-01 9.89243562e-01 -1.87553131e-03 -2.69337914e+00] [-1.24841046e-02 4.99257485e-05 9.99922069e-01 -7.76975119e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.708623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:32.18, Y:-2.70, Z:-0.78 [[ 9.89311107e-01 1.45226526e-01 1.31449627e-02 3.21832499e+01] [-1.45212770e-01 9.89398429e-01 -2.00003282e-03 -2.70236411e+00] [-1.32960633e-02 6.98382384e-05 9.99911601e-01 -7.76108109e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.738623853 meters Centerline goodness [0,1] 0.9999348520054724 Centerline is valid? [True, True] Translation: X:32.22, Y:-2.71, Z:-0.77 [[ 9.89370046e-01 1.44780004e-01 1.36257795e-02 3.22159926e+01] [-1.44765144e-01 9.89463867e-01 -2.07587182e-03 -2.70874780e+00] [-1.37827612e-02 8.12674653e-05 9.99905010e-01 -7.74900029e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.768623853 meters Centerline goodness [0,1] 0.9999784793509372 Centerline is valid? [True, True] Translation: X:32.25, Y:-2.72, Z:-0.77 [[ 9.89392796e-01 1.44555336e-01 1.43405128e-02 3.22469062e+01] [-1.44538807e-01 9.89496714e-01 -2.18791760e-03 -2.71630080e+00] [-1.45061654e-02 9.19493007e-05 9.99894776e-01 -7.74931772e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.798623853 meters Centerline goodness [0,1] 0.9999131887926731 Centerline is valid? [True, True] Translation: X:32.28, Y:-2.72, Z:-0.78 [[ 9.89504493e-01 1.43784386e-01 1.43843187e-02 3.22781366e+01] [-1.43767633e-01 9.89609033e-01 -2.19737783e-03 -2.72339309e+00] [-1.45508004e-02 1.06315770e-04 9.99894126e-01 -7.75307836e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.828623853 meters Centerline goodness [0,1] 0.9999784124516978 Centerline is valid? [True, True] Translation: X:32.31, Y:-2.73, Z:-0.78 [[ 9.89549132e-01 1.43492416e-01 1.42281907e-02 3.23108011e+01] [-1.43475959e-01 9.89651410e-01 -2.17598200e-03 -2.72976473e+00] [-1.43931859e-02 1.11837785e-04 9.99896406e-01 -7.76600446e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.858623853000005 meters Centerline goodness [0,1] 0.9999141925519135 Centerline is valid? [True, True] Translation: X:32.34, Y:-2.74, Z:-0.78 [[ 9.89639696e-01 1.42878006e-01 1.41119879e-02 3.23427906e+01] [-1.42861718e-01 9.89740299e-01 -2.16082387e-03 -2.73610828e+00] [-1.42759374e-02 1.22374240e-04 9.99898086e-01 -7.77135818e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.888623853 meters Centerline goodness [0,1] 0.9999569114098587 Centerline is valid? [True, True] Translation: X:32.37, Y:-2.74, Z:-0.78 [[ 9.89762017e-01 1.42024319e-01 1.41506840e-02 3.23726860e+01] [-1.42007813e-01 9.89863159e-01 -2.16956817e-03 -2.74376355e+00] [-1.43153723e-02 1.37848469e-04 9.99897520e-01 -7.78707296e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.918623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:32.40, Y:-2.75, Z:-0.78 [[ 9.89848858e-01 1.41440632e-01 1.39206781e-02 3.24040857e+01] [-1.41424572e-01 9.89946729e-01 -2.13635388e-03 -2.74991134e+00] [-1.40828970e-02 1.45941510e-04 9.99900820e-01 -7.80015301e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.948623853 meters Centerline goodness [0,1] 0.9998718852091474 Centerline is valid? [True, True] Translation: X:32.43, Y:-2.76, Z:-0.78 [[ 9.90092628e-01 1.39867413e-01 1.23973650e-02 3.24338971e+01] [-1.39854530e-01 9.90170230e-01 -1.90436744e-03 -2.75973067e+00] [-1.25418607e-02 1.51672520e-04 9.99921336e-01 -7.79152598e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.978623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:32.47, Y:-2.76, Z:-0.78 [[ 9.90168717e-01 1.39363749e-01 1.19857130e-02 3.24655928e+01] [-1.39351651e-01 9.90241244e-01 -1.84277006e-03 -2.76430472e+00] [-1.21255627e-02 1.54424366e-04 9.99926471e-01 -7.84355100e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.008623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:32.50, Y:-2.77, Z:-0.79 [[ 9.90248720e-01 1.38831183e-01 1.15488369e-02 3.24961944e+01] [-1.38819892e-01 9.90316050e-01 -1.77753672e-03 -2.77060178e+00] [-1.16837761e-02 1.56995175e-04 9.99931730e-01 -7.86040525e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.038623853000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:32.53, Y:-2.78, Z:-0.79 [[ 9.90220052e-01 1.39027249e-01 1.16478695e-02 3.25288185e+01] [-1.39015757e-01 9.90288543e-01 -1.79441576e-03 -2.77584243e+00] [-1.17842244e-02 1.57629070e-04 9.99930551e-01 -7.85912326e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.068623853000005 meters Centerline goodness [0,1] 0.9999784645202972 Centerline is valid? [True, True] Translation: X:32.56, Y:-2.78, Z:-0.79 [[ 9.90144480e-01 1.39510605e-01 1.22760172e-02 3.25607800e+01] [-1.39497844e-01 9.90220564e-01 -1.89392373e-03 -2.78085366e+00] [-1.24201871e-02 1.62780197e-04 9.99922853e-01 -7.85257442e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.098623853 meters Centerline goodness [0,1] 0.9999784645202972 Centerline is valid? [True, True] Translation: X:32.59, Y:-2.79, Z:-0.79 [[ 9.90117271e-01 1.39703600e-01 1.22757137e-02 3.25928727e+01] [-1.39690829e-01 9.90193354e-01 -1.89588819e-03 -2.78599598e+00] [-1.24201925e-02 1.62347019e-04 9.99922853e-01 -7.85830877e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.128623853 meters Centerline goodness [0,1] 0.9999783291797595 Centerline is valid? [True, True] Translation: X:32.62, Y:-2.79, Z:-0.79 [[ 9.89984579e-01 1.40572274e-01 1.30371915e-02 3.26239500e+01] [-1.40557905e-01 9.90070406e-01 -2.01647881e-03 -2.79199577e+00] [-1.31911985e-02 1.63802594e-04 9.99912979e-01 -7.85678902e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.158623853 meters Centerline goodness [0,1] 0.9999569966457383 Centerline is valid? [True, True] Translation: X:32.66, Y:-2.80, Z:-0.78 [[ 9.89819051e-01 1.41673028e-01 1.36747390e-02 3.26558206e+01] [-1.41657294e-01 9.89913495e-01 -2.11738299e-03 -2.79559056e+00] [-1.38367847e-02 1.58699505e-04 9.99904255e-01 -7.84676930e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.188623853 meters Centerline goodness [0,1] 0.9999126694757985 Centerline is valid? [True, True] Translation: X:32.69, Y:-2.80, Z:-0.78 [[ 9.89446615e-01 1.44217941e-01 1.40207529e-02 3.26881252e+01] [-1.44201620e-01 9.89545941e-01 -2.17346395e-03 -2.79902762e+00] [-1.41876316e-02 1.28711274e-04 9.99899342e-01 -7.84185162e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.218623853000004 meters Centerline goodness [0,1] 0.9998928946297367 Centerline is valid? [True, True] Translation: X:32.72, Y:-2.80, Z:-0.79 [[ 9.89206699e-01 1.45873701e-01 1.38191765e-02 3.27189561e+01] [-1.45857973e-01 9.89303215e-01 -2.14465020e-03 -2.80318071e+00] [-1.39842038e-02 1.05865270e-04 9.99902211e-01 -7.85465112e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.248623853000005 meters Centerline goodness [0,1] 0.9997410947377505 Centerline is valid? [True, True] Translation: X:32.75, Y:-2.81, Z:-0.79 [[ 9.88976525e-01 1.47445129e-01 1.36149541e-02 3.27508017e+01] [-1.47429982e-01 9.89070233e-01 -2.11508960e-03 -2.80561206e+00] [-1.37780054e-02 8.45215239e-05 9.99905075e-01 -7.86416401e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.278623853 meters Centerline goodness [0,1] 0.9996355216328631 Centerline is valid? [True, True] Translation: X:32.78, Y:-2.81, Z:-0.78 [[ 9.88467934e-01 1.50865411e-01 1.30679481e-02 3.27830141e+01] [-1.50851727e-01 9.88554311e-01 -2.03226470e-03 -2.80583803e+00] [-1.32249749e-02 3.75059569e-05 9.99912545e-01 -7.82069322e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.308623853 meters Centerline goodness [0,1] 0.9998935332069927 Centerline is valid? [True, True] Translation: X:32.81, Y:-2.81, Z:-0.79 [[ 9.88152261e-01 1.52860032e-01 1.37448152e-02 3.28140463e+01] [-1.52845051e-01 9.88247849e-01 -2.14013865e-03 -2.80827312e+00] [-1.39104257e-02 1.39558681e-05 9.99903245e-01 -7.88885767e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.338623853 meters Centerline goodness [0,1] 0.9997628594834649 Centerline is valid? [True, True] Translation: X:32.85, Y:-2.81, Z:-0.79 [[ 9.87830486e-01 1.54912310e-01 1.38962804e-02 3.28470679e+01] [-1.54897169e-01 9.87928224e-01 -2.16589254e-03 -2.81031484e+00] [-1.40640511e-02 -1.29598115e-05 9.99901096e-01 -7.88450087e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.368623853 meters Centerline goodness [0,1] 0.9997414628891522 Centerline is valid? [True, True] Translation: X:32.88, Y:-2.81, Z:-0.79 [[ 9.87246369e-01 1.58581651e-01 1.40166889e-02 3.28794063e+01] [-1.58566568e-01 9.87345864e-01 -2.18803020e-03 -2.80741893e+00] [-1.41863013e-02 -6.24533834e-05 9.99899367e-01 -7.87995488e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.398623853000004 meters Centerline goodness [0,1] 0.9997632320971179 Centerline is valid? [True, True] Translation: X:32.91, Y:-2.81, Z:-0.79 [[ 9.86956081e-01 1.60367902e-01 1.41361611e-02 3.29099016e+01] [-1.60352740e-01 9.87057307e-01 -2.20693343e-03 -2.80717746e+00] [-1.43071224e-02 -8.86257992e-05 9.99897644e-01 -7.89149984e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.428623853000005 meters Centerline goodness [0,1] 0.9997603276974029 Centerline is valid? [True, True] Translation: X:32.94, Y:-2.81, Z:-0.79 [[ 9.86662483e-01 1.62168847e-01 1.40857686e-02 3.29409279e+01] [-1.62153964e-01 9.86763017e-01 -2.19994867e-03 -2.80905028e+00] [-1.42560787e-02 -1.13456389e-04 9.99898371e-01 -7.88947195e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.458623853 meters Centerline goodness [0,1] 0.999764353041988 Centerline is valid? [True, True] Translation: X:32.97, Y:-2.80, Z:-0.79 [[ 9.86118162e-01 1.65434279e-01 1.42291619e-02 3.29714929e+01] [-1.65419425e-01 9.86220803e-01 -2.22277294e-03 -2.80322572e+00] [-1.44008184e-02 -1.61863024e-04 9.99896290e-01 -7.89883639e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.488623853 meters Centerline goodness [0,1] 0.9996302338227298 Centerline is valid? [True, True] Translation: X:33.00, Y:-2.81, Z:-0.79 [[ 9.85868499e-01 1.66920488e-01 1.41722610e-02 3.30023387e+01] [-1.66905905e-01 9.85970343e-01 -2.21397791e-03 -2.80524626e+00] [-1.43429873e-02 -1.82742964e-04 9.99897117e-01 -7.89597787e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.518623853 meters Centerline goodness [0,1] 0.9996542783059637 Centerline is valid? [True, True] Translation: X:33.03, Y:-2.80, Z:-0.79 [[ 9.85519882e-01 1.68952570e-01 1.43384326e-02 3.30323674e+01] [-1.68937856e-01 9.85624159e-01 -2.24005254e-03 -2.80110198e+00] [-1.45107682e-02 -2.14687749e-04 9.99894690e-01 -7.90378537e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.548623853 meters Centerline goodness [0,1] 0.999719700726622 Centerline is valid? [True, True] Translation: X:33.06, Y:-2.80, Z:-0.79 [[ 9.85479907e-01 1.69219014e-01 1.39383974e-02 3.30618267e+01] [-1.69205144e-01 9.85578449e-01 -2.17700893e-03 -2.80227125e+00] [-1.41057754e-02 -2.13049995e-04 9.99900486e-01 -7.91843898e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.578623853 meters Centerline goodness [0,1] 0.9996116253479189 Centerline is valid? [True, True] Translation: X:33.09, Y:-2.80, Z:-0.79 [[ 9.85517383e-01 1.69044297e-01 1.33982509e-02 3.30900605e+01] [-1.69031467e-01 9.85608434e-01 -2.09247718e-03 -2.80211267e+00] [-1.35591504e-02 -2.02553373e-04 9.99908050e-01 -7.94090411e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.608623853000005 meters Centerline goodness [0,1] 0.999697074606197 Centerline is valid? [True, True] Translation: X:33.12, Y:-2.81, Z:-0.79 [[ 9.85644763e-01 1.68325036e-01 1.30798809e-02 3.31188987e+01] [-1.68312757e-01 9.85731529e-01 -2.04191901e-03 -2.80691984e+00] [-1.32369571e-02 -1.88904031e-04 9.99912370e-01 -7.94765513e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.638623853 meters Centerline goodness [0,1] 0.9996763684221882 Centerline is valid? [True, True] Translation: X:33.15, Y:-2.81, Z:-0.80 [[ 9.86102347e-01 1.65628607e-01 1.30125112e-02 3.31471472e+01] [-1.65616227e-01 9.86188188e-01 -2.03075107e-03 -2.80995727e+00] [-1.31691353e-02 -1.52554614e-04 9.99913272e-01 -7.95722961e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.668623853 meters Centerline goodness [0,1] 0.9996288695804043 Centerline is valid? [True, True] Translation: X:33.18, Y:-2.82, Z:-0.80 [[ 9.86476016e-01 1.63403799e-01 1.28166802e-02 3.31758407e+01] [-1.63391610e-01 9.86559265e-01 -1.99955941e-03 -2.81500257e+00] [-1.29711502e-02 -1.21620609e-04 9.99915864e-01 -7.96348522e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.698623853 meters Centerline goodness [0,1] 0.999786484466745 Centerline is valid? [True, True] Translation: X:33.20, Y:-2.82, Z:-0.80 [[ 9.87448097e-01 1.57384306e-01 1.32829375e-02 3.32034726e+01] [-1.57370678e-01 9.87537431e-01 -2.07155613e-03 -2.82308338e+00] [-1.34434284e-02 -4.47907132e-05 9.99909632e-01 -7.97069873e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.728623853 meters Centerline goodness [0,1] 0.999848792500108 Centerline is valid? [True, True] Translation: X:33.23, Y:-2.83, Z:-0.80 [[ 9.88026055e-01 1.53686171e-01 1.36042740e-02 3.32330440e+01] [-1.53671535e-01 9.88119710e-01 -2.12101022e-03 -2.83188866e+00] [-1.37686212e-02 5.02369723e-06 9.99905208e-01 -7.96964944e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.758623853 meters Centerline goodness [0,1] 0.9999356720130371 Centerline is valid? [True, True] Translation: X:33.26, Y:-2.84, Z:-0.80 [[ 9.88681075e-01 1.49410864e-01 1.36427932e-02 3.32622113e+01] [-1.49395737e-01 9.88775197e-01 -2.12701566e-03 -2.84158585e+00] [-1.38074548e-02 6.47649784e-05 9.99904670e-01 -7.97370563e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.788623853000004 meters Centerline goodness [0,1] 0.9999353239193705 Centerline is valid? [True, True] Translation: X:33.29, Y:-2.86, Z:-0.80 [[ 9.90049713e-01 1.40102013e-01 1.31525978e-02 3.32911831e+01] [-1.40087133e-01 9.90137057e-01 -2.05048536e-03 -2.85852407e+00] [-1.33101516e-02 1.87572730e-04 9.99911398e-01 -7.99185588e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.818623853000005 meters Centerline goodness [0,1] 0.9999575164092869 Centerline is valid? [True, True] Translation: X:33.32, Y:-2.87, Z:-0.80 [[ 9.90651915e-01 1.35781053e-01 1.31258787e-02 3.33205712e+01] [-1.35765857e-01 9.90738838e-01 -2.04607002e-03 -2.87136556e+00] [-1.32821353e-02 2.44897020e-04 9.99911759e-01 -8.00941816e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.848623853 meters Centerline goodness [0,1] 0.999849167187399 Centerline is valid? [True, True] Translation: X:33.35, Y:-2.88, Z:-0.80 [[ 9.91244085e-01 1.31441357e-01 1.25830361e-02 3.33504955e+01] [-1.31427011e-01 9.91323905e-01 -1.96396998e-03 -2.88214696e+00] [-1.27320113e-02 2.93022808e-04 9.99918902e-01 -8.01799680e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.878623853 meters Centerline goodness [0,1] 0.9992270531400966 Centerline is valid? [True, True] Translation: X:33.38, Y:-2.90, Z:-0.80 [[ 9.92177274e-01 1.24229305e-01 1.23018944e-02 3.33781239e+01] [-1.24215032e-01 9.92253464e-01 -1.92054820e-03 -2.89819515e+00] [-1.24451857e-02 3.77444079e-04 9.99922484e-01 -8.02936366e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.908623853 meters Centerline goodness [0,1] 0.9994175134295515 Centerline is valid? [True, True] Translation: X:33.41, Y:-2.90, Z:-0.80 [[ 9.92520639e-01 1.21433607e-01 1.25164105e-02 3.34092371e+01] [-1.21418613e-01 9.92599468e-01 -1.95373793e-03 -2.90256131e+00] [-1.26610319e-02 4.19400004e-04 9.99919758e-01 -8.02172526e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.938623853 meters Centerline goodness [0,1] 0.9978611913164367 Centerline is valid? [True, True] Translation: X:33.44, Y:-2.92, Z:-0.80 [[ 9.92933553e-01 1.17981069e-01 1.27838310e-02 3.34365177e+01] [-1.17965139e-01 9.93015732e-01 -1.99568441e-03 -2.92001254e+00] [-1.29299983e-02 4.73535606e-04 9.99916292e-01 -8.03134719e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.968623853000004 meters Centerline goodness [0,1] 0.998465395754982 Centerline is valid? [True, True] Translation: X:33.47, Y:-2.92, Z:-0.80 [[ 9.93094250e-01 1.16623922e-01 1.27542846e-02 3.34687791e+01] [-1.16607946e-01 9.93176027e-01 -1.99173885e-03 -2.92269373e+00] [-1.28995341e-02 4.90733463e-04 9.99916677e-01 -8.02673567e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.998623853000005 meters Centerline goodness [0,1] 0.9983054483054483 Centerline is valid? [True, True] Translation: X:33.50, Y:-2.93, Z:-0.80 [[ 9.93119368e-01 1.16384877e-01 1.29800100e-02 3.34992491e+01] [-1.16368308e-01 9.93204061e-01 -2.02715588e-03 -2.93004974e+00] [-1.31277289e-02 5.02745976e-04 9.99913701e-01 -8.03121306e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.028623853 meters Centerline goodness [0,1] 0.9979614608815073 Centerline is valid? [True, True] Translation: X:33.53, Y:-2.94, Z:-0.80 [[ 9.93033805e-01 1.17061664e-01 1.34324170e-02 3.35294546e+01] [-1.17043951e-01 9.93124516e-01 -2.10004240e-03 -2.93681400e+00] [-1.35858971e-02 5.13229941e-04 9.99907576e-01 -8.02774676e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.058623853 meters Centerline goodness [0,1] 0.9987011862498918 Centerline is valid? [True, True] Translation: X:33.56, Y:-2.94, Z:-0.80 [[ 9.92860950e-01 1.18510698e-01 1.35036440e-02 3.35615539e+01] [-1.18492901e-01 9.92952651e-01 -2.11326122e-03 -2.93812469e+00] [-1.36589232e-02 4.98088586e-04 9.99906588e-01 -8.02365236e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.088623853 meters Centerline goodness [0,1] 0.9987256468961943 Centerline is valid? [True, True] Translation: X:33.59, Y:-2.94, Z:-0.80 [[ 9.92627559e-01 1.20393426e-01 1.39982939e-02 3.35920481e+01] [-1.20374446e-01 9.92726136e-01 -2.19371696e-03 -2.94246116e+00] [-1.41605813e-02 4.92507046e-04 9.99899613e-01 -8.02556336e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.118623853 meters Centerline goodness [0,1] 0.9992049507929004 Centerline is valid? [True, True] Translation: X:33.62, Y:-2.95, Z:-0.80 [[ 9.92111022e-01 1.24539413e-01 1.43406817e-02 3.36219180e+01] [-1.24519919e-01 9.92214562e-01 -2.24781518e-03 -2.94733998e+00] [-1.45089748e-02 4.44381703e-04 9.99894641e-01 -8.02708236e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.148623853000004 meters Centerline goodness [0,1] 0.9994589798524097 Centerline is valid? [True, True] Translation: X:33.65, Y:-2.95, Z:-0.80 [[ 9.91828734e-01 1.26748360e-01 1.45126258e-02 3.36534340e+01] [-1.26728633e-01 9.91934816e-01 -2.27469677e-03 -2.94959598e+00] [-1.46838929e-02 4.16944389e-04 9.99892099e-01 -8.03118300e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.178623853000005 meters Centerline goodness [0,1] 0.999914006234548 Centerline is valid? [True, True] Translation: X:33.68, Y:-2.95, Z:-0.80 [[ 9.91230001e-01 1.31426500e-01 1.37898271e-02 3.36846672e+01] [-1.31409136e-01 9.91325862e-01 -2.16180220e-03 -2.94715468e+00] [-1.39543303e-02 3.30733937e-04 9.99902579e-01 -8.04924393e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.208623853 meters Centerline goodness [0,1] 0.9998289757786947 Centerline is valid? [True, True] Translation: X:33.72, Y:-2.95, Z:-0.81 [[ 9.90913073e-01 1.33812269e-01 1.36220132e-02 3.37166664e+01] [-1.33795559e-01 9.91006655e-01 -2.13483303e-03 -2.94858928e+00] [-1.37851726e-02 2.92869091e-04 9.99904937e-01 -8.05691655e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.238623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:33.75, Y:-2.95, Z:-0.81 [[ 9.90595424e-01 1.36168426e-01 1.33740605e-02 3.37471808e+01] [-1.36152502e-01 9.90685668e-01 -2.09829981e-03 -2.95410716e+00] [-1.35352123e-02 2.57654393e-04 9.99908362e-01 -8.07293966e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.268623853 meters Centerline goodness [0,1] 0.9999570003439973 Centerline is valid? [True, True] Translation: X:33.78, Y:-2.96, Z:-0.81 [[ 9.90283340e-01 1.38449467e-01 1.30633653e-02 3.37793922e+01] [-1.38434446e-01 9.90369474e-01 -2.05156953e-03 -2.95625285e+00] [-1.32215970e-02 2.23215394e-04 9.99912566e-01 -8.08305440e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.298623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:33.81, Y:-2.96, Z:-0.81 [[ 9.89741805e-01 1.42348296e-01 1.21705736e-02 3.38115333e+01] [-1.42335531e-01 9.89816618e-01 -1.91316513e-03 -2.95646092e+00] [-1.23189718e-02 1.61234454e-04 9.99924106e-01 -8.09904564e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.328623853 meters Centerline goodness [0,1] 0.9999785098747126 Centerline is valid? [True, True] Translation: X:33.84, Y:-2.96, Z:-0.81 [[ 9.89481824e-01 1.44150228e-01 1.21008753e-02 3.38438167e+01] [-1.44137717e-01 9.89555806e-01 -1.90424364e-03 -2.95951551e+00] [-1.22489885e-02 1.40021935e-04 9.99924969e-01 -8.10060595e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.358623853000005 meters Centerline goodness [0,1] 0.9999566761979032 Centerline is valid? [True, True] Translation: X:33.88, Y:-2.96, Z:-0.81 [[ 9.89076430e-01 1.46876339e-01 1.24562118e-02 3.38750246e+01] [-1.46863270e-01 9.89154856e-01 -1.96249050e-03 -2.96219657e+00] [-1.26093658e-02 1.11693095e-04 9.99920493e-01 -8.10385291e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.388623853 meters Centerline goodness [0,1] 0.9999350635295137 Centerline is valid? [True, True] Translation: X:33.91, Y:-2.97, Z:-0.81 [[ 9.88855108e-01 1.48362516e-01 1.24152460e-02 3.39070619e+01] [-1.48349626e-01 9.88933039e-01 -1.95797003e-03 -2.96590678e+00] [-1.25683363e-02 9.43515767e-05 9.99921011e-01 -8.10789969e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.418623853 meters Centerline goodness [0,1] 0.9999356209360716 Centerline is valid? [True, True] Translation: X:33.94, Y:-2.97, Z:-0.81 [[ 9.88637818e-01 1.49800143e-01 1.24572393e-02 3.39380091e+01] [-1.49787251e-01 9.88716294e-01 -1.96685287e-03 -2.97049631e+00] [-1.26113103e-02 7.85694961e-05 9.99920471e-01 -8.11994710e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.448623853 meters Centerline goodness [0,1] 0.9998490370721819 Centerline is valid? [True, True] Translation: X:33.97, Y:-2.97, Z:-0.81 [[ 9.88257257e-01 1.52235103e-01 1.31174494e-02 3.39694325e+01] [-1.52220984e-01 9.88344308e-01 -2.07395342e-03 -2.97290007e+00] [-1.32802849e-02 5.28484627e-05 9.99911812e-01 -8.11615780e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.478623853 meters Centerline goodness [0,1] 0.9998942582214233 Centerline is valid? [True, True] Translation: X:34.00, Y:-2.98, Z:-0.81 [[ 9.88032523e-01 1.53665647e-01 1.33642326e-02 3.40003100e+01] [-1.53651126e-01 9.88122901e-01 -2.11275815e-03 -2.97784889e+00] [-1.35301626e-02 3.40443769e-05 9.99908463e-01 -8.12540633e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.508623853 meters Centerline goodness [0,1] 0.9997845199103603 Centerline is valid? [True, True] Translation: X:34.03, Y:-2.98, Z:-0.81 [[ 9.87890850e-01 1.54580248e-01 1.32896668e-02 3.40311653e+01] [-1.54565935e-01 9.87980236e-01 -2.10367321e-03 -2.98110602e+00] [-1.34551144e-02 2.40697386e-05 9.99909476e-01 -8.08249290e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.538623853000004 meters Centerline goodness [0,1] 0.9998924476757943 Centerline is valid? [True, True] Translation: X:34.06, Y:-2.98, Z:-0.81 [[ 9.87568566e-01 1.56659263e-01 1.28919382e-02 3.40609515e+01] [-1.56645966e-01 9.87652710e-01 -2.04108310e-03 -2.98372025e+00] [-1.30525122e-02 -3.76058751e-06 9.99914812e-01 -8.14264483e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.568623853000005 meters Centerline goodness [0,1] 0.9998923017274803 Centerline is valid? [True, True] Translation: X:34.09, Y:-2.99, Z:-0.82 [[ 9.87497632e-01 1.57176148e-01 1.20035084e-02 3.40915781e+01] [-1.57164657e-01 9.87570584e-01 -1.90062775e-03 -2.98808324e+00] [-1.21530451e-02 -9.66186662e-06 9.99926149e-01 -8.16566142e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.598623853 meters Centerline goodness [0,1] 0.9998912688920301 Centerline is valid? [True, True] Translation: X:34.12, Y:-2.99, Z:-0.82 [[ 9.87487560e-01 1.57284517e-01 1.13973710e-02 3.41214857e+01] [-1.57274164e-01 9.87553331e-01 -1.80465235e-03 -2.99306189e+00] [-1.15393556e-02 -1.04402421e-05 9.99933419e-01 -8.17839951e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.628623853 meters Centerline goodness [0,1] 0.9999353462209866 Centerline is valid? [True, True] Translation: X:34.15, Y:-3.00, Z:-0.82 [[ 9.87572166e-01 1.56750761e-01 1.14199628e-02 3.41514543e+01] [-1.56740332e-01 9.87638192e-01 -1.80815419e-03 -2.99908951e+00] [-1.15622209e-02 -4.28599810e-06 9.99933155e-01 -8.19643242e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.658623853 meters Centerline goodness [0,1] 0.9998694147604849 Centerline is valid? [True, True] Translation: X:34.18, Y:-3.01, Z:-0.82 [[ 9.87695574e-01 1.55935291e-01 1.19012098e-02 3.41815771e+01] [-1.55923904e-01 9.87767273e-01 -1.88443961e-03 -3.00643920e+00] [-1.20494762e-02 5.56956079e-06 9.99927402e-01 -8.18656526e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.688623853 meters Centerline goodness [0,1] 0.9998699102380643 Centerline is valid? [True, True] Translation: X:34.21, Y:-3.01, Z:-0.82 [[ 9.87833954e-01 1.55030362e-01 1.22338203e-02 3.42121142e+01] [-1.55018266e-01 9.87909706e-01 -1.93670778e-03 -3.01410339e+00] [-1.23861583e-02 1.66800990e-05 9.99923288e-01 -8.18623765e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.718623853000004 meters Centerline goodness [0,1] 0.9998490175355348 Centerline is valid? [True, True] Translation: X:34.24, Y:-3.02, Z:-0.82 [[ 9.88123735e-01 1.53166415e-01 1.23098710e-02 3.42432084e+01] [-1.53153998e-01 9.88200409e-01 -1.95073052e-03 -3.02419880e+00] [-1.24634060e-02 4.22571697e-05 9.99922328e-01 -8.18819417e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.748623853000005 meters Centerline goodness [0,1] 0.9999359822457429 Centerline is valid? [True, True] Translation: X:34.27, Y:-3.03, Z:-0.82 [[ 9.88142611e-01 1.53047759e-01 1.22704179e-02 3.42739218e+01] [-1.53035385e-01 9.88218792e-01 -1.94668682e-03 -3.03076050e+00] [-1.24237936e-02 4.57960708e-05 9.99922821e-01 -8.19972345e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.778623853 meters Centerline goodness [0,1] 0.9999143707319161 Centerline is valid? [True, True] Translation: X:34.30, Y:-3.04, Z:-0.82 [[ 9.88138946e-01 1.53049869e-01 1.25363983e-02 3.43040056e+01] [-1.53036926e-01 9.88218465e-01 -1.99100236e-03 -3.03721731e+00] [-1.26934229e-02 4.88551159e-05 9.99919434e-01 -8.20648001e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.808623853 meters Centerline goodness [0,1] 0.999892355056083 Centerline is valid? [True, True] Translation: X:34.34, Y:-3.04, Z:-0.82 [[ 9.88033429e-01 1.53724718e-01 1.25958328e-02 3.43359244e+01] [-1.53711682e-01 9.88113713e-01 -2.00235977e-03 -3.04307193e+00] [-1.27539273e-02 4.22717346e-05 9.99918664e-01 -8.20551930e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.838623853 meters Centerline goodness [0,1] 0.9998716000770399 Centerline is valid? [True, True] Translation: X:34.37, Y:-3.05, Z:-0.82 [[ 9.87897170e-01 1.54606530e-01 1.24901212e-02 3.43670418e+01] [-1.54593751e-01 9.87976123e-01 -1.98805235e-03 -3.04810847e+00] [-1.26473074e-02 3.30965931e-05 9.99920019e-01 -8.21931087e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.868623853 meters Centerline goodness [0,1] 0.9998496175990376 Centerline is valid? [True, True] Translation: X:34.40, Y:-3.05, Z:-0.82 [[ 9.87739042e-01 1.55603487e-01 1.26150247e-02 3.43989876e+01] [-1.55590522e-01 9.87819596e-01 -2.00878423e-03 -3.05230522e+00] [-1.27739425e-02 2.13763359e-05 9.99918410e-01 -8.21020739e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.898623853000004 meters Centerline goodness [0,1] 0.9998069001029866 Centerline is valid? [True, True] Translation: X:34.43, Y:-3.06, Z:-0.82 [[ 9.87403083e-01 1.57770283e-01 1.19870718e-02 3.44299611e+01] [-1.57758712e-01 9.87475842e-01 -1.91081810e-03 -3.05539115e+00] [-1.21384141e-02 -4.31731972e-06 9.99926327e-01 -8.23797746e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.928623853000005 meters Centerline goodness [0,1] 0.9996991317802802 Centerline is valid? [True, True] Translation: X:34.46, Y:-3.06, Z:-0.82 [[ 9.87250848e-01 1.58767595e-01 1.13408303e-02 3.44611859e+01] [-1.58757275e-01 9.87315983e-01 -1.81032402e-03 -3.05896161e+00] [-1.14844038e-02 -1.31953937e-05 9.99934052e-01 -8.19139716e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.958623853 meters Centerline goodness [0,1] 0.9998917584915463 Centerline is valid? [True, True] Translation: X:34.49, Y:-3.06, Z:-0.82 [[ 9.87055534e-01 1.59961233e-01 1.15662232e-02 3.44919070e+01] [-1.59950577e-01 9.87123297e-01 -1.84658791e-03 -3.06285006e+00] [-1.17126708e-02 -2.73392550e-05 9.99931404e-01 -8.24546280e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.988623853 meters Centerline goodness [0,1] 0.9998917584915463 Centerline is valid? [True, True] Translation: X:34.52, Y:-3.07, Z:-0.83 [[ 9.87051627e-01 1.59985342e-01 1.15661780e-02 3.45223444e+01] [-1.59974683e-01 9.87119390e-01 -1.84687106e-03 -3.06775509e+00] [-1.17126708e-02 -2.73385747e-05 9.99931404e-01 -8.25090030e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.018623853 meters Centerline goodness [0,1] 0.9998930206684069 Centerline is valid? [True, True] Translation: X:34.55, Y:-3.07, Z:-0.83 [[ 9.86623467e-01 1.62587876e-01 1.18032966e-02 3.45523665e+01] [-1.62576958e-01 9.86694066e-01 -1.88510900e-03 -3.06901254e+00] [-1.19527386e-02 -5.90512871e-05 9.99928562e-01 -8.26685810e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.048623853 meters Centerline goodness [0,1] 0.9998711450906279 Centerline is valid? [True, True] Translation: X:34.58, Y:-3.07, Z:-0.82 [[ 9.86370856e-01 1.64103297e-01 1.19433103e-02 3.45827929e+01] [-1.64092226e-01 9.86443157e-01 -1.90769016e-03 -3.07234474e+00] [-1.20944550e-02 -7.81144076e-05 9.99926856e-01 -8.21021755e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.078623853 meters Centerline goodness [0,1] 0.9999345706745764 Centerline is valid? [True, True] Translation: X:34.61, Y:-3.07, Z:-0.82 [[ 9.85745111e-01 1.67727081e-01 1.31985437e-02 3.46126126e+01] [-1.67713885e-01 9.85833459e-01 -2.10829108e-03 -3.07137849e+00] [-1.33651835e-02 -1.35341417e-04 9.99910673e-01 -8.24055714e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.108623853000005 meters Centerline goodness [0,1] 0.9998925539916192 Centerline is valid? [True, True] Translation: X:34.64, Y:-3.07, Z:-0.83 [[ 9.85423478e-01 1.69623112e-01 1.29833945e-02 3.46423163e+01] [-1.69610512e-01 9.85508993e-01 -2.07355535e-03 -3.07205465e+00] [-1.31469750e-02 -1.58790069e-04 9.99913562e-01 -8.25404969e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.138623853 meters Centerline goodness [0,1] 0.9998271017938188 Centerline is valid? [True, True] Translation: X:34.67, Y:-3.07, Z:-0.83 [[ 9.85111004e-01 1.71433284e-01 1.29204805e-02 3.46712287e+01] [-1.71420962e-01 9.85195715e-01 -2.06342083e-03 -3.07067091e+00] [-1.30829410e-02 -1.82142628e-04 9.99914398e-01 -8.26652011e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.168623853 meters Centerline goodness [0,1] 0.9996764103117247 Centerline is valid? [True, True] Translation: X:34.70, Y:-3.07, Z:-0.82 [[ 9.84533551e-01 1.74685463e-01 1.33669381e-02 3.47018786e+01] [-1.74672580e-01 9.84624260e-01 -2.13431287e-03 -3.06978702e+00] [-1.35342450e-02 -2.33534946e-04 9.99908381e-01 -8.20787160e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.198623853 meters Centerline goodness [0,1] 0.9998058838754206 Centerline is valid? [True, True] Translation: X:34.73, Y:-3.07, Z:-0.83 [[ 9.84237439e-01 1.76340477e-01 1.34424822e-02 3.47308274e+01] [-1.76327605e-01 9.84329198e-01 -2.14614498e-03 -3.07105857e+00] [-1.36102799e-02 -2.57964457e-04 9.99907343e-01 -8.26351128e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.228623853 meters Centerline goodness [0,1] 0.9997644892628514 Centerline is valid? [True, True] Translation: X:34.76, Y:-3.07, Z:-0.83 [[ 9.84025072e-01 1.77542218e-01 1.31688670e-02 3.47589474e+01] [-1.77529980e-01 9.84113148e-01 -2.10188515e-03 -3.06987849e+00] [-1.33328285e-02 -2.69561004e-04 9.99911078e-01 -8.27862148e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.258623853 meters Centerline goodness [0,1] 0.999871432244793 Centerline is valid? [True, True] Translation: X:34.79, Y:-3.07, Z:-0.83 [[ 9.83876778e-01 1.78403407e-01 1.25980161e-02 3.47878131e+01] [-1.78392288e-01 9.83957393e-01 -2.00998853e-03 -3.07247458e+00] [-1.27544999e-02 -2.69807884e-04 9.99918622e-01 -8.28541307e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.288623853000004 meters Centerline goodness [0,1] 0.9996086020570136 Centerline is valid? [True, True] Translation: X:34.82, Y:-3.07, Z:-0.82 [[ 9.83856186e-01 1.78576456e-01 1.17241435e-02 3.48172364e+01] [-1.78566844e-01 9.83926006e-01 -1.87005799e-03 -3.07341972e+00] [-1.18696380e-02 -2.53675172e-04 9.99929521e-01 -8.23582749e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.318623853000005 meters Centerline goodness [0,1] 0.9996779941180259 Centerline is valid? [True, True] Translation: X:34.85, Y:-3.07, Z:-0.83 [[ 9.83871998e-01 1.78497423e-01 1.16000342e-02 3.48456719e+01] [-1.78488013e-01 9.83940347e-01 -1.84979107e-03 -3.07390327e+00] [-1.17439246e-02 -2.50509420e-04 9.99931006e-01 -8.31925552e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.348623853 meters Centerline goodness [0,1] 0.9997634662939469 Centerline is valid? [True, True] Translation: X:34.87, Y:-3.08, Z:-0.83 [[ 9.84103938e-01 1.77167549e-01 1.22921986e-02 3.48737833e+01] [-1.77156891e-01 9.84180673e-01 -1.95922956e-03 -3.07506712e+00] [-1.24448562e-02 -2.49562163e-04 9.99922529e-01 -8.31551120e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.378623853 meters Centerline goodness [0,1] 0.9997417799965571 Centerline is valid? [True, True] Translation: X:34.90, Y:-3.08, Z:-0.83 [[ 9.84302878e-01 1.75977669e-01 1.34054126e-02 3.49017674e+01] [-1.75964896e-01 9.84394125e-01 -2.13572352e-03 -3.08079027e+00] [-1.35720490e-02 -2.56683223e-04 9.99907863e-01 -8.29800432e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.408623853 meters Centerline goodness [0,1] 0.9997623574144486 Centerline is valid? [True, True] Translation: X:34.93, Y:-3.08, Z:-0.83 [[ 9.84597812e-01 1.74278441e-01 1.39346445e-02 3.49291241e+01] [-1.74264479e-01 9.84696383e-01 -2.21935991e-03 -3.08433975e+00] [-1.41081807e-02 -2.43136665e-04 9.99900445e-01 -8.29559109e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.438623853 meters Centerline goodness [0,1] 0.9998053969901401 Centerline is valid? [True, True] Translation: X:34.96, Y:-3.09, Z:-0.83 [[ 9.85443870e-01 1.69398737e-01 1.42985102e-02 3.49581889e+01] [-1.69383537e-01 9.85547582e-01 -2.27628834e-03 -3.09165847e+00] [-1.44774625e-02 -1.78777827e-04 9.99895180e-01 -8.29999839e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.468623853000004 meters Centerline goodness [0,1] 0.9999120666534766 Centerline is valid? [True, True] Translation: X:34.99, Y:-3.10, Z:-0.83 [[ 9.85990856e-01 1.66182553e-01 1.43314342e-02 3.49868703e+01] [-1.66166948e-01 9.86094996e-01 -2.28118248e-03 -3.10024391e+00] [-1.45112483e-02 -1.32185623e-04 9.99894698e-01 -8.30466345e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.498623853000005 meters Centerline goodness [0,1] 0.999892431478852 Centerline is valid? [True, True] Translation: X:35.02, Y:-3.11, Z:-0.83 [[ 9.86580594e-01 1.62654087e-01 1.42259984e-02 3.50153042e+01] [-1.62638349e-01 9.86683152e-01 -2.26404032e-03 -3.10716270e+00] [-1.44048083e-02 -8.00346380e-05 9.99896242e-01 -8.32495506e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.528623853 meters Centerline goodness [0,1] 0.9999565614004604 Centerline is valid? [True, True] Translation: X:35.04, Y:-3.12, Z:-0.83 [[ 9.87750336e-01 1.55483442e-01 1.31974703e-02 3.50436452e+01] [-1.55469262e-01 9.87838498e-01 -2.09994398e-03 -3.12014775e+00] [-1.33634758e-02 2.24194053e-05 9.99910705e-01 -8.34681298e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.558623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:35.07, Y:-3.13, Z:-0.84 [[ 9.88280776e-01 1.52141990e-01 1.24065695e-02 3.50722888e+01] [-1.52129194e-01 9.88358645e-01 -1.97416020e-03 -3.12895116e+00] [-1.25624928e-02 6.36231619e-05 9.99921087e-01 -8.36933374e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.588623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:35.10, Y:-3.14, Z:-0.84 [[ 9.88773254e-01 1.48953305e-01 1.18475965e-02 3.51021141e+01] [-1.48941410e-01 9.88844226e-01 -1.88500892e-03 -3.13763173e+00] [-1.19962057e-02 9.92486753e-05 9.99928038e-01 -8.38406177e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.618623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:35.13, Y:-3.15, Z:-0.84 [[ 9.89181132e-01 1.46268175e-01 1.12386886e-02 3.51324511e+01] [-1.46257300e-01 9.89244967e-01 -1.78797356e-03 -3.14585908e+00] [-1.13793398e-02 1.24889466e-04 9.99935245e-01 -8.39322327e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.648623853000004 meters Centerline goodness [0,1] 0.999935834367113 Centerline is valid? [True, True] Translation: X:35.16, Y:-3.16, Z:-0.84 [[ 9.89778672e-01 1.42213477e-01 1.06539475e-02 3.51619077e+01] [-1.42203471e-01 9.89835997e-01 -1.69475489e-03 -3.15812870e+00] [-1.07866777e-02 1.62403930e-04 9.99941809e-01 -8.41821059e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.678623853000005 meters Centerline goodness [0,1] 0.9999350466581506 Centerline is valid? [True, True] Translation: X:35.19, Y:-3.17, Z:-0.84 [[ 9.89966927e-01 1.40859431e-01 1.11402408e-02 3.51926740e+01] [-1.40848389e-01 9.90029588e-01 -1.77359487e-03 -3.16519425e+00] [-1.12789955e-02 1.86715304e-04 9.99936373e-01 -8.41984427e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.708623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:35.22, Y:-3.17, Z:-0.84 [[ 9.90103214e-01 1.39860177e-01 1.16084333e-02 3.52248660e+01] [-1.39848125e-01 9.90171242e-01 -1.84754425e-03 -3.16906636e+00] [-1.17527346e-02 2.05841880e-04 9.99930913e-01 -8.40228137e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.738623853 meters Centerline goodness [0,1] 0.9998479649016115 Centerline is valid? [True, True] Translation: X:35.26, Y:-3.18, Z:-0.84 [[ 9.90308741e-01 1.38349220e-01 1.21692496e-02 3.52550977e+01] [-1.38335832e-01 9.90383480e-01 -1.93916577e-03 -3.17729232e+00] [-1.23205058e-02 2.36929549e-04 9.99924072e-01 -8.36209699e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.768623853 meters Centerline goodness [0,1] 0.9998918591573666 Centerline is valid? [True, True] Translation: X:35.29, Y:-3.18, Z:-0.84 [[ 9.90386618e-01 1.37715999e-01 1.29865636e-02 3.52866129e+01] [-1.37700669e-01 9.90471723e-01 -2.07166404e-03 -3.18230261e+00] [-1.31481253e-02 2.63489849e-04 9.99913525e-01 -8.39139284e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.798623853 meters Centerline goodness [0,1] 0.9998257725896726 Centerline is valid? [True, True] Translation: X:35.32, Y:-3.19, Z:-0.84 [[ 9.90461340e-01 1.37162938e-01 1.31400692e-02 3.53170312e+01] [-1.37147163e-01 9.90548460e-01 -2.09852217e-03 -3.18982708e+00] [-1.33037148e-02 2.76381878e-04 9.99911463e-01 -8.39768237e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.828623853 meters Centerline goodness [0,1] 0.9997628645956841 Centerline is valid? [True, True] Translation: X:35.35, Y:-3.19, Z:-0.84 [[ 9.90518677e-01 1.36757345e-01 1.30452649e-02 3.53493481e+01] [-1.36741734e-01 9.90604537e-01 -2.08538448e-03 -3.19426402e+00] [-1.32078902e-02 2.81780138e-04 9.99912732e-01 -8.39776998e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.858623853000005 meters Centerline goodness [0,1] 0.9998713219524749 Centerline is valid? [True, True] Translation: X:35.38, Y:-3.21, Z:-0.84 [[ 9.90673329e-01 1.35634881e-01 1.30205312e-02 3.53793539e+01] [-1.35619197e-01 9.90758845e-01 -2.08408515e-03 -3.20589329e+00] [-1.31828811e-02 2.98813586e-04 9.99913057e-01 -8.41129381e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.888623853 meters Centerline goodness [0,1] 0.9998071028998864 Centerline is valid? [True, True] Translation: X:35.41, Y:-3.21, Z:-0.84 [[ 9.90742992e-01 1.35139312e-01 1.28720311e-02 3.54106198e+01] [-1.35123932e-01 9.90826561e-01 -2.06117285e-03 -3.21196668e+00] [-1.30324958e-02 3.02773108e-04 9.99915028e-01 -8.42069410e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.918623853 meters Centerline goodness [0,1] 0.9997172560789943 Centerline is valid? [True, True] Translation: X:35.44, Y:-3.22, Z:-0.84 [[ 9.90857567e-01 1.34353600e-01 1.22634704e-02 3.54426811e+01] [-1.34339556e-01 9.90933408e-01 -1.96561796e-03 -3.21664363e+00] [-1.24163704e-02 3.00178259e-04 9.99922869e-01 -8.36004890e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.948623853 meters Centerline goodness [0,1] 0.9998270382461678 Centerline is valid? [True, True] Translation: X:35.47, Y:-3.23, Z:-0.84 [[ 9.91108248e-01 1.32371679e-01 1.34973589e-02 3.54720142e+01] [-1.32354446e-01 9.91200085e-01 -2.16610258e-03 -3.22844678e+00] [-1.36653139e-02 3.60406676e-04 9.99906560e-01 -8.42088870e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.978623853 meters Centerline goodness [0,1] 0.9996525666637713 Centerline is valid? [True, True] Translation: X:35.50, Y:-3.24, Z:-0.84 [[ 9.91194566e-01 1.31671524e-01 1.39979375e-02 3.55035341e+01] [-1.31652886e-01 9.91293327e-01 -2.24876414e-03 -3.23647714e+00] [-1.41721602e-02 3.86093925e-04 9.99899495e-01 -8.42062071e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.008623853 meters Centerline goodness [0,1] 0.9998704579312132 Centerline is valid? [True, True] Translation: X:35.53, Y:-3.25, Z:-0.84 [[ 9.91255390e-01 1.31171430e-01 1.43808201e-02 3.55347167e+01] [-1.31151668e-01 9.91359617e-01 -2.31283159e-03 -3.24510385e+00] [-1.45599417e-02 4.06538232e-04 9.99893916e-01 -8.41624950e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.038623853000004 meters Centerline goodness [0,1] 0.9996320585243382 Centerline is valid? [True, True] Translation: X:35.56, Y:-3.26, Z:-0.84 [[ 9.91340928e-01 1.30463043e-01 1.49183989e-02 3.55648115e+01] [-1.30441655e-01 9.91453078e-01 -2.40199345e-03 -3.25675122e+00] [-1.51042639e-02 4.35213762e-04 9.99885829e-01 -8.41072595e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.068623853000005 meters Centerline goodness [0,1] 0.999807036727343 Centerline is valid? [True, True] Translation: X:35.60, Y:-3.27, Z:-0.84 [[ 9.91342561e-01 1.30474024e-01 1.47124591e-02 3.55959874e+01] [-1.30453191e-01 9.91451634e-01 -2.37107141e-03 -3.26534326e+00] [-1.48960548e-02 4.31256777e-04 9.99888955e-01 -8.42087813e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.098623853 meters Centerline goodness [0,1] 0.9997815067295928 Centerline is valid? [True, True] Translation: X:35.63, Y:-3.27, Z:-0.84 [[ 9.91320207e-01 1.30683827e-01 1.43521717e-02 3.56287653e+01] [-1.30663988e-01 9.91424007e-01 -2.31548870e-03 -3.27059677e+00] [-1.45316845e-02 4.20078749e-04 9.99894321e-01 -8.43357163e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.128623853 meters Centerline goodness [0,1] 0.9997406919203924 Centerline is valid? [True, True] Translation: X:35.66, Y:-3.28, Z:-0.85 [[ 9.91241720e-01 1.31346712e-01 1.37074254e-02 3.56585152e+01] [-1.31328641e-01 9.91336414e-01 -2.21417322e-03 -3.27967113e+00] [-1.38794943e-02 3.94603317e-04 9.99903597e-01 -8.45346701e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.158623853 meters Centerline goodness [0,1] 0.9996087466852149 Centerline is valid? [True, True] Translation: X:35.69, Y:-3.29, Z:-0.85 [[ 9.91039777e-01 1.33008379e-01 1.22037854e-02 3.56894084e+01] [-1.32994161e-01 9.91114858e-01 -1.97290622e-03 -3.28851446e+00] [-1.23577661e-02 3.32196340e-04 9.99923585e-01 -8.48750145e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.188623853 meters Centerline goodness [0,1] 0.999785167998625 Centerline is valid? [True, True] Translation: X:35.72, Y:-3.30, Z:-0.85 [[ 9.90865512e-01 1.34360469e-01 1.15239844e-02 3.57196840e+01] [-1.34347857e-01 9.90932477e-01 -1.86519222e-03 -3.29544057e+00] [-1.16700985e-02 2.99932043e-04 9.99931857e-01 -8.50578423e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.218623853000004 meters Centerline goodness [0,1] 0.9996320983379502 Centerline is valid? [True, True] Translation: X:35.75, Y:-3.30, Z:-0.85 [[ 9.90673513e-01 1.35808112e-01 1.10520481e-02 3.57516833e+01] [-1.35796596e-01 9.90735122e-01 -1.78934382e-03 -3.30136852e+00] [-1.11926596e-02 2.71825013e-04 9.99937323e-01 -8.45787188e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.248623853000005 meters Centerline goodness [0,1] 0.9996998477799456 Centerline is valid? [True, True] Translation: X:35.78, Y:-3.31, Z:-0.84 [[ 9.90114540e-01 1.39801718e-01 1.13435703e-02 3.57821424e+01] [-1.39789816e-01 9.90179491e-01 -1.83936746e-03 -3.30575037e+00] [-1.14893174e-02 2.35468871e-04 9.99933968e-01 -8.44712656e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.278623853 meters Centerline goodness [0,1] 0.9999135826473956 Centerline is valid? [True, True] Translation: X:35.81, Y:-3.31, Z:-0.85 [[ 9.89750760e-01 1.42287343e-01 1.21550352e-02 3.58141633e+01] [-1.42273869e-01 9.89825370e-01 -1.97047404e-03 -3.30806190e+00] [-1.23117357e-02 2.20934294e-04 9.99924183e-01 -8.49412580e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.308623853 meters Centerline goodness [0,1] 0.9998921484037964 Centerline is valid? [True, True] Translation: X:35.85, Y:-3.31, Z:-0.85 [[ 9.89362798e-01 1.44873118e-01 1.31542266e-02 3.58451201e+01] [-1.44857532e-01 9.89450220e-01 -2.13505360e-03 -3.31341721e+00] [-1.33247643e-02 2.06853799e-04 9.99911200e-01 -8.48833446e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.338623853 meters Centerline goodness [0,1] 0.9999351519605724 Centerline is valid? [True, True] Translation: X:35.88, Y:-3.32, Z:-0.85 [[ 9.88684616e-01 1.49374192e-01 1.37870139e-02 3.58758522e+01] [-1.49357467e-01 9.88780727e-01 -2.24062766e-03 -3.31798485e+00] [-1.39670255e-02 1.56080618e-04 9.99902444e-01 -8.48076859e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.368623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:35.91, Y:-3.32, Z:-0.85 [[ 9.88326730e-01 1.51748639e-01 1.35138902e-02 3.59064822e+01] [-1.51732795e-01 9.88419110e-01 -2.19603994e-03 -3.32329576e+00] [-1.36906333e-02 1.19904647e-04 9.99906272e-01 -8.49391055e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.398623853000004 meters Centerline goodness [0,1] 0.9999148265655942 Centerline is valid? [True, True] Translation: X:35.94, Y:-3.33, Z:-0.85 [[ 9.87954990e-01 1.54174841e-01 1.32308580e-02 3.59368982e+01] [-1.54159844e-01 9.88043577e-01 -2.15214073e-03 -3.32766302e+00] [-1.34044702e-02 8.65511672e-05 9.99910152e-01 -8.50654623e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.428623853000005 meters Centerline goodness [0,1] 0.9999569975703627 Centerline is valid? [True, True] Translation: X:35.97, Y:-3.33, Z:-0.85 [[ 9.87206087e-01 1.58907906e-01 1.31308248e-02 3.59691730e+01] [-1.58893527e-01 9.87293410e-01 -2.13784144e-03 -3.33205735e+00] [-1.33036967e-02 2.40870120e-05 9.99911502e-01 -8.51377840e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.458623853 meters Centerline goodness [0,1] 0.99997854997855 Centerline is valid? [True, True] Translation: X:36.00, Y:-3.34, Z:-0.85 [[ 9.86812399e-01 1.61376021e-01 1.26122781e-02 3.60010120e+01] [-1.61362928e-01 9.86892993e-01 -2.05566395e-03 -3.33614522e+00] [-1.27787037e-02 -6.59943984e-06 9.99918349e-01 -8.52533502e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.488623853 meters Centerline goodness [0,1] 0.9999568360850329 Centerline is valid? [True, True] Translation: X:36.03, Y:-3.34, Z:-0.85 [[ 9.86395312e-01 1.63929295e-01 1.23074930e-02 3.60334546e+01] [-1.63917011e-01 9.86472090e-01 -2.00717760e-03 -3.33959047e+00] [-1.24700336e-02 -3.75368984e-05 9.99922245e-01 -8.53839380e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.518623853 meters Centerline goodness [0,1] 0.9999571459181487 Centerline is valid? [True, True] Translation: X:36.07, Y:-3.34, Z:-0.85 [[ 9.85930800e-01 1.66706840e-01 1.22182774e-02 3.60650291e+01] [-1.66694921e-01 9.86006503e-01 -1.99467342e-03 -3.34293524e+00] [-1.23798266e-02 -7.01148145e-05 9.99923365e-01 -8.54311026e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.548623853 meters Centerline goodness [0,1] 0.9999784816663797 Centerline is valid? [True, True] Translation: X:36.10, Y:-3.34, Z:-0.85 [[ 9.85045851e-01 1.71840774e-01 1.24667847e-02 3.60955544e+01] [-1.71828741e-01 9.85124728e-01 -2.03800454e-03 -3.34478302e+00] [-1.26315502e-02 -1.34624004e-04 9.99920210e-01 -8.54572470e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.578623853 meters Centerline goodness [0,1] 0.9998713716074261 Centerline is valid? [True, True] Translation: X:36.13, Y:-3.35, Z:-0.86 [[ 9.84609332e-01 1.74322795e-01 1.24910644e-02 3.61259802e+01] [-1.74310913e-01 9.84688547e-01 -2.04212636e-03 -3.34571746e+00] [-1.26557972e-02 -1.66632160e-04 9.99919898e-01 -8.55698794e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.608623853000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:36.16, Y:-3.35, Z:-0.86 [[ 9.84143760e-01 1.76922281e-01 1.26319725e-02 3.61572278e+01] [-1.76910342e-01 9.84224804e-01 -2.06525843e-03 -3.35096256e+00] [-1.27980909e-02 -2.02215373e-04 9.99918081e-01 -8.55285302e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.638623853000006 meters Centerline goodness [0,1] 0.9996965756393584 Centerline is valid? [True, True] Translation: X:36.19, Y:-3.35, Z:-0.85 [[ 9.83381990e-01 1.81119946e-01 1.24670514e-02 3.61877434e+01] [-1.81108652e-01 9.83460981e-01 -2.03841303e-03 -3.35042340e+00] [-1.26300558e-02 -2.53352206e-04 9.99920206e-01 -8.50524675e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.668623853 meters Centerline goodness [0,1] 0.9996368452533538 Centerline is valid? [True, True] Translation: X:36.22, Y:-3.35, Z:-0.85 [[ 9.83098393e-01 1.82663509e-01 1.23122706e-02 3.62168602e+01] [-1.82652601e-01 9.83175452e-01 -2.01424939e-03 -3.35185960e+00] [-1.24730521e-02 -2.68662915e-04 9.99922172e-01 -8.51375840e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.698623853 meters Centerline goodness [0,1] 0.9998262154060042 Centerline is valid? [True, True] Translation: X:36.25, Y:-3.36, Z:-0.86 [[ 9.82790574e-01 1.84275504e-01 1.28540593e-02 3.62469776e+01] [-1.84263758e-01 9.82874584e-01 -2.10245569e-03 -3.35691245e+00] [-1.30213593e-02 -3.02263627e-04 9.99915173e-01 -8.56351207e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.728623853 meters Centerline goodness [0,1] 0.999760760347115 Centerline is valid? [True, True] Translation: X:36.28, Y:-3.36, Z:-0.86 [[ 9.82602180e-01 1.85267009e-01 1.30034785e-02 3.62771891e+01] [-1.85255075e-01 9.82688167e-01 -2.12689524e-03 -3.35953496e+00] [-1.31724080e-02 -3.19068497e-04 9.99913189e-01 -8.57188024e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.758623853 meters Centerline goodness [0,1] 0.9997650827549386 Centerline is valid? [True, True] Translation: X:36.31, Y:-3.36, Z:-0.86 [[ 9.82509177e-01 1.85766430e-01 1.29054205e-02 3.63069413e+01] [-1.85754717e-01 9.82593878e-01 -2.11091083e-03 -3.35997631e+00] [-1.30729235e-02 -3.23253466e-04 9.99914493e-01 -8.58587234e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.788623853000004 meters Centerline goodness [0,1] 0.9996532894166594 Centerline is valid? [True, True] Translation: X:36.34, Y:-3.37, Z:-0.86 [[ 9.82532157e-01 1.85645295e-01 1.28990316e-02 3.63361032e+01] [-1.85633585e-01 9.82616772e-01 -2.10975876e-03 -3.36500224e+00] [-1.30664716e-02 -3.21587665e-04 9.99914578e-01 -8.58969721e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.818623853000005 meters Centerline goodness [0,1] 0.9997865027007409 Centerline is valid? [True, True] Translation: X:36.37, Y:-3.37, Z:-0.86 [[ 9.82625908e-01 1.85141590e-01 1.29967982e-02 3.63654850e+01] [-1.85129662e-01 9.82711805e-01 -2.12544884e-03 -3.37012269e+00] [-1.31656160e-02 -3.17571757e-04 9.99913279e-01 -8.59665423e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.848623853 meters Centerline goodness [0,1] 0.9997192042680951 Centerline is valid? [True, True] Translation: X:36.39, Y:-3.37, Z:-0.86 [[ 9.82914869e-01 1.83579004e-01 1.33082811e-02 3.63944400e+01] [-1.83566359e-01 9.83004912e-01 -2.17607360e-03 -3.37485811e+00] [-1.34815871e-02 -3.04057610e-04 9.99909073e-01 -8.59880241e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.878623853 meters Centerline goodness [0,1] 0.9997637761456857 Centerline is valid? [True, True] Translation: X:36.42, Y:-3.38, Z:-0.86 [[ 9.83137056e-01 1.82399052e-01 1.31192752e-02 3.64227770e+01] [-1.82386662e-01 9.83224545e-01 -2.14487234e-03 -3.38027694e+00] [-1.32904161e-02 -2.84077341e-04 9.99911638e-01 -8.60779599e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.908623853 meters Centerline goodness [0,1] 0.9997637761456857 Centerline is valid? [True, True] Translation: X:36.45, Y:-3.38, Z:-0.86 [[ 9.83141084e-01 1.82377337e-01 1.31193206e-02 3.64515706e+01] [-1.82364948e-01 9.83228573e-01 -2.14459519e-03 -3.38493713e+00] [-1.32904164e-02 -2.84064573e-04 9.99911638e-01 -8.61293998e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.938623853 meters Centerline goodness [0,1] 0.9998285763263907 Centerline is valid? [True, True] Translation: X:36.48, Y:-3.39, Z:-0.86 [[ 9.83423031e-01 1.80864290e-01 1.29325462e-02 3.64805443e+01] [-1.80852125e-01 9.83508028e-01 -2.11377561e-03 -3.39127467e+00] [-1.31015696e-02 -2.60142849e-04 9.99914137e-01 -8.62455081e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.968623853000004 meters Centerline goodness [0,1] 0.9998088644424151 Centerline is valid? [True, True] Translation: X:36.51, Y:-3.40, Z:-0.86 [[ 9.84078767e-01 1.77251549e-01 1.30716587e-02 3.65088921e+01] [-1.77238806e-01 9.84165556e-01 -2.13621236e-03 -3.39926897e+00] [-1.32433232e-02 -2.14603957e-04 9.99912280e-01 -8.62586814e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.998623853000005 meters Centerline goodness [0,1] 0.9999572658703874 Centerline is valid? [True, True] Translation: X:36.54, Y:-3.41, Z:-0.86 [[ 9.84449503e-01 1.75187176e-01 1.29857439e-02 3.65388255e+01] [-1.75174425e-01 9.84535128e-01 -2.12178348e-03 -3.40705559e+00] [-1.31566303e-02 -1.85981542e-04 9.99913430e-01 -8.63785773e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.028623853 meters Centerline goodness [0,1] 0.9997637609260571 Centerline is valid? [True, True] Translation: X:36.57, Y:-3.42, Z:-0.86 [[ 9.84844380e-01 1.73036866e-01 1.18233105e-02 3.65691815e+01] [-1.73026142e-01 9.84915338e-01 -1.93171729e-03 -3.41667415e+00] [-1.19792182e-02 -1.43300893e-04 9.99928236e-01 -8.59319021e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.058623853 meters Centerline goodness [0,1] 0.9999348336084803 Centerline is valid? [True, True] Translation: X:36.60, Y:-3.43, Z:-0.86 [[ 9.85631592e-01 1.68591659e-01 1.03546044e-02 3.66001787e+01] [-1.68583198e-01 9.85685978e-01 -1.69090960e-03 -3.42622010e+00] [-1.04914617e-02 -7.89984053e-05 9.99944960e-01 -8.63955228e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.088623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:36.63, Y:-3.43, Z:-0.87 [[ 9.85973093e-01 1.66569898e-01 1.05607657e-02 3.66303719e+01] [-1.66560959e-01 9.86029648e-01 -1.72653201e-03 -3.43176837e+00] [-1.07008164e-02 -5.66971605e-05 9.99942743e-01 -8.71975962e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.118623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:36.66, Y:-3.44, Z:-0.87 [[ 9.86305857e-01 1.64596238e-01 1.04324205e-02 3.66614978e+01] [-1.64587389e-01 9.86361028e-01 -1.70707223e-03 -3.44049255e+00] [-1.05711106e-02 -3.33495038e-05 9.99944124e-01 -8.70575533e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.148623853000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:36.69, Y:-3.45, Z:-0.87 [[ 9.86585026e-01 1.62893758e-01 1.07522049e-02 3.66916574e+01] [-1.62884235e-01 9.86643615e-01 -1.76144973e-03 -3.44676906e+00] [-1.08955235e-02 -1.35447487e-05 9.99940642e-01 -8.73248018e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.178623853000005 meters Centerline goodness [0,1] 0.99997850340721 Centerline is valid? [True, True] Translation: X:36.72, Y:-3.46, Z:-0.87 [[ 9.87166348e-01 1.59266134e-01 1.17004285e-02 3.67219193e+01] [-1.59254575e-01 9.87235685e-01 -1.91902525e-03 -3.45616786e+00] [-1.18567163e-02 3.10503903e-05 9.99929706e-01 -8.71619542e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.208623853 meters Centerline goodness [0,1] 0.9999784909231696 Centerline is valid? [True, True] Translation: X:36.75, Y:-3.46, Z:-0.87 [[ 9.87463266e-01 1.57369938e-01 1.22882081e-02 3.67532624e+01] [-1.57357019e-01 9.87539720e-01 -2.01724490e-03 -3.46408515e+00] [-1.24525473e-02 5.83194514e-05 9.99922462e-01 -8.70702492e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.238623853 meters Centerline goodness [0,1] 0.9998916787625381 Centerline is valid? [True, True] Translation: X:36.78, Y:-3.47, Z:-0.86 [[ 9.87815972e-01 1.55125785e-01 1.24738023e-02 3.67846970e+01] [-1.55112270e-01 9.87894723e-01 -2.04956414e-03 -3.47019144e+00] [-1.26407437e-02 8.97523995e-05 9.99920099e-01 -8.63800021e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.268623853 meters Centerline goodness [0,1] 0.9999353490076073 Centerline is valid? [True, True] Translation: X:36.81, Y:-3.48, Z:-0.87 [[ 9.88571830e-01 1.50167322e-01 1.32481159e-02 3.68137416e+01] [-1.50151594e-01 9.88660583e-01 -2.17961401e-03 -3.48220308e+00] [-1.34251968e-02 1.65479289e-04 9.99909864e-01 -8.68188551e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.298623853 meters Centerline goodness [0,1] 0.9999566574202496 Centerline is valid? [True, True] Translation: X:36.85, Y:-3.49, Z:-0.87 [[ 9.88899644e-01 1.48019240e-01 1.29537252e-02 3.68451905e+01] [-1.48004010e-01 9.88984463e-01 -2.13187533e-03 -3.49012938e+00] [-1.31265915e-02 1.91007486e-04 9.99913824e-01 -8.69305516e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.328623853 meters Centerline goodness [0,1] 0.999871211470765 Centerline is valid? [True, True] Translation: X:36.88, Y:-3.50, Z:-0.87 [[ 9.89188390e-01 1.46094926e-01 1.27515104e-02 3.68752630e+01] [-1.46079980e-01 9.89270553e-01 -2.10080423e-03 -3.49849731e+00] [-1.29216106e-02 2.15350773e-04 9.99916489e-01 -8.70595563e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.358623853000005 meters Centerline goodness [0,1] 0.9999567679737149 Centerline is valid? [True, True] Translation: X:36.91, Y:-3.51, Z:-0.87 [[ 9.89669908e-01 1.42822551e-01 1.24576224e-02 3.69053944e+01] [-1.42808001e-01 9.89748278e-01 -2.05432348e-03 -3.50866483e+00] [-1.26233140e-02 2.54053977e-04 9.99920291e-01 -8.71549992e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.388623853000006 meters Centerline goodness [0,1] 0.9997852740976144 Centerline is valid? [True, True] Translation: X:36.94, Y:-3.52, Z:-0.87 [[ 9.89789689e-01 1.41994080e-01 1.24117909e-02 3.69358981e+01] [-1.41979548e-01 9.89867471e-01 -2.04871639e-03 -3.51581164e+00] [-1.25769337e-02 2.65577898e-04 9.99920872e-01 -8.71975411e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.418623853 meters Centerline goodness [0,1] 0.999763816721776 Centerline is valid? [True, True] Translation: X:36.97, Y:-3.52, Z:-0.87 [[ 9.89861972e-01 1.41488858e-01 1.24168991e-02 3.69674574e+01] [-1.41474251e-01 9.89939810e-01 -2.05144441e-03 -3.52093301e+00] [-1.25822393e-02 2.73975312e-04 9.99920803e-01 -8.72137504e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.448623853 meters Centerline goodness [0,1] 0.9994586166572826 Centerline is valid? [True, True] Translation: X:37.00, Y:-3.53, Z:-0.87 [[ 9.89919875e-01 1.41109857e-01 1.21098714e-02 3.69993123e+01] [-1.41095911e-01 9.89993906e-01 -2.00266892e-03 -3.52573674e+00] [-1.22712952e-02 2.73828442e-04 9.99924667e-01 -8.66379635e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.478623853 meters Centerline goodness [0,1] 0.9998489914788049 Centerline is valid? [True, True] Translation: X:37.03, Y:-3.53, Z:-0.87 [[ 9.89922646e-01 1.40968381e-01 1.34562325e-02 3.70314375e+01] [-1.40951114e-01 9.90014051e-01 -2.22779222e-03 -3.53148193e+00] [-1.36359075e-02 3.08670999e-04 9.99906979e-01 -8.70206907e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.508623853 meters Centerline goodness [0,1] 0.9999130472588148 Centerline is valid? [True, True] Translation: X:37.06, Y:-3.54, Z:-0.87 [[ 9.89915407e-01 1.40981807e-01 1.38425737e-02 3.70624815e+01] [-1.40963495e-01 9.90012135e-01 -2.29465496e-03 -3.53895786e+00] [-1.40278206e-02 3.20216722e-04 9.99901554e-01 -8.70618356e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.538623853000004 meters Centerline goodness [0,1] 0.9997829861111112 Centerline is valid? [True, True] Translation: X:37.09, Y:-3.55, Z:-0.87 [[ 9.89929390e-01 1.40923517e-01 1.34300436e-02 3.70931208e+01] [-1.40906242e-01 9.90020436e-01 -2.22868967e-03 -3.54782227e+00] [-1.36100925e-02 3.13868426e-04 9.99907329e-01 -8.71970105e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.568623853000005 meters Centerline goodness [0,1] 0.9999783362218371 Centerline is valid? [True, True] Translation: X:37.13, Y:-3.55, Z:-0.87 [[ 9.89909368e-01 1.41102362e-01 1.30217563e-02 3.71258028e+01] [-1.41086108e-01 9.89994965e-01 -2.16312093e-03 -3.54959085e+00] [-1.31966947e-02 3.04104749e-04 9.99912874e-01 -8.72301430e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.598623853 meters Centerline goodness [0,1] 0.9998277013202387 Centerline is valid? [True, True] Translation: X:37.16, Y:-3.56, Z:-0.87 [[ 9.89868242e-01 1.41414442e-01 1.27600694e-02 3.71569110e+01] [-1.41398825e-01 9.89950437e-01 -2.12247262e-03 -3.55793621e+00] [-1.29319845e-02 2.96709422e-04 9.99916334e-01 -8.74231097e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.628623853 meters Centerline goodness [0,1] 0.9998067715825407 Centerline is valid? [True, True] Translation: X:37.19, Y:-3.56, Z:-0.87 [[ 9.89843360e-01 1.41636291e-01 1.22181606e-02 3.71892527e+01] [-1.41621975e-01 9.89918725e-01 -2.03339431e-03 -3.56241897e+00] [-1.23829884e-02 2.82381810e-04 9.99923288e-01 -8.70711317e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.658623853 meters Centerline goodness [0,1] 0.9998915942154674 Centerline is valid? [True, True] Translation: X:37.22, Y:-3.57, Z:-0.88 [[ 9.89751814e-01 1.42319721e-01 1.16809277e-02 3.72193111e+01] [-1.42306657e-01 9.89820705e-01 -1.94631120e-03 -3.57053077e+00] [-1.18390225e-02 2.64091277e-04 9.99929881e-01 -8.77646160e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.688623853 meters Centerline goodness [0,1] 0.9998705557473249 Centerline is valid? [True, True] Translation: X:37.25, Y:-3.58, Z:-0.88 [[ 9.89744833e-01 1.42395099e-01 1.13490654e-02 3.72514706e+01] [-1.42382747e-01 9.89809865e-01 -1.89313225e-03 -3.57765438e+00] [-1.15029897e-02 2.57806745e-04 9.99933805e-01 -8.78766745e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.718623853000004 meters Centerline goodness [0,1] 0.9998494008304468 Centerline is valid? [True, True] Translation: X:37.28, Y:-3.58, Z:-0.88 [[ 9.89703293e-01 1.42720664e-01 1.08721885e-02 3.72832550e+01] [-1.42709347e-01 9.89762978e-01 -1.81373011e-03 -3.58498056e+00] [-1.10197464e-02 2.43491749e-04 9.99939251e-01 -8.79440496e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.748623853000005 meters Centerline goodness [0,1] 0.999871633041655 Centerline is valid? [True, True] Translation: X:37.31, Y:-3.59, Z:-0.88 [[ 9.89654393e-01 1.43080118e-01 1.05953902e-02 3.73141024e+01] [-1.43069368e-01 9.89711081e-01 -1.76964141e-03 -3.59288826e+00] [-1.07395756e-02 2.35457616e-04 9.99942301e-01 -8.80690154e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.778623853 meters Centerline goodness [0,1] 0.9999354185951391 Centerline is valid? [True, True] Translation: X:37.35, Y:-3.60, Z:-0.88 [[ 9.89552863e-01 1.43754259e-01 1.09473051e-02 3.73459413e+01] [-1.43742800e-01 9.89613387e-01 -1.83059992e-03 -3.60020756e+00] [-1.10967562e-02 2.37879102e-04 9.99938401e-01 -8.80335071e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.808623853 meters Centerline goodness [0,1] 0.9998691242229251 Centerline is valid? [True, True] Translation: X:37.38, Y:-3.61, Z:-0.88 [[ 9.89505407e-01 1.44074648e-01 1.10247469e-02 3.73781702e+01] [-1.44063027e-01 9.89566794e-01 -1.84522623e-03 -3.60526857e+00] [-1.11755738e-02 2.37602918e-04 9.99937523e-01 -8.80123572e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.838623853 meters Centerline goodness [0,1] 0.9999352219727069 Centerline is valid? [True, True] Translation: X:37.41, Y:-3.61, Z:-0.88 [[ 9.89423132e-01 1.44651582e-01 1.08528996e-02 3.74086261e+01] [-1.44640325e-01 9.89482626e-01 -1.81926653e-03 -3.61391076e+00] [-1.10019154e-02 2.30257471e-04 9.99939451e-01 -8.81391528e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.868623853 meters Centerline goodness [0,1] 0.9999570419056211 Centerline is valid? [True, True] Translation: X:37.44, Y:-3.63, Z:-0.88 [[ 9.89320475e-01 1.45336881e-01 1.10539329e-02 3.74386425e+01] [-1.45325237e-01 9.89382201e-01 -1.85371747e-03 -3.62587669e+00] [-1.12059779e-02 2.27505234e-04 9.99937185e-01 -8.82512075e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.898623853000004 meters Centerline goodness [0,1] 0.9999568481919392 Centerline is valid? [True, True] Translation: X:37.47, Y:-3.63, Z:-0.88 [[ 9.89269351e-01 1.45677939e-01 1.11395497e-02 3.74702411e+01] [-1.45666108e-01 9.89332040e-01 -1.87047939e-03 -3.63128609e+00] [-1.12932010e-02 2.27753080e-04 9.99936204e-01 -8.81929216e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.928623853000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:37.50, Y:-3.64, Z:-0.88 [[ 9.89183458e-01 1.46250518e-01 1.12637698e-02 3.75022918e+01] [-1.46238459e-01 9.89247560e-01 -1.89132909e-03 -3.63712249e+00] [-1.14192647e-02 2.23675102e-04 9.99934773e-01 -8.81729680e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.958623853 meters Centerline goodness [0,1] 0.9999363165492061 Centerline is valid? [True, True] Translation: X:37.53, Y:-3.65, Z:-0.88 [[ 9.89069086e-01 1.47024381e-01 1.12327172e-02 3.75320508e+01] [-1.47012415e-01 9.89132845e-01 -1.88817838e-03 -3.64750270e+00] [-1.13882578e-02 2.16189984e-04 9.99935128e-01 -8.83308582e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.988623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:37.56, Y:-3.65, Z:-0.88 [[ 9.88771390e-01 1.49003535e-01 1.13615683e-02 3.75635961e+01] [-1.48991402e-01 9.88836644e-01 -1.91167786e-03 -3.65318220e+00] [-1.15195818e-02 1.97436388e-04 9.99933628e-01 -8.83086790e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.018623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:37.60, Y:-3.66, Z:-0.88 [[ 9.88540932e-01 1.50542895e-01 1.11203831e-02 3.75956749e+01] [-1.50531349e-01 9.88603462e-01 -1.87287615e-03 -3.65723490e+00] [-1.12755975e-02 1.77448462e-04 9.99936413e-01 -8.83135209e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.048623853 meters Centerline goodness [0,1] 0.9999783037903278 Centerline is valid? [True, True] Translation: X:37.63, Y:-3.66, Z:-0.89 [[ 9.87954377e-01 1.54404407e-01 1.02678100e-02 3.76263478e+01] [-1.54394756e-01 9.88007724e-01 -1.73086261e-03 -3.66361997e+00] [-1.04119284e-02 1.24717279e-04 9.99945787e-01 -8.85714343e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.078623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:37.66, Y:-3.67, Z:-0.89 [[ 9.87581283e-01 1.56799723e-01 9.85174186e-03 3.76586775e+01] [-1.56790941e-01 9.87630415e-01 -1.66232989e-03 -3.66734605e+00] [-9.99053278e-03 9.70220073e-05 9.99950089e-01 -8.86568556e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.108623853000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:37.69, Y:-3.67, Z:-0.89 [[ 9.87210641e-01 1.59112778e-01 9.91335282e-03 3.76911341e+01] [-1.59103977e-01 9.87260410e-01 -1.67529223e-03 -3.67150312e+00] [-1.00536212e-02 7.66124590e-05 9.99949458e-01 -8.86565365e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.138623853000006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:37.72, Y:-3.67, Z:-0.89 [[ 9.86482393e-01 1.63545522e-01 1.02640409e-02 3.77238804e+01] [-1.63536320e-01 9.86535788e-01 -1.73524461e-03 -3.67394356e+00] [-1.04096352e-02 3.32447853e-05 9.99945818e-01 -8.86247720e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.168623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:37.76, Y:-3.68, Z:-0.89 [[ 9.86098217e-01 1.65835563e-01 1.04342438e-02 3.77552467e+01] [-1.65826181e-01 9.86153419e-01 -1.76400107e-03 -3.67752815e+00] [-1.05822993e-02 9.20751497e-06 9.99944006e-01 -8.86745848e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.198623853 meters Centerline goodness [0,1] 0.999978309908034 Centerline is valid? [True, True] Translation: X:37.79, Y:-3.68, Z:-0.88 [[ 9.85738892e-01 1.67967624e-01 1.02817820e-02 3.77881358e+01] [-1.67958615e-01 9.85792512e-01 -1.73961041e-03 -3.68185578e+00] [-1.04279019e-02 -1.21122279e-05 9.99945628e-01 -8.84793927e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.228623853 meters Centerline goodness [0,1] 0.9999140136288398 Centerline is valid? [True, True] Translation: X:37.82, Y:-3.69, Z:-0.88 [[ 9.85148590e-01 1.71363957e-01 1.08004805e-02 3.78198387e+01] [-1.71354194e-01 9.85207791e-01 -1.82976636e-03 -3.68631174e+00] [-1.09542736e-02 -4.81158977e-05 9.99939999e-01 -8.83284135e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.258623853 meters Centerline goodness [0,1] 0.9999783418522048 Centerline is valid? [True, True] Translation: X:37.85, Y:-3.69, Z:-0.89 [[ 9.84846698e-01 1.73060780e-01 1.12671333e-02 3.78527632e+01] [-1.73050242e-01 9.84911144e-01 -1.91095707e-03 -3.69160481e+00] [-1.14278368e-02 -6.77803861e-05 9.99934698e-01 -8.86743928e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.288623853000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:37.88, Y:-3.70, Z:-0.89 [[ 9.84560102e-01 1.74656519e-01 1.16835609e-02 3.78842512e+01] [-1.74645271e-01 9.84629419e-01 -1.98409266e-03 -3.69548382e+00] [-1.18505125e-02 -8.70201792e-05 9.99929776e-01 -8.87023336e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.318623853000005 meters Centerline goodness [0,1] 0.9999349127831294 Centerline is valid? [True, True] Translation: X:37.92, Y:-3.70, Z:-0.89 [[ 9.84324592e-01 1.75982034e-01 1.16370805e-02 3.79154806e+01] [-1.75970941e-01 9.84393373e-01 -1.97846133e-03 -3.70077771e+00] [-1.18036385e-02 -1.00339854e-04 9.99930330e-01 -8.87037838e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.348623853 meters Centerline goodness [0,1] 0.999956738048886 Centerline is valid? [True, True] Translation: X:37.95, Y:-3.71, Z:-0.89 [[ 9.84005547e-01 1.77793700e-01 1.10671968e-02 3.79456974e+01] [-1.77783757e-01 9.84067776e-01 -1.88372833e-03 -3.70591254e+00] [-1.12257868e-02 -1.13968700e-04 9.99936982e-01 -8.89121359e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.378623853 meters Centerline goodness [0,1] 0.9999568649441402 Centerline is valid? [True, True] Translation: X:37.98, Y:-3.71, Z:-0.89 [[ 9.83875128e-01 1.78533143e-01 1.07540601e-02 3.79779905e+01] [-1.78523797e-01 9.83933891e-01 -1.83061390e-03 -3.71208039e+00] [-1.09081094e-02 -1.18760156e-04 9.99940498e-01 -8.90430383e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.408623853 meters Centerline goodness [0,1] 0.999978501558637 Centerline is valid? [True, True] Translation: X:38.01, Y:-3.72, Z:-0.89 [[ 9.83733719e-01 1.79333108e-01 1.03733457e-02 3.80086120e+01] [-1.79324434e-01 9.83788403e-01 -1.76796733e-03 -3.71673632e+00] [-1.05222323e-02 -1.20985261e-04 9.99944632e-01 -8.91598812e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.438623853 meters Centerline goodness [0,1] 0.9999140764290164 Centerline is valid? [True, True] Translation: X:38.04, Y:-3.72, Z:-0.89 [[ 9.83354247e-01 1.81443413e-01 9.62880322e-03 3.80404239e+01] [-1.81436028e-01 9.83401378e-01 -1.64229480e-03 -3.72134070e+00] [-9.76696193e-03 -1.32054246e-04 9.99952293e-01 -8.92686837e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.468623853000004 meters Centerline goodness [0,1] 0.9999136609898768 Centerline is valid? [True, True] Translation: X:38.07, Y:-3.73, Z:-0.89 [[ 9.83116225e-01 1.82717695e-01 9.83522415e-03 3.80717245e+01] [-1.82710037e-01 9.83165410e-01 -1.67921433e-03 -3.72676244e+00] [-9.97647435e-03 -1.46131309e-04 9.99950223e-01 -8.92659333e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.498623853000005 meters Centerline goodness [0,1] 0.9997853570585331 Centerline is valid? [True, True] Translation: X:38.10, Y:-3.73, Z:-0.89 [[ 9.82659212e-01 1.85140402e-01 1.01933939e-02 3.81027377e+01] [-1.85132286e-01 9.82712064e-01 -1.74234180e-03 -3.72817714e+00] [-1.03397490e-02 -1.74998096e-04 9.99946528e-01 -8.92712680e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.528623853 meters Centerline goodness [0,1] 0.9998043265572345 Centerline is valid? [True, True] Translation: X:38.13, Y:-3.73, Z:-0.89 [[ 9.82456327e-01 1.86192783e-01 1.05741473e-02 3.81342437e+01] [-1.86184092e-01 9.82513212e-01 -1.80911988e-03 -3.73387319e+00] [-1.07260845e-02 -1.91356748e-04 9.99942456e-01 -8.91953101e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.558623853 meters Centerline goodness [0,1] 0.9997807690621301 Centerline is valid? [True, True] Translation: X:38.17, Y:-3.74, Z:-0.89 [[ 9.82295083e-01 1.87021599e-01 1.09220757e-02 3.81662788e+01] [-1.87012356e-01 9.82355780e-01 -1.87063670e-03 -3.73987636e+00] [-1.10792137e-02 -2.05045886e-04 9.99938603e-01 -8.91497858e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.588623853 meters Centerline goodness [0,1] 0.9996165317426502 Centerline is valid? [True, True] Translation: X:38.20, Y:-3.74, Z:-0.89 [[ 9.82054609e-01 1.88256167e-01 1.13295955e-02 3.81982686e+01] [-1.88246278e-01 9.82119934e-01 -1.94263250e-03 -3.73987218e+00] [-1.14927341e-02 -2.24982973e-04 9.99933931e-01 -8.92584753e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.618623853 meters Centerline goodness [0,1] 0.9998284807684061 Centerline is valid? [True, True] Translation: X:38.23, Y:-3.75, Z:-0.89 [[ 9.81934634e-01 1.88873749e-01 1.14491070e-02 3.82299935e+01] [-1.88863670e-01 9.82001351e-01 -1.96497570e-03 -3.74735863e+00] [-1.16141709e-02 -2.32842676e-04 9.99932526e-01 -8.92263435e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.648623853000004 meters Centerline goodness [0,1] 0.9996586521024897 Centerline is valid? [True, True] Translation: X:38.26, Y:-3.75, Z:-0.89 [[ 9.81817713e-01 1.89467059e-01 1.16710018e-02 3.82628755e+01] [-1.89456606e-01 9.81887048e-01 -2.00494905e-03 -3.75265853e+00] [-1.18394773e-02 -2.42653908e-04 9.99929881e-01 -8.92562646e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.678623853000005 meters Centerline goodness [0,1] 0.9996561432163504 Centerline is valid? [True, True] Translation: X:38.29, Y:-3.76, Z:-0.89 [[ 9.81765180e-01 1.89726564e-01 1.18727566e-02 3.82948148e+01] [-1.89715736e-01 9.81836936e-01 -2.04204359e-03 -3.75736708e+00] [-1.20445409e-02 -2.47641464e-04 9.99927431e-01 -8.92703614e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.708623853 meters Centerline goodness [0,1] 0.9997216750877794 Centerline is valid? [True, True] Translation: X:38.33, Y:-3.76, Z:-0.89 [[ 9.81716400e-01 1.89970828e-01 1.19997882e-02 3.83265196e+01] [-1.89959759e-01 9.81789703e-01 -2.06611879e-03 -3.75965513e+00] [-1.21737708e-02 -2.51134164e-04 9.99925865e-01 -8.93148784e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.738623853 meters Centerline goodness [0,1] 0.99980508089143 Centerline is valid? [True, True] Translation: X:38.36, Y:-3.77, Z:-0.89 [[ 9.81673900e-01 1.90218369e-01 1.15467312e-02 3.83589840e+01] [-1.90208114e-01 9.81741775e-01 -1.98998554e-03 -3.76713148e+00] [-1.17144402e-02 -2.42765098e-04 9.99931354e-01 -8.91117325e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.768623853 meters Centerline goodness [0,1] 0.9998924268502581 Centerline is valid? [True, True] Translation: X:38.39, Y:-3.77, Z:-0.89 [[ 9.81586524e-01 1.90674691e-01 1.14480919e-02 3.83895514e+01] [-1.90664609e-01 9.81653250e-01 -1.97577088e-03 -3.77076446e+00] [-1.16147861e-02 -2.43355899e-04 9.99932516e-01 -8.94232256e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.798623853 meters Centerline goodness [0,1] 0.999720351926345 Centerline is valid? [True, True] Translation: X:38.42, Y:-3.77, Z:-0.89 [[ 9.81281439e-01 1.92201873e-01 1.20489738e-02 3.84226232e+01] [-1.92190811e-01 9.81355371e-01 -2.08027840e-03 -3.77085654e+00] [-1.22241585e-02 -2.74363449e-04 9.99925245e-01 -8.93833511e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.828623853 meters Centerline goodness [0,1] 0.999720351926345 Centerline is valid? [True, True] Translation: X:38.45, Y:-3.78, Z:-0.89 [[ 9.81245869e-01 1.92383403e-01 1.20486565e-02 3.84546205e+01] [-1.92372332e-01 9.81319800e-01 -2.08211376e-03 -3.77656943e+00] [-1.22241494e-02 -2.74762631e-04 9.99925245e-01 -8.94407027e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.858623853000005 meters Centerline goodness [0,1] 0.9995729780510718 Centerline is valid? [True, True] Translation: X:38.49, Y:-3.78, Z:-0.89 [[ 9.81040591e-01 1.93399131e-01 1.24953797e-02 3.84873445e+01] [-1.93387272e-01 9.81120120e-01 -2.16193496e-03 -3.77858597e+00] [-1.26775847e-02 -2.95501441e-04 9.99919593e-01 -8.94155762e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.888623853000006 meters Centerline goodness [0,1] 0.9996370003416467 Centerline is valid? [True, True] Translation: X:38.52, Y:-3.78, Z:-0.89 [[ 9.80873020e-01 1.94238765e-01 1.26261899e-02 3.85200007e+01] [-1.94226699e-01 9.80954233e-01 -2.18669294e-03 -3.78082635e+00] [-1.28104550e-02 -3.07475072e-04 9.99917895e-01 -8.94684076e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.918623853 meters Centerline goodness [0,1] 0.9995729142198211 Centerline is valid? [True, True] Translation: X:38.55, Y:-3.78, Z:-0.89 [[ 9.80757858e-01 1.94813827e-01 1.27120974e-02 3.85514966e+01] [-1.94801609e-01 9.80840188e-01 -2.20436342e-03 -3.78353207e+00] [-1.28979765e-02 -3.14390279e-04 9.99916768e-01 -8.94845018e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.948623853 meters Centerline goodness [0,1] 0.9994203894124466 Centerline is valid? [True, True] Translation: X:38.58, Y:-3.79, Z:-0.89 [[ 9.80708245e-01 1.95063298e-01 1.27140632e-02 3.85826858e+01] [-1.95051093e-01 9.80790604e-01 -2.20500442e-03 -3.78504706e+00] [-1.28999492e-02 -3.17425910e-04 9.99916742e-01 -8.94929620e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.978623853 meters Centerline goodness [0,1] 0.9992519769181449 Centerline is valid? [True, True] Translation: X:38.61, Y:-3.79, Z:-0.90 [[ 9.80718319e-01 1.95028347e-01 1.24709024e-02 3.86130850e+01] [-1.95016598e-01 9.80797557e-01 -2.16318219e-03 -3.78641343e+00] [-1.26533125e-02 -3.10560561e-04 9.99919895e-01 -8.95476083e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.008623853 meters Centerline goodness [0,1] 0.9993546444090694 Centerline is valid? [True, True] Translation: X:38.64, Y:-3.79, Z:-0.90 [[ 9.80728622e-01 1.94971241e-01 1.25532606e-02 3.86443160e+01] [-1.94959330e-01 9.80808910e-01 -2.17756383e-03 -3.78995060e+00] [-1.27369122e-02 -3.11776095e-04 9.99918834e-01 -8.96068180e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.038623853000004 meters Centerline goodness [0,1] 0.9995935220246882 Centerline is valid? [True, True] Translation: X:38.68, Y:-3.79, Z:-0.90 [[ 9.80760246e-01 1.94820637e-01 1.24201265e-02 3.86754088e+01] [-1.94808962e-01 9.80838838e-01 -2.15475379e-03 -3.79495205e+00] [-1.26019329e-02 -3.06255084e-04 9.99920546e-01 -8.96829215e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.068623853000005 meters Centerline goodness [0,1] 0.9995337896543686 Centerline is valid? [True, True] Translation: X:38.71, Y:-3.79, Z:-0.90 [[ 9.80925808e-01 1.94039125e-01 1.15488851e-02 3.87062411e+01] [-1.94028971e-01 9.80993752e-01 -2.00406585e-03 -3.79205702e+00] [-1.17182513e-02 -2.74978371e-04 9.99931301e-01 -9.00123063e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.098623853 meters Centerline goodness [0,1] 0.9995475503080967 Centerline is valid? [True, True] Translation: X:38.74, Y:-3.80, Z:-0.90 [[ 9.81031344e-01 1.93506284e-01 1.15247451e-02 3.87364622e+01] [-1.93496138e-01 9.81098999e-01 -1.99966644e-03 -3.79866703e+00] [-1.16938639e-02 -2.68258209e-04 9.99931588e-01 -8.99617671e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.128623853 meters Centerline goodness [0,1] 0.9998060637403839 Centerline is valid? [True, True] Translation: X:38.77, Y:-3.80, Z:-0.90 [[ 9.81420833e-01 1.91498305e-01 1.18973421e-02 3.87667509e+01] [-1.91487345e-01 9.81492912e-01 -2.06431601e-03 -3.80080801e+00] [-1.20724700e-02 -2.52227714e-04 9.99927093e-01 -8.99828791e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.158623853 meters Centerline goodness [0,1] 0.9995311667554608 Centerline is valid? [True, True] Translation: X:38.80, Y:-3.80, Z:-0.90 [[ 9.81693499e-01 1.90101623e-01 1.18003208e-02 3.87964127e+01] [-1.90090738e-01 9.81764391e-01 -2.04754887e-03 -3.80286842e+00] [-1.19743771e-02 -2.33066279e-04 9.99928277e-01 -8.95746492e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.188623853 meters Centerline goodness [0,1] 0.9998708761056233 Centerline is valid? [True, True] Translation: X:38.83, Y:-3.81, Z:-0.90 [[ 9.82001335e-01 1.88480185e-01 1.21900947e-02 3.88263273e+01] [-1.88468448e-01 9.82076968e-01 -2.11490247e-03 -3.81091704e+00] [-1.23702285e-02 -2.20611186e-04 9.99923461e-01 -9.00743347e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.218623853000004 meters Centerline goodness [0,1] 0.9998922599551802 Centerline is valid? [True, True] Translation: X:38.86, Y:-3.82, Z:-0.90 [[ 9.82714344e-01 1.84734791e-01 1.20654690e-02 3.88571648e+01] [-1.84723010e-01 9.82788394e-01 -2.09335730e-03 -3.81734501e+00] [-1.22445188e-02 -1.71597509e-04 9.99925018e-01 -9.00917737e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.248623853000005 meters Centerline goodness [0,1] 0.9999786844012448 Centerline is valid? [True, True] Translation: X:38.89, Y:-3.82, Z:-0.90 [[ 9.83055934e-01 1.82905673e-01 1.21056036e-02 3.88869198e+01] [-1.82893673e-01 9.83130456e-01 -2.10039942e-03 -3.82218919e+00] [-1.22855626e-02 -1.49228202e-04 9.99924518e-01 -9.01777877e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.278623853 meters Centerline goodness [0,1] 0.9999136516708401 Centerline is valid? [True, True] Translation: X:38.92, Y:-3.83, Z:-0.90 [[ 9.83401651e-01 1.81084051e-01 1.13912047e-02 3.89168870e+01] [-1.81073296e-01 9.83467616e-01 -1.97715256e-03 -3.82764209e+00] [-1.15609118e-02 -1.18307891e-04 9.99933163e-01 -8.99371851e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.308623853 meters Centerline goodness [0,1] 0.9999570935146848 Centerline is valid? [True, True] Translation: X:38.95, Y:-3.83, Z:-0.91 [[ 9.84012080e-01 1.77777362e-01 1.07441309e-02 3.89470446e+01] [-1.77767587e-01 9.84070731e-01 -1.86572759e-03 -3.83434258e+00] [-1.09046689e-02 -7.40597374e-05 9.99940540e-01 -9.05437777e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.338623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:38.98, Y:-3.84, Z:-0.91 [[ 9.84313800e-01 1.76143632e-01 9.98817175e-03 3.89780848e+01] [-1.76135109e-01 9.84364474e-01 -1.73355885e-03 -3.84086924e+00] [-1.01373568e-02 -5.29018229e-05 9.99948614e-01 -9.06320287e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.368623853 meters Centerline goodness [0,1] 0.9999569244023261 Centerline is valid? [True, True] Translation: X:39.01, Y:-3.85, Z:-0.91 [[ 9.84626766e-01 1.74408130e-01 9.58829350e-03 3.90097747e+01] [-1.74400179e-01 9.84673450e-01 -1.66569594e-03 -3.84758804e+00] [-9.73184896e-03 -3.21112882e-05 9.99952644e-01 -9.08010684e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.398623853000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:39.04, Y:-3.86, Z:-0.91 [[ 9.85251540e-01 1.70844426e-01 9.57001773e-03 3.90404536e+01] [-1.70836320e-01 9.85298017e-01 -1.66428264e-03 -3.85579532e+00] [-9.71365290e-03 4.83042150e-06 9.99952821e-01 -9.08874567e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.428623853000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:39.07, Y:-3.86, Z:-0.91 [[ 9.85543857e-01 1.69125116e-01 1.00000608e-02 3.90719646e+01] [-1.69116159e-01 9.85594589e-01 -1.74069751e-03 -3.86214688e+00] [-1.01504014e-02 2.43618681e-05 9.99948483e-01 -9.07515071e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.458623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:39.10, Y:-3.87, Z:-0.91 [[ 9.85823413e-01 1.67456523e-01 1.05124417e-02 3.91031935e+01] [-1.67446509e-01 9.85879461e-01 -1.83180169e-03 -3.86901530e+00] [-1.06707475e-02 4.55613339e-05 9.99943065e-01 -9.07535447e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.488623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:39.14, Y:-3.88, Z:-0.91 [[ 9.86083014e-01 1.65867246e-01 1.13289788e-02 3.91351838e+01] [-1.65855485e-01 9.86148088e-01 -1.97639622e-03 -3.87586262e+00] [-1.14998702e-02 6.99174580e-05 9.99933872e-01 -9.06128716e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.518623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:39.17, Y:-3.88, Z:-0.90 [[ 9.86562597e-01 1.62877266e-01 1.28545005e-02 3.91668520e+01] [-1.62861831e-01 9.86646330e-01 -2.24560878e-03 -3.88297560e+00] [-1.30486044e-02 1.21926145e-04 9.99914856e-01 -9.02772536e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.548623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:39.20, Y:-3.89, Z:-0.90 [[ 9.86746797e-01 1.61702419e-01 1.35309222e-02 3.91971406e+01] [-1.61685170e-01 9.86839554e-01 -2.36637032e-03 -3.89015023e+00] [-1.37354971e-02 1.47258869e-04 9.99905653e-01 -9.02553697e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.578623853 meters Centerline goodness [0,1] 0.9997647964420117 Centerline is valid? [True, True] Translation: X:39.23, Y:-3.90, Z:-0.90 [[ 9.86985330e-01 1.60247009e-01 1.34481884e-02 3.92280190e+01] [-1.60229805e-01 9.87076931e-01 -2.35408451e-03 -3.89689946e+00] [-1.36516315e-02 1.68646275e-04 9.99906798e-01 -8.97101488e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.608623853000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:39.26, Y:-3.91, Z:-0.90 [[ 9.87407894e-01 1.57636979e-01 1.32753294e-02 3.92589565e+01] [-1.57619952e-01 9.87497109e-01 -2.32582481e-03 -3.90733281e+00] [-1.34759854e-02 2.04081000e-04 9.99909174e-01 -9.04441806e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.638623853000006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:39.29, Y:-3.92, Z:-0.91 [[ 9.87639061e-01 1.56218811e-01 1.28362460e-02 3.92891137e+01] [-1.56202744e-01 9.87722449e-01 -2.25105379e-03 -3.91657985e+00] [-1.30303053e-02 2.18171796e-04 9.99915078e-01 -9.06390439e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.668623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:39.32, Y:-3.92, Z:-0.91 [[ 9.87854444e-01 1.54895782e-01 1.22839063e-02 3.93207773e+01] [-1.54880944e-01 9.87930790e-01 -2.15595411e-03 -3.92398297e+00] [-1.24695974e-02 2.27225850e-04 9.99922226e-01 -9.07887260e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.698623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:39.35, Y:-3.93, Z:-0.91 [[ 9.88307802e-01 1.52110460e-01 1.04927139e-02 3.93506531e+01] [-1.52099456e-01 9.88363474e-01 -1.84354533e-03 -3.93486347e+00] [-1.06510377e-02 2.26054165e-04 9.99943251e-01 -9.11298582e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.728623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:39.38, Y:-3.94, Z:-0.91 [[ 9.88444783e-01 1.51264523e-01 9.79569301e-03 3.93823157e+01] [-1.51254891e-01 9.88493296e-01 -1.72107967e-03 -3.94040480e+00] [-9.94331516e-03 2.19545741e-04 9.99950540e-01 -9.12762739e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.758623853 meters Centerline goodness [0,1] 0.9999140967270853 Centerline is valid? [True, True] Translation: X:39.41, Y:-3.95, Z:-0.91 [[ 9.88489628e-01 1.50996792e-01 9.39280154e-03 3.94128650e+01] [-1.50987908e-01 9.88534229e-01 -1.65191545e-03 -3.94944875e+00] [-9.53453976e-03 2.14701836e-04 9.99954522e-01 -9.09929088e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.788623853000004 meters Centerline goodness [0,1] 0.9999783141413484 Centerline is valid? [True, True] Translation: X:39.44, Y:-3.95, Z:-0.91 [[ 9.88319132e-01 1.52036797e-01 1.04931188e-02 3.94443155e+01] [-1.52025748e-01 9.88374807e-01 -1.84737317e-03 -3.95369004e+00] [-1.06520029e-02 2.30570022e-04 9.99943239e-01 -9.11687879e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.818623853000005 meters Centerline goodness [0,1] 0.9999784663752449 Centerline is valid? [True, True] Translation: X:39.47, Y:-3.96, Z:-0.91 [[ 9.88088334e-01 1.53487682e-01 1.10894137e-02 3.94748751e+01] [-1.53475408e-01 9.88150534e-01 -1.95455646e-03 -3.95928597e+00] [-1.12580104e-02 2.29322152e-04 9.99936600e-01 -9.10838497e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.848623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:39.51, Y:-3.96, Z:-0.91 [[ 9.87816519e-01 1.55209489e-01 1.13375422e-02 3.95072171e+01] [-1.55196752e-01 9.87881556e-01 -2.00010987e-03 -3.96330081e+00] [-1.15105849e-02 2.16191847e-04 9.99933728e-01 -9.10613349e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.878623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:39.54, Y:-3.97, Z:-0.91 [[ 9.87117367e-01 1.59581362e-01 1.15365696e-02 3.95375385e+01] [-1.59568437e-01 9.87184765e-01 -2.03825230e-03 -3.96550936e+00] [-1.17139928e-02 1.71121867e-04 9.99931374e-01 -9.11277240e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.908623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:39.57, Y:-3.97, Z:-0.91 [[ 9.86752568e-01 1.61834624e-01 1.13544647e-02 3.95699062e+01] [-1.61822262e-01 9.86817883e-01 -2.00525455e-03 -3.96880817e+00] [-1.15293085e-02 1.41284911e-04 9.99933525e-01 -9.12358712e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.938623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:39.60, Y:-3.97, Z:-0.92 [[ 9.86375865e-01 1.64141060e-01 1.09710876e-02 3.96001769e+01] [-1.64129640e-01 9.86436871e-01 -1.93942874e-03 -3.97422760e+00] [-1.11406252e-02 1.12325041e-04 9.99937935e-01 -9.15126198e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.968623853000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:39.63, Y:-3.97, Z:-0.92 [[ 9.85707866e-01 1.68181602e-01 9.74434620e-03 3.96335415e+01] [-1.68172780e-01 9.85756027e-01 -1.72369115e-03 -3.97245231e+00] [-9.89544114e-03 6.03221384e-05 9.99951037e-01 -9.15742942e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.998623853000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:39.66, Y:-3.98, Z:-0.92 [[ 9.85369925e-01 1.70185462e-01 9.11146975e-03 3.96642664e+01] [-1.70177815e-01 9.85412049e-01 -1.61378728e-03 -3.97677386e+00] [-9.25319521e-03 3.96074405e-05 9.99957187e-01 -9.19114359e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.028623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:39.70, Y:-3.98, Z:-0.92 [[ 9.85077369e-01 1.71908532e-01 8.36856211e-03 3.96956773e+01] [-1.71902132e-01 9.85112915e-01 -1.48356944e-03 -3.98031820e+00] [-8.49901686e-03 2.28570160e-05 9.99963882e-01 -9.20563647e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.058623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:39.73, Y:-3.98, Z:-0.92 [[ 9.84787578e-01 1.73568482e-01 8.21020640e-03 3.97254115e+01] [-1.73562376e-01 9.84821802e-01 -1.45580262e-03 -3.98348071e+00] [-8.33827172e-03 8.67340342e-06 9.99965236e-01 -9.21334955e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.088623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:39.76, Y:-3.98, Z:-0.92 [[ 9.84228629e-01 1.76703575e-01 8.35779737e-03 3.97566750e+01] [-1.76697359e-01 9.84264114e-01 -1.48218915e-03 -3.98333361e+00] [-8.48818814e-03 -1.79877307e-05 9.99963975e-01 -9.20247952e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.118623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:39.79, Y:-3.99, Z:-0.92 [[ 9.83935514e-01 1.78296162e-01 9.02123411e-03 3.97859664e+01] [-1.78288986e-01 9.83976868e-01 -1.59994623e-03 -3.98564511e+00] [-9.16194996e-03 -3.41427715e-05 9.99958028e-01 -9.19870863e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.148623853000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:39.82, Y:-3.99, Z:-0.92 [[ 9.83721651e-01 1.79433798e-01 9.75838300e-03 3.98167927e+01] [-1.79425461e-01 9.83770049e-01 -1.73035836e-03 -3.98948751e+00] [-9.91048970e-03 -4.87113843e-05 9.99950889e-01 -9.18789430e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.178623853000005 meters Centerline goodness [0,1] 0.9999784417712241 Centerline is valid? [True, True] Translation: X:39.85, Y:-3.99, Z:-0.92 [[ 9.83523280e-01 1.80456756e-01 1.08312893e-02 3.98463065e+01] [-1.80446545e-01 9.83582917e-01 -1.92076202e-03 -3.99237991e+00] [-1.10000856e-02 -6.53545680e-05 9.99939495e-01 -9.18411296e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.208623853000006 meters Centerline goodness [0,1] 0.999956955922865 Centerline is valid? [True, True] Translation: X:39.88, Y:-4.00, Z:-0.92 [[ 9.83511530e-01 1.80513409e-01 1.09535087e-02 3.98762834e+01] [-1.80502968e-01 9.83572521e-01 -1.94266046e-03 -3.99790038e+00] [-1.11242464e-02 -6.65118647e-05 9.99938121e-01 -9.18272593e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.238623853 meters Centerline goodness [0,1] 0.9999562037402006 Centerline is valid? [True, True] Translation: X:39.91, Y:-4.00, Z:-0.92 [[ 9.83547315e-01 1.80304771e-01 1.11745010e-02 3.99073250e+01] [-1.80293892e-01 9.83610790e-01 -1.98169674e-03 -4.00455418e+00] [-1.13486691e-02 -6.56017820e-05 9.99935600e-01 -9.18131760e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.268623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:39.94, Y:-4.01, Z:-0.92 [[ 9.83601523e-01 1.80018669e-01 1.10146269e-02 3.99372529e+01] [-1.80008078e-01 9.83663192e-01 -1.95370068e-03 -4.00972577e+00] [-1.11863857e-02 -6.10588535e-05 9.99937429e-01 -9.19909668e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.298623853 meters Centerline goodness [0,1] 0.9999784268887258 Centerline is valid? [True, True] Translation: X:39.97, Y:-4.02, Z:-0.92 [[ 9.83774698e-01 1.79097662e-01 1.05532743e-02 3.99668671e+01] [-1.79087884e-01 9.83831299e-01 -1.87207965e-03 -4.01623896e+00] [-1.07179266e-02 -4.82589675e-05 9.99942560e-01 -9.21261603e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.328623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:40.00, Y:-4.02, Z:-0.92 [[ 9.83862666e-01 1.78636422e-01 1.01628071e-02 3.99973757e+01] [-1.78627332e-01 9.83915152e-01 -1.80263334e-03 -4.02243675e+00] [-1.03213558e-02 -4.18114695e-05 9.99946733e-01 -9.22185846e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.358623853000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:40.03, Y:-4.03, Z:-0.92 [[ 9.83953173e-01 1.78156001e-01 9.82813790e-03 4.00268854e+01] [-1.78147472e-01 9.84002255e-01 -1.74359743e-03 -4.02817462e+00] [-9.98154220e-03 -3.52397002e-05 9.99950183e-01 -9.23740174e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.388623853000006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:40.06, Y:-4.04, Z:-0.93 [[ 9.84223132e-01 1.76680376e-01 9.42716802e-03 4.00565435e+01] [-1.76672460e-01 9.84268279e-01 -1.67257275e-03 -4.03549109e+00] [-9.57437322e-03 -1.93361706e-05 9.99954164e-01 -9.25343548e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.418623853 meters Centerline goodness [0,1] 0.9998277272923037 Centerline is valid? [True, True] Translation: X:40.09, Y:-4.04, Z:-0.92 [[ 9.84425736e-01 1.75574244e-01 8.92500453e-03 4.00870762e+01] [-1.75567101e-01 9.84466193e-01 -1.58367823e-03 -4.04115716e+00] [-9.06441833e-03 -7.92356907e-06 9.99958917e-01 -9.20572627e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.448623853 meters Centerline goodness [0,1] 0.9999571789491715 Centerline is valid? [True, True] Translation: X:40.12, Y:-4.05, Z:-0.93 [[ 9.84597192e-01 1.74589619e-01 9.31854572e-03 4.01175916e+01] [-1.74581790e-01 9.84641288e-01 -1.65331088e-03 -4.04866164e+00] [-9.46407577e-03 9.96852962e-07 9.99955215e-01 -9.25796305e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.478623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:40.15, Y:-4.06, Z:-0.93 [[ 9.84815617e-01 1.73337510e-01 9.60766637e-03 4.01478386e+01] [-1.73329137e-01 9.84862481e-01 -1.70381186e-03 -4.05529260e+00] [-9.75756465e-03 1.26520115e-05 9.99952394e-01 -9.26646298e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.508623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:40.18, Y:-4.06, Z:-0.93 [[ 9.85246972e-01 1.70823353e-01 1.03820139e-02 4.01794685e+01] [-1.70813416e-01 9.85301670e-01 -1.84292428e-03 -4.06406478e+00] [-1.05442302e-02 4.23482960e-05 9.99944407e-01 -9.25158420e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.538623853000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:40.21, Y:-4.07, Z:-0.93 [[ 9.85466023e-01 1.69511384e-01 1.10728883e-02 4.02111726e+01] [-1.69499977e-01 9.85528227e-01 -1.96750313e-03 -4.07212815e+00] [-1.12461581e-02 6.20531810e-05 9.99936758e-01 -9.25016842e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.568623853000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:40.24, Y:-4.08, Z:-0.93 [[ 9.85943798e-01 1.66731254e-01 1.07478182e-02 4.02405732e+01] [-1.66720316e-01 9.86002373e-01 -1.91202862e-03 -4.08376213e+00] [-1.09161692e-02 9.32731178e-05 9.99940413e-01 -9.26922994e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.598623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:40.27, Y:-4.09, Z:-0.93 [[ 9.86171274e-01 1.65411863e-01 1.02534971e-02 4.02716428e+01] [-1.65401822e-01 9.86224571e-01 -1.82550924e-03 -4.09184819e+00] [-1.04142117e-02 1.04317661e-04 9.99945765e-01 -9.27550042e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.628623853 meters Centerline goodness [0,1] 0.9998918989038549 Centerline is valid? [True, True] Translation: X:40.30, Y:-4.10, Z:-0.92 [[ 9.86334764e-01 1.64482251e-01 9.45102527e-03 4.03021026e+01] [-1.64473663e-01 9.86380037e-01 -1.68414272e-03 -4.09945285e+00] [-9.59931424e-03 1.06683762e-04 9.99953920e-01 -9.24858559e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.658623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:40.33, Y:-4.11, Z:-0.93 [[ 9.86679807e-01 1.62435765e-01 8.80796957e-03 4.03314219e+01] [-1.62428214e-01 9.86719113e-01 -1.57080737e-03 -4.11011054e+00] [-8.94614722e-03 1.19221152e-04 9.99959975e-01 -9.32444883e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.688623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:40.36, Y:-4.12, Z:-0.93 [[ 9.86800556e-01 1.61712273e-01 8.59093118e-03 4.03631609e+01] [-1.61705051e-01 9.86837943e-01 -1.53328683e-03 -4.11734417e+00] [-8.72580815e-03 1.23851335e-04 9.99961922e-01 -9.32635123e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.718623853000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:40.40, Y:-4.12, Z:-0.93 [[ 9.86770342e-01 1.61896548e-01 8.59071834e-03 4.03951180e+01] [-1.61889323e-01 9.86807728e-01 -1.53447796e-03 -4.12325810e+00] [-8.72581394e-03 1.23431769e-04 9.99961922e-01 -9.33208572e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.748623853000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:40.43, Y:-4.13, Z:-0.93 [[ 9.86888657e-01 1.61168434e-01 8.68989812e-03 4.04267656e+01] [-1.61160996e-01 9.86926906e-01 -1.55410424e-03 -4.13078382e+00] [-8.82676682e-03 1.33255215e-04 9.99961034e-01 -9.33431053e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.778623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:40.46, Y:-4.14, Z:-0.93 [[ 9.86967955e-01 1.60650409e-01 9.25755357e-03 4.04593820e+01] [-1.60641930e-01 9.87011360e-01 -1.65719099e-03 -4.13817717e+00] [-9.40353895e-03 1.48443128e-04 9.99955775e-01 -9.32508555e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.808623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:40.49, Y:-4.15, Z:-0.93 [[ 9.86928622e-01 1.60835806e-01 1.01852450e-02 4.04902935e+01] [-1.60825521e-01 9.86981163e-01 -1.82628516e-03 -4.14502249e+00] [-1.03463770e-02 1.64365753e-04 9.99946461e-01 -9.31289398e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.838623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:40.52, Y:-4.15, Z:-0.93 [[ 9.86871442e-01 1.61149903e-01 1.07455111e-02 4.05206262e+01] [-1.61138466e-01 9.86929926e-01 -1.92747248e-03 -4.15161332e+00] [-1.09156785e-02 1.70652378e-04 9.99940408e-01 -9.31031397e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.868623853 meters Centerline goodness [0,1] 0.9999570971963018 Centerline is valid? [True, True] Translation: X:40.55, Y:-4.16, Z:-0.93 [[ 9.86566463e-01 1.62910580e-01 1.21143028e-02 4.05521114e+01] [-1.62896149e-01 9.86640823e-01 -2.17516132e-03 -4.15668582e+00] [-1.23068225e-02 1.72567941e-04 9.99924253e-01 -9.29072866e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.898623853000004 meters Centerline goodness [0,1] 0.9999786548272108 Centerline is valid? [True, True] Translation: X:40.58, Y:-4.16, Z:-0.93 [[ 9.86321829e-01 1.64371894e-01 1.22934758e-02 4.05834917e+01] [-1.64357121e-01 9.86398426e-01 -2.20942510e-03 -4.16108539e+00] [-1.24894326e-02 1.58683920e-04 9.99921991e-01 -9.29485827e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.928623853000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:40.62, Y:-4.17, Z:-0.93 [[ 9.86126406e-01 1.65561807e-01 1.19999534e-02 4.06155670e+01] [-1.65547796e-01 9.86199406e-01 -2.15858324e-03 -4.16502724e+00] [-1.21917258e-02 1.42070100e-04 9.99925668e-01 -9.30673867e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.958623853000006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:40.65, Y:-4.17, Z:-0.93 [[ 9.85969998e-01 1.66509301e-01 1.17394757e-02 4.06476615e+01] [-1.66495936e-01 9.86039875e-01 -2.11360341e-03 -4.16950481e+00] [-1.19275258e-02 1.29374551e-04 9.99928856e-01 -9.31489659e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.988623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:40.68, Y:-4.18, Z:-0.93 [[ 9.85713363e-01 1.68031448e-01 1.16016605e-02 4.06784552e+01] [-1.68018476e-01 9.85781629e-01 -2.09082268e-03 -4.17608089e+00] [-1.17880277e-02 1.11658543e-04 9.99930513e-01 -9.33027083e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.018623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:40.71, Y:-4.18, Z:-0.93 [[ 9.85638048e-01 1.68502563e-01 1.11590214e-02 4.07112824e+01] [-1.68490576e-01 9.85701210e-01 -2.01254665e-03 -4.18220591e+00] [-1.13385802e-02 1.03452607e-04 9.99935711e-01 -9.34365444e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.048623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:40.74, Y:-4.19, Z:-0.93 [[ 9.85512844e-01 1.69239760e-01 1.10606806e-02 4.07439117e+01] [-1.69228007e-01 9.85574906e-01 -1.99679340e-03 -4.18729143e+00] [-1.12390661e-02 9.60885988e-05 9.99936835e-01 -9.34515422e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.078623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:40.78, Y:-4.19, Z:-0.93 [[ 9.85390482e-01 1.69940927e-01 1.12106659e-02 4.07766487e+01] [-1.69928874e-01 9.85454247e-01 -2.02608016e-03 -4.19370018e+00] [-1.13919123e-02 9.14642775e-05 9.99935106e-01 -9.34194326e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.108623853000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:40.81, Y:-4.20, Z:-0.93 [[ 9.85147557e-01 1.71314302e-01 1.16490969e-02 4.08084838e+01] [-1.71301353e-01 9.85216425e-01 -2.10780733e-03 -4.19829501e+00] [-1.18379791e-02 8.09951879e-05 9.99929925e-01 -9.33257392e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.138623853000006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:40.84, Y:-4.20, Z:-0.93 [[ 9.84961314e-01 1.72362866e-01 1.19269505e-02 4.08396279e+01] [-1.72349343e-01 9.85033521e-01 -2.16027568e-03 -4.20380620e+00] [-1.21207974e-02 7.21858743e-05 9.99926538e-01 -9.33718915e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.168623853 meters Centerline goodness [0,1] 0.9999785269486794 Centerline is valid? [True, True] Translation: X:40.87, Y:-4.21, Z:-0.93 [[ 9.84736424e-01 1.73643594e-01 1.19196287e-02 4.08715289e+01] [-1.73630159e-01 9.84808559e-01 -2.16077169e-03 -4.20860505e+00] [-1.21137566e-02 5.81835499e-05 9.99926624e-01 -9.34284941e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.198623853 meters Centerline goodness [0,1] 0.9999351603700182 Centerline is valid? [True, True] Translation: X:40.90, Y:-4.21, Z:-0.93 [[ 9.84251752e-01 1.76396681e-01 1.15195327e-02 4.09036150e+01] [-1.76384300e-01 9.84319161e-01 -2.09006545e-03 -4.21104017e+00] [-1.17075774e-02 2.52858524e-05 9.99931464e-01 -9.30428469e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.228623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:40.94, Y:-4.22, Z:-0.94 [[ 9.83966097e-01 1.77987925e-01 1.14463276e-02 4.09350999e+01] [-1.77975787e-01 9.84032671e-01 -2.07871139e-03 -4.21570719e+00] [-1.16335458e-02 8.21238030e-06 9.99932328e-01 -9.36956675e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.258623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:40.97, Y:-4.22, Z:-0.94 [[ 9.83734089e-01 1.79263092e-01 1.14885546e-02 4.09680270e+01] [-1.79250926e-01 9.83801171e-01 -2.08847866e-03 -4.21986581e+00] [-1.16768406e-02 -4.82640292e-06 9.99931823e-01 -9.37103322e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.288623853000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:41.00, Y:-4.22, Z:-0.94 [[ 9.83369706e-01 1.81314026e-01 1.04520351e-02 4.09995508e+01] [-1.81304051e-01 9.83425250e-01 -1.90208700e-03 -4.22155528e+00] [-1.06236703e-02 -2.45415710e-05 9.99943567e-01 -9.41110888e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.318623853000005 meters Centerline goodness [0,1] 0.9999786251709987 Centerline is valid? [True, True] Translation: X:41.03, Y:-4.23, Z:-0.94 [[ 9.83296257e-01 1.81779122e-01 9.20987266e-03 4.10297258e+01] [-1.81771374e-01 9.83339387e-01 -1.67850473e-03 -4.22560330e+00] [-9.36154766e-03 -2.36237937e-05 9.99956179e-01 -9.44421293e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.348623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:41.06, Y:-4.23, Z:-0.95 [[ 9.83299871e-01 1.81813913e-01 8.06630325e-03 4.10603854e+01] [-1.81807972e-01 9.83332955e-01 -1.46986229e-03 -4.23094651e+00] [-8.19910322e-03 -2.12028368e-05 9.99966387e-01 -9.46247181e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.378623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:41.09, Y:-4.24, Z:-0.95 [[ 9.83595750e-01 1.80255444e-01 6.88302039e-03 4.10904920e+01] [-1.80251080e-01 9.83619832e-01 -1.25434515e-03 -4.23986346e+00] [-6.99637791e-03 -6.90329699e-06 9.99975525e-01 -9.49045677e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.408623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:41.12, Y:-4.25, Z:-0.95 [[ 9.83842808e-01 1.78885513e-01 7.30088780e-03 4.11220799e+01] [-1.78880575e-01 9.83869897e-01 -1.32916631e-03 -4.24853240e+00] [-7.42089232e-03 1.70371210e-06 9.99972465e-01 -9.47618605e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.438623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:41.15, Y:-4.26, Z:-0.95 [[ 9.84147844e-01 1.77171435e-01 7.95641148e-03 4.11533909e+01] [-1.77165502e-01 9.84180005e-01 -1.45008685e-03 -4.25754134e+00] [-8.08745506e-03 1.74982101e-05 9.99967296e-01 -9.48500000e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.468623853000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:41.18, Y:-4.27, Z:-0.95 [[ 9.84892780e-01 1.72889877e-01 9.76230683e-03 4.11828529e+01] [-1.72880708e-01 9.84941159e-01 -1.78187756e-03 -4.27188689e+00] [-9.92336639e-03 6.72438251e-05 9.99950760e-01 -9.46663176e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.498623853000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:41.21, Y:-4.28, Z:-0.94 [[ 9.85224938e-01 1.70955963e-01 1.02897702e-02 4.12133249e+01] [-1.70945647e-01 9.85278666e-01 -1.88034624e-03 -4.28143567e+00] [-1.04597475e-02 9.35725763e-05 9.99945291e-01 -9.44912210e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.528623853 meters Centerline goodness [0,1] 0.9999139007275388 Centerline is valid? [True, True] Translation: X:41.24, Y:-4.29, Z:-0.94 [[ 9.85555909e-01 1.68996600e-01 1.09407081e-02 4.12432224e+01] [-1.68984797e-01 9.85616626e-01 -2.00117150e-03 -4.29258473e+00] [-1.11215350e-02 1.23453066e-04 9.99938146e-01 -9.44600535e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.558623853 meters Centerline goodness [0,1] 0.9999784073242356 Centerline is valid? [True, True] Translation: X:41.27, Y:-4.30, Z:-0.94 [[ 9.86040812e-01 1.66120824e-01 1.12866271e-02 4.12746310e+01] [-1.66108054e-01 9.86105393e-01 -2.06614596e-03 -4.30163526e+00] [-1.14730337e-02 1.62504580e-04 9.99934169e-01 -9.43078674e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.588623853 meters Centerline goodness [0,1] 0.9998933014660378 Centerline is valid? [True, True] Translation: X:41.30, Y:-4.31, Z:-0.94 [[ 9.86216945e-01 1.65053333e-01 1.15557106e-02 4.13047161e+01] [-1.65039848e-01 9.86284626e-01 -2.11757930e-03 -4.31089233e+00] [-1.17467332e-02 1.81239869e-04 9.99930988e-01 -9.44055460e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.618623853 meters Centerline goodness [0,1] 0.9998913917066707 Centerline is valid? [True, True] Translation: X:41.34, Y:-4.32, Z:-0.94 [[ 9.86347625e-01 1.64286213e-01 1.13314550e-02 4.13359491e+01] [-1.64273176e-01 9.86412695e-01 -2.07819418e-03 -4.31918391e+00] [-1.15189097e-02 1.88367790e-04 9.99933637e-01 -9.44457340e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.648623853000004 meters Centerline goodness [0,1] 0.9998917373982331 Centerline is valid? [True, True] Translation: X:41.37, Y:-4.33, Z:-0.95 [[ 9.86428287e-01 1.63829478e-01 1.09150137e-02 4.13661914e+01] [-1.63817329e-01 9.86488655e-01 -2.00408064e-03 -4.32757555e+00] [-1.10958646e-02 1.88813448e-04 9.99938421e-01 -9.45790550e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.678623853000005 meters Centerline goodness [0,1] 0.9998921925871623 Centerline is valid? [True, True] Translation: X:41.40, Y:-4.34, Z:-0.95 [[ 9.86465429e-01 1.63661639e-01 1.00411681e-02 4.13959820e+01] [-1.63651345e-01 9.86516516e-01 -1.84397942e-03 -4.33559463e+00] [-1.02075668e-02 1.75771293e-04 9.99947886e-01 -9.47509551e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.708623853000006 meters Centerline goodness [0,1] 0.9998704663212435 Centerline is valid? [True, True] Translation: X:41.43, Y:-4.34, Z:-0.95 [[ 9.86412027e-01 1.63959762e-01 1.04167428e-02 4.14278152e+01] [-1.63948685e-01 9.86467011e-01 -1.91445264e-03 -4.34263907e+00] [-1.05896663e-02 1.80627834e-04 9.99943912e-01 -9.47961538e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.738623853 meters Centerline goodness [0,1] 0.9998928877463582 Centerline is valid? [True, True] Translation: X:41.46, Y:-4.35, Z:-0.95 [[ 9.86367646e-01 1.64201077e-01 1.08108105e-02 4.14589031e+01] [-1.64189135e-01 9.86426871e-01 -1.98917514e-03 -4.35102554e+00] [-1.09906986e-02 1.87040386e-04 9.99939583e-01 -9.47966771e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.768623853 meters Centerline goodness [0,1] 0.9998911623857205 Centerline is valid? [True, True] Translation: X:41.49, Y:-4.36, Z:-0.95 [[ 9.86255347e-01 1.64821967e-01 1.15805414e-02 4.14899843e+01] [-1.64808278e-01 9.86323315e-01 -2.13316221e-03 -4.35766707e+00] [-1.17737500e-02 1.95273537e-04 9.99930668e-01 -9.46966956e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.798623853 meters Centerline goodness [0,1] 0.9998921739880529 Centerline is valid? [True, True] Translation: X:41.52, Y:-4.37, Z:-0.95 [[ 9.86127041e-01 1.65558900e-01 1.19878923e-02 4.15207620e+01] [-1.65544259e-01 9.86199885e-01 -2.21034731e-03 -4.36509936e+00] [-1.21884007e-02 1.95156505e-04 9.99925700e-01 -9.47768229e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.828623853 meters Centerline goodness [0,1] 0.9996791718355649 Centerline is valid? [True, True] Translation: X:41.55, Y:-4.37, Z:-0.94 [[ 9.85946069e-01 1.66642323e-01 1.18610910e-02 4.15527734e+01] [-1.66628045e-01 9.86017395e-01 -2.18894975e-03 -4.37057472e+00] [-1.20600137e-02 1.81795994e-04 9.99927259e-01 -9.43264323e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.858623853000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:41.58, Y:-4.38, Z:-0.95 [[ 9.85702581e-01 1.68073177e-01 1.19091592e-02 4.15829648e+01] [-1.68058862e-01 9.85774507e-01 -2.19989435e-03 -4.37753045e+00] [-1.21094887e-02 1.67001800e-04 9.99926664e-01 -9.49278653e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.888623853000006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:41.61, Y:-4.38, Z:-0.95 [[ 9.84913587e-01 1.72685386e-01 1.11796073e-02 4.16147041e+01] [-1.72673052e-01 9.84977028e-01 -2.06662088e-03 -4.37981997e+00] [-1.13685316e-02 1.05026077e-04 9.99935371e-01 -9.51168783e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.918623853 meters Centerline goodness [0,1] 0.99997877128179 Centerline is valid? [True, True] Translation: X:41.65, Y:-4.38, Z:-0.95 [[ 9.84363926e-01 1.75804518e-01 1.09742104e-02 4.16460401e+01] [-1.75792806e-01 9.84425094e-01 -2.03050404e-03 -4.38159574e+00] [-1.11602599e-02 6.95676910e-05 9.99937720e-01 -9.52055395e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.948623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:41.68, Y:-4.38, Z:-0.95 [[ 9.83770770e-01 1.79106456e-01 1.07680189e-02 4.16787899e+01] [-1.79095361e-01 9.83829699e-01 -1.99384672e-03 -4.38305352e+00] [-1.09510076e-02 3.29859015e-05 9.99940035e-01 -9.52595752e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.978623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:41.71, Y:-4.38, Z:-0.95 [[ 9.83176128e-01 1.82372888e-01 1.02386619e-02 4.17119276e+01] [-1.82363020e-01 9.83229439e-01 -1.89711401e-03 -4.38481110e+00] [-1.04129360e-02 -1.95610473e-06 9.99945784e-01 -9.52623588e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.008623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:41.75, Y:-4.38, Z:-0.95 [[ 9.82018650e-01 1.88548570e-01 9.42381672e-03 4.17451522e+01] [-1.88540478e-01 9.82063864e-01 -1.74787682e-03 -4.38177243e+00] [-9.58434954e-03 -6.03232735e-05 9.99954067e-01 -9.54244008e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.038623853000004 meters Centerline goodness [0,1] 0.999741468459152 Centerline is valid? [True, True] Translation: X:41.78, Y:-4.38, Z:-0.95 [[ 9.81428691e-01 1.91623694e-01 8.83650929e-03 4.17769733e+01] [-1.91616691e-01 9.81468468e-01 -1.64041263e-03 -4.38002897e+00] [-8.98709716e-03 -8.32746446e-05 9.99959612e-01 -9.51816206e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.068623853000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:41.81, Y:-4.38, Z:-0.96 [[ 9.80932001e-01 1.94135850e-01 9.14773692e-03 4.18077100e+01] [-1.94128428e-01 9.80974648e-01 -1.70096289e-03 -4.38301149e+00] [-9.30391589e-03 -1.07306849e-04 9.99956712e-01 -9.56964972e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.098623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:41.84, Y:-4.38, Z:-0.96 [[ 9.79998294e-01 1.98790866e-01 9.24853089e-03 4.18390919e+01] [-1.98783488e-01 9.80041922e-01 -1.71955949e-03 -4.38297331e+00] [-9.40578070e-03 -1.53289865e-04 9.99955753e-01 -9.57021208e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.128623853 meters Centerline goodness [0,1] 0.9999360354789877 Centerline is valid? [True, True] Translation: X:41.87, Y:-4.39, Z:-0.96 [[ 9.79553415e-01 2.00959035e-01 9.51696236e-03 4.18700242e+01] [-2.00951317e-01 9.79599630e-01 -1.77024819e-03 -4.38554934e+00] [-9.67856017e-03 -1.78393461e-04 9.99953146e-01 -9.56517243e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.158623853 meters Centerline goodness [0,1] 0.9999786643908684 Centerline is valid? [True, True] Translation: X:41.90, Y:-4.39, Z:-0.96 [[ 9.79168642e-01 2.02805319e-01 9.93849716e-03 4.18995937e+01] [-2.02796995e-01 9.79219056e-01 -1.84883868e-03 -4.38559888e+00] [-1.01069201e-02 -2.05172504e-04 9.99948903e-01 -9.56808990e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.188623853 meters Centerline goodness [0,1] 0.9999353448275862 Centerline is valid? [True, True] Translation: X:41.93, Y:-4.39, Z:-0.96 [[ 9.78673178e-01 2.05167077e-01 1.02606852e-02 4.19300293e+01] [-2.05158338e-01 9.78726935e-01 -1.90851122e-03 -4.38506938e+00] [-1.04339726e-02 -2.37256380e-04 9.99945536e-01 -9.57093514e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.218623853000004 meters Centerline goodness [0,1] 0.9997856055571039 Centerline is valid? [True, True] Translation: X:41.96, Y:-4.39, Z:-0.96 [[ 9.78583426e-01 2.05612155e-01 9.90554935e-03 4.19589528e+01] [-2.05604034e-01 9.78633531e-01 -1.84231517e-03 -4.38727539e+00] [-1.00727051e-02 -2.33761815e-04 9.99949242e-01 -9.58310006e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.248623853000005 meters Centerline goodness [0,1] 0.999871715379188 Centerline is valid? [True, True] Translation: X:41.99, Y:-4.39, Z:-0.96 [[ 9.78619790e-01 2.05462241e-01 9.41139233e-03 4.19880887e+01] [-2.05454907e-01 9.78665019e-01 -1.75000040e-03 -4.39309077e+00] [-9.57015945e-03 -2.21031719e-04 9.99954181e-01 -9.59687923e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.278623853 meters Centerline goodness [0,1] 0.9998515344970201 Centerline is valid? [True, True] Translation: X:42.02, Y:-4.40, Z:-0.96 [[ 9.79054847e-01 2.03437879e-01 8.03959896e-03 4.20160501e+01] [-2.03432459e-01 9.79087841e-01 -1.49489876e-03 -4.39750622e+00] [-8.17559262e-03 -1.71927517e-04 9.99966565e-01 -9.63317012e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.308623853 meters Centerline goodness [0,1] 0.9999569873973074 Centerline is valid? [True, True] Translation: X:42.04, Y:-4.41, Z:-0.96 [[ 9.79493616e-01 2.01312101e-01 8.10518540e-03 4.20448427e+01] [-2.01306523e-01 9.79527138e-01 -1.50667257e-03 -4.40570162e+00] [-8.24256048e-03 -1.55850531e-04 9.99966017e-01 -9.63460917e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.338623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:42.07, Y:-4.41, Z:-0.96 [[ 9.80001642e-01 1.98811326e-01 8.41659510e-03 4.20741573e+01] [-1.98805222e-01 9.80037773e-01 -1.56423472e-03 -4.41364788e+00] [-8.55956869e-03 -1.40310465e-04 9.99963356e-01 -9.63089317e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.368623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:42.10, Y:-4.43, Z:-0.96 [[ 9.81094800e-01 1.93316499e-01 9.04021273e-03 4.21037914e+01] [-1.93309227e-01 9.81136444e-01 -1.67970467e-03 -4.42583693e+00] [-9.19439680e-03 -9.96070185e-05 9.99957726e-01 -9.63027858e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.398623853000004 meters Centerline goodness [0,1] 0.9999784413064569 Centerline is valid? [True, True] Translation: X:42.13, Y:-4.43, Z:-0.96 [[ 9.81584685e-01 1.90814970e-01 9.00849569e-03 4.21344387e+01] [-1.90807641e-01 9.81626019e-01 -1.67403464e-03 -4.43404500e+00] [-9.16240463e-03 -7.56830516e-05 9.99958021e-01 -9.60665432e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.428623853000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:42.16, Y:-4.44, Z:-0.96 [[ 9.82057076e-01 1.88331808e-01 9.74827698e-03 4.21644330e+01] [-1.88323102e-01 9.82105456e-01 -1.81178378e-03 -4.44296242e+00] [-9.91505253e-03 -5.65506808e-05 9.99950843e-01 -9.62411710e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.458623853000006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:42.19, Y:-4.45, Z:-0.96 [[ 9.82682269e-01 1.85030597e-01 9.96171296e-03 4.21940435e+01] [-1.85021343e-01 9.82732760e-01 -1.85071180e-03 -4.45184530e+00] [-1.01321400e-02 -2.44678304e-05 9.99948668e-01 -9.63156666e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.488623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:42.23, Y:-4.46, Z:-0.96 [[ 9.82865082e-01 1.84035863e-01 1.03456609e-02 4.22255526e+01] [-1.84025809e-01 9.82919529e-01 -1.92371859e-03 -4.45937250e+00] [-1.05229854e-02 -1.31127877e-05 9.99944632e-01 -9.62632748e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.518623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:42.26, Y:-4.47, Z:-0.96 [[ 9.82992549e-01 1.83345917e-01 1.04843956e-02 4.22570582e+01] [-1.83335533e-01 9.83048460e-01 -1.95135101e-03 -4.46613051e+00] [-1.06644412e-02 -3.99874754e-06 9.99943133e-01 -9.63142837e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.548623853 meters Centerline goodness [0,1] 0.9998712473981245 Centerline is valid? [True, True] Translation: X:42.29, Y:-4.47, Z:-0.96 [[ 9.83042746e-01 1.83106468e-01 9.94887369e-03 4.22888744e+01] [-1.83097090e-01 9.83093089e-01 -1.85315023e-03 -4.47192832e+00] [-1.01199928e-02 1.16071722e-07 9.99948792e-01 -9.58836130e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.578623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:42.32, Y:-4.48, Z:-0.96 [[ 9.83080629e-01 1.82859105e-01 1.07249941e-02 4.23213445e+01] [-1.82848169e-01 9.83139129e-01 -1.99982648e-03 -4.47774815e+00] [-1.09098478e-02 4.94514551e-06 9.99940486e-01 -9.62797351e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.608623853000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:42.35, Y:-4.48, Z:-0.96 [[ 9.83010883e-01 1.83232633e-01 1.07427580e-02 4.23526305e+01] [-1.83221658e-01 9.83069582e-01 -2.00540438e-03 -4.48245589e+00] [-1.09283341e-02 3.02840023e-06 9.99940284e-01 -9.64165444e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.638623853000006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:42.38, Y:-4.49, Z:-0.96 [[ 9.82980697e-01 1.83394524e-01 1.07423706e-02 4.23837267e+01] [-1.83383537e-01 9.83039393e-01 -2.00747645e-03 -4.48842065e+00] [-1.09283337e-02 3.33668089e-06 9.99940284e-01 -9.64724154e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.668623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:42.42, Y:-4.49, Z:-0.97 [[ 9.82920252e-01 1.83753160e-01 1.01268952e-02 4.24161236e+01] [-1.83743401e-01 9.82972419e-01 -1.89380575e-03 -4.49387956e+00] [-1.03024515e-02 7.09852904e-07 9.99946928e-01 -9.65673953e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.698623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:42.45, Y:-4.50, Z:-0.97 [[ 9.82945123e-01 1.83658095e-01 9.41216136e-03 4.24486902e+01] [-1.83649645e-01 9.82990185e-01 -1.76176605e-03 -4.49994310e+00] [-9.57562483e-03 3.17925678e-06 9.99954153e-01 -9.67597367e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.728623853 meters Centerline goodness [0,1] 0.9999572146753664 Centerline is valid? [True, True] Translation: X:42.48, Y:-4.50, Z:-0.97 [[ 9.82942489e-01 1.83680055e-01 9.25744548e-03 4.24790891e+01] [-1.83671861e-01 9.82986082e-01 -1.73492400e-03 -4.50483708e+00] [-9.41861099e-03 4.99827315e-06 9.99955644e-01 -9.65009058e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.758623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:42.51, Y:-4.51, Z:-0.97 [[ 9.83000938e-01 1.83340226e-01 9.77325937e-03 4.25110506e+01] [-1.83331060e-01 9.83049521e-01 -1.83325883e-03 -4.51077640e+00] [-9.94370803e-03 1.03531489e-05 9.99950560e-01 -9.68196448e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.788623853000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:42.54, Y:-4.52, Z:-0.97 [[ 9.83004710e-01 1.83279756e-01 1.05009767e-02 4.25429652e+01] [-1.83269149e-01 9.83060797e-01 -1.97182411e-03 -4.51619734e+00] [-1.06844940e-02 1.38073208e-05 9.99942919e-01 -9.67839290e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.818623853000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:42.58, Y:-4.52, Z:-0.97 [[ 9.82979036e-01 1.83407157e-01 1.06784705e-02 4.25756021e+01] [-1.83396178e-01 9.83037036e-01 -2.00686747e-03 -4.52225347e+00] [-1.08654058e-02 1.43179804e-05 9.99940970e-01 -9.67949528e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.848623853 meters Centerline goodness [0,1] 0.9998033732412829 Centerline is valid? [True, True] Translation: X:42.61, Y:-4.53, Z:-0.96 [[ 9.82892641e-01 1.83898520e-01 1.01681110e-02 4.26073459e+01] [-1.83888570e-01 9.82945235e-01 -1.91304888e-03 -4.52610501e+00] [-1.03465031e-02 1.05222792e-05 9.99946473e-01 -9.63022355e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.878623853 meters Centerline goodness [0,1] 0.9999140450403988 Centerline is valid? [True, True] Translation: X:42.64, Y:-4.53, Z:-0.96 [[ 9.82809708e-01 1.84342630e-01 1.01425783e-02 4.26388894e+01] [-1.84332734e-01 9.82862043e-01 -1.91005311e-03 -4.53125993e+00] [-1.03208594e-02 7.60955156e-06 9.99946738e-01 -9.64796816e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.908623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:42.67, Y:-4.54, Z:-0.97 [[ 9.82750874e-01 1.84642190e-01 1.03913918e-02 4.26690954e+01] [-1.84631798e-01 9.82805811e-01 -1.95892128e-03 -4.53695187e+00] [-1.05744197e-02 6.55024964e-06 9.99944089e-01 -9.71240092e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.938623853 meters Centerline goodness [0,1] 0.999978379780771 Centerline is valid? [True, True] Translation: X:42.70, Y:-4.54, Z:-0.97 [[ 9.82690438e-01 1.84994913e-01 9.81762298e-03 4.27012103e+01] [-1.84985642e-01 9.82739478e-01 -1.85210045e-03 -4.54152924e+00] [-9.99079485e-03 3.92211956e-06 9.99950091e-01 -9.69034735e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.968623853000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:42.73, Y:-4.54, Z:-0.97 [[ 9.82529831e-01 1.85875829e-01 9.23619449e-03 4.27326527e+01] [-1.85867648e-01 9.82573242e-01 -1.74399026e-03 -4.54490463e+00] [-9.39940321e-03 -3.18728798e-06 9.99955825e-01 -9.74186713e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.998623853000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:42.76, Y:-4.55, Z:-0.98 [[ 9.82446946e-01 1.86337538e-01 8.73611423e-03 4.27624961e+01] [-1.86330212e-01 9.82485787e-01 -1.65228861e-03 -4.54929539e+00] [-8.89099146e-03 -4.51611403e-06 9.99960474e-01 -9.75102163e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.028623853 meters Centerline goodness [0,1] 0.9998717016636017 Centerline is valid? [True, True] Translation: X:42.79, Y:-4.55, Z:-0.98 [[ 9.82280718e-01 1.87202444e-01 8.93507770e-03 4.27919300e+01] [-1.87194815e-01 9.82321355e-01 -1.69002338e-03 -4.55208840e+00] [-9.09349414e-03 -1.25228455e-05 9.99958653e-01 -9.76574721e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.058623853 meters Centerline goodness [0,1] 0.9997849878518136 Centerline is valid? [True, True] Translation: X:42.82, Y:-4.56, Z:-0.98 [[ 9.82221427e-01 1.87515086e-01 8.89723769e-03 4.28203178e+01] [-1.87507534e-01 9.82261723e-01 -1.68295006e-03 -4.55567641e+00] [-9.05499455e-03 -1.52694913e-05 9.99959003e-01 -9.77829282e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.088623853 meters Centerline goodness [0,1] 0.9998294897480711 Centerline is valid? [True, True] Translation: X:42.85, Y:-4.56, Z:-0.98 [[ 9.82151827e-01 1.87869010e-01 9.11178921e-03 4.28497310e+01] [-1.87861109e-01 9.82194092e-01 -1.72310570e-03 -4.56030148e+00] [-9.27326369e-03 -1.93994113e-05 9.99957002e-01 -9.77481358e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.118623853 meters Centerline goodness [0,1] 0.9998273778698429 Centerline is valid? [True, True] Translation: X:42.88, Y:-4.57, Z:-0.98 [[ 9.82131842e-01 1.87972587e-01 9.12972130e-03 4.28795191e+01] [-1.87964663e-01 9.82174275e-01 -1.72607426e-03 -4.56600216e+00] [-9.29143204e-03 -2.08325009e-05 9.99956833e-01 -9.77392991e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.148623853000004 meters Centerline goodness [0,1] 0.9996121441961688 Centerline is valid? [True, True] Translation: X:42.91, Y:-4.57, Z:-0.97 [[ 9.82047651e-01 1.88449442e-01 8.31984154e-03 4.29101908e+01] [-1.88442879e-01 9.82082892e-01 -1.57295758e-03 -4.57071891e+00] [-8.46719702e-03 -2.30955988e-05 9.99964152e-01 -9.73016069e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.178623853000005 meters Centerline goodness [0,1] 0.999827392767757 Centerline is valid? [True, True] Translation: X:42.94, Y:-4.58, Z:-0.98 [[ 9.82045744e-01 1.88431654e-01 8.92569201e-03 4.29392114e+01] [-1.88424099e-01 9.82086305e-01 -1.68760473e-03 -4.57661747e+00] [-9.08379804e-03 -2.45104287e-05 9.99958741e-01 -9.78288669e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.208623853000006 meters Centerline goodness [0,1] 0.9997867894759286 Centerline is valid? [True, True] Translation: X:42.97, Y:-4.58, Z:-0.98 [[ 9.82052072e-01 1.88378719e-01 9.33737406e-03 4.29678512e+01] [-1.88370449e-01 9.82096460e-01 -1.76531598e-03 -4.58177242e+00] [-9.50274997e-03 -2.52531262e-05 9.99954848e-01 -9.79407872e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.238623853 meters Centerline goodness [0,1] 0.9998276270711685 Centerline is valid? [True, True] Translation: X:43.00, Y:-4.59, Z:-0.98 [[ 9.82197221e-01 1.87589548e-01 9.93881189e-03 4.29973752e+01] [-1.87580140e-01 9.82247505e-01 -1.87879524e-03 -4.58902016e+00] [-1.01148155e-02 -1.89762677e-05 9.99948844e-01 -9.77908158e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.268623853 meters Centerline goodness [0,1] 0.9997432550974561 Centerline is valid? [True, True] Translation: X:43.03, Y:-4.60, Z:-0.98 [[ 9.82304555e-01 1.87014543e-01 1.01646983e-02 4.30260458e+01] [-1.87004671e-01 9.82357145e-01 -1.92158410e-03 -4.59574006e+00] [-1.03447281e-02 -1.32652441e-05 9.99946492e-01 -9.78706031e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.298623853 meters Centerline goodness [0,1] 0.9998920226320563 Centerline is valid? [True, True] Translation: X:43.06, Y:-4.60, Z:-0.98 [[ 9.82445276e-01 1.86266832e-01 1.02930862e-02 4.30557093e+01] [-1.86256670e-01 9.82499195e-01 -1.94563918e-03 -4.60283049e+00] [-1.04753569e-02 -5.67192990e-06 9.99945132e-01 -9.78593255e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.328623853 meters Centerline goodness [0,1] 0.9998066138077741 Centerline is valid? [True, True] Translation: X:43.09, Y:-4.61, Z:-0.98 [[ 9.82532217e-01 1.85789194e-01 1.06215319e-02 4.30850258e+01] [-1.85778347e-01 9.82589627e-01 -2.00764176e-03 -4.60989015e+00] [-1.08096052e-02 -6.77926553e-07 9.99941575e-01 -9.78544517e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.358623853000005 meters Centerline goodness [0,1] 0.9997844548864078 Centerline is valid? [True, True] Translation: X:43.11, Y:-4.62, Z:-0.98 [[ 9.82512455e-01 1.85884745e-01 1.07767378e-02 4.31147219e+01] [-1.85873582e-01 9.82571555e-01 -2.03719193e-03 -4.61604463e+00] [-1.09675989e-02 -1.54441740e-06 9.99939854e-01 -9.78532354e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.388623853000006 meters Centerline goodness [0,1] 0.9997855135877142 Centerline is valid? [True, True] Translation: X:43.14, Y:-4.62, Z:-0.98 [[ 9.82374647e-01 1.86611612e-01 1.07777013e-02 4.31436079e+01] [-1.86600489e-01 9.82433767e-01 -2.03745369e-03 -4.62065373e+00] [-1.09685902e-02 -9.58148186e-06 9.99939843e-01 -9.80281933e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.418623853 meters Centerline goodness [0,1] 0.9997628390323833 Centerline is valid? [True, True] Translation: X:43.17, Y:-4.62, Z:-0.98 [[ 9.81949488e-01 1.88870275e-01 1.01598353e-02 4.31731621e+01] [-1.88860513e-01 9.82002046e-01 -1.92061595e-03 -4.62186680e+00] [-1.03397263e-02 -3.28438500e-05 9.99946543e-01 -9.82014812e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.448623853 meters Centerline goodness [0,1] 0.9997838912540791 Centerline is valid? [True, True] Translation: X:43.20, Y:-4.62, Z:-0.98 [[ 9.81640711e-01 1.90478378e-01 9.97509539e-03 4.32014471e+01] [-1.90469050e-01 9.81691390e-01 -1.88572090e-03 -4.62387033e+00] [-1.01516543e-02 -4.88465335e-05 9.99948469e-01 -9.82940559e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.478623853 meters Centerline goodness [0,1] 0.999762280379487 Centerline is valid? [True, True] Translation: X:43.23, Y:-4.63, Z:-0.98 [[ 9.81342984e-01 1.92010322e-01 9.89863816e-03 4.32315489e+01] [-1.92001224e-01 9.81392904e-01 -1.87028860e-03 -4.62862425e+00] [-1.00735680e-02 -6.51560496e-05 9.99949258e-01 -9.82613256e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.508623853 meters Centerline goodness [0,1] 0.9997387612931316 Centerline is valid? [True, True] Translation: X:43.26, Y:-4.63, Z:-0.98 [[ 9.80852868e-01 1.94535567e-01 9.14132733e-03 4.32604530e+01] [-1.94527915e-01 9.80895461e-01 -1.72743876e-03 -4.63083688e+00] [-9.30273477e-03 -8.38800830e-05 9.99956725e-01 -9.83851586e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.538623853000004 meters Centerline goodness [0,1] 0.9997641357720265 Centerline is valid? [True, True] Translation: X:43.29, Y:-4.63, Z:-0.98 [[ 9.80679956e-01 1.95396154e-01 9.33629885e-03 4.32891160e+01] [-1.95388214e-01 9.80724393e-01 -1.76405775e-03 -4.63448123e+00] [-9.50102611e-03 -9.42266749e-05 9.99954860e-01 -9.84567091e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.568623853000005 meters Centerline goodness [0,1] 0.9996121024049651 Centerline is valid? [True, True] Translation: X:43.32, Y:-4.64, Z:-0.98 [[ 9.80572169e-01 1.95972577e-01 8.54223848e-03 4.33182205e+01] [-1.95965955e-01 9.80609372e-01 -1.61365647e-03 -4.63853340e+00] [-8.69283153e-03 -9.16812949e-05 9.99962212e-01 -9.81322972e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.598623853 meters Centerline goodness [0,1] 0.9996567849328586 Centerline is valid? [True, True] Translation: X:43.35, Y:-4.65, Z:-0.99 [[ 9.80586025e-01 1.95886495e-01 8.91789227e-03 4.33466385e+01] [-1.95879276e-01 9.80626571e-01 -1.68438810e-03 -4.64506681e+00] [-9.07507100e-03 -9.51428496e-05 9.99958816e-01 -9.85663446e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.628623853 meters Centerline goodness [0,1] 0.9996347071210624 Centerline is valid? [True, True] Translation: X:43.37, Y:-4.65, Z:-0.99 [[ 9.80699103e-01 1.95332294e-01 8.63506407e-03 4.33746465e+01] [-1.95325505e-01 9.80737114e-01 -1.63087261e-03 -4.64970275e+00] [-8.78728991e-03 -8.72529414e-05 9.99961387e-01 -9.88210404e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.658623853 meters Centerline goodness [0,1] 0.9997432331229271 Centerline is valid? [True, True] Translation: X:43.40, Y:-4.66, Z:-0.99 [[ 9.80780383e-01 1.94930187e-01 8.48893234e-03 4.34026882e+01] [-1.94923613e-01 9.80817116e-01 -1.60305616e-03 -4.65603597e+00] [-8.63857417e-03 -8.24473272e-05 9.99962683e-01 -9.89353370e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.688623853 meters Centerline goodness [0,1] 0.9997439289829713 Centerline is valid? [True, True] Translation: X:43.43, Y:-4.66, Z:-0.99 [[ 9.80863691e-01 1.94522228e-01 8.21725991e-03 4.34298849e+01] [-1.94516055e-01 9.80898107e-01 -1.55149323e-03 -4.66008963e+00] [-8.36209461e-03 -7.65856090e-05 9.99965034e-01 -9.92388982e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.718623853000004 meters Centerline goodness [0,1] 0.9996365191361984 Centerline is valid? [True, True] Translation: X:43.46, Y:-4.67, Z:-0.99 [[ 9.81067566e-01 1.93469281e-01 8.72172960e-03 4.34575402e+01] [-1.93462294e-01 9.81106331e-01 -1.64585871e-03 -4.67142500e+00] [-8.87536723e-03 -7.26272159e-05 9.99960611e-01 -9.88683207e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.748623853000005 meters Centerline goodness [0,1] 0.99965656392204 Centerline is valid? [True, True] Translation: X:43.49, Y:-4.68, Z:-0.99 [[ 9.81154105e-01 1.93011832e-01 9.11345550e-03 4.34861439e+01] [-1.93004185e-01 9.81196427e-01 -1.71963641e-03 -4.67689598e+00] [-9.27400014e-03 -7.17067264e-05 9.99956993e-01 -9.89439917e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.778623853000006 meters Centerline goodness [0,1] 0.9997212035428596 Centerline is valid? [True, True] Translation: X:43.52, Y:-4.69, Z:-0.99 [[ 9.81250966e-01 1.92472680e-01 1.00403364e-02 4.35153795e+01] [-1.92463374e-01 9.81302330e-01 -1.89411149e-03 -4.68506308e+00] [-1.02171702e-02 -7.37982967e-05 9.99947801e-01 -9.86701190e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.808623853 meters Centerline goodness [0,1] 0.999764902006882 Centerline is valid? [True, True] Translation: X:43.54, Y:-4.69, Z:-0.99 [[ 9.81215192e-01 1.92624020e-01 1.06176504e-02 4.35438502e+01] [-1.92613628e-01 9.81272633e-01 -2.00239051e-03 -4.69079415e+00] [-1.08045183e-02 -8.03281802e-05 9.99941626e-01 -9.85787571e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.838623853 meters Centerline goodness [0,1] 0.9997637710726941 Centerline is valid? [True, True] Translation: X:43.57, Y:-4.70, Z:-0.99 [[ 9.81173198e-01 1.92804399e-01 1.12079784e-02 4.35730613e+01] [-1.92792835e-01 9.81237207e-01 -2.11341367e-03 -4.69631896e+00] [-1.14051608e-02 -8.71930718e-05 9.99934955e-01 -9.85280197e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.868623853 meters Centerline goodness [0,1] 0.9996551649820039 Centerline is valid? [True, True] Translation: X:43.60, Y:-4.70, Z:-0.98 [[ 9.80917539e-01 1.94054973e-01 1.19770410e-02 4.36031365e+01] [-1.94041858e-01 9.80990650e-01 -2.25867967e-03 -4.70285949e+00] [-1.21876732e-02 -1.08468779e-04 9.99925722e-01 -9.83830744e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.898623853000004 meters Centerline goodness [0,1] 0.9996360054813292 Centerline is valid? [True, True] Translation: X:43.63, Y:-4.71, Z:-0.99 [[ 9.80766893e-01 1.94838739e-01 1.15830931e-02 4.36320936e+01] [-1.94826526e-01 9.80835283e-01 -2.18445876e-03 -4.70683641e+00] [-1.17867236e-02 -1.14248962e-04 9.99930528e-01 -9.85378607e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.928623853000005 meters Centerline goodness [0,1] 0.9997454499172712 Centerline is valid? [True, True] Translation: X:43.66, Y:-4.71, Z:-0.99 [[ 9.80555481e-01 1.95911057e-01 1.13932599e-02 4.36607302e+01] [-1.95899314e-01 9.80621661e-01 -2.14865639e-03 -4.70885719e+00] [-1.15934230e-02 -1.25054998e-04 9.99932786e-01 -9.87462680e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.958623853000006 meters Centerline goodness [0,1] 0.9996372869060574 Centerline is valid? [True, True] Translation: X:43.69, Y:-4.72, Z:-0.98 [[ 9.80289371e-01 1.97296219e-01 1.03417411e-02 4.36892615e+01] [-1.97286623e-01 9.80343912e-01 -1.95004803e-03 -4.71530035e+00] [-1.05232000e-02 -1.28675826e-04 9.99944621e-01 -9.83284988e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.988623853 meters Centerline goodness [0,1] 0.9995479204339964 Centerline is valid? [True, True] Translation: X:43.72, Y:-4.72, Z:-0.98 [[ 9.79751748e-01 1.99996962e-01 9.36634163e-03 4.37193496e+01] [-1.99989219e-01 9.79796507e-01 -1.76565486e-03 -4.71833523e+00] [-9.53023442e-03 -1.43263915e-04 9.99954576e-01 -9.83319526e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.018623853 meters Centerline goodness [0,1] 0.9995512916390675 Centerline is valid? [True, True] Translation: X:43.75, Y:-4.72, Z:-0.99 [[ 9.79460492e-01 2.01421672e-01 9.29805936e-03 4.37486005e+01] [-2.01414105e-01 9.79504612e-01 -1.75286890e-03 -4.71927034e+00] [-9.46055782e-03 -1.55894471e-04 9.99955236e-01 -9.85481532e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.048623853 meters Centerline goodness [0,1] 0.9996526571726294 Centerline is valid? [True, True] Translation: X:43.78, Y:-4.72, Z:-0.99 [[ 9.79222275e-01 2.02555336e-01 9.75051874e-03 4.37768104e+01] [-2.02547074e-01 9.79270803e-01 -1.83784193e-03 -4.72286693e+00] [-9.92066300e-03 -1.75283287e-04 9.99950774e-01 -9.91087355e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.078623853 meters Centerline goodness [0,1] 0.9996133605412952 Centerline is valid? [True, True] Translation: X:43.81, Y:-4.73, Z:-0.99 [[ 9.78598962e-01 2.05556610e-01 9.51583596e-03 4.38062769e+01] [-2.05548889e-01 9.78645206e-01 -1.79298839e-03 -4.72613124e+00] [-9.68118786e-03 -2.01352934e-04 9.99953116e-01 -9.90990583e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.108623853000005 meters Centerline goodness [0,1] 0.9995672119795724 Centerline is valid? [True, True] Translation: X:43.83, Y:-4.73, Z:-0.99 [[ 9.78343983e-01 2.06749834e-01 9.87704512e-03 4.38336674e+01] [-2.06741577e-01 9.78393815e-01 -1.86101984e-03 -4.72845280e+00] [-1.00484054e-02 -2.21278320e-04 9.99949489e-01 -9.91162904e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.138623853000006 meters Centerline goodness [0,1] 0.9995498199279712 Centerline is valid? [True, True] Translation: X:43.86, Y:-4.73, Z:-0.99 [[ 9.77819760e-01 2.09198099e-01 1.02309896e-02 4.38624187e+01] [-2.09189381e-01 9.77873248e-01 -1.92696229e-03 -4.72848057e+00] [-1.04077279e-02 -2.55992573e-04 9.99945805e-01 -9.90576092e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.168623853 meters Centerline goodness [0,1] 0.9994834933069341 Centerline is valid? [True, True] Translation: X:43.89, Y:-4.73, Z:-0.99 [[ 9.77607945e-01 2.10160806e-01 1.07303967e-02 4.38908597e+01] [-2.10151276e-01 9.77666793e-01 -2.02073354e-03 -4.72951071e+00] [-1.09154315e-02 -2.79521392e-04 9.99940386e-01 -9.90866263e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.198623853 meters Centerline goodness [0,1] 0.9995102214650766 Centerline is valid? [True, True] Translation: X:43.92, Y:-4.73, Z:-0.99 [[ 9.77427359e-01 2.10997501e-01 1.07615968e-02 4.39187108e+01] [-2.10987974e-01 9.77486558e-01 -2.02595514e-03 -4.73443350e+00] [-1.09467877e-02 -2.90343526e-04 9.99940040e-01 -9.90985363e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.228623853 meters Centerline goodness [0,1] 0.9992961801778745 Centerline is valid? [True, True] Translation: X:43.95, Y:-4.74, Z:-0.99 [[ 9.77221956e-01 2.11943358e-01 1.08287779e-02 4.39469681e+01] [-2.11933776e-01 9.77281905e-01 -2.03798731e-03 -4.73635864e+00] [-1.10147066e-02 -3.03417856e-04 9.99939290e-01 -9.91637801e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.258623853 meters Centerline goodness [0,1] 0.9994242210990979 Centerline is valid? [True, True] Translation: X:43.98, Y:-4.74, Z:-0.99 [[ 9.77167989e-01 2.12209006e-01 1.04909174e-02 4.39754802e+01] [-2.12200037e-01 9.77224257e-01 -1.97357551e-03 -4.73981010e+00] [-1.06707894e-02 -2.97658242e-04 9.99943021e-01 -9.92806780e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.288623853000004 meters Centerline goodness [0,1] 0.9992516730452631 Centerline is valid? [True, True] Translation: X:44.00, Y:-4.74, Z:-0.99 [[ 9.77130105e-01 2.12396411e-01 1.02235925e-02 4.40043130e+01] [-2.12387909e-01 9.77183544e-01 -1.92281717e-03 -4.74305750e+00] [-1.03987258e-02 -2.92524875e-04 9.99945889e-01 -9.93601227e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.318623853000005 meters Centerline goodness [0,1] 0.9993131868131868 Centerline is valid? [True, True] Translation: X:44.03, Y:-4.75, Z:-0.99 [[ 9.77131103e-01 2.12397198e-01 1.01112224e-02 4.40321213e+01] [-2.12388886e-01 9.77183374e-01 -1.90129296e-03 -4.74646783e+00] [-1.02843477e-02 -2.89698763e-04 9.99947073e-01 -9.94553326e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.348623853 meters Centerline goodness [0,1] 0.9995919857409754 Centerline is valid? [True, True] Translation: X:44.06, Y:-4.75, Z:-0.99 [[ 9.77134707e-01 2.12359586e-01 1.05437756e-02 4.40598654e+01] [-2.12350553e-01 9.77191545e-01 -1.98189467e-03 -4.75273742e+00] [-1.07241627e-02 -3.02398509e-04 9.99942449e-01 -9.93359305e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.378623853 meters Centerline goodness [0,1] 0.9995080950445923 Centerline is valid? [True, True] Translation: X:44.09, Y:-4.75, Z:-0.99 [[ 9.77149980e-01 2.12286024e-01 1.06094925e-02 4.40885123e+01] [-2.12276879e-01 9.77207527e-01 -1.99379726e-03 -4.75106564e+00] [-1.07909313e-02 -3.03911012e-04 9.99941730e-01 -9.94768123e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.408623853 meters Centerline goodness [0,1] 0.9993820320490965 Centerline is valid? [True, True] Translation: X:44.12, Y:-4.76, Z:-1.00 [[ 9.77106308e-01 2.12476824e-01 1.08102761e-02 4.41168354e+01] [-2.12467349e-01 9.77166056e-01 -2.03074261e-03 -4.75515486e+00] [-1.09949206e-02 -3.12579291e-04 9.99939505e-01 -9.95095389e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.438623853 meters Centerline goodness [0,1] 0.9994877049180327 Centerline is valid? [True, True] Translation: X:44.15, Y:-4.76, Z:-1.00 [[ 9.77043513e-01 2.12752055e-01 1.10696152e-02 4.41454211e+01] [-2.12742144e-01 9.77106165e-01 -2.07898631e-03 -4.75622115e+00] [-1.12584979e-02 -3.23713591e-04 9.99936569e-01 -9.95017432e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.468623853000004 meters Centerline goodness [0,1] 0.9994863563402889 Centerline is valid? [True, True] Translation: X:44.17, Y:-4.76, Z:-0.99 [[ 9.76997792e-01 2.12950969e-01 1.12782961e-02 4.41738657e+01] [-2.12940702e-01 9.77062830e-01 -2.11742728e-03 -4.76015325e+00] [-1.14705121e-02 -3.32886505e-04 9.99934156e-01 -9.94502179e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.498623853000005 meters Centerline goodness [0,1] 0.9994612649498976 Centerline is valid? [True, True] Translation: X:44.20, Y:-4.76, Z:-0.99 [[ 9.77012829e-01 2.12869494e-01 1.15113445e-02 4.42017222e+01] [-2.12858797e-01 9.77080582e-01 -2.16076201e-03 -4.76446708e+00] [-1.17074715e-02 -3.39198741e-04 9.99931408e-01 -9.94244534e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.528623853000006 meters Centerline goodness [0,1] 0.9994612649498976 Centerline is valid? [True, True] Translation: X:44.23, Y:-4.77, Z:-0.99 [[ 9.77027874e-01 2.12800421e-01 1.15114972e-02 4.42287787e+01] [-2.12789729e-01 9.77095628e-01 -2.15994815e-03 -4.76941074e+00] [-1.17074714e-02 -3.39198823e-04 9.99931408e-01 -9.94729569e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.558623853 meters Centerline goodness [0,1] 0.9994894486044928 Centerline is valid? [True, True] Translation: X:44.26, Y:-4.77, Z:-1.00 [[ 9.77186492e-01 2.12048973e-01 1.19077141e-02 4.42575592e+01] [-2.12037488e-01 9.77258981e-01 -2.23334771e-03 -4.76706341e+00] [-1.21104996e-02 -3.42484575e-04 9.99926607e-01 -9.95191614e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.588623853 meters Centerline goodness [0,1] 0.9995255860091001 Centerline is valid? [True, True] Translation: X:44.29, Y:-4.78, Z:-0.99 [[ 9.77365816e-01 2.11231427e-01 1.17194495e-02 4.42854436e+01] [-2.11220254e-01 9.77436022e-01 -2.19715948e-03 -4.77596067e+00] [-1.19191212e-02 -3.27956530e-04 9.99928911e-01 -9.94970737e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.618623853 meters Centerline goodness [0,1] 0.9994824239810222 Centerline is valid? [True, True] Translation: X:44.31, Y:-4.78, Z:-1.00 [[ 9.77545801e-01 2.10401006e-01 1.16457222e-02 4.43129670e+01] [-2.10389920e-01 9.77615117e-01 -2.18283390e-03 -4.77771384e+00] [-1.18443046e-02 -3.16322461e-04 9.99929804e-01 -9.95546372e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.648623853000004 meters Centerline goodness [0,1] 0.9994415927492967 Centerline is valid? [True, True] Translation: X:44.34, Y:-4.78, Z:-1.00 [[ 9.77955134e-01 2.08475659e-01 1.19018976e-02 4.43412250e+01] [-2.08463947e-01 9.78027510e-01 -2.23008350e-03 -4.77910923e+00] [-1.21053014e-02 -3.00194931e-04 9.99926683e-01 -9.96420715e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.678623853000005 meters Centerline goodness [0,1] 0.9995710915719493 Centerline is valid? [True, True] Translation: X:44.37, Y:-4.78, Z:-1.00 [[ 9.78159058e-01 2.07522407e-01 1.18029009e-02 4.43703562e+01] [-2.07510830e-01 9.78230223e-01 -2.21070504e-03 -4.78305596e+00] [-1.20047252e-02 -2.86808598e-04 9.99927900e-01 -9.97172522e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.708623853000006 meters Centerline goodness [0,1] 0.9995032075512452 Centerline is valid? [True, True] Translation: X:44.40, Y:-4.79, Z:-1.00 [[ 9.78413616e-01 2.06340176e-01 1.14248566e-02 4.43992562e+01] [-2.06329252e-01 9.78480282e-01 -2.13950722e-03 -4.78756331e+00] [-1.16204632e-02 -2.63959134e-04 9.99932445e-01 -9.98307712e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.738623853 meters Centerline goodness [0,1] 0.9996565418053022 Centerline is valid? [True, True] Translation: X:44.43, Y:-4.79, Z:-1.00 [[ 9.78998365e-01 2.03576915e-01 1.08922661e-02 4.44274892e+01] [-2.03566819e-01 9.79058931e-01 -2.03947868e-03 -4.79120704e+00] [-1.10793611e-02 -2.20657659e-04 9.99938598e-01 -1.00059361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.768623853 meters Centerline goodness [0,1] 0.9996136758740584 Centerline is valid? [True, True] Translation: X:44.46, Y:-4.80, Z:-1.00 [[ 9.79364879e-01 2.01813135e-01 1.07653488e-02 4.44551534e+01] [-2.01803170e-01 9.79424024e-01 -2.01527702e-03 -4.79574882e+00] [-1.09505506e-02 -1.98789971e-04 9.99940021e-01 -1.00164160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.798623853 meters Centerline goodness [0,1] 0.9996756476235783 Centerline is valid? [True, True] Translation: X:44.48, Y:-4.80, Z:-1.00 [[ 9.79785301e-01 1.99768596e-01 1.06429780e-02 4.44837945e+01] [-1.99758744e-01 9.79843088e-01 -1.99158783e-03 -4.80212007e+00] [-1.08263052e-02 -1.74699449e-04 9.99941379e-01 -1.00249370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.828623853 meters Centerline goodness [0,1] 0.9995339476750345 Centerline is valid? [True, True] Translation: X:44.51, Y:-4.81, Z:-1.00 [[ 9.80184884e-01 1.97814714e-01 1.03407636e-02 4.45113723e+01] [-1.97805308e-01 9.80239418e-01 -1.93484556e-03 -4.80567551e+00] [-1.05191650e-02 -1.48951551e-04 9.99944661e-01 -1.00430775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.858623853000005 meters Centerline goodness [0,1] 0.9996766056529331 Centerline is valid? [True, True] Translation: X:44.54, Y:-4.82, Z:-1.00 [[ 9.81072511e-01 1.93400511e-01 9.64217042e-03 4.45386768e+01] [-1.93392125e-01 9.81119887e-01 -1.80354114e-03 -4.81508548e+00] [-9.80893094e-03 -9.53151851e-05 9.99951887e-01 -1.00465322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.888623853000006 meters Centerline goodness [0,1] 0.9997862197233683 Centerline is valid? [True, True] Translation: X:44.57, Y:-4.82, Z:-1.01 [[ 9.81569055e-01 1.90864061e-01 9.64884965e-03 4.45657155e+01] [-1.90855544e-01 9.81616476e-01 -1.80442521e-03 -4.82050365e+00] [-9.81586971e-03 -7.03685002e-05 9.99951821e-01 -1.00651410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.918623853 meters Centerline goodness [0,1] 0.9998273517923042 Centerline is valid? [True, True] Translation: X:44.59, Y:-4.83, Z:-1.01 [[ 9.82611699e-01 1.85383203e-01 1.03593806e-02 4.45925999e+01] [-1.85373089e-01 9.82666305e-01 -1.93651692e-03 -4.83006516e+00] [-1.05388119e-02 -1.75062023e-05 9.99944465e-01 -1.00639137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.948623853 meters Centerline goodness [0,1] 0.999804424355687 Centerline is valid? [True, True] Translation: X:44.62, Y:-4.84, Z:-1.00 [[ 9.83083385e-01 1.82843729e-01 1.07345111e-02 4.46200361e+01] [-1.82832727e-01 9.83141989e-01 -2.00585579e-03 -4.83804501e+00] [-1.09203068e-02 9.30355951e-06 9.99940372e-01 -1.00480323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.978623853 meters Centerline goodness [0,1] 0.999827392767757 Centerline is valid? [True, True] Translation: X:44.65, Y:-4.85, Z:-1.01 [[ 9.83528531e-01 1.80438668e-01 1.06543388e-02 4.46478596e+01] [-1.80427694e-01 9.83586237e-01 -1.99035000e-03 -4.84581541e+00] [-1.08385971e-02 3.52282338e-05 9.99941260e-01 -1.00596185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.008623853 meters Centerline goodness [0,1] 0.9997817499290688 Centerline is valid? [True, True] Translation: X:44.68, Y:-4.85, Z:-1.01 [[ 9.84343565e-01 1.75984089e-01 9.86645818e-03 4.46761587e+01] [-1.75974460e-01 9.84393008e-01 -1.84256314e-03 -4.85426016e+00] [-1.00367342e-02 7.74705165e-05 9.99949628e-01 -1.00697956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.038623853000004 meters Centerline goodness [0,1] 0.9998700623700624 Centerline is valid? [True, True] Translation: X:44.70, Y:-4.86, Z:-1.01 [[ 9.84652796e-01 1.74248768e-01 9.81009982e-03 4.47037577e+01] [-1.74239164e-01 9.84701659e-01 -1.83188303e-03 -4.86253078e+00] [-9.97922493e-03 9.44651623e-05 9.99950202e-01 -1.00898945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.068623853000005 meters Centerline goodness [0,1] 0.9999139932914768 Centerline is valid? [True, True] Translation: X:44.73, Y:-4.87, Z:-1.01 [[ 9.85081871e-01 1.71827262e-01 9.43926411e-03 4.47325989e+01] [-1.71818264e-01 9.85127088e-01 -1.76218144e-03 -4.87004135e+00] [-9.60166557e-03 1.14055024e-04 9.99953896e-01 -1.01044754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.098623853 meters Centerline goodness [0,1] 0.9999572311442807 Centerline is valid? [True, True] Translation: X:44.76, Y:-4.88, Z:-1.01 [[ 9.85193782e-01 1.71204600e-01 9.06627231e-03 4.47609367e+01] [-1.71196273e-01 9.85235491e-01 -1.69244385e-03 -4.87633469e+00] [-9.22216742e-03 1.15273125e-04 9.99957468e-01 -1.01233258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.128623853 meters Centerline goodness [0,1] 0.9998912523380747 Centerline is valid? [True, True] Translation: X:44.79, Y:-4.88, Z:-1.01 [[ 9.85277607e-01 1.70731662e-01 8.87334211e-03 4.47900901e+01] [-1.70723671e-01 9.85317556e-01 -1.65602307e-03 -4.88012235e+00] [-9.02579533e-03 1.16752913e-04 9.99959260e-01 -1.01189834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.158623853 meters Centerline goodness [0,1] 0.9999784296807592 Centerline is valid? [True, True] Translation: X:44.82, Y:-4.89, Z:-1.01 [[ 9.85258897e-01 1.70819309e-01 9.25579922e-03 4.48179456e+01] [-1.70810618e-01 9.85302364e-01 -1.72724956e-03 -4.88586197e+00] [-9.41480843e-03 1.20799204e-04 9.99955672e-01 -1.01254588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.188623853 meters Centerline goodness [0,1] 0.999978501096444 Centerline is valid? [True, True] Translation: X:44.85, Y:-4.89, Z:-1.01 [[ 9.85100592e-01 1.71678084e-01 1.01714770e-02 4.48464324e+01] [-1.71667639e-01 9.85153095e-01 -1.89775748e-03 -4.88884417e+00] [-1.03462654e-02 1.23368579e-04 9.99946468e-01 -1.01109857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.218623853000004 meters Centerline goodness [0,1] 0.9999784691570675 Centerline is valid? [True, True] Translation: X:44.88, Y:-4.89, Z:-1.01 [[ 9.84963819e-01 1.72425509e-01 1.07573179e-02 4.48763793e+01] [-1.72413878e-01 9.85022553e-01 -2.00634081e-03 -4.89142083e+00] [-1.09421450e-02 1.21462215e-04 9.99940126e-01 -1.00981465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.248623853000005 meters Centerline goodness [0,1] 0.9998926186027532 Centerline is valid? [True, True] Translation: X:44.90, Y:-4.90, Z:-1.01 [[ 9.84798820e-01 1.73339972e-01 1.11596898e-02 4.49042740e+01] [-1.73327516e-01 9.84862041e-01 -2.08124277e-03 -4.89648493e+00] [-1.13515175e-02 1.15324113e-04 9.99935563e-01 -1.01052407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.278623853000006 meters Centerline goodness [0,1] 0.9999784063917081 Centerline is valid? [True, True] Translation: X:44.93, Y:-4.90, Z:-1.01 [[ 9.84609512e-01 1.74431701e-01 1.08485558e-02 4.49329593e+01] [-1.74420002e-01 9.84669270e-01 -2.02269195e-03 -4.90043597e+00] [-1.10350611e-02 9.93566151e-05 9.99939107e-01 -1.01119606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.308623853 meters Centerline goodness [0,1] 0.9998928762720942 Centerline is valid? [True, True] Translation: X:44.96, Y:-4.91, Z:-1.01 [[ 9.84537112e-01 1.74853164e-01 1.06322842e-02 4.49605305e+01] [-1.74841956e-01 9.84594517e-01 -1.98193746e-03 -4.90606684e+00] [-1.08150367e-02 9.23216213e-05 9.99941512e-01 -1.01259852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.338623853 meters Centerline goodness [0,1] 0.9998484159466424 Centerline is valid? [True, True] Translation: X:44.99, Y:-4.91, Z:-1.01 [[ 9.84411316e-01 1.75569878e-01 1.04679751e-02 4.49883155e+01] [-1.75559060e-01 9.84466968e-01 -1.95068502e-03 -4.91092994e+00] [-1.06478572e-02 8.25285399e-05 9.99943307e-01 -1.01430237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.368623853 meters Centerline goodness [0,1] 0.9998495852851433 Centerline is valid? [True, True] Translation: X:45.02, Y:-4.92, Z:-1.01 [[ 9.84322643e-01 1.76078308e-01 1.02646995e-02 4.50165455e+01] [-1.76067942e-01 9.84376160e-01 -1.91205009e-03 -4.91605226e+00] [-1.04409960e-02 7.47896881e-05 9.99945489e-01 -1.01493369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.398623853000004 meters Centerline goodness [0,1] 0.9999143285500107 Centerline is valid? [True, True] Translation: X:45.04, Y:-4.92, Z:-1.02 [[ 9.84213389e-01 1.76688070e-01 1.02631171e-02 4.50446500e+01] [-1.76677746e-01 9.84266895e-01 -1.91126477e-03 -4.92093926e+00] [-1.04393441e-02 6.78279875e-05 9.99945506e-01 -1.01531155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.428623853000005 meters Centerline goodness [0,1] 0.9998483469821049 Centerline is valid? [True, True] Translation: X:45.07, Y:-4.93, Z:-1.02 [[ 9.84063660e-01 1.77504949e-01 1.05216973e-02 4.50725679e+01] [-1.77494150e-01 9.84119906e-01 -1.95889073e-03 -4.92678913e+00] [-1.07023245e-02 6.01334664e-05 9.99942727e-01 -1.01617247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.458623853000006 meters Centerline goodness [0,1] 0.9998922738828802 Centerline is valid? [True, True] Translation: X:45.10, Y:-4.93, Z:-1.02 [[ 9.84048626e-01 1.77583534e-01 1.06014685e-02 4.51008193e+01] [-1.77572580e-01 9.84105729e-01 -1.97323304e-03 -4.93277462e+00] [-1.07833796e-02 5.92271504e-05 9.99941856e-01 -1.01590792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.488623853 meters Centerline goodness [0,1] 0.9997635527277418 Centerline is valid? [True, True] Translation: X:45.13, Y:-4.94, Z:-1.01 [[ 9.83992865e-01 1.77923924e-01 1.00557599e-02 4.51288785e+01] [-1.77914092e-01 9.84044244e-01 -1.87121214e-03 -4.93829826e+00] [-1.02282461e-02 5.21979979e-05 9.99947689e-01 -1.01168035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.518623853 meters Centerline goodness [0,1] 0.999848205573024 Centerline is valid? [True, True] Translation: X:45.16, Y:-4.94, Z:-1.02 [[ 9.83917395e-01 1.78311626e-01 1.05605117e-02 4.51573926e+01] [-1.78300811e-01 9.83974065e-01 -1.96457649e-03 -4.94462283e+00] [-1.07415764e-02 5.00331970e-05 9.99942306e-01 -1.01676629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.548623853 meters Centerline goodness [0,1] 0.9998712169993561 Centerline is valid? [True, True] Translation: X:45.18, Y:-4.95, Z:-1.02 [[ 9.83697100e-01 1.79509883e-01 1.07804179e-02 4.51843030e+01] [-1.79498689e-01 9.83756169e-01 -2.00501585e-03 -4.94992870e+00] [-1.09652228e-02 3.72573880e-05 9.99939879e-01 -1.01678393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.578623853 meters Centerline goodness [0,1] 0.9998924638678596 Centerline is valid? [True, True] Translation: X:45.21, Y:-4.95, Z:-1.02 [[ 9.83519667e-01 1.80467398e-01 1.09809930e-02 4.52130958e+01] [-1.80455852e-01 9.83580967e-01 -2.04155318e-03 -4.95496025e+00] [-1.11691295e-02 2.63232624e-05 9.99937623e-01 -1.01736959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.608623853000005 meters Centerline goodness [0,1] 0.999892236734342 Centerline is valid? [True, True] Translation: X:45.24, Y:-4.96, Z:-1.02 [[ 9.83287383e-01 1.81726636e-01 1.10159608e-02 4.52415428e+01] [-1.81715102e-01 9.83349088e-01 -2.04751554e-03 -4.95951063e+00] [-1.12046232e-02 1.15297571e-05 9.99937226e-01 -1.01755163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.638623853000006 meters Centerline goodness [0,1] 0.9998925193465176 Centerline is valid? [True, True] Translation: X:45.27, Y:-4.96, Z:-1.02 [[ 9.82655311e-01 1.85138152e-01 1.06020678e-02 4.52693747e+01] [-1.85127670e-01 9.82712503e-01 -1.97017575e-03 -4.96178602e+00] [-1.07835393e-02 -2.67324505e-05 9.99941856e-01 -1.01907282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.668623853 meters Centerline goodness [0,1] 0.999913158637459 Centerline is valid? [True, True] Translation: X:45.30, Y:-4.97, Z:-1.02 [[ 9.82284242e-01 1.87106273e-01 1.04360668e-02 4.52976867e+01] [-1.87096235e-01 9.82339677e-01 -1.93862319e-03 -4.96515811e+00] [-1.06144911e-02 -4.82698033e-05 9.99943664e-01 -1.01968018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.698623853 meters Centerline goodness [0,1] 0.9998927107696929 Centerline is valid? [True, True] Translation: X:45.33, Y:-4.97, Z:-1.02 [[ 9.81491352e-01 1.91250145e-01 9.90494423e-03 4.53263514e+01] [-1.91241319e-01 9.81541326e-01 -1.83952470e-03 -4.96730961e+00] [-1.00739215e-02 -8.87570138e-05 9.99949253e-01 -1.02130835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.728623853 meters Centerline goodness [0,1] 0.9998487532950175 Centerline is valid? [True, True] Translation: X:45.36, Y:-4.97, Z:-1.02 [[ 9.81025425e-01 1.93650111e-01 9.42076878e-03 4.53552138e+01] [-1.93642241e-01 9.81070651e-01 -1.74918663e-03 -4.97067859e+00] [-9.58116995e-03 -1.08262224e-04 9.99954094e-01 -1.02200118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.758623853 meters Centerline goodness [0,1] 0.9997219191854371 Centerline is valid? [True, True] Translation: X:45.38, Y:-4.97, Z:-1.02 [[ 9.80515843e-01 1.96230486e-01 9.07069861e-03 4.53832117e+01] [-1.96223304e-01 9.80557790e-01 -1.68386261e-03 -4.97070639e+00] [-9.22476936e-03 -1.28828486e-04 9.99957443e-01 -1.01961432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.788623853000004 meters Centerline goodness [0,1] 0.9997848074026253 Centerline is valid? [True, True] Translation: X:45.41, Y:-4.97, Z:-1.02 [[ 9.79510550e-01 2.01154260e-01 9.80030338e-03 4.54138445e+01] [-2.01146131e-01 9.79559558e-01 -1.81831322e-03 -4.96817556e+00] [-9.96574230e-03 -1.90236123e-04 9.99950323e-01 -1.02287927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.818623853000005 meters Centerline goodness [0,1] 0.9997633136094675 Centerline is valid? [True, True] Translation: X:45.44, Y:-4.97, Z:-1.02 [[ 9.79070764e-01 2.03259603e-01 1.02943597e-02 4.54423542e+01] [-2.03250750e-01 9.79124856e-01 -1.90997249e-03 -4.97045810e+00] [-1.04676837e-02 -2.22338115e-04 9.99945188e-01 -1.02249310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.848623853 meters Centerline goodness [0,1] 0.9997214842745736 Centerline is valid? [True, True] Translation: X:45.47, Y:-4.97, Z:-1.02 [[ 9.78659205e-01 2.05235717e-01 1.02206407e-02 4.54702739e+01] [-2.05227104e-01 9.78712543e-01 -1.89575533e-03 -4.96997962e+00] [-1.03921459e-02 -2.42254083e-04 9.99945971e-01 -1.02339260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.878623853 meters Centerline goodness [0,1] 0.9998271540921269 Centerline is valid? [True, True] Translation: X:45.50, Y:-4.98, Z:-1.02 [[ 9.78302163e-01 2.06918155e-01 1.04764390e-02 4.54986125e+01] [-2.06909212e-01 9.78358219e-01 -1.94223151e-03 -4.97578966e+00] [-1.06515932e-02 -2.67582463e-04 9.99943234e-01 -1.02265939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.908623853 meters Centerline goodness [0,1] 0.9996988664472694 Centerline is valid? [True, True] Translation: X:45.53, Y:-4.97, Z:-1.02 [[ 9.77669959e-01 2.09883648e-01 1.05026791e-02 4.55286622e+01] [-2.09874838e-01 9.77726324e-01 -1.94647496e-03 -4.97129844e+00] [-1.06772791e-02 -3.01237989e-04 9.99942951e-01 -1.02435365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.938623853 meters Centerline goodness [0,1] 0.9995707233311869 Centerline is valid? [True, True] Translation: X:45.56, Y:-4.98, Z:-1.02 [[ 9.77457091e-01 2.10868320e-01 1.05918124e-02 4.55570466e+01] [-2.10859422e-01 9.77514426e-01 -1.96266286e-03 -4.97510061e+00] [-1.07675128e-02 -3.14964708e-04 9.99941979e-01 -1.02442185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.968623853000004 meters Centerline goodness [0,1] 0.9996541961140288 Centerline is valid? [True, True] Translation: X:45.59, Y:-4.98, Z:-1.02 [[ 9.77294438e-01 2.11608130e-01 1.08434261e-02 4.55852488e+01] [-2.11598855e-01 9.77354536e-01 -2.00874874e-03 -4.97904158e+00] [-1.10229393e-02 -3.31317583e-04 9.99939191e-01 -1.02438692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.998623853000005 meters Centerline goodness [0,1] 0.9994193548387097 Centerline is valid? [True, True] Translation: X:45.61, Y:-4.98, Z:-1.02 [[ 9.77099724e-01 2.12462504e-01 1.16539295e-02 4.56135047e+01] [-2.12451855e-01 9.77169151e-01 -2.15850063e-03 -4.97729597e+00] [-1.18464609e-02 -3.66828582e-04 9.99929761e-01 -1.02407165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.028623853000006 meters Centerline goodness [0,1] 0.9994016199004124 Centerline is valid? [True, True] Translation: X:45.64, Y:-4.98, Z:-1.02 [[ 9.77164768e-01 2.12173529e-01 1.14634436e-02 4.56413797e+01] [-2.12163221e-01 9.77231940e-01 -2.12202200e-03 -4.98016934e+00] [-1.16526801e-02 -3.58555982e-04 9.99932041e-01 -1.02455165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.058623853 meters Centerline goodness [0,1] 0.9996101280079707 Centerline is valid? [True, True] Translation: X:45.67, Y:-4.99, Z:-1.03 [[ 9.77384043e-01 2.11174059e-01 1.12226862e-02 4.56700420e+01] [-2.11164121e-01 9.77448413e-01 -2.07673413e-03 -4.98561931e+00] [-1.14081492e-02 -3.40061866e-04 9.99934867e-01 -1.02616829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.088623853 meters Centerline goodness [0,1] 0.9996774193548387 Centerline is valid? [True, True] Translation: X:45.70, Y:-4.99, Z:-1.03 [[ 9.78101540e-01 2.07849898e-01 1.07608822e-02 4.56981986e+01] [-2.07840567e-01 9.78160690e-01 -1.99071320e-03 -4.99150369e+00] [-1.09396415e-02 -2.89428206e-04 9.99940118e-01 -1.02806597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.118623853 meters Centerline goodness [0,1] 0.9997218180261919 Centerline is valid? [True, True] Translation: X:45.73, Y:-5.00, Z:-1.03 [[ 9.78583289e-01 2.05561551e-01 1.09176580e-02 4.57266550e+01] [-2.05551808e-01 9.78644152e-01 -2.01931095e-03 -4.99861826e+00] [-1.10995948e-02 -2.68080375e-04 9.99938362e-01 -1.02890260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.148623853000004 meters Centerline goodness [0,1] 0.9997196825944454 Centerline is valid? [True, True] Translation: X:45.75, Y:-5.01, Z:-1.03 [[ 9.79132769e-01 2.02931058e-01 1.08630923e-02 4.57542435e+01] [-2.02921252e-01 9.79192999e-01 -2.00891537e-03 -5.00756256e+00] [-1.10447353e-02 -2.37357433e-04 9.99938977e-01 -1.02918200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.178623853000005 meters Centerline goodness [0,1] 0.9998915518924195 Centerline is valid? [True, True] Translation: X:45.78, Y:-5.02, Z:-1.03 [[ 9.80119381e-01 1.98105851e-01 1.09576698e-02 4.57825039e+01] [-1.98095580e-01 9.80180615e-01 -2.02571453e-03 -5.01845539e+00] [-1.11418014e-02 -1.85223874e-04 9.99937911e-01 -1.02933474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.208623853000006 meters Centerline goodness [0,1] 0.9998289282353947 Centerline is valid? [True, True] Translation: X:45.81, Y:-5.02, Z:-1.03 [[ 9.80538926e-01 1.96005927e-01 1.11843812e-02 4.58103509e+01] [-1.95995092e-01 9.80602697e-01 -2.06749193e-03 -5.02358484e+00] [-1.13726751e-02 -1.64827509e-04 9.99935315e-01 -1.02989270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.238623853 meters Centerline goodness [0,1] 0.9998716028247379 Centerline is valid? [True, True] Translation: X:45.84, Y:-5.03, Z:-1.03 [[ 9.80885042e-01 1.94258966e-01 1.13132069e-02 4.58383269e+01] [-1.94247771e-01 9.80950270e-01 -2.09073421e-03 -5.02991540e+00] [-1.15038372e-02 -1.46795302e-04 9.99933818e-01 -1.02966295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.268623853 meters Centerline goodness [0,1] 0.999828814756168 Centerline is valid? [True, True] Translation: X:45.87, Y:-5.04, Z:-1.03 [[ 9.81409417e-01 1.91543893e-01 1.21034080e-02 4.58653808e+01] [-1.91530879e-01 9.81484040e-01 -2.23620207e-03 -5.03625809e+00] [-1.23076326e-02 -1.23546603e-04 9.99924251e-01 -1.02831538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.298623853 meters Centerline goodness [0,1] 0.9998716028247379 Centerline is valid? [True, True] Translation: X:45.89, Y:-5.04, Z:-1.03 [[ 9.81583439e-01 1.90635421e-01 1.23323900e-02 4.58929440e+01] [-1.90621848e-01 9.81660900e-01 -2.27776100e-03 -5.04077751e+00] [-1.25404470e-02 -1.15010498e-04 9.99921359e-01 -1.02843701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.328623853 meters Centerline goodness [0,1] 0.9998931144316894 Centerline is valid? [True, True] Translation: X:45.92, Y:-5.05, Z:-1.03 [[ 9.81738499e-01 1.89823797e-01 1.25077888e-02 4.59212068e+01] [-1.89809779e-01 9.81818168e-01 -2.30936025e-03 -5.04600464e+00] [-1.27187459e-02 -1.06912773e-04 9.99919108e-01 -1.02860102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.358623853000005 meters Centerline goodness [0,1] 0.9999137447707768 Centerline is valid? [True, True] Translation: X:45.95, Y:-5.05, Z:-1.03 [[ 9.81973712e-01 1.88631265e-01 1.20778451e-02 4.59494038e+01] [-1.88618111e-01 9.82047981e-01 -2.22945228e-03 -5.05289866e+00] [-1.22815678e-02 -8.88367839e-05 9.99924575e-01 -1.02949246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.388623853000006 meters Centerline goodness [0,1] 0.999914350563145 Centerline is valid? [True, True] Translation: X:45.98, Y:-5.06, Z:-1.03 [[ 9.82084263e-01 1.88066050e-01 1.19021768e-02 4.59760350e+01] [-1.88053239e-01 9.82156380e-01 -2.19665912e-03 -5.05721191e+00] [-1.21029159e-02 -8.09385427e-05 9.99926754e-01 -1.02996966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.418623853 meters Centerline goodness [0,1] 0.999914350563145 Centerline is valid? [True, True] Translation: X:46.00, Y:-5.06, Z:-1.03 [[ 9.82097229e-01 1.87998317e-01 1.19023661e-02 4.60030945e+01] [-1.87985513e-01 9.82169347e-01 -2.19563291e-03 -5.06206369e+00] [-1.21029144e-02 -8.11474007e-05 9.99926754e-01 -1.03045450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.448623853 meters Centerline goodness [0,1] 0.9998721036812823 Centerline is valid? [True, True] Translation: X:46.03, Y:-5.07, Z:-1.03 [[ 9.82200692e-01 1.87445617e-01 1.20805918e-02 4.60302435e+01] [-1.87432396e-01 9.82274979e-01 -2.22756630e-03 -5.06566514e+00] [-1.22840106e-02 -7.63771101e-05 9.99924546e-01 -1.03073074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.478623853 meters Centerline goodness [0,1] 0.9999144110409757 Centerline is valid? [True, True] Translation: X:46.06, Y:-5.07, Z:-1.03 [[ 9.82506220e-01 1.85861076e-01 1.17127577e-02 4.60573891e+01] [-1.85848542e-01 9.82576031e-01 -2.15917549e-03 -5.07090140e+00] [-1.19099817e-02 -5.53955923e-05 9.99929072e-01 -1.03216804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.508623853 meters Centerline goodness [0,1] 0.9999141262344354 Centerline is valid? [True, True] Translation: X:46.08, Y:-5.08, Z:-1.03 [[ 9.82638988e-01 1.85165158e-01 1.15967362e-02 4.60846188e+01] [-1.85152833e-01 9.82707414e-01 -2.13689878e-03 -5.07721615e+00] [-1.17918778e-02 -4.73685013e-05 9.99930472e-01 -1.03200867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.538623853000004 meters Centerline goodness [0,1] 0.9999566536627655 Centerline is valid? [True, True] Translation: X:46.11, Y:-5.08, Z:-1.03 [[ 9.82716027e-01 1.84758900e-01 1.15481341e-02 4.61122668e+01] [-1.84746660e-01 9.82783876e-01 -2.12712195e-03 -5.08287236e+00] [-1.17423247e-02 -4.31223773e-05 9.99931056e-01 -1.03159305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.568623853000005 meters Centerline goodness [0,1] 0.99997842363044 Centerline is valid? [True, True] Translation: X:46.14, Y:-5.09, Z:-1.03 [[ 9.82651312e-01 1.85074173e-01 1.19978981e-02 4.61395336e+01] [-1.85060994e-01 9.82724553e-01 -2.20919663e-03 -5.08536829e+00] [-1.21994943e-02 -4.94729894e-05 9.99925582e-01 -1.03146099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.598623853 meters Centerline goodness [0,1] 0.9999783470108048 Centerline is valid? [True, True] Translation: X:46.17, Y:-5.09, Z:-1.03 [[ 9.82560805e-01 1.85549348e-01 1.20708257e-02 4.61685637e+01] [-1.85536065e-01 9.82634946e-01 -2.22092576e-03 -5.08922526e+00] [-1.22733065e-02 -5.73788957e-05 9.99924678e-01 -1.03132387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.628623853 meters Centerline goodness [0,1] 0.9999357587956915 Centerline is valid? [True, True] Translation: X:46.20, Y:-5.09, Z:-1.03 [[ 9.82295836e-01 1.86955775e-01 1.19343128e-02 4.61969031e+01] [-1.86942899e-01 9.82368328e-01 -2.19541182e-03 -5.08912556e+00] [-1.21343358e-02 -7.44911381e-05 9.99926373e-01 -1.02846974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.658623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:46.23, Y:-5.09, Z:-1.03 [[ 9.82100992e-01 1.87942262e-01 1.24638536e-02 4.62256628e+01] [-1.87928313e-01 9.82180074e-01 -2.29154179e-03 -5.09135552e+00] [-1.26724262e-02 -9.17855096e-05 9.99919697e-01 -1.03203925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.688623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:46.25, Y:-5.09, Z:-1.03 [[ 9.81876425e-01 1.89122122e-01 1.23089165e-02 4.62546483e+01] [-1.89108618e-01 9.81953569e-01 -2.26247132e-03 -5.09372179e+00] [-1.25146678e-02 -1.06254938e-04 9.99921683e-01 -1.03207334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.718623853000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:46.28, Y:-5.10, Z:-1.03 [[ 9.81670525e-01 1.90179096e-01 1.24455312e-02 4.62830291e+01] [-1.90165383e-01 9.81749406e-01 -2.28699746e-03 -5.09534756e+00] [-1.26533319e-02 -1.21631210e-04 9.99919936e-01 -1.03277136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.748623853000005 meters Centerline goodness [0,1] 0.9997848444425319 Centerline is valid? [True, True] Translation: X:46.31, Y:-5.09, Z:-1.03 [[ 9.81404340e-01 1.91606304e-01 1.15128943e-02 4.63118228e+01] [-1.91594675e-01 9.81471858e-01 -2.11495989e-03 -5.09452982e+00] [-1.17048214e-02 -1.30178434e-04 9.99931488e-01 -1.02963612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.778623853000006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:46.34, Y:-5.10, Z:-1.04 [[ 9.81325826e-01 1.92025888e-01 1.12108247e-02 4.63406024e+01] [-1.92014897e-01 9.81389852e-01 -2.05871706e-03 -5.09866840e+00] [-1.13975166e-02 -1.32373130e-04 9.99935037e-01 -1.03598257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.808623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:46.37, Y:-5.10, Z:-1.04 [[ 9.81317133e-01 1.92093354e-01 1.08087344e-02 4.63695420e+01] [-1.92083147e-01 9.81376649e-01 -1.98437385e-03 -5.10224495e+00] [-1.09886246e-02 -1.28875675e-04 9.99939615e-01 -1.03687129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.838623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:46.40, Y:-5.11, Z:-1.04 [[ 9.81504454e-01 1.91122173e-01 1.10146404e-02 4.63983729e+01] [-1.91111519e-01 9.81566249e-01 -2.02160831e-03 -5.10585077e+00] [-1.11979734e-02 -1.20807095e-04 9.99937293e-01 -1.03691081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.868623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:46.43, Y:-5.11, Z:-1.04 [[ 9.81662109e-01 1.90293173e-01 1.13142862e-02 4.64255731e+01] [-1.90281882e-01 9.81727302e-01 -2.07607597e-03 -5.10940229e+00] [-1.15026068e-02 -1.14898564e-04 9.99933836e-01 -1.03758418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.898623853000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:46.45, Y:-5.12, Z:-1.04 [[ 9.81807403e-01 1.89532991e-01 1.14659820e-02 4.64542261e+01] [-1.89521353e-01 9.81874347e-01 -2.10308938e-03 -5.11565565e+00] [-1.16567584e-02 -1.08219700e-04 9.99932052e-01 -1.03646535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.928623853000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:46.48, Y:-5.12, Z:-1.04 [[ 9.82244081e-01 1.87215552e-01 1.21203066e-02 4.64821112e+01] [-1.87202379e-01 9.82318853e-01 -2.22250062e-03 -5.12018237e+00] [-1.23220923e-02 -8.59121376e-05 9.99924076e-01 -1.03646847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.958623853000006 meters Centerline goodness [0,1] 0.9999786306521925 Centerline is valid? [True, True] Translation: X:46.51, Y:-5.13, Z:-1.04 [[ 9.82507835e-01 1.85813636e-01 1.23144951e-02 4.65098096e+01] [-1.85799937e-01 9.82585003e-01 -2.25730184e-03 -5.12565053e+00] [-1.25194757e-02 -7.02156858e-05 9.99921626e-01 -1.03664315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.988623853 meters Centerline goodness [0,1] 0.9999569318230759 Centerline is valid? [True, True] Translation: X:46.54, Y:-5.13, Z:-1.04 [[ 9.82748794e-01 1.84528634e-01 1.24093515e-02 4.65375546e+01] [-1.84514632e-01 9.82827137e-01 -2.27385245e-03 -5.13170607e+00] [-1.26158383e-02 -5.50811772e-05 9.99920416e-01 -1.03675965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.018623853 meters Centerline goodness [0,1] 0.9998058001035732 Centerline is valid? [True, True] Translation: X:46.56, Y:-5.14, Z:-1.03 [[ 9.83304513e-01 1.81644766e-01 1.08357676e-02 4.65639439e+01] [-1.81633915e-01 9.83364215e-01 -1.98545852e-03 -5.13840412e+00] [-1.10161542e-02 -1.58325735e-05 9.99939320e-01 -1.03450358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.048623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:46.59, Y:-5.15, Z:-1.04 [[ 9.83538374e-01 1.80349367e-01 1.12415875e-02 4.65915872e+01] [-1.80337623e-01 9.83602616e-01 -2.05818736e-03 -5.14532420e+00] [-1.14284477e-02 -2.97492845e-06 9.99934693e-01 -1.03905881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.078623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:46.62, Y:-5.15, Z:-1.04 [[ 9.83760726e-01 1.79116542e-01 1.14934229e-02 4.66177596e+01] [-1.79104186e-01 9.83827863e-01 -2.10391040e-03 -5.15090477e+00] [-1.16843948e-02 1.12242677e-05 9.99931735e-01 -1.03943349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.108623853000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:46.65, Y:-5.16, Z:-1.04 [[ 9.83987042e-01 1.77874766e-01 1.14047882e-02 4.66458979e+01] [-1.77862531e-01 9.84053132e-01 -2.08645573e-03 -5.15690439e+00] [-1.15940454e-02 2.45609105e-05 9.99932786e-01 -1.03958242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.138623853000006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:46.67, Y:-5.16, Z:-1.04 [[ 9.84406041e-01 1.75543996e-01 1.13601264e-02 4.66731611e+01] [-1.75531707e-01 9.84471586e-01 -2.07779047e-03 -5.16396814e+00] [-1.15484653e-02 5.13271071e-05 9.99933313e-01 -1.04028626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.168623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:46.70, Y:-5.17, Z:-1.04 [[ 9.84544861e-01 1.74776665e-01 1.11595118e-02 4.67014850e+01] [-1.74764765e-01 9.84608102e-01 -2.04033053e-03 -5.16982276e+00] [-1.13443479e-02 5.85074824e-05 9.99935649e-01 -1.04119596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.198623853 meters Centerline goodness [0,1] 0.9999785407725322 Centerline is valid? [True, True] Translation: X:46.73, Y:-5.18, Z:-1.04 [[ 9.84745607e-01 1.73654637e-01 1.09616045e-02 4.67287703e+01] [-1.73643091e-01 9.84806612e-01 -2.00369497e-03 -5.17647002e+00] [-1.11430115e-02 6.97229260e-05 9.99937912e-01 -1.04248848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.228623853 meters Centerline goodness [0,1] 0.9999783334055553 Centerline is valid? [True, True] Translation: X:46.76, Y:-5.18, Z:-1.04 [[ 9.84834682e-01 1.73129325e-01 1.12643666e-02 4.67560046e+01] [-1.73117105e-01 9.84899097e-01 -2.05839460e-03 -5.18116153e+00] [-1.14506330e-02 7.71238486e-05 9.99934436e-01 -1.04204884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.258623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:46.78, Y:-5.19, Z:-1.04 [[ 9.84926681e-01 1.72596457e-01 1.13971639e-02 4.67834081e+01] [-1.72583923e-01 9.84992617e-01 -2.08171249e-03 -5.18786436e+00] [-1.15854185e-02 8.33669176e-05 9.99932883e-01 -1.04287038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.288623853000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:46.81, Y:-5.19, Z:-1.04 [[ 9.85003944e-01 1.72166848e-01 1.12163771e-02 4.68116402e+01] [-1.72154690e-01 9.85067799e-01 -2.04785038e-03 -5.19434184e+00] [-1.14014638e-02 8.61887754e-05 9.99934997e-01 -1.04374424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.318623853000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:46.84, Y:-5.20, Z:-1.04 [[ 9.85080795e-01 1.71692794e-01 1.17222783e-02 4.68398792e+01] [-1.71679485e-01 9.85150534e-01 -2.13983979e-03 -5.20000509e+00] [-1.19156038e-02 9.54403826e-05 9.99929002e-01 -1.04269229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.34862385300001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:46.87, Y:-5.21, Z:-1.04 [[ 9.85086969e-01 1.71636106e-01 1.20295667e-02 4.68670391e+01] [-1.71622092e-01 9.85160412e-01 -2.19546016e-03 -5.20562871e+00] [-1.22278731e-02 9.81797915e-05 9.99925232e-01 -1.04313928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.378623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:46.90, Y:-5.21, Z:-1.04 [[ 9.85083986e-01 1.71638008e-01 1.22447918e-02 4.68950186e+01] [-1.71623502e-01 9.85160081e-01 -2.23361517e-03 -5.21055281e+00] [-1.24464533e-02 9.88044857e-05 9.99922535e-01 -1.04263046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.408623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:46.92, Y:-5.22, Z:-1.04 [[ 9.85064946e-01 1.71752190e-01 1.21753213e-02 4.69221883e+01] [-1.71737863e-01 9.85140181e-01 -2.22044053e-03 -5.21595550e+00] [-1.23757638e-02 9.63144622e-05 9.99923413e-01 -1.04322129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.438623853 meters Centerline goodness [0,1] 0.9999784115196131 Centerline is valid? [True, True] Translation: X:46.95, Y:-5.22, Z:-1.04 [[ 9.84882005e-01 1.72794429e-01 1.22278681e-02 4.69497241e+01] [-1.72780069e-01 9.84957907e-01 -2.22915638e-03 -5.22026295e+00] [-1.24291212e-02 8.27241072e-05 9.99922752e-01 -1.04349058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.468623853000004 meters Centerline goodness [0,1] 0.9999786989306864 Centerline is valid? [True, True] Translation: X:46.98, Y:-5.22, Z:-1.04 [[ 9.84772184e-01 1.73419097e-01 1.22295415e-02 4.69780042e+01] [-1.73404792e-01 9.84848116e-01 -2.22867120e-03 -5.22422791e+00] [-1.24307350e-02 7.40723113e-05 9.99922733e-01 -1.04405278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.498623853000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:47.01, Y:-5.23, Z:-1.04 [[ 9.84624430e-01 1.74254269e-01 1.22548446e-02 4.70064811e+01] [-1.74239976e-01 9.84700688e-01 -2.23269551e-03 -5.22799084e+00] [-1.24564106e-02 6.30827205e-05 9.99922414e-01 -1.04469988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.528623853000006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:47.04, Y:-5.23, Z:-1.04 [[ 9.84326084e-01 1.75903009e-01 1.26606554e-02 4.70355164e+01] [-1.75887898e-01 9.84407502e-01 -2.30598963e-03 -5.23175740e+00] [-1.28688747e-02 4.29896745e-05 9.99917192e-01 -1.04448280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.558623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:47.06, Y:-5.24, Z:-1.04 [[ 9.84185170e-01 1.76657470e-01 1.31030629e-02 4.70629876e+01] [-1.76641360e-01 9.84272390e-01 -2.38595542e-03 -5.23595973e+00] [-1.33184799e-02 3.36790881e-05 9.99911305e-01 -1.04408133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.588623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:47.09, Y:-5.24, Z:-1.04 [[ 9.84045482e-01 1.77422463e-01 1.32573895e-02 4.70903881e+01] [-1.77406051e-01 9.84134782e-01 -2.41329778e-03 -5.23942984e+00] [-1.34752314e-02 2.28536604e-05 9.99909205e-01 -1.04349243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.618623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:47.12, Y:-5.24, Z:-1.04 [[ 9.83925353e-01 1.78071891e-01 1.34648472e-02 4.71181505e+01] [-1.78055035e-01 9.84017480e-01 -2.45006933e-03 -5.24351429e+00] [-1.36859335e-02 1.32014975e-05 9.99906343e-01 -1.04321417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.648623853000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:47.14, Y:-5.25, Z:-1.04 [[ 9.83789971e-01 1.78843963e-01 1.31197979e-02 4.71449158e+01] [-1.78828041e-01 9.83877450e-01 -2.38638580e-03 -5.24821901e+00] [-1.33350640e-02 1.51466135e-06 9.99911084e-01 -1.04471923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.678623853000005 meters Centerline goodness [0,1] 0.9999355060624301 Centerline is valid? [True, True] Translation: X:47.17, Y:-5.25, Z:-1.04 [[ 9.83734446e-01 1.79212043e-01 1.22304577e-02 4.71727105e+01] [-1.79198248e-01 9.83810471e-01 -2.22352883e-03 -5.25320544e+00] [-1.24309355e-02 -4.31469252e-06 9.99922733e-01 -1.04263001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.708623853000006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:47.20, Y:-5.26, Z:-1.05 [[ 9.83693389e-01 1.79424139e-01 1.24215645e-02 4.71997268e+01] [-1.79409936e-01 9.83771812e-01 -2.25755162e-03 -5.25884427e+00] [-1.26250443e-02 -7.81350202e-06 9.99920301e-01 -1.04719781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.738623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:47.23, Y:-5.26, Z:-1.05 [[ 9.83549415e-01 1.80246066e-01 1.19123872e-02 4.72267799e+01] [-1.80233074e-01 9.83621551e-01 -2.16411337e-03 -5.26418780e+00] [-1.21073537e-02 -1.84937289e-05 9.99926703e-01 -1.04856098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.768623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:47.25, Y:-5.27, Z:-1.05 [[ 9.83464077e-01 1.80687411e-01 1.22665943e-02 4.72533485e+01] [-1.80673677e-01 9.83540573e-01 -2.22789303e-03 -5.26880486e+00] [-1.24672454e-02 -2.51979300e-05 9.99922281e-01 -1.04926114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.798623853 meters Centerline goodness [0,1] 0.9999783404448873 Centerline is valid? [True, True] Translation: X:47.28, Y:-5.27, Z:-1.05 [[ 9.83414141e-01 1.80979971e-01 1.19531294e-02 4.72818017e+01] [-1.80966969e-01 9.83486782e-01 -2.16947341e-03 -5.27421285e+00] [-1.21483760e-02 -2.96307798e-05 9.99926205e-01 -1.04898063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.828623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:47.31, Y:-5.28, Z:-1.05 [[ 9.83219071e-01 1.81993809e-01 1.25901635e-02 4.73089738e+01] [-1.81979475e-01 9.83299675e-01 -2.28460106e-03 -5.27835111e+00] [-1.27956869e-02 -4.48880070e-05 9.99918131e-01 -1.04848104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.858623853000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:47.34, Y:-5.28, Z:-1.05 [[ 9.83140417e-01 1.82395852e-01 1.29102469e-02 4.73361750e+01] [-1.82380830e-01 9.83225178e-01 -2.34148719e-03 -5.28341360e+00] [-1.31207573e-02 -5.25708448e-05 9.99913918e-01 -1.04775846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.888623853000006 meters Centerline goodness [0,1] 0.9999783718314733 Centerline is valid? [True, True] Translation: X:47.36, Y:-5.29, Z:-1.05 [[ 9.82995872e-01 1.83152922e-01 1.31955839e-02 4.73648816e+01] [-1.83137312e-01 9.83084433e-01 -2.39211001e-03 -5.28829597e+00] [-1.34104951e-02 -6.51695019e-05 9.99910073e-01 -1.04803291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.918623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:47.39, Y:-5.29, Z:-1.05 [[ 9.82811513e-01 1.84127936e-01 1.33579220e-02 4.73925348e+01] [-1.84112038e-01 9.82902282e-01 -2.42090045e-03 -5.29174682e+00] [-1.35752874e-02 -8.00654013e-05 9.99907848e-01 -1.04894433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.948623853 meters Centerline goodness [0,1] 0.9998921367705749 Centerline is valid? [True, True] Translation: X:47.42, Y:-5.29, Z:-1.05 [[ 9.82336131e-01 1.86615719e-01 1.37949274e-02 4.74213126e+01] [-1.86599022e-01 9.82432980e-01 -2.49914991e-03 -5.29382173e+00] [-1.40189723e-02 -1.19114714e-04 9.99901722e-01 -1.04817657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.978623853 meters Centerline goodness [0,1] 0.9999570419056211 Centerline is valid? [True, True] Translation: X:47.45, Y:-5.30, Z:-1.05 [[ 9.82080310e-01 1.87969409e-01 1.36296329e-02 4.74500925e+01] [-1.87953249e-01 9.82174874e-01 -2.46856503e-03 -5.29838713e+00] [-1.38506977e-02 -1.37404679e-04 9.99904065e-01 -1.04876593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.008623853 meters Centerline goodness [0,1] 0.9998717510259918 Centerline is valid? [True, True] Translation: X:47.48, Y:-5.30, Z:-1.05 [[ 9.81816863e-01 1.89350267e-01 1.34953266e-02 4.74783029e+01] [-1.89334562e-01 9.81909595e-01 -2.44362140e-03 -5.29990755e+00] [-1.37138911e-02 -1.55943059e-04 9.99905948e-01 -1.05011378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.038623853000004 meters Centerline goodness [0,1] 0.9998282967032966 Centerline is valid? [True, True] Translation: X:47.51, Y:-5.30, Z:-1.05 [[ 9.81313542e-01 1.91978855e-01 1.29557682e-02 4.75076106e+01] [-1.91964621e-01 9.81399045e-01 -2.34510610e-03 -5.30012272e+00] [-1.31649893e-02 -1.85764761e-04 9.99913321e-01 -1.05182076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.068623853000005 meters Centerline goodness [0,1] 0.999871064789943 Centerline is valid? [True, True] Translation: X:47.54, Y:-5.30, Z:-1.05 [[ 9.81124841e-01 1.92972104e-01 1.24824870e-02 4.75362143e+01] [-1.92958979e-01 9.81204224e-01 -2.25886424e-03 -5.30383348e+00] [-1.26837667e-02 -1.92380126e-04 9.99919539e-01 -1.05299075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.09862385300001 meters Centerline goodness [0,1] 0.9996764940582742 Centerline is valid? [True, True] Translation: X:47.56, Y:-5.31, Z:-1.05 [[ 9.81005007e-01 1.93585574e-01 1.24016922e-02 4.75641383e+01] [-1.93572672e-01 9.81083373e-01 -2.24384491e-03 -5.30756413e+00] [-1.26014700e-02 -1.99405608e-04 9.99920578e-01 -1.05406378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.128623853 meters Centerline goodness [0,1] 0.9997437704182948 Centerline is valid? [True, True] Translation: X:47.59, Y:-5.31, Z:-1.05 [[ 9.80860948e-01 1.94299053e-01 1.26364052e-02 4.75923172e+01] [-1.94285735e-01 9.80942319e-01 -2.28491891e-03 -5.31221820e+00] [-1.28395422e-02 -2.13885545e-04 9.99917547e-01 -1.05437255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.158623853 meters Centerline goodness [0,1] 0.9995946061278485 Centerline is valid? [True, True] Translation: X:47.62, Y:-5.32, Z:-1.05 [[ 9.80851297e-01 1.94333195e-01 1.28585333e-02 4.76192400e+01] [-1.94319411e-01 9.80935554e-01 -2.32481339e-03 -5.31502017e+00] [-1.30651809e-02 -2.18366394e-04 9.99914623e-01 -1.05489989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.188623853 meters Centerline goodness [0,1] 0.9995497427101201 Centerline is valid? [True, True] Translation: X:47.65, Y:-5.32, Z:-1.06 [[ 9.80876619e-01 1.94197377e-01 1.29783579e-02 4.76464748e+01] [-1.94183350e-01 9.80962451e-01 -2.34451257e-03 -5.31586619e+00] [-1.31865800e-02 -2.20503449e-04 9.99913029e-01 -1.05561035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.218623853000004 meters Centerline goodness [0,1] 0.9996571673451896 Centerline is valid? [True, True] Translation: X:47.67, Y:-5.32, Z:-1.05 [[ 9.80943767e-01 1.93771555e-01 1.42095553e-02 4.76743096e+01] [-1.93754715e-01 9.81046650e-01 -2.56548922e-03 -5.32390753e+00] [-1.44373555e-02 -2.36567683e-04 9.99895748e-01 -1.05286810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.248623853000005 meters Centerline goodness [0,1] 0.999636044445396 Centerline is valid? [True, True] Translation: X:47.70, Y:-5.33, Z:-1.05 [[ 9.81009491e-01 1.93383529e-01 1.49395054e-02 4.77023869e+01] [-1.93364881e-01 9.81123209e-01 -2.69651879e-03 -5.32890035e+00] [-1.51789578e-02 -2.43465169e-04 9.99884763e-01 -1.05194471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.278623853000006 meters Centerline goodness [0,1] 0.9995484550712795 Centerline is valid? [True, True] Translation: X:47.73, Y:-5.34, Z:-1.05 [[ 9.81112833e-01 1.92869673e-01 1.47951795e-02 4.77309458e+01] [-1.92851336e-01 9.81224355e-01 -2.66976627e-03 -5.33511564e+00] [-1.50323074e-02 -2.33928186e-04 9.99886981e-01 -1.04734398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.308623853 meters Centerline goodness [0,1] 0.9995484550712795 Centerline is valid? [True, True] Translation: X:47.76, Y:-5.34, Z:-1.05 [[ 9.81126749e-01 1.92798864e-01 1.47952971e-02 4.77580231e+01] [-1.92780529e-01 9.81238271e-01 -2.66911473e-03 -5.33986552e+00] [-1.50323140e-02 -2.33505329e-04 9.99886981e-01 -1.04782884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.338623853 meters Centerline goodness [0,1] 0.9996134767763963 Centerline is valid? [True, True] Translation: X:47.79, Y:-5.35, Z:-1.05 [[ 9.81339987e-01 1.91600277e-01 1.61605440e-02 4.77860061e+01] [-1.91578262e-01 9.81473014e-01 -2.91405605e-03 -5.34763696e+00] [-1.64194718e-02 -2.36329203e-04 9.99865163e-01 -1.05162861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.368623853 meters Centerline goodness [0,1] 0.9994218539217575 Centerline is valid? [True, True] Translation: X:47.81, Y:-5.35, Z:-1.05 [[ 9.81485898e-01 1.90839877e-01 1.62964074e-02 4.78135355e+01] [-1.90817399e-01 9.81621154e-01 -2.93775082e-03 -5.35225846e+00] [-1.65575382e-02 -2.26277060e-04 9.99862889e-01 -1.05223058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.398623853000004 meters Centerline goodness [0,1] 0.9993375360615451 Centerline is valid? [True, True] Translation: X:47.84, Y:-5.36, Z:-1.05 [[ 9.81613844e-01 1.90209922e-01 1.59513897e-02 4.78414087e+01] [-1.90188318e-01 9.81743419e-01 -2.87457313e-03 -5.35775058e+00] [-1.62069442e-02 -2.12047190e-04 9.99868636e-01 -1.05307779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.428623853000005 meters Centerline goodness [0,1] 0.9995120088262751 Centerline is valid? [True, True] Translation: X:47.87, Y:-5.36, Z:-1.05 [[ 9.81716993e-01 1.89703934e-01 1.56257081e-02 4.78692695e+01] [-1.89683151e-01 9.81841320e-01 -2.81516328e-03 -5.36078449e+00] [-1.58760135e-02 -2.00239926e-04 9.99873948e-01 -1.05471716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.458623853000006 meters Centerline goodness [0,1] 0.9998725004781233 Centerline is valid? [True, True] Translation: X:47.90, Y:-5.37, Z:-1.06 [[ 9.81925959e-01 1.88702353e-01 1.45887997e-02 4.78974189e+01] [-1.88684138e-01 9.82034313e-01 -2.62750980e-03 -5.36702834e+00] [-1.48225192e-02 -1.72655029e-04 9.99890126e-01 -1.05740848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.488623853 meters Centerline goodness [0,1] 0.9998722208024534 Centerline is valid? [True, True] Translation: X:47.92, Y:-5.37, Z:-1.06 [[ 9.81992218e-01 1.88372035e-01 1.43965291e-02 4.79246006e+01] [-1.88354271e-01 9.82097729e-01 -2.59227622e-03 -5.37216386e+00] [-1.46271109e-02 -1.66052663e-04 9.99893004e-01 -1.05817245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.518623853 meters Centerline goodness [0,1] 0.9997001242342458 Centerline is valid? [True, True] Translation: X:47.95, Y:-5.38, Z:-1.06 [[ 9.82083355e-01 1.87908985e-01 1.42301510e-02 4.79533493e+01] [-1.87891597e-01 9.82186432e-01 -2.56121126e-03 -5.37717350e+00] [-1.44579359e-02 -1.58402856e-04 9.99895466e-01 -1.05924465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.548623853 meters Centerline goodness [0,1] 0.9997861557214037 Centerline is valid? [True, True] Translation: X:47.98, Y:-5.38, Z:-1.06 [[ 9.82094115e-01 1.87858108e-01 1.41590880e-02 4.79806965e+01] [-1.87840896e-01 9.82196165e-01 -2.54780757e-03 -5.38125945e+00] [-1.43856282e-02 -1.57468941e-04 9.99896509e-01 -1.05988468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.578623853 meters Centerline goodness [0,1] 0.9996769121416417 Centerline is valid? [True, True] Translation: X:48.01, Y:-5.38, Z:-1.06 [[ 9.82029448e-01 1.88180501e-01 1.43618329e-02 4.80091462e+01] [-1.88162844e-01 9.82134447e-01 -2.58314874e-03 -5.38376364e+00] [-1.45913490e-02 -1.65635192e-04 9.99893527e-01 -1.06011236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.608623853000005 meters Centerline goodness [0,1] 0.9997234866210065 Centerline is valid? [True, True] Translation: X:48.04, Y:-5.39, Z:-1.06 [[ 9.81990242e-01 1.88358640e-01 1.47032747e-02 4.80357051e+01] [-1.88340161e-01 9.82100297e-01 -2.64402567e-03 -5.38577171e+00] [-1.49381155e-02 -1.72809723e-04 9.99888405e-01 -1.05996372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.638623853000006 meters Centerline goodness [0,1] 0.9997848675859992 Centerline is valid? [True, True] Translation: X:48.06, Y:-5.39, Z:-1.06 [[ 9.81992973e-01 1.88304232e-01 1.52091018e-02 4.80632551e+01] [-1.88284485e-01 9.82110729e-01 -2.73291318e-03 -5.38860109e+00] [-1.54516412e-02 -1.79936367e-04 9.99880600e-01 -1.05938770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.668623853 meters Centerline goodness [0,1] 0.9998930206684069 Centerline is valid? [True, True] Translation: X:48.09, Y:-5.39, Z:-1.06 [[ 9.82026248e-01 1.88093807e-01 1.56578371e-02 4.80921711e+01] [-1.88072870e-01 9.82151051e-01 -2.81233576e-03 -5.39091076e+00] [-1.59073441e-02 -1.83026834e-04 9.99873453e-01 -1.05984503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.698623853 meters Centerline goodness [0,1] 0.9997866666666667 Centerline is valid? [True, True] Translation: X:48.12, Y:-5.39, Z:-1.06 [[ 9.82045227e-01 1.87969060e-01 1.59626054e-02 4.81194306e+01] [-1.87947296e-01 9.82174933e-01 -2.86631802e-03 -5.39350851e+00] [-1.62168500e-02 -1.85274577e-04 9.99868481e-01 -1.06044802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.728623853 meters Centerline goodness [0,1] 0.9997861465751374 Centerline is valid? [True, True] Translation: X:48.15, Y:-5.40, Z:-1.06 [[ 9.82119721e-01 1.87564172e-01 1.61411201e-02 4.81479586e+01] [-1.87541888e-01 9.82252334e-01 -2.89691574e-03 -5.39752409e+00] [-1.63980105e-02 -1.82018057e-04 9.99865527e-01 -1.06052270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.758623853 meters Centerline goodness [0,1] 0.9995911164672463 Centerline is valid? [True, True] Translation: X:48.18, Y:-5.40, Z:-1.06 [[ 9.82341639e-01 1.86447393e-01 1.55651611e-02 4.81768792e+01] [-1.86426542e-01 9.82464933e-01 -2.79282535e-03 -5.40188365e+00] [-1.58129399e-02 -1.58250516e-04 9.99874955e-01 -1.05615613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.788623853000004 meters Centerline goodness [0,1] 0.9998927774918511 Centerline is valid? [True, True] Translation: X:48.21, Y:-5.41, Z:-1.06 [[ 9.82397907e-01 1.86117272e-01 1.59597309e-02 4.82054406e+01] [-1.86095320e-01 9.82527524e-01 -2.86280642e-03 -5.40649096e+00] [-1.62136926e-02 -1.57616201e-04 9.99868537e-01 -1.06222895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.818623853000005 meters Centerline goodness [0,1] 0.9998717866529906 Centerline is valid? [True, True] Translation: X:48.23, Y:-5.41, Z:-1.06 [[ 9.82499939e-01 1.85604671e-01 1.56453461e-02 4.82331198e+01] [-1.85583522e-01 9.82624488e-01 -2.80567719e-03 -5.40903688e+00] [-1.58942470e-02 -1.46940759e-04 9.99873668e-01 -1.06309750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.84862385300001 meters Centerline goodness [0,1] 0.9997868667277648 Centerline is valid? [True, True] Translation: X:48.26, Y:-5.41, Z:-1.06 [[ 9.82648677e-01 1.84814919e-01 1.56532259e-02 4.82625863e+01] [-1.84793664e-01 9.82773335e-01 -2.80610511e-03 -5.41039399e+00] [-1.59021831e-02 -1.35201492e-04 9.99873543e-01 -1.06381691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.878623853 meters Centerline goodness [0,1] 0.9997418910780349 Centerline is valid? [True, True] Translation: X:48.29, Y:-5.41, Z:-1.06 [[ 9.82793293e-01 1.84053403e-01 1.55463456e-02 4.82914010e+01] [-1.84032354e-01 9.82916237e-01 -2.78619755e-03 -5.41473785e+00] [-1.57935646e-02 -1.22774308e-04 9.99875266e-01 -1.06488390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.908623853 meters Centerline goodness [0,1] 0.9998497950775701 Centerline is valid? [True, True] Translation: X:48.32, Y:-5.42, Z:-1.07 [[ 9.82960457e-01 1.83169225e-01 1.54199677e-02 4.83196320e+01] [-1.83148419e-01 9.83081392e-01 -2.76280135e-03 -5.42017351e+00] [-1.56651435e-02 -1.08418235e-04 9.99877288e-01 -1.06589300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.938623853 meters Centerline goodness [0,1] 0.9999354380528117 Centerline is valid? [True, True] Translation: X:48.35, Y:-5.43, Z:-1.07 [[ 9.83413649e-01 1.80713128e-01 1.55035597e-02 4.83474868e+01] [-1.80691804e-01 9.83535846e-01 -2.77699532e-03 -5.42527543e+00] [-1.57501462e-02 -7.04310664e-05 9.99875956e-01 -1.06670971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.968623853000004 meters Centerline goodness [0,1] 0.9999353002070394 Centerline is valid? [True, True] Translation: X:48.38, Y:-5.43, Z:-1.07 [[ 9.83713657e-01 1.79055493e-01 1.57025754e-02 4.83756773e+01] [-1.79033419e-01 9.83838975e-01 -2.81185439e-03 -5.43118210e+00] [-1.59522837e-02 -4.52261979e-05 9.99872753e-01 -1.06720162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.998623853000005 meters Centerline goodness [0,1] 0.9998501712328767 Centerline is valid? [True, True] Translation: X:48.40, Y:-5.44, Z:-1.07 [[ 9.83993412e-01 1.77470581e-01 1.61603731e-02 4.84031431e+01] [-1.77447001e-01 9.84126106e-01 -2.89301378e-03 -5.43680276e+00] [-1.64172699e-02 -2.09032392e-05 9.99865227e-01 -1.06734703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.028623853000006 meters Centerline goodness [0,1] 0.9999574766653201 Centerline is valid? [True, True] Translation: X:48.43, Y:-5.44, Z:-1.07 [[ 9.84595212e-01 1.74078699e-01 1.63973887e-02 4.84295222e+01] [-1.74053968e-01 9.84731743e-01 -2.93443034e-03 -5.44273610e+00] [-1.66578509e-02 3.51954983e-05 9.99861248e-01 -1.06687161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.058623853 meters Centerline goodness [0,1] 0.9999787392367386 Centerline is valid? [True, True] Translation: X:48.46, Y:-5.45, Z:-1.07 [[ 9.84859750e-01 1.72581616e-01 1.63358317e-02 4.84577714e+01] [-1.72556887e-01 9.84995220e-01 -2.92200334e-03 -5.44793588e+00] [-1.65950002e-02 5.89032106e-05 9.99862292e-01 -1.06760235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.088623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:48.49, Y:-5.45, Z:-1.07 [[ 9.85085376e-01 1.71285003e-01 1.63783176e-02 4.84861758e+01] [-1.71259979e-01 9.85221519e-01 -2.92881254e-03 -5.45379918e+00] [-1.66379326e-02 8.01800698e-05 9.99861577e-01 -1.06856392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.118623853 meters Centerline goodness [0,1] 0.9999784733284539 Centerline is valid? [True, True] Translation: X:48.51, Y:-5.46, Z:-1.07 [[ 9.85400886e-01 1.69452627e-01 1.64591028e-02 4.85127647e+01] [-1.69427114e-01 9.85538328e-01 -2.94245249e-03 -5.46171245e+00] [-1.67196830e-02 1.10876992e-04 9.99860210e-01 -1.06950825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.148623853000004 meters Centerline goodness [0,1] 0.9999568202426702 Centerline is valid? [True, True] Translation: X:48.54, Y:-5.47, Z:-1.07 [[ 9.85458430e-01 1.69098367e-01 1.66560588e-02 4.85416259e+01] [-1.69072207e-01 9.85599172e-01 -2.97662248e-03 -5.46686297e+00] [-1.69195398e-02 1.17261088e-04 9.99856847e-01 -1.06958459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.178623853000005 meters Centerline goodness [0,1] 0.9999782778694934 Centerline is valid? [True, True] Translation: X:48.57, Y:-5.47, Z:-1.07 [[ 9.85536982e-01 1.68636738e-01 1.66885493e-02 4.85703518e+01] [-1.68610424e-01 9.85678261e-01 -2.98161690e-03 -5.47026871e+00] [-1.69523504e-02 1.24630364e-04 9.99856291e-01 -1.06984939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.208623853000006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:48.60, Y:-5.47, Z:-1.07 [[ 9.85510567e-01 1.68836757e-01 1.62194684e-02 4.85973392e+01] [-1.68811941e-01 9.85644021e-01 -2.89706297e-03 -5.47414164e+00] [-1.64757527e-02 1.17046237e-04 9.99864259e-01 -1.07091583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.238623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:48.63, Y:-5.48, Z:-1.07 [[ 9.85394884e-01 1.69550458e-01 1.57976066e-02 4.86263988e+01] [-1.69527030e-01 9.85521502e-01 -2.82031471e-03 -5.47568515e+00] [-1.60470666e-02 1.01002365e-04 9.99871232e-01 -1.07298203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.268623853 meters Centerline goodness [0,1] 0.9999785550384938 Centerline is valid? [True, True] Translation: X:48.65, Y:-5.48, Z:-1.07 [[ 9.85332761e-01 1.69936884e-01 1.55178847e-02 4.86528055e+01] [-1.69914337e-01 9.85454944e-01 -2.76969617e-03 -5.48014338e+00] [-1.57628497e-02 9.23612934e-05 9.99875754e-01 -1.07460294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.298623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:48.68, Y:-5.48, Z:-1.08 [[ 9.85245075e-01 1.70478800e-01 1.51367706e-02 4.86812853e+01] [-1.70457432e-01 9.85361341e-01 -2.70033241e-03 -5.48364137e+00] [-1.53755380e-02 8.03141750e-05 9.99881786e-01 -1.07545161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.328623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:48.71, Y:-5.49, Z:-1.08 [[ 9.85130388e-01 1.71154567e-01 1.49743748e-02 4.87086509e+01] [-1.71133743e-01 9.85244188e-01 -2.67067918e-03 -5.48743544e+00] [-1.52105147e-02 6.83464130e-05 9.99884311e-01 -1.07655021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.358623853000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:48.74, Y:-5.49, Z:-1.08 [[ 9.84857637e-01 1.72731777e-01 1.48043012e-02 4.87367636e+01] [-1.72711615e-01 9.84968899e-01 -2.63947513e-03 -5.48923417e+00] [-1.50376975e-02 4.26324779e-05 9.99886927e-01 -1.07775185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.388623853000006 meters Centerline goodness [0,1] 0.9999570262140095 Centerline is valid? [True, True] Translation: X:48.76, Y:-5.49, Z:-1.08 [[ 9.84758610e-01 1.73306143e-01 1.46786071e-02 4.87643037e+01] [-1.73286398e-01 9.84868001e-01 -2.61624752e-03 -5.49197553e+00] [-1.49099022e-02 3.27693140e-05 9.99888841e-01 -1.07837462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.418623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:48.79, Y:-5.50, Z:-1.08 [[ 9.84664075e-01 1.73849792e-01 1.45914462e-02 4.87911301e+01] [-1.73830355e-01 9.84772181e-01 -2.59965753e-03 -5.49521395e+00] [-1.48212002e-02 2.33531122e-05 9.99890160e-01 -1.07940161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.448623853 meters Centerline goodness [0,1] 0.9999574087482431 Centerline is valid? [True, True] Translation: X:48.82, Y:-5.50, Z:-1.08 [[ 9.84372574e-01 1.75474007e-01 1.48158394e-02 4.88181108e+01] [-1.75454172e-01 9.84484064e-01 -2.63831919e-03 -5.49610423e+00] [-1.50489142e-02 -2.41178870e-06 9.99886759e-01 -1.07965841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.478623853 meters Centerline goodness [0,1] 0.999957122949941 Centerline is valid? [True, True] Translation: X:48.85, Y:-5.50, Z:-1.08 [[ 9.84245427e-01 1.76163568e-01 1.50777160e-02 4.88454886e+01] [-1.76143127e-01 9.84360908e-01 -2.68361762e-03 -5.49968852e+00] [-1.53146699e-02 -1.44976726e-05 9.99882723e-01 -1.07970328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.508623853 meters Centerline goodness [0,1] 0.9999573224078697 Centerline is valid? [True, True] Translation: X:48.87, Y:-5.50, Z:-1.08 [[ 9.84140424e-01 1.76725330e-01 1.53552402e-02 4.88722026e+01] [-1.76704215e-01 9.84260208e-01 -2.73189864e-03 -5.50321128e+00] [-1.55963476e-02 -2.47637874e-05 9.99878369e-01 -1.08014998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.538623853000004 meters Centerline goodness [0,1] 0.9999137354698182 Centerline is valid? [True, True] Translation: X:48.90, Y:-5.51, Z:-1.08 [[ 9.83961996e-01 1.77654878e-01 1.60478755e-02 4.88997744e+01] [-1.77631962e-01 9.84092853e-01 -2.85369342e-03 -5.50552118e+00] [-1.62995721e-02 -4.26897317e-05 9.99867152e-01 -1.07966707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.568623853000005 meters Centerline goodness [0,1] 0.9999783634081959 Centerline is valid? [True, True] Translation: X:48.93, Y:-5.51, Z:-1.08 [[ 9.83881987e-01 1.78076355e-01 1.62803012e-02 4.89275516e+01] [-1.78052848e-01 9.84016671e-01 -2.89383614e-03 -5.50911184e+00] [-1.65354116e-02 -5.15607482e-05 9.99863279e-01 -1.08016389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.59862385300001 meters Centerline goodness [0,1] 0.9998934356351236 Centerline is valid? [True, True] Translation: X:48.96, Y:-5.51, Z:-1.08 [[ 9.83754949e-01 1.78817525e-01 1.58269816e-02 4.89558364e+01] [-1.78795423e-01 9.83882254e-01 -2.81209778e-03 -5.51155920e+00] [-1.60747387e-02 -6.33767681e-05 9.99870791e-01 -1.08199031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.628623853 meters Centerline goodness [0,1] 0.9999348081185623 Centerline is valid? [True, True] Translation: X:48.98, Y:-5.52, Z:-1.08 [[ 9.83564645e-01 1.79834252e-01 1.61316513e-02 4.89839448e+01] [-1.79811445e-01 9.83696922e-01 -2.86520799e-03 -5.51545421e+00] [-1.63839182e-02 -8.25382491e-05 9.99865771e-01 -1.08211930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.658623853 meters Centerline goodness [0,1] 0.9999356388912727 Centerline is valid? [True, True] Translation: X:49.01, Y:-5.52, Z:-1.08 [[ 9.83459206e-01 1.80448903e-01 1.56902696e-02 4.90118013e+01] [-1.80427417e-01 9.83584356e-01 -2.78606456e-03 -5.51741415e+00] [-1.59354460e-02 -9.09739645e-05 9.99873019e-01 -1.08339506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.688623853 meters Centerline goodness [0,1] 0.9998922692407136 Centerline is valid? [True, True] Translation: X:49.04, Y:-5.52, Z:-1.08 [[ 9.83379879e-01 1.80878290e-01 1.57180793e-02 4.90409516e+01] [-1.80856799e-01 9.83505483e-01 -2.78998701e-03 -5.52055045e+00] [-1.59634652e-02 -9.91044101e-05 9.99872571e-01 -1.08381215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.718623853000004 meters Centerline goodness [0,1] 0.9998912452419794 Centerline is valid? [True, True] Translation: X:49.07, Y:-5.52, Z:-1.08 [[ 9.83207284e-01 1.81762466e-01 1.63046991e-02 4.90696346e+01] [-1.81739473e-01 9.83342459e-01 -2.89342714e-03 -5.52339041e+00] [-1.65590193e-02 -1.18368780e-04 9.99862883e-01 -1.08381601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.748623853000005 meters Centerline goodness [0,1] 0.9998077580314423 Centerline is valid? [True, True] Translation: X:49.10, Y:-5.53, Z:-1.08 [[ 9.83109590e-01 1.82300336e-01 1.61901775e-02 4.90972758e+01] [-1.82277784e-01 9.83242885e-01 -2.87035517e-03 -5.52557880e+00] [-1.64421435e-02 -1.29235983e-04 9.99864810e-01 -1.08396653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.778623853000006 meters Centerline goodness [0,1] 0.999913614374568 Centerline is valid? [True, True] Translation: X:49.12, Y:-5.53, Z:-1.08 [[ 9.83070756e-01 1.82453785e-01 1.68078699e-02 4.91248617e+01] [-1.82429520e-01 9.83214421e-01 -2.97877319e-03 -5.52928272e+00] [-1.70692285e-02 -1.37906820e-04 9.99854301e-01 -1.08359625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.808623853 meters Centerline goodness [0,1] 0.9998714212240699 Centerline is valid? [True, True] Translation: X:49.15, Y:-5.53, Z:-1.09 [[ 9.82949281e-01 1.83172739e-01 1.60766716e-02 4.91533480e+01] [-1.83150654e-01 9.83080732e-01 -2.84802433e-03 -5.53017866e+00] [-1.63263465e-02 -1.44989451e-04 9.99866706e-01 -1.08551219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.838623853 meters Centerline goodness [0,1] 0.9998692354633424 Centerline is valid? [True, True] Translation: X:49.18, Y:-5.53, Z:-1.09 [[ 9.82946626e-01 1.83200281e-01 1.59244302e-02 4.91807510e+01] [-1.83178632e-01 9.83075600e-01 -2.82009471e-03 -5.53491082e+00] [-1.61715609e-02 -1.45012762e-04 9.99869221e-01 -1.08657541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.868623853 meters Centerline goodness [0,1] 0.9998709510904633 Centerline is valid? [True, True] Translation: X:49.21, Y:-5.54, Z:-1.09 [[ 9.82946122e-01 1.83236208e-01 1.55374993e-02 4.92074298e+01] [-1.83215620e-01 9.83068905e-01 -2.75045599e-03 -5.53785090e+00] [-1.57784156e-02 -1.43162523e-04 9.99875503e-01 -1.08818664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.898623853000004 meters Centerline goodness [0,1] 0.9998723947256487 Centerline is valid? [True, True] Translation: X:49.23, Y:-5.54, Z:-1.09 [[ 9.82991681e-01 1.83027618e-01 1.51078429e-02 4.92349377e+01] [-1.83008148e-01 9.83107762e-01 -2.67311073e-03 -5.53977520e+00] [-1.53418907e-02 -1.37212734e-04 9.99882297e-01 -1.08997503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.928623853000005 meters Centerline goodness [0,1] 0.9998285579581253 Centerline is valid? [True, True] Translation: X:49.26, Y:-5.55, Z:-1.09 [[ 9.83142984e-01 1.82192201e-01 1.53582036e-02 4.92633272e+01] [-1.82172001e-01 9.83262928e-01 -2.71599922e-03 -5.54553026e+00] [-1.55959861e-02 -1.27619089e-04 9.99878367e-01 -1.09097348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.958623853000006 meters Centerline goodness [0,1] 0.999828469735629 Centerline is valid? [True, True] Translation: X:49.29, Y:-5.55, Z:-1.09 [[ 9.83308750e-01 1.81291028e-01 1.54099118e-02 4.92912639e+01] [-1.81270592e-01 9.83429484e-01 -2.72440019e-03 -5.55114385e+00] [-1.56484709e-02 -1.14437295e-04 9.99877549e-01 -1.09189724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.988623853 meters Centerline goodness [0,1] 0.9998503090049826 Centerline is valid? [True, True] Translation: X:49.32, Y:-5.56, Z:-1.09 [[ 9.83469261e-01 1.80417850e-01 1.54146953e-02 4.93194621e+01] [-1.80397306e-01 9.83590051e-01 -2.72450836e-03 -5.55668523e+00] [-1.56532909e-02 -1.01299288e-04 9.99877475e-01 -1.09208969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.018623853 meters Centerline goodness [0,1] 0.9998063641644613 Centerline is valid? [True, True] Translation: X:49.35, Y:-5.56, Z:-1.09 [[ 9.83928362e-01 1.77885738e-01 1.55448548e-02 4.93471992e+01] [-1.77864541e-01 9.84051147e-01 -2.74676360e-03 -5.56386800e+00] [-1.57855423e-02 -6.22598545e-05 9.99875399e-01 -1.09296882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.048623853 meters Centerline goodness [0,1] 0.99985005890543 Centerline is valid? [True, True] Translation: X:49.38, Y:-5.57, Z:-1.09 [[ 9.84187666e-01 1.76482521e-01 1.51181447e-02 4.93750219e+01] [-1.76462317e-01 9.84303773e-01 -2.67066315e-03 -5.57053899e+00] [-1.53521722e-02 -3.93491155e-05 9.99882148e-01 -1.09435935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.078623853 meters Centerline goodness [0,1] 0.999914465946755 Centerline is valid? [True, True] Translation: X:49.40, Y:-5.58, Z:-1.10 [[ 9.84433720e-01 1.75111802e-01 1.50368565e-02 4.94017193e+01] [-1.75091664e-01 9.84548555e-01 -2.65564435e-03 -5.57766863e+00] [-1.52695500e-02 -1.85223912e-05 9.99883413e-01 -1.09544374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.108623853000005 meters Centerline goodness [0,1] 0.9999568807537245 Centerline is valid? [True, True] Translation: X:49.43, Y:-5.59, Z:-1.10 [[ 9.84884014e-01 1.72608244e-01 1.44869984e-02 4.94285401e+01] [-1.72589296e-01 9.84990555e-01 -2.55752448e-03 -5.58751825e+00] [-1.47110064e-02 1.85641177e-05 9.99891787e-01 -1.09742319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.138623853000006 meters Centerline goodness [0,1] 0.9998499045821987 Centerline is valid? [True, True] Translation: X:49.46, Y:-5.59, Z:-1.10 [[ 9.85046124e-01 1.71725052e-01 1.39513498e-02 4.94566805e+01] [-1.71707406e-01 9.85144916e-01 -2.46191246e-03 -5.59405909e+00] [-1.41668734e-02 2.95472349e-05 9.99899644e-01 -1.09863671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.168623853 meters Centerline goodness [0,1] 0.9997838679000605 Centerline is valid? [True, True] Translation: X:49.48, Y:-5.60, Z:-1.10 [[ 9.85236222e-01 1.70607981e-01 1.42303551e-02 4.94826845e+01] [-1.70589514e-01 9.85338985e-01 -2.51054731e-03 -5.59998373e+00] [-1.44500430e-02 4.59327858e-05 9.99895592e-01 -1.09924686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.198623853 meters Centerline goodness [0,1] 0.9997845709730929 Centerline is valid? [True, True] Translation: X:49.51, Y:-5.61, Z:-1.10 [[ 9.85564858e-01 1.68712734e-01 1.40685296e-02 4.95107209e+01] [-1.68694510e-01 9.85665262e-01 -2.48070249e-03 -5.60822147e+00] [-1.42853870e-02 7.16094936e-05 9.99897956e-01 -1.10088278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.228623853 meters Centerline goodness [0,1] 0.9997412119905111 Centerline is valid? [True, True] Translation: X:49.54, Y:-5.61, Z:-1.10 [[ 9.85698125e-01 1.67968079e-01 1.36356301e-02 4.95390941e+01] [-1.67950897e-01 9.85792432e-01 -2.40372979e-03 -5.61436944e+00] [-1.38456508e-02 7.92356430e-05 9.99904141e-01 -1.09781661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.258623853 meters Centerline goodness [0,1] 0.9997412119905111 Centerline is valid? [True, True] Translation: X:49.57, Y:-5.62, Z:-1.10 [[ 9.85710042e-01 1.67898121e-01 1.36357279e-02 4.95661848e+01] [-1.67880941e-01 9.85804349e-01 -2.40317487e-03 -5.61901177e+00] [-1.38456484e-02 7.96547833e-05 9.99904141e-01 -1.09830141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.288623853000004 meters Centerline goodness [0,1] 0.9998285836725949 Centerline is valid? [True, True] Translation: X:49.59, Y:-5.63, Z:-1.10 [[ 9.85855092e-01 1.67007028e-01 1.40851323e-02 4.95930117e+01] [-1.66988621e-01 9.85955701e-01 -2.48126479e-03 -5.62650861e+00] [-1.43017052e-02 9.41107044e-05 9.99897721e-01 -1.10250566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.318623853000005 meters Centerline goodness [0,1] 0.9999131378935939 Centerline is valid? [True, True] Translation: X:49.62, Y:-5.63, Z:-1.10 [[ 9.85947398e-01 1.66371513e-01 1.51078868e-02 4.96205155e+01] [-1.66350276e-01 9.86063136e-01 -2.66047265e-03 -5.63272553e+00] [-1.53399571e-02 1.09884953e-04 9.99882330e-01 -1.10071681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.34862385300001 meters Centerline goodness [0,1] 0.999808274040305 Centerline is valid? [True, True] Translation: X:49.65, Y:-5.64, Z:-1.10 [[ 9.85916044e-01 1.66558181e-01 1.50972460e-02 4.96468033e+01] [-1.66537012e-01 9.86031623e-01 -2.65750678e-03 -5.63934926e+00] [-1.53289915e-02 1.05828319e-04 9.99882499e-01 -1.10207330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.378623853 meters Centerline goodness [0,1] 0.9998061723343312 Centerline is valid? [True, True] Translation: X:49.67, Y:-5.64, Z:-1.10 [[ 9.85909820e-01 1.66600620e-01 1.50353020e-02 4.96738547e+01] [-1.66579650e-01 9.86024453e-01 -2.64528811e-03 -5.64427105e+00] [-1.52658821e-02 1.03440175e-04 9.99883464e-01 -1.10235747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.408623853 meters Centerline goodness [0,1] 0.999828374058739 Centerline is valid? [True, True] Translation: X:49.70, Y:-5.65, Z:-1.11 [[ 9.85697073e-01 1.67935609e-01 1.41036034e-02 4.97008239e+01] [-1.67917306e-01 9.85797964e-01 -2.48046849e-03 -5.64951904e+00] [-1.43198625e-02 7.67514354e-05 9.99897463e-01 -1.10507203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.438623853 meters Centerline goodness [0,1] 0.9998919643050064 Centerline is valid? [True, True] Translation: X:49.73, Y:-5.65, Z:-1.11 [[ 9.85520556e-01 1.68981945e-01 1.39404466e-02 4.97295198e+01] [-1.68964188e-01 9.85619145e-01 -2.45042648e-03 -5.65405536e+00] [-1.41540489e-02 5.95094360e-05 9.99899825e-01 -1.10588060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.468623853000004 meters Centerline goodness [0,1] 0.9998509687034277 Centerline is valid? [True, True] Translation: X:49.76, Y:-5.66, Z:-1.11 [[ 9.85253838e-01 1.70537240e-01 1.38536582e-02 4.97573741e+01] [-1.70519866e-01 9.85351231e-01 -2.43455511e-03 -5.65745772e+00] [-1.40659015e-02 3.63308277e-05 9.99901070e-01 -1.10633515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.498623853000005 meters Centerline goodness [0,1] 0.9998057665745856 Centerline is valid? [True, True] Translation: X:49.79, Y:-5.66, Z:-1.11 [[ 9.85009670e-01 1.71927892e-01 1.40267585e-02 4.97857885e+01] [-1.71910234e-01 9.85109537e-01 -2.46409015e-03 -5.66012085e+00] [-1.42415394e-02 1.58092821e-05 9.99898584e-01 -1.10566951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.528623853000006 meters Centerline goodness [0,1] 0.9998070904959918 Centerline is valid? [True, True] Translation: X:49.81, Y:-5.66, Z:-1.11 [[ 9.84491979e-01 1.74839471e-01 1.43771785e-02 4.98130193e+01] [-1.74821239e-01 9.84596952e-01 -2.52502174e-03 -5.66037629e+00] [-1.45971996e-02 -2.75725124e-05 9.99893455e-01 -1.10616502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.558623853 meters Centerline goodness [0,1] 0.9998276864755422 Centerline is valid? [True, True] Translation: X:49.84, Y:-5.66, Z:-1.11 [[ 9.84375071e-01 1.75492366e-01 1.44273662e-02 4.98404734e+01] [-1.75474095e-01 9.84480791e-01 -2.53254123e-03 -5.66461400e+00] [-1.46479065e-02 -3.86585774e-05 9.99892713e-01 -1.10614541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.588623853 meters Centerline goodness [0,1] 0.9996556473829201 Centerline is valid? [True, True] Translation: X:49.87, Y:-5.67, Z:-1.11 [[ 9.84296755e-01 1.75926083e-01 1.44883412e-02 4.98673744e+01] [-1.75907718e-01 9.84403378e-01 -2.54234075e-03 -5.66952847e+00] [-1.47096361e-02 -4.61932818e-05 9.99891806e-01 -1.10668967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.618623853 meters Centerline goodness [0,1] 0.9996768773426392 Centerline is valid? [True, True] Translation: X:49.90, Y:-5.68, Z:-1.11 [[ 9.84261357e-01 1.76127161e-01 1.44500428e-02 4.98950749e+01] [-1.76108946e-01 9.84367421e-01 -2.53351801e-03 -5.67542408e+00] [-1.46703727e-02 -5.11379395e-05 9.99892383e-01 -1.10742650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.648623853000004 meters Centerline goodness [0,1] 0.9996560766948971 Centerline is valid? [True, True] Translation: X:49.92, Y:-5.68, Z:-1.10 [[ 9.84264073e-01 1.76110447e-01 1.44687690e-02 4.99213463e+01] [-1.76092198e-01 9.84370412e-01 -2.53575606e-03 -5.68013184e+00] [-1.46892012e-02 -5.19837478e-05 9.99892107e-01 -1.10455504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.678623853000005 meters Centerline goodness [0,1] 0.9998502961996621 Centerline is valid? [True, True] Translation: X:49.95, Y:-5.69, Z:-1.11 [[ 9.84295408e-01 1.75906948e-01 1.48086019e-02 4.99487338e+01] [-1.75887829e-01 9.84406797e-01 -2.59396633e-03 -5.68576241e+00] [-1.50339850e-02 -5.14236907e-05 9.99886982e-01 -1.10839873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.708623853000006 meters Centerline goodness [0,1] 0.999936450102739 Centerline is valid? [True, True] Translation: X:49.97, Y:-5.69, Z:-1.11 [[ 9.84397373e-01 1.75304612e-01 1.51691852e-02 4.99748770e+01] [-1.75284496e-01 9.84514241e-01 -2.65602712e-03 -5.69215362e+00] [-1.53998927e-02 -4.43368708e-05 9.99881414e-01 -1.10814178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.738623853 meters Centerline goodness [0,1] 0.999786530045896 Centerline is valid? [True, True] Translation: X:50.00, Y:-5.70, Z:-1.11 [[ 9.84484888e-01 1.74782120e-01 1.55150126e-02 5.00022809e+01] [-1.74761032e-01 9.84607134e-01 -2.71522597e-03 -5.69810664e+00] [-1.57507650e-02 -3.83206727e-05 9.99875948e-01 -1.10821666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.768623853 meters Centerline goodness [0,1] 0.9998729351969504 Centerline is valid? [True, True] Translation: X:50.03, Y:-5.70, Z:-1.11 [[ 9.84634599e-01 1.73943165e-01 1.54428866e-02 5.00294847e+01] [-1.73922187e-01 9.84755693e-01 -2.70150743e-03 -5.70460868e+00] [-1.56773792e-02 -2.58629170e-05 9.99877102e-01 -1.10914869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.798623853 meters Centerline goodness [0,1] 0.9998497596153846 Centerline is valid? [True, True] Translation: X:50.06, Y:-5.71, Z:-1.11 [[ 9.84846550e-01 1.72734589e-01 1.54930508e-02 5.00570411e+01] [-1.72713343e-01 9.84968406e-01 -2.70916864e-03 -5.71219323e+00] [-1.57281327e-02 -7.74121266e-06 9.99876305e-01 -1.10975908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.828623853 meters Centerline goodness [0,1] 0.9997419521321205 Centerline is valid? [True, True] Translation: X:50.08, Y:-5.72, Z:-1.11 [[ 9.85332117e-01 1.69957215e-01 1.53350649e-02 5.00843560e+01] [-1.69936081e-01 9.85451442e-01 -2.68041284e-03 -5.72352880e+00] [-1.55675173e-02 3.51160309e-05 9.99878818e-01 -1.11052874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.858623853000005 meters Centerline goodness [0,1] 0.9995502056202878 Centerline is valid? [True, True] Translation: X:50.11, Y:-5.73, Z:-1.11 [[ 9.85592728e-01 1.68413911e-01 1.56118289e-02 5.01123188e+01] [-1.68391825e-01 9.85716364e-01 -2.72802861e-03 -5.73129635e+00] [-1.58482731e-02 5.98208111e-05 9.99874406e-01 -1.11049347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.888623853000006 meters Centerline goodness [0,1] 0.9995296230570225 Centerline is valid? [True, True] Translation: X:50.14, Y:-5.74, Z:-1.11 [[ 9.85874327e-01 1.66744821e-01 1.57472707e-02 5.01397727e+01] [-1.66722150e-01 9.86000080e-01 -2.75093947e-03 -5.73930193e+00] [-1.59855150e-02 8.66617766e-05 9.99872220e-01 -1.11098708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.91862385300001 meters Centerline goodness [0,1] 0.9993548942026492 Centerline is valid? [True, True] Translation: X:50.17, Y:-5.75, Z:-1.11 [[ 9.86464116e-01 1.63266791e-01 1.52480273e-02 5.01665452e+01] [-1.63245130e-01 9.86581946e-01 -2.66302010e-03 -5.75240451e+00] [-1.54782112e-02 1.37807581e-04 9.99880196e-01 -1.11251549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.948623853 meters Centerline goodness [0,1] 0.9992198673774542 Centerline is valid? [True, True] Translation: X:50.19, Y:-5.76, Z:-1.11 [[ 9.86753550e-01 1.61544240e-01 1.48623527e-02 5.01944512e+01] [-1.61523475e-01 9.86865458e-01 -2.59497951e-03 -5.76054964e+00] [-1.50863465e-02 1.59986380e-04 9.99886182e-01 -1.11355158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.978623853 meters Centerline goodness [0,1] 0.9991143943321237 Centerline is valid? [True, True] Translation: X:50.22, Y:-5.77, Z:-1.12 [[ 9.86986991e-01 1.60155447e-01 1.43844393e-02 5.02211075e+01] [-1.60135859e-01 9.87091790e-01 -2.51087913e-03 -5.77097428e+00] [-1.46008929e-02 1.74740497e-04 9.99893386e-01 -1.11554385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.008623853 meters Centerline goodness [0,1] 0.9988593074058929 Centerline is valid? [True, True] Translation: X:50.25, Y:-5.78, Z:-1.12 [[ 9.87193250e-01 1.58922710e-01 1.38945853e-02 5.02486318e+01] [-1.58904324e-01 9.87291010e-01 -2.42449379e-03 -5.77864527e+00] [-1.41033063e-02 1.85534215e-04 9.99900526e-01 -1.11673045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.038623853000004 meters Centerline goodness [0,1] 0.9987675142708874 Centerline is valid? [True, True] Translation: X:50.28, Y:-5.79, Z:-1.12 [[ 9.87602366e-01 1.56410156e-01 1.33203090e-02 5.02759357e+01] [-1.56393037e-01 9.87692168e-01 -2.32369115e-03 -5.78955683e+00] [-1.35198138e-02 2.11679287e-04 9.99908581e-01 -1.11831543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.068623853000005 meters Centerline goodness [0,1] 0.9985992888697338 Centerline is valid? [True, True] Translation: X:50.30, Y:-5.80, Z:-1.12 [[ 9.87772815e-01 1.55359751e-01 1.29697470e-02 5.03029621e+01] [-1.55343438e-01 9.87857935e-01 -2.26197036e-03 -5.79899689e+00] [-1.31636867e-02 2.19547732e-04 9.99913331e-01 -1.11717891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.09862385300001 meters Centerline goodness [0,1] 0.9988362068965517 Centerline is valid? [True, True] Translation: X:50.33, Y:-5.81, Z:-1.12 [[ 9.87951274e-01 1.54212142e-01 1.30727133e-02 5.03310212e+01] [-1.54195481e-01 9.88037732e-01 -2.27905911e-03 -5.80761194e+00] [-1.32677926e-02 2.35846049e-04 9.99911951e-01 -1.11969175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.128623853 meters Centerline goodness [0,1] 0.9984956589014012 Centerline is valid? [True, True] Translation: X:50.36, Y:-5.82, Z:-1.12 [[ 9.88299904e-01 1.51927781e-01 1.34628947e-02 5.03583816e+01] [-1.51909908e-01 9.88391559e-01 -2.34636595e-03 -5.82095194e+00] [-1.36630897e-02 2.73766144e-04 9.99906618e-01 -1.11994715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.158623853 meters Centerline goodness [0,1] 0.9985253574405334 Centerline is valid? [True, True] Translation: X:50.39, Y:-5.83, Z:-1.12 [[ 9.88496244e-01 1.50625345e-01 1.36814416e-02 5.03862936e+01] [-1.50606769e-01 9.88590875e-01 -2.38395288e-03 -5.83081336e+00] [-1.38844320e-02 2.96010755e-04 9.99903563e-01 -1.12031179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.188623853 meters Centerline goodness [0,1] 0.9983025354533734 Centerline is valid? [True, True] Translation: X:50.41, Y:-5.84, Z:-1.12 [[ 9.88695019e-01 1.49327560e-01 1.35440048e-02 5.04137835e+01] [-1.49309240e-01 9.88787734e-01 -2.35952253e-03 -5.84199015e+00] [-1.37444875e-02 3.10603111e-04 9.99905492e-01 -1.12143867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.218623853000004 meters Centerline goodness [0,1] 0.9977293947882183 Centerline is valid? [True, True] Translation: X:50.44, Y:-5.86, Z:-1.12 [[ 9.88952395e-01 1.47604882e-01 1.36366570e-02 5.04418987e+01] [-1.47586155e-01 9.89046352e-01 -2.37512653e-03 -5.85577175e+00] [-1.38378661e-02 3.36305295e-04 9.99904196e-01 -1.12205660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.248623853000005 meters Centerline goodness [0,1] 0.997754798039766 Centerline is valid? [True, True] Translation: X:50.47, Y:-5.87, Z:-1.12 [[ 9.89059836e-01 1.46892883e-01 1.35322484e-02 5.04697765e+01] [-1.46874380e-01 9.89152346e-01 -2.35657834e-03 -5.86524666e+00] [-1.37316198e-02 3.43256406e-04 9.99905658e-01 -1.12222359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.278623853000006 meters Centerline goodness [0,1] 0.9974302496328928 Centerline is valid? [True, True] Translation: X:50.50, Y:-5.87, Z:-1.12 [[ 9.89093973e-01 1.46679505e-01 1.33504987e-02 5.04990040e+01] [-1.46661480e-01 9.89184010e-01 -2.32468454e-03 -5.87272877e+00] [-1.35470834e-02 3.41327572e-04 9.99908176e-01 -1.11879911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.308623853 meters Centerline goodness [0,1] 0.997225269406982 Centerline is valid? [True, True] Translation: X:50.53, Y:-5.88, Z:-1.12 [[ 9.89118197e-01 1.46525441e-01 1.32472015e-02 5.05288925e+01] [-1.46507677e-01 9.89206843e-01 -2.30687517e-03 -5.88115084e+00] [-1.34422383e-02 3.40955497e-04 9.99909591e-01 -1.11647780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.338623853 meters Centerline goodness [0,1] 0.9973909882166763 Centerline is valid? [True, True] Translation: X:50.56, Y:-5.90, Z:-1.12 [[ 9.89047032e-01 1.46953255e-01 1.38097857e-02 5.05568072e+01] [-1.46933992e-01 9.89143376e-01 -2.40480138e-03 -5.89514329e+00] [-1.40132515e-02 3.49334720e-04 9.99901749e-01 -1.11782181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.368623853 meters Centerline goodness [0,1] 0.9971726604836464 Centerline is valid? [True, True] Translation: X:50.59, Y:-5.90, Z:-1.12 [[ 9.89001202e-01 1.47279382e-01 1.36164303e-02 5.05874224e+01] [-1.47260684e-01 9.89094873e-01 -2.37124615e-03 -5.90334390e+00] [-1.38171770e-02 3.40000462e-04 9.99904480e-01 -1.11780678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.398623853000004 meters Centerline goodness [0,1] 0.9976990236979054 Centerline is valid? [True, True] Translation: X:50.62, Y:-5.91, Z:-1.12 [[ 9.88903285e-01 1.47892779e-01 1.40719236e-02 5.06173667e+01] [-1.47872867e-01 9.89003341e-01 -2.45091614e-03 -5.91152340e+00] [-1.42796522e-02 3.42863343e-04 9.99897982e-01 -1.12373236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.428623853000005 meters Centerline goodness [0,1] 0.9978519107254098 Centerline is valid? [True, True] Translation: X:50.65, Y:-5.93, Z:-1.13 [[ 9.88593511e-01 1.50048189e-01 1.29773524e-02 5.06468383e+01] [-1.50031444e-01 9.88678643e-01 -2.25992575e-03 -5.92568233e+00] [-1.31695289e-02 2.87137015e-04 9.99913237e-01 -1.12686598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.458623853000006 meters Centerline goodness [0,1] 0.9983595233983767 Centerline is valid? [True, True] Translation: X:50.68, Y:-5.93, Z:-1.13 [[ 9.88393677e-01 1.51392593e-01 1.25786189e-02 5.06778405e+01] [-1.51376936e-01 9.88473679e-01 -2.19318004e-03 -5.93073095e+00] [-1.27656649e-02 2.63612499e-04 9.99918481e-01 -1.12768738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.488623853 meters Centerline goodness [0,1] 0.9986997226074896 Centerline is valid? [True, True] Translation: X:50.71, Y:-5.94, Z:-1.13 [[ 9.88165363e-01 1.52921630e-01 1.20079717e-02 5.07082888e+01] [-1.52907470e-01 9.88238292e-01 -2.09395145e-03 -5.93743573e+00] [-1.21869479e-02 2.33061712e-04 9.99925709e-01 -1.12923950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.518623853 meters Centerline goodness [0,1] 0.9988231769941801 Centerline is valid? [True, True] Translation: X:50.74, Y:-5.94, Z:-1.13 [[ 9.87946345e-01 1.54376073e-01 1.14038235e-02 5.07390161e+01] [-1.54363396e-01 9.88012139e-01 -1.98885416e-03 -5.94453647e+00] [-1.15741475e-02 2.04548267e-04 9.99932996e-01 -1.13023759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.548623853 meters Centerline goodness [0,1] 0.9990037307105307 Centerline is valid? [True, True] Translation: X:50.77, Y:-5.96, Z:-1.13 [[ 9.87552732e-01 1.56854190e-01 1.16775574e-02 5.07678969e+01] [-1.56841066e-01 9.87621755e-01 -2.03695535e-03 -5.95521293e+00] [-1.18525147e-02 1.80080272e-04 9.99929740e-01 -1.13171566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.578623853 meters Centerline goodness [0,1] 0.9991382096305074 Centerline is valid? [True, True] Translation: X:50.80, Y:-5.96, Z:-1.13 [[ 9.87377698e-01 1.57972760e-01 1.13968645e-02 5.07989768e+01] [-1.57960333e-01 9.87443457e-01 -1.98804760e-03 -5.96002535e+00] [-1.15678166e-02 1.62701345e-04 9.99933077e-01 -1.13219372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.608623853000005 meters Centerline goodness [0,1] 0.9992002766610469 Centerline is valid? [True, True] Translation: X:50.83, Y:-5.97, Z:-1.13 [[ 9.87136600e-01 1.59497397e-01 1.10414604e-02 5.08281273e+01] [-1.59485825e-01 9.87198339e-01 -1.92639319e-03 -5.96689063e+00] [-1.12073661e-02 1.40656796e-04 9.99937186e-01 -1.13367967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.638623853000006 meters Centerline goodness [0,1] 0.9993492266643528 Centerline is valid? [True, True] Translation: X:50.86, Y:-5.97, Z:-1.13 [[ 9.86851865e-01 1.61272358e-01 1.07062424e-02 5.08588022e+01] [-1.61261582e-01 9.86909931e-01 -1.86794995e-03 -5.97256656e+00] [-1.08673457e-02 1.16884303e-04 9.99940942e-01 -1.13447737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.66862385300001 meters Centerline goodness [0,1] 0.9993942409622915 Centerline is valid? [True, True] Translation: X:50.89, Y:-5.98, Z:-1.13 [[ 9.86257569e-01 1.64842540e-01 1.10880017e-02 5.08886662e+01] [-1.64831203e-01 9.86319893e-01 -1.93492975e-03 -5.97954493e+00] [-1.12552754e-02 8.06904476e-05 9.99936654e-01 -1.13499051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.698623853 meters Centerline goodness [0,1] 0.999396668749596 Centerline is valid? [True, True] Translation: X:50.92, Y:-5.98, Z:-1.14 [[ 9.85919523e-01 1.66844800e-01 1.12029944e-02 5.09183768e+01] [-1.66833354e-01 9.85983169e-01 -1.95521611e-03 -5.98455720e+00] [-1.13721816e-02 5.86526055e-05 9.99935333e-01 -1.13524971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.728623853 meters Centerline goodness [0,1] 0.9994211970502487 Centerline is valid? [True, True] Translation: X:50.95, Y:-5.99, Z:-1.14 [[ 9.85605337e-01 1.68702447e-01 1.10273998e-02 5.09478363e+01] [-1.68691472e-01 9.85667024e-01 -1.92464743e-03 -5.98995418e+00] [-1.11940371e-02 3.67144763e-05 9.99937344e-01 -1.13614959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.758623853 meters Centerline goodness [0,1] 0.9995454053468991 Centerline is valid? [True, True] Translation: X:50.98, Y:-5.99, Z:-1.13 [[ 9.85283396e-01 1.70603596e-01 1.05377128e-02 5.09778506e+01] [-1.70593685e-01 9.85339745e-01 -1.83897882e-03 -5.99462533e+00] [-1.06969637e-02 1.42480445e-05 9.99942786e-01 -1.13352023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.788623853000004 meters Centerline goodness [0,1] 0.9996583459674148 Centerline is valid? [True, True] Translation: X:51.01, Y:-6.00, Z:-1.14 [[ 9.84794235e-01 1.73391765e-01 1.07522697e-02 5.10064003e+01] [-1.73381611e-01 9.84852931e-01 -1.87650460e-03 -6.00006096e+00] [-1.09147748e-02 -1.62749361e-05 9.99940432e-01 -1.13799501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.818623853000005 meters Centerline goodness [0,1] 0.9999145335669416 Centerline is valid? [True, True] Translation: X:51.04, Y:-6.00, Z:-1.14 [[ 9.84546805e-01 1.74830472e-01 1.00943369e-02 5.10359269e+01] [-1.74821598e-01 9.84598550e-01 -1.76165168e-03 -6.00454911e+00] [-1.02468599e-02 -3.02795876e-05 9.99947499e-01 -1.13938354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.84862385300001 meters Centerline goodness [0,1] 0.9999784770349963 Centerline is valid? [True, True] Translation: X:51.07, Y:-6.01, Z:-1.14 [[ 9.84338277e-01 1.76039390e-01 9.39628385e-03 5.10655288e+01] [-1.76031759e-01 9.84383122e-01 -1.63963439e-03 -6.00909434e+00] [-9.53818347e-03 -4.00894767e-05 9.99954510e-01 -1.14124705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.878623853 meters Centerline goodness [0,1] 0.9999352876464117 Centerline is valid? [True, True] Translation: X:51.09, Y:-6.01, Z:-1.14 [[ 9.84121755e-01 1.77260743e-01 9.11049902e-03 5.10943253e+01] [-1.77253622e-01 9.84163923e-01 -1.58965831e-03 -6.01351696e+00] [-9.24800846e-03 -5.04516158e-05 9.99957235e-01 -1.14260464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.908623853 meters Centerline goodness [0,1] 0.9999785917663934 Centerline is valid? [True, True] Translation: X:51.12, Y:-6.02, Z:-1.14 [[ 9.83902363e-01 1.78480750e-01 8.98676383e-03 5.11239223e+01] [-1.78473876e-01 9.83943402e-01 -1.56764852e-03 -6.01903759e+00] [-9.12226206e-03 -6.14894943e-05 9.99958389e-01 -1.14339756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.938623853 meters Centerline goodness [0,1] 0.9998938451412921 Centerline is valid? [True, True] Translation: X:51.15, Y:-6.03, Z:-1.14 [[ 9.83539320e-01 1.80485800e-01 8.67647458e-03 5.11527095e+01] [-1.80479473e-01 9.83577587e-01 -1.51332434e-03 -6.02560699e+00] [-8.80711949e-03 -7.75115593e-05 9.99961214e-01 -1.14386856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.968623853000004 meters Centerline goodness [0,1] 0.9998928418345477 Centerline is valid? [True, True] Translation: X:51.18, Y:-6.03, Z:-1.14 [[ 9.83386452e-01 1.81310095e-01 8.81678237e-03 5.11808261e+01] [-1.81303595e-01 9.83425972e-01 -1.53767773e-03 -6.02946177e+00] [-8.94944926e-03 -8.63828938e-05 9.99959949e-01 -1.14452696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.998623853000005 meters Centerline goodness [0,1] 0.9998073135223088 Centerline is valid? [True, True] Translation: X:51.21, Y:-6.03, Z:-1.14 [[ 9.83082748e-01 1.82946667e-01 8.87848885e-03 5.12101708e+01] [-1.82940146e-01 9.83122834e-01 -1.54801303e-03 -6.03294290e+00] [-9.01184895e-03 -1.02407148e-04 9.99959387e-01 -1.14444667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.028623853000006 meters Centerline goodness [0,1] 0.9996770721205598 Centerline is valid? [True, True] Translation: X:51.24, Y:-6.04, Z:-1.14 [[ 9.82960040e-01 1.83620970e-01 8.53809144e-03 5.12398699e+01] [-1.83614967e-01 9.82997115e-01 -1.48847506e-03 -6.03727043e+00] [-8.66623449e-03 -1.04609875e-04 9.99962442e-01 -1.13952415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.058623853 meters Centerline goodness [0,1] 0.999763999141815 Centerline is valid? [True, True] Translation: X:51.27, Y:-6.04, Z:-1.15 [[ 9.82932347e-01 1.83752299e-01 8.89342328e-03 5.12670150e+01] [-1.83745790e-01 9.82972574e-01 -1.55049372e-03 -6.04055352e+00] [-9.02689796e-03 -1.10098657e-04 9.99959251e-01 -1.14633746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.088623853 meters Centerline goodness [0,1] 0.9997832917975945 Centerline is valid? [True, True] Translation: X:51.30, Y:-6.05, Z:-1.14 [[ 9.82923792e-01 1.83794509e-01 8.96644066e-03 5.12959691e+01] [-1.83787903e-01 9.82964682e-01 -1.56237978e-03 -6.04895317e+00] [-9.10085132e-03 -1.12223062e-04 9.99958580e-01 -1.14494367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.118623853 meters Centerline goodness [0,1] 0.9995699202202009 Centerline is valid? [True, True] Translation: X:51.32, Y:-6.05, Z:-1.14 [[ 9.83082981e-01 1.82955795e-01 8.66201874e-03 5.13243938e+01] [-1.82949599e-01 9.83121135e-01 -1.50912063e-03 -6.05428628e+00] [-8.79191606e-03 -1.01122047e-04 9.99961345e-01 -1.13967140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.148623853000004 meters Centerline goodness [0,1] 0.9995699202202009 Centerline is valid? [True, True] Translation: X:51.35, Y:-6.06, Z:-1.14 [[ 9.83087253e-01 1.82932836e-01 8.66205371e-03 5.13531333e+01] [-1.82926641e-01 9.83125408e-01 -1.50891984e-03 -6.05924671e+00] [-8.79191607e-03 -1.01120528e-04 9.99961345e-01 -1.14018573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.178623853000005 meters Centerline goodness [0,1] 0.9996574975917799 Centerline is valid? [True, True] Translation: X:51.38, Y:-6.07, Z:-1.14 [[ 9.83239326e-01 1.82099383e-01 8.95785120e-03 5.13824618e+01] [-1.82092724e-01 9.83280126e-01 -1.56021661e-03 -6.06583534e+00] [-9.09219154e-03 -9.70932027e-05 9.99958660e-01 -1.14000566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.208623853000006 meters Centerline goodness [0,1] 0.99969723183391 Centerline is valid? [True, True] Translation: X:51.41, Y:-6.07, Z:-1.14 [[ 9.83469292e-01 1.80839526e-01 9.23136614e-03 5.14120994e+01] [-1.80832403e-01 9.83512612e-01 -1.60742696e-03 -6.07411102e+00] [-9.36985135e-03 -8.84750672e-05 9.99956098e-01 -1.14033049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.238623853 meters Centerline goodness [0,1] 0.9997817927904338 Centerline is valid? [True, True] Translation: X:51.44, Y:-6.08, Z:-1.14 [[ 9.83758820e-01 1.79261928e-01 9.15128080e-03 5.14421812e+01] [-1.79254860e-01 9.83801380e-01 -1.59348197e-03 -6.08167924e+00] [-9.28869334e-03 -7.28096183e-05 9.99956857e-01 -1.14132022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.268623853 meters Centerline goodness [0,1] 0.9999137001078748 Centerline is valid? [True, True] Translation: X:51.47, Y:-6.09, Z:-1.15 [[ 9.84257820e-01 1.76480432e-01 9.54990028e-03 5.14717718e+01] [-1.76472604e-01 9.84304147e-01 -1.66289225e-03 -6.09147491e+00] [-9.69347439e-03 -4.85810692e-05 9.99953016e-01 -1.14705853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.298623853 meters Centerline goodness [0,1] 0.9999784941611648 Centerline is valid? [True, True] Translation: X:51.50, Y:-6.10, Z:-1.15 [[ 9.84507517e-01 1.75101690e-01 9.18405779e-03 5.15016106e+01] [-1.75094392e-01 9.84550353e-01 -1.59908781e-03 -6.09848202e+00] [-9.32217032e-03 -3.37630465e-05 9.99956547e-01 -1.14881046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.328623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:51.53, Y:-6.11, Z:-1.15 [[ 9.84863487e-01 1.73132678e-01 8.30591154e-03 5.15322536e+01] [-1.73126639e-01 9.84898510e-01 -1.44615914e-03 -6.10752509e+00] [-8.43085731e-03 -1.37052196e-05 9.99964460e-01 -1.14994276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.358623853000005 meters Centerline goodness [0,1] 0.9999351729800982 Centerline is valid? [True, True] Translation: X:51.56, Y:-6.11, Z:-1.15 [[ 9.85039814e-01 1.72113890e-01 8.56588221e-03 5.15615433e+01] [-1.72107425e-01 9.85077057e-01 -1.49175795e-03 -6.11383659e+00] [-8.69480630e-03 -4.81095526e-06 9.99962199e-01 -1.15079138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.388623853000006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:51.59, Y:-6.12, Z:-1.15 [[ 9.85215612e-01 1.71119014e-01 8.27525721e-03 5.15912388e+01] [-1.71112945e-01 9.85250366e-01 -1.44124121e-03 -6.12010461e+00] [-8.39982397e-03 3.92971407e-06 9.99964721e-01 -1.15137023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.41862385300001 meters Centerline goodness [0,1] 0.9998714680490992 Centerline is valid? [True, True] Translation: X:51.62, Y:-6.13, Z:-1.15 [[ 9.85474695e-01 1.69668532e-01 7.22594702e-03 5.16203918e+01] [-1.69663865e-01 9.85501187e-01 -1.25855385e-03 -6.12669260e+00] [-7.33471635e-03 1.42908687e-05 9.99973101e-01 -1.15445068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.448623853 meters Centerline goodness [0,1] 0.999850276987573 Centerline is valid? [True, True] Translation: X:51.65, Y:-6.13, Z:-1.16 [[ 9.85584599e-01 1.69031359e-01 7.16930524e-03 5.16495025e+01] [-1.69026745e-01 9.85610673e-01 -1.24901994e-03 -6.13217785e+00] [-7.27726730e-03 1.92104902e-05 9.99973520e-01 -1.15507759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.478623853 meters Centerline goodness [0,1] 0.9998294461262951 Centerline is valid? [True, True] Translation: X:51.68, Y:-6.14, Z:-1.16 [[ 9.85656983e-01 1.68606623e-01 7.21933848e-03 5.16793978e+01] [-1.68601934e-01 9.85683421e-01 -1.25752547e-03 -6.13787773e+00] [-7.32800937e-03 2.22943275e-05 9.99973150e-01 -1.15597633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.508623853 meters Centerline goodness [0,1] 0.9997217287068947 Centerline is valid? [True, True] Translation: X:51.71, Y:-6.15, Z:-1.16 [[ 9.85895284e-01 1.67212972e-01 7.09304505e-03 5.17087278e+01] [-1.67208411e-01 9.85920799e-01 -1.23540318e-03 -6.14570408e+00] [-7.19975608e-03 3.19613736e-05 9.99974081e-01 -1.15713770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.538623853000004 meters Centerline goodness [0,1] 0.9996991834980662 Centerline is valid? [True, True] Translation: X:51.74, Y:-6.15, Z:-1.16 [[ 9.85970785e-01 1.66761393e-01 7.22838433e-03 5.17395339e+01] [-1.66756644e-01 9.85997280e-01 -1.25894109e-03 -6.15163690e+00] [-7.33711006e-03 3.58980232e-05 9.99973082e-01 -1.15724266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.568623853000005 meters Centerline goodness [0,1] 0.9997202616629368 Centerline is valid? [True, True] Translation: X:51.77, Y:-6.16, Z:-1.16 [[ 9.86033095e-01 1.66392251e-01 7.23556275e-03 5.17697193e+01] [-1.66387487e-01 9.86059642e-01 -1.25965755e-03 -6.15777931e+00] [-7.34429367e-03 3.81569279e-05 9.99973030e-01 -1.15816844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.59862385300001 meters Centerline goodness [0,1] 0.9997636390983906 Centerline is valid? [True, True] Translation: X:51.80, Y:-6.16, Z:-1.16 [[ 9.86182313e-01 1.65520130e-01 6.89439962e-03 5.18012650e+01] [-1.65515785e-01 9.86206411e-01 -1.20005306e-03 -6.16497203e+00] [-6.99793404e-03 4.23391346e-05 9.99975513e-01 -1.15911462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.628623853 meters Centerline goodness [0,1] 0.9997409606044253 Centerline is valid? [True, True] Translation: X:51.83, Y:-6.17, Z:-1.16 [[ 9.86254064e-01 1.65081835e-01 7.13506971e-03 5.18311952e+01] [-1.65077159e-01 9.86279872e-01 -1.24338852e-03 -6.17223726e+00] [-7.24243650e-03 4.84599419e-05 9.99973772e-01 -1.16055839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.658623853 meters Centerline goodness [0,1] 0.9997647863832699 Centerline is valid? [True, True] Translation: X:51.86, Y:-6.18, Z:-1.16 [[ 9.86302438e-01 1.64792178e-01 7.14415063e-03 5.18612695e+01] [-1.64787464e-01 9.86328310e-01 -1.24757008e-03 -6.17770851e+00] [-7.25206781e-03 5.32149449e-05 9.99973702e-01 -1.15545349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.688623853 meters Centerline goodness [0,1] 0.9997628441454843 Centerline is valid? [True, True] Translation: X:51.89, Y:-6.18, Z:-1.16 [[ 9.86379824e-01 1.64315366e-01 7.43667911e-03 5.18922897e+01] [-1.64310245e-01 9.86407855e-01 -1.29863699e-03 -6.18378159e+00] [-7.54898470e-03 5.90267578e-05 9.99971504e-01 -1.16100738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.718623853000004 meters Centerline goodness [0,1] 0.9996364414029084 Centerline is valid? [True, True] Translation: X:51.92, Y:-6.19, Z:-1.16 [[ 9.86449198e-01 1.63918618e-01 6.97615590e-03 5.19232934e+01] [-1.63914101e-01 9.86473863e-01 -1.21834750e-03 -6.18818077e+00] [-7.08150530e-03 5.83475914e-05 9.99974924e-01 -1.15907602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.748623853000005 meters Centerline goodness [0,1] 0.9997007396007012 Centerline is valid? [True, True] Translation: X:51.95, Y:-6.19, Z:-1.16 [[ 9.86457046e-01 1.63865565e-01 7.11152284e-03 5.19535231e+01] [-1.63860868e-01 9.86482677e-01 -1.24216020e-03 -6.19412523e+00] [-7.21894137e-03 6.00373779e-05 9.99973941e-01 -1.16228589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.778623853000006 meters Centerline goodness [0,1] 0.9996375189236444 Centerline is valid? [True, True] Translation: X:51.98, Y:-6.20, Z:-1.16 [[ 9.86519311e-01 1.63500382e-01 6.87562033e-03 5.19849384e+01] [-1.63495992e-01 9.86543269e-01 -1.19961729e-03 -6.20096971e+00] [-6.97923484e-03 5.93092602e-05 9.99975643e-01 -1.16290739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.808623853 meters Centerline goodness [0,1] 0.9996127283289228 Centerline is valid? [True, True] Translation: X:52.02, Y:-6.21, Z:-1.16 [[ 9.86557911e-01 1.63276750e-01 6.64763062e-03 5.20156247e+01] [-1.63272633e-01 9.86580306e-01 -1.16097861e-03 -6.20734726e+00] [-6.74798226e-03 5.99964727e-05 9.99977230e-01 -1.16383580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.838623853 meters Centerline goodness [0,1] 0.9996370003416467 Centerline is valid? [True, True] Translation: X:52.05, Y:-6.21, Z:-1.16 [[ 9.86559863e-01 1.63256081e-01 6.86213616e-03 5.20455299e+01] [-1.63251676e-01 9.86583726e-01 -1.20104255e-03 -6.21285277e+00] [-6.96614936e-03 6.46451394e-05 9.99975734e-01 -1.16404084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.868623853 meters Centerline goodness [0,1] 0.9997194829855641 Centerline is valid? [True, True] Translation: X:52.08, Y:-6.22, Z:-1.16 [[ 9.86350951e-01 1.64475064e-01 7.73009711e-03 5.20772258e+01] [-1.64469512e-01 9.86381239e-01 -1.35296172e-03 -6.21596462e+00] [-7.84735124e-03 6.31297800e-05 9.99969207e-01 -1.16267676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.898623853000004 meters Centerline goodness [0,1] 0.9997645497549177 Centerline is valid? [True, True] Translation: X:52.11, Y:-6.22, Z:-1.16 [[ 9.86162780e-01 1.65587520e-01 7.98405768e-03 5.21076996e+01] [-1.65581634e-01 9.86195097e-01 -1.39725655e-03 -6.21928377e+00] [-8.10520678e-03 5.59090862e-05 9.99967151e-01 -1.16274709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.928623853000005 meters Centerline goodness [0,1] 0.9997428479588557 Centerline is valid? [True, True] Translation: X:52.14, Y:-6.22, Z:-1.16 [[ 9.86035888e-01 1.66345650e-01 7.89631155e-03 5.21365986e+01] [-1.66339908e-01 9.86067504e-01 -1.38305156e-03 -6.22260665e+00] [-8.01636083e-03 5.02667343e-05 9.99967867e-01 -1.16406552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.958623853000006 meters Centerline goodness [0,1] 0.9997867758374379 Centerline is valid? [True, True] Translation: X:52.17, Y:-6.23, Z:-1.16 [[ 9.85915474e-01 1.67061994e-01 7.80816905e-03 5.21668672e+01] [-1.67056404e-01 9.85946392e-01 -1.36741655e-03 -6.22609295e+00] [-7.92687944e-03 4.37524928e-05 9.99968581e-01 -1.16440643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.988623853 meters Centerline goodness [0,1] 0.9996970549412503 Centerline is valid? [True, True] Translation: X:52.20, Y:-6.23, Z:-1.16 [[ 9.85868377e-01 1.67336211e-01 7.88260091e-03 5.21983903e+01] [-1.67330524e-01 9.85899889e-01 -1.38021590e-03 -6.22904246e+00] [-8.00241546e-03 4.17114728e-05 9.99967979e-01 -1.15815261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.018623853 meters Centerline goodness [0,1] 0.9998059215491774 Centerline is valid? [True, True] Translation: X:52.23, Y:-6.24, Z:-1.17 [[ 9.85860667e-01 1.67365842e-01 8.21098043e-03 5.22282028e+01] [-1.67359673e-01 9.85894859e-01 -1.43762900e-03 -6.23567008e+00] [-8.33577338e-03 4.31148873e-05 9.99965256e-01 -1.16525205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.048623853 meters Centerline goodness [0,1] 0.9997635730559257 Centerline is valid? [True, True] Translation: X:52.26, Y:-6.24, Z:-1.17 [[ 9.85962301e-01 1.66784529e-01 7.82693421e-03 5.22581284e+01] [-1.66778898e-01 9.85993366e-01 -1.37135402e-03 -6.24116648e+00] [-7.94602585e-03 4.67359090e-05 9.99968429e-01 -1.16680763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.078623853 meters Centerline goodness [0,1] 0.9997618532149816 Centerline is valid? [True, True] Translation: X:52.29, Y:-6.25, Z:-1.17 [[ 9.86052896e-01 1.66242269e-01 7.94949178e-03 5.22878910e+01] [-1.66236443e-01 9.86084938e-01 -1.39282729e-03 -6.24764719e+00] [-8.07042088e-03 5.19061462e-05 9.99967432e-01 -1.16753829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.108623853000005 meters Centerline goodness [0,1] 0.9996991705702867 Centerline is valid? [True, True] Translation: X:52.32, Y:-6.25, Z:-1.17 [[ 9.86129703e-01 1.65792011e-01 7.82419154e-03 5.23184571e+01] [-1.65786354e-01 9.86160741e-01 -1.37064146e-03 -6.25245045e+00] [-7.94315193e-03 5.44860695e-05 9.99968451e-01 -1.16559736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.138623853000006 meters Centerline goodness [0,1] 0.9997208623207077 Centerline is valid? [True, True] Translation: X:52.35, Y:-6.26, Z:-1.17 [[ 9.86182912e-01 1.65497826e-01 7.33039632e-03 5.23492527e+01] [-1.65492851e-01 9.86210154e-01 -1.28429009e-03 -6.25795087e+00] [-7.44185850e-03 5.34167514e-05 9.99972308e-01 -1.16693379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.16862385300001 meters Centerline goodness [0,1] 0.999763410332516 Centerline is valid? [True, True] Translation: X:52.38, Y:-6.26, Z:-1.17 [[ 9.86119424e-01 1.65912776e-01 6.43676236e-03 5.23797221e+01] [-1.65908948e-01 9.86140430e-01 -1.12796330e-03 -6.26121897e+00] [-6.53469513e-03 4.43900487e-05 9.99978648e-01 -1.16953396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.198623853 meters Centerline goodness [0,1] 0.9997397076048762 Centerline is valid? [True, True] Translation: X:52.41, Y:-6.27, Z:-1.17 [[ 9.85998505e-01 1.66634354e-01 6.31988505e-03 5.24084331e+01] [-1.66630676e-01 9.86018758e-01 -1.10782109e-03 -6.26559341e+00] [-6.41612626e-03 3.92232233e-05 9.99979416e-01 -1.16995476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.228623853 meters Centerline goodness [0,1] 0.9996562909497111 Centerline is valid? [True, True] Translation: X:52.44, Y:-6.27, Z:-1.16 [[ 9.85754921e-01 1.68082264e-01 5.96565898e-03 5.24383573e+01] [-1.68079014e-01 9.85772972e-01 -1.04566679e-03 -6.26762329e+00] [-6.05654343e-03 2.80691026e-05 9.99981659e-01 -1.16378059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.258623853 meters Centerline goodness [0,1] 0.9998709899372151 Centerline is valid? [True, True] Translation: X:52.47, Y:-6.27, Z:-1.17 [[ 9.85630278e-01 1.68791984e-01 6.49781400e-03 5.24690081e+01] [-1.68788146e-01 9.85651696e-01 -1.13858798e-03 -6.27174441e+00] [-6.59676591e-03 2.54728154e-05 9.99978241e-01 -1.17054825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.288623853000004 meters Centerline goodness [0,1] 0.9998482976832889 Centerline is valid? [True, True] Translation: X:52.50, Y:-6.28, Z:-1.17 [[ 9.85589737e-01 1.69027523e-01 6.52432974e-03 5.24990370e+01] [-1.69023657e-01 9.85611331e-01 -1.14344343e-03 -6.27580444e+00] [-6.62372673e-03 2.42000412e-05 9.99978063e-01 -1.17104322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.318623853000005 meters Centerline goodness [0,1] 0.9995211770339094 Centerline is valid? [True, True] Translation: X:52.53, Y:-6.28, Z:-1.16 [[ 9.85583652e-01 1.69072751e-01 6.26659795e-03 5.25293468e+01] [-1.69069185e-01 9.85603574e-01 -1.09827378e-03 -6.27938391e+00] [-6.36206951e-03 2.29520722e-05 9.99979762e-01 -1.16224181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.34862385300001 meters Centerline goodness [0,1] 0.999956851915775 Centerline is valid? [True, True] Translation: X:52.56, Y:-6.28, Z:-1.17 [[ 9.85475347e-01 1.69661740e-01 7.29615280e-03 5.25585194e+01] [-1.69656921e-01 9.85502356e-01 -1.27883550e-03 -6.28265254e+00] [-7.40734523e-03 2.24180394e-05 9.99972565e-01 -1.17073343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.378623853 meters Centerline goodness [0,1] 0.9999133035675581 Centerline is valid? [True, True] Translation: X:52.59, Y:-6.29, Z:-1.17 [[ 9.85429416e-01 1.69920179e-01 7.48317560e-03 5.25885355e+01] [-1.69915120e-01 9.85457829e-01 -1.31139736e-03 -6.28650421e+00] [-7.59718686e-03 2.07848580e-05 9.99971141e-01 -1.17053757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.408623853 meters Centerline goodness [0,1] 0.9999566996471021 Centerline is valid? [True, True] Translation: X:52.62, Y:-6.29, Z:-1.17 [[ 9.85331186e-01 1.70499205e-01 7.24395427e-03 5.26185659e+01] [-1.70494480e-01 9.85357814e-01 -1.26947475e-03 -6.29014576e+00] [-7.35433138e-03 1.57988488e-05 9.99972956e-01 -1.17195629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.438623853 meters Centerline goodness [0,1] 0.9999359111301004 Centerline is valid? [True, True] Translation: X:52.65, Y:-6.29, Z:-1.18 [[ 9.85087517e-01 1.71947727e-01 6.04672021e-03 5.26469619e+01] [-1.71944460e-01 9.85106075e-01 -1.06007269e-03 -6.29228097e+00] [-6.13893790e-03 4.56433387e-06 9.99981157e-01 -1.17534739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.468623853000004 meters Centerline goodness [0,1] 0.9999350705566618 Centerline is valid? [True, True] Translation: X:52.68, Y:-6.30, Z:-1.18 [[ 9.84991975e-01 1.72508789e-01 5.61483794e-03 5.26765153e+01] [-1.72505983e-01 9.85007978e-01 -9.84056994e-04 -6.29593392e+00] [-5.70041865e-03 6.95105416e-07 9.99983752e-01 -1.17654971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.498623853000005 meters Centerline goodness [0,1] 0.9999569549964488 Centerline is valid? [True, True] Translation: X:52.71, Y:-6.30, Z:-1.18 [[ 9.84892303e-01 1.73081797e-01 5.46287102e-03 5.27057544e+01] [-1.73079149e-01 9.84907453e-01 -9.57304053e-04 -6.29914095e+00] [-5.54611429e-03 -2.66767357e-06 9.99984620e-01 -1.17678888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.528623853000006 meters Centerline goodness [0,1] 0.9999569466569079 Centerline is valid? [True, True] Translation: X:52.73, Y:-6.30, Z:-1.18 [[ 9.84789789e-01 1.73672452e-01 5.19137552e-03 5.27338475e+01] [-1.73670067e-01 9.84803473e-01 -9.10059019e-04 -6.30049308e+00] [-5.27053682e-03 -5.36970650e-06 9.99986111e-01 -1.17886119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.558623853 meters Centerline goodness [0,1] 0.9999355753124597 Centerline is valid? [True, True] Translation: X:52.76, Y:-6.30, Z:-1.18 [[ 9.84768696e-01 1.73800734e-01 4.89090123e-03 5.27621215e+01] [-1.73798621e-01 9.84780841e-01 -8.56998747e-04 -6.30416343e+00] [-4.96541284e-03 -6.08635125e-06 9.99987672e-01 -1.17986410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.588623853 meters Centerline goodness [0,1] 0.999957152344838 Centerline is valid? [True, True] Translation: X:52.79, Y:-6.31, Z:-1.18 [[ 9.84810346e-01 1.73568840e-01 4.73713081e-03 5.27895458e+01] [-1.73566855e-01 9.84821739e-01 -8.30004248e-04 -6.30815778e+00] [-4.80929227e-03 -4.81212598e-06 9.99988435e-01 -1.18107714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.618623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:52.82, Y:-6.31, Z:-1.18 [[ 9.84898739e-01 1.73057728e-01 5.04948302e-03 5.28184295e+01] [-1.73055469e-01 9.84911683e-01 -8.84236657e-04 -6.31258254e+00] [-5.12631880e-03 -2.95708370e-06 9.99986860e-01 -1.17922367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.648623853000004 meters Centerline goodness [0,1] 0.9999784436300927 Centerline is valid? [True, True] Translation: X:52.85, Y:-6.32, Z:-1.18 [[ 9.84990596e-01 1.72525016e-01 5.35199213e-03 5.28465900e+01] [-1.72522472e-01 9.85005136e-01 -9.36906814e-04 -6.31753066e+00] [-5.43337960e-03 -4.94512638e-07 9.99985239e-01 -1.17847292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.678623853000005 meters Centerline goodness [0,1] 0.9998928004802539 Centerline is valid? [True, True] Translation: X:52.88, Y:-6.32, Z:-1.17 [[ 9.85082345e-01 1.72004826e-01 5.20698049e-03 5.28753875e+01] [-1.72002413e-01 9.85096107e-01 -9.11138729e-04 -6.32239493e+00] [-5.28609647e-03 1.93346838e-06 9.99986028e-01 -1.17478424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.708623853000006 meters Centerline goodness [0,1] 0.9998496595863491 Centerline is valid? [True, True] Translation: X:52.90, Y:-6.33, Z:-1.17 [[ 9.85325016e-01 1.70603556e-01 5.38891788e-03 5.29042621e+01] [-1.70600950e-01 9.85339752e-01 -9.42897034e-04 -6.32773004e+00] [-5.47077660e-03 9.70552221e-06 9.99985035e-01 -1.17197623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.738623853 meters Centerline goodness [0,1] 0.9999784073242356 Centerline is valid? [True, True] Translation: X:52.93, Y:-6.33, Z:-1.18 [[ 9.85483742e-01 1.69658408e-01 6.14965111e-03 5.29332181e+01] [-1.69655001e-01 9.85502930e-01 -1.07532893e-03 -6.33342073e+00] [-6.24293778e-03 1.64001138e-05 9.99980513e-01 -1.17681218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.768623853 meters Centerline goodness [0,1] 0.9999350522829122 Centerline is valid? [True, True] Translation: X:52.96, Y:-6.34, Z:-1.17 [[ 9.85694970e-01 1.68416847e-01 6.41815204e-03 5.29620346e+01] [-1.68413111e-01 9.85715864e-01 -1.12209951e-03 -6.33930543e+00] [-6.51545475e-03 2.51468953e-05 9.99978774e-01 -1.17330285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.798623853 meters Centerline goodness [0,1] 0.9998699102380643 Centerline is valid? [True, True] Translation: X:52.99, Y:-6.35, Z:-1.18 [[ 9.86195263e-01 1.65396490e-01 7.93117592e-03 5.29899712e+01] [-1.65390692e-01 9.86227153e-01 -1.38596982e-03 -6.35049792e+00] [-8.05117559e-03 5.50941925e-05 9.99967587e-01 -1.17696824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.828623853 meters Centerline goodness [0,1] 0.9998075854106983 Centerline is valid? [True, True] Translation: X:53.02, Y:-6.36, Z:-1.18 [[ 9.86481044e-01 1.63676673e-01 8.06829966e-03 5.30196636e+01] [-1.63670613e-01 9.86514035e-01 -1.41014924e-03 -6.35682697e+00] [-8.19029939e-03 7.05419419e-05 9.99966456e-01 -1.17524690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.858623853000005 meters Centerline goodness [0,1] 0.9997422403608635 Centerline is valid? [True, True] Translation: X:53.05, Y:-6.37, Z:-1.17 [[ 9.86791033e-01 1.61807706e-01 7.85646599e-03 5.30490455e+01] [-1.61801903e-01 9.86822304e-01 -1.37301054e-03 -6.36708422e+00] [-7.97509955e-03 8.36833443e-05 9.99968195e-01 -1.17487629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.888623853000006 meters Centerline goodness [0,1] 0.9996375111945073 Centerline is valid? [True, True] Translation: X:53.08, Y:-6.38, Z:-1.18 [[ 9.87456156e-01 1.57673201e-01 8.33674796e-03 5.30781770e+01] [-1.57666518e-01 9.87491340e-01 -1.45696681e-03 -6.38171891e+00] [-8.46219103e-03 1.24264819e-04 9.99964187e-01 -1.17795191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.91862385300001 meters Centerline goodness [0,1] 0.999654718487667 Centerline is valid? [True, True] Translation: X:53.11, Y:-6.39, Z:-1.18 [[ 9.87725180e-01 1.56003064e-01 7.87485527e-03 5.31094773e+01] [-1.55997058e-01 9.87756563e-01 -1.37508140e-03 -6.39072974e+00] [-7.99295689e-03 1.29748273e-04 9.99968047e-01 -1.17864998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.948623853 meters Centerline goodness [0,1] 0.9994400172302391 Centerline is valid? [True, True] Translation: X:53.14, Y:-6.40, Z:-1.18 [[ 9.88002912e-01 1.54254826e-01 7.46284148e-03 5.31402094e+01] [-1.54249374e-01 9.88031087e-01 -1.30418226e-03 -6.40098754e+00] [-7.57469579e-03 1.37397247e-04 9.99971302e-01 -1.17964179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.978623853 meters Centerline goodness [0,1] 0.999202809557667 Centerline is valid? [True, True] Translation: X:53.17, Y:-6.41, Z:-1.18 [[ 9.88233400e-01 1.52784582e-01 7.18458448e-03 5.31713701e+01] [-1.52779483e-01 9.88259506e-01 -1.25655657e-03 -6.40935683e+00] [-7.29221637e-03 1.44114074e-04 9.99973401e-01 -1.17930328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.008623853 meters Centerline goodness [0,1] 0.99937745529485 Centerline is valid? [True, True] Translation: X:53.20, Y:-6.43, Z:-1.18 [[ 9.88523564e-01 1.50912855e-01 6.81709646e-03 5.31992082e+01] [-1.50908203e-01 9.88547058e-01 -1.19479906e-03 -6.42822118e+00] [-6.91933119e-03 1.52331257e-04 9.99976050e-01 -1.18277157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.038623853000004 meters Centerline goodness [0,1] 0.9995428322629804 Centerline is valid? [True, True] Translation: X:53.23, Y:-6.43, Z:-1.18 [[ 9.88559666e-01 1.50678802e-01 6.75906702e-03 5.32320912e+01] [-1.50674232e-01 9.88582761e-01 -1.18319442e-03 -6.42752672e+00] [-6.86017945e-03 1.51241046e-04 9.99976457e-01 -1.17979278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.068623853000005 meters Centerline goodness [0,1] 0.9995428322629804 Centerline is valid? [True, True] Translation: X:53.26, Y:-6.43, Z:-1.18 [[ 9.88530627e-01 1.50869206e-01 6.75891119e-03 5.32640760e+01] [-1.50864635e-01 9.88553721e-01 -1.18408351e-03 -6.43332261e+00] [-6.86018854e-03 1.50822143e-04 9.99976457e-01 -1.18036632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.09862385300001 meters Centerline goodness [0,1] 0.9992876877914004 Centerline is valid? [True, True] Translation: X:53.29, Y:-6.45, Z:-1.19 [[ 9.88431926e-01 1.51532831e-01 6.33478126e-03 5.32929953e+01] [-1.51528820e-01 9.88452215e-01 -1.11124399e-03 -6.44840115e+00] [-6.43001852e-03 1.38487110e-04 9.99979318e-01 -1.18615613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.128623853 meters Centerline goodness [0,1] 0.9992447292893981 Centerline is valid? [True, True] Translation: X:53.32, Y:-6.46, Z:-1.19 [[ 9.88303942e-01 1.52358949e-01 6.48598388e-03 5.33232538e+01] [-1.52354753e-01 9.88325216e-01 -1.13908880e-03 -6.45559972e+00] [-6.58381178e-03 1.37595480e-04 9.99978317e-01 -1.18704027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.158623853 meters Centerline goodness [0,1] 0.9995273594431435 Centerline is valid? [True, True] Translation: X:53.35, Y:-6.46, Z:-1.19 [[ 9.88028345e-01 1.54130210e-01 6.62326906e-03 5.33534023e+01] [-1.54125868e-01 9.88050536e-01 -1.16418535e-03 -6.46358938e+00] [-6.72356068e-03 1.29431032e-04 9.99977388e-01 -1.18682967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.188623853 meters Centerline goodness [0,1] 0.9996575635647633 Centerline is valid? [True, True] Translation: X:53.38, Y:-6.47, Z:-1.19 [[ 9.87842131e-01 1.55315494e-01 6.70976439e-03 5.33848700e+01] [-1.55311059e-01 9.87864911e-01 -1.18026090e-03 -6.47012611e+00] [-6.81165360e-03 1.23810829e-04 9.99976793e-01 -1.18706839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.218623853000004 meters Centerline goodness [0,1] 0.9997844177122408 Centerline is valid? [True, True] Translation: X:53.42, Y:-6.47, Z:-1.18 [[ 9.87579808e-01 1.56941291e-01 7.45342120e-03 5.34180100e+01] [-1.56935855e-01 9.87607926e-01 -1.31227515e-03 -6.46917099e+00] [-7.56700800e-03 1.26267413e-04 9.99971362e-01 -1.18248950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.248623853000005 meters Centerline goodness [0,1] 0.9997832072322067 Centerline is valid? [True, True] Translation: X:53.45, Y:-6.47, Z:-1.18 [[ 9.87293996e-01 1.58702053e-01 8.01403922e-03 5.34503286e+01] [-1.58695814e-01 9.87326513e-01 -1.41251629e-03 -6.47321285e+00] [-8.13664264e-03 1.22774376e-04 9.99966889e-01 -1.18075763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.278623853000006 meters Centerline goodness [0,1] 0.9998501038566137 Centerline is valid? [True, True] Translation: X:53.48, Y:-6.48, Z:-1.18 [[ 9.86526047e-01 1.63418335e-01 7.79788449e-03 5.34818765e+01] [-1.63412565e-01 9.86556861e-01 -1.37572505e-03 -6.47711179e+00] [-7.91787514e-03 8.29162916e-05 9.99968650e-01 -1.18194959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.308623853 meters Centerline goodness [0,1] 0.9999353211305866 Centerline is valid? [True, True] Translation: X:53.51, Y:-6.48, Z:-1.18 [[ 9.86041386e-01 1.66325240e-01 7.63535716e-03 5.35135913e+01] [-1.66319785e-01 9.86070946e-01 -1.34836992e-03 -6.47973648e+00] [-7.75327181e-03 5.96375809e-05 9.99969941e-01 -1.18299465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.338623853 meters Centerline goodness [0,1] 0.9999782745660345 Centerline is valid? [True, True] Translation: X:53.55, Y:-6.48, Z:-1.18 [[ 9.85494349e-01 1.69529600e-01 7.78472294e-03 5.35459602e+01] [-1.69524020e-01 9.85525095e-01 -1.37601482e-03 -6.48033136e+00] [-7.90531506e-03 3.63573096e-05 9.99968752e-01 -1.18185446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.368623853 meters Centerline goodness [0,1] 0.9999784719381714 Centerline is valid? [True, True] Translation: X:53.58, Y:-6.48, Z:-1.18 [[ 9.84369427e-01 1.75928163e-01 8.13101330e-03 5.35774146e+01] [-1.75922272e-01 9.84403007e-01 -1.43982531e-03 -6.47793341e+00] [-8.25749977e-03 -1.31063204e-05 9.99965906e-01 -1.18215359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.398623853000004 meters Centerline goodness [0,1] 0.9999781186407299 Centerline is valid? [True, True] Translation: X:53.61, Y:-6.48, Z:-1.18 [[ 9.83883744e-01 1.78627614e-01 8.05940145e-03 5.36074738e+01] [-1.78621906e-01 9.83916752e-01 -1.42840884e-03 -6.47924098e+00] [-8.18493336e-03 -3.41974053e-05 9.99966502e-01 -1.18296864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.428623853000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:53.64, Y:-6.48, Z:-1.18 [[ 9.82913910e-01 1.83884917e-01 8.15987179e-03 5.36387234e+01] [-1.83879248e-01 9.82947776e-01 -1.44600215e-03 -6.47695997e+00] [-8.28662581e-03 -7.91354589e-05 9.99965662e-01 -1.18292527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.458623853000006 meters Centerline goodness [0,1] 0.999978286830963 Centerline is valid? [True, True] Translation: X:53.67, Y:-6.48, Z:-1.18 [[ 9.82490534e-01 1.86136013e-01 8.10773137e-03 5.36688239e+01] [-1.86130492e-01 9.82523982e-01 -1.43687857e-03 -6.47922364e+00] [-8.23349535e-03 -9.73764423e-05 9.99966099e-01 -1.18308178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.48862385300001 meters Centerline goodness [0,1] 0.9999785186458154 Centerline is valid? [True, True] Translation: X:53.70, Y:-6.48, Z:-1.18 [[ 9.82087885e-01 1.88244408e-01 8.21147601e-03 5.36974399e+01] [-1.88238818e-01 9.82122207e-01 -1.45538594e-03 -6.47967582e+00] [-8.33864121e-03 -1.16401633e-04 9.99965226e-01 -1.18451283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.518623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:53.73, Y:-6.48, Z:-1.18 [[ 9.81766979e-01 1.89898285e-01 8.49941159e-03 5.37251244e+01] [-1.89892359e-01 9.81803760e-01 -1.50627636e-03 -6.48051552e+00] [-8.63079355e-03 -1.35160930e-04 9.99962745e-01 -1.18487860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.548623853 meters Centerline goodness [0,1] 0.9999137484905986 Centerline is valid? [True, True] Translation: X:53.76, Y:-6.48, Z:-1.18 [[ 9.81049388e-01 1.93575846e-01 8.39584273e-03 5.37550728e+01] [-1.93570205e-01 9.81085299e-01 -1.48712451e-03 -6.48124702e+00] [-8.52490927e-03 -1.66242415e-04 9.99963648e-01 -1.17785320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.578623853 meters Centerline goodness [0,1] 0.9995981047465945 Centerline is valid? [True, True] Translation: X:53.79, Y:-6.47, Z:-1.19 [[ 9.80746302e-01 1.95096340e-01 8.60866131e-03 5.37851840e+01] [-1.95090466e-01 9.80784066e-01 -1.52499814e-03 -6.46913130e+00] [-8.74075939e-03 -1.83831463e-04 9.99961782e-01 -1.19001165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.608623853000005 meters Centerline goodness [0,1] 0.9998488055639553 Centerline is valid? [True, True] Translation: X:53.81, Y:-6.48, Z:-1.18 [[ 9.80281338e-01 1.97409172e-01 8.83835138e-03 5.38128332e+01] [-1.97403083e-01 9.80321159e-01 -1.56482732e-03 -6.48083089e+00] [-8.97333413e-03 -2.10746787e-04 9.99959717e-01 -1.18375799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.638623853000006 meters Centerline goodness [0,1] 0.9998281676224843 Centerline is valid? [True, True] Translation: X:53.84, Y:-6.48, Z:-1.18 [[ 9.80141105e-01 1.98078631e-01 9.39520304e-03 5.38413783e+01] [-1.98071784e-01 9.80186106e-01 -1.66299543e-03 -6.48075168e+00] [-9.53845135e-03 -2.30954447e-04 9.99954481e-01 -1.18415003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.66862385300001 meters Centerline goodness [0,1] 0.9996162128739259 Centerline is valid? [True, True] Translation: X:53.87, Y:-6.48, Z:-1.19 [[ 9.80089373e-01 1.98341314e-01 9.24903776e-03 5.38700409e+01] [-1.98334696e-01 9.80132986e-01 -1.63656855e-03 -6.48007659e+00] [-9.38988615e-03 -2.30421646e-04 9.99955887e-01 -1.18574253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.698623853 meters Centerline goodness [0,1] 0.9998088603831288 Centerline is valid? [True, True] Translation: X:53.90, Y:-6.49, Z:-1.19 [[ 9.80107612e-01 1.98262546e-01 9.00177137e-03 5.38978891e+01] [-1.98256279e-01 9.80148924e-01 -1.59220587e-03 -6.48587278e+00] [-9.13875131e-03 -2.24124606e-04 9.99958216e-01 -1.18649648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.728623853 meters Centerline goodness [0,1] 0.9996601457125257 Centerline is valid? [True, True] Translation: X:53.93, Y:-6.49, Z:-1.19 [[ 9.80250957e-01 1.97559881e-01 8.84054636e-03 5.39255278e+01] [-1.97553811e-01 9.80290797e-01 -1.56337904e-03 -6.48944748e+00] [-8.97516722e-03 -2.13979828e-04 9.99959699e-01 -1.18719190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.758623853 meters Centerline goodness [0,1] 0.9998077087428425 Centerline is valid? [True, True] Translation: X:53.95, Y:-6.49, Z:-1.19 [[ 9.80722613e-01 1.95217972e-01 8.54989031e-03 5.39538615e+01] [-1.95212210e-01 9.80759863e-01 -1.51139528e-03 -6.49370208e+00] [-8.68044077e-03 -1.86783458e-04 9.99962307e-01 -1.18854109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.788623853000004 meters Centerline goodness [0,1] 0.9999349635796045 Centerline is valid? [True, True] Translation: X:53.98, Y:-6.50, Z:-1.19 [[ 9.81037032e-01 1.93629503e-01 8.59990186e-03 5.39820325e+01] [-1.93623616e-01 9.81074709e-01 -1.51981699e-03 -6.49804759e+00] [-8.73142762e-03 -1.74147349e-04 9.99961865e-01 -1.18963469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.818623853000005 meters Centerline goodness [0,1] 0.9998056407377014 Centerline is valid? [True, True] Translation: X:54.01, Y:-6.50, Z:-1.18 [[ 9.81381315e-01 1.91899088e-01 8.09036749e-03 5.40101194e+01] [-1.91893822e-01 9.81414651e-01 -1.42943294e-03 -6.50394431e+00] [-8.21431207e-03 -1.49672757e-04 9.99966251e-01 -1.18408503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.84862385300001 meters Centerline goodness [0,1] 0.9999360122856411 Centerline is valid? [True, True] Translation: X:54.04, Y:-6.51, Z:-1.19 [[ 9.82201732e-01 1.87628255e-01 8.68311246e-03 5.40375260e+01] [-1.87622028e-01 9.82240105e-01 -1.53356955e-03 -6.51116388e+00] [-8.81664227e-03 -1.22868499e-04 9.99961125e-01 -1.19031254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.878623853 meters Centerline goodness [0,1] 0.9999784575613959 Centerline is valid? [True, True] Translation: X:54.07, Y:-6.52, Z:-1.19 [[ 9.82575936e-01 1.85645595e-01 8.95781415e-03 5.40663172e+01] [-1.85638889e-01 9.82616762e-01 -1.58173548e-03 -6.51704323e+00] [-9.09574056e-03 -1.08743442e-04 9.99958627e-01 -1.19023778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.908623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:54.09, Y:-6.52, Z:-1.19 [[ 9.82972531e-01 1.83524745e-01 9.14716453e-03 5.40942441e+01] [-1.83517662e-01 9.83015086e-01 -1.61492741e-03 -6.52277643e+00] [-9.28817987e-03 -9.12369657e-05 9.99956860e-01 -1.19057136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.938623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:54.12, Y:-6.53, Z:-1.19 [[ 9.83800984e-01 1.79042153e-01 8.91804223e-03 5.41208022e+01] [-1.79035239e-01 9.83841402e-01 -1.57417018e-03 -6.53102372e+00] [-9.05578199e-03 -4.79736473e-05 9.99958994e-01 -1.19173805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.968623853000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:54.15, Y:-6.54, Z:-1.19 [[ 9.84225073e-01 1.76697149e-01 8.89512690e-03 5.41493032e+01] [-1.76690181e-01 9.84265267e-01 -1.56951390e-03 -6.53811956e+00] [-9.03249309e-03 -2.69266463e-05 9.99959206e-01 -1.19162944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.998623853000005 meters Centerline goodness [0,1] 0.9999781826115414 Centerline is valid? [True, True] Translation: X:54.18, Y:-6.54, Z:-1.19 [[ 9.84634141e-01 1.74403220e-01 8.89521823e-03 5.41785672e+01] [-1.74396163e-01 9.84674320e-01 -1.56888709e-03 -6.54453513e+00] [-9.03251192e-03 -6.51213983e-06 9.99959206e-01 -1.19206622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.028623853000006 meters Centerline goodness [0,1] 0.9999784417712241 Centerline is valid? [True, True] Translation: X:54.21, Y:-6.55, Z:-1.19 [[ 9.85495671e-01 1.69466957e-01 8.90130527e-03 5.42063178e+01] [-1.69459690e-01 9.85535869e-01 -1.56984469e-03 -6.55342633e+00] [-9.03859242e-03 3.86627072e-05 9.99959150e-01 -1.19363466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.058623853 meters Centerline goodness [0,1] 0.9999783179029076 Centerline is valid? [True, True] Translation: X:54.23, Y:-6.56, Z:-1.19 [[ 9.85954703e-01 1.66777594e-01 8.86324074e-03 5.42349676e+01] [-1.66770284e-01 9.85994539e-01 -1.56270805e-03 -6.56138074e+00] [-8.99973165e-03 6.26341704e-05 9.99959500e-01 -1.19394648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.088623853 meters Centerline goodness [0,1] 0.9999782594517034 Centerline is valid? [True, True] Translation: X:54.26, Y:-6.57, Z:-1.19 [[ 9.86406491e-01 1.64074173e-01 9.04987020e-03 5.42647307e+01] [-1.64066443e-01 9.86448001e-01 -1.59518549e-03 -6.57024200e+00] [-9.18895510e-03 8.87213066e-05 9.99957777e-01 -1.19452791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.118623853 meters Centerline goodness [0,1] 0.9998268623122538 Centerline is valid? [True, True] Translation: X:54.29, Y:-6.58, Z:-1.19 [[ 9.87245035e-01 1.58943664e-01 9.17352094e-03 5.42928076e+01] [-1.58935499e-01 9.87287644e-01 -1.61698092e-03 -6.58220441e+00] [-9.31391276e-03 1.38358260e-04 9.99956615e-01 -1.19388870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.148623853000004 meters Centerline goodness [0,1] 0.9997377106511333 Centerline is valid? [True, True] Translation: X:54.32, Y:-6.59, Z:-1.19 [[ 9.87592359e-01 1.56755049e-01 9.44386912e-03 5.43234266e+01] [-1.56746297e-01 9.87637498e-01 -1.66444663e-03 -6.59066307e+00] [-9.58802969e-03 1.63503259e-04 9.99954020e-01 -1.19410121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.178623853000005 meters Centerline goodness [0,1] 0.9996322415956388 Centerline is valid? [True, True] Translation: X:54.35, Y:-6.60, Z:-1.19 [[ 9.87838537e-01 1.55203629e-01 9.31983719e-03 5.43538709e+01] [-1.55195035e-01 9.87882484e-01 -1.64280344e-03 -6.59866361e+00] [-9.46187297e-03 1.76432095e-04 9.99955220e-01 -1.19436528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.208623853000006 meters Centerline goodness [0,1] 0.9990294193771029 Centerline is valid? [True, True] Translation: X:54.38, Y:-6.61, Z:-1.19 [[ 9.88248200e-01 1.52629489e-01 8.35071331e-03 5.43844349e+01] [-1.52622506e-01 9.88283465e-01 -1.47097265e-03 -6.60776174e+00] [-8.47738569e-03 1.79179282e-04 9.99964050e-01 -1.19139051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.23862385300001 meters Centerline goodness [0,1] 0.9990734356145492 Centerline is valid? [True, True] Translation: X:54.41, Y:-6.62, Z:-1.20 [[ 9.88405295e-01 1.51590258e-01 8.68137757e-03 5.44143979e+01] [-1.51582658e-01 9.88443400e-01 -1.53065021e-03 -6.61665914e+00] [-8.81308202e-03 1.96956483e-04 9.99961145e-01 -1.19742418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.268623853 meters Centerline goodness [0,1] 0.9987628328956222 Centerline is valid? [True, True] Translation: X:54.45, Y:-6.62, Z:-1.20 [[ 9.88603874e-01 1.50293080e-01 8.62382243e-03 5.44456700e+01] [-1.50285521e-01 9.88641465e-01 -1.52168655e-03 -6.62491788e+00] [-8.75456740e-03 2.08309571e-04 9.99961656e-01 -1.19759323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.298623853 meters Centerline goodness [0,1] 0.9986619186360203 Centerline is valid? [True, True] Translation: X:54.48, Y:-6.64, Z:-1.20 [[ 9.88931308e-01 1.48086213e-01 9.23803060e-03 5.44752533e+01] [-1.48077425e-01 9.88974425e-01 -1.63186782e-03 -6.63773013e+00] [-9.37783313e-03 2.45861388e-04 9.99955997e-01 -1.19710122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.328623853 meters Centerline goodness [0,1] 0.9983225497244189 Centerline is valid? [True, True] Translation: X:54.51, Y:-6.64, Z:-1.19 [[ 9.89036162e-01 1.47419480e-01 8.65840833e-03 5.45065461e+01] [-1.47411726e-01 9.89074032e-01 -1.53052235e-03 -6.64484059e+00] [-8.78943565e-03 2.37391032e-04 9.99961344e-01 -1.19066780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.358623853000005 meters Centerline goodness [0,1] 0.9987030952792668 Centerline is valid? [True, True] Translation: X:54.54, Y:-6.65, Z:-1.20 [[ 9.89041787e-01 1.47371430e-01 8.83200693e-03 5.45388637e+01] [-1.47363349e-01 9.89081191e-01 -1.56248343e-03 -6.65331710e+00] [-8.96583735e-03 2.43847292e-04 9.99959776e-01 -1.19894235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.388623853000006 meters Centerline goodness [0,1] 0.9987039077182296 Centerline is valid? [True, True] Translation: X:54.57, Y:-6.66, Z:-1.20 [[ 9.88975604e-01 1.47824852e-01 8.66416551e-03 5.45689599e+01] [-1.47817076e-01 9.89013527e-01 -1.53460945e-03 -6.65970039e+00] [-8.79583031e-03 2.36979693e-04 9.99961288e-01 -1.19990711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.41862385300001 meters Centerline goodness [0,1] 0.9988253975159332 Centerline is valid? [True, True] Translation: X:54.60, Y:-6.66, Z:-1.20 [[ 9.88604197e-01 1.50284316e-01 8.73877554e-03 5.46006566e+01] [-1.50276481e-01 9.88642795e-01 -1.55018908e-03 -6.65890469e+00] [-8.87249658e-03 2.19290994e-04 9.99960615e-01 -1.19872568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.448623853 meters Centerline goodness [0,1] 0.9990007653712051 Centerline is valid? [True, True] Translation: X:54.63, Y:-6.67, Z:-1.20 [[ 9.88328532e-01 1.52105780e-01 8.39907653e-03 5.46312607e+01] [-1.52098617e-01 9.88364201e-01 -1.48883947e-03 -6.66728355e+00] [-8.52780766e-03 1.93974601e-04 9.99963619e-01 -1.20092557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.478623853 meters Centerline goodness [0,1] 0.9994588158891655 Centerline is valid? [True, True] Translation: X:54.66, Y:-6.67, Z:-1.20 [[ 9.87955078e-01 1.54523198e-01 8.20640607e-03 5.46642722e+01] [-1.54516433e-01 9.87989146e-01 -1.45596099e-03 -6.66582286e+00] [-8.33281988e-03 1.70399464e-04 9.99965267e-01 -1.20012891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.508623853 meters Centerline goodness [0,1] 0.9998918357634232 Centerline is valid? [True, True] Translation: X:54.70, Y:-6.66, Z:-1.20 [[ 9.87059216e-01 1.60154387e-01 8.04213667e-03 5.46957758e+01] [-1.60148053e-01 9.87091970e-01 -1.42957371e-03 -6.66435045e+00] [-8.16728103e-03 1.23141370e-04 9.99966640e-01 -1.20058891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.538623853000004 meters Centerline goodness [0,1] 0.9999569141946186 Centerline is valid? [True, True] Translation: X:54.73, Y:-6.67, Z:-1.20 [[ 9.86507741e-01 1.63508859e-01 8.20551120e-03 5.47257251e+01] [-1.63502382e-01 9.86541861e-01 -1.45860915e-03 -6.66517615e+00] [-8.33357581e-03 9.73085937e-05 9.99965270e-01 -1.20059481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.568623853000005 meters Centerline goodness [0,1] 0.9998497402653158 Centerline is valid? [True, True] Translation: X:54.76, Y:-6.66, Z:-1.20 [[ 9.85915813e-01 1.67029982e-01 8.42582211e-03 5.47565454e+01] [-1.67023277e-01 9.85951814e-01 -1.49820160e-03 -6.66447567e+00] [-8.55769919e-03 6.97922314e-05 9.99963380e-01 -1.19564960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.59862385300001 meters Centerline goodness [0,1] 0.999935036812473 Centerline is valid? [True, True] Translation: X:54.79, Y:-6.66, Z:-1.20 [[ 9.85374690e-01 1.70154770e-01 9.16924176e-03 5.47866879e+01] [-1.70146963e-01 9.85417349e-01 -1.63058955e-03 -6.66459973e+00] [-9.31298250e-03 4.66230358e-05 9.99956632e-01 -1.19990104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.628623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:54.82, Y:-6.66, Z:-1.20 [[ 9.84355582e-01 1.75915426e-01 9.89192520e-03 5.48168087e+01] [-1.75906631e-01 9.84405284e-01 -1.75901321e-03 -6.65916053e+00] [-1.00471010e-02 -8.56076585e-06 9.99949527e-01 -1.19931224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.658623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:54.85, Y:-6.66, Z:-1.20 [[ 9.83914334e-01 1.78352682e-01 1.01441230e-02 5.48451610e+01] [-1.78343568e-01 9.83966625e-01 -1.80342958e-03 -6.66018395e+00] [-1.03031249e-02 -3.47188689e-05 9.99946921e-01 -1.20059995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.688623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:54.87, Y:-6.66, Z:-1.20 [[ 9.83173500e-01 1.82431545e-01 9.41275607e-03 5.48748168e+01] [-1.82423890e-01 9.83218555e-01 -1.67281829e-03 -6.65969777e+00] [-9.55997124e-03 -7.24409593e-05 9.99954300e-01 -1.20180735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.718623853000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:54.90, Y:-6.66, Z:-1.20 [[ 9.82883206e-01 1.83995782e-01 9.28194708e-03 5.49029412e+01] [-1.83988411e-01 9.82927029e-01 -1.64922292e-03 -6.66123369e+00] [-9.42692673e-03 -8.67771873e-05 9.99955562e-01 -1.20278520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.748623853000005 meters Centerline goodness [0,1] 0.9999785793848 Centerline is valid? [True, True] Translation: X:54.93, Y:-6.66, Z:-1.20 [[ 9.82606788e-01 1.85481716e-01 8.96849959e-03 5.49316146e+01] [-1.85474902e-01 9.82647711e-01 -1.59292505e-03 -6.66369772e+00] [-9.10833406e-03 -9.82126218e-05 9.99958513e-01 -1.20339345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.778623853000006 meters Centerline goodness [0,1] 0.9999568416736799 Centerline is valid? [True, True] Translation: X:54.96, Y:-6.66, Z:-1.20 [[ 9.82358663e-01 1.86806438e-01 8.64937288e-03 5.49598028e+01] [-1.86800154e-01 9.82396734e-01 -1.53595207e-03 -6.66426150e+00] [-8.78404141e-03 -1.06848365e-04 9.99961414e-01 -1.20477728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.808623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:54.99, Y:-6.66, Z:-1.20 [[ 9.81938907e-01 1.88994574e-01 8.77691180e-03 5.49892538e+01] [-1.88988197e-01 9.81978123e-01 -1.55793916e-03 -6.66334681e+00] [-8.91317743e-03 -1.28931656e-04 9.99960269e-01 -1.20448262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.838623853 meters Centerline goodness [0,1] 0.9999571578518947 Centerline is valid? [True, True] Translation: X:55.02, Y:-6.66, Z:-1.21 [[ 9.81728104e-01 1.90076702e-01 8.98757616e-03 5.50175695e+01] [-1.90070063e-01 9.81769233e-01 -1.59497477e-03 -6.66350445e+00] [-9.12689330e-03 -1.42437609e-04 9.99958339e-01 -1.20515731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.868623853 meters Centerline goodness [0,1] 0.9999784143156258 Centerline is valid? [True, True] Translation: X:55.05, Y:-6.67, Z:-1.21 [[ 9.81506289e-01 1.91216313e-01 9.04029553e-03 5.50469315e+01] [-1.91209650e-01 9.81547909e-01 -1.60368379e-03 -6.66559111e+00] [-9.18013367e-03 -1.54566025e-04 9.99957850e-01 -1.20530061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.898623853000004 meters Centerline goodness [0,1] 0.9999149623708491 Centerline is valid? [True, True] Translation: X:55.08, Y:-6.66, Z:-1.21 [[ 9.81214695e-01 1.92697122e-01 9.24890744e-03 5.50760526e+01] [-1.92690217e-01 9.81258268e-01 -1.64041400e-03 -6.65761734e+00] [-9.39166995e-03 -1.72575663e-04 9.99955882e-01 -1.20827396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.928623853000005 meters Centerline goodness [0,1] 0.9999136050454653 Centerline is valid? [True, True] Translation: X:55.10, Y:-6.67, Z:-1.20 [[ 9.81111549e-01 1.93223593e-01 9.20712869e-03 5.51042297e+01] [-1.93216781e-01 9.81154734e-01 -1.63214545e-03 -6.66634600e+00] [-9.34898691e-03 -1.77655020e-04 9.99956281e-01 -1.19964822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.958623853000006 meters Centerline goodness [0,1] 0.9999136050454653 Centerline is valid? [True, True] Translation: X:55.13, Y:-6.67, Z:-1.20 [[ 9.81124985e-01 1.93155359e-01 9.20717050e-03 5.51313275e+01] [-1.93148546e-01 9.81168169e-01 -1.63190959e-03 -6.67100905e+00] [-9.34899470e-03 -1.77244328e-04 9.99956281e-01 -1.20013314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.98862385300001 meters Centerline goodness [0,1] 0.9999784737918416 Centerline is valid? [True, True] Translation: X:55.16, Y:-6.67, Z:-1.21 [[ 9.81145598e-01 1.93022126e-01 9.78647548e-03 5.51590592e+01] [-1.93014432e-01 9.81194386e-01 -1.73371432e-03 -6.67399346e+00] [-9.93708003e-03 -1.87904828e-04 9.99950608e-01 -1.20598589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.018623853 meters Centerline goodness [0,1] 0.9998929748704996 Centerline is valid? [True, True] Translation: X:55.19, Y:-6.68, Z:-1.21 [[ 9.81252723e-01 1.92491051e-01 9.50201790e-03 5.51876787e+01] [-1.92483778e-01 9.81298713e-01 -1.68269206e-03 -6.67731394e+00] [-9.64822109e-03 -1.77838141e-04 9.99953439e-01 -1.20671601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.048623853 meters Centerline goodness [0,1] 0.9999571963616908 Centerline is valid? [True, True] Translation: X:55.22, Y:-6.68, Z:-1.21 [[ 9.81646135e-01 1.90492821e-01 9.12965039e-03 5.52154071e+01] [-1.90486023e-01 9.81688577e-01 -1.61644669e-03 -6.67800607e+00] [-9.27039499e-03 -1.52292153e-04 9.99957017e-01 -1.20958337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.078623853 meters Centerline goodness [0,1] 0.9999569281130206 Centerline is valid? [True, True] Translation: X:55.24, Y:-6.69, Z:-1.21 [[ 9.81995664e-01 1.88665204e-01 9.48452683e-03 5.52428477e+01] [-1.88657789e-01 9.82041456e-01 -1.67860104e-03 -6.68822673e+00] [-9.63089214e-03 -1.40950924e-04 9.99953612e-01 -1.20693941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.108623853000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:55.27, Y:-6.69, Z:-1.21 [[ 9.82369488e-01 1.86692716e-01 9.79886937e-03 5.52706744e+01] [-1.86684708e-01 9.82418350e-01 -1.73381101e-03 -6.69257312e+00] [-9.95027896e-03 -1.26056034e-04 9.99950487e-01 -1.20813142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.138623853000006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:55.30, Y:-6.70, Z:-1.21 [[ 9.83236313e-01 1.82087741e-01 9.50830063e-03 5.52979282e+01] [-1.82079991e-01 9.83282283e-01 -1.68173304e-03 -6.70369297e+00] [-9.65556653e-03 -7.77303009e-05 9.99953381e-01 -1.20851148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.16862385300001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:55.33, Y:-6.71, Z:-1.21 [[ 9.83674223e-01 1.79725079e-01 9.16077653e-03 5.53256685e+01] [-1.79717787e-01 9.83716877e-01 -1.61985295e-03 -6.71132033e+00] [-9.30273867e-03 -5.29468971e-05 9.99956727e-01 -1.20969503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.198623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:55.35, Y:-6.72, Z:-1.21 [[ 9.84094923e-01 1.77405904e-01 9.18297434e-03 5.53535962e+01] [-1.77398480e-01 9.84137767e-01 -1.62333633e-03 -6.71867486e+00] [-9.32530131e-03 -3.15286515e-05 9.99956518e-01 -1.20965446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.228623853 meters Centerline goodness [0,1] 0.9999786425184742 Centerline is valid? [True, True] Translation: X:55.38, Y:-6.73, Z:-1.21 [[ 9.84919058e-01 1.72752486e-01 9.54084311e-03 5.53818026e+01] [-1.72744258e-01 9.84965268e-01 -1.68609930e-03 -6.72727706e+00] [-9.68867694e-03 1.25454705e-05 9.99953064e-01 -1.20888379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.258623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:55.41, Y:-6.73, Z:-1.21 [[ 9.85335206e-01 1.70362341e-01 9.55013680e-03 5.54096579e+01] [-1.70353989e-01 9.85381485e-01 -1.68727052e-03 -6.73471468e+00] [-9.69797534e-03 3.56231447e-05 9.99952973e-01 -1.20956060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.288623853000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:55.44, Y:-6.74, Z:-1.21 [[ 9.85741790e-01 1.67994936e-01 9.53016198e-03 5.54360390e+01] [-1.67986513e-01 9.85787857e-01 -1.68321948e-03 -6.74248030e+00] [-9.67749030e-03 5.82810972e-05 9.99953170e-01 -1.21001378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.318623853000005 meters Centerline goodness [0,1] 0.99991360131326 Centerline is valid? [True, True] Translation: X:55.46, Y:-6.75, Z:-1.21 [[ 9.86108591e-01 1.65832887e-01 9.44987203e-03 5.54645098e+01] [-1.65824510e-01 9.86153866e-01 -1.66868750e-03 -6.74978529e+00] [-9.59575110e-03 7.84866897e-05 9.99953957e-01 -1.20529150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.34862385300001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:55.49, Y:-6.76, Z:-1.21 [[ 9.86856210e-01 1.61300942e-01 9.84006150e-03 5.54918165e+01] [-1.61291639e-01 9.86905259e-01 -1.73697342e-03 -6.76168767e+00] [-9.99138389e-03 1.27023360e-04 9.99950077e-01 -1.21047385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.378623853 meters Centerline goodness [0,1] 0.999956154773649 Centerline is valid? [True, True] Translation: X:55.52, Y:-6.77, Z:-1.21 [[ 9.87223523e-01 1.59037372e-01 9.84027048e-03 5.55204406e+01] [-1.59027961e-01 9.87272552e-01 -1.73656357e-03 -6.76810972e+00] [-9.99120745e-03 1.49498258e-04 9.99950075e-01 -1.20971887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.408623853 meters Centerline goodness [0,1] 0.9997194890384947 Centerline is valid? [True, True] Translation: X:55.55, Y:-6.78, Z:-1.20 [[ 9.87522418e-01 1.57219614e-01 9.02592582e-03 5.55495056e+01] [-1.57211623e-01 9.87563653e-01 -1.59255460e-03 -6.77605713e+00] [-9.16405710e-03 1.53702919e-04 9.99957997e-01 -1.20402848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.438623853 meters Centerline goodness [0,1] 0.9998497983005751 Centerline is valid? [True, True] Translation: X:55.58, Y:-6.79, Z:-1.21 [[ 9.87880119e-01 1.54926073e-01 9.52794385e-03 5.55778424e+01] [-1.54917063e-01 9.87926049e-01 -1.68100005e-03 -6.78600400e+00] [-9.67333466e-03 1.84585455e-04 9.99953195e-01 -1.21210570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.468623853000004 meters Centerline goodness [0,1] 0.9995713397775253 Centerline is valid? [True, True] Translation: X:55.61, Y:-6.80, Z:-1.21 [[ 9.88378140e-01 1.51712749e-01 9.58614608e-03 5.56064239e+01] [-1.51703481e-01 9.88424602e-01 -1.69095873e-03 -6.79905821e+00] [-9.73172263e-03 2.17054922e-04 9.99952622e-01 -1.21344708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.498623853000005 meters Centerline goodness [0,1] 0.9995281197717816 Centerline is valid? [True, True] Translation: X:55.64, Y:-6.80, Z:-1.21 [[ 9.88553862e-01 1.50564720e-01 9.56692413e-03 5.56375416e+01] [-1.50555435e-01 9.88600128e-01 -1.68758718e-03 -6.80484737e+00] [-9.71195351e-03 2.27918406e-04 9.99952812e-01 -1.21285933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.528623853000006 meters Centerline goodness [0,1] 0.9995920120249088 Centerline is valid? [True, True] Translation: X:55.67, Y:-6.81, Z:-1.21 [[ 9.88808236e-01 1.48922569e-01 8.96334944e-03 5.56673475e+01] [-1.48914349e-01 9.88848834e-01 -1.58130706e-03 -6.81471338e+00] [-9.09888995e-03 2.28838102e-04 9.99958578e-01 -1.21405751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.558623853 meters Centerline goodness [0,1] 0.9996103558749675 Centerline is valid? [True, True] Translation: X:55.70, Y:-6.82, Z:-1.21 [[ 9.88797778e-01 1.48989695e-01 9.00142041e-03 5.56984505e+01] [-1.48981405e-01 9.88838722e-01 -1.58824529e-03 -6.82124757e+00] [-9.13758524e-03 2.29409145e-04 9.99958225e-01 -1.21469466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.588623853 meters Centerline goodness [0,1] 0.9994944610515211 Centerline is valid? [True, True] Translation: X:55.73, Y:-6.82, Z:-1.21 [[ 9.88744503e-01 1.49329750e-01 9.21592180e-03 5.57302448e+01] [-1.49321074e-01 9.88787425e-01 -1.62631940e-03 -6.82388201e+00] [-9.35544545e-03 2.31883024e-04 9.99956210e-01 -1.21338815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.618623853 meters Centerline goodness [0,1] 0.9990943200931557 Centerline is valid? [True, True] Translation: X:55.76, Y:-6.83, Z:-1.21 [[ 9.88529134e-01 1.50751347e-01 9.17505947e-03 5.57605677e+01] [-1.50742817e-01 9.88571689e-01 -1.61820572e-03 -6.83138945e+00] [-9.31415073e-03 2.16569192e-04 9.99956599e-01 -1.20625381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.648623853000004 meters Centerline goodness [0,1] 0.9994182538998535 Centerline is valid? [True, True] Translation: X:55.79, Y:-6.84, Z:-1.21 [[ 9.88222208e-01 1.52688991e-01 1.01459239e-02 5.57901536e+01] [-1.52678631e-01 9.88274265e-01 -1.79249473e-03 -6.83658208e+00] [-1.03006497e-02 2.22317332e-04 9.99946922e-01 -1.21409113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.678623853000005 meters Centerline goodness [0,1] 0.999284940411701 Centerline is valid? [True, True] Translation: X:55.82, Y:-6.84, Z:-1.21 [[ 9.87932687e-01 1.54579871e-01 9.69894853e-03 5.58214440e+01] [-1.54570493e-01 9.87980276e-01 -1.71372845e-03 -6.83704889e+00] [-9.84727777e-03 1.93877093e-04 9.99951496e-01 -1.20534065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.708623853000006 meters Centerline goodness [0,1] 0.9996356856610162 Centerline is valid? [True, True] Translation: X:55.85, Y:-6.85, Z:-1.22 [[ 9.87764246e-01 1.55622382e-01 1.01719869e-02 5.58496645e+01] [-1.55612123e-01 9.87816601e-01 -1.79722162e-03 -6.85131377e+00] [-1.03277454e-02 1.92346787e-04 9.99946649e-01 -1.21722623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.73862385300001 meters Centerline goodness [0,1] 0.9997618480590617 Centerline is valid? [True, True] Translation: X:55.88, Y:-6.85, Z:-1.21 [[ 9.87560228e-01 1.56886673e-01 1.05530918e-02 5.58817418e+01] [-1.56875701e-01 9.87616594e-01 -1.86477949e-03 -6.84777410e+00] [-1.07149677e-02 1.86058389e-04 9.99942576e-01 -1.21372988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.768623853 meters Centerline goodness [0,1] 0.9998283372315087 Centerline is valid? [True, True] Translation: X:55.91, Y:-6.85, Z:-1.21 [[ 9.87219307e-01 1.58965662e-01 1.13118971e-02 5.59109113e+01] [-1.58953193e-01 9.87284097e-01 -1.99873077e-03 -6.85272099e+00] [-1.14857856e-02 1.75123454e-04 9.99934021e-01 -1.21315030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.798623853 meters Centerline goodness [0,1] 0.9999350888201312 Centerline is valid? [True, True] Translation: X:55.94, Y:-6.86, Z:-1.21 [[ 9.87110433e-01 1.59655484e-01 1.10959420e-02 5.59407828e+01] [-1.59643526e-01 9.87172781e-01 -1.96094757e-03 -6.85748249e+00] [-1.12666880e-02 1.64276491e-04 9.99936515e-01 -1.21371695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.828623853 meters Centerline goodness [0,1] 0.9998916177140008 Centerline is valid? [True, True] Translation: X:55.97, Y:-6.86, Z:-1.22 [[ 9.87008084e-01 1.60318127e-01 1.06367754e-02 5.59695009e+01] [-1.60307175e-01 9.87065386e-01 -1.87988260e-03 -6.86332356e+00] [-1.08005721e-02 1.50307895e-04 9.99941661e-01 -1.21514327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.858623853000005 meters Centerline goodness [0,1] 0.9999359220812508 Centerline is valid? [True, True] Translation: X:56.00, Y:-6.87, Z:-1.22 [[ 9.86798598e-01 1.61621645e-01 1.03426816e-02 5.59977944e+01] [-1.61611363e-01 9.86852789e-01 -1.82778545e-03 -6.87201889e+00] [-1.05021139e-02 1.32161238e-04 9.99944843e-01 -1.21766351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.888623853000006 meters Centerline goodness [0,1] 0.9999567062083298 Centerline is valid? [True, True] Translation: X:56.03, Y:-6.88, Z:-1.22 [[ 9.86692436e-01 1.62274063e-01 1.02550465e-02 5.60281890e+01] [-1.62263992e-01 9.86745719e-01 -1.81208990e-03 -6.87628053e+00] [-1.04131784e-02 1.23950601e-04 9.99945774e-01 -1.21766328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.91862385300001 meters Centerline goodness [0,1] 0.9999567221344643 Centerline is valid? [True, True] Translation: X:56.06, Y:-6.88, Z:-1.22 [[ 9.86575582e-01 1.62996733e-01 1.00342616e-02 5.60572222e+01] [-1.62987128e-01 9.86626602e-01 -1.77316455e-03 -6.88266686e+00] [-1.01890895e-02 1.13905366e-04 9.99948083e-01 -1.21955625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.948623853 meters Centerline goodness [0,1] 0.9999144988564223 Centerline is valid? [True, True] Translation: X:56.09, Y:-6.89, Z:-1.22 [[ 9.86259132e-01 1.64896682e-01 1.00999928e-02 5.60866719e+01] [-1.64887050e-01 9.86310841e-01 -1.78474133e-03 -6.88837461e+00] [-1.02560303e-02 9.48594185e-05 9.99947401e-01 -1.21948666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.978623853 meters Centerline goodness [0,1] 0.999934484942456 Centerline is valid? [True, True] Translation: X:56.12, Y:-6.89, Z:-1.22 [[ 9.86155705e-01 1.65521345e-01 9.98050667e-03 5.61168882e+01] [-1.65511976e-01 9.86206204e-01 -1.76322376e-03 -6.89396848e+00] [-1.01346888e-02 8.69197857e-05 9.99948639e-01 -1.22014585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.008623853 meters Centerline goodness [0,1] 0.9999784756451925 Centerline is valid? [True, True] Translation: X:56.15, Y:-6.90, Z:-1.22 [[ 9.86018037e-01 1.66349499e-01 9.81196647e-03 5.61456628e+01] [-1.66340483e-01 9.86066853e-01 -1.73362715e-03 -6.89953554e+00] [-9.96364290e-03 7.72604028e-05 9.99950359e-01 -1.22130697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.038623853000004 meters Centerline goodness [0,1] 0.9999129223267155 Centerline is valid? [True, True] Translation: X:56.17, Y:-6.91, Z:-1.22 [[ 9.85730592e-01 1.68030254e-01 1.00515803e-02 5.61733662e+01] [-1.68020881e-01 9.85781837e-01 -1.77580114e-03 -6.90515318e+00] [-1.02070536e-02 6.15861330e-05 9.99947905e-01 -1.22137193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.068623853000005 meters Centerline goodness [0,1] 0.9999784529196294 Centerline is valid? [True, True] Translation: X:56.20, Y:-6.91, Z:-1.22 [[ 9.85542018e-01 1.69127553e-01 1.01390874e-02 5.62024711e+01] [-1.69118079e-01 9.85594170e-01 -1.79080969e-03 -6.90974018e+00] [-1.02959007e-02 5.02152046e-05 9.99946995e-01 -1.22168291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.09862385300001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:56.23, Y:-6.92, Z:-1.22 [[ 9.85416521e-01 1.69878261e-01 9.78041970e-03 5.62304139e+01] [-1.69869483e-01 9.85465055e-01 -1.72733295e-03 -6.91500390e+00] [-9.93169815e-03 4.07475856e-05 9.99950679e-01 -1.22320200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.128623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:56.26, Y:-6.92, Z:-1.22 [[ 9.85256647e-01 1.70829603e-01 9.30522967e-03 5.62593335e+01] [-1.70821704e-01 9.85300587e-01 -1.64302482e-03 -6.92160105e+00] [-9.44912553e-03 2.92659376e-05 9.99955356e-01 -1.22406145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.158623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:56.29, Y:-6.93, Z:-1.22 [[ 9.85234772e-01 1.70965230e-01 9.12874230e-03 5.62881731e+01] [-1.70957635e-01 9.85277062e-01 -1.61165186e-03 -6.92824226e+00] [-9.26987683e-03 2.72272510e-05 9.99957033e-01 -1.22488996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.188623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:56.32, Y:-6.93, Z:-1.22 [[ 9.85252605e-01 1.70879604e-01 8.80141976e-03 5.63181431e+01] [-1.70872544e-01 9.85291916e-01 -1.55346040e-03 -6.93478785e+00] [-8.93742244e-03 2.66299231e-05 9.99960060e-01 -1.22478482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.218623853000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:56.35, Y:-6.94, Z:-1.23 [[ 9.85221963e-01 1.71048406e-01 8.95133885e-03 5.63462327e+01] [-1.71041110e-01 9.85262626e-01 -1.58002756e-03 -6.94300254e+00] [-9.08968081e-03 2.56309166e-05 9.99958688e-01 -1.22630316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.248623853000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:56.38, Y:-6.95, Z:-1.23 [[ 9.85247994e-01 1.70879050e-01 9.31344736e-03 5.63753556e+01] [-1.70871146e-01 9.85292012e-01 -1.64371621e-03 -6.95046345e+00] [-9.45734196e-03 2.80686711e-05 9.99955278e-01 -1.22799769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.278623853000006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:56.41, Y:-6.96, Z:-1.23 [[ 9.85324985e-01 1.70412564e-01 9.70728159e-03 5.64054959e+01] [-1.70403955e-01 9.85372801e-01 -1.71322342e-03 -6.95659348e+00] [-9.85724604e-03 3.39226590e-05 9.99951416e-01 -1.22514500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.308623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:56.43, Y:-6.97, Z:-1.23 [[ 9.85407307e-01 1.69935717e-01 9.71039264e-03 5.64345702e+01] [-1.69927081e-01 9.85455149e-01 -1.71367759e-03 -6.96542557e+00] [-9.86037145e-03 3.86117423e-05 9.99951385e-01 -1.22828312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.338623853 meters Centerline goodness [0,1] 0.9999784529196294 Centerline is valid? [True, True] Translation: X:56.47, Y:-6.97, Z:-1.23 [[ 9.85577637e-01 1.68942056e-01 9.76233879e-03 5.64652094e+01] [-1.68933278e-01 9.85625983e-01 -1.72287472e-03 -6.97223502e+00] [-9.91308077e-03 4.88429015e-05 9.99950863e-01 -1.22637408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.368623853 meters Centerline goodness [0,1] 0.9999353810364882 Centerline is valid? [True, True] Translation: X:56.50, Y:-6.98, Z:-1.23 [[ 9.85742149e-01 1.67978072e-01 9.78683427e-03 5.64954172e+01] [-1.67969200e-01 9.85790730e-01 -1.72744024e-03 -6.98131720e+00] [-9.93794259e-03 5.89239309e-05 9.99950616e-01 -1.22697881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.398623853000004 meters Centerline goodness [0,1] 0.9999571835327867 Centerline is valid? [True, True] Translation: X:56.53, Y:-6.99, Z:-1.23 [[ 9.86052056e-01 1.66159805e-01 9.60532644e-03 5.65256848e+01] [-1.66151181e-01 9.86098836e-01 -1.69450329e-03 -6.99456871e+00] [-9.75335955e-03 7.49321198e-05 9.99952432e-01 -1.22840162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.428623853000005 meters Centerline goodness [0,1] 0.9999350227420403 Centerline is valid? [True, True] Translation: X:56.56, Y:-7.00, Z:-1.22 [[ 9.86125400e-01 1.65739651e-01 9.33078133e-03 5.65578049e+01] [-1.65731483e-01 9.86169540e-01 -1.64730971e-03 -7.00255685e+00] [-9.47475687e-03 7.80497211e-05 9.99955110e-01 -1.22486468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.458623853000006 meters Centerline goodness [0,1] 0.9999140801202878 Centerline is valid? [True, True] Translation: X:56.59, Y:-7.01, Z:-1.23 [[ 9.86224417e-01 1.65123791e-01 9.77411370e-03 5.65887988e+01] [-1.65114771e-01 9.86272845e-01 -1.72829205e-03 -7.01256205e+00] [-9.92532506e-03 9.06332707e-05 9.99950739e-01 -1.22907514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.48862385300001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:56.62, Y:-7.02, Z:-1.23 [[ 9.86282317e-01 1.64754451e-01 1.01568971e-02 5.66214847e+01] [-1.64744683e-01 9.86334609e-01 -1.79678172e-03 -7.01995877e+00] [-1.03141270e-02 9.88392312e-05 9.99946803e-01 -1.22757624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.518623853 meters Centerline goodness [0,1] 0.9999571017974347 Centerline is valid? [True, True] Translation: X:56.65, Y:-7.03, Z:-1.23 [[ 9.86247077e-01 1.64923350e-01 1.08162478e-02 5.66521422e+01] [-1.64912255e-01 9.86306381e-01 -1.91594266e-03 -7.03154091e+00] [-1.09841179e-02 1.05861034e-04 9.99939667e-01 -1.22770608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.548623853 meters Centerline goodness [0,1] 0.9999572695224869 Centerline is valid? [True, True] Translation: X:56.68, Y:-7.04, Z:-1.23 [[ 9.86114188e-01 1.65708879e-01 1.09259468e-02 5.66838924e+01] [-1.65697581e-01 9.86174709e-01 -1.93764187e-03 -7.03878961e+00] [-1.10959768e-02 1.00333193e-04 9.99938433e-01 -1.22810848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.578623853 meters Centerline goodness [0,1] 0.9999567642353755 Centerline is valid? [True, True] Translation: X:56.72, Y:-7.04, Z:-1.23 [[ 9.85997900e-01 1.66385111e-01 1.11416215e-02 5.67154474e+01] [-1.66373384e-01 9.86060843e-01 -1.97770795e-03 -7.04421464e+00] [-1.13153778e-02 9.63466166e-05 9.99935974e-01 -1.22655117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.608623853000005 meters Centerline goodness [0,1] 0.9999785306367813 Centerline is valid? [True, True] Translation: X:56.75, Y:-7.05, Z:-1.23 [[ 9.85682534e-01 1.68213422e-01 1.15838857e-02 5.67452307e+01] [-1.68200846e-01 9.85750596e-01 -2.05846341e-03 -7.05447313e+00] [-1.17650834e-02 8.05720511e-05 9.99930786e-01 -1.22788874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.638623853000006 meters Centerline goodness [0,1] 0.999891098381722 Centerline is valid? [True, True] Translation: X:56.78, Y:-7.06, Z:-1.23 [[ 9.85524343e-01 1.69131095e-01 1.16808829e-02 5.67778455e+01] [-1.69118351e-01 9.85593561e-01 -2.07741564e-03 -7.05987981e+00] [-1.18639585e-02 7.18920337e-05 9.99929618e-01 -1.22708322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.66862385300001 meters Centerline goodness [0,1] 0.9999782674838092 Centerline is valid? [True, True] Translation: X:56.81, Y:-7.07, Z:-1.23 [[ 9.85299370e-01 1.70452741e-01 1.14461442e-02 5.68102014e+01] [-1.70440567e-01 9.85365851e-01 -2.03790533e-03 -7.06620268e+00] [-1.16260062e-02 5.70595229e-05 9.99932414e-01 -1.22808400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.698623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:56.84, Y:-7.07, Z:-1.23 [[ 9.84860627e-01 1.73028558e-01 1.05197059e-02 5.68417627e+01] [-1.73018402e-01 9.84916807e-01 -1.87491179e-03 -7.07343218e+00] [-1.06854485e-02 2.64240912e-05 9.99942909e-01 -1.23122346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.728623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:56.87, Y:-7.08, Z:-1.23 [[ 9.84616914e-01 1.74433002e-01 1.01321621e-02 5.68741336e+01] [-1.74423636e-01 9.84669045e-01 -1.80756500e-03 -7.07919021e+00] [-1.02921253e-02 1.24705233e-05 9.99947035e-01 -1.23188577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.758623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:56.91, Y:-7.08, Z:-1.23 [[ 9.84370915e-01 1.75839919e-01 9.70696082e-03 5.69055938e+01] [-1.75831373e-01 9.84418774e-01 -1.73364526e-03 -7.08496186e+00] [-9.86055852e-03 -2.38275316e-07 9.99951384e-01 -1.23385092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.788623853000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:56.94, Y:-7.09, Z:-1.24 [[ 9.84092949e-01 1.77407726e-01 9.35771474e-03 5.69365901e+01] [-1.77399839e-01 9.84137439e-01 -1.67297514e-03 -7.09070315e+00] [-9.50607613e-03 -1.36940457e-05 9.99954816e-01 -1.23548718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.818623853000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:56.97, Y:-7.10, Z:-1.24 [[ 9.83624728e-01 1.79945244e-01 1.01046002e-02 5.69676359e+01] [-1.79936159e-01 9.83676628e-01 -1.80861565e-03 -7.09779856e+00] [-1.02651108e-02 -3.91838730e-05 9.99947312e-01 -1.23519123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.84862385300001 meters Centerline goodness [0,1] 0.9998064183085262 Centerline is valid? [True, True] Translation: X:57.00, Y:-7.10, Z:-1.23 [[ 9.83307678e-01 1.81677923e-01 9.95701226e-03 5.69999123e+01] [-1.81669174e-01 9.83358088e-01 -1.78385156e-03 -7.10372128e+00] [-1.01153950e-02 -5.48072484e-05 9.99948837e-01 -1.22625834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.878623853 meters Centerline goodness [0,1] 0.9998064183085262 Centerline is valid? [True, True] Translation: X:57.03, Y:-7.11, Z:-1.23 [[ 9.83273542e-01 1.81862604e-01 9.95667683e-03 5.70318629e+01] [-1.81853845e-01 9.83323950e-01 -1.78572108e-03 -7.10964965e+00] [-1.01153947e-02 -5.48076688e-05 9.99948837e-01 -1.22683177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.908623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:57.06, Y:-7.12, Z:-1.23 [[ 9.83024535e-01 1.83128365e-01 1.12590568e-02 5.70646887e+01] [-1.83117218e-01 9.83089007e-01 -2.02190387e-03 -7.11547775e+00] [-1.14389229e-02 -7.41460479e-05 9.99934571e-01 -1.23336536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.938623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:57.10, Y:-7.12, Z:-1.23 [[ 9.82328814e-01 1.86815276e-01 1.14085415e-02 5.70967267e+01] [-1.86804051e-01 9.82395053e-01 -2.05119743e-03 -7.11810142e+00] [-1.15908897e-02 -1.16211423e-04 9.99932817e-01 -1.23358430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.968623853000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:57.13, Y:-7.12, Z:-1.24 [[ 9.81968028e-01 1.88721262e-01 1.10939803e-02 5.71275494e+01] [-1.88710748e-01 9.82030686e-01 -1.99654930e-03 -7.12088693e+00] [-1.12714204e-02 -1.33005741e-04 9.99936467e-01 -1.23580997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.998623853000005 meters Centerline goodness [0,1] 0.9999568481919392 Centerline is valid? [True, True] Translation: X:57.16, Y:-7.13, Z:-1.24 [[ 9.81622477e-01 1.90554129e-01 1.03168590e-02 5.71592796e+01] [-1.90545123e-01 9.81676680e-01 -1.85802320e-03 -7.12675145e+00] [-1.04818739e-02 -1.41949841e-04 9.99945054e-01 -1.23721397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.028623853000006 meters Centerline goodness [0,1] 0.9999573987688244 Centerline is valid? [True, True] Translation: X:57.19, Y:-7.13, Z:-1.24 [[ 9.80981945e-01 1.93910703e-01 8.54771580e-03 5.71908662e+01] [-1.93904629e-01 9.81019173e-01 -1.54167582e-03 -7.12934726e+00] [-8.68442053e-03 -1.45085520e-04 9.99962279e-01 -1.24096378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.05862385300001 meters Centerline goodness [0,1] 0.9999357794237274 Centerline is valid? [True, True] Translation: X:57.22, Y:-7.13, Z:-1.24 [[ 9.80678882e-01 1.95454906e-01 8.14304990e-03 5.72202998e+01] [-1.95449442e-01 9.80712678e-01 -1.46920960e-03 -7.13204320e+00] [-8.27315650e-03 -1.50731732e-04 9.99965765e-01 -1.24229187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.088623853 meters Centerline goodness [0,1] 0.9998919876433864 Centerline is valid? [True, True] Translation: X:57.25, Y:-7.13, Z:-1.24 [[ 9.80404710e-01 1.96827788e-01 8.08859222e-03 5.72494967e+01] [-1.96822444e-01 9.80438063e-01 -1.45939602e-03 -7.13316937e+00] [-8.21761338e-03 -1.61217760e-04 9.99966222e-01 -1.24348749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.118623853 meters Centerline goodness [0,1] 0.9999357890456112 Centerline is valid? [True, True] Translation: X:57.28, Y:-7.14, Z:-1.24 [[ 9.80026571e-01 1.98674106e-01 8.74759508e-03 5.72798108e+01] [-1.98667933e-01 9.80065591e-01 -1.57784664e-03 -7.13764646e+00] [-8.88669421e-03 -1.91534999e-04 9.99960494e-01 -1.24202519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.148623853000004 meters Centerline goodness [0,1] 0.9999570760183715 Centerline is valid? [True, True] Translation: X:57.31, Y:-7.14, Z:-1.24 [[ 9.80035895e-01 1.98604580e-01 9.26632965e-03 5.73099553e+01] [-1.98597650e-01 9.80079680e-01 -1.67141335e-03 -7.14418896e+00] [-9.41369175e-03 -2.02226217e-04 9.99955670e-01 -1.24123541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.178623853000005 meters Centerline goodness [0,1] 0.9999569901722544 Centerline is valid? [True, True] Translation: X:57.34, Y:-7.15, Z:-1.24 [[ 9.80156500e-01 1.97978449e-01 9.88782859e-03 5.73401406e+01] [-1.97970527e-01 9.80206351e-01 -1.78342440e-03 -7.15179223e+00] [-1.00451920e-02 -2.09463621e-04 9.99949524e-01 -1.23997637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.208623853000006 meters Centerline goodness [0,1] 0.9999567108937036 Centerline is valid? [True, True] Translation: X:57.37, Y:-7.16, Z:-1.24 [[ 9.80337693e-01 1.97044707e-01 1.05542309e-02 5.73703375e+01] [-1.97035627e-01 9.80394481e-01 -1.90368147e-03 -7.15824364e+00] [-1.07224201e-02 -2.13308811e-04 9.99942490e-01 -1.23960990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.23862385300001 meters Centerline goodness [0,1] 0.999957346982299 Centerline is valid? [True, True] Translation: X:57.40, Y:-7.17, Z:-1.24 [[ 9.81092046e-01 1.93187494e-01 1.17042884e-02 5.73996779e+01] [-1.93176048e-01 9.81161840e-01 -2.11138573e-03 -7.16892864e+00] [-1.18916944e-02 -1.89524428e-04 9.99929273e-01 -1.23924919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.268623853 meters Centerline goodness [0,1] 0.9999785651512229 Centerline is valid? [True, True] Translation: X:57.43, Y:-7.18, Z:-1.24 [[ 9.81571074e-01 1.90746049e-01 1.15832637e-02 5.74301808e+01] [-1.90734674e-01 9.81639404e-01 -2.08920053e-03 -7.18025050e+00] [-1.17690948e-02 -1.58631218e-04 9.99930729e-01 -1.23918809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.298623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:57.46, Y:-7.19, Z:-1.24 [[ 9.82089486e-01 1.88083539e-01 1.11724299e-02 5.74605332e+01] [-1.88072764e-01 9.82153027e-01 -2.01687314e-03 -7.19108516e+00] [-1.13523765e-02 -1.20479865e-04 9.99935552e-01 -1.24021160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.328623853 meters Centerline goodness [0,1] 0.9999573460726396 Centerline is valid? [True, True] Translation: X:57.49, Y:-7.21, Z:-1.24 [[ 9.83170468e-01 1.82349048e-01 1.11649097e-02 5.74890720e+01] [-1.82337895e-01 9.83233859e-01 -2.01743383e-03 -7.20720726e+00] [-1.13455943e-02 -5.23047646e-05 9.99935635e-01 -1.24198734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.358623853000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:57.52, Y:-7.22, Z:-1.24 [[ 9.83677392e-01 1.79604451e-01 1.10013186e-02 5.75190386e+01] [-1.79593430e-01 9.83738909e-01 -1.98972377e-03 -7.21932996e+00] [-1.11797884e-02 -1.85182535e-05 9.99937504e-01 -1.24330642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.388623853000006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:57.55, Y:-7.23, Z:-1.24 [[ 9.84126395e-01 1.77138632e-01 1.08233116e-02 5.75503424e+01] [-1.77127798e-01 9.84185910e-01 -1.95913469e-03 -7.23108656e+00] [-1.09991892e-02 1.09268108e-05 9.99939507e-01 -1.24289571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.41862385300001 meters Centerline goodness [0,1] 0.9999569392412694 Centerline is valid? [True, True] Translation: X:57.58, Y:-7.24, Z:-1.24 [[ 9.84448842e-01 1.75328832e-01 1.09671751e-02 5.75807596e+01] [-1.75317571e-01 9.84509929e-01 -1.98742891e-03 -7.24079998e+00] [-1.11457463e-02 3.37835987e-05 9.99937884e-01 -1.24351979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.448623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:57.61, Y:-7.25, Z:-1.24 [[ 9.85021601e-01 1.72076554e-01 1.10500904e-02 5.76115178e+01] [-1.72064893e-01 9.85083577e-01 -2.00455595e-03 -7.25385779e+00] [-1.12301997e-02 7.31982823e-05 9.99936937e-01 -1.24409955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.478623853 meters Centerline goodness [0,1] 0.9999571192727429 Centerline is valid? [True, True] Translation: X:57.64, Y:-7.26, Z:-1.24 [[ 9.85164710e-01 1.71223877e-01 1.15272905e-02 5.76418273e+01] [-1.71211106e-01 9.85232143e-01 -2.09313805e-03 -7.26414016e+00] [-1.17154524e-02 8.84855848e-05 9.99931368e-01 -1.24477363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.508623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:57.67, Y:-7.27, Z:-1.24 [[ 9.85258349e-01 1.70651798e-01 1.19979359e-02 5.76743429e+01] [-1.70637893e-01 9.85331393e-01 -2.18083681e-03 -7.27210224e+00] [-1.21941066e-02 1.01385172e-04 9.99925644e-01 -1.24354091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.538623853000004 meters Centerline goodness [0,1] 0.999827653065621 Centerline is valid? [True, True] Translation: X:57.71, Y:-7.28, Z:-1.24 [[ 9.85308330e-01 1.70376012e-01 1.18114249e-02 5.77065318e+01] [-1.70362489e-01 9.85379117e-01 -2.14913984e-03 -7.28085357e+00] [-1.20048933e-02 1.05341648e-04 9.99927933e-01 -1.23673111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.568623853000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:57.74, Y:-7.29, Z:-1.24 [[ 9.85350234e-01 1.70104548e-01 1.22212529e-02 5.77370345e+01] [-1.70090015e-01 9.85426014e-01 -2.22653086e-03 -7.29145513e+00] [-1.24218836e-02 1.15199610e-04 9.99922839e-01 -1.24344883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.59862385300001 meters Centerline goodness [0,1] 0.9999572658703874 Centerline is valid? [True, True] Translation: X:57.77, Y:-7.30, Z:-1.24 [[ 9.85312429e-01 1.70334237e-01 1.20691518e-02 5.77695159e+01] [-1.70320067e-01 9.85386338e-01 -2.19987478e-03 -7.29954208e+00] [-1.22674913e-02 1.11945209e-04 9.99924745e-01 -1.24423205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.628623853 meters Centerline goodness [0,1] 0.9999349170191995 Centerline is valid? [True, True] Translation: X:57.80, Y:-7.31, Z:-1.25 [[ 9.85281904e-01 1.70524481e-01 1.18731270e-02 5.78013438e+01] [-1.70510756e-01 9.85353434e-01 -2.16632007e-03 -7.30763933e+00] [-1.20686371e-02 1.09940102e-04 9.99927165e-01 -1.24600920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.658623853 meters Centerline goodness [0,1] 0.9999785324803572 Centerline is valid? [True, True] Translation: X:57.83, Y:-7.32, Z:-1.25 [[ 9.85108444e-01 1.71611004e-01 1.05364666e-02 5.78328456e+01] [-1.71600239e-01 9.85164786e-01 -1.92412992e-03 -7.31537844e+00] [-1.07103578e-02 8.74164370e-05 9.99942639e-01 -1.24946332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.688623853 meters Centerline goodness [0,1] 0.9999782891880157 Centerline is valid? [True, True] Translation: X:57.87, Y:-7.32, Z:-1.25 [[ 9.84944698e-01 1.72564824e-01 1.02627530e-02 5.78651161e+01] [-1.72554646e-01 9.84998160e-01 -1.87578247e-03 -7.32119306e+00] [-1.04324869e-02 7.66562910e-05 9.99945577e-01 -1.25066178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.718623853000004 meters Centerline goodness [0,1] 0.9999784399120348 Centerline is valid? [True, True] Translation: X:57.90, Y:-7.33, Z:-1.25 [[ 9.84763490e-01 1.73613173e-01 9.96669863e-03 5.78972630e+01] [-1.73603602e-01 9.84813922e-01 -1.82417056e-03 -7.32684442e+00] [-1.01320436e-02 6.61217823e-05 9.99948667e-01 -1.25173738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.748623853000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:57.93, Y:-7.33, Z:-1.25 [[ 9.84549093e-01 1.74833658e-01 9.81198236e-03 5.79276767e+01] [-1.74824439e-01 9.84597984e-01 -1.79617075e-03 -7.33279682e+00] [-9.97488915e-03 5.30439698e-05 9.99950248e-01 -1.25229591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.778623853000006 meters Centerline goodness [0,1] 0.9999570944351482 Centerline is valid? [True, True] Translation: X:57.96, Y:-7.34, Z:-1.24 [[ 9.84035247e-01 1.77698308e-01 9.89662194e-03 5.79603069e+01] [-1.77689052e-01 9.84085012e-01 -1.81381737e-03 -7.33651610e+00] [-1.00614296e-02 2.63388549e-05 9.99949382e-01 -1.24473709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.80862385300001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:57.99, Y:-7.34, Z:-1.25 [[ 9.83718825e-01 1.79411196e-01 1.04352985e-02 5.79914227e+01] [-1.79401002e-01 9.83774173e-01 -1.91257189e-03 -7.34090707e+00] [-1.06091139e-02 9.32997160e-06 9.99943722e-01 -1.25039859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.838623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:58.02, Y:-7.34, Z:-1.25 [[ 9.83387519e-01 1.81226604e-01 1.02910011e-02 5.80231617e+01] [-1.81216770e-01 9.83441365e-01 -1.88801631e-03 -7.34482552e+00] [-1.04627549e-02 -8.25029837e-06 9.99945264e-01 -1.25117020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.868623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:58.06, Y:-7.35, Z:-1.25 [[ 9.82731705e-01 1.84744120e-01 1.03925508e-02 5.80558600e+01] [-1.84734280e-01 9.82786654e-01 -1.90733445e-03 -7.34702098e+00] [-1.05660291e-02 -4.54623504e-05 9.99944177e-01 -1.25030464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.898623853000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:58.09, Y:-7.35, Z:-1.25 [[ 9.82364609e-01 1.86692469e-01 1.02809323e-02 5.80870817e+01] [-1.86682921e-01 9.82418403e-01 -1.88915588e-03 -7.35062046e+00] [-1.04528683e-02 -6.34345962e-05 9.99945365e-01 -1.25143194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.928623853000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:58.12, Y:-7.35, Z:-1.25 [[ 9.81948968e-01 1.88888265e-01 9.87154518e-03 5.81183487e+01] [-1.88879559e-01 9.81998583e-01 -1.81543366e-03 -7.35274087e+00] [-1.00367575e-02 -8.18698857e-05 9.99949627e-01 -1.25372523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.958623853000006 meters Centerline goodness [0,1] 0.9999572082673628 Centerline is valid? [True, True] Translation: X:58.15, Y:-7.35, Z:-1.25 [[ 9.81209106e-01 1.92729352e-01 9.16990912e-03 5.81502512e+01] [-1.92721995e-01 9.81251947e-01 -1.68770391e-03 -7.35407032e+00] [-9.32326126e-03 -1.11252735e-04 9.99956531e-01 -1.25458582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.98862385300001 meters Centerline goodness [0,1] 0.9995694016836394 Centerline is valid? [True, True] Translation: X:58.18, Y:-7.35, Z:-1.25 [[ 9.80832698e-01 1.94656530e-01 8.72089551e-03 5.81824638e+01] [-1.94649941e-01 9.80871460e-01 -1.60631212e-03 -7.35351524e+00] [-8.86675666e-03 -1.21998342e-04 9.99960682e-01 -1.24966986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.018623853 meters Centerline goodness [0,1] 0.9998057791493127 Centerline is valid? [True, True] Translation: X:58.21, Y:-7.36, Z:-1.26 [[ 9.80558741e-01 1.96018778e-01 9.01082606e-03 5.82137204e+01] [-1.96011788e-01 9.80600132e-01 -1.66107984e-03 -7.36137648e+00] [-9.16162007e-03 -1.37441774e-04 9.99958022e-01 -1.25516954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.048623853 meters Centerline goodness [0,1] 0.9998072970195272 Centerline is valid? [True, True] Translation: X:58.24, Y:-7.36, Z:-1.26 [[ 9.80303872e-01 1.97298513e-01 8.80991866e-03 5.82449234e+01] [-1.97291868e-01 9.80343448e-01 -1.62562737e-03 -7.36338935e+00] [-8.95747990e-03 -1.44516507e-04 9.99959871e-01 -1.25665872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.078623853 meters Centerline goodness [0,1] 0.9994849564358985 Centerline is valid? [True, True] Translation: X:58.28, Y:-7.36, Z:-1.25 [[ 9.80144095e-01 1.98131019e-01 7.85195487e-03 5.82769635e+01] [-1.98125761e-01 9.80175536e-01 -1.44971280e-03 -7.36408961e+00] [-7.98352715e-03 -1.34747091e-04 9.99968122e-01 -1.25151854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.108623853000005 meters Centerline goodness [0,1] 0.9999359371329731 Centerline is valid? [True, True] Translation: X:58.31, Y:-7.37, Z:-1.26 [[ 9.80277436e-01 1.97449009e-01 8.36884154e-03 5.83077024e+01] [-1.97442996e-01 9.80313149e-01 -1.54690205e-03 -7.37072985e+00] [-8.50951968e-03 -1.35975977e-04 9.99963784e-01 -1.26024713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.138623853000006 meters Centerline goodness [0,1] 0.9998054979253111 Centerline is valid? [True, True] Translation: X:58.34, Y:-7.38, Z:-1.26 [[ 9.80510883e-01 1.96285213e-01 8.39778270e-03 5.83390945e+01] [-1.96279106e-01 9.80546837e-01 -1.55337122e-03 -7.38024217e+00] [-8.53932306e-03 -1.25211891e-04 9.99963531e-01 -1.25982349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.16862385300001 meters Centerline goodness [0,1] 0.9998502801899303 Centerline is valid? [True, True] Translation: X:58.37, Y:-7.39, Z:-1.26 [[ 9.80810343e-01 1.94796193e-01 8.09405863e-03 5.83690754e+01] [-1.94790458e-01 9.80843735e-01 -1.49856612e-03 -7.38745117e+00] [-8.23092167e-03 -1.06836238e-04 9.99966120e-01 -1.26176745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.198623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:58.40, Y:-7.40, Z:-1.26 [[ 9.81677082e-01 1.90374084e-01 8.23493261e-03 5.83993612e+01] [-1.90367982e-01 9.81711619e-01 -1.52584201e-03 -7.40076352e+00] [-8.37480981e-03 -6.97833631e-05 9.99964928e-01 -1.26067010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.228623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:58.43, Y:-7.41, Z:-1.26 [[ 9.82145647e-01 1.87926095e-01 8.58554565e-03 5.84301690e+01] [-1.87919354e-01 9.82183171e-01 -1.59241505e-03 -7.40785848e+00] [-8.73183479e-03 -4.94066841e-05 9.99961876e-01 -1.26457426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.258623853 meters Centerline goodness [0,1] 0.9999786142001711 Centerline is valid? [True, True] Translation: X:58.46, Y:-7.42, Z:-1.26 [[ 9.82588821e-01 1.85586768e-01 8.76130629e-03 5.84609571e+01] [-1.85579641e-01 9.82627880e-01 -1.62661068e-03 -7.41922572e+00] [-8.91098124e-03 -2.76306089e-05 9.99960296e-01 -1.26203604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.288623853000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:58.49, Y:-7.43, Z:-1.26 [[ 9.83439241e-01 1.81036564e-01 8.54527906e-03 5.84923688e+01] [-1.81029603e-01 9.83476366e-01 -1.58760184e-03 -7.43265270e+00] [-8.69149398e-03 1.43614770e-05 9.99962228e-01 -1.26180692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.318623853000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:58.52, Y:-7.44, Z:-1.26 [[ 9.83836392e-01 1.78855171e-01 8.76247072e-03 5.85229089e+01] [-1.78847748e-01 9.83875412e-01 -1.62990566e-03 -7.44247602e+00] [-8.91269654e-03 3.64123457e-05 9.99960280e-01 -1.26265074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.34862385300001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:58.55, Y:-7.45, Z:-1.26 [[ 9.84176000e-01 1.76980180e-01 8.69583860e-03 5.85538890e+01] [-1.76972782e-01 9.84214414e-01 -1.61917222e-03 -7.45103710e+00] [-8.84513108e-03 5.46236879e-05 9.99960880e-01 -1.26238492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.378623853 meters Centerline goodness [0,1] 0.9998711201804318 Centerline is valid? [True, True] Translation: X:58.58, Y:-7.46, Z:-1.26 [[ 9.84569862e-01 1.74805853e-01 8.06844302e-03 5.85833610e+01] [-1.74799400e-01 9.84602919e-01 -1.50368188e-03 -7.46064147e+00] [-8.20706494e-03 7.01208637e-05 9.99966319e-01 -1.26372452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.408623853 meters Centerline goodness [0,1] 0.9998702281821131 Centerline is valid? [True, True] Translation: X:58.62, Y:-7.47, Z:-1.26 [[ 9.84614813e-01 1.74558166e-01 7.94457608e-03 5.86151447e+01] [-1.74551892e-01 9.84646861e-01 -1.48164416e-03 -7.46735684e+00] [-8.08123499e-03 7.21080026e-05 9.99967344e-01 -1.26480750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.438623853 meters Centerline goodness [0,1] 0.9995940084189833 Centerline is valid? [True, True] Translation: X:58.65, Y:-7.47, Z:-1.26 [[ 9.84594284e-01 1.74704896e-01 7.23160685e-03 5.86464517e+01] [-1.74699694e-01 9.84620838e-01 -1.34974891e-03 -7.47323388e+00] [-7.35619854e-03 6.55955609e-05 9.99972941e-01 -1.25879403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.468623853000004 meters Centerline goodness [0,1] 0.999759956355701 Centerline is valid? [True, True] Translation: X:58.68, Y:-7.48, Z:-1.27 [[ 9.84573889e-01 1.74792039e-01 7.87400630e-03 5.86785706e+01] [-1.74785862e-01 9.84605372e-01 -1.47129054e-03 -7.47889405e+00] [-8.00995877e-03 7.23292745e-05 9.99967917e-01 -1.26532224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.498623853000005 meters Centerline goodness [0,1] 0.9996750433275563 Centerline is valid? [True, True] Translation: X:58.71, Y:-7.48, Z:-1.26 [[ 9.84484614e-01 1.75241385e-01 8.97232574e-03 5.87101961e+01] [-1.75233360e-01 9.84525495e-01 -1.67899424e-03 -7.48415266e+00] [-9.12771272e-03 8.06932103e-05 9.99958338e-01 -1.26404298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.528623853000006 meters Centerline goodness [0,1] 0.9997849231100119 Centerline is valid? [True, True] Translation: X:58.74, Y:-7.49, Z:-1.26 [[ 9.84372994e-01 1.75858869e-01 9.13606117e-03 5.87413012e+01] [-1.75850561e-01 9.84415386e-01 -1.71120073e-03 -7.49003401e+00] [-9.29460901e-03 7.78783071e-05 9.99956801e-01 -1.26131011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.55862385300001 meters Centerline goodness [0,1] 0.999784315417134 Centerline is valid? [True, True] Translation: X:58.77, Y:-7.50, Z:-1.26 [[ 9.84234399e-01 1.76611037e-01 9.54928073e-03 5.87714934e+01] [-1.76601969e-01 9.84280720e-01 -1.79124604e-03 -7.49607472e+00] [-9.71552673e-03 7.65841912e-05 9.99952800e-01 -1.26464635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.588623853 meters Centerline goodness [0,1] 0.9997638370045945 Centerline is valid? [True, True] Translation: X:58.80, Y:-7.50, Z:-1.26 [[ 9.83943609e-01 1.78180348e-01 1.03314121e-02 5.88035075e+01] [-1.78169814e-01 9.83997845e-01 -1.93860741e-03 -7.49860352e+00] [-1.05115090e-02 6.67345932e-05 9.99944750e-01 -1.26322997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.618623853 meters Centerline goodness [0,1] 0.9996163110438471 Centerline is valid? [True, True] Translation: X:58.84, Y:-7.50, Z:-1.26 [[ 9.83726438e-01 1.79415968e-01 9.60241756e-03 5.88361424e+01] [-1.79406915e-01 9.83773301e-01 -1.80306998e-03 -7.50240950e+00] [-9.77010157e-03 5.09874977e-05 9.99952270e-01 -1.25839095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.648623853000004 meters Centerline goodness [0,1] 0.9998711921169575 Centerline is valid? [True, True] Translation: X:58.87, Y:-7.51, Z:-1.27 [[ 9.83513766e-01 1.80584815e-01 9.47611358e-03 5.88685906e+01] [-1.80576035e-01 9.83559415e-01 -1.78116645e-03 -7.50665359e+00] [-9.64197234e-03 4.06427052e-05 9.99953514e-01 -1.26605107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.678623853000005 meters Centerline goodness [0,1] 0.9997640649464856 Centerline is valid? [True, True] Translation: X:58.90, Y:-7.51, Z:-1.27 [[ 9.83333228e-01 1.81584803e-01 9.09520811e-03 5.89001301e+01] [-1.81576736e-01 9.83375289e-01 -1.71182944e-03 -7.51079700e+00] [-9.25484511e-03 3.18205661e-05 9.99957172e-01 -1.26739844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.708623853000006 meters Centerline goodness [0,1] 0.9997406358743813 Centerline is valid? [True, True] Translation: X:58.93, Y:-7.51, Z:-1.27 [[ 9.83052879e-01 1.83129794e-01 8.39739796e-03 5.89328882e+01] [-1.83122972e-01 9.83088744e-01 -1.58072469e-03 -7.51309023e+00] [-8.54486520e-03 1.61794854e-05 9.99963492e-01 -1.26941870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.73862385300001 meters Centerline goodness [0,1] 0.9998046451052746 Centerline is valid? [True, True] Translation: X:58.97, Y:-7.52, Z:-1.27 [[ 9.82898646e-01 1.83966103e-01 8.16848426e-03 5.89651135e+01] [-1.83959665e-01 9.82932588e-01 -1.53911253e-03 -7.51772166e+00] [-8.31221391e-03 1.01199972e-05 9.99965453e-01 -1.27035774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.768623853 meters Centerline goodness [0,1] 0.9998046451052746 Centerline is valid? [True, True] Translation: X:59.00, Y:-7.52, Z:-1.27 [[ 9.82864158e-01 1.84150283e-01 8.16819576e-03 5.89970012e+01] [-1.84143838e-01 9.82898099e-01 -1.54064123e-03 -7.52393916e+00] [-8.31221360e-03 1.01181266e-05 9.99965453e-01 -1.27093118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.798623853 meters Centerline goodness [0,1] 0.99985005890543 Centerline is valid? [True, True] Translation: X:59.03, Y:-7.53, Z:-1.27 [[ 9.82703211e-01 1.85011854e-01 8.06309391e-03 5.90288777e+01] [-1.85005590e-01 9.82736289e-01 -1.52245964e-03 -7.52850492e+00] [-8.20556807e-03 4.40853246e-06 9.99966334e-01 -1.27159849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.828623853 meters Centerline goodness [0,1] 0.9997430846964117 Centerline is valid? [True, True] Translation: X:59.06, Y:-7.53, Z:-1.27 [[ 9.82425556e-01 1.86487032e-01 7.91283910e-03 5.90617191e+01] [-1.86481036e-01 9.82457422e-01 -1.49536938e-03 -7.53035621e+00] [-8.05289451e-03 -6.50533549e-06 9.99967575e-01 -1.26567849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.858623853000005 meters Centerline goodness [0,1] 0.9998479318734793 Centerline is valid? [True, True] Translation: X:59.09, Y:-7.53, Z:-1.27 [[ 9.82302288e-01 1.87106836e-01 8.55850237e-03 5.90934674e+01] [-1.87099827e-01 9.82339571e-01 -1.61950535e-03 -7.53469311e+00] [-8.71037607e-03 -1.04505011e-05 9.99962064e-01 -1.27155408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.888623853000006 meters Centerline goodness [0,1] 0.9998918357634232 Centerline is valid? [True, True] Translation: X:59.13, Y:-7.54, Z:-1.27 [[ 9.82261330e-01 1.87303133e-01 8.95635234e-03 5.91256369e+01] [-1.87295453e-01 9.82302161e-01 -1.69614463e-03 -7.54006630e+00] [-9.11553747e-03 -1.14267880e-05 9.99958453e-01 -1.27062713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.91862385300001 meters Centerline goodness [0,1] 0.9997436992738146 Centerline is valid? [True, True] Translation: X:59.16, Y:-7.55, Z:-1.27 [[ 9.82357691e-01 1.86768031e-01 9.54306326e-03 5.91570765e+01] [-1.86759265e-01 9.82404042e-01 -1.80949073e-03 -7.54504806e+00] [-9.71309894e-03 -4.68834467e-06 9.99952827e-01 -1.27077346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.948623853 meters Centerline goodness [0,1] 0.99978489997849 Centerline is valid? [True, True] Translation: X:59.19, Y:-7.55, Z:-1.27 [[ 9.82475118e-01 1.86149266e-01 9.54432525e-03 5.91896655e+01] [-1.86140452e-01 9.82521476e-01 -1.81138666e-03 -7.55144510e+00] [-9.71469283e-03 3.05729754e-06 9.99952811e-01 -1.27096862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.978623853 meters Centerline goodness [0,1] 0.9997847332845395 Centerline is valid? [True, True] Translation: X:59.22, Y:-7.56, Z:-1.27 [[ 9.82648337e-01 1.85247171e-01 9.25913106e-03 5.92211396e+01] [-1.85238819e-01 9.82691958e-01 -1.75911416e-03 -7.55854764e+00] [-9.42474456e-03 1.34400964e-05 9.99955586e-01 -1.27244760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.008623853 meters Centerline goodness [0,1] 0.9997842037116962 Centerline is valid? [True, True] Translation: X:59.25, Y:-7.57, Z:-1.27 [[ 9.83166604e-01 1.82504691e-01 8.68714570e-03 5.92521235e+01] [-1.82497219e-01 9.83204982e-01 -1.65196610e-03 -7.56787024e+00] [-8.84273649e-03 3.87779724e-05 9.99960901e-01 -1.27362064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.038623853000004 meters Centerline goodness [0,1] 0.9998059257342476 Centerline is valid? [True, True] Translation: X:59.28, Y:-7.58, Z:-1.27 [[ 9.83460664e-01 1.80908160e-01 8.79546661e-03 5.92836300e+01] [-1.80900422e-01 9.83499992e-01 -1.67411180e-03 -7.57590232e+00] [-8.95320183e-03 5.53194745e-05 9.99959918e-01 -1.27365303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.068623853000005 meters Centerline goodness [0,1] 0.9997432056494757 Centerline is valid? [True, True] Translation: X:59.31, Y:-7.59, Z:-1.28 [[ 9.83827038e-01 1.78910450e-01 8.68388262e-03 5.93131173e+01] [-1.78902810e-01 9.83865359e-01 -1.65513676e-03 -7.58506535e+00] [-8.83989256e-03 7.47972988e-05 9.99960925e-01 -1.27504204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.09862385300001 meters Centerline goodness [0,1] 0.9997637862910153 Centerline is valid? [True, True] Translation: X:59.34, Y:-7.59, Z:-1.27 [[ 9.84157334e-01 1.77081717e-01 8.74107845e-03 5.93443242e+01] [-1.77073904e-01 9.84196148e-01 -1.66606778e-03 -7.59340372e+00] [-8.89796588e-03 9.18559465e-05 9.99960408e-01 -1.27463806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.128623853 meters Centerline goodness [0,1] 0.9996150309044635 Centerline is valid? [True, True] Translation: X:59.37, Y:-7.61, Z:-1.27 [[ 9.84862202e-01 1.73092473e-01 9.24329871e-03 5.93738357e+01] [-1.73083536e-01 9.84905568e-01 -1.76428330e-03 -7.60686974e+00] [-9.40916052e-03 1.37713116e-04 9.99955723e-01 -1.27402984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.158623853 meters Centerline goodness [0,1] 0.9996348405112233 Centerline is valid? [True, True] Translation: X:59.40, Y:-7.62, Z:-1.27 [[ 9.85163098e-01 1.71345039e-01 9.72360496e-03 5.94034558e+01] [-1.71335060e-01 9.85211069e-01 -1.85637806e-03 -7.61670305e+00] [-9.89788441e-03 1.62840724e-04 9.99951001e-01 -1.27413611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.188623853 meters Centerline goodness [0,1] 0.9995248585374282 Centerline is valid? [True, True] Translation: X:59.43, Y:-7.63, Z:-1.27 [[ 9.85439380e-01 1.69740047e-01 9.87646388e-03 5.94340112e+01] [-1.69729656e-01 9.85488855e-01 -1.88707127e-03 -7.62674905e+00] [-1.00534566e-02 1.83265534e-04 9.99949446e-01 -1.27439246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.218623853000004 meters Centerline goodness [0,1] 0.9995253301113317 Centerline is valid? [True, True] Translation: X:59.46, Y:-7.64, Z:-1.27 [[ 9.85857101e-01 1.67232679e-01 1.09090078e-02 5.94645716e+01] [-1.67219825e-01 9.85917429e-01 -2.08644904e-03 -7.63775725e+00] [-1.11043034e-02 2.32738226e-04 9.99938318e-01 -1.27269187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.248623853000005 meters Centerline goodness [0,1] 0.9995466125480374 Centerline is valid? [True, True] Translation: X:59.49, Y:-7.65, Z:-1.27 [[ 9.85983050e-01 1.66477343e-01 1.10778333e-02 5.94947901e+01] [-1.66464017e-01 9.86045249e-01 -2.12077591e-03 -7.64656128e+00] [-1.12763060e-02 2.46988476e-04 9.99936390e-01 -1.27274415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.278623853000006 meters Centerline goodness [0,1] 0.999448661944951 Centerline is valid? [True, True] Translation: X:59.52, Y:-7.66, Z:-1.27 [[ 9.86045029e-01 1.66118169e-01 1.09523589e-02 5.95245869e+01] [-1.66105102e-01 9.86105822e-01 -2.09848941e-03 -7.65882288e+00] [-1.11487821e-02 2.49962355e-04 9.99937819e-01 -1.27472577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.30862385300001 meters Centerline goodness [0,1] 0.9995272375631246 Centerline is valid? [True, True] Translation: X:59.56, Y:-7.67, Z:-1.28 [[ 9.86073630e-01 1.66017223e-01 9.85277423e-03 5.95561980e+01] [-1.66006631e-01 9.86122827e-01 -1.88899751e-03 -7.66553656e+00] [-1.00296517e-02 2.27064776e-04 9.99949676e-01 -1.27619896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.338623853 meters Centerline goodness [0,1] 0.9995743775271334 Centerline is valid? [True, True] Translation: X:59.59, Y:-7.67, Z:-1.28 [[ 9.85989815e-01 1.66527165e-01 9.63266796e-03 5.95862552e+01] [-1.66517049e-01 9.86036843e-01 -1.84843666e-03 -7.67306772e+00] [-9.80598042e-03 2.18536280e-04 9.99951896e-01 -1.27694048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.368623853 meters Centerline goodness [0,1] 0.9994420481126205 Centerline is valid? [True, True] Translation: X:59.62, Y:-7.68, Z:-1.28 [[ 9.85864118e-01 1.67271289e-01 9.60504904e-03 5.96183305e+01] [-1.67261245e-01 9.85910884e-01 -1.84535204e-03 -7.67938947e+00] [-9.77839680e-03 2.12713896e-04 9.99952168e-01 -1.27707889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.398623853000004 meters Centerline goodness [0,1] 0.9995668464254002 Centerline is valid? [True, True] Translation: X:59.65, Y:-7.69, Z:-1.28 [[ 9.85678409e-01 1.68356730e-01 9.69974234e-03 5.96496054e+01] [-1.68346542e-01 9.85726113e-01 -1.86331850e-03 -7.68616286e+00] [-9.87499153e-03 2.03714737e-04 9.99951220e-01 -1.27765679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.428623853000005 meters Centerline goodness [0,1] 0.9996318672989887 Centerline is valid? [True, True] Translation: X:59.68, Y:-7.69, Z:-1.28 [[ 9.85220889e-01 1.71039672e-01 9.23200248e-03 5.96801268e+01] [-1.71030546e-01 9.85264128e-01 -1.77496942e-03 -7.69267559e+00] [-9.39955106e-03 1.69782525e-04 9.99955809e-01 -1.27911730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.458623853000006 meters Centerline goodness [0,1] 0.9996546961325967 Centerline is valid? [True, True] Translation: X:59.71, Y:-7.70, Z:-1.28 [[ 9.84919077e-01 1.72789169e-01 8.84950875e-03 5.97123900e+01] [-1.72780836e-01 9.84958822e-01 -1.70349630e-03 -7.69748080e+00] [-9.01074742e-03 1.48780489e-04 9.99959391e-01 -1.28014330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.48862385300001 meters Centerline goodness [0,1] 0.9996096291476904 Centerline is valid? [True, True] Translation: X:59.74, Y:-7.70, Z:-1.28 [[ 9.84332640e-01 1.76132156e-01 8.16808143e-03 5.97439497e+01] [-1.76125175e-01 9.84366523e-01 -1.57186684e-03 -7.69997293e+00] [-8.31724221e-03 1.08635059e-04 9.99965405e-01 -1.28171225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.518623853 meters Centerline goodness [0,1] 0.9996995127814384 Centerline is valid? [True, True] Translation: X:59.78, Y:-7.70, Z:-1.28 [[ 9.83959050e-01 1.78222352e-01 7.83459630e-03 5.97762391e+01] [-1.78215988e-01 9.83990236e-01 -1.50862814e-03 -7.70333451e+00] [-7.97803752e-03 8.81779897e-05 9.99968171e-01 -1.28216771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.548623853 meters Centerline goodness [0,1] 0.999717845205539 Centerline is valid? [True, True] Translation: X:59.81, Y:-7.71, Z:-1.28 [[ 9.83669259e-01 1.79817950e-01 7.76488114e-03 5.98082421e+01] [-1.79811738e-01 9.83699903e-01 -1.49650032e-03 -7.70873941e+00] [-7.90741044e-03 7.58445879e-05 9.99968733e-01 -1.28245035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.578623853 meters Centerline goodness [0,1] 0.9997441473711143 Centerline is valid? [True, True] Translation: X:59.84, Y:-7.72, Z:-1.28 [[ 9.83355755e-01 1.81526847e-01 7.71117729e-03 5.98384018e+01] [-1.81520763e-01 9.83385987e-01 -1.48757810e-03 -7.71522794e+00] [-7.85309905e-03 6.30797029e-05 9.99969162e-01 -1.28441324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.608623853000005 meters Centerline goodness [0,1] 0.9997860230239226 Centerline is valid? [True, True] Translation: X:59.87, Y:-7.72, Z:-1.28 [[ 9.83100615e-01 1.82917343e-01 7.37740833e-03 5.98703273e+01] [-1.82911806e-01 9.83128294e-01 -1.42421060e-03 -7.72043894e+00] [-7.51345169e-03 5.07272378e-05 9.99971772e-01 -1.28200424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.638623853000006 meters Centerline goodness [0,1] 0.9999132622083442 Centerline is valid? [True, True] Translation: X:59.90, Y:-7.72, Z:-1.29 [[ 9.82623836e-01 1.85461912e-01 7.36723640e-03 5.99024524e+01] [-1.85456452e-01 9.82651453e-01 -1.42343668e-03 -7.72332653e+00] [-7.50341884e-03 3.24012818e-05 9.99971848e-01 -1.28593004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.66862385300001 meters Centerline goodness [0,1] 0.9998051526304395 Centerline is valid? [True, True] Translation: X:59.93, Y:-7.73, Z:-1.28 [[ 9.82414533e-01 1.86565903e-01 7.40602212e-03 5.99349253e+01] [-1.86560409e-01 9.82442448e-01 -1.43191249e-03 -7.72875093e+00] [-7.54313654e-03 2.50611208e-05 9.99971550e-01 -1.28044749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.698623853 meters Centerline goodness [0,1] 0.9998927682937291 Centerline is valid? [True, True] Translation: X:59.97, Y:-7.73, Z:-1.29 [[ 9.82179151e-01 1.87778024e-01 7.97046092e-03 5.99653326e+01] [-1.87771684e-01 9.82211491e-01 -1.54309369e-03 -7.73407408e+00] [-8.11843738e-03 1.89675774e-05 9.99967045e-01 -1.28614719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.728623853 meters Centerline goodness [0,1] 0.9999145664246049 Centerline is valid? [True, True] Translation: X:60.00, Y:-7.74, Z:-1.29 [[ 9.81769932e-01 1.89882157e-01 8.51868865e-03 5.99962481e+01] [-1.89874982e-01 9.81806889e-01 -1.65067473e-03 -7.73835882e+00] [-8.67714088e-03 3.09696188e-06 9.99962353e-01 -1.28514399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.758623853 meters Centerline goodness [0,1] 0.9998917702065024 Centerline is valid? [True, True] Translation: X:60.03, Y:-7.74, Z:-1.28 [[ 9.81644873e-01 1.90518950e-01 8.71046139e-03 6.00289987e+01] [-1.90511465e-01 9.81683518e-01 -1.68880575e-03 -7.74449970e+00] [-8.87266588e-03 -1.63524825e-06 9.99960637e-01 -1.28380037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.788623853000004 meters Centerline goodness [0,1] 0.9999787613626709 Centerline is valid? [True, True] Translation: X:60.06, Y:-7.75, Z:-1.29 [[ 9.81480614e-01 1.91343736e-01 9.13116816e-03 6.00604386e+01] [-1.91335523e-01 9.81523089e-01 -1.77285550e-03 -7.75009440e+00] [-9.30167717e-03 -7.09352823e-06 9.99956738e-01 -1.28529598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.818623853000005 meters Centerline goodness [0,1] 0.9999785522788204 Centerline is valid? [True, True] Translation: X:60.09, Y:-7.76, Z:-1.29 [[ 9.81308283e-01 1.92258590e-01 8.40759929e-03 6.00931705e+01] [-1.92251659e-01 9.81344300e-01 -1.63255162e-03 -7.75589323e+00] [-8.56462171e-03 -1.43384840e-05 9.99963323e-01 -1.28517302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.84862385300001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:60.12, Y:-7.76, Z:-1.29 [[ 9.81253867e-01 1.92545618e-01 8.18746576e-03 6.01245018e+01] [-1.92539042e-01 9.81288023e-01 -1.59140778e-03 -7.76187624e+00] [-8.34068069e-03 -1.48317738e-05 9.99965216e-01 -1.28709710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.878623853 meters Centerline goodness [0,1] 0.9999782693728541 Centerline is valid? [True, True] Translation: X:60.16, Y:-7.77, Z:-1.29 [[ 9.81191471e-01 1.92868565e-01 8.06315823e-03 6.01562953e+01] [-1.92862188e-01 9.81224600e-01 -1.56845212e-03 -7.76910754e+00] [-8.21427432e-03 -1.61265006e-05 9.99966262e-01 -1.28608791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.908623853 meters Centerline goodness [0,1] 0.9999784983228692 Centerline is valid? [True, True] Translation: X:60.19, Y:-7.78, Z:-1.29 [[ 9.81037136e-01 1.93674140e-01 7.51437038e-03 6.01870917e+01] [-1.93668614e-01 9.81065914e-01 -1.46308766e-03 -7.77561759e+00] [-7.65545488e-03 -1.99543666e-05 9.99970696e-01 -1.29037996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.938623853 meters Centerline goodness [0,1] 0.9999138376701706 Centerline is valid? [True, True] Translation: X:60.22, Y:-7.78, Z:-1.29 [[ 9.80991031e-01 1.93906738e-01 7.53490809e-03 6.02184333e+01] [-1.93901176e-01 9.81019968e-01 -1.46870730e-03 -7.78196857e+00] [-7.67668753e-03 -2.02388545e-05 9.99970534e-01 -1.29079943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.968623853000004 meters Centerline goodness [0,1] 0.999978606422352 Centerline is valid? [True, True] Translation: X:60.25, Y:-7.79, Z:-1.29 [[ 9.80964363e-01 1.94029130e-01 7.84956213e-03 6.02504787e+01] [-1.94023089e-01 9.80995768e-01 -1.53118285e-03 -7.78956200e+00] [-7.99748130e-03 -2.09604845e-05 9.99968019e-01 -1.28829024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.998623853000005 meters Centerline goodness [0,1] 0.9998289904020863 Centerline is valid? [True, True] Translation: X:60.28, Y:-7.80, Z:-1.28 [[ 9.81220773e-01 1.92722572e-01 7.98776860e-03 6.02813226e+01] [-1.92716260e-01 9.81253285e-01 -1.55984869e-03 -7.79929309e+00] [-8.13864223e-03 -8.81695288e-06 9.99966881e-01 -1.28407248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.028623853000006 meters Centerline goodness [0,1] 0.999892236734342 Centerline is valid? [True, True] Translation: X:60.31, Y:-7.81, Z:-1.29 [[ 9.81442492e-01 1.91580827e-01 8.21105683e-03 6.03128331e+01] [-1.91574106e-01 9.81476840e-01 -1.60482624e-03 -7.80833762e+00] [-8.36641605e-03 2.01879821e-06 9.99965001e-01 -1.28765143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.05862385300001 meters Centerline goodness [0,1] 0.9999142422228415 Centerline is valid? [True, True] Translation: X:60.34, Y:-7.82, Z:-1.29 [[ 9.81644591e-01 1.90539606e-01 8.27979389e-03 6.03439194e+01] [-1.90532719e-01 9.81679509e-01 -1.62003302e-03 -7.81777426e+00] [-8.43678446e-03 1.27250059e-05 9.99964410e-01 -1.29043080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.088623853 meters Centerline goodness [0,1] 0.9998280309544282 Centerline is valid? [True, True] Translation: X:60.38, Y:-7.83, Z:-1.29 [[ 9.82013961e-01 1.88615594e-01 8.52871621e-03 6.03751206e+01] [-1.88608201e-01 9.82050995e-01 -1.67031940e-03 -7.82961113e+00] [-8.69068252e-03 3.16911553e-05 9.99962235e-01 -1.28956363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.118623853 meters Centerline goodness [0,1] 0.9997839659530342 Centerline is valid? [True, True] Translation: X:60.41, Y:-7.84, Z:-1.29 [[ 9.82287879e-01 1.87219078e-01 7.71616266e-03 6.04064302e+01] [-1.87212973e-01 9.82318184e-01 -1.51250825e-03 -7.83830726e+00] [-7.86289730e-03 4.11527723e-05 9.99969086e-01 -1.28549263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.148623853000004 meters Centerline goodness [0,1] 0.9998700792516565 Centerline is valid? [True, True] Translation: X:60.44, Y:-7.85, Z:-1.29 [[ 9.82494638e-01 1.86138583e-01 7.53082397e-03 6.04376352e+01] [-1.86132726e-01 9.82523499e-01 -1.47741488e-03 -7.84739501e+00] [-7.67421542e-03 4.98193986e-05 9.99970552e-01 -1.29054196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.178623853000005 meters Centerline goodness [0,1] 0.9998918029948931 Centerline is valid? [True, True] Translation: X:60.47, Y:-7.86, Z:-1.29 [[ 9.82956210e-01 1.83712497e-01 6.84168569e-03 6.04668659e+01] [-1.83707597e-01 9.82980017e-01 -1.34330017e-03 -7.85940211e+00] [-6.97202134e-03 6.35356112e-05 9.99975693e-01 -1.29279891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.208623853000006 meters Centerline goodness [0,1] 0.9998255522362023 Centerline is valid? [True, True] Translation: X:60.50, Y:-7.87, Z:-1.29 [[ 9.83093478e-01 1.82988383e-01 6.51656042e-03 6.04965079e+01] [-1.82983910e-01 9.83115073e-01 -1.28114395e-03 -7.86786191e+00] [-6.64096323e-03 6.70585587e-05 9.99977946e-01 -1.29388137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.23862385300001 meters Centerline goodness [0,1] 0.9998052116699853 Centerline is valid? [True, True] Translation: X:60.53, Y:-7.88, Z:-1.29 [[ 9.83113566e-01 1.82876788e-01 6.61783824e-03 6.05288201e+01] [-1.82872176e-01 9.83135838e-01 -1.30060889e-03 -7.87580623e+00] [-6.74408512e-03 6.84277681e-05 9.99977256e-01 -1.29395673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.268623853 meters Centerline goodness [0,1] 0.9997389942578737 Centerline is valid? [True, True] Translation: X:60.56, Y:-7.88, Z:-1.29 [[ 9.83069788e-01 1.83113382e-01 6.57891661e-03 6.05614061e+01] [-1.83108821e-01 9.83091799e-01 -1.29422601e-03 -7.88250822e+00] [-6.70466907e-03 6.76568294e-05 9.99977521e-01 -1.28809942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.298623853 meters Centerline goodness [0,1] 0.9997842642331672 Centerline is valid? [True, True] Translation: X:60.59, Y:-7.89, Z:-1.29 [[ 9.82871390e-01 1.84143347e-01 7.42014352e-03 6.05917697e+01] [-1.84137556e-01 9.82899396e-01 -1.46205754e-03 -7.88987663e+00] [-7.56248275e-03 7.06874344e-05 9.99971402e-01 -1.29410579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.328623853 meters Centerline goodness [0,1] 0.9995913187498656 Centerline is valid? [True, True] Translation: X:60.62, Y:-7.90, Z:-1.29 [[ 9.82832926e-01 1.84363536e-01 7.03755648e-03 6.06232491e+01] [-1.84358322e-01 9.82858119e-01 -1.38809083e-03 -7.89752477e+00] [-7.17283286e-03 6.68292663e-05 9.99974273e-01 -1.28858461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.358623853000005 meters Centerline goodness [0,1] 0.9997833434439726 Centerline is valid? [True, True] Translation: X:60.66, Y:-7.90, Z:-1.30 [[ 9.82793624e-01 1.84559204e-01 7.38865390e-03 6.06559999e+01] [-1.84553461e-01 9.82821396e-01 -1.45756910e-03 -7.90368734e+00] [-7.53073493e-03 6.88879704e-05 9.99971641e-01 -1.29526217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.388623853000006 meters Centerline goodness [0,1] 0.9997833950657395 Centerline is valid? [True, True] Translation: X:60.69, Y:-7.91, Z:-1.30 [[ 9.82733340e-01 1.84865915e-01 7.73151864e-03 6.06880505e+01] [-1.84859623e-01 9.82763750e-01 -1.52690934e-03 -7.91105626e+00] [-7.88052974e-03 7.12990988e-05 9.99968946e-01 -1.29544550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.41862385300001 meters Centerline goodness [0,1] 0.9998274076630997 Centerline is valid? [True, True] Translation: X:60.72, Y:-7.92, Z:-1.30 [[ 9.82735440e-01 1.84837637e-01 8.13036047e-03 6.07188466e+01] [-1.84830661e-01 9.82769069e-01 -1.60762494e-03 -7.91956719e+00] [-8.28741638e-03 7.71300971e-05 9.99965656e-01 -1.29625690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.448623853 meters Centerline goodness [0,1] 0.9997193436960277 Centerline is valid? [True, True] Translation: X:60.75, Y:-7.93, Z:-1.30 [[ 9.82880342e-01 1.84044121e-01 8.60199115e-03 6.07510589e+01] [-1.84036268e-01 9.82917979e-01 -1.70261656e-03 -7.92828580e+00] [-8.76840833e-03 9.03899972e-05 9.99961553e-01 -1.29633234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.478623853 meters Centerline goodness [0,1] 0.9997418299950518 Centerline is valid? [True, True] Translation: X:60.78, Y:-7.94, Z:-1.30 [[ 9.82993709e-01 1.83435158e-01 8.65507467e-03 6.07822725e+01] [-1.83427167e-01 9.83031807e-01 -1.71503533e-03 -7.93594936e+00] [-8.82281146e-03 9.82931154e-05 9.99961073e-01 -1.29646485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.508623853 meters Centerline goodness [0,1] 0.9997814971813136 Centerline is valid? [True, True] Translation: X:60.81, Y:-7.95, Z:-1.30 [[ 9.83105643e-01 1.82837786e-01 8.58133950e-03 6.08123566e+01] [-1.82829888e-01 9.83143089e-01 -1.70255813e-03 -7.94501125e+00] [-8.74797658e-03 1.04869166e-04 9.99961730e-01 -1.29740867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.538623853000004 meters Centerline goodness [0,1] 0.9997619562865181 Centerline is valid? [True, True] Translation: X:60.84, Y:-7.96, Z:-1.30 [[ 9.83410672e-01 1.81237858e-01 7.50266230e-03 6.08428321e+01] [-1.81231776e-01 9.83439285e-01 -1.48829595e-03 -7.95681262e+00] [-7.64814842e-03 1.03885300e-04 9.99970747e-01 -1.30030788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.568623853000005 meters Centerline goodness [0,1] 0.9997199844914487 Centerline is valid? [True, True] Translation: X:60.87, Y:-7.97, Z:-1.30 [[ 9.83508739e-01 1.80714491e-01 7.26868244e-03 6.08729428e+01] [-1.80708759e-01 9.83535592e-01 -1.44316497e-03 -7.96553929e+00] [-7.40980871e-03 1.05850770e-04 9.99972541e-01 -1.30152192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.59862385300001 meters Centerline goodness [0,1] 0.9997452661968244 Centerline is valid? [True, True] Translation: X:60.90, Y:-7.98, Z:-1.31 [[ 9.83585034e-01 1.80296064e-01 7.33557088e-03 6.09018218e+01] [-1.80290201e-01 9.83612381e-01 -1.45827709e-03 -7.97895113e+00] [-7.47827996e-03 1.11807967e-04 9.99972031e-01 -1.30628717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.62862385300001 meters Centerline goodness [0,1] 0.9997420353411582 Centerline is valid? [True, True] Translation: X:60.93, Y:-7.98, Z:-1.30 [[ 9.83627897e-01 1.80057909e-01 7.43704180e-03 6.09342018e+01] [-1.80051877e-01 9.83656005e-01 -1.47826570e-03 -7.98319604e+00] [-7.58166425e-03 1.15010043e-04 9.99971252e-01 -1.30392136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.658623853 meters Centerline goodness [0,1] 0.9997861602942434 Centerline is valid? [True, True] Translation: X:60.97, Y:-7.99, Z:-1.30 [[ 9.83609379e-01 1.80123828e-01 8.24602023e-03 6.09659172e+01] [-1.80116398e-01 9.83643935e-01 -1.64111650e-03 -7.98980319e+00] [-8.40675197e-03 1.28974124e-04 9.99964654e-01 -1.30175960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.688623853 meters Centerline goodness [0,1] 0.9997861602942434 Centerline is valid? [True, True] Translation: X:61.00, Y:-8.00, Z:-1.30 [[ 9.83576211e-01 1.80304865e-01 8.24579759e-03 6.09977302e+01] [-1.80297432e-01 9.83610766e-01 -1.64223402e-03 -7.99634904e+00] [-8.40675807e-03 1.28566187e-04 9.99964654e-01 -1.30233302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.718623853000004 meters Centerline goodness [0,1] 0.9997662806756613 Centerline is valid? [True, True] Translation: X:61.03, Y:-8.00, Z:-1.30 [[ 9.83488943e-01 1.80764330e-01 8.58808397e-03 6.10284386e+01] [-1.80756266e-01 9.83526431e-01 -1.71250506e-03 -8.00389980e+00] [-8.75616740e-03 1.31879799e-04 9.99961655e-01 -1.30279174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.748623853000005 meters Centerline goodness [0,1] 0.9998091360223947 Centerline is valid? [True, True] Translation: X:61.06, Y:-8.01, Z:-1.30 [[ 9.83463272e-01 1.80895882e-01 8.75625821e-03 6.10606571e+01] [-1.80887495e-01 9.83502243e-01 -1.74713121e-03 -8.01104244e+00] [-8.92784843e-03 1.34341765e-04 9.99960137e-01 -1.30289284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.778623853000006 meters Centerline goodness [0,1] 0.9998072309801234 Centerline is valid? [True, True] Translation: X:61.09, Y:-8.02, Z:-1.30 [[ 9.83505917e-01 1.80657162e-01 8.89383240e-03 6.10910140e+01] [-1.80648482e-01 9.83546120e-01 -1.77644552e-03 -8.02152008e+00] [-9.06842196e-03 1.40487361e-04 9.99958871e-01 -1.30259712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.80862385300001 meters Centerline goodness [0,1] 0.9997415631124416 Centerline is valid? [True, True] Translation: X:61.12, Y:-8.03, Z:-1.30 [[ 9.83497974e-01 1.80690686e-01 9.08910185e-03 6.11233981e+01] [-1.80681608e-01 9.83539961e-01 -1.81699569e-03 -8.02820247e+00] [-9.26780907e-03 1.44778037e-04 9.99957042e-01 -1.30235915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.838623853 meters Centerline goodness [0,1] 0.999700733203651 Centerline is valid? [True, True] Translation: X:61.15, Y:-8.04, Z:-1.30 [[ 9.83506416e-01 1.80636317e-01 9.25472683e-03 6.11537174e+01] [-1.80626879e-01 9.83549947e-01 -1.85256973e-03 -8.03719242e+00] [-9.43712746e-03 1.50361786e-04 9.99955458e-01 -1.30366583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.868623853 meters Centerline goodness [0,1] 0.9997402484956058 Centerline is valid? [True, True] Translation: X:61.19, Y:-8.04, Z:-1.30 [[ 9.83519641e-01 1.80578484e-01 8.97369338e-03 6.11863811e+01] [-1.80569605e-01 9.83560567e-01 -1.79671322e-03 -8.04298663e+00] [-9.15061870e-03 1.46726474e-04 9.99958121e-01 -1.30324154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.898623853000004 meters Centerline goodness [0,1] 0.9997604268757486 Centerline is valid? [True, True] Translation: X:61.22, Y:-8.05, Z:-1.30 [[ 9.83529047e-01 1.80537893e-01 8.75687141e-03 6.12181217e+01] [-1.80529422e-01 9.83568019e-01 -1.75495408e-03 -8.05189977e+00] [-8.92981438e-03 1.45175380e-04 9.99960118e-01 -1.30437437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.928623853000005 meters Centerline goodness [0,1] 0.9995920032639739 Centerline is valid? [True, True] Translation: X:61.25, Y:-8.06, Z:-1.30 [[ 9.83494759e-01 1.80763951e-01 7.90268312e-03 6.12500319e+01] [-1.80757049e-01 9.83526500e-01 -1.58501158e-03 -8.05936445e+00] [-8.05901123e-03 1.30384903e-04 9.99967517e-01 -1.29836093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.958623853000006 meters Centerline goodness [0,1] 0.999785066414478 Centerline is valid? [True, True] Translation: X:61.28, Y:-8.07, Z:-1.31 [[ 9.83436390e-01 1.81079222e-01 7.94867789e-03 6.12802592e+01] [-1.81072236e-01 9.83468504e-01 -1.59597035e-03 -8.06803306e+00] [-8.10627142e-03 1.30250442e-04 9.99967135e-01 -1.30689571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.98862385300001 meters Centerline goodness [0,1] 0.9998255408234473 Centerline is valid? [True, True] Translation: X:61.31, Y:-8.08, Z:-1.31 [[ 9.83383138e-01 1.81367954e-01 7.95423498e-03 6.13126651e+01] [-1.81360956e-01 9.83415298e-01 -1.59841325e-03 -8.07540951e+00] [-8.11221731e-03 1.29264974e-04 9.99967087e-01 -1.30699511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.01862385300001 meters Centerline goodness [0,1] 0.9998913397805064 Centerline is valid? [True, True] Translation: X:61.34, Y:-8.08, Z:-1.31 [[ 9.83312967e-01 1.81749499e-01 7.92011436e-03 6.13435797e+01] [-1.81742560e-01 9.83344855e-01 -1.59325928e-03 -8.08445542e+00] [-8.07777778e-03 1.27250650e-04 9.99967366e-01 -1.30841146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.04862385300001 meters Centerline goodness [0,1] 0.9998069456659302 Centerline is valid? [True, True] Translation: X:61.37, Y:-8.09, Z:-1.31 [[ 9.83231459e-01 1.82192953e-01 7.85024401e-03 6.13741448e+01] [-1.82186138e-01 9.83262789e-01 -1.58066437e-03 -8.09253582e+00] [-8.00683873e-03 1.23953291e-04 9.99967937e-01 -1.31033385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.07862385300001 meters Centerline goodness [0,1] 0.9998277050310131 Centerline is valid? [True, True] Translation: X:61.41, Y:-8.10, Z:-1.31 [[ 9.83127787e-01 1.82750955e-01 7.86404825e-03 6.14051447e+01] [-1.82744121e-01 9.83159231e-01 -1.58509262e-03 -8.10154819e+00] [-8.02128882e-03 1.21240012e-04 9.99967822e-01 -1.31161869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.108623853 meters Centerline goodness [0,1] 0.9998706534158277 Centerline is valid? [True, True] Translation: X:61.44, Y:-8.11, Z:-1.31 [[ 9.83118509e-01 1.82808426e-01 7.68611790e-03 6.14373137e+01] [-1.82801892e-01 9.83148547e-01 -1.55015602e-03 -8.10938392e+00] [-7.83997722e-03 1.18950175e-04 9.99969260e-01 -1.31136126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.138623853 meters Centerline goodness [0,1] 0.9998272138228942 Centerline is valid? [True, True] Translation: X:61.47, Y:-8.12, Z:-1.31 [[ 9.83173930e-01 1.82524902e-01 7.32691814e-03 6.14684482e+01] [-1.82518945e-01 9.83201224e-01 -1.47925561e-03 -8.11888205e+00] [-7.47383587e-03 1.17064186e-04 9.99972064e-01 -1.31251816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.168623853 meters Centerline goodness [0,1] 0.9997856055571039 Centerline is valid? [True, True] Translation: X:61.50, Y:-8.13, Z:-1.31 [[ 9.83340942e-01 1.81629957e-01 7.15198109e-03 6.14971137e+01] [-1.81624248e-01 9.83366943e-01 -1.44523732e-03 -8.13283987e+00] [-7.29552017e-03 1.22187843e-04 9.99973380e-01 -1.31412406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.198623853 meters Centerline goodness [0,1] 0.9998048484322825 Centerline is valid? [True, True] Translation: X:61.53, Y:-8.14, Z:-1.31 [[ 9.83406360e-01 1.81272458e-01 7.22684710e-03 6.15280476e+01] [-1.81266611e-01 9.83432906e-01 -1.46144959e-03 -8.14215290e+00] [-7.37203980e-03 1.27212737e-04 9.99972818e-01 -1.31416635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.228623853 meters Centerline goodness [0,1] 0.9998056575253725 Centerline is valid? [True, True] Translation: X:61.56, Y:-8.15, Z:-1.31 [[ 9.83440994e-01 1.81087361e-01 7.15391561e-03 6.15601681e+01] [-1.81081620e-01 9.83467006e-01 -1.44763794e-03 -8.15181411e+00] [-7.29778890e-03 1.28223872e-04 9.99973363e-01 -1.31439022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.258623853 meters Centerline goodness [0,1] 0.9996989700475197 Centerline is valid? [True, True] Translation: X:61.59, Y:-8.16, Z:-1.31 [[ 9.83360006e-01 1.81509052e-01 7.58698203e-03 6.15902552e+01] [-1.81502592e-01 9.83389265e-01 -1.53718077e-03 -8.16364971e+00] [-7.73996891e-03 1.34545180e-04 9.99970037e-01 -1.30841987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.288623853 meters Centerline goodness [0,1] 0.9997831884309347 Centerline is valid? [True, True] Translation: X:61.62, Y:-8.17, Z:-1.31 [[ 9.83236045e-01 1.82152518e-01 8.20612760e-03 6.16198789e+01] [-1.82144969e-01 9.83270278e-01 -1.66439054e-03 -8.17391847e+00] [-8.37201429e-03 1.41783907e-04 9.99964944e-01 -1.31390510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.318623853 meters Centerline goodness [0,1] 0.9998266672444425 Centerline is valid? [True, True] Translation: X:61.65, Y:-8.18, Z:-1.31 [[ 9.82987558e-01 1.83478818e-01 8.42517470e-03 6.16517869e+01] [-1.83470898e-01 9.83023654e-01 -1.71008678e-03 -8.17983171e+00] [-8.59591072e-03 1.35219655e-04 9.99963045e-01 -1.31267340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.348623853 meters Centerline goodness [0,1] 0.9998920645885502 Centerline is valid? [True, True] Translation: X:61.68, Y:-8.19, Z:-1.31 [[ 9.82468512e-01 1.86245334e-01 8.26430453e-03 6.16819467e+01] [-1.86237794e-01 9.82503264e-01 -1.67951253e-03 -8.18748681e+00] [-8.43250755e-03 1.10942335e-04 9.99964440e-01 -1.31313169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.37862385300001 meters Centerline goodness [0,1] 0.999892364325232 Centerline is valid? [True, True] Translation: X:61.71, Y:-8.19, Z:-1.31 [[ 9.82161260e-01 1.87849334e-01 8.47864776e-03 6.17120097e+01] [-1.87841454e-01 9.82197851e-01 -1.72343453e-03 -8.19464269e+00] [-8.65145564e-03 1.00049106e-04 9.99962570e-01 -1.31418467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.40862385300001 meters Centerline goodness [0,1] 0.999913071824405 Centerline is valid? [True, True] Translation: X:61.74, Y:-8.20, Z:-1.32 [[ 9.81825313e-01 1.89600754e-01 8.40284916e-03 6.17427681e+01] [-1.89593068e-01 9.81861267e-01 -1.70939567e-03 -8.20119360e+00] [-8.57453483e-03 8.52059933e-05 9.99963234e-01 -1.31519029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.43862385300001 meters Centerline goodness [0,1] 0.9998711782892477 Centerline is valid? [True, True] Translation: X:61.77, Y:-8.21, Z:-1.32 [[ 9.81112937e-01 1.93255703e-01 8.34491004e-03 6.17735388e+01] [-1.93248243e-01 9.81148424e-01 -1.69890505e-03 -8.20715526e+00] [-8.51591843e-03 5.41785232e-05 9.99963737e-01 -1.31551971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.46862385300001 meters Centerline goodness [0,1] 0.9998926439644437 Centerline is valid? [True, True] Translation: X:61.81, Y:-8.21, Z:-1.32 [[ 9.80765225e-01 1.95003552e-01 8.55498431e-03 6.18052762e+01] [-1.94995767e-01 9.80802535e-01 -1.74296574e-03 -8.21404061e+00] [-8.73063481e-03 4.12544572e-05 9.99961886e-01 -1.31548002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.498623853 meters Centerline goodness [0,1] 0.9998706840812104 Centerline is valid? [True, True] Translation: X:61.84, Y:-8.22, Z:-1.32 [[ 9.80455042e-01 1.96541973e-01 8.89736816e-03 6.18365438e+01] [-1.96533601e-01 9.80495412e-01 -1.81428223e-03 -8.22129728e+00] [-9.08041126e-03 3.01903608e-05 9.99958772e-01 -1.31520870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.528623853 meters Centerline goodness [0,1] 0.9999571651924354 Centerline is valid? [True, True] Translation: X:61.87, Y:-8.23, Z:-1.32 [[ 9.79824784e-01 1.99655271e-01 9.00921125e-03 6.18663659e+01] [-1.99646804e-01 9.79866201e-01 -1.83873080e-03 -8.22897693e+00] [-9.19493390e-03 2.97378139e-06 9.99957726e-01 -1.31510964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.558623853 meters Centerline goodness [0,1] 0.9999573041863246 Centerline is valid? [True, True] Translation: X:61.90, Y:-8.24, Z:-1.32 [[ 9.79475250e-01 2.01362509e-01 9.02074661e-03 6.18980100e+01] [-2.01354077e-01 9.79516789e-01 -1.84278073e-03 -8.23526275e+00] [-9.20703971e-03 -1.14059911e-05 9.99957614e-01 -1.31591727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.588623853 meters Centerline goodness [0,1] 0.9999140043857764 Centerline is valid? [True, True] Translation: X:61.93, Y:-8.24, Z:-1.32 [[ 9.79066363e-01 2.03327139e-01 9.33445720e-03 6.19305538e+01] [-2.03318194e-01 9.79110859e-01 -1.90747069e-03 -8.24149257e+00] [-9.52730897e-03 -3.03245932e-05 9.99954614e-01 -1.31526477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.618623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:61.96, Y:-8.25, Z:-1.31 [[ 9.78134316e-01 2.07768339e-01 9.25075165e-03 6.19621639e+01] [-2.07759735e-01 9.78178058e-01 -1.89216894e-03 -8.24749025e+00] [-9.44201507e-03 -7.11383398e-05 9.99955421e-01 -1.31410570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.648623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:61.99, Y:-8.25, Z:-1.32 [[ 9.77659336e-01 2.10005930e-01 8.92926245e-03 6.19937402e+01] [-2.09997993e-01 9.77700108e-01 -1.82802469e-03 -8.25033729e+00] [-9.11403689e-03 -8.79417802e-05 9.99958462e-01 -1.31714209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.678623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:62.03, Y:-8.26, Z:-1.32 [[ 9.77211321e-01 2.12080245e-01 8.94446191e-03 6.20259109e+01] [-2.12072353e-01 9.77252249e-01 -1.83265399e-03 -8.25500084e+00] [-9.12966523e-03 -1.05982865e-04 9.99958318e-01 -1.31808255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.708623853 meters Centerline goodness [0,1] 0.9999572439446737 Centerline is valid? [True, True] Translation: X:62.06, Y:-8.26, Z:-1.32 [[ 9.76731410e-01 2.14278716e-01 8.96576279e-03 6.20564488e+01] [-2.14270855e-01 9.76772551e-01 -1.83963114e-03 -8.25901508e+00] [-9.15170479e-03 -1.24276145e-04 9.99958115e-01 -1.31878391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.738623853 meters Centerline goodness [0,1] 0.9999570123589469 Centerline is valid? [True, True] Translation: X:62.09, Y:-8.27, Z:-1.32 [[ 9.75787933e-01 2.18544734e-01 8.72405994e-03 6.20874847e+01] [-2.18537471e-01 9.75826918e-01 -1.78906524e-03 -8.26524847e+00] [-8.90416331e-03 -1.60785715e-04 9.99960344e-01 -1.31840235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.76862385300001 meters Centerline goodness [0,1] 0.9999785958904109 Centerline is valid? [True, True] Translation: X:62.12, Y:-8.27, Z:-1.32 [[ 9.75290568e-01 2.20779721e-01 8.03881842e-03 6.21189226e+01] [-2.20773621e-01 9.75323683e-01 -1.64947740e-03 -8.27072685e+00] [-8.20462115e-03 -1.66039306e-04 9.99966328e-01 -1.31955938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.79862385300001 meters Centerline goodness [0,1] 0.9998927889872847 Centerline is valid? [True, True] Translation: X:62.15, Y:-8.27, Z:-1.32 [[ 9.74322240e-01 2.25027768e-01 7.66006821e-03 6.21502306e+01] [-2.25022341e-01 9.74352332e-01 -1.57430293e-03 -8.26973415e+00] [-7.81786720e-03 -1.89808129e-04 9.99969422e-01 -1.32149206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.82862385300001 meters Centerline goodness [0,1] 0.9999785167998625 Centerline is valid? [True, True] Translation: X:62.18, Y:-8.28, Z:-1.32 [[ 9.73879129e-01 2.26937242e-01 7.67659920e-03 6.21819100e+01] [-2.26931859e-01 9.73909362e-01 -1.57659331e-03 -8.27667717e+00] [-7.83409957e-03 -2.06653613e-04 9.99969292e-01 -1.32027280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.858623853 meters Centerline goodness [0,1] 0.9998715725935915 Centerline is valid? [True, True] Translation: X:62.21, Y:-8.28, Z:-1.32 [[ 9.73410758e-01 2.28929634e-01 7.91950955e-03 6.22129036e+01] [-2.28923959e-01 9.73442947e-01 -1.62807665e-03 -8.27893578e+00] [-8.08190571e-03 -2.28178151e-04 9.99967315e-01 -1.32111237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.888623853 meters Centerline goodness [0,1] 0.9995712386914205 Centerline is valid? [True, True] Translation: X:62.24, Y:-8.28, Z:-1.32 [[ 9.72976506e-01 2.30758647e-01 8.19550920e-03 6.22437575e+01] [-2.30752616e-01 9.73010989e-01 -1.68690633e-03 -8.28134246e+00] [-8.36358873e-03 -2.49814963e-04 9.99964993e-01 -1.32155202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.918623853 meters Centerline goodness [0,1] 0.9994831039607159 Centerline is valid? [True, True] Translation: X:62.27, Y:-8.28, Z:-1.32 [[ 9.72249467e-01 2.33766452e-01 9.17717897e-03 6.22746242e+01] [-2.33759011e-01 9.72292729e-01 -1.89032749e-03 -8.28369275e+00] [-9.36479954e-03 -3.07378378e-04 9.99956102e-01 -1.32020352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.948623853 meters Centerline goodness [0,1] 0.9993990900506481 Centerline is valid? [True, True] Translation: X:62.31, Y:-8.29, Z:-1.32 [[ 9.71908833e-01 2.35155029e-01 9.76387217e-03 6.23069119e+01] [-2.35146682e-01 9.71957816e-01 -2.01054426e-03 -8.28763435e+00] [-9.96286146e-03 -3.41876422e-04 9.99950311e-01 -1.31920960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.978623853 meters Centerline goodness [0,1] 0.9987484089944845 Centerline is valid? [True, True] Translation: X:62.34, Y:-8.29, Z:-1.32 [[ 9.71631412e-01 2.36292413e-01 9.91434813e-03 6.23385612e+01] [-2.36283843e-01 9.71681927e-01 -2.04385361e-03 -8.28716152e+00] [-1.01165400e-02 -3.56727909e-04 9.99948763e-01 -1.32047833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.008623853 meters Centerline goodness [0,1] 0.998716714789862 Centerline is valid? [True, True] Translation: X:62.37, Y:-8.29, Z:-1.32 [[ 9.71536338e-01 2.36691831e-01 9.70158596e-03 6.23704460e+01] [-2.36683643e-01 9.71584712e-01 -2.00020519e-03 -8.29311060e+00] [-9.89934483e-03 -3.52934682e-04 9.99950938e-01 -1.32100624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.038623853 meters Centerline goodness [0,1] 0.9985785052767607 Centerline is valid? [True, True] Translation: X:62.40, Y:-8.30, Z:-1.32 [[ 9.71530860e-01 2.36726951e-01 9.38822091e-03 6.24031606e+01] [-2.36719272e-01 9.71576160e-01 -1.93687634e-03 -8.29840461e+00] [-9.57988245e-03 -3.40637688e-04 9.99954054e-01 -1.32225312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.068623853 meters Centerline goodness [0,1] 0.9992295839753467 Centerline is valid? [True, True] Translation: X:62.43, Y:-8.30, Z:-1.32 [[ 9.71608996e-01 2.36419568e-01 9.04136637e-03 6.24346960e+01] [-2.36412417e-01 9.71651009e-01 -1.86711813e-03 -8.30463525e+00] [-9.22647601e-03 -3.23382496e-04 9.99957383e-01 -1.32330913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.098623853 meters Centerline goodness [0,1] 0.999221015276756 Centerline is valid? [True, True] Translation: X:62.46, Y:-8.31, Z:-1.32 [[ 9.72039578e-01 2.34644221e-01 9.00822174e-03 6.24646926e+01] [-2.34637019e-01 9.72081271e-01 -1.86306404e-03 -8.30931672e+00] [-9.19388085e-03 -3.02690313e-04 9.99957690e-01 -1.32468288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.12862385300001 meters Centerline goodness [0,1] 0.9995699294684328 Centerline is valid? [True, True] Translation: X:62.50, Y:-8.32, Z:-1.32 [[ 9.72339100e-01 2.33396439e-01 9.09814281e-03 6.24963481e+01] [-2.33389043e-01 9.72381620e-01 -1.88112180e-03 -8.31702947e+00] [-9.28591397e-03 -2.94318570e-04 9.99956842e-01 -1.32452289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.15862385300001 meters Centerline goodness [0,1] 0.9994851663556213 Centerline is valid? [True, True] Translation: X:62.53, Y:-8.32, Z:-1.33 [[ 9.72661217e-01 2.32052170e-01 9.05242845e-03 6.25268841e+01] [-2.32044788e-01 9.72703301e-01 -1.87195677e-03 -8.32181355e+00] [-9.23971867e-03 -2.79789100e-04 9.99957274e-01 -1.32558893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.18862385300001 meters Centerline goodness [0,1] 0.9997638876964025 Centerline is valid? [True, True] Translation: X:62.56, Y:-8.33, Z:-1.33 [[ 9.73401043e-01 2.28942415e-01 8.70520324e-03 6.25573917e+01] [-2.28935443e-01 9.73439939e-01 -1.80254874e-03 -8.32519082e+00] [-8.88667237e-03 -2.38326736e-04 9.99960484e-01 -1.32716953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.21862385300001 meters Centerline goodness [0,1] 0.9998915424828095 Centerline is valid? [True, True] Translation: X:62.59, Y:-8.34, Z:-1.33 [[ 9.73737327e-01 2.27506985e-01 8.72865661e-03 6.25880849e+01] [-2.27499927e-01 9.73776422e-01 -1.80632053e-03 -8.33571707e+00] [-8.91071055e-03 -2.26887020e-04 9.99960273e-01 -1.32601018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.248623853 meters Centerline goodness [0,1] 0.999893235394602 Centerline is valid? [True, True] Translation: X:62.62, Y:-8.34, Z:-1.33 [[ 9.74055524e-01 2.26132425e-01 8.94216959e-03 6.26197816e+01] [-2.26124944e-01 9.74096545e-01 -1.85225461e-03 -8.33710884e+00] [-9.12939132e-03 -2.17848764e-04 9.99958303e-01 -1.32772228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.278623853 meters Centerline goodness [0,1] 0.9999785241817714 Centerline is valid? [True, True] Translation: X:62.65, Y:-8.35, Z:-1.33 [[ 9.74810848e-01 2.22820574e-01 9.73664405e-03 6.26501723e+01] [-2.22811511e-01 9.74859452e-01 -2.01967517e-03 -8.34602743e+00] [-9.94188466e-03 -2.00635110e-04 9.99950558e-01 -1.32560351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.308623853 meters Centerline goodness [0,1] 0.9999143267150721 Centerline is valid? [True, True] Translation: X:62.68, Y:-8.35, Z:-1.33 [[ 9.75144632e-01 2.21351212e-01 9.82790856e-03 6.26810897e+01] [-2.21341911e-01 9.75194137e-01 -2.03785279e-03 -8.35191085e+00] [-1.00352000e-02 -1.88126854e-04 9.99949628e-01 -1.32608503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.338623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:62.71, Y:-8.36, Z:-1.33 [[ 9.75428765e-01 2.20094476e-01 9.85629123e-03 6.27129162e+01] [-2.20085042e-01 9.75478545e-01 -2.04522774e-03 -8.35808163e+00] [-1.00647440e-02 -1.74248296e-04 9.99949334e-01 -1.32614788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.368623853 meters Centerline goodness [0,1] 0.9998065472991854 Centerline is valid? [True, True] Translation: X:62.74, Y:-8.36, Z:-1.32 [[ 9.75754406e-01 2.18669949e-01 9.31625592e-03 6.27439485e+01] [-2.18661441e-01 9.75798868e-01 -1.93470054e-03 -8.36272842e+00] [-9.51385285e-03 -1.49313372e-04 9.99954731e-01 -1.31979885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.398623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:62.78, Y:-8.37, Z:-1.33 [[ 9.76496045e-01 2.15300366e-01 1.00611469e-02 6.27755834e+01] [-2.15290238e-01 9.76547867e-01 -2.09189975e-03 -8.37044818e+00] [-1.02755783e-02 -1.23334882e-04 9.99947197e-01 -1.32738090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.428623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:62.81, Y:-8.38, Z:-1.33 [[ 9.76880711e-01 2.13532247e-01 1.03950168e-02 6.28062976e+01] [-2.13521336e-01 9.76936010e-01 -2.16131385e-03 -8.37716797e+00] [-1.06167764e-02 -1.08212056e-04 9.99943635e-01 -1.32777912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.458623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:62.84, Y:-8.38, Z:-1.33 [[ 9.77205378e-01 2.12034541e-01 1.05357294e-02 6.28382274e+01] [-2.12023223e-01 9.77262168e-01 -2.19270818e-03 -8.38399303e+00] [-1.07610996e-02 -9.10930739e-05 9.99942094e-01 -1.32799568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.488623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:62.87, Y:-8.39, Z:-1.33 [[ 9.77867316e-01 2.08987590e-01 9.98499170e-03 6.28698214e+01] [-2.08977262e-01 9.77918291e-01 -2.07834685e-03 -8.39004756e+00] [-1.01988547e-02 -5.42887676e-05 9.99947989e-01 -1.32981457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.51862385300001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:62.90, Y:-8.40, Z:-1.33 [[ 9.78133849e-01 2.07749376e-01 9.71448453e-03 6.29004514e+01] [-2.07739518e-01 9.78182087e-01 -2.02420863e-03 -8.39561159e+00] [-9.92306283e-03 -3.81353540e-05 9.99950764e-01 -1.33268177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.54862385300001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:62.93, Y:-8.40, Z:-1.33 [[ 9.78356792e-01 2.06706687e-01 9.50442740e-03 6.29329188e+01] [-2.06697200e-01 9.78402956e-01 -1.98054404e-03 -8.40341048e+00] [-9.70855157e-03 -2.68598221e-05 9.99952871e-01 -1.33225509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.57862385300001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:62.96, Y:-8.41, Z:-1.33 [[ 9.78317770e-01 2.06891308e-01 9.50405101e-03 6.29646700e+01] [-2.06881813e-01 9.78363933e-01 -1.98234788e-03 -8.41022169e+00] [-9.70855128e-03 -2.68491461e-05 9.99952871e-01 -1.33282852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.608623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:63.00, Y:-8.41, Z:-1.34 [[ 9.78691694e-01 2.05150898e-01 8.69927459e-03 6.29958610e+01] [-2.05142861e-01 9.78730356e-01 -1.81602673e-03 -8.41498758e+00] [-8.88680363e-03 -7.26379317e-06 9.99960512e-01 -1.33516640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.638623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:63.03, Y:-8.42, Z:-1.34 [[ 9.78745505e-01 2.04918486e-01 8.10254505e-03 6.30281162e+01] [-2.04911496e-01 9.78779042e-01 -1.69262079e-03 -8.42041818e+00] [-8.27745058e-03 -3.65963266e-06 9.99965741e-01 -1.33698737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.668623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:63.06, Y:-8.42, Z:-1.34 [[ 9.78759817e-01 2.04884956e-01 7.16772124e-03 6.30590647e+01] [-2.04879475e-01 9.78786062e-01 -1.49872967e-03 -8.42366633e+00] [-7.32273281e-03 -1.62258287e-06 9.99973188e-01 -1.33940739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.698623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:63.09, Y:-8.43, Z:-1.34 [[ 9.78741854e-01 2.04993523e-01 6.48368856e-03 6.30917602e+01] [-2.04989038e-01 9.78763330e-01 -1.35608383e-03 -8.42834847e+00] [-6.62398501e-03 -1.82907397e-06 9.99978061e-01 -1.34117820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.728623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:63.12, Y:-8.43, Z:-1.34 [[ 9.78695230e-01 2.05226669e-01 6.13684315e-03 6.31233160e+01] [-2.05222648e-01 9.78714470e-01 -1.28468389e-03 -8.43227411e+00] [-6.26986859e-03 -2.10521115e-06 9.99980344e-01 -1.34295911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.758623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:63.16, Y:-8.44, Z:-1.34 [[ 9.78622187e-01 2.05582434e-01 5.87175295e-03 6.31559437e+01] [-2.05578756e-01 9.78639802e-01 -1.22982732e-03 -8.43644461e+00] [-5.99916204e-03 -3.57135894e-06 9.99982005e-01 -1.34200325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.788623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:63.19, Y:-8.44, Z:-1.34 [[ 9.78522038e-01 2.06054971e-01 5.99744963e-03 6.31880551e+01] [-2.06051133e-01 9.78540418e-01 -1.25761709e-03 -8.43865196e+00] [-6.12788512e-03 -5.17524711e-06 9.99981224e-01 -1.34285594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.818623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:63.22, Y:-8.44, Z:-1.34 [[ 9.78438328e-01 2.06447212e-01 6.16331881e-03 6.32196442e+01] [-2.06443159e-01 9.78457740e-01 -1.29373985e-03 -8.44243714e+00] [-6.29763598e-03 -6.53034762e-06 9.99980170e-01 -1.34491688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.848623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:63.25, Y:-8.44, Z:-1.35 [[ 9.78337169e-01 2.06921016e-01 6.33066029e-03 6.32525150e+01] [-2.06916740e-01 9.78357651e-01 -1.33020297e-03 -8.44357015e+00] [-6.46889688e-03 -8.53258125e-06 9.99979076e-01 -1.34591144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.87862385300001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:63.29, Y:-8.45, Z:-1.34 [[ 9.78236156e-01 2.07391711e-01 6.53456886e-03 6.32854061e+01] [-2.07387159e-01 9.78257981e-01 -1.37406541e-03 -8.44839757e+00] [-6.67746391e-03 -1.10252104e-05 9.99977705e-01 -1.34364483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.90862385300001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:63.32, Y:-8.45, Z:-1.35 [[ 9.78148837e-01 2.07800338e-01 6.62357576e-03 6.33168512e+01] [-2.07795661e-01 9.78171263e-01 -1.39431418e-03 -8.45253593e+00] [-6.76873042e-03 -1.25035126e-05 9.99977092e-01 -1.34523015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.93862385300001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:63.35, Y:-8.45, Z:-1.35 [[ 9.78145407e-01 2.07806059e-01 6.94289105e-03 6.33494422e+01] [-2.07800909e-01 9.78170047e-01 -1.46305029e-03 -8.45491903e+00] [-7.09535878e-03 -1.16631521e-05 9.99974828e-01 -1.34542873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.96862385300001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:63.38, Y:-8.46, Z:-1.34 [[ 9.78209794e-01 2.07481476e-01 7.55219718e-03 6.33809267e+01] [-2.07475359e-01 9.78238947e-01 -1.59319296e-03 -8.46032360e+00] [-7.71841144e-03 -8.41786678e-06 9.99970213e-01 -1.34479337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.998623853 meters Centerline goodness [0,1] 0.9999568807537245 Centerline is valid? [True, True] Translation: X:63.41, Y:-8.47, Z:-1.34 [[ 9.78274586e-01 2.07170602e-01 7.69259311e-03 6.34126795e+01] [-2.07164236e-01 9.78304831e-01 -1.62409449e-03 -8.46559547e+00] [-7.86216564e-03 -4.81980949e-06 9.99969093e-01 -1.33970808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.028623853 meters Centerline goodness [0,1] 0.9999783942615159 Centerline is valid? [True, True] Translation: X:63.45, Y:-8.47, Z:-1.34 [[ 9.78383249e-01 2.06636243e-01 8.22684414e-03 6.34450482e+01] [-2.06628930e-01 9.78417837e-01 -1.73854525e-03 -8.47197810e+00] [-8.40853751e-03 1.05954951e-06 9.99964648e-01 -1.34487449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.058623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:63.48, Y:-8.48, Z:-1.35 [[ 9.78713814e-01 2.05062961e-01 8.27356588e-03 6.34763529e+01] [-2.05055488e-01 9.78748784e-01 -1.75073105e-03 -8.47768219e+00] [-8.45675263e-03 1.69245732e-05 9.99964241e-01 -1.34567327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.088623853 meters Centerline goodness [0,1] 0.9999784774982244 Centerline is valid? [True, True] Translation: X:63.51, Y:-8.48, Z:-1.35 [[ 9.78875519e-01 2.04302175e-01 7.95859594e-03 6.35081040e+01] [-2.04295233e-01 9.78907871e-01 -1.68429695e-03 -8.48465027e+00] [-8.13483774e-03 2.28138396e-05 9.99966911e-01 -1.34672287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.118623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:63.54, Y:-8.49, Z:-1.35 [[ 9.79249169e-01 2.02512283e-01 7.73564065e-03 6.35397345e+01] [-2.02505657e-01 9.79279722e-01 -1.63869955e-03 -8.49157030e+00] [-7.90721281e-03 3.81841823e-05 9.99968737e-01 -1.34710809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.148623853 meters Centerline goodness [0,1] 0.999978454776576 Centerline is valid? [True, True] Translation: X:63.57, Y:-8.50, Z:-1.35 [[ 9.79460569e-01 2.01494782e-01 7.53961410e-03 6.35702009e+01] [-2.01488446e-01 9.79489587e-01 -1.59857432e-03 -8.49932105e+00] [-7.70707788e-03 4.65953884e-05 9.99970299e-01 -1.34878876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.178623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:63.60, Y:-8.51, Z:-1.35 [[ 9.79698861e-01 2.00337339e-01 7.42245064e-03 6.36005327e+01] [-2.00331151e-01 9.79726976e-01 -1.57559937e-03 -8.50812227e+00] [-7.58762651e-03 5.66648258e-05 9.99971212e-01 -1.35059686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.208623853 meters Centerline goodness [0,1] 0.9999356858037131 Centerline is valid? [True, True] Translation: X:63.63, Y:-8.52, Z:-1.35 [[ 9.80168677e-01 1.98024589e-01 7.45828868e-03 6.36299835e+01] [-1.98018273e-01 9.80197050e-01 -1.58333908e-03 -8.51790224e+00] [-7.62413263e-03 7.50619272e-05 9.99970933e-01 -1.35101217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.238623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:63.66, Y:-8.52, Z:-1.35 [[ 9.80331983e-01 1.97208843e-01 7.60759272e-03 6.36620374e+01] [-1.97202239e-01 9.80361497e-01 -1.61609333e-03 -8.52396500e+00] [-7.77689889e-03 8.40736649e-05 9.99969756e-01 -1.34955157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.26862385300001 meters Centerline goodness [0,1] 0.9999573842449554 Centerline is valid? [True, True] Translation: X:63.69, Y:-8.53, Z:-1.35 [[ 9.80535382e-01 1.96184255e-01 7.88050721e-03 6.36915343e+01] [-1.96177122e-01 9.80567044e-01 -1.67568858e-03 -8.53409644e+00] [-8.05610938e-03 9.70967147e-05 9.99967544e-01 -1.35148410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.29862385300001 meters Centerline goodness [0,1] 0.9999349028968211 Centerline is valid? [True, True] Translation: X:63.72, Y:-8.54, Z:-1.35 [[ 9.81073552e-01 1.93456002e-01 8.33428314e-03 6.37225097e+01] [-1.93447913e-01 9.81108944e-01 -1.77360555e-03 -8.54429572e+00] [-8.51995437e-03 1.27787818e-04 9.99963696e-01 -1.35066754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.32862385300001 meters Centerline goodness [0,1] 0.9999130888232227 Centerline is valid? [True, True] Translation: X:63.75, Y:-8.55, Z:-1.35 [[ 9.81315138e-01 1.92221989e-01 8.44430819e-03 6.37538193e+01] [-1.92213627e-01 9.81351459e-01 -1.79853151e-03 -8.55350235e+00] [-8.63255147e-03 1.41815093e-04 9.99962729e-01 -1.35113111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.358623853 meters Centerline goodness [0,1] 0.9996584261987106 Centerline is valid? [True, True] Translation: X:63.78, Y:-8.56, Z:-1.35 [[ 9.81499618e-01 1.91270789e-01 8.60148823e-03 6.37828344e+01] [-1.91262062e-01 9.81537295e-01 -1.83368247e-03 -8.56476395e+00] [-8.79341138e-03 1.54620268e-04 9.99961325e-01 -1.35263459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.388623853 meters Centerline goodness [0,1] 0.999246598932323 Centerline is valid? [True, True] Translation: X:63.81, Y:-8.57, Z:-1.35 [[ 9.81830817e-01 1.89548953e-01 8.91298625e-03 6.38138746e+01] [-1.89539498e-01 9.81871256e-01 -1.90152942e-03 -8.57418082e+00] [-9.11183791e-03 1.77617240e-04 9.99958471e-01 -1.34649564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.418623853 meters Centerline goodness [0,1] 0.9992452341930476 Centerline is valid? [True, True] Translation: X:63.85, Y:-8.58, Z:-1.35 [[ 9.81909144e-01 1.89106874e-01 9.64490192e-03 6.38453210e+01] [-1.89095764e-01 9.81956491e-01 -2.05939042e-03 -8.58340680e+00] [-9.86031893e-03 1.98324183e-04 9.99951366e-01 -1.35107466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.448623853 meters Centerline goodness [0,1] 0.9988950036833211 Centerline is valid? [True, True] Translation: X:63.88, Y:-8.59, Z:-1.34 [[ 9.81893399e-01 1.89235158e-01 8.68376833e-03 6.38775910e+01] [-1.89226144e-01 9.81931781e-01 -1.85569822e-03 -8.58896085e+00] [-8.87803145e-03 1.78901839e-04 9.99960573e-01 -1.34461605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.478623853 meters Centerline goodness [0,1] 0.999632090375917 Centerline is valid? [True, True] Translation: X:63.91, Y:-8.60, Z:-1.35 [[ 9.81843383e-01 1.89497053e-01 8.62773384e-03 6.39079373e+01] [-1.89488152e-01 9.81881274e-01 -1.84513092e-03 -8.59731476e+00] [-8.82105716e-03 1.76776241e-04 9.99961078e-01 -1.35305572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.508623853 meters Centerline goodness [0,1] 0.9992504069219567 Centerline is valid? [True, True] Translation: X:63.94, Y:-8.61, Z:-1.36 [[ 9.81717249e-01 1.90167227e-01 8.22605853e-03 6.39380095e+01] [-1.90159145e-01 9.81751699e-01 -1.76087330e-03 -8.60724316e+00] [-8.41080733e-03 1.64419433e-04 9.99964615e-01 -1.35530079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.538623853 meters Centerline goodness [0,1] 0.9994797763038107 Centerline is valid? [True, True] Translation: X:63.97, Y:-8.61, Z:-1.35 [[ 9.81559807e-01 1.90966675e-01 8.48965167e-03 6.39699688e+01] [-1.90958086e-01 9.81596507e-01 -1.81866438e-03 -8.61226979e+00] [-8.68071671e-03 1.63960232e-04 9.99962308e-01 -1.35464972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.568623853 meters Centerline goodness [0,1] 0.9991079587485314 Centerline is valid? [True, True] Translation: X:64.00, Y:-8.62, Z:-1.35 [[ 9.81166480e-01 1.92980743e-01 8.41260468e-03 6.40004822e+01] [-1.92972369e-01 9.81202533e-01 -1.80371533e-03 -8.61933393e+00] [-8.60255135e-03 1.46344763e-04 9.99962987e-01 -1.34958206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.598623853 meters Centerline goodness [0,1] 0.9996744932945618 Centerline is valid? [True, True] Translation: X:64.03, Y:-8.62, Z:-1.35 [[ 9.80892115e-01 1.94346377e-01 8.95238531e-03 6.40320792e+01] [-1.94336937e-01 9.80932956e-01 -1.92095732e-03 -8.62441491e+00] [-9.15502089e-03 1.44472751e-04 9.99958081e-01 -1.35450832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.62862385300001 meters Centerline goodness [0,1] 0.9997175816297712 Centerline is valid? [True, True] Translation: X:64.06, Y:-8.63, Z:-1.35 [[ 9.80518558e-01 1.96243949e-01 8.46582489e-03 6.40641958e+01] [-1.96235567e-01 9.80555097e-01 -1.81777539e-03 -8.62732713e+00] [-8.65793516e-03 1.21066563e-04 9.99962512e-01 -1.35094308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.65862385300001 meters Centerline goodness [0,1] 0.999913071824405 Centerline is valid? [True, True] Translation: X:64.09, Y:-8.63, Z:-1.36 [[ 9.79818408e-01 1.99720876e-01 8.21334074e-03 6.40947647e+01] [-1.99713096e-01 9.79852828e-01 -1.76512586e-03 -8.63436779e+00] [-8.40039763e-03 8.91911045e-05 9.99964712e-01 -1.35688304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.68862385300001 meters Centerline goodness [0,1] 0.9995278260682935 Centerline is valid? [True, True] Translation: X:64.12, Y:-8.64, Z:-1.35 [[ 9.79331097e-01 2.02128159e-01 7.40329380e-03 6.41249533e+01] [-2.02121899e-01 9.79359078e-01 -1.59211841e-03 -8.64045695e+00] [-7.57229495e-03 6.28432658e-05 9.99971328e-01 -1.35199317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.71862385300001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:64.16, Y:-8.64, Z:-1.36 [[ 9.78869871e-01 2.04345954e-01 7.51717217e-03 6.41573333e+01] [-2.04339549e-01 9.78898733e-01 -1.61853322e-03 -8.64470847e+00] [-7.68929102e-03 4.82778296e-05 9.99970436e-01 -1.35918688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.748623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:64.19, Y:-8.64, Z:-1.36 [[ 9.77685032e-01 2.09960209e-01 6.97766825e-03 6.41904036e+01] [-2.09954836e-01 9.77709932e-01 -1.50209068e-03 -8.64436947e+00] [-7.13751482e-03 3.57638536e-06 9.99974528e-01 -1.36090600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.778623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:64.22, Y:-8.65, Z:-1.36 [[ 9.76997827e-01 2.13154520e-01 6.35576739e-03 6.42222828e+01] [-2.13150124e-01 9.77018501e-01 -1.36903664e-03 -8.64745989e+00] [-6.50151867e-03 -1.71867811e-05 9.99978865e-01 -1.36190260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.808623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:64.25, Y:-8.65, Z:-1.36 [[ 9.76343414e-01 2.16145460e-01 5.88882505e-03 6.42537296e+01] [-2.16141735e-01 9.76361172e-01 -1.26942646e-03 -8.65060553e+00] [-6.02400090e-03 -3.34246957e-05 9.99981855e-01 -1.36347635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.838623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:64.29, Y:-8.65, Z:-1.36 [[ 9.75030074e-01 2.22000252e-01 5.67828931e-03 6.42861504e+01] [-2.21996883e-01 9.75046606e-01 -1.22488464e-03 -8.64943656e+00] [-5.80852142e-03 -6.62631672e-05 9.99983128e-01 -1.36367853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.868623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:64.32, Y:-8.65, Z:-1.36 [[ 9.74331815e-01 2.25037017e-01 5.98791922e-03 6.43179811e+01] [-2.25033322e-01 9.74350211e-01 -1.29260215e-03 -8.65269368e+00] [-6.12521368e-03 -8.80579549e-05 9.99981237e-01 -1.36270466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.898623853 meters Centerline goodness [0,1] 0.9999569984949473 Centerline is valid? [True, True] Translation: X:64.35, Y:-8.65, Z:-1.37 [[ 9.73624364e-01 2.28067485e-01 6.38904410e-03 6.43502086e+01] [-2.28063334e-01 9.73645320e-01 -1.38067152e-03 -8.64958976e+00] [-6.53554917e-03 -1.12851260e-04 9.99978637e-01 -1.36612535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.928623853 meters Centerline goodness [0,1] 0.9998913421418637 Centerline is valid? [True, True] Translation: X:64.38, Y:-8.65, Z:-1.36 [[ 9.72474040e-01 2.32912153e-01 6.79481750e-03 6.43807927e+01] [-2.32907556e-01 9.72497766e-01 -1.47119670e-03 -8.65404381e+00] [-6.95060443e-03 -1.51863736e-04 9.99975833e-01 -1.36218169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.958623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:64.41, Y:-8.66, Z:-1.36 [[ 9.71979840e-01 2.34962589e-01 6.91175206e-03 6.44131245e+01] [-2.34957896e-01 9.72004399e-01 -1.49492529e-03 -8.65845286e+00] [-7.06950493e-03 -1.70933474e-04 9.99974996e-01 -1.36245689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.988623853 meters Centerline goodness [0,1] 0.9998080450454293 Centerline is valid? [True, True] Translation: X:64.44, Y:-8.66, Z:-1.37 [[ 9.71515198e-01 2.36876595e-01 6.90645239e-03 6.44447673e+01] [-2.36871942e-01 9.71539729e-01 -1.49590125e-03 -8.65689356e+00] [-7.06423688e-03 -1.82653989e-04 9.99975031e-01 -1.36502088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.01862385300001 meters Centerline goodness [0,1] 0.9968440132210257 Centerline is valid? [True, True] Translation: X:64.48, Y:-8.65, Z:-1.37 [[ 9.70957085e-01 2.39153979e-01 6.90751465e-03 6.44756290e+01] [-2.39149370e-01 9.70981635e-01 -1.49786461e-03 -8.65155412e+00] [-7.06529015e-03 -1.97565526e-04 9.99975021e-01 -1.36848154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.04862385300001 meters Centerline goodness [0,1] 0.9997824289630565 Centerline is valid? [True, True] Translation: X:64.50, Y:-8.67, Z:-1.36 [[ 9.70823737e-01 2.39698314e-01 6.78159155e-03 6.45049744e+01] [-2.39693900e-01 9.70847402e-01 -1.46832483e-03 -8.66873244e+00] [-6.93584552e-03 -2.00021527e-04 9.99975927e-01 -1.36434104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.07862385300001 meters Centerline goodness [0,1] 0.9995729780510718 Centerline is valid? [True, True] Translation: X:64.54, Y:-8.67, Z:-1.37 [[ 9.70696534e-01 2.40208996e-01 6.91941061e-03 6.45366443e+01] [-2.40204403e-01 9.70721173e-01 -1.49958264e-03 -8.66939113e+00] [-7.07703163e-03 -2.06433231e-04 9.99974936e-01 -1.36667044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.108623853 meters Centerline goodness [0,1] 0.9992691158451386 Centerline is valid? [True, True] Translation: X:64.57, Y:-8.67, Z:-1.37 [[ 9.70536965e-01 2.40879444e-01 5.92394441e-03 6.45673490e+01] [-2.40876076e-01 9.70555028e-01 -1.28624774e-03 -8.67292936e+00] [-6.05934467e-03 -1.78585510e-04 9.99981626e-01 -1.36833232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.138623853 meters Centerline goodness [0,1] 0.9997844084166954 Centerline is valid? [True, True] Translation: X:64.60, Y:-8.68, Z:-1.37 [[ 9.70413974e-01 2.41386846e-01 5.39530758e-03 6.45981866e+01] [-2.41384072e-01 9.70428958e-01 -1.16940106e-03 -8.68076034e+00] [-5.51804075e-03 -1.67538184e-04 9.99984761e-01 -1.36768680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.168623853 meters Centerline goodness [0,1] 0.9995497813223566 Centerline is valid? [True, True] Translation: X:64.63, Y:-8.68, Z:-1.36 [[ 9.70268007e-01 2.41981223e-01 5.00824814e-03 6.46283996e+01] [-2.41978827e-01 9.70280920e-01 -1.08814828e-03 -8.68301797e+00] [-5.12271906e-03 -1.56094544e-04 9.99986867e-01 -1.36250196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.198623853 meters Centerline goodness [0,1] 0.953561289775857 Centerline is valid? [True, True] Translation: X:64.66, Y:-8.67, Z:-1.38 [[ 9.70155908e-01 2.42435343e-01 4.75596579e-03 6.46601931e+01] [-2.42433184e-01 9.70167554e-01 -1.03399457e-03 -8.67017733e+00] [-4.86476052e-03 -1.49867990e-04 9.99988156e-01 -1.37751776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.228623853 meters Centerline goodness [0,1] 0.9994351141721164 Centerline is valid? [True, True] Translation: X:64.69, Y:-8.69, Z:-1.37 [[ 9.70217905e-01 2.42191341e-01 4.53542676e-03 6.46868076e+01] [-2.42189377e-01 9.70228496e-01 -9.85751191e-04 -8.68793520e+00] [-4.63914069e-03 -1.42038726e-04 9.99989229e-01 -1.37289731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.258623853 meters Centerline goodness [0,1] 0.999100025713551 Centerline is valid? [True, True] Translation: X:64.72, Y:-8.69, Z:-1.37 [[ 9.70356968e-01 2.41630644e-01 4.68902966e-03 6.47157834e+01] [-2.41628538e-01 9.70368286e-01 -1.01900666e-03 -8.69175698e+00] [-4.79630891e-03 -1.44203170e-04 9.99988487e-01 -1.37366092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.288623853 meters Centerline goodness [0,1] 0.9998266822652628 Centerline is valid? [True, True] Translation: X:64.75, Y:-8.70, Z:-1.37 [[ 9.70970064e-01 2.39147843e-01 5.04423332e-03 6.47451018e+01] [-2.39145376e-01 9.70983156e-01 -1.09560268e-03 -8.70246459e+00] [-5.15987660e-03 -1.42507670e-04 9.99986678e-01 -1.37150385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.318623853 meters Centerline goodness [0,1] 0.9998715698445995 Centerline is valid? [True, True] Translation: X:64.77, Y:-8.71, Z:-1.37 [[ 9.71380189e-01 2.37464832e-01 5.56624964e-03 6.47749761e+01] [-2.37461803e-01 9.71396125e-01 -1.20838332e-03 -8.70939788e+00] [-5.69398187e-03 -1.47972054e-04 9.99983778e-01 -1.37090908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.348623853 meters Centerline goodness [0,1] 0.9997652481966793 Centerline is valid? [True, True] Translation: X:64.81, Y:-8.71, Z:-1.37 [[ 9.72261197e-01 2.33813275e-01 6.28624943e-03 6.48058287e+01] [-2.33809329e-01 9.72281509e-01 -1.36581372e-03 -8.71357648e+00] [-6.43134946e-03 -1.41856079e-04 9.99979309e-01 -1.37135879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.37862385300001 meters Centerline goodness [0,1] 0.9998905716536811 Centerline is valid? [True, True] Translation: X:64.84, Y:-8.72, Z:-1.37 [[ 9.72670313e-01 2.32113384e-01 5.98665162e-03 6.48361954e+01] [-2.32109775e-01 9.72688728e-01 -1.30039871e-03 -8.72398268e+00] [-6.12498850e-03 -1.24701136e-04 9.99981234e-01 -1.36955519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.40862385300001 meters Centerline goodness [0,1] 0.999913476097772 Centerline is valid? [True, True] Translation: X:64.87, Y:-8.73, Z:-1.37 [[ 9.73029593e-01 2.30604939e-01 5.89696387e-03 6.48664543e+01] [-2.30601414e-01 9.73047455e-01 -1.28011276e-03 -8.72934170e+00] [-6.03322601e-03 -1.14260604e-04 9.99981793e-01 -1.37159437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.43862385300001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:64.90, Y:-8.74, Z:-1.37 [[ 9.73365301e-01 2.29183405e-01 5.91256014e-03 6.48971357e+01] [-2.29179825e-01 9.73383252e-01 -1.28524114e-03 -8.73502066e+00] [-6.04974296e-03 -1.04030368e-04 9.99981695e-01 -1.37315876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.46862385300001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:64.93, Y:-8.74, Z:-1.37 [[ 9.74142662e-01 2.25869259e-01 5.39927152e-03 6.49279316e+01] [-2.25866225e-01 9.74157622e-01 -1.17317638e-03 -8.74491464e+00] [-5.52472598e-03 -7.66719159e-05 9.99984736e-01 -1.37328733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.498623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:64.96, Y:-8.75, Z:-1.37 [[ 9.74104464e-01 2.26033943e-01 5.39907384e-03 6.49588387e+01] [-2.26030907e-01 9.74119423e-01 -1.17408462e-03 -8.75178435e+00] [-5.52472567e-03 -7.66764918e-05 9.99984736e-01 -1.37384608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.528623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:64.99, Y:-8.76, Z:-1.38 [[ 9.74505409e-01 2.24309562e-01 4.94255750e-03 6.49895530e+01] [-2.24306991e-01 9.74517941e-01 -1.07559345e-03 -8.75787116e+00] [-5.05787686e-03 -6.04785660e-05 9.99987207e-01 -1.37570719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.558623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:65.02, Y:-8.76, Z:-1.38 [[ 9.75290078e-01 2.20863445e-01 5.34809257e-03 6.50203644e+01] [-2.20860377e-01 9.75304740e-01 -1.16497056e-03 -8.76444423e+00] [-5.47331945e-03 -4.49975098e-05 9.99985020e-01 -1.37696163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.588623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:65.05, Y:-8.77, Z:-1.38 [[ 9.75644402e-01 2.19287344e-01 5.57325484e-03 6.50507984e+01] [-2.19283981e-01 9.75660320e-01 -1.21506193e-03 -8.77214416e+00] [-5.70405130e-03 -3.66571314e-05 9.99983731e-01 -1.37773148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.618623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:65.08, Y:-8.78, Z:-1.38 [[ 9.76000763e-01 2.17696258e-01 5.55431121e-03 6.50815380e+01] [-2.17692888e-01 9.76016567e-01 -1.21162234e-03 -8.78127069e+00] [-5.68486540e-03 -2.65897206e-05 9.99983841e-01 -1.37647953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.648623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:65.11, Y:-8.79, Z:-1.38 [[ 9.76546965e-01 2.15207847e-01 6.45045353e-03 6.51125698e+01] [-2.15203237e-01 9.76568268e-01 -1.40874528e-03 -8.79018843e+00] [-6.60248127e-03 -1.24525484e-05 9.99978203e-01 -1.37523304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.678623853 meters Centerline goodness [0,1] 0.9999784955485785 Centerline is valid? [True, True] Translation: X:65.14, Y:-8.80, Z:-1.37 [[ 9.76782602e-01 2.14128540e-01 6.68706738e-03 6.51449061e+01] [-2.14123553e-01 9.76805492e-01 -1.46141753e-03 -8.79829381e+00] [-6.84489534e-03 -4.37140700e-06 9.99976573e-01 -1.37465992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.708623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:65.18, Y:-8.81, Z:-1.37 [[ 9.76966332e-01 2.13284718e-01 6.81281203e-03 6.51768914e+01] [-2.13279511e-01 9.76990086e-01 -1.49033592e-03 -8.80597633e+00] [-6.97391569e-03 2.97479748e-06 9.99975682e-01 -1.37484727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.738623853 meters Centerline goodness [0,1] 0.9998917678637141 Centerline is valid? [True, True] Translation: X:65.21, Y:-8.81, Z:-1.37 [[ 9.77303906e-01 2.11744262e-01 6.43768385e-03 6.52094195e+01] [-2.11739572e-01 9.77325108e-01 -1.40935083e-03 -8.81226338e+00] [-6.59013202e-03 1.42516526e-05 9.99978285e-01 -1.36890648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.76862385300001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:65.24, Y:-8.82, Z:-1.38 [[ 9.77420945e-01 2.11196121e-01 6.67039478e-03 6.52408682e+01] [-2.11191062e-01 9.77443706e-01 -1.46194019e-03 -8.81948420e+00] [-6.82869150e-03 2.02032094e-05 9.99976684e-01 -1.37716223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.79862385300001 meters Centerline goodness [0,1] 0.9999783474796466 Centerline is valid? [True, True] Translation: X:65.27, Y:-8.83, Z:-1.38 [[ 9.77468654e-01 2.10982843e-01 6.42419021e-03 6.52732564e+01] [-2.10978140e-01 9.77489764e-01 -1.40895656e-03 -8.82622212e+00] [-6.57684583e-03 2.18471724e-05 9.99978372e-01 -1.37699000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.82862385300001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:65.30, Y:-8.83, Z:-1.38 [[ 9.77305918e-01 2.11752622e-01 5.82831170e-03 6.53049900e+01] [-2.11748758e-01 9.77323297e-01 -1.27928995e-03 -8.83209138e+00] [-5.96703781e-03 1.61198763e-05 9.99982197e-01 -1.37858395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.858623853 meters Centerline goodness [0,1] 0.9999136404853405 Centerline is valid? [True, True] Translation: X:65.34, Y:-8.84, Z:-1.37 [[ 9.77149999e-01 2.12477756e-01 5.57525682e-03 6.53367944e+01] [-2.12474226e-01 9.77165904e-01 -1.22484474e-03 -8.83683210e+00] [-5.70820313e-03 1.22586588e-05 9.99983708e-01 -1.37273269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.888623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:65.37, Y:-8.84, Z:-1.38 [[ 9.76807210e-01 2.14030456e-01 6.21602610e-03 6.53668688e+01] [-2.14026079e-01 9.76826988e-01 -1.36886591e-03 -8.83894176e+00] [-6.36496105e-03 6.72639800e-06 9.99979743e-01 -1.37908469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.918623853 meters Centerline goodness [0,1] 0.9998918685121108 Centerline is valid? [True, True] Translation: X:65.40, Y:-8.84, Z:-1.37 [[ 9.76591903e-01 2.15015491e-01 6.04930896e-03 6.53982032e+01] [-2.15011365e-01 9.76610638e-01 -1.33208512e-03 -8.84335274e+00] [-6.19423842e-03 2.33365201e-07 9.99980816e-01 -1.37335369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.948623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:65.43, Y:-8.85, Z:-1.38 [[ 9.76397335e-01 2.15881931e-01 6.57536938e-03 6.54292489e+01] [-2.15877074e-01 9.76419475e-01 -1.44812616e-03 -8.84850737e+00] [-6.73294300e-03 -5.52497721e-06 9.99977333e-01 -1.37898189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.978623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:65.46, Y:-8.85, Z:-1.38 [[ 9.76211669e-01 2.16704213e-01 7.07537859e-03 6.54591205e+01] [-2.16698609e-01 9.76237309e-01 -1.55857973e-03 -8.85314658e+00] [-7.24499935e-03 -1.17209807e-05 9.99973755e-01 -1.37907818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.008623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:65.49, Y:-8.86, Z:-1.38 [[ 9.75866941e-01 2.18244825e-01 7.27387979e-03 6.54911082e+01] [-2.18238945e-01 9.75894049e-01 -1.60227445e-03 -8.85593835e+00] [-7.44822411e-03 -2.38371834e-05 9.99972261e-01 -1.37834272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.038623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:65.52, Y:-8.86, Z:-1.38 [[ 9.75691200e-01 2.19032117e-01 7.18434496e-03 6.55207580e+01] [-2.19026402e-01 9.75717649e-01 -1.58240227e-03 -8.86081145e+00] [-7.35648910e-03 -2.96252634e-05 9.99972940e-01 -1.37893717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.068623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:65.55, Y:-8.87, Z:-1.38 [[ 9.75536721e-01 2.19711535e-01 7.41262492e-03 6.55498163e+01] [-2.19705462e-01 9.75564883e-01 -1.63394585e-03 -8.86509628e+00] [-7.59049331e-03 -3.46200015e-05 9.99971191e-01 -1.37904093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.098623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:65.58, Y:-8.87, Z:-1.38 [[ 9.75100232e-01 2.21665419e-01 6.63174930e-03 6.55798442e+01] [-2.21660604e-01 9.75122782e-01 -1.46170030e-03 -8.86539038e+00] [-6.79077824e-03 -4.46932608e-05 9.99976941e-01 -1.38068653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.12862385300001 meters Centerline goodness [0,1] 0.9999783652806024 Centerline is valid? [True, True] Translation: X:65.61, Y:-8.87, Z:-1.38 [[ 9.74815841e-01 2.22934791e-01 5.84419356e-03 6.56097789e+01] [-2.22931075e-01 9.74833358e-01 -1.28802364e-03 -8.86839336e+00] [-5.98426011e-03 -4.72665088e-05 9.99982093e-01 -1.38217259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.15862385300001 meters Centerline goodness [0,1] 0.9999784719381714 Centerline is valid? [True, True] Translation: X:65.64, Y:-8.86, Z:-1.38 [[ 9.74099671e-01 2.26044580e-01 5.80339156e-03 6.56395441e+01] [-2.26040969e-01 9.74116956e-01 -1.27931086e-03 -8.86435481e+00] [-5.94236341e-03 -6.56279616e-05 9.99982342e-01 -1.38464478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.18862385300001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:65.67, Y:-8.87, Z:-1.38 [[ 9.73865956e-01 2.27042398e-01 6.07034042e-03 6.56684039e+01] [-2.27038470e-01 9.73884872e-01 -1.33760520e-03 -8.86825499e+00] [-6.21550579e-03 -7.55526387e-05 9.99980681e-01 -1.38296473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.21862385300001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:65.70, Y:-8.87, Z:-1.39 [[ 9.73682357e-01 2.27830626e-01 5.98946343e-03 6.56965330e+01] [-2.27826818e-01 9.73700775e-01 -1.31963215e-03 -8.86782003e+00] [-6.13259780e-03 -7.96578520e-05 9.99981192e-01 -1.38507551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.248623853 meters Centerline goodness [0,1] 0.9999785352451275 Centerline is valid? [True, True] Translation: X:65.72, Y:-8.87, Z:-1.39 [[ 9.73849599e-01 2.27118479e-01 5.84425425e-03 6.57243091e+01] [-2.27114843e-01 9.73867132e-01 -1.28714875e-03 -8.87422068e+00] [-5.98386239e-03 -7.38275901e-05 9.99982094e-01 -1.38561852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.278623853 meters Centerline goodness [0,1] 0.9999785958904109 Centerline is valid? [True, True] Translation: X:65.75, Y:-8.88, Z:-1.39 [[ 9.74108456e-01 2.26002239e-01 5.97533025e-03 6.57523323e+01] [-2.25998419e-01 9.74126780e-01 -1.31570860e-03 -8.88109018e+00] [-6.11808230e-03 -6.87723188e-05 9.99981282e-01 -1.38519240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.308623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:65.78, Y:-8.89, Z:-1.38 [[ 9.74520335e-01 2.24213457e-01 6.20018226e-03 6.57805213e+01] [-2.24209311e-01 9.74540057e-01 -1.36489561e-03 -8.88906822e+00] [-6.34835393e-03 -6.00200694e-05 9.99979847e-01 -1.38479809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.338623853 meters Centerline goodness [0,1] 0.9998482911076917 Centerline is valid? [True, True] Translation: X:65.81, Y:-8.90, Z:-1.38 [[ 9.75534483e-01 2.19760387e-01 6.15184722e-03 6.58076905e+01] [-2.19756217e-01 9.75553879e-01 -1.35408891e-03 -8.89678905e+00] [-6.29903353e-03 -3.09462481e-05 9.99980160e-01 -1.37884883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.368623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:65.83, Y:-8.91, Z:-1.39 [[ 9.76003509e-01 2.17659987e-01 6.42497133e-03 6.58348240e+01] [-2.17655399e-01 9.76024656e-01 -1.41346485e-03 -8.90546962e+00] [-6.57858518e-03 -1.88830380e-05 9.99978361e-01 -1.38693859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.398623853 meters Centerline goodness [0,1] 0.9999143725649698 Centerline is valid? [True, True] Translation: X:65.86, Y:-8.91, Z:-1.38 [[ 9.76563162e-01 2.15163168e-01 5.40394422e-03 6.58628653e+01] [-2.15159885e-01 9.76578113e-01 -1.18859546e-03 -8.91467695e+00] [-5.53311561e-03 -1.97347927e-06 9.99984692e-01 -1.38216667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.428623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:65.89, Y:-8.93, Z:-1.39 [[ 9.77517803e-01 2.10795283e-01 4.92892973e-03 6.58898065e+01] [-2.10792496e-01 9.77530229e-01 -1.08418424e-03 -8.92597535e+00] [-5.04671873e-03 2.08279993e-05 9.99987265e-01 -1.39038741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.458623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:65.92, Y:-8.93, Z:-1.39 [[ 9.77957717e-01 2.08742345e-01 5.03356881e-03 6.59181522e+01] [-2.08739413e-01 9.77970671e-01 -1.10683997e-03 -8.93357975e+00] [-5.15372703e-03 3.17384934e-05 9.99986719e-01 -1.39021787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.488623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:65.95, Y:-8.94, Z:-1.39 [[ 9.78695822e-01 2.05242749e-01 5.46824709e-03 6.59483220e+01] [-2.05239239e-01 9.78711097e-01 -1.20164307e-03 -8.94250953e+00] [-5.59846263e-03 5.37441856e-05 9.99984327e-01 -1.38941454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.51862385300001 meters Centerline goodness [0,1] 0.9998709233284571 Centerline is valid? [True, True] Translation: X:65.98, Y:-8.95, Z:-1.39 [[ 9.79036257e-01 2.03615117e-01 5.37512701e-03 6.59767713e+01] [-2.03611698e-01 9.79051010e-01 -1.18146792e-03 -8.95266380e+00] [-5.50308826e-03 6.22611922e-05 9.99984856e-01 -1.39203469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.54862385300001 meters Centerline goodness [0,1] 0.9998912334130955 Centerline is valid? [True, True] Translation: X:66.01, Y:-8.96, Z:-1.39 [[ 9.79357598e-01 2.02073411e-01 5.00319390e-03 6.60070115e+01] [-2.02070429e-01 9.79370375e-01 -1.09961857e-03 -8.96093972e+00] [-5.12218357e-03 6.59222583e-05 9.99986879e-01 -1.39238975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.57862385300001 meters Centerline goodness [0,1] 0.9996064799632715 Centerline is valid? [True, True] Translation: X:66.04, Y:-8.97, Z:-1.39 [[ 9.79682812e-01 2.00499997e-01 4.61941910e-03 6.60377107e+01] [-2.00497438e-01 9.79693700e-01 -1.01534491e-03 -8.96851653e+00] [-4.72919244e-03 6.85342630e-05 9.99988815e-01 -1.38619296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.608623853 meters Centerline goodness [0,1] 0.9998926808327967 Centerline is valid? [True, True] Translation: X:66.07, Y:-8.98, Z:-1.39 [[ 9.79855101e-01 1.99636422e-01 5.41104635e-03 6.60673669e+01] [-1.99632905e-01 9.79870038e-01 -1.18789830e-03 -8.98003804e+00] [-5.53926996e-03 8.37453029e-05 9.99984655e-01 -1.39358344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.638623853 meters Centerline goodness [0,1] 0.9998475908467417 Centerline is valid? [True, True] Translation: X:66.10, Y:-8.99, Z:-1.39 [[ 9.79893463e-01 1.99437465e-01 5.78775151e-03 6.60980867e+01] [-1.99433422e-01 9.79910551e-01 -1.27337541e-03 -8.98647266e+00] [-5.92543754e-03 9.35011548e-05 9.99982440e-01 -1.39283327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.668623853 meters Centerline goodness [0,1] 0.9998270345066159 Centerline is valid? [True, True] Translation: X:66.13, Y:-9.00, Z:-1.39 [[ 9.79829129e-01 1.99745411e-01 6.05388397e-03 6.61268255e+01] [-1.99740995e-01 9.79847826e-01 -1.33165783e-03 -8.99550215e+00] [-6.19787759e-03 9.55883222e-05 9.99980788e-01 -1.39452426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.698623853 meters Centerline goodness [0,1] 0.9999354172048567 Centerline is valid? [True, True] Translation: X:66.16, Y:-9.00, Z:-1.39 [[ 9.79525341e-01 2.01223507e-01 6.26148983e-03 6.61575808e+01] [-2.01218806e-01 9.79545350e-01 -1.37846838e-03 -8.99869547e+00] [-6.41079348e-03 9.03152029e-05 9.99979447e-01 -1.39362096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.728623853 meters Centerline goodness [0,1] 0.9999569234745526 Centerline is valid? [True, True] Translation: X:66.19, Y:-9.00, Z:-1.40 [[ 9.79283829e-01 2.02406022e-01 5.91471185e-03 6.61859674e+01] [-2.02401850e-01 9.79301688e-01 -1.30194399e-03 -9.00479959e+00] [-6.05580861e-03 7.78240796e-05 9.99981660e-01 -1.39576385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.758623853 meters Centerline goodness [0,1] 0.9999783535727428 Centerline is valid? [True, True] Translation: X:66.22, Y:-9.01, Z:-1.40 [[ 9.78775412e-01 2.04847726e-01 6.00842079e-03 6.62162775e+01] [-2.04843464e-01 9.78793852e-01 -1.32298131e-03 -9.00755273e+00] [-6.15201504e-03 6.41158488e-05 9.99981074e-01 -1.39663701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.788623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:66.25, Y:-9.01, Z:-1.39 [[ 9.78491185e-01 2.06199101e-01 6.07706610e-03 6.62458534e+01] [-2.06194766e-01 9.78510055e-01 -1.33817056e-03 -9.01064729e+00] [-6.22239985e-03 5.63288716e-05 9.99980639e-01 -1.39481904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.818623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:66.27, Y:-9.02, Z:-1.40 [[ 9.78216683e-01 2.07484147e-01 6.51540657e-03 6.62735652e+01] [-2.07479194e-01 9.78238379e-01 -1.43463299e-03 -9.01638488e+00] [-6.67128437e-03 5.15706191e-05 9.99977745e-01 -1.39589048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.848623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:66.30, Y:-9.02, Z:-1.40 [[ 9.77899973e-01 2.08960932e-01 6.85365633e-03 6.63029359e+01] [-2.08955490e-01 9.77923988e-01 -1.50868876e-03 -9.02025101e+00] [-7.01761194e-03 4.32375839e-05 9.99975375e-01 -1.39529055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.87862385300001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:66.33, Y:-9.02, Z:-1.39 [[ 9.77231082e-01 2.12064146e-01 6.94341746e-03 6.63327692e+01] [-2.12058640e-01 9.77255748e-01 -1.52828335e-03 -9.02063900e+00] [-7.10958873e-03 2.10743263e-05 9.99974726e-01 -1.39463935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.90862385300001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:66.36, Y:-9.02, Z:-1.39 [[ 9.76817911e-01 2.13962696e-01 6.83620069e-03 6.63620800e+01] [-2.13957406e-01 9.76841832e-01 -1.50453113e-03 -9.02396001e+00] [-6.99980035e-03 6.99719258e-06 9.99975501e-01 -1.39453492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.93862385300001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:66.39, Y:-9.02, Z:-1.40 [[ 9.76094343e-01 2.17255438e-01 6.31734500e-03 6.63910739e+01] [-2.17250989e-01 9.76114785e-01 -1.39049166e-03 -9.02492796e+00] [-6.46854574e-03 -1.51984021e-05 9.99979079e-01 -1.39568468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.96862385300001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:66.42, Y:-9.03, Z:-1.40 [[ 9.75693155e-01 2.19052804e-01 6.22391359e-03 6.64189009e+01] [-2.19048523e-01 9.75713005e-01 -1.36975652e-03 -9.02754829e+00] [-6.37280244e-03 -2.68770274e-05 9.99979693e-01 -1.39651272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.998623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:66.45, Y:-9.03, Z:-1.40 [[ 9.75342050e-01 2.20604661e-01 6.43968141e-03 6.64480244e+01] [-2.20600116e-01 9.75363308e-01 -1.41665779e-03 -9.03087928e+00] [-6.59355027e-03 -3.88685560e-05 9.99978262e-01 -1.39624982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.028623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:66.48, Y:-9.03, Z:-1.40 [[ 9.74695013e-01 2.23420266e-01 7.28118475e-03 6.64764391e+01] [-2.23414537e-01 9.74722207e-01 -1.60141877e-03 -9.03156732e+00] [-7.45492187e-03 -6.58276220e-05 9.99972210e-01 -1.39660024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.058623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:66.50, Y:-9.03, Z:-1.40 [[ 9.74439769e-01 2.24514538e-01 7.76907702e-03 6.65039215e+01] [-2.24508054e-01 9.74470736e-01 -1.70820079e-03 -9.03463115e+00] [-7.95425412e-03 -7.96815759e-05 9.99968361e-01 -1.39617927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.088623853 meters Centerline goodness [0,1] 0.999913222692266 Centerline is valid? [True, True] Translation: X:66.53, Y:-9.04, Z:-1.40 [[ 9.74052576e-01 2.26172214e-01 8.22855658e-03 6.65328410e+01] [-2.26165006e-01 9.74087326e-01 -1.80844299e-03 -9.03584162e+00] [-8.42435224e-03 -9.94930000e-05 9.99964510e-01 -1.39555679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.118623853 meters Centerline goodness [0,1] 0.9999570465186204 Centerline is valid? [True, True] Translation: X:66.56, Y:-9.04, Z:-1.40 [[ 9.73887009e-01 2.26885884e-01 8.17862038e-03 6.65609837e+01] [-2.26878790e-01 9.73921344e-01 -1.79717447e-03 -9.03883844e+00] [-8.37308647e-03 -1.05310631e-04 9.99964940e-01 -1.39624665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.148623853 meters Centerline goodness [0,1] 0.9996343063652204 Centerline is valid? [True, True] Translation: X:66.59, Y:-9.04, Z:-1.39 [[ 9.73869439e-01 2.26971130e-01 7.90082083e-03 6.65896638e+01] [-2.26964517e-01 9.73901482e-01 -1.73555730e-03 -9.04379433e+00] [-8.08854251e-03 -1.02999772e-04 9.99967282e-01 -1.39095972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.178623853 meters Centerline goodness [0,1] 0.9999786616592694 Centerline is valid? [True, True] Translation: X:66.62, Y:-9.05, Z:-1.40 [[ 9.73892146e-01 2.26876052e-01 7.83236694e-03 6.66168557e+01] [-2.26869553e-01 9.73923635e-01 -1.72025127e-03 -9.04935749e+00] [-8.01841110e-03 -1.01586382e-04 9.99967847e-01 -1.39828514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.208623853 meters Centerline goodness [0,1] 0.9998927498927499 Centerline is valid? [True, True] Translation: X:66.64, Y:-9.05, Z:-1.40 [[ 9.73929221e-01 2.26710934e-01 8.00155842e-03 6.66442722e+01] [-2.26704149e-01 9.73962084e-01 -1.75688879e-03 -9.05452449e+00] [-8.19152041e-03 -1.02901163e-04 9.99966444e-01 -1.39877937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.238623853 meters Centerline goodness [0,1] 0.9999357505407663 Centerline is valid? [True, True] Translation: X:66.67, Y:-9.06, Z:-1.40 [[ 9.74164857e-01 2.25699570e-01 7.90794042e-03 6.66718946e+01] [-2.25692914e-01 9.74196949e-01 -1.73585964e-03 -9.05855457e+00] [-8.09567420e-03 -9.37526645e-05 9.99967225e-01 -1.39940571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.26862385300001 meters Centerline goodness [0,1] 0.9998707175177763 Centerline is valid? [True, True] Translation: X:66.70, Y:-9.06, Z:-1.39 [[ 9.74362245e-01 2.24847945e-01 7.84959777e-03 6.67000006e+01] [-2.24841364e-01 9.74393860e-01 -1.72246623e-03 -9.06384556e+00] [-8.03589286e-03 -8.66082150e-05 9.99967708e-01 -1.39498025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.29862385300001 meters Centerline goodness [0,1] 0.9999786680319126 Centerline is valid? [True, True] Translation: X:66.73, Y:-9.07, Z:-1.40 [[ 9.74727945e-01 2.23210297e-01 9.08821049e-03 6.67283175e+01] [-2.23201410e-01 9.74770309e-01 -1.99368548e-03 -9.07077976e+00] [-9.30392887e-03 -8.52004427e-05 9.99956714e-01 -1.39888323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.32862385300001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:66.76, Y:-9.08, Z:-1.40 [[ 9.74977765e-01 2.22110246e-01 9.24097824e-03 6.67557324e+01] [-2.22101011e-01 9.75021555e-01 -2.02683332e-03 -9.07653457e+00] [-9.46033342e-03 -7.63131901e-05 9.99955247e-01 -1.39928208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.35862385300001 meters Centerline goodness [0,1] 0.999700438643415 Centerline is valid? [True, True] Translation: X:66.78, Y:-9.08, Z:-1.39 [[ 9.75238148e-01 2.20992707e-01 8.53098925e-03 6.67842405e+01] [-2.20984799e-01 9.75275458e-01 -1.87059197e-03 -9.08308422e+00] [-8.73345164e-03 -6.09462915e-05 9.99961861e-01 -1.39304021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.388623853 meters Centerline goodness [0,1] 0.999700438643415 Centerline is valid? [True, True] Translation: X:66.81, Y:-9.09, Z:-1.39 [[ 9.75248717e-01 2.20946057e-01 8.53107908e-03 6.68119319e+01] [-2.20938151e-01 9.75286028e-01 -1.87018217e-03 -9.08906359e+00] [-8.73345160e-03 -6.09480735e-05 9.99961861e-01 -1.39353979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.418623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:66.84, Y:-9.10, Z:-1.40 [[ 9.75797553e-01 2.18504271e-01 8.66136843e-03 6.68390098e+01] [-2.18496028e-01 9.75835991e-01 -1.89840137e-03 -9.09659797e+00] [-8.86688386e-03 -4.00191856e-05 9.99960688e-01 -1.40193689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.448623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:66.87, Y:-9.10, Z:-1.40 [[ 9.76114121e-01 2.17078599e-01 8.83763959e-03 6.68664466e+01] [-2.17069965e-01 9.76154128e-01 -1.93637185e-03 -9.10415824e+00] [-9.04724325e-03 -2.82662060e-05 9.99959072e-01 -1.40173886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.478623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:66.89, Y:-9.11, Z:-1.40 [[ 9.76655801e-01 2.14660336e-01 8.02411115e-03 6.68933381e+01] [-2.14653138e-01 9.76688763e-01 -1.75795736e-03 -9.11032650e+00] [-8.21442291e-03 -5.48138235e-06 9.99966261e-01 -1.40456212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.508623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:66.92, Y:-9.12, Z:-1.41 [[ 9.76992578e-01 2.13124097e-01 7.97628418e-03 6.69217575e+01] [-2.13116939e-01 9.77025137e-01 -1.74676920e-03 -9.11747780e+00] [-8.16530876e-03 6.69927766e-06 9.99966663e-01 -1.40529664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.538623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:66.95, Y:-9.13, Z:-1.41 [[ 9.77355458e-01 2.11448549e-01 8.11291532e-03 6.69486855e+01] [-2.11441088e-01 9.77389130e-01 -1.77637260e-03 -9.12516990e+00] [-8.30508666e-03 2.07438132e-05 9.99965512e-01 -1.40622931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.568623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:66.98, Y:-9.13, Z:-1.41 [[ 9.77698028e-01 2.09850974e-01 8.31472178e-03 6.69768736e+01] [-2.09843086e-01 9.77733383e-01 -1.81988795e-03 -9.13250525e+00] [-8.51148631e-03 3.45139826e-05 9.99963776e-01 -1.40513276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.598623853 meters Centerline goodness [0,1] 0.9999785107983239 Centerline is valid? [True, True] Translation: X:67.00, Y:-9.14, Z:-1.41 [[ 9.78243170e-01 2.07315278e-01 7.78944442e-03 6.70035674e+01] [-2.07308277e-01 9.78274181e-01 -1.70457039e-03 -9.14196491e+00] [-7.97359584e-03 5.26680460e-05 9.99968209e-01 -1.40811082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.62862385300001 meters Centerline goodness [0,1] 0.99995739241585 Centerline is valid? [True, True] Translation: X:67.03, Y:-9.15, Z:-1.41 [[ 9.78484955e-01 2.06161397e-01 8.04187835e-03 6.70313656e+01] [-2.06153900e-01 9.78517999e-01 -1.75935424e-03 -9.14949110e+00] [-8.23183364e-03 6.36370700e-05 9.99966116e-01 -1.40774489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.65862385300001 meters Centerline goodness [0,1] 0.9999343903772553 Centerline is valid? [True, True] Translation: X:67.06, Y:-9.16, Z:-1.41 [[ 9.78752299e-01 2.04858399e-01 8.77348797e-03 6.70590306e+01] [-2.04849427e-01 9.78791617e-01 -1.91890746e-03 -9.15685196e+00] [-8.98052079e-03 8.08911030e-05 9.99959671e-01 -1.40686698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.68862385300001 meters Centerline goodness [0,1] 0.9999355946758265 Centerline is valid? [True, True] Translation: X:67.09, Y:-9.17, Z:-1.41 [[ 9.79109871e-01 2.03139539e-01 8.84238917e-03 6.70865070e+01] [-2.03130361e-01 9.79149794e-01 -1.93341642e-03 -9.16549154e+00] [-9.05077685e-03 9.68693943e-05 9.99959036e-01 -1.40771741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.71862385300001 meters Centerline goodness [0,1] 0.999934496386384 Centerline is valid? [True, True] Translation: X:67.12, Y:-9.17, Z:-1.41 [[ 9.79257280e-01 2.02424556e-01 8.91502645e-03 6.71159880e+01] [-2.02415202e-01 9.79297855e-01 -1.94875189e-03 -9.17115359e+00] [-9.12494152e-03 1.03792597e-04 9.99958361e-01 -1.40749283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.748623853 meters Centerline goodness [0,1] 0.9999567193248214 Centerline is valid? [True, True] Translation: X:67.14, Y:-9.18, Z:-1.41 [[ 9.79348770e-01 2.02006862e-01 8.31951988e-03 6.71445692e+01] [-2.01998701e-01 9.79384101e-01 -1.81848551e-03 -9.17933281e+00] [-8.51535205e-03 1.00399332e-04 9.99963739e-01 -1.41016092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.778623853 meters Centerline goodness [0,1] 0.9998690270895636 Centerline is valid? [True, True] Translation: X:67.17, Y:-9.18, Z:-1.41 [[ 9.79441478e-01 2.01568259e-01 8.03923348e-03 6.71734207e+01] [-2.01560624e-01 9.79474465e-01 -1.75724512e-03 -9.18493741e+00] [-8.22842875e-03 1.00725839e-04 9.99966141e-01 -1.40998354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.808623853 meters Centerline goodness [0,1] 0.9999139192562624 Centerline is valid? [True, True] Translation: X:67.20, Y:-9.19, Z:-1.41 [[ 9.79436552e-01 2.01591728e-01 8.05086647e-03 6.72015195e+01] [-2.01584074e-01 9.79469635e-01 -1.75945810e-03 -9.19368519e+00] [-8.24027144e-03 1.00351113e-04 9.99966043e-01 -1.41177272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.838623853 meters Centerline goodness [0,1] 0.999848103463241 Centerline is valid? [True, True] Translation: X:67.23, Y:-9.20, Z:-1.41 [[ 9.79449890e-01 2.01496978e-01 8.76811725e-03 6.72308726e+01] [-2.01487897e-01 9.79489130e-01 -1.91617450e-03 -9.20060798e+00] [-8.97437891e-03 1.10127404e-04 9.99959723e-01 -1.41059336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.868623853 meters Centerline goodness [0,1] 0.9999142532530172 Centerline is valid? [True, True] Translation: X:67.26, Y:-9.21, Z:-1.41 [[ 9.79351045e-01 2.01947646e-01 9.41694891e-03 6.72603087e+01] [-2.01937195e-01 9.79396312e-01 -2.05760958e-03 -9.20718159e+00] [-9.63845444e-03 1.13489843e-04 9.99953543e-01 -1.40985893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.898623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:67.29, Y:-9.21, Z:-1.41 [[ 9.79278520e-01 2.02290820e-01 9.59191377e-03 6.72892759e+01] [-2.02279994e-01 9.79325488e-01 -2.09581532e-03 -9.21280548e+00] [-9.81756984e-03 1.12134670e-04 9.99951800e-01 -1.40946939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.928623853 meters Centerline goodness [0,1] 0.9999568239713311 Centerline is valid? [True, True] Translation: X:67.32, Y:-9.22, Z:-1.41 [[ 9.79176523e-01 2.02761029e-01 1.00649191e-02 6.73184394e+01] [-2.02749137e-01 9.79228243e-01 -2.19889526e-03 -9.21863055e+00] [-1.03017033e-02 1.12452957e-04 9.99946930e-01 -1.40914904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.958623853 meters Centerline goodness [0,1] 0.9999353113679489 Centerline is valid? [True, True] Translation: X:67.35, Y:-9.22, Z:-1.41 [[ 9.78792162e-01 2.04585093e-01 1.05281953e-02 6.73476353e+01] [-2.04572189e-01 9.78848778e-01 -2.29982013e-03 -9.22301658e+00] [-1.07760200e-02 9.72699647e-05 9.99941932e-01 -1.40903165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.988623853 meters Centerline goodness [0,1] 0.9999784240959696 Centerline is valid? [True, True] Translation: X:67.38, Y:-9.23, Z:-1.41 [[ 9.78559353e-01 2.05681542e-01 1.08025630e-02 6.73758533e+01] [-2.05668026e-01 9.78618974e-01 -2.35955031e-03 -9.22962687e+00] [-1.10569090e-02 8.72182228e-05 9.99938867e-01 -1.41029283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.01862385300001 meters Centerline goodness [0,1] 0.9999784686934803 Centerline is valid? [True, True] Translation: X:67.41, Y:-9.23, Z:-1.41 [[ 9.78284382e-01 2.06964406e-01 1.11983427e-02 6.74052544e+01] [-2.06949972e-01 9.78348470e-01 -2.44547636e-03 -9.23343562e+00] [-1.14620081e-02 7.48746145e-05 9.99934306e-01 -1.40865835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.04862385300001 meters Centerline goodness [0,1] 0.9999784853700516 Centerline is valid? [True, True] Translation: X:67.43, Y:-9.24, Z:-1.41 [[ 9.77734612e-01 2.09534870e-01 1.14090685e-02 6.74333935e+01] [-2.09520062e-01 9.77801174e-01 -2.49143224e-03 -9.23617421e+00] [-1.16778425e-02 4.55308050e-05 9.99931811e-01 -1.40885182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.07862385300001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:67.46, Y:-9.24, Z:-1.41 [[ 9.77423864e-01 2.10995366e-01 1.11151018e-02 6.74616070e+01] [-2.10981415e-01 9.77487061e-01 -2.42644629e-03 -9.23999424e+00] [-1.13768372e-02 2.65865976e-05 9.99935281e-01 -1.41012389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.10862385300001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:67.49, Y:-9.24, Z:-1.41 [[ 9.77146145e-01 2.12299063e-01 1.07013577e-02 6.74905413e+01] [-2.12286215e-01 9.77204742e-01 -2.33562183e-03 -9.24442374e+00] [-1.09532679e-02 1.04931373e-05 9.99940011e-01 -1.41142345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.138623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:67.52, Y:-9.25, Z:-1.41 [[ 9.76882334e-01 2.13524785e-01 1.03957256e-02 6.75179838e+01] [-2.13512734e-01 9.76937647e-01 -2.26850609e-03 -9.24867506e+00] [-1.06403580e-02 -3.55626961e-06 9.99943390e-01 -1.41264564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.168623853 meters Centerline goodness [0,1] 0.9999352862504853 Centerline is valid? [True, True] Translation: X:67.55, Y:-9.25, Z:-1.41 [[ 9.76451387e-01 2.15489660e-01 1.03390589e-02 6.75462462e+01] [-2.15477857e-01 9.76506122e-01 -2.25553829e-03 -9.25136227e+00] [-1.05821994e-02 -2.54147568e-05 9.99944007e-01 -1.40978489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.198623853 meters Centerline goodness [0,1] 0.9999563557010366 Centerline is valid? [True, True] Translation: X:67.57, Y:-9.26, Z:-1.41 [[ 9.76274877e-01 2.16280671e-01 1.04897889e-02 6.75749575e+01] [-2.16268575e-01 9.76331230e-01 -2.28758019e-03 -9.25628955e+00] [-1.07362679e-02 -3.53046356e-05 9.99942364e-01 -1.41039218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.228623853 meters Centerline goodness [0,1] 0.9999783657486533 Centerline is valid? [True, True] Translation: X:67.60, Y:-9.26, Z:-1.41 [[ 9.75871008e-01 2.18070526e-01 1.10009986e-02 6.76032914e+01] [-2.18057344e-01 9.75933011e-01 -2.39848505e-03 -9.25959611e+00] [-1.12592766e-02 -5.82365217e-05 9.99936611e-01 -1.41420204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.258623853 meters Centerline goodness [0,1] 0.9999563404571155 Centerline is valid? [True, True] Translation: X:67.63, Y:-9.26, Z:-1.41 [[ 9.75580101e-01 2.19354959e-01 1.12635788e-02 6.76315197e+01] [-2.19341231e-01 9.75645118e-01 -2.45516454e-03 -9.26331229e+00] [-1.15278081e-02 -7.53575637e-05 9.99933550e-01 -1.41433662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.288623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:67.66, Y:-9.27, Z:-1.42 [[ 9.75289309e-01 2.20652169e-01 1.11078120e-02 6.76600547e+01] [-2.20638909e-01 9.75352558e-01 -2.42068234e-03 -9.26665781e+00] [-1.13681616e-02 -8.99498991e-05 9.99935376e-01 -1.41506889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.318623853 meters Centerline goodness [0,1] 0.9999145408708285 Centerline is valid? [True, True] Translation: X:67.69, Y:-9.27, Z:-1.42 [[ 9.74685350e-01 2.23323220e-01 1.07334691e-02 6.76882225e+01] [-2.23311004e-01 9.74744441e-01 -2.33868927e-03 -9.26620351e+00] [-1.09846730e-02 -1.17415594e-04 9.99939660e-01 -1.41651153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.348623853 meters Centerline goodness [0,1] 0.9998736123691362 Centerline is valid? [True, True] Translation: X:67.72, Y:-9.27, Z:-1.42 [[ 9.74436536e-01 2.24423047e-01 1.03794660e-02 6.77159474e+01] [-2.24411691e-01 9.74491806e-01 -2.26109648e-03 -9.26880877e+00] [-1.06221467e-02 -1.25978499e-04 9.99943575e-01 -1.41767477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.37862385300001 meters Centerline goodness [0,1] 0.9998702085316259 Centerline is valid? [True, True] Translation: X:67.74, Y:-9.28, Z:-1.42 [[ 9.74315666e-01 2.24924238e-01 1.08660328e-02 6.77435162e+01] [-2.24911836e-01 9.74376246e-01 -2.36607143e-03 -9.27549227e+00] [-1.11197911e-02 -1.38598936e-04 9.99938164e-01 -1.41654341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.40862385300001 meters Centerline goodness [0,1] 0.9998055525548234 Centerline is valid? [True, True] Translation: X:67.77, Y:-9.28, Z:-1.42 [[ 9.74140030e-01 2.25715224e-01 1.01901946e-02 6.77714850e+01] [-2.25704366e-01 9.74193317e-01 -2.21832607e-03 -9.27560104e+00] [-1.04279294e-02 -1.39011184e-04 9.99945618e-01 -1.41990446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.43862385300001 meters Centerline goodness [0,1] 0.999786475348579 Centerline is valid? [True, True] Translation: X:67.80, Y:-9.28, Z:-1.42 [[ 9.74239162e-01 2.25307531e-01 9.72477317e-03 6.77985993e+01] [-2.25297627e-01 9.74287688e-01 -2.11649064e-03 -9.28108218e+00] [-9.95158805e-03 -1.29000252e-04 9.99950473e-01 -1.42182863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.46862385300001 meters Centerline goodness [0,1] 0.9998693009780644 Centerline is valid? [True, True] Translation: X:67.83, Y:-9.29, Z:-1.42 [[ 9.74466490e-01 2.24309411e-01 1.00173831e-02 6.78259208e+01] [-2.24298859e-01 9.74517969e-01 -2.17928390e-03 -9.29037817e+00] [-1.02509537e-02 -1.23248454e-04 9.99947450e-01 -1.42029263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.498623853 meters Centerline goodness [0,1] 0.9997598567873205 Centerline is valid? [True, True] Translation: X:67.85, Y:-9.30, Z:-1.41 [[ 9.75151112e-01 2.21323186e-01 9.81610611e-03 6.78538336e+01] [-2.21312906e-01 9.75200512e-01 -2.13501581e-03 -9.29815650e+00] [-1.00452002e-02 -9.04679290e-05 9.99949542e-01 -1.41462661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.528623853 meters Centerline goodness [0,1] 0.9999358563181526 Centerline is valid? [True, True] Translation: X:67.88, Y:-9.30, Z:-1.42 [[ 9.75598825e-01 2.19341067e-01 9.81983937e-03 6.78808274e+01] [-2.19330684e-01 9.75648242e-01 -2.13541010e-03 -9.30338921e+00] [-1.00490921e-02 -7.04884940e-05 9.99949504e-01 -1.42328239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.558623853 meters Centerline goodness [0,1] 0.9999783741701088 Centerline is valid? [True, True] Translation: X:67.91, Y:-9.31, Z:-1.42 [[ 9.76131384e-01 2.16935889e-01 1.03121527e-02 6.79082810e+01] [-2.16924313e-01 9.76185852e-01 -2.24164867e-03 -9.31270831e+00] [-1.05528716e-02 -4.88130132e-05 9.99944316e-01 -1.41895890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.588623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:67.93, Y:-9.33, Z:-1.42 [[ 9.77171685e-01 2.12180379e-01 1.07231113e-02 6.79341331e+01] [-2.12167580e-01 9.77230519e-01 -2.33049097e-03 -9.32594086e+00] [-1.09734361e-02 2.19319664e-06 9.99939790e-01 -1.42287399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.618623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:67.96, Y:-9.34, Z:-1.42 [[ 9.77690746e-01 2.09749028e-01 1.12316963e-02 6.79617076e+01] [-2.09734835e-01 9.77755258e-01 -2.44019633e-03 -9.33590974e+00] [-1.14936789e-02 3.00793917e-05 9.99933945e-01 -1.42168838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.648623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:67.99, Y:-9.35, Z:-1.42 [[ 9.78520742e-01 2.05851378e-01 1.10619988e-02 6.79878071e+01] [-2.05837367e-01 9.78583264e-01 -2.40286809e-03 -9.34803150e+00] [-1.13197206e-02 7.42835624e-05 9.99935927e-01 -1.42253279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.678623853 meters Centerline goodness [0,1] 0.9999569420224332 Centerline is valid? [True, True] Translation: X:68.02, Y:-9.36, Z:-1.42 [[ 9.78880652e-01 2.04130479e-01 1.11092760e-02 6.80150357e+01] [-2.04116245e-01 9.78943685e-01 -2.41244909e-03 -9.35618832e+00] [-1.13678100e-02 9.39160322e-05 9.99935380e-01 -1.42247846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.708623853 meters Centerline goodness [0,1] 0.9998059550246868 Centerline is valid? [True, True] Translation: X:68.04, Y:-9.36, Z:-1.42 [[ 9.79181667e-01 2.02694209e-01 1.08774884e-02 6.80423481e+01] [-2.02680483e-01 9.79242077e-01 -2.36127312e-03 -9.36430972e+00] [-1.11303107e-02 1.07460740e-04 9.99938050e-01 -1.41744375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.738623853 meters Centerline goodness [0,1] 0.999913959991396 Centerline is valid? [True, True] Translation: X:68.07, Y:-9.37, Z:-1.42 [[ 9.79563551e-01 2.00823078e-01 1.11955611e-02 6.80709578e+01] [-2.00808421e-01 9.79627518e-01 -2.42990379e-03 -9.37291801e+00] [-1.14554605e-02 1.32082242e-04 9.99934375e-01 -1.42322488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.76862385300001 meters Centerline goodness [0,1] 0.9999136963838785 Centerline is valid? [True, True] Translation: X:68.10, Y:-9.38, Z:-1.42 [[ 9.79715967e-01 2.00084596e-01 1.10805133e-02 6.81003551e+01] [-2.00070195e-01 9.79778615e-01 -2.40451025e-03 -9.37914917e+00] [-1.13375554e-02 1.38856627e-04 9.99935718e-01 -1.42315189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.79862385300001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:68.13, Y:-9.39, Z:-1.42 [[ 9.79759911e-01 1.99857145e-01 1.12977531e-02 6.81297661e+01] [-1.99842159e-01 9.79825036e-01 -2.45165206e-03 -9.38632938e+00] [-1.15598015e-02 1.44263020e-04 9.99933173e-01 -1.42311835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.82862385300001 meters Centerline goodness [0,1] 0.9999569401683639 Centerline is valid? [True, True] Translation: X:68.16, Y:-9.39, Z:-1.42 [[ 9.79734023e-01 1.99985701e-01 1.12677846e-02 6.81582919e+01] [-1.99970802e-01 9.79798805e-01 -2.44522556e-03 -9.39480288e+00] [-1.15291720e-02 1.42442752e-04 9.99933527e-01 -1.42393111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.85862385300001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:68.19, Y:-9.40, Z:-1.42 [[ 9.79648342e-01 2.00384605e-01 1.16247878e-02 6.81879215e+01] [-2.00368778e-01 9.79717301e-01 -2.52247007e-03 -9.39992707e+00] [-1.18944699e-02 1.41889087e-04 9.99929248e-01 -1.42355776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.888623853 meters Centerline goodness [0,1] 0.9999784487403288 Centerline is valid? [True, True] Translation: X:68.22, Y:-9.41, Z:-1.42 [[ 9.79513351e-01 2.01049022e-01 1.15276436e-02 6.82168896e+01] [-2.01033504e-01 9.79581172e-01 -2.50146321e-03 -9.40657728e+00] [-1.17951793e-02 1.32774027e-04 9.99930426e-01 -1.42464718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.918623853 meters Centerline goodness [0,1] 0.9999782957850415 Centerline is valid? [True, True] Translation: X:68.25, Y:-9.41, Z:-1.42 [[ 9.79419630e-01 2.01506759e-01 1.14984337e-02 6.82461153e+01] [-2.01491352e-01 9.79487116e-01 -2.49505111e-03 -9.41206271e+00] [-1.17653373e-02 1.26867090e-04 9.99930778e-01 -1.42462778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.948623853 meters Centerline goodness [0,1] 0.9999782915445566 Centerline is valid? [True, True] Translation: X:68.27, Y:-9.42, Z:-1.42 [[ 9.79129288e-01 2.02856471e-01 1.24534809e-02 6.82745579e+01] [-2.02838511e-01 9.79208475e-01 -2.70199626e-03 -9.41727153e+00] [-1.27426715e-02 1.19558150e-04 9.99918802e-01 -1.42401191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.978623853 meters Centerline goodness [0,1] 0.9999351337326212 Centerline is valid? [True, True] Translation: X:68.30, Y:-9.43, Z:-1.43 [[ 9.79071186e-01 2.03134091e-01 1.24961641e-02 6.83016060e+01] [-2.03116036e-01 9.79150922e-01 -2.71078004e-03 -9.42724936e+00] [-1.27862824e-02 1.15875312e-04 9.99918245e-01 -1.42651516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.008623853 meters Centerline goodness [0,1] 0.9999785954322652 Centerline is valid? [True, True] Translation: X:68.33, Y:-9.43, Z:-1.42 [[ 9.78980081e-01 2.03577002e-01 1.24259633e-02 6.83316058e+01] [-2.03559192e-01 9.79058932e-01 -2.69503249e-03 -9.42990126e+00] [-1.27143970e-02 1.08964072e-04 9.99919163e-01 -1.42493604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.038623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:68.36, Y:-9.44, Z:-1.43 [[ 9.78901612e-01 2.03960590e-01 1.23171287e-02 6.83600363e+01] [-2.03943124e-01 9.78979094e-01 -2.67112520e-03 -9.43671871e+00] [-1.26030157e-02 1.02775068e-04 9.99920574e-01 -1.42610354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.068623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:68.39, Y:-9.44, Z:-1.43 [[ 9.78833316e-01 2.04306023e-01 1.20162043e-02 6.83876251e+01] [-2.04289429e-01 9.78907064e-01 -2.60564261e-03 -9.44307180e+00] [-1.22950957e-02 9.57062757e-05 9.99924408e-01 -1.42695408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.098623853 meters Centerline goodness [0,1] 0.9999786980231765 Centerline is valid? [True, True] Translation: X:68.42, Y:-9.45, Z:-1.43 [[ 9.78574937e-01 2.05582437e-01 1.12674374e-02 6.84163824e+01] [-2.05567937e-01 9.78639799e-01 -2.44282159e-03 -9.44927455e+00] [-1.15289638e-02 7.42601316e-05 9.99933537e-01 -1.42946335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.12862385300001 meters Centerline goodness [0,1] 0.9999784830554062 Centerline is valid? [True, True] Translation: X:68.44, Y:-9.45, Z:-1.43 [[ 9.78440833e-01 2.06237106e-01 1.09449686e-02 6.84443943e+01] [-2.06223466e-01 9.78502045e-01 -2.37281070e-03 -9.45467740e+00] [-1.11990358e-02 6.45455165e-05 9.99937287e-01 -1.43070182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.15862385300001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:68.47, Y:-9.46, Z:-1.43 [[ 9.78134285e-01 2.07665693e-01 1.13260944e-02 6.84724061e+01] [-2.07651189e-01 9.78199856e-01 -2.45484690e-03 -9.45944329e+00] [-1.15889714e-02 4.92929458e-05 9.99932844e-01 -1.43015805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.18862385300001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:68.50, Y:-9.47, Z:-1.43 [[ 9.78045157e-01 2.08063164e-01 1.17213659e-02 6.84994124e+01] [-2.08047664e-01 9.78115391e-01 -2.54000252e-03 -9.46541721e+00] [-1.19933293e-02 4.56343675e-05 9.99928076e-01 -1.43006090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.21862385300001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:68.53, Y:-9.47, Z:-1.43 [[ 9.77966722e-01 2.08425739e-01 1.18237936e-02 6.85285204e+01] [-2.08410006e-01 9.78038194e-01 -2.56119740e-03 -9.47196475e+00] [-1.20979412e-02 4.05689380e-05 9.99926816e-01 -1.42980121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.248623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:68.56, Y:-9.48, Z:-1.43 [[ 9.77921322e-01 2.08643140e-01 1.17442887e-02 6.85558698e+01] [-2.08627637e-01 9.77991840e-01 -2.54367985e-03 -9.48070404e+00] [-1.20165399e-02 3.73355555e-05 9.99927798e-01 -1.43349241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.278623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:68.58, Y:-9.49, Z:-1.43 [[ 9.77930016e-01 2.08602386e-01 1.17443300e-02 6.85835773e+01] [-2.08586882e-01 9.78000533e-01 -2.54348940e-03 -9.48660435e+00] [-1.20165389e-02 3.76414605e-05 9.99927798e-01 -1.43399198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.308623853 meters Centerline goodness [0,1] 0.9999789309567453 Centerline is valid? [True, True] Translation: X:68.61, Y:-9.49, Z:-1.43 [[ 9.77736521e-01 2.09521225e-01 1.14957083e-02 6.86120486e+01] [-2.09506440e-01 9.77804099e-01 -2.48918011e-03 -9.49037214e+00] [-1.17620867e-02 2.53373873e-05 9.99930824e-01 -1.43267698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.338623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:68.64, Y:-9.50, Z:-1.43 [[ 9.77765257e-01 2.09370391e-01 1.17958438e-02 6.86407539e+01] [-2.09354820e-01 9.77836407e-01 -2.55353410e-03 -9.49649011e+00] [-1.20690400e-02 2.72401618e-05 9.99927166e-01 -1.43188446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.368623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:68.67, Y:-9.50, Z:-1.43 [[ 9.77707926e-01 2.09604549e-01 1.23751490e-02 6.86686846e+01] [-2.09587436e-01 9.77786241e-01 -2.67851620e-03 -9.50249417e+00] [-1.26616796e-02 2.51307715e-05 9.99919837e-01 -1.43168982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.398623853 meters Centerline goodness [0,1] 0.9999569438763428 Centerline is valid? [True, True] Translation: X:68.70, Y:-9.51, Z:-1.43 [[ 9.77594573e-01 2.10142355e-01 1.22082623e-02 6.86967352e+01] [-2.10125750e-01 9.77670799e-01 -2.64173110e-03 -9.50865874e+00] [-1.24908011e-02 1.72717165e-05 9.99921987e-01 -1.42784124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.428623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:68.72, Y:-9.52, Z:-1.43 [[ 9.77471593e-01 2.10654669e-01 1.31869650e-02 6.87245181e+01] [-2.10635349e-01 9.77560540e-01 -2.85301561e-03 -9.51512150e+00] [-1.34920577e-02 1.11007419e-05 9.99908978e-01 -1.43015183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.458623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:68.75, Y:-9.52, Z:-1.43 [[ 9.77390909e-01 2.11016625e-01 1.33788712e-02 6.87525713e+01] [-2.10996781e-01 9.77482473e-01 -2.89381217e-03 -9.52190317e+00] [-1.36882546e-02 5.48693739e-06 9.99906311e-01 -1.43018604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.488623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:68.78, Y:-9.53, Z:-1.43 [[ 9.77337695e-01 2.11223270e-01 1.39914367e-02 6.87801414e+01] [-2.11201597e-01 9.77437840e-01 -3.02575976e-03 -9.52888143e+00] [-1.43148705e-02 2.17529129e-06 9.99897537e-01 -1.42976134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.51862385300001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:68.81, Y:-9.53, Z:-1.43 [[ 9.77302142e-01 2.11401335e-01 1.37839742e-02 6.88092053e+01] [-2.11380326e-01 9.77399343e-01 -2.98035364e-03 -9.53481138e+00] [-1.41024980e-02 -9.54947323e-07 9.99900555e-01 -1.43061929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.54862385300001 meters Centerline goodness [0,1] 0.9999786593824025 Centerline is valid? [True, True] Translation: X:68.84, Y:-9.54, Z:-1.43 [[ 9.77233264e-01 2.11719899e-01 1.37779620e-02 6.88376875e+01] [-2.11698943e-01 9.77330386e-01 -2.97876075e-03 -9.54079264e+00] [-1.40962839e-02 -5.83591210e-06 9.99900642e-01 -1.43179153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.57862385300001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:68.86, Y:-9.55, Z:-1.43 [[ 9.77178076e-01 2.11986724e-01 1.35881126e-02 6.88649985e+01] [-2.11966374e-01 9.77272546e-01 -2.93727391e-03 -9.54861103e+00] [-1.39019525e-02 -9.98328474e-06 9.99903363e-01 -1.43228346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.60862385300001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:68.89, Y:-9.56, Z:-1.43 [[ 9.77091688e-01 2.12402680e-01 1.33016872e-02 6.88934588e+01] [-2.12383226e-01 9.77182225e-01 -2.87473755e-03 -9.55563899e+00] [-1.36087742e-02 -1.61730634e-05 9.99907396e-01 -1.43314384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.638623853 meters Centerline goodness [0,1] 0.9999137670848963 Centerline is valid? [True, True] Translation: X:68.92, Y:-9.56, Z:-1.43 [[ 9.76992105e-01 2.12894685e-01 1.27389144e-02 6.89213608e+01] [-2.12876891e-01 9.77075152e-01 -2.75253998e-03 -9.56169226e+00] [-1.30328779e-02 -2.26106695e-05 9.99915068e-01 -1.42907885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.668623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:68.95, Y:-9.57, Z:-1.44 [[ 9.76709259e-01 2.14221331e-01 1.21755522e-02 6.89484241e+01] [-2.14205186e-01 9.76785145e-01 -2.63034607e-03 -9.56619332e+00] [-1.24563747e-02 -3.89830513e-05 9.99922416e-01 -1.43639301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.698623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:68.98, Y:-9.57, Z:-1.44 [[ 9.76485651e-01 2.15261374e-01 1.17607071e-02 6.89764508e+01] [-2.15246394e-01 9.76556470e-01 -2.53998872e-03 -9.57030873e+00] [-1.20317561e-02 -5.11872706e-05 9.99927614e-01 -1.43757280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.728623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:69.01, Y:-9.57, Z:-1.44 [[ 9.76274244e-01 2.16221869e-01 1.16920372e-02 6.90050260e+01] [-2.16207141e-01 9.76344253e-01 -2.52441296e-03 -9.57405433e+00] [-1.19612866e-02 -6.33825942e-05 9.99928459e-01 -1.43870165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.758623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:69.03, Y:-9.58, Z:-1.44 [[ 9.75905777e-01 2.17915367e-01 1.09912243e-02 6.90329292e+01] [-2.17902464e-01 9.75967667e-01 -2.37270587e-03 -9.57630648e+00] [-1.12441286e-02 -7.94774891e-05 9.99936780e-01 -1.44138187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.788623853 meters Centerline goodness [0,1] 0.9999786036758885 Centerline is valid? [True, True] Translation: X:69.06, Y:-9.58, Z:-1.44 [[ 9.75721843e-01 2.18743828e-01 1.08638500e-02 6.90611126e+01] [-2.18731281e-01 9.75782317e-01 -2.34450799e-03 -9.58132286e+00] [-1.11135993e-02 -8.86761646e-05 9.99938238e-01 -1.44221323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.818623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:69.09, Y:-9.59, Z:-1.44 [[ 9.75610095e-01 2.19240231e-01 1.08933211e-02 6.90896568e+01] [-2.19227653e-01 9.75670904e-01 -2.35035830e-03 -9.58726063e+00] [-1.11435895e-02 -9.50839312e-05 9.99937904e-01 -1.44288791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.848623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:69.12, Y:-9.60, Z:-1.44 [[ 9.75663603e-01 2.18994334e-01 1.10460400e-02 6.91167784e+01] [-2.18981390e-01 9.75726126e-01 -2.38291828e-03 -9.59509624e+00] [-1.12997554e-02 -9.39505470e-05 9.99936151e-01 -1.44312122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.87862385300001 meters Centerline goodness [0,1] 0.9998067798793447 Centerline is valid? [True, True] Translation: X:69.14, Y:-9.60, Z:-1.44 [[ 9.75725108e-01 2.18722107e-01 1.10069799e-02 6.91440509e+01] [-2.18709246e-01 9.75787186e-01 -2.37369752e-03 -9.60143015e+00] [-1.12596501e-02 -9.12520078e-05 9.99936604e-01 -1.43748782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.90862385300001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:69.17, Y:-9.61, Z:-1.44 [[ 9.75860234e-01 2.18094060e-01 1.14797348e-02 6.91724835e+01] [-2.18080036e-01 9.75927750e-01 -2.47482303e-03 -9.60825261e+00] [-1.17431359e-02 -8.84195897e-05 9.99931043e-01 -1.44300940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.93862385300001 meters Centerline goodness [0,1] 0.9999784798140656 Centerline is valid? [True, True] Translation: X:69.20, Y:-9.62, Z:-1.44 [[ 9.76146795e-01 2.16807937e-01 1.14784147e-02 6.91992552e+01] [-2.16793830e-01 9.76214276e-01 -2.47427725e-03 -9.61582036e+00] [-1.17418352e-02 -7.31916675e-05 9.99931060e-01 -1.44411904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.96862385300001 meters Centerline goodness [0,1] 0.9999785564180641 Centerline is valid? [True, True] Translation: X:69.23, Y:-9.63, Z:-1.44 [[ 9.76297529e-01 2.16109122e-01 1.18314040e-02 6.92270086e+01] [-2.16094091e-01 9.76369214e-01 -2.54963012e-03 -9.62526073e+00] [-1.21028169e-02 -6.74989054e-05 9.99926756e-01 -1.44260595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.998623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:69.26, Y:-9.63, Z:-1.44 [[ 9.76468993e-01 2.15337019e-01 1.17590008e-02 6.92551906e+01] [-2.15322124e-01 9.76539792e-01 -2.53338358e-03 -9.63236713e+00] [-1.20286634e-02 -5.82025064e-05 9.99927651e-01 -1.44472261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.028623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:69.28, Y:-9.64, Z:-1.45 [[ 9.76777327e-01 2.13953180e-01 1.14057051e-02 6.92827910e+01] [-2.13939077e-01 9.76843915e-01 -2.45691724e-03 -9.64238896e+00] [-1.16672589e-02 -4.02649657e-05 9.99931934e-01 -1.44552319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.058623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:69.31, Y:-9.65, Z:-1.45 [[ 9.76847120e-01 2.13649054e-01 1.11259456e-02 6.93095556e+01] [-2.13635619e-01 9.76910477e-01 -2.39623643e-03 -9.64865913e+00] [-1.13810065e-02 -3.61416155e-05 9.99935234e-01 -1.44664823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.088623853 meters Centerline goodness [0,1] 0.9999785651512229 Centerline is valid? [True, True] Translation: X:69.34, Y:-9.66, Z:-1.45 [[ 9.76904296e-01 2.13384012e-01 1.11919638e-02 6.93375006e+01] [-2.13370408e-01 9.76968404e-01 -2.40975170e-03 -9.65514421e+00] [-1.14483975e-02 -3.39370955e-05 9.99934464e-01 -1.44686489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.118623853 meters Centerline goodness [0,1] 0.9999786379560797 Centerline is valid? [True, True] Translation: X:69.36, Y:-9.66, Z:-1.45 [[ 9.76972214e-01 2.13069190e-01 1.12611926e-02 6.93646086e+01] [-2.13055401e-01 9.77037113e-01 -2.42421123e-03 -9.66189631e+00] [-1.15191278e-02 -3.08708781e-05 9.99933652e-01 -1.44786002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.148623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:69.39, Y:-9.67, Z:-1.45 [[ 9.77147537e-01 2.12298891e-01 1.05769096e-02 6.93919805e+01] [-2.12286689e-01 9.77204779e-01 -2.27629311e-03 -9.67023159e+00] [-1.08190612e-02 -2.10629189e-05 9.99941472e-01 -1.44966246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.178623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:69.42, Y:-9.68, Z:-1.45 [[ 9.77206017e-01 2.12041950e-01 1.03253305e-02 6.94203284e+01] [-2.12030313e-01 9.77260565e-01 -2.22156440e-03 -9.67853300e+00] [-1.05616032e-02 -1.83569542e-05 9.99944225e-01 -1.44930957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.208623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:69.45, Y:-9.69, Z:-1.45 [[ 9.77209364e-01 2.12054097e-01 9.74259467e-03 6.94485224e+01] [-2.12043739e-01 9.77257929e-01 -2.09598089e-03 -9.68658525e+00] [-9.96548922e-03 -1.76440459e-05 9.99950343e-01 -1.44976551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.238623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:69.48, Y:-9.69, Z:-1.45 [[ 9.77156419e-01 2.12316004e-01 9.34060374e-03 6.94775702e+01] [-2.12306497e-01 9.77201061e-01 -2.00928619e-03 -9.69282948e+00] [-9.55425150e-03 -1.96839676e-05 9.99954357e-01 -1.45091194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.26862385300001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:69.51, Y:-9.70, Z:-1.45 [[ 9.77061315e-01 2.12752938e-01 9.34745442e-03 6.95054499e+01] [-2.12743438e-01 9.77106026e-01 -2.01062399e-03 -9.69820658e+00] [-9.56122020e-03 -2.41066743e-05 9.99954290e-01 -1.45192419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.29862385300001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:69.53, Y:-9.70, Z:-1.45 [[ 9.76919932e-01 2.13392190e-01 9.55093399e-03 6.95344329e+01] [-2.13382307e-01 9.76966618e-01 -2.05393083e-03 -9.70415063e+00] [-9.76923647e-03 -3.14743645e-05 9.99952279e-01 -1.45167807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.32862385300001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:69.56, Y:-9.71, Z:-1.45 [[ 9.76807462e-01 2.13895099e-01 9.80142042e-03 6.95627908e+01] [-2.13884718e-01 9.76856635e-01 -2.10763639e-03 -9.70972038e+00] [-1.00253957e-02 -3.76190900e-05 9.99949744e-01 -1.45184306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.35862385300001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:69.59, Y:-9.71, Z:-1.45 [[ 9.76358828e-01 2.15899498e-01 1.05283667e-02 6.95907972e+01] [-2.15887640e-01 9.76415589e-01 -2.26368427e-03 -9.71074147e+00] [-1.07687896e-02 -6.27761088e-05 9.99942013e-01 -1.45300507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.388623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:69.62, Y:-9.72, Z:-1.45 [[ 9.76090719e-01 2.17107677e-01 1.05434796e-02 6.96189728e+01] [-2.17095863e-01 9.76147658e-01 -2.26621235e-03 -9.71698905e+00] [-1.07840051e-02 -7.69169699e-05 9.99941848e-01 -1.45065206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.418623853 meters Centerline goodness [0,1] 0.9999574422810937 Centerline is valid? [True, True] Translation: X:69.65, Y:-9.72, Z:-1.45 [[ 9.75833561e-01 2.18261969e-01 1.05154323e-02 6.96466932e+01] [-2.18250289e-01 9.75890211e-01 -2.25979063e-03 -9.72064628e+00] [-1.07551338e-02 -8.98165861e-05 9.99942158e-01 -1.45176599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.448623853 meters Centerline goodness [0,1] 0.9999783779108737 Centerline is valid? [True, True] Translation: X:69.67, Y:-9.72, Z:-1.46 [[ 9.75330035e-01 2.20564030e-01 9.10121251e-03 6.96749092e+01] [-2.20555385e-01 9.75372492e-01 -1.95539542e-03 -9.72256241e+00] [-9.30836223e-03 -1.00165551e-04 9.99956671e-01 -1.45511988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.478623853 meters Centerline goodness [0,1] 0.9998069042459611 Centerline is valid? [True, True] Translation: X:69.70, Y:-9.73, Z:-1.45 [[ 9.75025348e-01 2.21946243e-01 8.08927004e-03 6.97022472e+01] [-2.21939463e-01 9.75058898e-01 -1.73771849e-03 -9.72606972e+00] [-8.27319483e-03 -1.01008673e-04 9.99965771e-01 -1.45080534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.508623853 meters Centerline goodness [0,1] 0.9999566141698122 Centerline is valid? [True, True] Translation: X:69.73, Y:-9.73, Z:-1.46 [[ 9.74842914e-01 2.22735096e-01 8.38864653e-03 6.97311351e+01] [-2.22727842e-01 9.74879000e-01 -1.80117821e-03 -9.73005728e+00] [-8.57910094e-03 -1.12519323e-04 9.99963193e-01 -1.45771905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.538623853 meters Centerline goodness [0,1] 0.9998511746571702 Centerline is valid? [True, True] Translation: X:69.76, Y:-9.73, Z:-1.46 [[ 9.74680928e-01 2.23432220e-01 8.66780118e-03 6.97601045e+01] [-2.23424506e-01 9.74719461e-01 -1.86078211e-03 -9.72918840e+00] [-8.86443318e-03 -1.22930356e-04 9.99960703e-01 -1.46068823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.568623853 meters Centerline goodness [0,1] 0.9999353545801279 Centerline is valid? [True, True] Translation: X:69.79, Y:-9.74, Z:-1.46 [[ 9.74413756e-01 2.24571060e-01 9.25586623e-03 6.97884256e+01] [-2.24562321e-01 9.74457705e-01 -1.98632148e-03 -9.73720687e+00] [-9.46552048e-03 -1.43019826e-04 9.99955191e-01 -1.45673795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.598623853 meters Centerline goodness [0,1] 0.9998922669194803 Centerline is valid? [True, True] Translation: X:69.82, Y:-9.74, Z:-1.46 [[ 9.74331146e-01 2.24905360e-01 9.81821617e-03 6.98173513e+01] [-2.24895547e-01 9.74380601e-01 -2.10672937e-03 -9.73641633e+00] [-1.00404941e-02 -1.55421049e-04 9.99949581e-01 -1.45891488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.62862385300001 meters Centerline goodness [0,1] 0.9998711506249195 Centerline is valid? [True, True] Translation: X:69.84, Y:-9.75, Z:-1.45 [[ 9.74296994e-01 2.25050982e-01 9.87027034e-03 6.98449747e+01] [-2.25041082e-01 9.74346976e-01 -2.11690009e-03 -9.74724961e+00] [-1.00934785e-02 -1.58726926e-04 9.99949047e-01 -1.45221247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.65862385300001 meters Centerline goodness [0,1] 0.9998704103671706 Centerline is valid? [True, True] Translation: X:69.87, Y:-9.75, Z:-1.45 [[ 9.74235284e-01 2.25306025e-01 1.01393841e-02 6.98728977e+01] [-2.25295596e-01 9.74288031e-01 -2.17420969e-03 -9.75195220e+00] [-1.03685431e-02 -1.66166796e-04 9.99946231e-01 -1.45207705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.68862385300001 meters Centerline goodness [0,1] 0.9998275490407416 Centerline is valid? [True, True] Translation: X:69.90, Y:-9.76, Z:-1.45 [[ 9.74255934e-01 2.25207452e-01 1.03429922e-02 6.99016665e+01] [-2.25196602e-01 9.74310820e-01 -2.21717895e-03 -9.75730595e+00] [-1.05766144e-02 -1.69106929e-04 9.99944052e-01 -1.45164438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.71862385300001 meters Centerline goodness [0,1] 0.9998723132581401 Centerline is valid? [True, True] Translation: X:69.93, Y:-9.76, Z:-1.46 [[ 9.74314124e-01 2.24928682e-01 1.09121664e-02 6.99295980e+01] [-2.24916592e-01 9.74375214e-01 -2.33872367e-03 -9.75707155e+00] [-1.11585905e-02 -1.75675768e-04 9.99937726e-01 -1.45910964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.748623853 meters Centerline goodness [0,1] 0.99982716902869 Centerline is valid? [True, True] Translation: X:69.96, Y:-9.77, Z:-1.45 [[ 9.74468327e-01 2.24265579e-01 1.07903016e-02 6.99565491e+01] [-2.24253724e-01 9.74528051e-01 -2.31193129e-03 -9.76954461e+00] [-1.10339382e-02 -1.66861498e-04 9.99939110e-01 -1.45181301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.778623853 meters Centerline goodness [0,1] 0.9999567277526559 Centerline is valid? [True, True] Translation: X:69.98, Y:-9.78, Z:-1.46 [[ 9.74838637e-01 2.22660385e-01 1.05823062e-02 6.99833518e+01] [-2.22648893e-01 9.74896062e-01 -2.26694768e-03 -9.78163234e+00] [-1.08214081e-02 -1.46230587e-04 9.99941436e-01 -1.45595076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.808623853 meters Centerline goodness [0,1] 0.9998075895243186 Centerline is valid? [True, True] Translation: X:70.01, Y:-9.78, Z:-1.45 [[ 9.75118397e-01 2.21476072e-01 9.61574048e-03 7.00116288e+01] [-2.21466528e-01 9.75165799e-01 -2.05960208e-03 -9.78294914e+00] [-9.83309382e-03 -1.21208778e-04 9.99951647e-01 -1.45433434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.838623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:70.04, Y:-9.79, Z:-1.46 [[ 9.75432501e-01 2.20067569e-01 1.00847225e-02 7.00391114e+01] [-2.20057006e-01 9.75484624e-01 -2.15915498e-03 -9.78996697e+00] [-1.03126517e-02 -1.13103901e-04 9.99946817e-01 -1.46110265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.868623853 meters Centerline goodness [0,1] 0.999978483981324 Centerline is valid? [True, True] Translation: X:70.07, Y:-9.80, Z:-1.46 [[ 9.75718884e-01 2.18790066e-01 1.01767812e-02 7.00662347e+01] [-2.18779244e-01 9.75771949e-01 -2.17843599e-03 -9.80006803e+00] [-1.04068377e-02 -1.00927360e-04 9.99945842e-01 -1.45949217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.898623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:70.09, Y:-9.81, Z:-1.46 [[ 9.76222548e-01 2.16560314e-01 9.54814488e-03 7.00935153e+01] [-2.16550684e-01 9.76269238e-01 -2.04354913e-03 -9.80699896e+00] [-9.76411177e-03 -7.26985590e-05 9.99952327e-01 -1.46183145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.928623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:70.12, Y:-9.81, Z:-1.46 [[ 9.76433808e-01 2.15602893e-01 9.61307572e-03 7.01209462e+01] [-2.15593092e-01 9.76481125e-01 -2.05683438e-03 -9.81193146e+00] [-9.83044644e-03 -6.41500862e-05 9.99951678e-01 -1.46371377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.958623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:70.15, Y:-9.82, Z:-1.46 [[ 9.76534945e-01 2.15143982e-01 9.62119683e-03 7.01487007e+01] [-2.15134148e-01 9.76582338e-01 -2.05794342e-03 -9.81958423e+00] [-9.83864504e-03 -6.01943160e-05 9.99951598e-01 -1.46152257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.988623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:70.18, Y:-9.82, Z:-1.46 [[ 9.76637753e-01 2.14665648e-01 9.86711551e-03 7.01775157e+01] [-2.14655285e-01 9.76687594e-01 -2.11003457e-03 -9.82411970e+00] [-1.00900412e-02 -5.72890712e-05 9.99949093e-01 -1.46152670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.01862385300001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:70.21, Y:-9.83, Z:-1.46 [[ 9.76680138e-01 2.14474330e-01 9.83204031e-03 7.02059074e+01] [-2.14464036e-01 9.76729624e-01 -2.10204438e-03 -9.82871923e+00] [-1.00540796e-02 -5.55940531e-05 9.99949455e-01 -1.46248989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.04862385300001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:70.23, Y:-9.83, Z:-1.46 [[ 9.76759379e-01 2.14119982e-01 9.68243287e-03 7.02333777e+01] [-2.14109985e-01 9.76807366e-01 -2.06968271e-03 -9.83182430e+00] [-9.90103217e-03 -5.15235664e-05 9.99950982e-01 -1.46368836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.07862385300001 meters Centerline goodness [0,1] 0.9999567314973066 Centerline is valid? [True, True] Translation: X:70.26, Y:-9.84, Z:-1.46 [[ 9.76945947e-01 2.13284551e-01 9.29065724e-03 7.02608478e+01] [-2.13275314e-01 9.76990122e-01 -1.98540489e-03 -9.83815492e+00] [-9.50033655e-03 -4.18345862e-05 9.99954870e-01 -1.46035439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.10862385300001 meters Centerline goodness [0,1] 0.9999142697929615 Centerline is valid? [True, True] Translation: X:70.29, Y:-9.85, Z:-1.46 [[ 9.77183786e-01 2.12194072e-01 9.24791882e-03 7.02888790e+01] [-2.12184877e-01 9.77227545e-01 -1.97561387e-03 -9.84536074e+00] [-9.45653456e-03 -3.17306768e-05 9.99955285e-01 -1.45963539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.138623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:70.32, Y:-9.85, Z:-1.46 [[ 9.77737856e-01 2.09563937e-01 1.05660899e-02 7.03157910e+01] [-2.09551786e-01 9.77794946e-01 -2.25665225e-03 -9.85311498e+00] [-1.08043822e-02 -7.72867476e-06 9.99941631e-01 -1.46372483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.168623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:70.34, Y:-9.86, Z:-1.46 [[ 9.77747593e-01 2.09518491e-01 1.05662400e-02 7.03435146e+01] [-2.09506345e-01 9.77804685e-01 -2.25594882e-03 -9.85894119e+00] [-1.08043820e-02 -7.94581098e-06 9.99941631e-01 -1.46422437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.198623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:70.37, Y:-9.87, Z:-1.46 [[ 9.78009535e-01 2.08279183e-01 1.08227272e-02 7.03711229e+01] [-2.08266371e-01 9.78069416e-01 -2.31016425e-03 -9.86607271e+00] [-1.10665376e-02 5.35254199e-06 9.99938764e-01 -1.46399021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.228623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:70.40, Y:-9.87, Z:-1.46 [[ 9.78258615e-01 2.07098260e-01 1.09723401e-02 7.03984600e+01] [-2.07085024e-01 9.78320147e-01 -2.34147757e-03 -9.87362323e+00] [-1.12193773e-02 1.83632951e-05 9.99937061e-01 -1.46453606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.258623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:70.43, Y:-9.88, Z:-1.46 [[ 9.78583174e-01 2.05544833e-01 1.12380625e-02 7.04259678e+01] [-2.05530851e-01 9.78647700e-01 -2.39770845e-03 -9.88120010e+00] [-1.14909406e-02 3.65886075e-05 9.99933976e-01 -1.46454733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.288623853 meters Centerline goodness [0,1] 0.9998918568184276 Centerline is valid? [True, True] Translation: X:70.45, Y:-9.89, Z:-1.46 [[ 9.78653531e-01 2.05217919e-01 1.10847958e-02 7.04546885e+01] [-2.05204298e-01 9.78716304e-01 -2.36468067e-03 -9.88743071e+00] [-1.13341453e-02 3.95553366e-05 9.99935766e-01 -1.45910537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.318623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:70.48, Y:-9.89, Z:-1.47 [[ 9.78671174e-01 2.05106953e-01 1.15702283e-02 7.04828553e+01] [-2.05092108e-01 9.78739565e-01 -2.46800664e-03 -9.89392002e+00] [-1.18304456e-02 4.24044433e-05 9.99930017e-01 -1.46501615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.348623853 meters Centerline goodness [0,1] 0.9999783493548108 Centerline is valid? [True, True] Translation: X:70.51, Y:-9.90, Z:-1.46 [[ 9.78674612e-01 2.05096957e-01 1.14560943e-02 7.05116602e+01] [-2.05082409e-01 9.78741660e-01 -2.44318656e-03 -9.90028853e+00] [-1.17136469e-02 4.16412485e-05 9.99931392e-01 -1.46211837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.37862385300001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:70.54, Y:-9.91, Z:-1.47 [[ 9.78532056e-01 2.05791630e-01 1.11722876e-02 7.05401036e+01] [-2.05777841e-01 9.78595833e-01 -2.38246923e-03 -9.90546417e+00] [-1.14234463e-02 3.23132964e-05 9.99934750e-01 -1.46637394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.40862385300001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:70.57, Y:-9.91, Z:-1.47 [[ 9.78484462e-01 2.06044018e-01 1.06780206e-02 7.05681092e+01] [-2.06031442e-01 9.78542723e-01 -2.27669873e-03 -9.91079133e+00] [-1.09179995e-02 2.77063490e-05 9.99940396e-01 -1.46896328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.43862385300001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:70.60, Y:-9.92, Z:-1.47 [[ 9.78448182e-01 2.06236012e-01 1.02889724e-02 7.05966250e+01] [-2.06224349e-01 9.78502277e-01 -2.19347702e-03 -9.91631287e+00] [-1.05201569e-02 2.43669600e-05 9.99944661e-01 -1.47044220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.46862385300001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:70.62, Y:-9.92, Z:-1.47 [[ 9.78389734e-01 2.06534311e-01 9.85432804e-03 7.06242662e+01] [-2.06523630e-01 9.78439358e-01 -2.10047218e-03 -9.92227595e+00] [-1.00756820e-02 1.99288120e-05 9.99949239e-01 -1.47262253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.498623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:70.65, Y:-9.93, Z:-1.47 [[ 9.78425715e-01 2.06383448e-01 9.43359407e-03 7.06518884e+01] [-2.06373659e-01 9.78471191e-01 -2.01019431e-03 -9.92869124e+00] [-9.64537086e-03 1.99804764e-05 9.99953482e-01 -1.47360970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.528623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:70.68, Y:-9.94, Z:-1.47 [[ 9.78502033e-01 2.06010789e-01 9.66054220e-03 7.06790376e+01] [-2.06000509e-01 9.78549720e-01 -2.05817314e-03 -9.93549770e+00] [-9.87732674e-03 2.38499911e-05 9.99951218e-01 -1.47441330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.558623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:70.71, Y:-9.94, Z:-1.47 [[ 9.78590147e-01 2.05583819e-01 9.82941969e-03 7.07072799e+01] [-2.05573162e-01 9.78639511e-01 -2.09348136e-03 -9.94294581e+00] [-1.00498444e-02 2.79953469e-05 9.99949499e-01 -1.47434485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.588623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:70.74, Y:-9.95, Z:-1.47 [[ 9.78706518e-01 2.04986804e-01 1.06753154e-02 7.07353961e+01] [-2.04974204e-01 9.78764736e-01 -2.27307764e-03 -9.95124067e+00] [-1.09145732e-02 3.65116181e-05 9.99940434e-01 -1.47327314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.618623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:70.76, Y:-9.96, Z:-1.47 [[ 9.78890622e-01 2.04070855e-01 1.13241748e-02 7.07637704e+01] [-2.04056624e-01 9.78956119e-01 -2.41053271e-03 -9.96128716e+00] [-1.15777897e-02 4.88749833e-05 9.99932974e-01 -1.47210508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.648623853 meters Centerline goodness [0,1] 0.999871835950016 Centerline is valid? [True, True] Translation: X:70.79, Y:-9.97, Z:-1.47 [[ 9.78842622e-01 2.04315798e-01 1.10533117e-02 7.07923191e+01] [-2.04302257e-01 9.78905027e-01 -2.35269919e-03 -9.96760085e+00] [-1.13008360e-02 4.47057053e-05 9.99936143e-01 -1.46663758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.678623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:70.82, Y:-9.97, Z:-1.47 [[ 9.78487689e-01 2.05994829e-01 1.13125319e-02 7.08206026e+01] [-2.05980761e-01 9.78553080e-01 -2.40759519e-03 -9.97008858e+00] [-1.15658651e-02 2.56383304e-05 9.99933113e-01 -1.47360585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.708623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:70.85, Y:-9.97, Z:-1.48 [[ 9.78228393e-01 2.07252472e-01 1.07528792e-02 7.08494899e+01] [-2.07239844e-01 9.78287490e-01 -2.28785952e-03 -9.97389442e+00] [-1.09935717e-02 9.62414133e-06 9.99939569e-01 -1.47534097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.738623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:70.88, Y:-9.98, Z:-1.48 [[ 9.77913821e-01 2.08744643e-01 1.04991514e-02 7.08785402e+01] [-2.08732695e-01 9.77970181e-01 -2.23342165e-03 -9.97706420e+00] [-1.07340718e-02 -7.42225868e-06 9.99942388e-01 -1.47628622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.76862385300001 meters Centerline goodness [0,1] 0.9999569827716001 Centerline is valid? [True, True] Translation: X:70.91, Y:-9.98, Z:-1.47 [[ 9.77597096e-01 2.10225760e-01 1.04425936e-02 7.09071479e+01] [-2.10214030e-01 9.77652867e-01 -2.22092733e-03 -9.98005252e+00] [-1.06761277e-02 -2.40075710e-05 9.99943008e-01 -1.47260846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.79862385300001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:70.94, Y:-9.98, Z:-1.48 [[ 9.77146726e-01 2.12280761e-01 1.10070224e-02 7.09360985e+01] [-2.12267864e-01 9.77208717e-01 -2.34045847e-03 -9.98306654e+00] [-1.12529926e-02 -4.94658025e-05 9.99936682e-01 -1.47514866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.82862385300001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:70.96, Y:-9.99, Z:-1.47 [[ 9.77043301e-01 2.12755341e-01 1.10250871e-02 7.09646530e+01] [-2.12742439e-01 9.77105502e-01 -2.34370209e-03 -9.98905968e+00] [-1.12713084e-02 -5.56054884e-05 9.99936475e-01 -1.47465477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.85862385300001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:70.99, Y:-9.99, Z:-1.48 [[ 9.77006860e-01 2.12925971e-01 1.09602471e-02 7.09927100e+01] [-2.12913234e-01 9.77068333e-01 -2.32966611e-03 -9.99255216e+00] [-1.12049568e-02 -5.74818777e-05 9.99937221e-01 -1.47746403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.888623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:71.02, Y:-10.00, Z:-1.48 [[ 9.76991797e-01 2.12989510e-01 1.10678514e-02 7.10216263e+01] [-2.12976536e-01 9.77054484e-01 -2.35160492e-03 -9.99993439e+00] [-1.13147610e-02 -5.96939284e-05 9.99935984e-01 -1.47524042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.918623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:71.05, Y:-10.01, Z:-1.48 [[ 9.76972478e-01 2.13089653e-01 1.08432981e-02 7.10497506e+01] [-2.13077209e-01 9.77032648e-01 -2.30362773e-03 -1.00051946e+01] [-1.10851355e-02 -5.98788154e-05 9.99938556e-01 -1.47649993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.948623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:71.08, Y:-10.01, Z:-1.48 [[ 9.76944521e-01 2.13227324e-01 1.06541866e-02 7.10768338e+01] [-2.13215319e-01 9.77002612e-01 -2.26342224e-03 -1.00095727e+01] [-1.08917916e-02 -6.03978325e-05 9.99940681e-01 -1.47792474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.978623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:71.11, Y:-10.01, Z:-1.48 [[ 9.76823760e-01 2.13757585e-01 1.10922376e-02 7.11053969e+01] [-2.13744616e-01 9.76886733e-01 -2.35566782e-03 -1.00142580e+01] [-1.13394016e-02 -6.98337722e-05 9.99935704e-01 -1.47702512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.008623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:71.13, Y:-10.02, Z:-1.48 [[ 9.76718536e-01 2.14200141e-01 1.17983350e-02 7.11336760e+01] [-2.14185507e-01 9.76789790e-01 -2.50500351e-03 -1.00194520e+01] [-1.20610653e-02 -8.03490054e-05 9.99927259e-01 -1.47586688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.038623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:71.16, Y:-10.03, Z:-1.48 [[ 9.76668941e-01 2.14404553e-01 1.21846837e-02 7.11623178e+01] [-2.14388971e-01 9.76744941e-01 -2.58627138e-03 -1.00256277e+01] [-1.24558365e-02 -8.63308814e-05 9.99922419e-01 -1.47525242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.068623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:71.19, Y:-10.03, Z:-1.48 [[ 9.76703599e-01 2.14248428e-01 1.21527986e-02 7.11902587e+01] [-2.14232918e-01 9.76779199e-01 -2.57925159e-03 -1.00302514e+01] [-1.24232015e-02 -8.43652065e-05 9.99922825e-01 -1.47670846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.098623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:71.22, Y:-10.04, Z:-1.48 [[ 9.76908604e-01 2.13313795e-01 1.21162757e-02 7.12175648e+01] [-2.13298311e-01 9.76983736e-01 -2.57116213e-03 -1.00351665e+01] [-1.23858686e-02 -7.25907343e-05 9.99923290e-01 -1.47796014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.12862385300001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:71.25, Y:-10.04, Z:-1.48 [[ 9.77124367e-01 2.12300508e-01 1.25086604e-02 7.12457499e+01] [-2.12283934e-01 9.77204426e-01 -2.65350218e-03 -1.00431388e+01] [-1.27868581e-02 -6.25859862e-05 9.99918243e-01 -1.47742006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.15862385300001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:71.27, Y:-10.05, Z:-1.48 [[ 9.77672037e-01 2.09799384e-01 1.18998988e-02 7.12726478e+01] [-2.09784206e-01 9.77744454e-01 -2.52373946e-03 -1.00529021e+01] [-1.21645390e-02 -2.90213217e-05 9.99926009e-01 -1.47996756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.18862385300001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:71.30, Y:-10.06, Z:-1.48 [[ 9.77882837e-01 2.08845933e-01 1.13372526e-02 7.13013587e+01] [-2.08832097e-01 9.77948555e-01 -2.40394857e-03 -1.00611146e+01] [-1.15893046e-02 -1.68021775e-05 9.99932842e-01 -1.47978011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.21862385300001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:71.33, Y:-10.07, Z:-1.48 [[ 9.78050509e-01 2.08083073e-01 1.08920408e-02 7.13296148e+01] [-2.08070259e-01 9.78111157e-01 -2.30919962e-03 -1.00681157e+01] [-1.11341320e-02 -7.79588513e-06 9.99938014e-01 -1.48194899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.248623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:71.36, Y:-10.08, Z:-1.48 [[ 9.78190676e-01 2.07457530e-01 1.02163759e-02 7.13572154e+01] [-2.07446223e-01 9.78244025e-01 -2.16600862e-03 -1.00751993e+01] [-1.04434635e-02 -5.79158492e-07 9.99945466e-01 -1.48416624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.278623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:71.39, Y:-10.08, Z:-1.49 [[ 9.78222273e-01 2.07311042e-01 1.01644706e-02 7.13854904e+01] [-2.07299845e-01 9.78275080e-01 -2.15462577e-03 -1.00816323e+01] [-1.03903260e-02 6.09726548e-07 9.99946019e-01 -1.48522374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.308623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:71.41, Y:-10.09, Z:-1.49 [[ 9.78213106e-01 2.07354192e-01 1.01665046e-02 7.14144821e+01] [-2.07342998e-01 9.78265935e-01 -2.15459414e-03 -1.00879169e+01] [-1.03923092e-02 -3.01308007e-07 9.99945998e-01 -1.48562336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.338623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:71.44, Y:-10.09, Z:-1.49 [[ 9.78276125e-01 2.07054801e-01 1.02045334e-02 7.14433093e+01] [-2.07043509e-01 9.78329346e-01 -2.16240380e-03 -1.00943907e+01] [-1.04311305e-02 2.64561563e-06 9.99945594e-01 -1.48573572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.368623853 meters Centerline goodness [0,1] 0.9999783895924277 Centerline is valid? [True, True] Translation: X:71.47, Y:-10.10, Z:-1.48 [[ 9.78508711e-01 2.05915805e-01 1.09262949e-02 7.14727459e+01] [-2.05902794e-01 9.78569712e-01 -2.31488142e-03 -1.01030793e+01] [-1.11688120e-02 1.53769841e-05 9.99937627e-01 -1.48156154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.398623853 meters Centerline goodness [0,1] 0.999850395383629 Centerline is valid? [True, True] Translation: X:71.50, Y:-10.11, Z:-1.48 [[ 9.78732011e-01 2.04853223e-01 1.08998687e-02 7.15014907e+01] [-2.04840208e-01 9.78792703e-01 -2.30936327e-03 -1.01115746e+01] [-1.11417924e-02 2.75163895e-05 9.99937928e-01 -1.47891814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.428623853 meters Centerline goodness [0,1] 0.9999347130639159 Centerline is valid? [True, True] Translation: X:71.53, Y:-10.12, Z:-1.48 [[ 9.78937479e-01 2.03868110e-01 1.09181460e-02 7.15309699e+01] [-2.03854992e-01 9.78998362e-01 -2.31301639e-03 -1.01194633e+01] [-1.11603973e-02 3.85798626e-05 9.99937720e-01 -1.48035393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.458623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:71.56, Y:-10.13, Z:-1.49 [[ 9.79133530e-01 2.02910598e-01 1.11722281e-02 7.15599862e+01] [-2.02896800e-01 9.79197266e-01 -2.36684385e-03 -1.01275366e+01] [-1.14200730e-02 5.06468385e-05 9.99934788e-01 -1.48629402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.488623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:71.59, Y:-10.14, Z:-1.49 [[ 9.79607780e-01 2.00623745e-01 1.08953982e-02 7.15886344e+01] [-2.00610482e-01 9.79668366e-01 -2.30811721e-03 -1.01395262e+01] [-1.11369400e-02 7.53184991e-05 9.99937980e-01 -1.48763206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.51862385300001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:71.62, Y:-10.15, Z:-1.49 [[ 9.79839944e-01 1.99487408e-01 1.08838569e-02 7.16190291e+01] [-1.99474102e-01 9.79900386e-01 -2.30573076e-03 -1.01491899e+01] [-1.11250598e-02 8.81995119e-05 9.99938111e-01 -1.48759817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.54862385300001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:71.65, Y:-10.16, Z:-1.49 [[ 9.80024113e-01 1.98534284e-01 1.16993675e-02 7.16490644e+01] [-1.98518846e-01 9.80093938e-01 -2.47806434e-03 -1.01599412e+01] [-1.19584598e-02 1.06017879e-04 9.99928489e-01 -1.48691718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.57862385300001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:71.68, Y:-10.17, Z:-1.49 [[ 9.80004274e-01 1.98602866e-01 1.21870567e-02 7.16795442e+01] [-1.98586096e-01 9.80080042e-01 -2.58331770e-03 -1.01685374e+01] [-1.24573453e-02 1.11482386e-04 9.99922398e-01 -1.48700667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.60862385300001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:71.71, Y:-10.18, Z:-1.49 [[ 9.79985589e-01 1.98671603e-01 1.25633876e-02 7.17107451e+01] [-1.98653754e-01 9.80066110e-01 -2.66557079e-03 -1.01764471e+01] [-1.28425236e-02 1.16456847e-04 9.99917525e-01 -1.48718754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.638623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:71.74, Y:-10.18, Z:-1.49 [[ 9.79864995e-01 1.99235061e-01 1.30377101e-02 7.17409439e+01] [-1.99215856e-01 9.79951722e-01 -2.76861620e-03 -1.01849731e+01] [-1.33279319e-02 1.15551509e-04 9.99911172e-01 -1.48677804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.668623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:71.77, Y:-10.19, Z:-1.49 [[ 9.79702856e-01 2.00014784e-01 1.32815952e-02 7.17716786e+01] [-1.99994897e-01 9.79792873e-01 -2.82257328e-03 -1.01920434e+01] [-1.35777687e-02 1.09031832e-04 9.99907812e-01 -1.48758929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.698623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:71.80, Y:-10.20, Z:-1.49 [[ 9.79542213e-01 2.00823795e-01 1.29172766e-02 7.18027668e+01] [-2.00805030e-01 9.79627375e-01 -2.74705288e-03 -1.01991606e+01] [-1.32057913e-02 9.70001512e-05 9.99912795e-01 -1.48856408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.728623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:71.83, Y:-10.21, Z:-1.49 [[ 9.79129430e-01 2.02865317e-01 1.22972462e-02 7.18337097e+01] [-2.02848445e-01 9.79206648e-01 -2.61720939e-03 -1.02054023e+01] [-1.25724862e-02 6.81094650e-05 9.99920961e-01 -1.49102615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.758623853 meters Centerline goodness [0,1] 0.9999129147435339 Centerline is valid? [True, True] Translation: X:71.87, Y:-10.21, Z:-1.49 [[ 9.78812204e-01 2.04426292e-01 1.16859249e-02 7.18651348e+01] [-2.04411138e-01 9.78881959e-01 -2.48954119e-03 -1.02102382e+01] [-1.19480688e-02 4.80600748e-05 9.99928618e-01 -1.48678439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.788623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:71.90, Y:-10.21, Z:-1.49 [[ 9.78415336e-01 2.06325140e-01 1.15484595e-02 7.18950603e+01] [-2.06310469e-01 9.78483488e-01 -2.46059720e-03 -1.02142413e+01] [-1.18076600e-02 2.49179401e-05 9.99930287e-01 -1.49381253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.818623853 meters Centerline goodness [0,1] 0.9999355587060188 Centerline is valid? [True, True] Translation: X:71.93, Y:-10.22, Z:-1.49 [[ 9.78016032e-01 2.08246441e-01 1.08655561e-02 7.19250285e+01] [-2.08233570e-01 9.78076387e-01 -2.31528684e-03 -1.02184035e+01] [-1.11094941e-02 1.81410775e-06 9.99938288e-01 -1.48999731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.848623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:71.95, Y:-10.22, Z:-1.50 [[ 9.76958406e-01 2.13136099e-01 1.11926930e-02 7.19543519e+01] [-2.13122759e-01 9.77022518e-01 -2.38520905e-03 -1.02170391e+01] [-1.14438873e-02 -5.51675905e-05 9.99934515e-01 -1.49540984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.87862385300001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:71.98, Y:-10.22, Z:-1.50 [[ 9.76370531e-01 2.15815524e-01 1.11465266e-02 7.19837539e+01] [-2.15802473e-01 9.76434151e-01 -2.37504876e-03 -1.02185709e+01] [-1.13964216e-02 -8.65203786e-05 9.99935055e-01 -1.49612501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.90862385300001 meters Centerline goodness [0,1] 0.9999786489025536 Centerline is valid? [True, True] Translation: X:72.01, Y:-10.22, Z:-1.50 [[ 9.75706329e-01 2.18794273e-01 1.12350075e-02 7.20138434e+01] [-2.18781218e-01 9.75771003e-01 -2.39323419e-03 -1.02215506e+01] [-1.14864205e-02 -1.22914886e-04 9.99934021e-01 -1.49574620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.93862385300001 meters Centerline goodness [0,1] 0.9999784352626585 Centerline is valid? [True, True] Translation: X:72.04, Y:-10.22, Z:-1.50 [[ 9.74460767e-01 2.24264948e-01 1.14649736e-02 7.20448813e+01] [-2.24251735e-01 9.74528192e-01 -2.44193532e-03 -1.02188446e+01] [-1.17205805e-02 -1.91470061e-04 9.99931293e-01 -1.49536140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.96862385300001 meters Centerline goodness [0,1] 0.999849271118193 Centerline is valid? [True, True] Translation: X:72.07, Y:-10.22, Z:-1.49 [[ 9.73903952e-01 2.26694340e-01 1.09895127e-02 7.20733590e+01] [-2.26682355e-01 9.73965929e-01 -2.34064114e-03 -1.02184621e+01] [-1.12340211e-02 -2.11568963e-04 9.99936874e-01 -1.49071085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.998623853 meters Centerline goodness [0,1] 0.9999783319971398 Centerline is valid? [True, True] Translation: X:72.10, Y:-10.22, Z:-1.50 [[ 9.73417986e-01 2.28771506e-01 1.10010534e-02 7.21022288e+01] [-2.28759637e-01 9.73480119e-01 -2.34234298e-03 -1.02204164e+01] [-1.12451681e-02 -2.36518205e-04 9.99936743e-01 -1.49741912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.028623853 meters Centerline goodness [0,1] 0.9999354269355776 Centerline is valid? [True, True] Translation: X:72.13, Y:-10.22, Z:-1.50 [[ 9.72770761e-01 2.31510977e-01 1.09414262e-02 7.21313551e+01] [-2.31499416e-01 9.72832255e-01 -2.32903507e-03 -1.02188855e+01] [-1.11833695e-02 -2.67316553e-04 9.99937428e-01 -1.49888268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.058623853 meters Centerline goodness [0,1] 0.9998928257561143 Centerline is valid? [True, True] Translation: X:72.16, Y:-10.22, Z:-1.50 [[ 9.72659617e-01 2.31974871e-01 1.09967469e-02 7.21592122e+01] [-2.31963226e-01 9.72721740e-01 -2.34048832e-03 -1.02215870e+01] [-1.12397093e-02 -2.74342416e-04 9.99936795e-01 -1.49978077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.088623853 meters Centerline goodness [0,1] 0.9998928257561143 Centerline is valid? [True, True] Translation: X:72.19, Y:-10.23, Z:-1.50 [[ 9.72676072e-01 2.31905861e-01 1.09968707e-02 7.21861400e+01] [-2.31894218e-01 9.72738195e-01 -2.33990647e-03 -1.02271821e+01] [-1.12397142e-02 -2.74139703e-04 9.99936795e-01 -1.50026576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.118623853 meters Centerline goodness [0,1] 0.9999571312213315 Centerline is valid? [True, True] Translation: X:72.21, Y:-10.23, Z:-1.50 [[ 9.72793142e-01 2.31369393e-01 1.19040976e-02 7.22147513e+01] [-2.31355723e-01 9.72865931e-01 -2.53182545e-03 -1.02305337e+01] [-1.21668780e-02 -2.91138680e-04 9.99925938e-01 -1.49874439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.148623853 meters Centerline goodness [0,1] 0.9999573242291689 Centerline is valid? [True, True] Translation: X:72.24, Y:-10.24, Z:-1.50 [[ 9.73014429e-01 2.30388093e-01 1.28159434e-02 7.22430181e+01] [-2.30372173e-01 9.73098780e-01 -2.72506187e-03 -1.02358256e+01] [-1.30990007e-02 -3.00912207e-04 9.99914159e-01 -1.49788663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.178623853 meters Centerline goodness [0,1] 0.999935175781672 Centerline is valid? [True, True] Translation: X:72.27, Y:-10.24, Z:-1.50 [[ 9.73344802e-01 2.28964881e-01 1.32279784e-02 7.22709258e+01] [-2.28947799e-01 9.73434640e-01 -2.81199027e-03 -1.02406125e+01] [-1.35204194e-02 -2.91480429e-04 9.99908552e-01 -1.49728234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.208623853 meters Centerline goodness [0,1] 0.9999356926968339 Centerline is valid? [True, True] Translation: X:72.30, Y:-10.25, Z:-1.50 [[ 9.73737421e-01 2.27295078e-01 1.31294661e-02 7.22988721e+01] [-2.27278106e-01 9.73825896e-01 -2.79040912e-03 -1.02465234e+01] [-1.34200604e-02 -2.66914407e-04 9.99909911e-01 -1.49828903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.238623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:72.33, Y:-10.25, Z:-1.50 [[ 9.74795202e-01 2.22756581e-01 1.24024419e-02 7.23252786e+01] [-2.22741075e-01 9.74874078e-01 -2.63539279e-03 -1.02548461e+01] [-1.26778702e-02 -1.93564986e-04 9.99919614e-01 -1.50072318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.26862385300001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:72.35, Y:-10.26, Z:-1.50 [[ 9.75406526e-01 2.20077737e-01 1.21613789e-02 7.23524852e+01] [-2.20062629e-01 9.75482324e-01 -2.58339891e-03 -1.02640272e+01] [-1.24317587e-02 -1.56400856e-04 9.99922710e-01 -1.50189447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.29862385300001 meters Centerline goodness [0,1] 0.9999786639356504 Centerline is valid? [True, True] Translation: X:72.38, Y:-10.27, Z:-1.50 [[ 9.76090003e-01 2.17053850e-01 1.16589839e-02 7.23794948e+01] [-2.17039756e-01 9.76159625e-01 -2.47614319e-03 -1.02735748e+01] [-1.19184857e-02 -1.13524388e-04 9.99928966e-01 -1.50050577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.32862385300001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:72.41, Y:-10.28, Z:-1.50 [[ 9.76800073e-01 2.13843885e-01 1.15069882e-02 7.24067667e+01] [-2.13829939e-01 9.76867845e-01 -2.44332407e-03 -1.02838926e+01] [-1.17632967e-02 -7.38994445e-05 9.99930807e-01 -1.50392678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.35862385300001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:72.43, Y:-10.30, Z:-1.51 [[ 9.78158198e-01 2.07571463e-01 1.09830805e-02 7.24334980e+01] [-2.07558369e-01 9.78219857e-01 -2.33141871e-03 -1.02964902e+01] [-1.12278034e-02 8.66057219e-07 9.99936966e-01 -1.50631113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.388623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:72.46, Y:-10.31, Z:-1.51 [[ 9.78827113e-01 2.04397867e-01 1.09085139e-02 7.24616243e+01] [-2.04384757e-01 9.78887895e-01 -2.31531665e-03 -1.03060057e+01] [-1.11514580e-02 3.67607484e-05 9.99937820e-01 -1.50702676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.418623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:72.49, Y:-10.32, Z:-1.51 [[ 9.79967507e-01 1.98820141e-01 1.15860636e-02 7.24910392e+01] [-1.98804968e-01 9.80035989e-01 -2.45853199e-03 -1.03181619e+01] [-1.18435650e-02 1.05914472e-04 9.99929857e-01 -1.50532447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.448623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:72.52, Y:-10.33, Z:-1.51 [[ 9.80470829e-01 1.96295291e-01 1.20462629e-02 7.25207646e+01] [-1.96278703e-01 9.80544817e-01 -2.55577754e-03 -1.03282394e+01] [-1.23135878e-02 1.41440463e-04 9.99924175e-01 -1.50512918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.478623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:72.55, Y:-10.34, Z:-1.51 [[ 9.80903330e-01 1.94115419e-01 1.21598602e-02 7.25500294e+01] [-1.94098323e-01 9.80978682e-01 -2.58197049e-03 -1.03393142e+01] [-1.24297639e-02 1.72454969e-04 9.99922733e-01 -1.50559656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.508623853 meters Centerline goodness [0,1] 0.9999783456041577 Centerline is valid? [True, True] Translation: X:72.58, Y:-10.35, Z:-1.51 [[ 9.81299135e-01 1.92080982e-01 1.25261349e-02 7.25811536e+01] [-1.92062649e-01 9.81379057e-01 -2.66182787e-03 -1.03477108e+01] [-1.28041730e-02 2.06246735e-04 9.99918002e-01 -1.50529595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.538623853 meters Centerline goodness [0,1] 0.9999786443428864 Centerline is valid? [True, True] Translation: X:72.61, Y:-10.36, Z:-1.51 [[ 9.81916784e-01 1.88931301e-01 1.20163645e-02 7.26097618e+01] [-1.88914168e-01 9.81990278e-01 -2.55557200e-03 -1.03636441e+01] [-1.22827807e-02 2.39297530e-04 9.99924535e-01 -1.50829724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.568623853 meters Centerline goodness [0,1] 0.9997856928549997 Centerline is valid? [True, True] Translation: X:72.64, Y:-10.37, Z:-1.50 [[ 9.82137063e-01 1.87836759e-01 1.11419075e-02 7.26412414e+01] [-1.87821940e-01 9.82200232e-01 -2.37125003e-03 -1.03681280e+01] [-1.13889920e-02 2.36197866e-04 9.99935115e-01 -1.50211742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.598623853 meters Centerline goodness [0,1] 0.9999783568522206 Centerline is valid? [True, True] Translation: X:72.67, Y:-10.37, Z:-1.51 [[ 9.82283755e-01 1.87042087e-01 1.15707558e-02 7.26732670e+01] [-1.87026028e-01 9.82351868e-01 -2.46433673e-03 -1.03732914e+01] [-1.18274882e-02 2.56645448e-04 9.99930020e-01 -1.50860672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.62862385300001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:72.70, Y:-10.38, Z:-1.51 [[ 9.82426128e-01 1.86307167e-01 1.13376889e-02 7.27033222e+01] [-1.86291676e-01 9.82491512e-01 -2.41672407e-03 -1.03835328e+01] [-1.15894361e-02 2.62135796e-04 9.99932806e-01 -1.51008322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.65862385300001 meters Centerline goodness [0,1] 0.9999785287928887 Centerline is valid? [True, True] Translation: X:72.73, Y:-10.39, Z:-1.51 [[ 9.82662686e-01 1.85098469e-01 1.06114415e-02 7.27340986e+01] [-1.85084813e-01 9.82719944e-01 -2.26341925e-03 -1.03938124e+01] [-1.08470307e-02 2.60160969e-04 9.99941135e-01 -1.51175451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.68862385300001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:72.77, Y:-10.40, Z:-1.51 [[ 9.82728546e-01 1.84754986e-01 1.04976412e-02 7.27654428e+01] [-1.84741583e-01 9.82784578e-01 -2.24089021e-03 -1.04020128e+01] [-1.07309355e-02 2.62835932e-04 9.99942387e-01 -1.51257622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.71862385300001 meters Centerline goodness [0,1] 0.9999568453986406 Centerline is valid? [True, True] Translation: X:72.80, Y:-10.41, Z:-1.51 [[ 9.82862836e-01 1.84010200e-01 1.09950723e-02 7.27971689e+01] [-1.83995428e-01 9.82924292e-01 -2.34904721e-03 -1.04091058e+01] [-1.12395723e-02 2.85748166e-04 9.99936793e-01 -1.51114018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.748623853 meters Centerline goodness [0,1] 0.9999783965953034 Centerline is valid? [True, True] Translation: X:72.83, Y:-10.42, Z:-1.51 [[ 9.82865812e-01 1.83956734e-01 1.16067169e-02 7.28278790e+01] [-1.83940243e-01 9.82934295e-01 -2.48187838e-03 -1.04193808e+01] [-1.18651983e-02 3.04411095e-04 9.99929560e-01 -1.51125215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.778623853 meters Centerline goodness [0,1] 0.9996796788246348 Centerline is valid? [True, True] Translation: X:72.86, Y:-10.43, Z:-1.50 [[ 9.82808040e-01 1.84265204e-01 1.16056219e-02 7.28583448e+01] [-1.84248712e-01 9.82876514e-01 -2.48385507e-03 -1.04282831e+01] [-1.18645813e-02 3.02831846e-04 9.99929568e-01 -1.50426830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.808623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:72.89, Y:-10.44, Z:-1.51 [[ 9.82604185e-01 1.85328316e-01 1.19344070e-02 7.28886727e+01] [-1.85310924e-01 9.82676613e-01 -2.55666653e-03 -1.04360146e+01] [-1.22014853e-02 3.00615244e-04 9.99925514e-01 -1.51202945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.838623853 meters Centerline goodness [0,1] 0.9999569410954185 Centerline is valid? [True, True] Translation: X:72.92, Y:-10.44, Z:-1.51 [[ 9.82406344e-01 1.86391725e-01 1.16575996e-02 7.29198934e+01] [-1.86375185e-01 9.82475468e-01 -2.49906570e-03 -1.04431174e+01] [-1.19191108e-02 2.82410715e-04 9.99928925e-01 -1.51286861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.868623853 meters Centerline goodness [0,1] 0.9999785089510219 Centerline is valid? [True, True] Translation: X:72.95, Y:-10.45, Z:-1.51 [[ 9.82160443e-01 1.87676659e-01 1.17616713e-02 7.29519677e+01] [-1.87659891e-01 9.82230827e-01 -2.52331819e-03 -1.04469401e+01] [-1.20262441e-02 2.71109358e-04 9.99927645e-01 -1.51221565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.898623853 meters Centerline goodness [0,1] 0.9999784259578874 Centerline is valid? [True, True] Translation: X:72.98, Y:-10.45, Z:-1.51 [[ 9.81545440e-01 1.90861808e-01 1.18456535e-02 7.29818558e+01] [-1.90844998e-01 9.81616888e-01 -2.54409704e-03 -1.04549354e+01] [-1.21134645e-02 2.36463129e-04 9.99926601e-01 -1.51332128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.928623853 meters Centerline goodness [0,1] 0.9999787270251872 Centerline is valid? [True, True] Translation: X:73.01, Y:-10.46, Z:-1.51 [[ 9.81239037e-01 1.92410830e-01 1.21665432e-02 7.30135202e+01] [-1.92393215e-01 9.81314436e-01 -2.61310184e-03 -1.04607415e+01] [-1.24419936e-02 2.23317185e-04 9.99922570e-01 -1.51342897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.958623853 meters Centerline goodness [0,1] 0.9998277495478426 Centerline is valid? [True, True] Translation: X:73.05, Y:-10.47, Z:-1.51 [[ 9.80933986e-01 1.93960218e-01 1.21634075e-02 7.30454287e+01] [-1.93942706e-01 9.81009374e-01 -2.61441189e-03 -1.04655521e+01] [-1.24395087e-02 2.05561302e-04 9.99922605e-01 -1.50578664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.988623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:73.08, Y:-10.47, Z:-1.51 [[ 9.80430070e-01 1.96415092e-01 1.33412342e-02 7.30766112e+01] [-1.96394216e-01 9.80520818e-01 -2.87014807e-03 -1.04718046e+01] [-1.36450982e-02 1.93838248e-04 9.99906883e-01 -1.51175182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.01862385300001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:73.11, Y:-10.48, Z:-1.51 [[ 9.80198917e-01 1.97567629e-01 1.33084702e-02 7.31081569e+01] [-1.97546931e-01 9.80289243e-01 -2.86539269e-03 -1.04784701e+01] [-1.36122590e-02 1.79607364e-04 9.99907333e-01 -1.51215955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.04862385300001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:73.14, Y:-10.49, Z:-1.51 [[ 9.79969213e-01 1.98716869e-01 1.31128584e-02 7.31392892e+01] [-1.98696848e-01 9.80056927e-01 -2.82547971e-03 -1.04856398e+01] [-1.34128182e-02 1.63399493e-04 9.99910031e-01 -1.51323429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.07862385300001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:73.17, Y:-10.49, Z:-1.51 [[ 9.79766019e-01 1.99747430e-01 1.26298341e-02 7.31705407e+01] [-1.99728916e-01 9.79847408e-01 -2.72346233e-03 -1.04938172e+01] [-1.29193148e-02 1.45812771e-04 9.99916532e-01 -1.51477525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.10862385300001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:73.20, Y:-10.50, Z:-1.52 [[ 9.79400996e-01 2.01596832e-01 1.15068075e-02 7.32003715e+01] [-2.01581570e-01 9.79468583e-01 -2.48308465e-03 -1.05045578e+01] [-1.17711385e-02 1.12375247e-04 9.99930711e-01 -1.51867946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.138623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:73.23, Y:-10.51, Z:-1.52 [[ 9.79218123e-01 2.02517708e-01 1.08832325e-02 7.32318072e+01] [-2.02504096e-01 9.79278596e-01 -2.35003259e-03 -1.05106029e+01] [-1.11336399e-02 9.72953424e-05 9.99938014e-01 -1.51931660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.168623853 meters Centerline goodness [0,1] 0.9999785582572152 Centerline is valid? [True, True] Translation: X:73.26, Y:-10.52, Z:-1.52 [[ 9.79068731e-01 2.03263958e-01 1.04011336e-02 7.32625374e+01] [-2.03251539e-01 9.79123974e-01 -2.24857212e-03 -1.05181763e+01] [-1.06410529e-02 8.74602391e-05 9.99943379e-01 -1.52110832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.198623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:73.29, Y:-10.53, Z:-1.52 [[ 9.78899470e-01 2.04081243e-01 1.03282916e-02 7.32933524e+01] [-2.04069040e-01 9.78953952e-01 -2.23307502e-03 -1.05258153e+01] [-1.05666506e-02 7.82713904e-05 9.99944168e-01 -1.52192150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.228623853 meters Centerline goodness [0,1] 0.9999571954455954 Centerline is valid? [True, True] Translation: X:73.32, Y:-10.53, Z:-1.52 [[ 9.78398371e-01 2.06481199e-01 1.01065232e-02 7.33228509e+01] [-2.06469640e-01 9.78450567e-01 -2.18545060e-03 -1.05311396e+01] [-1.03399878e-02 5.15511173e-05 9.99946540e-01 -1.52238057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.258623853 meters Centerline goodness [0,1] 0.9998294570338314 Centerline is valid? [True, True] Translation: X:73.35, Y:-10.54, Z:-1.52 [[ 9.78107448e-01 2.07843292e-01 1.03434177e-02 7.33530733e+01] [-2.07831263e-01 9.78162136e-01 -2.23646130e-03 -1.05364791e+01] [-1.05823731e-02 3.78138833e-05 9.99944004e-01 -1.52305461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.288623853 meters Centerline goodness [0,1] 0.9997242491091125 Centerline is valid? [True, True] Translation: X:73.38, Y:-10.54, Z:-1.52 [[ 9.77445086e-01 2.10898021e-01 1.10963535e-02 7.33827664e+01] [-2.10884359e-01 9.77508069e-01 -2.40048547e-03 -1.05398858e+01] [-1.13530328e-02 6.29531592e-06 9.99935552e-01 -1.52147314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.318623853 meters Centerline goodness [0,1] 0.9997411729180596 Centerline is valid? [True, True] Translation: X:73.41, Y:-10.54, Z:-1.52 [[ 9.77047701e-01 2.12715687e-01 1.13941295e-02 7.34129274e+01] [-2.12701408e-01 9.77114137e-01 -2.46469367e-03 -1.05446424e+01] [-1.16576440e-02 -1.54240929e-05 9.99932047e-01 -1.52102602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.348623853 meters Centerline goodness [0,1] 0.9996545843138102 Centerline is valid? [True, True] Translation: X:73.44, Y:-10.55, Z:-1.52 [[ 9.76692230e-01 2.14347170e-01 1.12950599e-02 7.34434575e+01] [-2.14333249e-01 9.76757539e-01 -2.44311787e-03 -1.05496018e+01] [-1.15562103e-02 -3.47326470e-05 9.99933224e-01 -1.52114602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.37862385300001 meters Centerline goodness [0,1] 0.9996158852777363 Centerline is valid? [True, True] Translation: X:73.47, Y:-10.55, Z:-1.52 [[ 9.76047601e-01 2.17250535e-01 1.15449246e-02 7.34720405e+01] [-2.17236187e-01 9.76115874e-01 -2.49780371e-03 -1.05513981e+01] [-1.18118334e-02 -7.00000869e-05 9.99930235e-01 -1.52166577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.40862385300001 meters Centerline goodness [0,1] 0.9995894288739546 Centerline is valid? [True, True] Translation: X:73.50, Y:-10.56, Z:-1.52 [[ 9.75820607e-01 2.18282898e-01 1.12569712e-02 7.35025168e+01] [-2.18269334e-01 9.75885531e-01 -2.43473915e-03 -1.05581911e+01] [-1.15169772e-02 -8.11829567e-05 9.99933674e-01 -1.52135236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.43862385300001 meters Centerline goodness [0,1] 0.9995263316539638 Centerline is valid? [True, True] Translation: X:73.53, Y:-10.56, Z:-1.52 [[ 9.75446870e-01 2.19974705e-01 1.07020425e-02 7.35322083e+01] [-2.19962544e-01 9.75505571e-01 -2.31506284e-03 -1.05625700e+01] [-1.09491574e-02 -9.58277028e-05 9.99940052e-01 -1.52313598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.46862385300001 meters Centerline goodness [0,1] 0.9995254734480825 Centerline is valid? [True, True] Translation: X:73.56, Y:-10.57, Z:-1.52 [[ 9.75374901e-01 2.20304487e-01 1.04754887e-02 7.35613919e+01] [-2.20292850e-01 9.75431148e-01 -2.26639368e-03 -1.05680015e+01] [-1.07174147e-02 -9.70917530e-05 9.99942562e-01 -1.52370923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.49862385300001 meters Centerline goodness [0,1] 0.9994638989556751 Centerline is valid? [True, True] Translation: X:73.59, Y:-10.57, Z:-1.52 [[ 9.75391681e-01 2.20231672e-01 1.04441152e-02 7.35897381e+01] [-2.20220103e-01 9.75447590e-01 -2.25937305e-03 -1.05731509e+01] [-1.06852725e-02 -9.62304546e-05 9.99942906e-01 -1.52474366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.528623853 meters Centerline goodness [0,1] 0.9995487752470993 Centerline is valid? [True, True] Translation: X:73.62, Y:-10.58, Z:-1.53 [[ 9.75464469e-01 2.19912459e-01 1.03720776e-02 7.36187355e+01] [-2.19901035e-01 9.75519606e-01 -2.24346151e-03 -1.05797540e+01] [-1.06115302e-02 -9.24135980e-05 9.99943692e-01 -1.52521985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.558623853 meters Centerline goodness [0,1] 0.9996387897331294 Centerline is valid? [True, True] Translation: X:73.65, Y:-10.59, Z:-1.53 [[ 9.75628793e-01 2.19170583e-01 1.06167226e-02 7.36477827e+01] [-2.19158575e-01 9.75686552e-01 -2.29583888e-03 -1.05869032e+01] [-1.08617738e-02 -8.68592807e-05 9.99941005e-01 -1.52592535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.588623853 meters Centerline goodness [0,1] 0.9995679692394098 Centerline is valid? [True, True] Translation: X:73.68, Y:-10.60, Z:-1.53 [[ 9.76037943e-01 2.17352206e-01 1.03900291e-02 7.36774160e+01] [-2.17340602e-01 9.76093240e-01 -2.24690850e-03 -1.05966320e+01] [-1.06300077e-02 -6.51072247e-05 9.99943498e-01 -1.52640959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.618623853 meters Centerline goodness [0,1] 0.9996362702725833 Centerline is valid? [True, True] Translation: X:73.71, Y:-10.60, Z:-1.53 [[ 9.76220422e-01 2.16526360e-01 1.04891494e-02 7.37064396e+01] [-2.16514485e-01 9.76276770e-01 -2.26834095e-03 -1.06042272e+01] [-1.07314685e-02 -5.66520301e-05 9.99942415e-01 -1.52752654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.648623853 meters Centerline goodness [0,1] 0.999568155809384 Centerline is valid? [True, True] Translation: X:73.74, Y:-10.61, Z:-1.52 [[ 9.76399196e-01 2.15741909e-01 1.00019572e-02 7.37371056e+01] [-2.15731073e-01 9.76450422e-01 -2.16275480e-03 -1.06137307e+01] [-1.02330121e-02 -4.60208972e-05 9.99947640e-01 -1.52460804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.678623853 meters Centerline goodness [0,1] 0.9995652362940741 Centerline is valid? [True, True] Translation: X:73.77, Y:-10.62, Z:-1.53 [[ 9.76807362e-01 2.13885891e-01 1.00101146e-02 7.37665162e+01] [-2.13874920e-01 9.76858652e-01 -2.16640850e-03 -1.06241730e+01] [-1.02418313e-02 -2.47486979e-05 9.99947551e-01 -1.52847465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.708623853 meters Centerline goodness [0,1] 0.999655580669465 Centerline is valid? [True, True] Translation: X:73.80, Y:-10.63, Z:-1.53 [[ 9.76975741e-01 2.13092211e-01 1.04933546e-02 7.37969506e+01] [-2.13080090e-01 9.77032092e-01 -2.27288653e-03 -1.06320087e+01] [-1.07366786e-02 -1.53699457e-05 9.99942360e-01 -1.52854133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.738623853 meters Centerline goodness [0,1] 0.999657651489216 Centerline is valid? [True, True] Translation: X:73.83, Y:-10.64, Z:-1.53 [[ 9.77345741e-01 2.11390655e-01 1.04543491e-02 7.38263666e+01] [-2.11378508e-01 9.77401653e-01 -2.26616951e-03 -1.06411793e+01] [-1.06971451e-02 5.00640379e-06 9.99942784e-01 -1.52956891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.76862385300001 meters Centerline goodness [0,1] 0.9995969623690127 Centerline is valid? [True, True] Translation: X:73.86, Y:-10.65, Z:-1.53 [[ 9.77457818e-01 2.10873387e-01 1.04224784e-02 7.38565075e+01] [-2.10861256e-01 9.77513383e-01 -2.26185745e-03 -1.06494720e+01] [-1.06650777e-02 1.31733473e-05 9.99943126e-01 -1.52981927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.79862385300001 meters Centerline goodness [0,1] 0.9995728138750053 Centerline is valid? [True, True] Translation: X:73.89, Y:-10.66, Z:-1.53 [[ 9.77525344e-01 2.10553115e-01 1.05634493e-02 7.38885915e+01] [-2.10540646e-01 9.77582419e-01 -2.29153048e-03 -1.06574448e+01] [-1.08091312e-02 1.59936701e-05 9.99941580e-01 -1.52945283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.82862385300001 meters Centerline goodness [0,1] 0.9997002012934173 Centerline is valid? [True, True] Translation: X:73.92, Y:-10.67, Z:-1.53 [[ 9.77660480e-01 2.09912126e-01 1.08113781e-02 7.39194546e+01] [-2.09898999e-01 9.77720256e-01 -2.34766558e-03 -1.06662007e+01] [-1.10633069e-02 2.59224142e-05 9.99938799e-01 -1.52941762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.85862385300001 meters Centerline goodness [0,1] 0.9995945196124462 Centerline is valid? [True, True] Translation: X:73.95, Y:-10.68, Z:-1.53 [[ 9.77776485e-01 2.09356389e-01 1.10926702e-02 7.39506751e+01] [-2.09342510e-01 9.77839404e-01 -2.41093415e-03 -1.06751330e+01] [-1.13515945e-02 3.51872952e-05 9.99935568e-01 -1.52996804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.888623853 meters Centerline goodness [0,1] 0.9995928513264475 Centerline is valid? [True, True] Translation: X:73.98, Y:-10.68, Z:-1.53 [[ 9.77950336e-01 2.08517063e-01 1.15661137e-02 7.39809708e+01] [-2.08501887e-01 9.78018728e-01 -2.51613123e-03 -1.06843248e+01] [-1.18365321e-02 4.90948564e-05 9.99929945e-01 -1.52971930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.918623853 meters Centerline goodness [0,1] 0.9997849508612718 Centerline is valid? [True, True] Translation: X:74.01, Y:-10.69, Z:-1.53 [[ 9.78159729e-01 2.07518071e-01 1.18234958e-02 7.40131835e+01] [-2.07502114e-01 9.78231182e-01 -2.57419796e-03 -1.06927255e+01] [-1.21003048e-02 6.45764042e-05 9.99926787e-01 -1.52817010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.948623853 meters Centerline goodness [0,1] 0.9998923156443832 Centerline is valid? [True, True] Translation: X:74.04, Y:-10.71, Z:-1.53 [[ 9.78809301e-01 2.04438019e-01 1.17238890e-02 7.40420618e+01] [-2.04422077e-01 9.78879505e-01 -2.55515482e-03 -1.07062433e+01] [-1.19986455e-02 1.04387555e-04 9.99928008e-01 -1.52972599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.978623853 meters Centerline goodness [0,1] 0.9998923156443832 Centerline is valid? [True, True] Translation: X:74.07, Y:-10.71, Z:-1.53 [[ 9.78768974e-01 2.04631019e-01 1.17235210e-02 7.40737656e+01] [-2.04615071e-01 9.78839177e-01 -2.55684181e-03 -1.07133486e+01] [-1.19986508e-02 1.03748341e-04 9.99928008e-01 -1.53029934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.008623853 meters Centerline goodness [0,1] 0.999630314232902 Centerline is valid? [True, True] Translation: X:74.10, Y:-10.72, Z:-1.52 [[ 9.79114824e-01 2.03017219e-01 1.08706072e-02 7.41034069e+01] [-2.03003378e-01 9.79175161e-01 -2.37350846e-03 -1.07245011e+01] [-1.11260917e-02 1.17167335e-04 9.99938096e-01 -1.52482271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.038623853 meters Centerline goodness [0,1] 0.9996323370387993 Centerline is valid? [True, True] Translation: X:74.13, Y:-10.74, Z:-1.53 [[ 9.79453019e-01 2.01390976e-01 1.06516726e-02 7.41339683e+01] [-2.01377585e-01 9.79510928e-01 -2.32616837e-03 -1.07359366e+01] [-1.09018990e-02 1.33364531e-04 9.99940564e-01 -1.52690003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.068623853 meters Centerline goodness [0,1] 0.9999141557215212 Centerline is valid? [True, True] Translation: X:74.16, Y:-10.75, Z:-1.54 [[ 9.80041618e-01 1.98548992e-01 9.83490841e-03 7.41621583e+01] [-1.98537417e-01 9.80090952e-01 -2.14942320e-03 -1.07513608e+01] [-1.00658706e-02 1.53926873e-04 9.99949326e-01 -1.53588764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.098623853 meters Centerline goodness [0,1] 0.9998923851749817 Centerline is valid? [True, True] Translation: X:74.19, Y:-10.76, Z:-1.54 [[ 9.80130293e-01 1.98138479e-01 9.26022161e-03 7.41921059e+01] [-1.98128186e-01 9.80174026e-01 -2.02521819e-03 -1.07618239e+01] [-9.47790235e-03 1.50266789e-04 9.99955072e-01 -1.53791075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.12862385300001 meters Centerline goodness [0,1] 0.9999783488860502 Centerline is valid? [True, True] Translation: X:74.22, Y:-10.77, Z:-1.54 [[ 9.80071046e-01 1.98432248e-01 9.24050509e-03 7.42240794e+01] [-1.98422001e-01 9.80114596e-01 -2.02206446e-03 -1.07693887e+01] [-9.45799671e-03 1.48247325e-04 9.99955261e-01 -1.53716588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.15862385300001 meters Centerline goodness [0,1] 0.9996979634104246 Centerline is valid? [True, True] Translation: X:74.26, Y:-10.78, Z:-1.53 [[ 9.79521564e-01 2.01136050e-01 9.04410925e-03 7.42555777e+01] [-2.01126330e-01 9.79563308e-01 -1.98105274e-03 -1.07751842e+01] [-9.25773870e-03 1.21475372e-04 9.99957139e-01 -1.53014916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.18862385300001 meters Centerline goodness [0,1] 0.9999783211932015 Centerline is valid? [True, True] Translation: X:74.29, Y:-10.78, Z:-1.54 [[ 9.79153417e-01 2.02892211e-01 9.66108202e-03 7.42877270e+01] [-2.02881178e-01 9.79201071e-01 -2.11897908e-03 -1.07803876e+01] [-9.89006621e-03 1.14753902e-04 9.99951086e-01 -1.53710721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.21862385300001 meters Centerline goodness [0,1] 0.9999141851883635 Centerline is valid? [True, True] Translation: X:74.32, Y:-10.78, Z:-1.54 [[ 9.78064291e-01 2.08079743e-01 9.64692779e-03 7.43191409e+01] [-2.08068995e-01 9.78111863e-01 -2.11572322e-03 -1.07826254e+01] [-9.87601365e-03 6.20867575e-05 9.99951229e-01 -1.53775510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.24862385300001 meters Centerline goodness [0,1] 0.9997198577739468 Centerline is valid? [True, True] Translation: X:74.35, Y:-10.79, Z:-1.54 [[ 9.77453911e-01 2.10938173e-01 9.43073949e-03 7.43505986e+01] [-2.10928021e-01 9.77499405e-01 -2.06980630e-03 -1.07866531e+01] [-9.65514340e-03 3.39330439e-05 9.99953387e-01 -1.53862997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.278623853 meters Centerline goodness [0,1] 0.9996784359122773 Centerline is valid? [True, True] Translation: X:74.38, Y:-10.79, Z:-1.54 [[ 9.76853219e-01 2.13691205e-01 9.68797028e-03 7.43827605e+01] [-2.13680611e-01 9.76901258e-01 -2.12782896e-03 -1.07905720e+01] [-9.91888869e-03 8.44516116e-06 9.99950807e-01 -1.53889194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.308623853 meters Centerline goodness [0,1] 0.9995114179500797 Centerline is valid? [True, True] Translation: X:74.41, Y:-10.79, Z:-1.54 [[ 9.75704929e-01 2.18826883e-01 1.07091868e-02 7.44148439e+01] [-2.18814222e-01 9.75763697e-01 -2.35437793e-03 -1.07918369e+01] [-1.09648369e-02 -4.61442359e-05 9.99939883e-01 -1.53749446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.338623853 meters Centerline goodness [0,1] 0.9996415165956729 Centerline is valid? [True, True] Translation: X:74.45, Y:-10.80, Z:-1.54 [[ 9.75208771e-01 2.21009490e-01 1.10751547e-02 7.44459373e+01] [-2.20996064e-01 9.75271655e-01 -2.43707769e-03 -1.07954599e+01] [-1.13399017e-02 -7.09060541e-05 9.99935699e-01 -1.53727346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.368623853 meters Centerline goodness [0,1] 0.9995246737533489 Centerline is valid? [True, True] Translation: X:74.48, Y:-10.80, Z:-1.54 [[ 9.74740776e-01 2.23059614e-01 1.11726161e-02 7.44781961e+01] [-2.23046078e-01 9.74804801e-01 -2.45915695e-03 -1.08003435e+01] [-1.14396584e-02 -9.49676507e-05 9.99934560e-01 -1.53676491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.398623853 meters Centerline goodness [0,1] 0.9995652268428947 Centerline is valid? [True, True] Translation: X:74.51, Y:-10.80, Z:-1.54 [[ 9.74227803e-01 2.25304625e-01 1.08634198e-02 7.45100454e+01] [-2.25291948e-01 9.74288362e-01 -2.39283374e-03 -1.08047411e+01] [-1.11232200e-02 -1.16275867e-04 9.99938128e-01 -1.53706226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.428623853 meters Centerline goodness [0,1] 0.9993573677784204 Centerline is valid? [True, True] Translation: X:74.54, Y:-10.80, Z:-1.54 [[ 9.73385403e-01 2.28914512e-01 1.09089119e-02 7.45416444e+01] [-2.28901921e-01 9.73446517e-01 -2.40586900e-03 -1.08029925e+01] [-1.11699806e-02 -1.55233115e-04 9.99937602e-01 -1.53913773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.458623853 meters Centerline goodness [0,1] 0.9994390870062347 Centerline is valid? [True, True] Translation: X:74.57, Y:-10.81, Z:-1.54 [[ 9.73091601e-01 2.30160688e-01 1.08992768e-02 7.45714553e+01] [-2.30148196e-01 9.73152624e-01 -2.40396332e-03 -1.08084002e+01] [-1.11599576e-02 -1.69172365e-04 9.99937711e-01 -1.53929009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.488623853 meters Centerline goodness [0,1] 0.999403442986194 Centerline is valid? [True, True] Translation: X:74.60, Y:-10.81, Z:-1.54 [[ 9.72740579e-01 2.31634993e-01 1.09998165e-02 7.46003662e+01] [-2.31622361e-01 9.72802752e-01 -2.42629001e-03 -1.08119838e+01] [-1.12626655e-02 -1.87652736e-04 9.99936557e-01 -1.53983304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.51862385300001 meters Centerline goodness [0,1] 0.9992893138648404 Centerline is valid? [True, True] Translation: X:74.63, Y:-10.82, Z:-1.54 [[ 9.72298155e-01 2.33453039e-01 1.16608595e-02 7.46306037e+01] [-2.33438980e-01 9.72368052e-01 -2.57165536e-03 -1.08165696e+01] [-1.19390080e-02 -2.21683396e-04 9.99928703e-01 -1.53837413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.54862385300001 meters Centerline goodness [0,1] 0.9994853981731635 Centerline is valid? [True, True] Translation: X:74.66, Y:-10.82, Z:-1.54 [[ 9.72180836e-01 2.33922310e-01 1.20322769e-02 7.46600737e+01] [-2.33907376e-01 9.72255264e-01 -2.65363115e-03 -1.08208258e+01] [-1.23191881e-02 -2.34628966e-04 9.99924088e-01 -1.53799144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.57862385300001 meters Centerline goodness [0,1] 0.9992467772828029 Centerline is valid? [True, True] Translation: X:74.69, Y:-10.82, Z:-1.54 [[ 9.72002260e-01 2.34650819e-01 1.22719169e-02 7.46890298e+01] [-2.34635342e-01 9.72079694e-01 -2.70644714e-03 -1.08219454e+01] [-1.25643512e-02 -2.48752685e-04 9.99921034e-01 -1.53800920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.60862385300001 meters Centerline goodness [0,1] 0.9990641881832489 Centerline is valid? [True, True] Translation: X:74.72, Y:-10.83, Z:-1.54 [[ 9.71911594e-01 2.35006532e-01 1.26405697e-02 7.47177027e+01] [-2.34990148e-01 9.71993756e-01 -2.78722484e-03 -1.08250178e+01] [-1.29415708e-02 -2.61473204e-04 9.99916220e-01 -1.53812015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.638623853 meters Centerline goodness [0,1] 0.9990731560115532 Centerline is valid? [True, True] Translation: X:74.75, Y:-10.83, Z:-1.54 [[ 9.71867754e-01 2.35210945e-01 1.22016243e-02 7.47461523e+01] [-2.35195699e-01 9.71944312e-01 -2.69008775e-03 -1.08320690e+01] [-1.24920374e-02 -2.55360014e-04 9.99921939e-01 -1.53824553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.668623853 meters Centerline goodness [0,1] 0.9991908523731449 Centerline is valid? [True, True] Translation: X:74.78, Y:-10.83, Z:-1.54 [[ 9.71888253e-01 2.35163999e-01 1.14506368e-02 7.47755267e+01] [-2.35150572e-01 9.71955676e-01 -2.52432664e-03 -1.08326592e+01] [-1.17231422e-02 -2.39260389e-04 9.99931253e-01 -1.54133011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.698623853 meters Centerline goodness [0,1] 0.9993142318325011 Centerline is valid? [True, True] Translation: X:74.80, Y:-10.84, Z:-1.54 [[ 9.71970037e-01 2.34841711e-01 1.11183930e-02 7.48049538e+01] [-2.34829037e-01 9.72033599e-01 -2.45052713e-03 -1.08392102e+01] [-1.13829376e-02 -2.29082578e-04 9.99935186e-01 -1.54190157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.728623853 meters Centerline goodness [0,1] 0.9993581377436402 Centerline is valid? [True, True] Translation: X:74.83, Y:-10.84, Z:-1.54 [[ 9.72195059e-01 2.33923124e-01 1.08046169e-02 7.48333902e+01] [-2.33911098e-01 9.72255073e-01 -2.38140006e-03 -1.08437388e+01] [-1.10619081e-02 -2.12134434e-04 9.99938793e-01 -1.54334287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.758623853 meters Centerline goodness [0,1] 0.9991416309012876 Centerline is valid? [True, True] Translation: X:74.86, Y:-10.85, Z:-1.55 [[ 9.72424429e-01 2.32997775e-01 1.01374182e-02 7.48618858e+01] [-2.32987142e-01 9.72477250e-01 -2.23400710e-03 -1.08492173e+01] [-1.03789273e-02 -1.89485019e-04 9.99946120e-01 -1.54534473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.788623853 meters Centerline goodness [0,1] 0.9992088438428807 Centerline is valid? [True, True] Translation: X:74.89, Y:-10.85, Z:-1.55 [[ 9.73043529e-01 2.30405382e-01 9.98253356e-03 7.48897038e+01] [-2.30394938e-01 9.73094720e-01 -2.19959774e-03 -1.08546100e+01] [-1.02207499e-02 -1.59620856e-04 9.99947754e-01 -1.54681024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.818623853 meters Centerline goodness [0,1] 0.9994196169471852 Centerline is valid? [True, True] Translation: X:74.92, Y:-10.86, Z:-1.55 [[ 9.73453561e-01 2.28663056e-01 1.00683125e-02 7.49178710e+01] [-2.28652344e-01 9.73505617e-01 -2.21799748e-03 -1.08622082e+01] [-1.03087329e-02 -1.43025710e-04 9.99946853e-01 -1.54664322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.848623853 meters Centerline goodness [0,1] 0.9994873328491477 Centerline is valid? [True, True] Translation: X:74.95, Y:-10.87, Z:-1.55 [[ 9.73839733e-01 2.27011826e-01 1.00898736e-02 7.49456857e+01] [-2.27000985e-01 9.73891993e-01 -2.22215826e-03 -1.08691601e+01] [-1.03309033e-02 -1.26385235e-04 9.99946627e-01 -1.54744935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.87862385300001 meters Centerline goodness [0,1] 0.9993597131514919 Centerline is valid? [True, True] Translation: X:74.97, Y:-10.88, Z:-1.54 [[ 9.74620748e-01 2.23660788e-01 9.49997309e-03 7.49739850e+01] [-2.23651022e-01 9.74667043e-01 -2.09183203e-03 -1.08773455e+01] [-9.72717148e-03 -8.59357897e-05 9.99952686e-01 -1.54474616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.90862385300001 meters Centerline goodness [0,1] 0.9992635910764566 Centerline is valid? [True, True] Translation: X:75.00, Y:-10.88, Z:-1.54 [[ 9.74993449e-01 2.22040457e-01 9.26338979e-03 7.50030812e+01] [-2.22031100e-01 9.75037451e-01 -2.03952275e-03 -1.08847128e+01] [-9.48500854e-03 -6.82393015e-05 9.99955014e-01 -1.54279504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.93862385300001 meters Centerline goodness [0,1] 0.9996995772622905 Centerline is valid? [True, True] Translation: X:75.03, Y:-10.89, Z:-1.55 [[ 9.75697997e-01 2.18910568e-01 9.56989357e-03 7.50300316e+01] [-2.18900433e-01 9.75744927e-01 -2.10684981e-03 -1.08935472e+01] [-9.79898678e-03 -3.92046985e-05 9.99951988e-01 -1.55042483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.96862385300001 meters Centerline goodness [0,1] 0.9996538145311351 Centerline is valid? [True, True] Translation: X:75.06, Y:-10.90, Z:-1.55 [[ 9.75988148e-01 2.17613041e-01 9.57599982e-03 7.50583011e+01] [-2.17602835e-01 9.76035124e-01 -2.10774730e-03 -1.09010961e+01] [-9.80518547e-03 -2.66283244e-05 9.99951928e-01 -1.55041864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.99862385300001 meters Centerline goodness [0,1] 0.9997865573840473 Centerline is valid? [True, True] Translation: X:75.09, Y:-10.91, Z:-1.55 [[ 9.76487009e-01 2.15339218e-01 1.01065958e-02 7.50864837e+01] [-2.15327730e-01 9.76539309e-01 -2.22427430e-03 -1.09081642e+01] [-1.03484615e-02 -4.25537090e-06 9.99946453e-01 -1.55006284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.028623853 meters Centerline goodness [0,1] 0.9998065764023211 Centerline is valid? [True, True] Translation: X:75.12, Y:-10.91, Z:-1.55 [[ 9.76668338e-01 2.14511440e-01 1.01881711e-02 7.51157490e+01] [-2.14499726e-01 9.76721476e-01 -2.24178058e-03 -1.09149428e+01] [-1.04318931e-02 4.11620235e-06 9.99945586e-01 -1.54929454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.058623853 meters Centerline goodness [0,1] 0.9997613675807011 Centerline is valid? [True, True] Translation: X:75.15, Y:-10.92, Z:-1.55 [[ 9.76844543e-01 2.13685427e-01 1.06431312e-02 7.51466378e+01] [-2.13672596e-01 9.76902522e-01 -2.34171993e-03 -1.09220704e+01] [-1.08976931e-02 1.33508703e-05 9.99940618e-01 -1.54854823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.088623853 meters Centerline goodness [0,1] 0.9997423510466988 Centerline is valid? [True, True] Translation: X:75.18, Y:-10.93, Z:-1.55 [[ 9.76990366e-01 2.12996319e-01 1.10631627e-02 7.51765424e+01] [-2.12982406e-01 9.77053001e-01 -2.43451725e-03 -1.09293349e+01] [-1.13278395e-02 2.22408844e-05 9.99935838e-01 -1.54908684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.118623853 meters Centerline goodness [0,1] 0.9997207243979462 Centerline is valid? [True, True] Translation: X:75.21, Y:-10.94, Z:-1.55 [[ 9.77116749e-01 2.12395060e-01 1.14541703e-02 7.52069808e+01] [-2.12380104e-01 9.77183881e-01 -2.52064558e-03 -1.09363514e+01] [-1.17282032e-02 3.03271376e-05 9.99931222e-01 -1.54890273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.148623853 meters Centerline goodness [0,1] 0.9997849277357193 Centerline is valid? [True, True] Translation: X:75.24, Y:-10.94, Z:-1.55 [[ 9.77245137e-01 2.11759682e-01 1.22384227e-02 7.52371114e+01] [-2.11742554e-01 9.77321767e-01 -2.69356287e-03 -1.09432951e+01] [-1.25312649e-02 4.08763332e-05 9.99921480e-01 -1.54731306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.178623853 meters Centerline goodness [0,1] 0.9997624138750297 Centerline is valid? [True, True] Translation: X:75.27, Y:-10.95, Z:-1.55 [[ 9.77227605e-01 2.11826052e-01 1.24872405e-02 7.52677326e+01] [-2.11808222e-01 9.77307384e-01 -2.74864258e-03 -1.09493089e+01] [-1.27861065e-02 4.11492028e-05 9.99918254e-01 -1.54746795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.208623853 meters Centerline goodness [0,1] 0.999679548804717 Centerline is valid? [True, True] Translation: X:75.30, Y:-10.95, Z:-1.55 [[ 9.77149772e-01 2.12213011e-01 1.19983863e-02 7.52978260e+01] [-2.12196575e-01 9.77223432e-01 -2.64138536e-03 -1.09549273e+01] [-1.22856406e-02 3.50126246e-05 9.99924528e-01 -1.54662477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.238623853 meters Centerline goodness [0,1] 0.9997853939094792 Centerline is valid? [True, True] Translation: X:75.33, Y:-10.96, Z:-1.55 [[ 9.76966566e-01 2.13129552e-01 1.05888508e-02 7.53261344e+01] [-2.13116800e-01 9.77023947e-01 -2.33158169e-03 -1.09568168e+01] [-1.08424898e-02 2.12153642e-05 9.99941218e-01 -1.55411930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.26862385300001 meters Centerline goodness [0,1] 0.9997835122965015 Centerline is valid? [True, True] Translation: X:75.36, Y:-10.96, Z:-1.55 [[ 9.76865956e-01 2.13622812e-01 9.90946296e-03 7.53567740e+01] [-2.13611676e-01 9.76916216e-01 -2.18123287e-03 -1.09610312e+01] [-1.01466762e-02 1.39951364e-05 9.99948521e-01 -1.55408465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.29862385300001 meters Centerline goodness [0,1] 0.9998079180450326 Centerline is valid? [True, True] Translation: X:75.39, Y:-10.96, Z:-1.56 [[ 9.76541559e-01 2.15142963e-01 8.94928985e-03 7.53858179e+01] [-2.15133947e-01 9.76582565e-01 -1.96956916e-03 -1.09636212e+01] [-9.16345937e-03 -1.92991171e-06 9.99958015e-01 -1.55869835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.32862385300001 meters Centerline goodness [0,1] 0.999827206358806 Centerline is valid? [True, True] Translation: X:75.42, Y:-10.97, Z:-1.56 [[ 9.76386523e-01 2.15857714e-01 8.64901831e-03 7.54154636e+01] [-2.15849314e-01 9.76424829e-01 -1.90433835e-03 -1.09679659e+01] [-8.85618235e-03 -7.51436923e-06 9.99960783e-01 -1.55718156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.35862385300001 meters Centerline goodness [0,1] 0.9998053296418066 Centerline is valid? [True, True] Translation: X:75.44, Y:-10.97, Z:-1.56 [[ 9.76229121e-01 2.16569944e-01 8.61179530e-03 7.54435964e+01] [-2.16561645e-01 9.76267104e-01 -1.89603165e-03 -1.09716440e+01] [-8.81803593e-03 -1.40232426e-05 9.99961120e-01 -1.55847964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.388623853 meters Centerline goodness [0,1] 0.9997005731884678 Centerline is valid? [True, True] Translation: X:75.47, Y:-10.97, Z:-1.56 [[ 9.75938532e-01 2.17864466e-01 8.89136516e-03 7.54715329e+01] [-2.17855674e-01 9.75979033e-01 -1.95742938e-03 -1.09733649e+01] [-9.10424028e-03 -2.67036020e-05 9.99958555e-01 -1.55843487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.418623853 meters Centerline goodness [0,1] 0.9997618325899623 Centerline is valid? [True, True] Translation: X:75.50, Y:-10.98, Z:-1.56 [[ 9.75860353e-01 2.18205319e-01 9.11095933e-03 7.55001432e+01] [-2.18196109e-01 9.75902883e-01 -2.00506748e-03 -1.09777977e+01] [-9.32892787e-03 -3.13100181e-05 9.99956484e-01 -1.55756581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.448623853 meters Centerline goodness [0,1] 0.9997845013360918 Centerline is valid? [True, True] Translation: X:75.53, Y:-10.98, Z:-1.56 [[ 9.75706142e-01 2.18867242e-01 9.72904002e-03 7.55289467e+01] [-2.18856778e-01 9.75754646e-01 -2.14052659e-03 -1.09816166e+01] [-9.96164715e-03 -4.07414146e-05 9.99950381e-01 -1.55746031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.478623853 meters Centerline goodness [0,1] 0.9997421517436988 Centerline is valid? [True, True] Translation: X:75.56, Y:-10.98, Z:-1.56 [[ 9.75614788e-01 2.19262197e-01 9.99369603e-03 7.55570461e+01] [-2.19251182e-01 9.75665971e-01 -2.19830413e-03 -1.09844935e+01] [-1.02325141e-02 -4.64316455e-05 9.99947645e-01 -1.55861874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.508623853 meters Centerline goodness [0,1] 0.9996565418053022 Centerline is valid? [True, True] Translation: X:75.59, Y:-10.99, Z:-1.56 [[ 9.75475594e-01 2.19842451e-01 1.08010530e-02 7.55856379e+01] [-2.19829629e-01 9.75535388e-01 -2.37502754e-03 -1.09877290e+01] [-1.10589413e-02 -5.76100825e-05 9.99938846e-01 -1.55697700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.538623853 meters Centerline goodness [0,1] 0.9997425666108894 Centerline is valid? [True, True] Translation: X:75.61, Y:-10.99, Z:-1.56 [[ 9.75492753e-01 2.19767386e-01 1.07788788e-02 7.56131790e+01] [-2.19754617e-01 9.75552302e-01 -2.36969365e-03 -1.09912867e+01] [-1.10361414e-02 -5.70893999e-05 9.99939098e-01 -1.55838672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.568623853 meters Centerline goodness [0,1] 0.9997425279464458 Centerline is valid? [True, True] Translation: X:75.64, Y:-11.00, Z:-1.56 [[ 9.75527987e-01 2.19619725e-01 1.05982188e-02 7.56418131e+01] [-2.19607379e-01 9.75585554e-01 -2.32925505e-03 -1.09967103e+01] [-1.08510195e-02 -5.51935602e-05 9.99941124e-01 -1.55835410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.598623853 meters Centerline goodness [0,1] 0.9996771416272062 Centerline is valid? [True, True] Translation: X:75.67, Y:-11.00, Z:-1.55 [[ 9.75738702e-01 2.18714207e-01 9.90356082e-03 7.56694742e+01] [-2.18703384e-01 9.75788960e-01 -2.17623060e-03 -1.10006071e+01] [-1.01397579e-02 -4.25098455e-05 9.99948590e-01 -1.55440504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.62862385300001 meters Centerline goodness [0,1] 0.9998492938339648 Centerline is valid? [True, True] Translation: X:75.70, Y:-11.01, Z:-1.56 [[ 9.75860290e-01 2.18143210e-01 1.04992353e-02 7.56973508e+01] [-2.18131021e-01 9.75916768e-01 -2.30630835e-03 -1.10066145e+01] [-1.07494853e-02 -3.95741707e-05 9.99942222e-01 -1.56137633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.65862385300001 meters Centerline goodness [0,1] 0.9997621467338422 Centerline is valid? [True, True] Translation: X:75.73, Y:-11.01, Z:-1.56 [[ 9.76030448e-01 2.17385968e-01 1.03877173e-02 7.57252933e+01] [-2.17374000e-01 9.76085724e-01 -2.28131136e-03 -1.10128943e+01] [-1.06352277e-02 -3.13903084e-05 9.99943444e-01 -1.56231722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.68862385300001 meters Centerline goodness [0,1] 0.9998070987654321 Centerline is valid? [True, True] Translation: X:75.75, Y:-11.02, Z:-1.56 [[ 9.76448423e-01 2.15510642e-01 1.01804336e-02 7.57529565e+01] [-2.15499049e-01 9.76501492e-01 -2.23530485e-03 -1.10196182e+01] [-1.04229405e-02 -1.12138602e-05 9.99945680e-01 -1.56327137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.71862385300001 meters Centerline goodness [0,1] 0.9997867394595978 Centerline is valid? [True, True] Translation: X:75.78, Y:-11.03, Z:-1.56 [[ 9.76676785e-01 2.14486965e-01 9.88934997e-03 7.57799241e+01] [-2.14475978e-01 9.76726851e-01 -2.17101545e-03 -1.10261106e+01] [-1.01248482e-02 -6.47617736e-07 9.99948742e-01 -1.56460024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.74862385300001 meters Centerline goodness [0,1] 0.9998053338524431 Centerline is valid? [True, True] Translation: X:75.81, Y:-11.03, Z:-1.56 [[ 9.76866568e-01 2.13626987e-01 9.75803417e-03 7.58085225e+01] [-2.13616253e-01 9.76915304e-01 -2.14151385e-03 -1.10326114e+01] [-9.99025806e-03 7.49858525e-06 9.99950096e-01 -1.56494823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.778623853 meters Centerline goodness [0,1] 0.9997417744399734 Centerline is valid? [True, True] Translation: X:75.84, Y:-11.04, Z:-1.57 [[ 9.77242876e-01 2.11897069e-01 9.79764739e-03 7.58356239e+01] [-2.11886164e-01 9.77291989e-01 -2.14984067e-03 -1.10386779e+01] [-1.00307072e-02 2.49305478e-05 9.99949691e-01 -1.56506638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.808623853 meters Centerline goodness [0,1] 0.9998700454840805 Centerline is valid? [True, True] Translation: X:75.86, Y:-11.04, Z:-1.56 [[ 9.77422265e-01 2.11040187e-01 1.03805648e-02 7.58635712e+01] [-2.11027907e-01 9.77477385e-01 -2.27686076e-03 -1.10447801e+01] [-1.06272765e-02 3.48655326e-05 9.99943528e-01 -1.56450876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.838623853 meters Centerline goodness [0,1] 0.9999343099257703 Centerline is valid? [True, True] Translation: X:75.89, Y:-11.05, Z:-1.56 [[ 9.77607320e-01 2.10153640e-01 1.09259224e-02 7.58904164e+01] [-2.10139986e-01 9.77668372e-01 -2.39599848e-03 -1.10514666e+01] [-1.11854566e-02 4.63724744e-05 9.99937440e-01 -1.56439493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.868623853 meters Centerline goodness [0,1] 0.9999573806124405 Centerline is valid? [True, True] Translation: X:75.92, Y:-11.06, Z:-1.56 [[ 9.77937442e-01 2.08587958e-01 1.13764170e-02 7.59172199e+01] [-2.08573059e-01 9.78003609e-01 -2.49395883e-03 -1.10587991e+01] [-1.16463866e-02 6.61216357e-05 9.99932176e-01 -1.56416786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.898623853 meters Centerline goodness [0,1] 0.9999575470696865 Centerline is valid? [True, True] Translation: X:75.94, Y:-11.07, Z:-1.56 [[ 9.78078343e-01 2.07909672e-01 1.16757728e-02 7.59438745e+01] [-2.07893939e-01 9.78148027e-01 -2.55884362e-03 -1.10654620e+01] [-1.19526425e-02 7.54271249e-05 9.99928562e-01 -1.56414111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.928623853 meters Centerline goodness [0,1] 0.9999575470696865 Centerline is valid? [True, True] Translation: X:75.97, Y:-11.07, Z:-1.56 [[ 9.78087852e-01 2.07864925e-01 1.16759334e-02 7.59715668e+01] [-2.07849197e-01 9.78157537e-01 -2.55811051e-03 -1.10714353e+01] [-1.19526438e-02 7.52234211e-05 9.99928562e-01 -1.56464065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.958623853 meters Centerline goodness [0,1] 0.9998053464832598 Centerline is valid? [True, True] Translation: X:76.00, Y:-11.08, Z:-1.56 [[ 9.78340781e-01 2.06679397e-01 1.15300840e-02 7.60005422e+01] [-2.06663985e-01 9.78408718e-01 -2.52548587e-03 -1.10774917e+01] [-1.18031006e-02 8.79327045e-05 9.99930337e-01 -1.55848303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.988623853 meters Centerline goodness [0,1] 0.9999785766313896 Centerline is valid? [True, True] Translation: X:76.03, Y:-11.09, Z:-1.57 [[ 9.78633446e-01 2.05275879e-01 1.17639973e-02 7.60282144e+01] [-2.05259737e-01 9.78704144e-01 -2.57648029e-03 -1.10867408e+01] [-1.20423622e-02 1.06754790e-04 9.99927482e-01 -1.56607289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.01862385300001 meters Centerline goodness [0,1] 0.9999569030534187 Centerline is valid? [True, True] Translation: X:76.06, Y:-11.09, Z:-1.57 [[ 9.78823193e-01 2.04361042e-01 1.19046990e-02 7.60567567e+01] [-2.04344450e-01 9.78895577e-01 -2.60676724e-03 -1.10931318e+01] [-1.21861789e-02 1.18905067e-04 9.99925739e-01 -1.56582786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.04862385300001 meters Centerline goodness [0,1] 0.9999353253136722 Centerline is valid? [True, True] Translation: X:76.09, Y:-11.10, Z:-1.57 [[ 9.79011534e-01 2.03472792e-01 1.16292225e-02 7.60862055e+01] [-2.03456902e-01 9.79080593e-01 -2.54602146e-03 -1.11012377e+01] [-1.19039922e-02 1.26538793e-04 9.99929137e-01 -1.56639889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.07862385300001 meters Centerline goodness [0,1] 0.9999783970620004 Centerline is valid? [True, True] Translation: X:76.12, Y:-11.11, Z:-1.57 [[ 9.79442340e-01 2.01368922e-01 1.19691264e-02 7.61152632e+01] [-2.01351933e-01 9.79515458e-01 -2.62043766e-03 -1.11106588e+01] [-1.22516190e-02 1.56560861e-04 9.99924934e-01 -1.56658284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.10862385300001 meters Centerline goodness [0,1] 0.9997592892467941 Centerline is valid? [True, True] Translation: X:76.14, Y:-11.12, Z:-1.56 [[ 9.79792421e-01 1.99685899e-01 1.15044651e-02 7.61435295e+01] [-1.99670086e-01 9.79859945e-01 -2.51878061e-03 -1.11191675e+01] [-1.17757295e-02 1.70784626e-04 9.99930649e-01 -1.56109092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.138623853 meters Centerline goodness [0,1] 0.9999568304949383 Centerline is valid? [True, True] Translation: X:76.17, Y:-11.13, Z:-1.57 [[ 9.79981265e-01 1.98733823e-01 1.18990523e-02 7.61733988e+01] [-1.98716841e-01 9.80053484e-01 -2.60481033e-03 -1.11291178e+01] [-1.21793716e-02 1.88123239e-04 9.99925811e-01 -1.56812239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.168623853 meters Centerline goodness [0,1] 0.9999784747185569 Centerline is valid? [True, True] Translation: X:76.20, Y:-11.14, Z:-1.57 [[ 9.80241028e-01 1.97464969e-01 1.16238330e-02 7.62024069e+01] [-1.97448670e-01 9.80309924e-01 -2.54491725e-03 -1.11394376e+01] [-1.18974908e-02 1.99521941e-04 9.99929202e-01 -1.56984854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.198623853 meters Centerline goodness [0,1] 0.9997643126499829 Centerline is valid? [True, True] Translation: X:76.23, Y:-11.15, Z:-1.57 [[ 9.80714100e-01 1.95200309e-01 9.83329576e-03 7.62314035e+01] [-1.95188541e-01 9.80763378e-01 -2.15189884e-03 -1.11531096e+01] [-1.00641877e-02 1.91050882e-04 9.99949337e-01 -1.56706423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.228623853 meters Centerline goodness [0,1] 0.9999136255668322 Centerline is valid? [True, True] Translation: X:76.26, Y:-11.16, Z:-1.57 [[ 9.80896730e-01 1.94282209e-01 9.79943220e-03 7.62619233e+01] [-1.94270461e-01 9.80945657e-01 -2.14592864e-03 -1.11630275e+01] [-1.00296262e-02 2.01194169e-04 9.99949682e-01 -1.57415473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.258623853 meters Centerline goodness [0,1] 0.9999786411499605 Centerline is valid? [True, True] Translation: X:76.29, Y:-11.18, Z:-1.58 [[ 9.81115594e-01 1.93178534e-01 9.70799878e-03 7.62911010e+01] [-1.93166933e-01 9.81163599e-01 -2.12768009e-03 -1.11766593e+01] [-9.93615714e-03 2.12235768e-04 9.99950613e-01 -1.57543019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.288623853 meters Centerline goodness [0,1] 0.9999566705663157 Centerline is valid? [True, True] Translation: X:76.32, Y:-11.18, Z:-1.58 [[ 9.81072869e-01 1.93376959e-01 1.00685991e-02 7.63233199e+01] [-1.93364475e-01 9.81124510e-01 -2.20820147e-03 -1.11848468e+01] [-1.03055646e-02 2.19497178e-04 9.99946872e-01 -1.57547305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.318623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:76.35, Y:-11.19, Z:-1.58 [[ 9.80948636e-01 1.94003927e-01 1.01118755e-02 7.63542483e+01] [-1.93991346e-01 9.81000729e-01 -2.21986964e-03 -1.11923876e+01] [-1.03504207e-02 2.15961744e-04 9.99946410e-01 -1.57544985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.348623853 meters Centerline goodness [0,1] 0.9999784119856655 Centerline is valid? [True, True] Translation: X:76.38, Y:-11.20, Z:-1.58 [[ 9.80743211e-01 1.95038602e-01 1.01339867e-02 7.63840683e+01] [-1.95026002e-01 9.80795545e-01 -2.22660822e-03 -1.12007941e+01] [-1.03736436e-02 2.07339983e-04 9.99946171e-01 -1.57632494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.37862385300001 meters Centerline goodness [0,1] 0.9999781930784831 Centerline is valid? [True, True] Translation: X:76.41, Y:-11.21, Z:-1.58 [[ 9.80119761e-01 1.98174164e-01 9.60493538e-03 7.64145830e+01] [-1.98162981e-01 9.80166809e-01 -2.11179762e-03 -1.12078858e+01] [-9.83294259e-03 1.66471952e-04 9.99951642e-01 -1.57746580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.40862385300001 meters Centerline goodness [0,1] 0.9999565217391304 Centerline is valid? [True, True] Translation: X:76.45, Y:-11.21, Z:-1.58 [[ 9.79702930e-01 2.00218855e-01 9.72515599e-03 7.64465248e+01] [-2.00207477e-01 9.79751187e-01 -2.13969548e-03 -1.12126408e+01] [-9.95664050e-03 1.49216988e-04 9.99950420e-01 -1.57686061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.43862385300001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:76.48, Y:-11.22, Z:-1.58 [[ 9.78777809e-01 2.04672167e-01 1.01638467e-02 7.64773030e+01] [-2.04659959e-01 9.78830574e-01 -2.23820822e-03 -1.12192311e+01] [-1.04067829e-02 1.10576085e-04 9.99945842e-01 -1.57801455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.46862385300001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:76.51, Y:-11.22, Z:-1.58 [[ 9.78362686e-01 2.06646755e-01 1.01770865e-02 7.65079473e+01] [-2.06634591e-01 9.78415612e-01 -2.24403812e-03 -1.12248775e+01] [-1.04211435e-02 9.25450577e-05 9.99945694e-01 -1.57846686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.49862385300001 meters Centerline goodness [0,1] 0.9999784361926942 Centerline is valid? [True, True] Translation: X:76.54, Y:-11.23, Z:-1.58 [[ 9.77989435e-01 2.08400158e-01 1.02975160e-02 7.65388359e+01] [-2.08387799e-01 9.78043644e-01 -2.27084936e-03 -1.12305251e+01] [-1.05446654e-02 7.49900029e-05 9.99944401e-01 -1.57910831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.528623853 meters Centerline goodness [0,1] 0.9997829013069341 Centerline is valid? [True, True] Translation: X:76.57, Y:-11.24, Z:-1.57 [[ 9.77690022e-01 2.09802201e-01 1.02595051e-02 7.65683436e+01] [-2.09790006e-01 9.77743848e-01 -2.26280363e-03 -1.12363305e+01] [-1.05059092e-02 5.99788839e-05 9.99944810e-01 -1.57369047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.558623853 meters Centerline goodness [0,1] 0.9999784816663797 Centerline is valid? [True, True] Translation: X:76.60, Y:-11.24, Z:-1.58 [[ 9.77007172e-01 2.12883828e-01 1.17244340e-02 7.65971834e+01] [-2.12868120e-01 9.77077517e-01 -2.58627998e-03 -1.12418227e+01] [-1.20062581e-02 3.10558570e-05 9.99927922e-01 -1.57775528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.588623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:76.63, Y:-11.25, Z:-1.58 [[ 9.76723185e-01 2.14148240e-01 1.23430599e-02 7.66260140e+01] [-2.14130936e-01 9.76801173e-01 -2.72235495e-03 -1.12488534e+01] [-1.26397029e-02 1.59562318e-05 9.99920116e-01 -1.57740630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.618623853 meters Centerline goodness [0,1] 0.9999784427006985 Centerline is valid? [True, True] Translation: X:76.66, Y:-11.26, Z:-1.58 [[ 9.76451299e-01 2.15360432e-01 1.27571247e-02 7.66565532e+01] [-2.15342055e-01 9.76534630e-01 -2.81335319e-03 -1.12564370e+01] [-1.30636590e-02 -4.30610645e-08 9.99914667e-01 -1.57685604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.648623853 meters Centerline goodness [0,1] 0.9999571679444896 Centerline is valid? [True, True] Translation: X:76.69, Y:-11.26, Z:-1.58 [[ 9.75858769e-01 2.18025891e-01 1.28208329e-02 7.66871657e+01] [-2.18007555e-01 9.75942985e-01 -2.82771720e-03 -1.12628417e+01] [-1.31289175e-02 -3.55858181e-05 9.99913811e-01 -1.57673669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.678623853 meters Centerline goodness [0,1] 0.9999355420910145 Centerline is valid? [True, True] Translation: X:76.72, Y:-11.27, Z:-1.58 [[ 9.75492276e-01 2.19681498e-01 1.24442569e-02 7.67178642e+01] [-2.19664355e-01 9.75571646e-01 -2.74495835e-03 -1.12686591e+01] [-1.27432808e-02 -5.58740016e-05 9.99918800e-01 -1.57814897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.708623853 meters Centerline goodness [0,1] 0.9998929909042269 Centerline is valid? [True, True] Translation: X:76.75, Y:-11.27, Z:-1.58 [[ 9.75053723e-01 2.21645818e-01 1.19736317e-02 7.67476424e+01] [-2.21630091e-01 9.75127235e-01 -2.64150195e-03 -1.12737435e+01] [-1.22612922e-02 -7.81107745e-05 9.99924824e-01 -1.57988245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.738623853 meters Centerline goodness [0,1] 0.9999357862967957 Centerline is valid? [True, True] Translation: X:76.78, Y:-11.28, Z:-1.58 [[ 9.74179859e-01 2.25484557e-01 1.14156252e-02 7.67759167e+01] [-2.25470520e-01 9.74246735e-01 -2.51882293e-03 -1.12770836e+01] [-1.16895912e-02 -1.20100380e-04 9.99931667e-01 -1.58196368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.76862385300001 meters Centerline goodness [0,1] 0.9997208023710322 Centerline is valid? [True, True] Translation: X:76.80, Y:-11.28, Z:-1.58 [[ 9.73734146e-01 2.27445310e-01 1.05092138e-02 7.68039899e+01] [-2.27433533e-01 9.73790847e-01 -2.31826932e-03 -1.12806631e+01] [-1.07610557e-02 -1.32769631e-04 9.99942089e-01 -1.57880956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.79862385300001 meters Centerline goodness [0,1] 0.9995715142685748 Centerline is valid? [True, True] Translation: X:76.83, Y:-11.29, Z:-1.58 [[ 9.73235158e-01 2.29581815e-01 1.02721896e-02 7.68334805e+01] [-2.29570682e-01 9.73289354e-01 -2.26606897e-03 -1.12855371e+01] [-1.05180610e-02 -1.52775584e-04 9.99944672e-01 -1.57793490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.82862385300001 meters Centerline goodness [0,1] 0.9998718195218869 Centerline is valid? [True, True] Translation: X:76.86, Y:-11.29, Z:-1.58 [[ 9.72113775e-01 2.34241065e-01 1.12219516e-02 7.68630560e+01] [-2.34228090e-01 9.72178520e-01 -2.47536582e-03 -1.12852578e+01] [-1.14895726e-02 -2.22159081e-04 9.99933968e-01 -1.58362313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.85862385300001 meters Centerline goodness [0,1] 0.9997207603909355 Centerline is valid? [True, True] Translation: X:76.89, Y:-11.29, Z:-1.58 [[ 9.71655251e-01 2.36127996e-01 1.13860869e-02 7.68918364e+01] [-2.36114774e-01 9.71721929e-01 -2.51115859e-03 -1.12890725e+01] [-1.16570652e-02 -2.48442910e-04 9.99932023e-01 -1.57840965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.888623853 meters Centerline goodness [0,1] 0.9999138061068373 Centerline is valid? [True, True] Translation: X:76.92, Y:-11.29, Z:-1.58 [[ 9.71192991e-01 2.37985612e-01 1.21252611e-02 7.69202076e+01] [-2.37970770e-01 9.71268637e-01 -2.67353734e-03 -1.12931960e+01] [-1.24131492e-02 -2.88936991e-04 9.99922912e-01 -1.58287272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.918623853 meters Centerline goodness [0,1] 0.9996796514607893 Centerline is valid? [True, True] Translation: X:76.95, Y:-11.29, Z:-1.58 [[ 9.70431098e-01 2.41018490e-01 1.31746488e-02 7.69500963e+01] [-2.41001256e-01 9.70520458e-01 -2.90417407e-03 -1.12908918e+01] [-1.34862258e-02 -3.56806082e-04 9.99908993e-01 -1.58235153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.948623853 meters Centerline goodness [0,1] 0.9996984383414109 Centerline is valid? [True, True] Translation: X:76.98, Y:-11.30, Z:-1.58 [[ 9.70224869e-01 2.41838362e-01 1.33382669e-02 7.69775549e+01] [-2.41820783e-01 9.70316478e-01 -2.93967799e-03 -1.12982465e+01] [-1.36532671e-02 -3.73321465e-04 9.99906720e-01 -1.58191870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.978623853 meters Centerline goodness [0,1] 0.999464782701777 Centerline is valid? [True, True] Translation: X:77.01, Y:-11.30, Z:-1.58 [[ 9.70006413e-01 2.42704579e-01 1.34924613e-02 7.70060702e+01] [-2.42686687e-01 9.70100167e-01 -2.97276473e-03 -1.13031414e+01] [-1.38105426e-02 -3.90839883e-04 9.99904554e-01 -1.58224106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.008623853 meters Centerline goodness [0,1] 0.9992527115893757 Centerline is valid? [True, True] Translation: X:77.03, Y:-11.31, Z:-1.58 [[ 9.69670085e-01 2.44039460e-01 1.35892438e-02 7.70336754e+01] [-2.44021450e-01 9.69765214e-01 -2.99345182e-03 -1.13059776e+01] [-1.39088963e-02 -4.13406302e-04 9.99903181e-01 -1.58258462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.038623853 meters Centerline goodness [0,1] 0.9994333907206834 Centerline is valid? [True, True] Translation: X:77.06, Y:-11.31, Z:-1.58 [[ 9.69548849e-01 2.44536595e-01 1.32997109e-02 7.70621926e+01] [-2.44519403e-01 9.69639976e-01 -2.92882542e-03 -1.13103209e+01] [-1.36121364e-02 -4.12398060e-04 9.99907266e-01 -1.58330939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.068623853 meters Centerline goodness [0,1] 0.9986783201875933 Centerline is valid? [True, True] Translation: X:77.09, Y:-11.30, Z:-1.59 [[ 9.69459051e-01 2.44920085e-01 1.27789178e-02 7.70918467e+01] [-2.44904253e-01 9.69543186e-01 -2.81364831e-03 -1.13048270e+01] [-1.30788316e-02 -4.01894484e-04 9.99914388e-01 -1.58617743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.098623853 meters Centerline goodness [0,1] 0.998628169678263 Centerline is valid? [True, True] Translation: X:77.12, Y:-11.31, Z:-1.59 [[ 9.69346695e-01 2.45382361e-01 1.24291024e-02 7.71209390e+01] [-2.45367434e-01 9.69426294e-01 -2.73562370e-03 -1.13087225e+01] [-1.27203725e-02 -3.97929185e-04 9.99919014e-01 -1.58703337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.12862385300001 meters Centerline goodness [0,1] 0.9991117658528131 Centerline is valid? [True, True] Translation: X:77.15, Y:-11.32, Z:-1.59 [[ 9.69158826e-01 2.46150631e-01 1.18759388e-02 7.71479422e+01] [-2.46137066e-01 9.69231507e-01 -2.61340749e-03 -1.13194807e+01] [-1.21538260e-02 -3.90301817e-04 9.99926063e-01 -1.58744332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.15862385300001 meters Centerline goodness [0,1] 0.99918853701766 Centerline is valid? [True, True] Translation: X:77.18, Y:-11.32, Z:-1.59 [[ 9.69110016e-01 2.46369222e-01 1.13129645e-02 7.71764857e+01] [-2.46356934e-01 9.69175973e-01 -2.48907327e-03 -1.13205837e+01] [-1.15774844e-02 -3.74841402e-04 9.99932908e-01 -1.58970744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.18862385300001 meters Centerline goodness [0,1] 0.9989959195881134 Centerline is valid? [True, True] Translation: X:77.20, Y:-11.32, Z:-1.59 [[ 9.69140959e-01 2.46276959e-01 1.06517900e-02 7.72047114e+01] [-2.46266065e-01 9.69199430e-01 -2.34299902e-03 -1.13228054e+01] [-1.09007354e-02 -3.52478088e-04 9.99940523e-01 -1.59158782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.21862385300001 meters Centerline goodness [0,1] 0.9991704245724495 Centerline is valid? [True, True] Translation: X:77.23, Y:-11.33, Z:-1.59 [[ 9.69352433e-01 2.45449265e-01 1.05128233e-02 7.72335732e+01] [-2.45438613e-01 9.69409379e-01 -2.31173321e-03 -1.13261227e+01] [-1.07586427e-02 -3.39368543e-04 9.99942067e-01 -1.59285107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.24862385300001 meters Centerline goodness [0,1] 0.9992533333333333 Centerline is valid? [True, True] Translation: X:77.26, Y:-11.33, Z:-1.59 [[ 9.69550586e-01 2.44651639e-01 1.08276229e-02 7.72613170e+01] [-2.44640295e-01 9.69610984e-01 -2.38042693e-03 -1.13333505e+01] [-1.10809574e-02 -3.40928534e-04 9.99938546e-01 -1.59199821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.278623853 meters Centerline goodness [0,1] 0.9995282108468615 Centerline is valid? [True, True] Translation: X:77.29, Y:-11.34, Z:-1.59 [[ 9.70203510e-01 2.42015906e-01 1.15520331e-02 7.72911307e+01] [-2.42002817e-01 9.70272225e-01 -2.53885682e-03 -1.13390297e+01] [-1.18230606e-02 -3.32416746e-04 9.99930050e-01 -1.58706998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.308623853 meters Centerline goodness [0,1] 0.9997007715818497 Centerline is valid? [True, True] Translation: X:77.32, Y:-11.34, Z:-1.59 [[ 9.70601652e-01 2.40397185e-01 1.19006729e-02 7.73189062e+01] [-2.40383171e-01 9.70674554e-01 -2.61558942e-03 -1.13434253e+01] [-1.21804607e-02 -3.22026075e-04 9.99925764e-01 -1.59111888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.338623853 meters Centerline goodness [0,1] 0.9996554026404773 Centerline is valid? [True, True] Translation: X:77.35, Y:-11.35, Z:-1.59 [[ 9.71032745e-01 2.38620941e-01 1.24681166e-02 7.73469234e+01] [-2.38605423e-01 9.71112737e-01 -2.73942058e-03 -1.13497178e+01] [-1.27616300e-02 -3.14893158e-04 9.99918518e-01 -1.59078018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.368623853 meters Centerline goodness [0,1] 0.9997639788868387 Centerline is valid? [True, True] Translation: X:77.38, Y:-11.35, Z:-1.59 [[ 9.71480038e-01 2.36781740e-01 1.26863374e-02 7.73750944e+01] [-2.36765527e-01 9.71562823e-01 -2.78671887e-03 -1.13538253e+01] [-1.29854180e-02 -2.96445606e-04 9.99915642e-01 -1.59084148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.398623853 meters Centerline goodness [0,1] 0.9995009980039921 Centerline is valid? [True, True] Translation: X:77.40, Y:-11.36, Z:-1.58 [[ 9.72111561e-01 2.34146179e-01 1.32166833e-02 7.74038991e+01] [-2.34128345e-01 9.72201364e-01 -2.90262168e-03 -1.13594569e+01] [-1.35289154e-02 -2.72728109e-04 9.99908443e-01 -1.58411613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.428623853 meters Centerline goodness [0,1] 0.9999143101970865 Centerline is valid? [True, True] Translation: X:77.43, Y:-11.36, Z:-1.59 [[ 9.72384000e-01 2.33005514e-01 1.33336545e-02 7.74322944e+01] [-2.32987271e-01 9.72475379e-01 -2.92724031e-03 -1.13618312e+01] [-1.36487138e-02 -2.60170127e-04 9.99906818e-01 -1.59100986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.458623853 meters Centerline goodness [0,1] 0.9998483929654336 Centerline is valid? [True, True] Translation: X:77.46, Y:-11.36, Z:-1.59 [[ 9.72781532e-01 2.31328475e-01 1.35361847e-02 7.74616997e+01] [-2.31309522e-01 9.72875675e-01 -2.97096364e-03 -1.13642337e+01] [-1.38562933e-02 -2.40949851e-04 9.99903968e-01 -1.59117404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.488623853 meters Centerline goodness [0,1] 0.9999571606048923 Centerline is valid? [True, True] Translation: X:77.49, Y:-11.37, Z:-1.59 [[ 9.72922627e-01 2.30718939e-01 1.37961225e-02 7.74899462e+01] [-2.30699195e-01 9.73020408e-01 -3.02757119e-03 -1.13657509e+01] [-1.41224267e-02 -2.37161843e-04 9.99900245e-01 -1.59213637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.51862385300001 meters Centerline goodness [0,1] 0.9998921065124509 Centerline is valid? [True, True] Translation: X:77.52, Y:-11.37, Z:-1.59 [[ 9.73028068e-01 2.30282991e-01 1.36427069e-02 7.75183518e+01] [-2.30263654e-01 9.73123677e-01 -2.99302964e-03 -1.13699136e+01] [-1.39652850e-02 -2.29117704e-04 9.99902454e-01 -1.59231185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.54862385300001 meters Centerline goodness [0,1] 0.9998934742314166 Centerline is valid? [True, True] Translation: X:77.55, Y:-11.37, Z:-1.59 [[ 9.73147346e-01 2.29791174e-01 1.34260838e-02 7.75469910e+01] [-2.29772408e-01 9.73239933e-01 -2.94487932e-03 -1.13699375e+01] [-1.37435082e-02 -2.19142123e-04 9.99905530e-01 -1.59416973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.57862385300001 meters Centerline goodness [0,1] 0.999935745036304 Centerline is valid? [True, True] Translation: X:77.58, Y:-11.37, Z:-1.60 [[ 9.73486970e-01 2.28395739e-01 1.25898705e-02 7.75764558e+01] [-2.28379132e-01 9.73568360e-01 -2.76061764e-03 -1.13723978e+01] [-1.28876128e-02 -1.87838381e-04 9.99916934e-01 -1.59642311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.60862385300001 meters Centerline goodness [0,1] 0.9999567987903661 Centerline is valid? [True, True] Translation: X:77.60, Y:-11.38, Z:-1.60 [[ 9.73759076e-01 2.27262716e-01 1.20382932e-02 7.76038450e+01] [-2.27247449e-01 9.73833472e-01 -2.63937197e-03 -1.13751776e+01] [-1.23231237e-02 -1.65559008e-04 9.99924054e-01 -1.59839390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.638623853 meters Centerline goodness [0,1] 0.9999566216978267 Centerline is valid? [True, True] Translation: X:77.63, Y:-11.38, Z:-1.60 [[ 9.74098205e-01 2.25836676e-01 1.14228650e-02 7.76318072e+01] [-2.25822841e-01 9.74165169e-01 -2.50370583e-03 -1.13805913e+01] [-1.16931858e-02 -1.40688458e-04 9.99931622e-01 -1.60008642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.668623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:77.66, Y:-11.38, Z:-1.60 [[ 9.74892643e-01 2.22427402e-01 1.05064151e-02 7.76596880e+01] [-2.22415504e-01 9.74949251e-01 -2.30245000e-03 -1.13823412e+01] [-1.07553495e-02 -9.21480392e-05 9.99942155e-01 -1.60415035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.698623853 meters Centerline goodness [0,1] 0.9999783258918895 Centerline is valid? [True, True] Translation: X:77.69, Y:-11.39, Z:-1.60 [[ 9.75301874e-01 2.20637540e-01 1.02630947e-02 7.76875815e+01] [-2.20626095e-01 9.75355869e-01 -2.24840769e-03 -1.13879351e+01] [-1.05062528e-02 -7.14302708e-05 9.99944805e-01 -1.60399906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.728623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:77.72, Y:-11.39, Z:-1.60 [[ 9.75723100e-01 2.18773105e-01 1.01371199e-02 7.77160157e+01] [-2.18761844e-01 9.75775756e-01 -2.22029706e-03 -1.13920727e+01] [-1.03772971e-02 -5.12199144e-05 9.99946153e-01 -1.60496574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.758623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:77.74, Y:-11.39, Z:-1.61 [[ 9.76480589e-01 2.15357780e-01 1.03288623e-02 7.77440246e+01] [-2.15345903e-01 9.76535215e-01 -2.26183270e-03 -1.13938055e+01] [-1.05736011e-02 -1.56424561e-05 9.99944098e-01 -1.60554502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.788623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:77.77, Y:-11.40, Z:-1.61 [[ 9.76798294e-01 2.13921063e-01 1.01425625e-02 7.77704892e+01] [-2.13909538e-01 9.76850950e-01 -2.22057841e-03 -1.13973807e+01] [-1.03828003e-02 -5.33645400e-07 9.99946097e-01 -1.60684439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.818623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:77.80, Y:-11.40, Z:-1.61 [[ 9.76813284e-01 2.13852595e-01 1.01427719e-02 7.77973736e+01] [-2.13841076e-01 9.76865941e-01 -2.21962127e-03 -1.14031246e+01] [-1.03828002e-02 -7.85712274e-07 9.99946097e-01 -1.60732922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.848623853 meters Centerline goodness [0,1] 0.9998490826380355 Centerline is valid? [True, True] Translation: X:77.83, Y:-11.41, Z:-1.60 [[ 9.77055001e-01 2.12746449e-01 1.01229234e-02 7.78250481e+01] [-2.12734923e-01 9.77107439e-01 -2.21454654e-03 -1.14078709e+01] [-1.03623207e-02 1.02344334e-05 9.99946310e-01 -1.60078767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.87862385300001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:77.85, Y:-11.41, Z:-1.61 [[ 9.77709082e-01 2.09629115e-01 1.18568918e-02 7.78520901e+01] [-2.09613087e-01 9.77780973e-01 -2.59270219e-03 -1.14131696e+01] [-1.21369490e-02 4.95487932e-05 9.99926343e-01 -1.60524742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.90862385300001 meters Centerline goodness [0,1] 0.9999571468363652 Centerline is valid? [True, True] Translation: X:77.88, Y:-11.42, Z:-1.60 [[ 9.78007529e-01 2.08182509e-01 1.27009971e-02 7.78800866e+01] [-2.08164008e-01 9.78089995e-01 -2.77636143e-03 -1.14190898e+01] [-1.30007080e-02 7.14119313e-05 9.99915485e-01 -1.60377738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.93862385300001 meters Centerline goodness [0,1] 0.9998927383889306 Centerline is valid? [True, True] Translation: X:77.91, Y:-11.42, Z:-1.60 [[ 9.78310798e-01 2.06703805e-01 1.34728948e-02 7.79070719e+01] [-2.06682854e-01 9.78403561e-01 -2.94451943e-03 -1.14242949e+01] [-1.37905716e-02 9.60388041e-05 9.99904901e-01 -1.60298941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.96862385300001 meters Centerline goodness [0,1] 0.9998919105884387 Centerline is valid? [True, True] Translation: X:77.94, Y:-11.43, Z:-1.60 [[ 9.78544327e-01 2.05561012e-01 1.39882594e-02 7.79357496e+01] [-2.05538331e-01 9.78644296e-01 -3.05571426e-03 -1.14283031e+01] [-1.43176659e-02 1.15028368e-04 9.99897490e-01 -1.60235399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.99862385300001 meters Centerline goodness [0,1] 0.9999352611135088 Centerline is valid? [True, True] Translation: X:77.96, Y:-11.43, Z:-1.60 [[ 9.78819099e-01 2.04239519e-01 1.41205812e-02 7.79645334e+01] [-2.04216279e-01 9.78920937e-01 -3.08390455e-03 -1.14325817e+01] [-1.44527877e-02 1.34932131e-04 9.99895544e-01 -1.60261812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.028623853 meters Centerline goodness [0,1] 0.9999141372944661 Centerline is valid? [True, True] Translation: X:77.99, Y:-11.44, Z:-1.61 [[ 9.79389205e-01 2.01543560e-01 1.33032910e-02 7.79912930e+01] [-2.01522692e-01 9.79479539e-01 -2.90483758e-03 -1.14389459e+01] [-1.36157526e-02 1.64051558e-04 9.99907288e-01 -1.60528813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.058623853 meters Centerline goodness [0,1] 0.9999785908497292 Centerline is valid? [True, True] Translation: X:78.02, Y:-11.45, Z:-1.61 [[ 9.79677398e-01 2.00158028e-01 1.29984807e-02 7.80191035e+01] [-2.00137995e-01 9.79763610e-01 -2.83743479e-03 -1.14456799e+01] [-1.33033737e-02 1.78280875e-04 9.99911490e-01 -1.60658679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.088623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.05, Y:-11.45, Z:-1.61 [[ 9.80033140e-01 1.98437126e-01 1.25599412e-02 7.80474039e+01] [-1.98418288e-01 9.80113600e-01 -2.74112671e-03 -1.14520332e+01] [-1.28541105e-02 1.94272990e-04 9.99917364e-01 -1.60718874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.118623853 meters Centerline goodness [0,1] 0.9999141796648716 Centerline is valid? [True, True] Translation: X:78.07, Y:-11.46, Z:-1.61 [[ 9.80605066e-01 1.95649364e-01 1.16203074e-02 7.80746916e+01] [-1.95633049e-01 9.80673891e-01 -2.53560455e-03 -1.14598444e+01] [-1.18918215e-02 2.13110507e-04 9.99929267e-01 -1.60934437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.148623853 meters Centerline goodness [0,1] 0.9997843712264964 Centerline is valid? [True, True] Translation: X:78.10, Y:-11.47, Z:-1.61 [[ 9.80797176e-01 1.94685169e-01 1.16010215e-02 7.81016621e+01] [-1.94668849e-01 9.80865758e-01 -2.53066673e-03 -1.14668542e+01] [-1.18717280e-02 2.23713294e-04 9.99929504e-01 -1.61013523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.178623853 meters Centerline goodness [0,1] 0.9999348109517601 Centerline is valid? [True, True] Translation: X:78.13, Y:-11.47, Z:-1.61 [[ 9.80963144e-01 1.93862878e-01 1.13355420e-02 7.81283716e+01] [-1.93847249e-01 9.81028610e-01 -2.47206782e-03 -1.14731092e+01] [-1.15997332e-02 2.27643789e-04 9.99932695e-01 -1.61168570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.208623853 meters Centerline goodness [0,1] 0.9998058252427184 Centerline is valid? [True, True] Translation: X:78.16, Y:-11.48, Z:-1.61 [[ 9.80987754e-01 1.93771497e-01 1.07532953e-02 7.81557567e+01] [-1.93757434e-01 9.81046666e-01 -2.34447901e-03 -1.14801522e+01] [-1.10037777e-02 2.16374300e-04 9.99939433e-01 -1.61295952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.238623853 meters Centerline goodness [0,1] 0.9999566771363587 Centerline is valid? [True, True] Translation: X:78.18, Y:-11.48, Z:-1.61 [[ 9.80927221e-01 1.94099188e-01 1.03581829e-02 7.81842662e+01] [-1.94086165e-01 9.80981887e-01 -2.25766491e-03 -1.14826144e+01] [-1.05994007e-02 2.04224980e-04 9.99943804e-01 -1.61380771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.26862385300001 meters Centerline goodness [0,1] 0.999978342790315 Centerline is valid? [True, True] Translation: X:78.21, Y:-11.49, Z:-1.62 [[ 9.80871338e-01 1.94391262e-01 1.01712920e-02 7.82113101e+01] [-1.94378725e-01 9.80924053e-01 -2.21652802e-03 -1.14874108e+01] [-1.04081387e-02 1.97046040e-04 9.99945814e-01 -1.61533334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.29862385300001 meters Centerline goodness [0,1] 0.9995030035870176 Centerline is valid? [True, True] Translation: X:78.24, Y:-11.49, Z:-1.61 [[ 9.80624667e-01 1.95643542e-01 9.94319264e-03 7.82385717e+01] [-1.95631631e-01 9.80675060e-01 -2.16623080e-03 -1.14938322e+01] [-1.01748501e-02 1.79056366e-04 9.99948219e-01 -1.61177504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.32862385300001 meters Centerline goodness [0,1] 0.9997000599880024 Centerline is valid? [True, True] Translation: X:78.27, Y:-11.50, Z:-1.62 [[ 9.80538831e-01 1.96034646e-01 1.06779721e-02 7.82657721e+01] [-1.96020941e-01 9.80596952e-01 -2.32556113e-03 -1.14986452e+01] [-1.09266774e-02 1.87196856e-04 9.99940285e-01 -1.61637741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.35862385300001 meters Centerline goodness [0,1] 0.9998276938982101 Centerline is valid? [True, True] Translation: X:78.29, Y:-11.50, Z:-1.62 [[ 9.80465728e-01 1.96402795e-01 1.06253329e-02 7.82949375e+01] [-1.96389254e-01 9.80523283e-01 -2.31342538e-03 -1.15017355e+01] [-1.08727495e-02 1.81533102e-04 9.99940873e-01 -1.61614694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.388623853 meters Centerline goodness [0,1] 0.9999144348421323 Centerline is valid? [True, True] Translation: X:78.32, Y:-11.51, Z:-1.62 [[ 9.80425412e-01 1.96606439e-01 1.05791684e-02 7.83237131e+01] [-1.96593033e-01 9.80482471e-01 -2.30278929e-03 -1.15073875e+01] [-1.08254324e-02 1.77922335e-04 9.99941387e-01 -1.61697429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.418623853 meters Centerline goodness [0,1] 0.9999352345588394 Centerline is valid? [True, True] Translation: X:78.35, Y:-11.51, Z:-1.62 [[ 9.80487651e-01 1.96320932e-01 1.01023455e-02 7.83518083e+01] [-1.96308695e-01 9.80539679e-01 -2.19874439e-03 -1.15137608e+01] [-1.03374102e-02 1.72663465e-04 9.99946553e-01 -1.61824735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.448623853 meters Centerline goodness [0,1] 0.9998491151682366 Centerline is valid? [True, True] Translation: X:78.38, Y:-11.52, Z:-1.62 [[ 9.80530253e-01 1.96092290e-01 1.04036514e-02 7.83792958e+01] [-1.96079303e-01 9.80585428e-01 -2.26396983e-03 -1.15187520e+01] [-1.06456159e-02 1.79950198e-04 9.99943318e-01 -1.61817108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.478623853 meters Centerline goodness [0,1] 0.9998274969811972 Centerline is valid? [True, True] Translation: X:78.41, Y:-11.53, Z:-1.62 [[ 9.80574112e-01 1.95865322e-01 1.05444833e-02 7.84055557e+01] [-1.95851974e-01 9.80630788e-01 -2.29402194e-03 -1.15261680e+01] [-1.07895643e-02 1.84300662e-04 9.99941774e-01 -1.61880296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.508623853 meters Centerline goodness [0,1] 0.9998282745889323 Centerline is valid? [True, True] Translation: X:78.43, Y:-11.54, Z:-1.62 [[ 9.80640298e-01 1.95538833e-01 1.04484692e-02 7.84310484e+01] [-1.95525722e-01 9.80695942e-01 -2.27183497e-03 -1.15374759e+01] [-1.06910033e-02 1.84908427e-04 9.99942832e-01 -1.62037748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.538623853 meters Centerline goodness [0,1] 0.9998725356900068 Centerline is valid? [True, True] Translation: X:78.46, Y:-11.54, Z:-1.62 [[ 9.80642415e-01 1.95537987e-01 1.02639804e-02 7.84585736e+01] [-1.95525343e-01 9.80696111e-01 -2.23096860e-03 -1.15413753e+01] [-1.05020848e-02 1.80914131e-04 9.99944835e-01 -1.62007705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.568623853 meters Centerline goodness [0,1] 0.9997191436040357 Centerline is valid? [True, True] Translation: X:78.49, Y:-11.55, Z:-1.62 [[ 9.80346586e-01 1.97060734e-01 9.36151850e-03 7.84871475e+01] [-1.97050293e-01 9.80391271e-01 -2.03406172e-03 -1.15462201e+01] [-9.57878472e-03 1.49395500e-04 9.99954111e-01 -1.61524660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.598623853 meters Centerline goodness [0,1] 0.9999139877432535 Centerline is valid? [True, True] Translation: X:78.51, Y:-11.55, Z:-1.62 [[ 9.80090698e-01 1.98317914e-01 9.60355245e-03 7.85146372e+01] [-1.98306989e-01 9.80137738e-01 -2.08625766e-03 -1.15501879e+01] [-9.82654645e-03 1.40270148e-04 9.99951708e-01 -1.62164902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.62862385300001 meters Centerline goodness [0,1] 0.9999562305773186 Centerline is valid? [True, True] Translation: X:78.54, Y:-11.55, Z:-1.62 [[ 9.79714602e-01 2.00169615e-01 9.56155925e-03 7.85434854e+01] [-2.00158881e-01 9.79761252e-01 -2.07649425e-03 -1.15520376e+01] [-9.78369631e-03 1.20540744e-04 9.99952131e-01 -1.62101062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.65862385300001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.57, Y:-11.55, Z:-1.62 [[ 9.78682393e-01 2.05162869e-01 9.43244524e-03 7.85738399e+01] [-2.05152659e-01 9.78727844e-01 -2.04789301e-03 -1.15504940e+01] [-9.65194840e-03 6.91456033e-05 9.99953416e-01 -1.62120988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.68862385300001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.60, Y:-11.55, Z:-1.62 [[ 9.78130013e-01 2.07778992e-01 9.46404468e-03 7.86021463e+01] [-2.07768835e-01 9.78175796e-01 -2.05482310e-03 -1.15529145e+01] [-9.68444851e-03 4.35506029e-05 9.99953104e-01 -1.62199581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.71862385300001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.63, Y:-11.56, Z:-1.62 [[ 9.77669870e-01 2.09937669e-01 9.37015784e-03 7.86312313e+01] [-2.09927824e-01 9.77714772e-01 -2.03324854e-03 -1.15558371e+01] [-9.58819719e-03 2.07889966e-05 9.99954032e-01 -1.62291722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.74862385300001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.66, Y:-11.56, Z:-1.63 [[ 9.76934960e-01 2.13329931e-01 9.40344081e-03 7.86590518e+01] [-2.13320175e-01 9.76980215e-01 -2.04028471e-03 -1.15562763e+01] [-9.62222942e-03 -1.27181719e-05 9.99953705e-01 -1.62558099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.778623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.69, Y:-11.56, Z:-1.63 [[ 9.76687161e-01 2.14447042e-01 9.72915070e-03 7.86868867e+01] [-2.14436664e-01 9.76735617e-01 -2.10990340e-03 -1.15600149e+01] [-9.95527055e-03 -2.55710580e-05 9.99950445e-01 -1.62545314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.808623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.71, Y:-11.56, Z:-1.62 [[ 9.76601432e-01 2.14815984e-01 1.01850885e-02 7.87140395e+01] [-2.14804629e-01 9.76654541e-01 -2.20890551e-03 -1.15649942e+01] [-1.04218211e-02 -3.05838582e-05 9.99945691e-01 -1.62386334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.838623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.74, Y:-11.57, Z:-1.62 [[ 9.76516374e-01 2.15174249e-01 1.07616839e-02 7.87405421e+01] [-2.15161627e-01 9.76575671e-01 -2.33093841e-03 -1.15688322e+01] [-1.10111566e-02 -3.93018849e-05 9.99939375e-01 -1.62474518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.868623853 meters Centerline goodness [0,1] 0.9999567801188547 Centerline is valid? [True, True] Translation: X:78.77, Y:-11.58, Z:-1.62 [[ 9.76479152e-01 2.15320513e-01 1.12045552e-02 7.87674690e+01] [-2.15306853e-01 9.76543432e-01 -2.42579423e-03 -1.15751111e+01] [-1.14640581e-02 -4.36800388e-05 9.99934285e-01 -1.61784280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.898623853 meters Centerline goodness [0,1] 0.9998910770303242 Centerline is valid? [True, True] Translation: X:78.80, Y:-11.58, Z:-1.62 [[ 9.76492964e-01 2.15246283e-01 1.14249442e-02 7.87953223e+01] [-2.15232086e-01 9.76559796e-01 -2.47260702e-03 -1.15811610e+01] [-1.16893607e-02 -4.45312154e-05 9.99931676e-01 -1.61609225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.928623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.82, Y:-11.59, Z:-1.62 [[ 9.76771360e-01 2.13949173e-01 1.19775929e-02 7.88226194e+01] [-2.13933482e-01 9.76844793e-01 -2.59131542e-03 -1.15866604e+01] [-1.22546590e-02 -3.12854630e-05 9.99924908e-01 -1.62294107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.958623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.85, Y:-11.59, Z:-1.62 [[ 9.76911021e-01 2.13336716e-01 1.15022484e-02 7.88496467e+01] [-2.13322217e-01 9.76978733e-01 -2.48729152e-03 -1.15927432e+01] [-1.17680826e-02 -2.38226275e-05 9.99930753e-01 -1.62446322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.988623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.88, Y:-11.60, Z:-1.63 [[ 9.77022180e-01 2.12846368e-01 1.11392777e-02 7.88771932e+01] [-2.12832747e-01 9.77085679e-01 -2.40804220e-03 -1.15985066e+01] [-1.13965718e-02 -1.80924333e-05 9.99935057e-01 -1.62528657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.01862385300001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.90, Y:-11.60, Z:-1.63 [[ 9.77291090e-01 2.11650992e-01 1.02947798e-02 7.89045939e+01] [-2.11639300e-01 9.77345311e-01 -2.22473116e-03 -1.16045685e+01] [-1.05324213e-02 -4.57003663e-06 9.99944533e-01 -1.62743693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.04862385300001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.93, Y:-11.61, Z:-1.63 [[ 9.77441298e-01 2.10959546e-01 1.02263941e-02 7.89306625e+01] [-2.10947972e-01 9.77494793e-01 -2.20983698e-03 -1.16101889e+01] [-1.04624332e-02 2.74883393e-06 9.99945267e-01 -1.62957158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.07862385300001 meters Centerline goodness [0,1] 0.9998931098616841 Centerline is valid? [True, True] Translation: X:78.96, Y:-11.62, Z:-1.62 [[ 9.77558170e-01 2.10413064e-01 1.03134658e-02 7.89581055e+01] [-2.10401280e-01 9.77612573e-01 -2.22684915e-03 -1.16164218e+01] [-1.05511320e-02 6.90816262e-06 9.99944335e-01 -1.62323706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.10862385300001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.99, Y:-11.62, Z:-1.63 [[ 9.77713858e-01 2.09678890e-01 1.05059092e-02 7.89851677e+01] [-2.09666628e-01 9.77770302e-01 -2.26763662e-03 -1.16218305e+01] [-1.07478415e-02 1.43611924e-05 9.99942240e-01 -1.62746453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.138623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:79.01, Y:-11.63, Z:-1.63 [[ 9.78003132e-01 2.08349383e-01 1.00203904e-02 7.90115852e+01] [-2.08338165e-01 9.78054464e-01 -2.16227852e-03 -1.16294372e+01] [-1.02509969e-02 2.70854311e-05 9.99947457e-01 -1.62909870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.168623853 meters Centerline goodness [0,1] 0.9999783404448873 Centerline is valid? [True, True] Translation: X:79.04, Y:-11.64, Z:-1.63 [[ 9.78161443e-01 2.07595642e-01 1.02098318e-02 7.90387768e+01] [-2.07583966e-01 9.78214725e-01 -2.20202105e-03 -1.16362730e+01] [-1.04445378e-02 3.45347183e-05 9.99945454e-01 -1.62903555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.198623853 meters Centerline goodness [0,1] 0.9999783802481947 Centerline is valid? [True, True] Translation: X:79.06, Y:-11.64, Z:-1.63 [[ 9.78480597e-01 2.06052840e-01 1.08604055e-02 7.90645193e+01] [-2.06039539e-01 9.78540865e-01 -2.34182643e-03 -1.16440842e+01] [-1.11098906e-02 5.37587850e-05 9.99938282e-01 -1.62822603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.228623853 meters Centerline goodness [0,1] 0.9999785103365282 Centerline is valid? [True, True] Translation: X:79.09, Y:-11.65, Z:-1.63 [[ 9.78640709e-01 2.05277311e-01 1.11170457e-02 7.90921578e+01] [-2.05263347e-01 9.78703848e-01 -2.39512719e-03 -1.16506217e+01] [-1.13719606e-02 6.20469675e-05 9.99935335e-01 -1.62797655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.258623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:79.12, Y:-11.66, Z:-1.63 [[ 9.78774653e-01 2.04627072e-01 1.13110668e-02 7.91185691e+01] [-2.04612579e-01 9.78840005e-01 -2.43642523e-03 -1.16584152e+01] [-1.15702833e-02 7.03247010e-05 9.99933060e-01 -1.62897356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.288623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:79.15, Y:-11.66, Z:-1.63 [[ 9.78906074e-01 2.03995833e-01 1.13401180e-02 7.91466945e+01] [-2.03981232e-01 9.78971753e-01 -2.44191259e-03 -1.16649939e+01] [-1.15997952e-02 7.72318279e-05 9.99932717e-01 -1.62905995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.318623853 meters Centerline goodness [0,1] 0.9999784049927657 Centerline is valid? [True, True] Translation: X:79.17, Y:-11.67, Z:-1.63 [[ 9.79243033e-01 2.02404591e-01 1.07454087e-02 7.91728203e+01] [-2.02391389e-01 9.79301983e-01 -2.31344819e-03 -1.16747366e+01] [-1.09912525e-02 9.06498360e-05 9.99939590e-01 -1.63058568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.348623853 meters Centerline goodness [0,1] 0.9999785757134287 Centerline is valid? [True, True] Translation: X:79.20, Y:-11.68, Z:-1.63 [[ 9.79422260e-01 2.01548496e-01 1.04995801e-02 7.91998045e+01] [-2.01535849e-01 9.79478532e-01 -2.25990448e-03 -1.16825021e+01] [-1.07395936e-02 9.73589573e-05 9.99942324e-01 -1.63149707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.37862385300001 meters Centerline goodness [0,1] 0.9999784422359713 Centerline is valid? [True, True] Translation: X:79.23, Y:-11.69, Z:-1.63 [[ 9.79543388e-01 2.00971438e-01 1.02582995e-02 7.92280028e+01] [-2.00959341e-01 9.79597096e-01 -2.20729182e-03 -1.16906966e+01] [-1.04926030e-02 1.00636997e-04 9.99944946e-01 -1.62989049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.40862385300001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:79.26, Y:-11.70, Z:-1.63 [[ 9.79669678e-01 2.00368002e-01 9.99932441e-03 7.92553427e+01] [-2.00356481e-01 9.79720702e-01 -2.15110478e-03 -1.16984765e+01] [-1.02275577e-02 1.03942673e-04 9.99947692e-01 -1.63314522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.43862385300001 meters Centerline goodness [0,1] 0.9999784890724488 Centerline is valid? [True, True] Translation: X:79.28, Y:-11.71, Z:-1.64 [[ 9.79820391e-01 1.99650574e-01 9.57333735e-03 7.92819113e+01] [-1.99639983e-01 9.79867153e-01 -2.05912291e-03 -1.17085983e+01] [-9.79170389e-03 1.06349704e-04 9.99952054e-01 -1.63500987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.46862385300001 meters Centerline goodness [0,1] 0.9998924708058238 Centerline is valid? [True, True] Translation: X:79.31, Y:-11.72, Z:-1.63 [[ 9.79816626e-01 1.99693912e-01 9.03998927e-03 7.93097869e+01] [-1.99684476e-01 9.79858322e-01 -1.94381101e-03 -1.17150773e+01] [-9.24607595e-03 9.94328209e-05 9.99957249e-01 -1.63156525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.49862385300001 meters Centerline goodness [0,1] 0.9999568081200735 Centerline is valid? [True, True] Translation: X:79.34, Y:-11.72, Z:-1.64 [[ 9.79757575e-01 1.99980370e-01 9.10743678e-03 7.93372514e+01] [-1.99970809e-01 9.79799899e-01 -1.95785463e-03 -1.17217682e+01] [-9.31499813e-03 9.70014007e-05 9.99956610e-01 -1.63635575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.528623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:79.36, Y:-11.73, Z:-1.64 [[ 9.79444782e-01 2.01544084e-01 8.24023001e-03 7.93640006e+01] [-2.01536314e-01 9.79479442e-01 -1.77119814e-03 -1.17286884e+01] [-8.42811039e-03 7.40851877e-05 9.99964480e-01 -1.63954680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.558623853 meters Centerline goodness [0,1] 0.9999570971963018 Centerline is valid? [True, True] Translation: X:79.39, Y:-11.73, Z:-1.64 [[ 9.79214685e-01 2.02677754e-01 7.76713870e-03 7.93924240e+01] [-2.02670891e-01 9.79245487e-01 -1.66899892e-03 -1.17336187e+01] [-7.94420448e-03 6.01353270e-05 9.99968443e-01 -1.63570653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.588623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:79.42, Y:-11.74, Z:-1.64 [[ 9.78704785e-01 2.05099327e-01 8.43863451e-03 7.94204094e+01] [-2.05091320e-01 9.78741163e-01 -1.81280193e-03 -1.17377558e+01] [-8.63104341e-03 4.35072271e-05 9.99962751e-01 -1.63987075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.618623853 meters Centerline goodness [0,1] 0.9999786520931623 Centerline is valid? [True, True] Translation: X:79.45, Y:-11.74, Z:-1.64 [[ 9.78488417e-01 2.06102472e-01 9.06577543e-03 7.94476843e+01] [-2.06093278e-01 9.78530413e-01 -1.94709839e-03 -1.17421426e+01] [-9.27243877e-03 3.68178523e-05 9.99957009e-01 -1.63913574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.648623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:79.48, Y:-11.75, Z:-1.64 [[ 9.78304392e-01 2.06965735e-01 9.25748146e-03 7.94758363e+01] [-2.06956193e-01 9.78348191e-01 -1.98761741e-03 -1.17467035e+01] [-9.46840894e-03 2.86017251e-05 9.99955173e-01 -1.63935669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.678623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:79.50, Y:-11.75, Z:-1.64 [[ 9.78208426e-01 2.07407354e-01 9.51132853e-03 7.95019968e+01] [-2.07397300e-01 9.78254665e-01 -2.04227543e-03 -1.17520302e+01] [-9.72808444e-03 2.51471789e-05 9.99952681e-01 -1.63961931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.708623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:79.53, Y:-11.76, Z:-1.64 [[ 9.78206391e-01 2.07399598e-01 9.88251440e-03 7.95299099e+01] [-2.07388764e-01 9.78256309e-01 -2.12005166e-03 -1.17609157e+01] [-1.01073299e-02 2.43256313e-05 9.99948919e-01 -1.63990536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.738623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:79.56, Y:-11.77, Z:-1.64 [[ 9.78220030e-01 2.07335256e-01 9.88257253e-03 7.95568188e+01] [-2.07324421e-01 9.78269948e-01 -2.11978066e-03 -1.17665417e+01] [-1.01073290e-02 2.47132713e-05 9.99948919e-01 -1.64039019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.76862385300001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:79.58, Y:-11.77, Z:-1.64 [[ 9.78357566e-01 2.06688922e-01 9.80625415e-03 7.95842056e+01] [-2.06678230e-01 9.78406709e-01 -2.10257381e-03 -1.17746296e+01] [-1.00290836e-02 3.03297423e-05 9.99949707e-01 -1.64120284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.79862385300001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:79.61, Y:-11.78, Z:-1.64 [[ 9.78582444e-01 2.05597199e-01 1.03050074e-02 7.96101952e+01] [-2.05585333e-01 9.78636700e-01 -2.20923568e-03 -1.17833180e+01] [-1.05390711e-02 4.33608637e-05 9.99944462e-01 -1.64105796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.82862385300001 meters Centerline goodness [0,1] 0.9999785798436328 Centerline is valid? [True, True] Translation: X:79.64, Y:-11.79, Z:-1.64 [[ 9.79069826e-01 2.03229142e-01 1.09631649e-02 7.96372547e+01] [-2.03215576e-01 9.79131202e-01 -2.34918419e-03 -1.17949520e+01] [-1.12117995e-02 7.21294889e-05 9.99937143e-01 -1.63870761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.85862385300001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:79.66, Y:-11.80, Z:-1.64 [[ 9.79385908e-01 2.01706436e-01 1.08516145e-02 7.96646299e+01] [-2.01693058e-01 9.79446020e-01 -2.32475786e-03 -1.18038925e+01] [-1.10974892e-02 8.81397771e-05 9.99938417e-01 -1.63853182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.888623853 meters Centerline goodness [0,1] 0.9999568974806577 Centerline is valid? [True, True] Translation: X:79.69, Y:-11.82, Z:-1.64 [[ 9.80021281e-01 1.98637867e-01 1.00641675e-02 7.96903076e+01] [-1.98626202e-01 9.80072949e-01 -2.15570651e-03 -1.18165727e+01] [-1.02918233e-02 1.13630880e-04 9.99947031e-01 -1.63972436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.918623853 meters Centerline goodness [0,1] 0.999978410587448 Centerline is valid? [True, True] Translation: X:79.72, Y:-11.83, Z:-1.64 [[ 9.80296499e-01 1.97282353e-01 9.92203192e-03 7.97181169e+01] [-1.97270952e-01 9.80346703e-01 -2.12455913e-03 -1.18262132e+01] [-1.01461693e-02 1.25369194e-04 9.99948518e-01 -1.64118179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.948623853 meters Centerline goodness [0,1] 0.9999141851883635 Centerline is valid? [True, True] Translation: X:79.74, Y:-11.84, Z:-1.64 [[ 9.80561386e-01 1.95969418e-01 9.76506203e-03 7.97443077e+01] [-1.95958314e-01 9.80609998e-01 -2.09056573e-03 -1.18357093e+01] [-9.98540441e-03 1.36382935e-04 9.99950135e-01 -1.64181102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.978623853 meters Centerline goodness [0,1] 0.9998492840994725 Centerline is valid? [True, True] Translation: X:79.77, Y:-11.85, Z:-1.64 [[ 9.81018990e-01 1.93673677e-01 9.60458816e-03 7.97709666e+01] [-1.93662831e-01 9.81065993e-01 -2.05553835e-03 -1.18492383e+01] [-9.82083849e-03 1.56470422e-04 9.99951762e-01 -1.64301096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.008623853 meters Centerline goodness [0,1] 0.9998934129183543 Centerline is valid? [True, True] Translation: X:79.80, Y:-11.86, Z:-1.64 [[ 9.81210671e-01 1.92709863e-01 9.40888098e-03 7.97975213e+01] [-1.92699414e-01 9.81255768e-01 -2.01330439e-03 -1.18590144e+01] [-9.62050235e-03 1.62389895e-04 9.99953709e-01 -1.64383186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.038623853 meters Centerline goodness [0,1] 0.9997843200690176 Centerline is valid? [True, True] Translation: X:79.82, Y:-11.87, Z:-1.64 [[ 9.81403582e-01 1.91737739e-01 9.14597442e-03 7.98246900e+01] [-1.91727830e-01 9.81446184e-01 -1.95642078e-03 -1.18687161e+01] [-9.35140139e-03 1.66500535e-04 9.99956261e-01 -1.64480465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.068623853 meters Centerline goodness [0,1] 0.99982669728348 Centerline is valid? [True, True] Translation: X:79.85, Y:-11.88, Z:-1.65 [[ 9.81703051e-01 1.90196258e-01 9.19253342e-03 7.98513737e+01] [-1.90186184e-01 9.81746072e-01 -1.96592969e-03 -1.18822916e+01] [-9.39864605e-03 1.81666321e-04 9.99955815e-01 -1.64545930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.098623853 meters Centerline goodness [0,1] 0.999913741050634 Centerline is valid? [True, True] Translation: X:79.88, Y:-11.89, Z:-1.65 [[ 9.81801840e-01 1.89682673e-01 9.25363426e-03 7.98776931e+01] [-1.89672446e-01 9.81845430e-01 -1.97863592e-03 -1.18921726e+01] [-9.46095146e-03 1.87468948e-04 9.99955227e-01 -1.64607679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.12862385300001 meters Centerline goodness [0,1] 0.9998706589924335 Centerline is valid? [True, True] Translation: X:79.91, Y:-11.90, Z:-1.65 [[ 9.81902508e-01 1.89161800e-01 9.23458401e-03 7.99054344e+01] [-1.89151598e-01 9.81945913e-01 -1.97390821e-03 -1.19022470e+01] [-9.44125006e-03 1.91449104e-04 9.99955412e-01 -1.64643362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.15862385300001 meters Centerline goodness [0,1] 0.9998289465244072 Centerline is valid? [True, True] Translation: X:79.93, Y:-11.92, Z:-1.65 [[ 9.81880834e-01 1.89263368e-01 9.45540126e-03 7.99327205e+01] [-1.89252682e-01 9.81926341e-01 -2.02054242e-03 -1.19150397e+01] [-9.66692223e-03 1.94471828e-04 9.99953255e-01 -1.64579101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.18862385300001 meters Centerline goodness [0,1] 0.9998917655208243 Centerline is valid? [True, True] Translation: X:79.96, Y:-11.92, Z:-1.65 [[ 9.81765256e-01 1.89848898e-01 9.71486963e-03 7.99609512e+01] [-1.89837651e-01 9.81813301e-01 -2.07552685e-03 -1.19238457e+01] [-9.93222470e-03 1.93432121e-04 9.99950656e-01 -1.64565117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.21862385300001 meters Centerline goodness [0,1] 0.9998278718505927 Centerline is valid? [True, True] Translation: X:79.99, Y:-11.93, Z:-1.65 [[ 9.81623274e-01 1.90567890e-01 9.98135786e-03 7.99891043e+01] [-1.90556057e-01 9.81674000e-01 -2.13220645e-03 -1.19326454e+01] [-1.02047696e-02 1.91015272e-04 9.99947912e-01 -1.64608290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.24862385300001 meters Centerline goodness [0,1] 0.9999139248133244 Centerline is valid? [True, True] Translation: X:80.02, Y:-11.94, Z:-1.65 [[ 9.81184825e-01 1.92803919e-01 1.01482600e-02 8.00162925e+01] [-1.92791808e-01 9.81237290e-01 -2.16769236e-03 -1.19425528e+01] [-1.03757907e-02 1.70405458e-04 9.99946156e-01 -1.64624897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.278623853 meters Centerline goodness [0,1] 0.999891845122215 Centerline is valid? [True, True] Translation: X:80.05, Y:-11.95, Z:-1.65 [[ 9.80911977e-01 1.94196287e-01 9.97473769e-03 8.00454137e+01] [-1.94184663e-01 9.80962680e-01 -2.13018911e-03 -1.19492510e+01] [-1.01985202e-02 1.52586936e-04 9.99947982e-01 -1.64679747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.308623853 meters Centerline goodness [0,1] 0.999956783854448 Centerline is valid? [True, True] Translation: X:80.07, Y:-11.95, Z:-1.65 [[ 9.80093217e-01 1.98315380e-01 9.39662147e-03 8.00746837e+01] [-1.98305256e-01 9.80138255e-01 -2.00653808e-03 -1.19523667e+01] [-9.60791553e-03 1.03194936e-04 9.99953838e-01 -1.64729982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.338623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.10, Y:-11.96, Z:-1.65 [[ 9.79605147e-01 2.00733838e-01 8.92650795e-03 8.01025265e+01] [-2.00724803e-01 9.79645814e-01 -1.90605002e-03 -1.19589331e+01] [-9.12742488e-03 7.54048623e-05 9.99958341e-01 -1.64923881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.368623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.13, Y:-11.96, Z:-1.65 [[ 9.79022907e-01 2.03569367e-01 8.58254408e-03 8.01301841e+01] [-2.03561125e-01 9.79060524e-01 -1.83239842e-03 -1.19640124e+01] [-8.77585029e-03 4.68876928e-05 9.99961490e-01 -1.65121276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.398623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.16, Y:-11.97, Z:-1.65 [[ 9.78391484e-01 2.06606371e-01 7.99445335e-03 8.01585891e+01] [-2.06599324e-01 9.78424145e-01 -1.70650945e-03 -1.19677878e+01] [-8.17454191e-03 1.79856566e-05 9.99966588e-01 -1.65217888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.428623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.19, Y:-11.97, Z:-1.66 [[ 9.76811905e-01 2.13975142e-01 7.28979072e-03 8.01875326e+01] [-2.13969488e-01 9.76839105e-01 -1.55592253e-03 -1.19661856e+01] [-7.45388139e-03 -3.99491385e-05 9.99972219e-01 -1.65624355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.458623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.22, Y:-11.97, Z:-1.65 [[ 9.75996249e-01 2.17659023e-01 7.47471420e-03 8.02164652e+01] [-2.17653192e-01 9.76024869e-01 -1.59477548e-03 -1.19694904e+01] [-7.64262422e-03 -7.04005198e-05 9.99970792e-01 -1.65441327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.488623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.24, Y:-11.97, Z:-1.65 [[ 9.75136512e-01 2.21466829e-01 7.82473279e-03 8.02444880e+01] [-2.21460563e-01 9.75167900e-01 -1.66928231e-03 -1.19707226e+01] [-8.00011890e-03 -1.05091597e-04 9.99967993e-01 -1.65424615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.51862385300001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.28, Y:-11.97, Z:-1.65 [[ 9.73462382e-01 2.28671832e-01 8.95455290e-03 8.02756772e+01] [-2.28663943e-01 9.73503548e-01 -1.90887584e-03 -1.19664547e+01] [-9.15379515e-03 -1.89364556e-04 9.99958085e-01 -1.65316558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.54862385300001 meters Centerline goodness [0,1] 0.9999570243671838 Centerline is valid? [True, True] Translation: X:80.31, Y:-11.97, Z:-1.65 [[ 9.72830872e-01 2.31343238e-01 8.96665653e-03 8.03050220e+01] [-2.31335441e-01 9.72872170e-01 -1.91145085e-03 -1.19715679e+01] [-9.16561183e-03 -2.14787050e-04 9.99957972e-01 -1.65188802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.57862385300001 meters Centerline goodness [0,1] 0.9999152865432674 Centerline is valid? [True, True] Translation: X:80.33, Y:-11.97, Z:-1.65 [[ 9.72022080e-01 2.34708156e-01 9.22811390e-03 8.03345303e+01] [-2.34700049e-01 9.72065850e-01 -1.96719333e-03 -1.19690855e+01] [-9.43205070e-03 -2.53683429e-04 9.99955485e-01 -1.65353196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.60862385300001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.36, Y:-11.97, Z:-1.65 [[ 9.71744840e-01 2.35849736e-01 9.32024443e-03 8.03624162e+01] [-2.35841524e-01 9.71789499e-01 -1.98633225e-03 -1.19740526e+01] [-9.52579160e-03 -2.67892536e-04 9.99954593e-01 -1.65399230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.63862385300001 meters Centerline goodness [0,1] 0.99993538938663 Centerline is valid? [True, True] Translation: X:80.39, Y:-11.98, Z:-1.65 [[ 9.71602508e-01 2.36435564e-01 9.31610395e-03 8.03902064e+01] [-2.36427388e-01 9.71647132e-01 -1.98511123e-03 -1.19776518e+01] [-9.52131658e-03 -2.73843076e-04 9.99954634e-01 -1.65483721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.668623853 meters Centerline goodness [0,1] 0.9997226015705019 Centerline is valid? [True, True] Translation: X:80.42, Y:-11.98, Z:-1.66 [[ 9.71521425e-01 2.36764835e-01 9.40924464e-03 8.04183122e+01] [-2.36756521e-01 9.71566948e-01 -2.00387269e-03 -1.19783998e+01] [-9.61615768e-03 -2.80894780e-04 9.99953724e-01 -1.65641194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.698623853 meters Centerline goodness [0,1] 0.9999358659170104 Centerline is valid? [True, True] Translation: X:80.45, Y:-11.99, Z:-1.66 [[ 9.71742505e-01 2.35849003e-01 9.57875288e-03 8.04459130e+01] [-2.35840349e-01 9.71789674e-01 -2.03928264e-03 -1.19864604e+01] [-9.78949592e-03 -2.77398801e-04 9.99952043e-01 -1.65569154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.728623853 meters Centerline goodness [0,1] 0.9999362529483011 Centerline is valid? [True, True] Translation: X:80.47, Y:-12.00, Z:-1.65 [[ 9.71956150e-01 2.34963024e-01 9.67576431e-03 8.04733892e+01] [-2.34954155e-01 9.72004271e-01 -2.05948677e-03 -1.19961608e+01] [-9.88878747e-03 -2.71630187e-04 9.99951068e-01 -1.65472877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.758623853 meters Centerline goodness [0,1] 0.9999785191072541 Centerline is valid? [True, True] Translation: X:80.50, Y:-12.00, Z:-1.65 [[ 9.72281362e-01 2.33604873e-01 9.88520166e-03 8.05012330e+01] [-2.33595551e-01 9.72331576e-01 -2.10356576e-03 -1.20034335e+01] [-1.01030969e-02 -2.63881343e-04 9.99948928e-01 -1.65437307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.788623853 meters Centerline goodness [0,1] 0.9998492191707055 Centerline is valid? [True, True] Translation: X:80.53, Y:-12.01, Z:-1.65 [[ 9.72984111e-01 2.30672514e-01 9.59745657e-03 8.05289425e+01] [-2.30663588e-01 9.73031418e-01 -2.04188738e-03 -1.20121099e+01] [-9.80963407e-03 -2.27059791e-04 9.99951859e-01 -1.64938861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.818623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.56, Y:-12.02, Z:-1.66 [[ 9.73330062e-01 2.29196578e-01 9.87518596e-03 8.05563074e+01] [-2.29187057e-01 9.73380132e-01 -2.10055092e-03 -1.20176601e+01] [-1.00937489e-02 -2.18735446e-04 9.99949033e-01 -1.65543237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.848623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.58, Y:-12.03, Z:-1.66 [[ 9.74293817e-01 2.25043115e-01 1.03515274e-02 8.05839493e+01] [-2.25032429e-01 9.74348789e-01 -2.20092059e-03 -1.20271848e+01] [-1.05813002e-02 -1.85086031e-04 9.99943999e-01 -1.65619999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.87862385300001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.61, Y:-12.04, Z:-1.66 [[ 9.74911232e-01 2.22349183e-01 1.04369708e-02 8.06108420e+01] [-2.22338166e-01 9.74967085e-01 -2.21899232e-03 -1.20366452e+01] [-1.06690941e-02 -1.57216405e-04 9.99943071e-01 -1.65696175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.90862385300001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.64, Y:-12.05, Z:-1.66 [[ 9.75575449e-01 2.19424319e-01 1.02719176e-02 8.06372721e+01] [-2.19413489e-01 9.75629516e-01 -2.18349755e-03 -1.20454868e+01] [-1.05006984e-02 -1.23630672e-04 9.99944859e-01 -1.65723916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.93862385300001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.66, Y:-12.06, Z:-1.66 [[ 9.76873649e-01 2.13565474e-01 1.03760548e-02 8.06633276e+01] [-2.13554099e-01 9.76928751e-01 -2.20499462e-03 -1.20573850e+01] [-1.06075769e-02 -6.18478962e-05 9.99943736e-01 -1.65904305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.96862385300001 meters Centerline goodness [0,1] 0.9998287084618019 Centerline is valid? [True, True] Translation: X:80.69, Y:-12.07, Z:-1.65 [[ 9.77520644e-01 2.10626520e-01 9.47944011e-03 8.06906240e+01] [-2.10616894e-01 9.77566606e-01 -2.01389450e-03 -1.20685145e+01] [-9.69096369e-03 -2.79067793e-05 9.99953041e-01 -1.65408097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.99862385300001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.72, Y:-12.08, Z:-1.66 [[ 9.78020661e-01 2.08296206e-01 9.39561225e-03 8.07179594e+01] [-2.08286646e-01 9.78065791e-01 -1.99562898e-03 -1.20779027e+01] [-9.60520887e-03 -5.21419048e-06 9.99953869e-01 -1.66137021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.028623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.74, Y:-12.09, Z:-1.66 [[ 9.78775098e-01 2.04764887e-01 8.40527541e-03 8.07440690e+01] [-2.04757108e-01 9.78811187e-01 -1.78506579e-03 -1.20890614e+01] [-8.59269640e-03 2.61380559e-05 9.99963082e-01 -1.66365872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.058623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.77, Y:-12.10, Z:-1.66 [[ 9.79005795e-01 2.03656186e-01 8.47420178e-03 8.07712461e+01] [-2.03648241e-01 9.79042469e-01 -1.79917729e-03 -1.20965725e+01] [-8.66301702e-03 3.56487049e-05 9.99962475e-01 -1.66383484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.088623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.80, Y:-12.10, Z:-1.66 [[ 9.79148793e-01 2.02953312e-01 8.80882565e-03 8.07989515e+01] [-2.02944705e-01 9.79188415e-01 -1.86954382e-03 -1.21032191e+01] [-9.00493013e-03 4.28570458e-05 9.99959454e-01 -1.66388646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.118623853 meters Centerline goodness [0,1] 0.9999785338628314 Centerline is valid? [True, True] Translation: X:80.83, Y:-12.11, Z:-1.66 [[ 9.79083520e-01 2.03273068e-01 8.69027270e-03 8.08262594e+01] [-2.03264707e-01 9.79122085e-01 -1.84411641e-03 -1.21073380e+01] [-8.88369713e-03 3.91182482e-05 9.99960538e-01 -1.66441775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.148623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.85, Y:-12.11, Z:-1.67 [[ 9.78980138e-01 2.03777415e-01 8.52377077e-03 8.08533367e+01] [-2.03769395e-01 9.79017244e-01 -1.80824987e-03 -1.21117160e+01] [-8.71339905e-03 3.33571006e-05 9.99962037e-01 -1.66595194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.178623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.88, Y:-12.11, Z:-1.66 [[ 9.78652551e-01 2.05335751e-01 8.74146103e-03 8.08822167e+01] [-2.05327384e-01 9.78691590e-01 -1.85372100e-03 -1.21139583e+01] [-8.93582959e-03 1.92874617e-05 9.99960074e-01 -1.66498241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.208623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.91, Y:-12.12, Z:-1.67 [[ 9.78452682e-01 2.06293300e-01 8.56870425e-03 8.09097239e+01] [-2.06285300e-01 9.78490201e-01 -1.81678207e-03 -1.21176126e+01] [-8.75918312e-03 1.00375575e-05 9.99961638e-01 -1.66656776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.238623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.94, Y:-12.12, Z:-1.67 [[ 9.78277240e-01 2.07118294e-01 8.69792222e-03 8.09378647e+01] [-2.07110088e-01 9.78315906e-01 -1.84370949e-03 -1.21210851e+01] [-8.89118162e-03 2.23159413e-06 9.99960473e-01 -1.66719825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.26862385300001 meters Centerline goodness [0,1] 0.999956917907072 Centerline is valid? [True, True] Translation: X:80.97, Y:-12.12, Z:-1.67 [[ 9.78156814e-01 2.07696635e-01 8.44720534e-03 8.09657404e+01] [-2.07688922e-01 9.78193288e-01 -1.78989348e-03 -1.21244562e+01] [-8.63475441e-03 -3.59446932e-06 9.99962720e-01 -1.66865022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.29862385300001 meters Centerline goodness [0,1] 0.9999569373869607 Centerline is valid? [True, True] Translation: X:80.99, Y:-12.13, Z:-1.67 [[ 9.77983197e-01 2.08542532e-01 7.67320876e-03 8.09945860e+01] [-2.08536198e-01 9.78013299e-01 -1.62543173e-03 -1.21267374e+01] [-7.84347186e-03 -1.04968566e-05 9.99969239e-01 -1.67000991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.32862385300001 meters Centerline goodness [0,1] 0.999956976293938 Centerline is valid? [True, True] Translation: X:81.02, Y:-12.13, Z:-1.67 [[ 9.77815387e-01 2.09340821e-01 7.31362550e-03 8.10222405e+01] [-2.09335090e-01 9.77842738e-01 -1.54906191e-03 -1.21302853e+01] [-7.47585748e-03 -1.63018783e-05 9.99972055e-01 -1.67271124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.35862385300001 meters Centerline goodness [0,1] 0.9999353294962168 Centerline is valid? [True, True] Translation: X:81.05, Y:-12.13, Z:-1.67 [[ 9.77457739e-01 2.10983460e-01 7.89603783e-03 8.10507282e+01] [-2.10976837e-01 9.77489631e-01 -1.67196600e-03 -1.21316989e+01] [-8.07105228e-03 -3.16049805e-05 9.99967428e-01 -1.67075863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.38862385300001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.08, Y:-12.13, Z:-1.67 [[ 9.77288609e-01 2.11739948e-01 8.55389706e-03 8.10775419e+01] [-2.11732209e-01 9.77326042e-01 -1.81084770e-03 -1.21338457e+01] [-8.74337516e-03 -4.14146847e-05 9.99961775e-01 -1.67154270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.418623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.11, Y:-12.14, Z:-1.67 [[ 9.77100001e-01 2.12591301e-01 8.97370191e-03 8.11058392e+01] [-2.12582832e-01 9.77141206e-01 -1.89838716e-03 -1.21370153e+01] [-9.17215450e-03 -5.27408684e-05 9.99957934e-01 -1.66993645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.448623853 meters Centerline goodness [0,1] 0.9995917402608565 Centerline is valid? [True, True] Translation: X:81.13, Y:-12.14, Z:-1.66 [[ 9.76806873e-01 2.13912689e-01 9.47074332e-03 8.11340265e+01] [-2.13903325e-01 9.76852781e-01 -2.00270187e-03 -1.21376439e+01] [-9.67992530e-03 -6.95705401e-05 9.99953146e-01 -1.66287052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.478623853 meters Centerline goodness [0,1] 0.9997443708327121 Centerline is valid? [True, True] Translation: X:81.16, Y:-12.14, Z:-1.67 [[ 9.76645561e-01 2.14601440e-01 1.04723534e-02 8.11612625e+01] [-2.14590037e-01 9.76701702e-01 -2.21393478e-03 -1.21394891e+01] [-1.07034790e-02 -8.50331261e-05 9.99942713e-01 -1.66919232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.508623853 meters Centerline goodness [0,1] 0.9997646555412922 Centerline is valid? [True, True] Translation: X:81.19, Y:-12.14, Z:-1.67 [[ 9.76623239e-01 2.14697100e-01 1.05926832e-02 8.11888637e+01] [-2.14685449e-01 9.76680678e-01 -2.23839139e-03 -1.21430109e+01] [-1.08262452e-02 -8.80299038e-05 9.99941391e-01 -1.66905733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.538623853 meters Centerline goodness [0,1] 0.9996996868162512 Centerline is valid? [True, True] Translation: X:81.22, Y:-12.15, Z:-1.67 [[ 9.76622208e-01 2.14681840e-01 1.09895344e-02 8.12171932e+01] [-2.14669308e-01 9.76684032e-01 -2.32148045e-03 -1.21457748e+01] [-1.12316825e-02 -9.19063810e-05 9.99936918e-01 -1.66837192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.568623853 meters Centerline goodness [0,1] 0.9995676236596334 Centerline is valid? [True, True] Translation: X:81.25, Y:-12.15, Z:-1.66 [[ 9.76811358e-01 2.13847651e-01 1.04284452e-02 8.12450648e+01] [-2.13836325e-01 9.76867021e-01 -2.20229450e-03 -1.21516506e+01] [-1.06581597e-02 -7.87541237e-05 9.99943197e-01 -1.66315273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.598623853 meters Centerline goodness [0,1] 0.9996142884693681 Centerline is valid? [True, True] Translation: X:81.27, Y:-12.16, Z:-1.67 [[ 9.77353448e-01 2.11370739e-01 1.01315714e-02 8.12722751e+01] [-2.11359924e-01 9.77405959e-01 -2.13875704e-03 -1.21595830e+01] [-1.03547289e-02 -5.10865896e-05 9.99946387e-01 -1.66639295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.62862385300001 meters Centerline goodness [0,1] 0.9996142884693681 Centerline is valid? [True, True] Translation: X:81.30, Y:-12.17, Z:-1.67 [[ 9.77367334e-01 2.11306518e-01 1.01316356e-02 8.12992045e+01] [-2.11295703e-01 9.77419845e-01 -2.13845290e-03 -1.21651204e+01] [-1.03547307e-02 -5.07170542e-05 9.99946387e-01 -1.66687779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.65862385300001 meters Centerline goodness [0,1] 0.9996761308431393 Centerline is valid? [True, True] Translation: X:81.33, Y:-12.17, Z:-1.67 [[ 9.77699581e-01 2.09761216e-01 1.01863643e-02 8.13274364e+01] [-2.09750209e-01 9.77752643e-01 -2.14913629e-03 -1.21724787e+01] [-1.04105501e-02 -3.53823928e-05 9.99945808e-01 -1.67313219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.68862385300001 meters Centerline goodness [0,1] 0.999805262246841 Centerline is valid? [True, True] Translation: X:81.35, Y:-12.18, Z:-1.67 [[ 9.78102655e-01 2.07900590e-01 9.61984300e-03 8.13541935e+01] [-2.07890685e-01 9.78149960e-01 -2.02938901e-03 -1.21803938e+01] [-9.83156022e-03 -1.49249742e-05 9.99951669e-01 -1.67498722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.71862385300001 meters Centerline goodness [0,1] 0.9999787780395153 Centerline is valid? [True, True] Translation: X:81.38, Y:-12.19, Z:-1.68 [[ 9.78904047e-01 2.04135233e-01 8.69898950e-03 8.13802250e+01] [-2.04126991e-01 9.78942698e-01 -1.83454422e-03 -1.21912305e+01] [-8.89030736e-03 2.01442092e-05 9.99960480e-01 -1.67854603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.74862385300001 meters Centerline goodness [0,1] 0.9999143670655735 Centerline is valid? [True, True] Translation: X:81.41, Y:-12.20, Z:-1.67 [[ 9.79365342e-01 2.01923877e-01 8.38304854e-03 8.14076884e+01] [-2.01916146e-01 9.79401218e-01 -1.76737239e-03 -1.21994512e+01] [-8.56724264e-03 3.82304142e-05 9.99963300e-01 -1.67354349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.778623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.44, Y:-12.21, Z:-1.68 [[ 9.79654702e-01 2.00495349e-01 8.84756055e-03 8.14354150e+01] [-2.00486683e-01 9.79694653e-01 -1.86486561e-03 -1.22068778e+01] [-9.04180464e-03 5.31063036e-05 9.99959121e-01 -1.67850849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.808623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.46, Y:-12.22, Z:-1.68 [[ 9.80244398e-01 1.97593498e-01 8.81645381e-03 8.14633368e+01] [-1.97584779e-01 9.80284042e-01 -1.85795493e-03 -1.22154451e+01] [-9.00974879e-03 7.92528347e-05 9.99959408e-01 -1.67652701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.838623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.49, Y:-12.22, Z:-1.68 [[ 9.80426622e-01 1.96675288e-01 9.08134370e-03 8.14905320e+01] [-1.96666000e-01 9.80468675e-01 -1.91344295e-03 -1.22232360e+01] [-9.28029997e-03 8.99988692e-05 9.99956933e-01 -1.67616368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.868623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.52, Y:-12.23, Z:-1.68 [[ 9.80662882e-01 1.95475676e-01 9.46423162e-03 8.15182103e+01] [-1.95465541e-01 9.80708544e-01 -1.99328093e-03 -1.22307628e+01] [-9.67129075e-03 1.04805466e-04 9.99953226e-01 -1.67597536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.898623853 meters Centerline goodness [0,1] 0.9999136516708401 Centerline is valid? [True, True] Translation: X:81.55, Y:-12.24, Z:-1.67 [[ 9.81036250e-01 1.93579997e-01 9.72937024e-03 8.15451639e+01] [-1.93569197e-01 9.81084486e-01 -2.04870756e-03 -1.22399161e+01] [-9.94192300e-03 1.26549999e-04 9.99950570e-01 -1.67040399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.928623853 meters Centerline goodness [0,1] 0.9998290086778095 Centerline is valid? [True, True] Translation: X:81.57, Y:-12.25, Z:-1.67 [[ 9.81146200e-01 1.93012235e-01 9.92029560e-03 8.15733302e+01] [-1.93000985e-01 9.81196341e-01 -2.08819835e-03 -1.22462846e+01] [-1.01368056e-02 1.34201051e-04 9.99948612e-01 -1.66942250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.958623853 meters Centerline goodness [0,1] 0.9999570419056211 Centerline is valid? [True, True] Translation: X:81.60, Y:-12.26, Z:-1.68 [[ 9.81044590e-01 1.93509054e-01 1.02839242e-02 8.16000562e+01] [-1.93496997e-01 9.81098480e-01 -2.16429134e-03 -1.22558974e+01] [-1.05083524e-02 1.33357864e-04 9.99944777e-01 -1.67773645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.988623853 meters Centerline goodness [0,1] 0.9999783989285869 Centerline is valid? [True, True] Translation: X:81.63, Y:-12.26, Z:-1.67 [[ 9.80896981e-01 1.94252541e-01 1.03471425e-02 8.16295104e+01] [-1.94240384e-01 9.80951545e-01 -2.17689207e-03 -1.22552238e+01] [-1.05729122e-02 1.25473933e-04 9.99944097e-01 -1.67475458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.01862385300001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.66, Y:-12.26, Z:-1.68 [[ 9.80704377e-01 1.95219704e-01 1.04015020e-02 8.16566769e+01] [-1.95207478e-01 9.80759529e-01 -2.18790044e-03 -1.22597875e+01] [-1.06284934e-02 1.15232571e-04 9.99943509e-01 -1.67531558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.04862385300001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.69, Y:-12.26, Z:-1.68 [[ 9.80462097e-01 1.96435095e-01 1.03599905e-02 8.16851984e+01] [-1.96423042e-01 9.80516825e-01 -2.17836534e-03 -1.22638139e+01] [-1.05860523e-02 1.00863803e-04 9.99943961e-01 -1.67609643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.07862385300001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.71, Y:-12.27, Z:-1.68 [[ 9.79969559e-01 1.98931167e-01 9.27657255e-03 8.17129423e+01] [-1.98921618e-01 9.80013462e-01 -1.95027919e-03 -1.22661780e+01] [-9.47913730e-03 6.59034195e-05 9.99955070e-01 -1.68001091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.10862385300001 meters Centerline goodness [0,1] 0.999957070490255 Centerline is valid? [True, True] Translation: X:81.74, Y:-12.27, Z:-1.68 [[ 9.79643969e-01 2.00547834e-01 8.84642770e-03 8.17420718e+01] [-2.00539222e-01 9.79683910e-01 -1.85921206e-03 -1.22688289e+01] [-9.03956384e-03 4.73101537e-05 9.99959141e-01 -1.68075686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.13862385300001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.77, Y:-12.27, Z:-1.68 [[ 9.79353657e-01 2.01962960e-01 8.79646180e-03 8.17711156e+01] [-2.01954506e-01 9.79393160e-01 -1.84830654e-03 -1.22719734e+01] [-8.98848398e-03 3.36606746e-05 9.99959602e-01 -1.68025213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.168623853 meters Centerline goodness [0,1] 0.9998480210165223 Centerline is valid? [True, True] Translation: X:81.80, Y:-12.27, Z:-1.68 [[ 9.78798902e-01 2.04633770e-01 8.81640761e-03 8.17997004e+01] [-2.04625388e-01 9.78838608e-01 -1.85215029e-03 -1.22736639e+01] [-9.00885265e-03 8.82184314e-06 9.99959419e-01 -1.67582272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.198623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.83, Y:-12.28, Z:-1.68 [[ 9.78497063e-01 2.06060938e-01 9.07673046e-03 8.18261005e+01] [-2.06052119e-01 9.78539161e-01 -1.90642648e-03 -1.22763770e+01] [-9.27477624e-03 -4.84682573e-06 9.99956988e-01 -1.68273931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.228623853 meters Centerline goodness [0,1] 0.9996982303364732 Centerline is valid? [True, True] Translation: X:81.86, Y:-12.28, Z:-1.68 [[ 9.78251430e-01 2.07234069e-01 8.84192450e-03 8.18552607e+01] [-2.07225758e-01 9.78291388e-01 -1.85603250e-03 -1.22797472e+01] [-9.03461176e-03 -1.66080579e-05 9.99959187e-01 -1.67771942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.258623853 meters Centerline goodness [0,1] 0.9998485798957364 Centerline is valid? [True, True] Translation: X:81.88, Y:-12.28, Z:-1.68 [[ 9.77627941e-01 2.10135256e-01 9.31577230e-03 8.18840198e+01] [-2.10126165e-01 9.77672324e-01 -1.95510679e-03 -1.22783894e+01] [-9.51860962e-03 -4.61204855e-05 9.99954696e-01 -1.68273119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.288623853 meters Centerline goodness [0,1] 0.9998495270851246 Centerline is valid? [True, True] Translation: X:81.91, Y:-12.28, Z:-1.68 [[ 9.77329285e-01 2.11516698e-01 9.38907110e-03 8.19129698e+01] [-2.11507534e-01 9.77374382e-01 -1.96983351e-03 -1.22805398e+01] [-9.59329025e-03 -6.06832966e-05 9.99953981e-01 -1.68369973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.318623853 meters Centerline goodness [0,1] 0.9998490240483123 Centerline is valid? [True, True] Translation: X:81.94, Y:-12.28, Z:-1.68 [[ 9.77042568e-01 2.12852676e-01 9.03100260e-03 8.19412429e+01] [-2.12844258e-01 9.77084302e-01 -1.89441446e-03 -1.22825986e+01] [-9.22728206e-03 -7.12734833e-05 9.99957425e-01 -1.68475998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.348623853 meters Centerline goodness [0,1] 0.9997413848839465 Centerline is valid? [True, True] Translation: X:81.97, Y:-12.28, Z:-1.69 [[ 9.76524766e-01 2.15237796e-01 8.48954851e-03 8.19700611e+01] [-2.15230451e-01 9.76561664e-01 -1.78043080e-03 -1.22830449e+01] [-8.67378362e-03 -8.85745772e-05 9.99962378e-01 -1.68515911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.37862385300001 meters Centerline goodness [0,1] 0.9997428204029147 Centerline is valid? [True, True] Translation: X:82.00, Y:-12.28, Z:-1.69 [[ 9.76322177e-01 2.16162892e-01 8.28311657e-03 8.19980236e+01] [-2.16155937e-01 9.76357309e-01 -1.73665824e-03 -1.22828773e+01] [-8.46268248e-03 -9.49068679e-05 9.99964186e-01 -1.68773317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.40862385300001 meters Centerline goodness [0,1] 0.9997029997029997 Centerline is valid? [True, True] Translation: X:82.03, Y:-12.29, Z:-1.69 [[ 9.76138828e-01 2.16982017e-01 8.47307955e-03 8.20267457e+01] [-2.16974775e-01 9.76175596e-01 -1.77581482e-03 -1.22856845e+01] [-8.65653336e-03 -1.05002737e-04 9.99962526e-01 -1.68788660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.43862385300001 meters Centerline goodness [0,1] 0.9995703729163087 Centerline is valid? [True, True] Translation: X:82.06, Y:-12.29, Z:-1.68 [[ 9.75882763e-01 2.18077849e-01 9.74087943e-03 8.20554213e+01] [-2.18068338e-01 9.75931368e-01 -2.04100807e-03 -1.22893864e+01] [-9.95152843e-03 -1.32392791e-04 9.99950474e-01 -1.68216528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.46862385300001 meters Centerline goodness [0,1] 0.9996147260273973 Centerline is valid? [True, True] Translation: X:82.08, Y:-12.29, Z:-1.68 [[ 9.75825723e-01 2.18289824e-01 1.06635371e-02 8.20823952e+01] [-2.18278442e-01 9.75883974e-01 -2.23395906e-03 -1.22901593e+01] [-1.08940255e-02 -1.47665544e-04 9.99940647e-01 -1.68141632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.49862385300001 meters Centerline goodness [0,1] 0.9996343220977005 Centerline is valid? [True, True] Translation: X:82.11, Y:-12.29, Z:-1.68 [[ 9.75780407e-01 2.18462844e-01 1.12509579e-02 8.21106168e+01] [-2.18450198e-01 9.75845254e-01 -2.35592850e-03 -1.22882929e+01] [-1.14938767e-02 -1.58905103e-04 9.99933931e-01 -1.68233059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.528623853 meters Centerline goodness [0,1] 0.9997013588173809 Centerline is valid? [True, True] Translation: X:82.14, Y:-12.29, Z:-1.68 [[ 9.75771146e-01 2.18476212e-01 1.17820045e-02 8.21382622e+01] [-2.18462359e-01 9.75842260e-01 -2.46598862e-03 -1.22947469e+01] [-1.20361377e-02 -1.67683946e-04 9.99927549e-01 -1.68072919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.558623853 meters Centerline goodness [0,1] 0.9996785255036433 Centerline is valid? [True, True] Translation: X:82.17, Y:-12.30, Z:-1.68 [[ 9.75971036e-01 2.17559081e-01 1.21894989e-02 8.21661946e+01] [-2.17544192e-01 9.76047140e-01 -2.55042459e-03 -1.22956954e+01] [-1.24523935e-02 -1.62614151e-04 9.99922453e-01 -1.68074298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.588623853 meters Centerline goodness [0,1] 0.9997222340925601 Centerline is valid? [True, True] Translation: X:82.19, Y:-12.30, Z:-1.68 [[ 9.76155437e-01 2.16735041e-01 1.21031021e-02 8.21944861e+01] [-2.16720316e-01 9.76230454e-01 -2.53104029e-03 -1.23003763e+01] [-1.23639820e-02 -1.52299363e-04 9.99923551e-01 -1.68177910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.618623853 meters Centerline goodness [0,1] 0.9996145775341527 Centerline is valid? [True, True] Translation: X:82.22, Y:-12.31, Z:-1.68 [[ 9.76463420e-01 2.15374659e-01 1.15301857e-02 8.22231773e+01] [-2.15361203e-01 9.76531484e-01 -2.41097329e-03 -1.23063394e+01] [-1.17788519e-02 -1.28927434e-04 9.99930619e-01 -1.68336518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.648623853 meters Centerline goodness [0,1] 0.999699222274739 Centerline is valid? [True, True] Translation: X:82.25, Y:-12.31, Z:-1.69 [[ 9.77151564e-01 2.12317689e-01 9.79893767e-03 8.22513789e+01] [-2.12307827e-01 9.77200692e-01 -2.04795627e-03 -1.23123530e+01] [-1.00103460e-02 -7.92274910e-05 9.99949892e-01 -1.68630373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.678623853 meters Centerline goodness [0,1] 0.9996778834797174 Centerline is valid? [True, True] Translation: X:82.28, Y:-12.32, Z:-1.69 [[ 9.77544954e-01 2.10522910e-01 9.27181482e-03 8.22796499e+01] [-2.10514003e-01 9.77588922e-01 -1.93737046e-03 -1.23178778e+01] [-9.47188433e-03 -5.79801335e-05 9.99955139e-01 -1.68755839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.708623853 meters Centerline goodness [0,1] 0.9997381170616735 Centerline is valid? [True, True] Translation: X:82.31, Y:-12.32, Z:-1.69 [[ 9.78338004e-01 2.06810717e-01 9.16934071e-03 8.23087021e+01] [-2.06801848e-01 9.78380972e-01 -1.91540247e-03 -1.23224660e+01] [-9.36723424e-03 -2.23255760e-05 9.99956126e-01 -1.68528110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.738623853 meters Centerline goodness [0,1] 0.9996573729067626 Centerline is valid? [True, True] Translation: X:82.34, Y:-12.33, Z:-1.68 [[ 9.78724901e-01 2.04962491e-01 9.37788483e-03 8.23355009e+01] [-2.04953131e-01 9.78769829e-01 -1.95879219e-03 -1.23280680e+01] [-9.58026965e-03 -4.90816240e-06 9.99954108e-01 -1.68381247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.76862385300001 meters Centerline goodness [0,1] 0.9998496725008054 Centerline is valid? [True, True] Translation: X:82.36, Y:-12.33, Z:-1.69 [[ 9.79119417e-01 2.03032980e-01 1.01378601e-02 8.23631243e+01] [-2.03021946e-01 9.79171900e-01 -2.11671409e-03 -1.23343128e+01] [-1.03564705e-02 1.43077758e-05 9.99946370e-01 -1.68795724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.79862385300001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:82.39, Y:-12.34, Z:-1.69 [[ 9.79933090e-01 1.99009488e-01 1.12411468e-02 8.23898706e+01] [-1.98995664e-01 9.79997561e-01 -2.34649175e-03 -1.23432772e+01] [-1.14832706e-02 6.24654418e-05 9.99934063e-01 -1.68648017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.82862385300001 meters Centerline goodness [0,1] 0.9999783117897111 Centerline is valid? [True, True] Translation: X:82.42, Y:-12.35, Z:-1.69 [[ 9.80398653e-01 1.96688187e-01 1.14995284e-02 8.24177251e+01] [-1.96673569e-01 9.80466088e-01 -2.39961943e-03 -1.23502283e+01] [-1.17468744e-02 9.09303668e-05 9.99930999e-01 -1.68574776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.85862385300001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:82.45, Y:-12.36, Z:-1.69 [[ 9.80810104e-01 1.94600142e-01 1.19299602e-02 8.24456731e+01] [-1.94584263e-01 9.80882649e-01 -2.48881738e-03 -1.23570376e+01] [-1.21862152e-02 1.19674724e-04 9.99925738e-01 -1.68642602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.88862385300001 meters Centerline goodness [0,1] 0.999957337883959 Centerline is valid? [True, True] Translation: X:82.47, Y:-12.37, Z:-1.69 [[ 9.81623475e-01 1.90497961e-01 1.12196112e-02 8.24718760e+01] [-1.90483653e-01 9.81687578e-01 -2.34027162e-03 -1.23657898e+01] [-1.14599699e-02 1.60113029e-04 9.99934320e-01 -1.68555263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.918623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:82.50, Y:-12.37, Z:-1.69 [[ 9.81990405e-01 1.88616593e-01 1.08915136e-02 8.24994068e+01] [-1.88603004e-01 9.82050788e-01 -2.27091600e-03 -1.23730322e+01] [-1.11243519e-02 1.75845545e-04 9.99938107e-01 -1.69020866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.948623853 meters Centerline goodness [0,1] 0.9999565264645147 Centerline is valid? [True, True] Translation: X:82.53, Y:-12.38, Z:-1.69 [[ 9.82339411e-01 1.86815345e-01 1.04550611e-02 8.25278470e+01] [-1.86802725e-01 9.82395028e-01 -2.17946795e-03 -1.23776391e+01] [-1.06781581e-02 1.87943359e-04 9.99942969e-01 -1.69039685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.978623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:82.56, Y:-12.39, Z:-1.69 [[ 9.82871684e-01 1.84030526e-01 9.79890105e-03 8.25567972e+01] [-1.84019309e-01 9.82920507e-01 -2.04206071e-03 -1.23855669e+01] [-1.00073423e-02 2.03896650e-04 9.99949905e-01 -1.69208275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.008623853 meters Centerline goodness [0,1] 0.9999570095868622 Centerline is valid? [True, True] Translation: X:82.58, Y:-12.39, Z:-1.69 [[ 9.83040742e-01 1.83147875e-01 9.36775819e-03 8.25832649e+01] [-1.83137582e-01 9.83085355e-01 -1.95229041e-03 -1.23936179e+01] [-9.56686372e-03 2.03592428e-04 9.99954216e-01 -1.69396604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.038623853 meters Centerline goodness [0,1] 0.9999140911921994 Centerline is valid? [True, True] Translation: X:82.61, Y:-12.40, Z:-1.70 [[ 9.83155736e-01 1.82549847e-01 8.96395303e-03 8.26104042e+01] [-1.82540403e-01 9.83196579e-01 -1.86759828e-03 -1.23989832e+01] [-9.15425774e-03 1.99856363e-04 9.99958079e-01 -1.69527871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.068623853 meters Centerline goodness [0,1] 0.9999571211114208 Centerline is valid? [True, True] Translation: X:82.64, Y:-12.40, Z:-1.69 [[ 9.83146775e-01 1.82605701e-01 8.80777489e-03 8.26386279e+01] [-1.82596588e-01 9.83186208e-01 -1.83466469e-03 -1.24013486e+01] [-8.99470302e-03 1.95475027e-04 9.99959528e-01 -1.69490625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.098623853 meters Centerline goodness [0,1] 0.999957310565635 Centerline is valid? [True, True] Translation: X:82.67, Y:-12.41, Z:-1.70 [[ 9.83105085e-01 1.82817497e-01 9.06395180e-03 8.26653305e+01] [-1.82807862e-01 9.83146847e-01 -1.88732713e-03 -1.24093129e+01] [-9.25623206e-03 1.98479250e-04 9.99957140e-01 -1.69686333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.12862385300001 meters Centerline goodness [0,1] 0.9999354074712025 Centerline is valid? [True, True] Translation: X:82.69, Y:-12.42, Z:-1.70 [[ 9.83053157e-01 1.83087353e-01 9.24725361e-03 8.26920296e+01] [-1.83077345e-01 9.83096629e-01 -1.92465658e-03 -1.24155082e+01] [-9.44332413e-03 1.99077089e-04 9.99955391e-01 -1.69690529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.15862385300001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:82.72, Y:-12.41, Z:-1.69 [[ 9.82889220e-01 1.83913107e-01 1.02347505e-02 8.27220741e+01] [-1.83900900e-01 9.82942483e-01 -2.12941529e-03 -1.24144013e+01] [-1.04517985e-02 2.10799502e-04 9.99945356e-01 -1.69430639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.18862385300001 meters Centerline goodness [0,1] 0.9999565953383394 Centerline is valid? [True, True] Translation: X:82.75, Y:-12.42, Z:-1.70 [[ 9.82908195e-01 1.83807440e-01 1.03104793e-02 8.27483466e+01] [-1.83795049e-01 9.82962247e-01 -2.14490459e-03 -1.24213910e+01] [-1.05290614e-02 2.13229244e-04 9.99944545e-01 -1.69552333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.21862385300001 meters Centerline goodness [0,1] 0.99997860001284 Centerline is valid? [True, True] Translation: X:82.78, Y:-12.43, Z:-1.70 [[ 9.82876103e-01 1.83984006e-01 1.02201985e-02 8.27763151e+01] [-1.83971852e-01 9.82929215e-01 -2.12496248e-03 -1.24266957e+01] [-1.04366908e-02 2.08345988e-04 9.99945515e-01 -1.69642375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.24862385300001 meters Centerline goodness [0,1] 0.9999132509217089 Centerline is valid? [True, True] Translation: X:82.81, Y:-12.43, Z:-1.70 [[ 9.82805110e-01 1.84359706e-01 1.02768524e-02 8.28052212e+01] [-1.84347443e-01 9.82858818e-01 -2.13624389e-03 -1.24312637e+01] [-1.04945323e-02 2.04999963e-04 9.99944910e-01 -1.69653588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.278623853 meters Centerline goodness [0,1] 0.9998933128494004 Centerline is valid? [True, True] Translation: X:82.83, Y:-12.44, Z:-1.70 [[ 9.82759225e-01 1.84608847e-01 1.01921331e-02 8.28320503e+01] [-1.84596803e-01 9.82812054e-01 -2.11822604e-03 -1.24396682e+01] [-1.04079945e-02 2.00270992e-04 9.99945815e-01 -1.69832804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.308623853 meters Centerline goodness [0,1] 0.9999783881913077 Centerline is valid? [True, True] Translation: X:82.86, Y:-12.44, Z:-1.70 [[ 9.82553887e-01 1.85651116e-01 1.10236682e-02 8.28610244e+01] [-1.85637102e-01 9.82615704e-01 -2.29021338e-03 -1.24414711e+01] [-1.12572101e-02 2.03856250e-04 9.99936615e-01 -1.69621396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.338623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:82.89, Y:-12.45, Z:-1.70 [[ 9.82402685e-01 1.86419331e-01 1.15238053e-02 8.28897940e+01] [-1.86404076e-01 9.82470250e-01 -2.39352263e-03 -1.24453392e+01] [-1.17679948e-02 2.03318780e-04 9.99930734e-01 -1.69552124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.368623853 meters Centerline goodness [0,1] 0.9999567361772086 Centerline is valid? [True, True] Translation: X:82.92, Y:-12.45, Z:-1.70 [[ 9.82261374e-01 1.87141192e-01 1.18645542e-02 8.29183834e+01] [-1.87125081e-01 9.82333006e-01 -2.46370050e-03 -1.24496958e+01] [-1.21160030e-02 1.99842181e-04 9.99926579e-01 -1.69529166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.398623853 meters Centerline goodness [0,1] 0.9999782343722793 Centerline is valid? [True, True] Translation: X:82.95, Y:-12.45, Z:-1.69 [[ 9.81961635e-01 1.88647750e-01 1.27817380e-02 8.29470719e+01] [-1.88629188e-01 9.82044800e-01 -2.65348029e-03 -1.24537683e+01] [-1.30528124e-02 1.94606992e-04 9.99914789e-01 -1.69482576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.428623853 meters Centerline goodness [0,1] 0.999956979995698 Centerline is valid? [True, True] Translation: X:82.97, Y:-12.46, Z:-1.70 [[ 9.81891677e-01 1.88998602e-01 1.29716354e-02 8.29739909e+01] [-1.88979524e-01 9.81977338e-01 -2.69226400e-03 -1.24633144e+01] [-1.32466861e-02 1.92138136e-04 9.99912240e-01 -1.69608614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.458623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:83.00, Y:-12.47, Z:-1.69 [[ 9.81838435e-01 1.89260512e-01 1.31812891e-02 8.30032757e+01] [-1.89240844e-01 9.81926892e-01 -2.73512833e-03 -1.24657216e+01] [-1.34607140e-02 1.91015854e-04 9.99909382e-01 -1.69499033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.488623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:83.03, Y:-12.47, Z:-1.70 [[ 9.81863805e-01 1.89118594e-01 1.33276163e-02 8.30308944e+01] [-1.89098481e-01 9.81954235e-01 -2.76494347e-03 -1.24716337e+01] [-1.36100114e-02 1.94565927e-04 9.99907361e-01 -1.69516869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.51862385300001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:83.06, Y:-12.48, Z:-1.70 [[ 9.82063932e-01 1.88071527e-01 1.33990346e-02 8.30587792e+01] [-1.88051115e-01 9.82155312e-01 -2.77872033e-03 -1.24785551e+01] [-1.36825312e-02 2.09177609e-04 9.99906368e-01 -1.69583625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.54862385300001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:83.09, Y:-12.48, Z:-1.70 [[ 9.82077129e-01 1.88002594e-01 1.33991463e-02 8.30857248e+01] [-1.87982183e-01 9.82168509e-01 -2.77818192e-03 -1.24840088e+01] [-1.36825249e-02 2.09588159e-04 9.99906368e-01 -1.69632112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.57862385300001 meters Centerline goodness [0,1] 0.9999358275043316 Centerline is valid? [True, True] Translation: X:83.11, Y:-12.49, Z:-1.70 [[ 9.82177858e-01 1.87474421e-01 1.34162613e-02 8.31119894e+01] [-1.87453922e-01 9.82269461e-01 -2.78069861e-03 -1.24933056e+01] [-1.36996936e-02 2.16209816e-04 9.99906131e-01 -1.69731511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.60862385300001 meters Centerline goodness [0,1] 0.999957457670382 Centerline is valid? [True, True] Translation: X:83.14, Y:-12.50, Z:-1.70 [[ 9.82285103e-01 1.86926796e-01 1.32041716e-02 8.31391432e+01] [-1.86906901e-01 9.82373821e-01 -2.73594368e-03 -1.25012903e+01] [-1.34828537e-02 2.19525930e-04 9.99909078e-01 -1.69806512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.63862385300001 meters Centerline goodness [0,1] 0.9997646303626833 Centerline is valid? [True, True] Translation: X:83.17, Y:-12.51, Z:-1.69 [[ 9.82274949e-01 1.87000122e-01 1.29181688e-02 8.31662088e+01] [-1.86981095e-01 9.82359867e-01 -2.67600613e-03 -1.25075450e+01] [-1.31907041e-02 2.13120437e-04 9.99912976e-01 -1.69302061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.668623853 meters Centerline goodness [0,1] 0.9999359207125617 Centerline is valid? [True, True] Translation: X:83.19, Y:-12.51, Z:-1.70 [[ 9.82223817e-01 1.87248429e-01 1.32060502e-02 8.31931983e+01] [-1.87228581e-01 9.82312567e-01 -2.73465607e-03 -1.25143523e+01] [-1.34845291e-02 2.13494295e-04 9.99909057e-01 -1.69944531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.698623853 meters Centerline goodness [0,1] 0.9999788184956896 Centerline is valid? [True, True] Translation: X:83.22, Y:-12.52, Z:-1.70 [[ 9.82028138e-01 1.88283835e-01 1.30358323e-02 8.32198028e+01] [-1.88264595e-01 9.82114636e-01 -2.69876766e-03 -1.25240439e+01] [-1.33108161e-02 1.96080086e-04 9.99911388e-01 -1.70111817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.728623853 meters Centerline goodness [0,1] 0.9999784890724488 Centerline is valid? [True, True] Translation: X:83.25, Y:-12.53, Z:-1.70 [[ 9.81883043e-01 1.89051331e-01 1.28562695e-02 8.32487906e+01] [-1.89032698e-01 9.81967190e-01 -2.66043510e-03 -1.25250497e+01] [-1.31273936e-02 1.81980806e-04 9.99913815e-01 -1.70085099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.758623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:83.28, Y:-12.53, Z:-1.70 [[ 9.81710612e-01 1.89961369e-01 1.26076617e-02 8.32776850e+01] [-1.89943532e-01 9.81791551e-01 -2.60845319e-03 -1.25259347e+01] [-1.28736011e-02 1.66002383e-04 9.99917118e-01 -1.70103766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.788623853 meters Centerline goodness [0,1] 0.9999357505407663 Centerline is valid? [True, True] Translation: X:83.30, Y:-12.53, Z:-1.70 [[ 9.81291296e-01 1.92118540e-01 1.25641618e-02 8.33048575e+01] [-1.92101009e-01 9.81371718e-01 -2.59889424e-03 -1.25298946e+01] [-1.28294089e-02 1.36684128e-04 9.99917690e-01 -1.70210922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.818623853 meters Centerline goodness [0,1] 0.9999784524553427 Centerline is valid? [True, True] Translation: X:83.33, Y:-12.53, Z:-1.70 [[ 9.81067183e-01 1.93249687e-01 1.27177390e-02 8.33332302e+01] [-1.93231831e-01 9.81149603e-01 -2.62981794e-03 -1.25338611e+01] [-1.29862160e-02 1.22556093e-04 9.99915668e-01 -1.70183213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.848623853 meters Centerline goodness [0,1] 0.9999785384697929 Centerline is valid? [True, True] Translation: X:83.36, Y:-12.54, Z:-1.70 [[ 9.80784613e-01 1.94649933e-01 1.31509152e-02 8.33609170e+01] [-1.94630975e-01 9.80872771e-01 -2.71875821e-03 -1.25382578e+01] [-1.34285807e-02 1.06940780e-04 9.99909827e-01 -1.70205891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.87862385300001 meters Centerline goodness [0,1] 0.9999571183533448 Centerline is valid? [True, True] Translation: X:83.39, Y:-12.54, Z:-1.70 [[ 9.80228056e-01 1.97383998e-01 1.38750106e-02 8.33879715e+01] [-1.97363181e-01 9.80326248e-01 -2.86753631e-03 -1.25427854e+01] [-1.41680429e-02 7.24233072e-05 9.99899626e-01 -1.70271188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.90862385300001 meters Centerline goodness [0,1] 0.9999785324803572 Centerline is valid? [True, True] Translation: X:83.42, Y:-12.55, Z:-1.70 [[ 9.79979532e-01 1.98617184e-01 1.38322581e-02 8.34163182e+01] [-1.98596631e-01 9.80077146e-01 -2.85779603e-03 -1.25466447e+01] [-1.41242874e-02 5.35417599e-05 9.99900246e-01 -1.70336533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.93862385300001 meters Centerline goodness [0,1] 0.9999356306055014 Centerline is valid? [True, True] Translation: X:83.44, Y:-12.55, Z:-1.70 [[ 9.79783471e-01 1.99599833e-01 1.35740793e-02 8.34447106e+01] [-1.99580141e-01 9.79877495e-01 -2.80397419e-03 -1.25499515e+01] [-1.38606076e-02 3.81709018e-05 9.99903936e-01 -1.70334094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.96862385300001 meters Centerline goodness [0,1] 0.9998500396323828 Centerline is valid? [True, True] Translation: X:83.47, Y:-12.55, Z:-1.70 [[ 9.79390212e-01 2.01534588e-01 1.33649826e-02 8.34725888e+01] [-2.01515691e-01 9.79481398e-01 -2.75983031e-03 -1.25520985e+01] [-1.36469531e-02 9.69709753e-06 9.99906876e-01 -1.70475664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.99862385300001 meters Centerline goodness [0,1] 0.9998310204254061 Centerline is valid? [True, True] Translation: X:83.50, Y:-12.56, Z:-1.71 [[ 9.79225476e-01 2.02330339e-01 1.34127236e-02 8.34992449e+01] [-2.02311394e-01 9.79317331e-01 -2.76875717e-03 -1.25561772e+01] [-1.36955163e-02 -2.30925169e-06 9.99906212e-01 -1.70647357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.028623853 meters Centerline goodness [0,1] 0.9998314938073974 Centerline is valid? [True, True] Translation: X:83.53, Y:-12.56, Z:-1.71 [[ 9.79088430e-01 2.02967412e-01 1.37868340e-02 8.35267017e+01] [-2.02947476e-01 9.79185493e-01 -2.84473465e-03 -1.25623930e+01] [-1.40772563e-02 -1.27563861e-05 9.99900910e-01 -1.70596521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.058623853 meters Centerline goodness [0,1] 0.9998929657062122 Centerline is valid? [True, True] Translation: X:83.55, Y:-12.57, Z:-1.71 [[ 9.79127353e-01 2.02781023e-01 1.37653030e-02 8.35536379e+01] [-2.02761145e-01 9.79224109e-01 -2.83932356e-03 -1.25683273e+01] [-1.40550775e-02 -1.10092376e-05 9.99901222e-01 -1.70629778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.088623853 meters Centerline goodness [0,1] 0.9998496175990376 Centerline is valid? [True, True] Translation: X:83.58, Y:-12.57, Z:-1.71 [[ 9.79203865e-01 2.02425205e-01 1.35583006e-02 8.35806031e+01] [-2.02405896e-01 9.79297726e-01 -2.79586766e-03 -1.25733740e+01] [-1.38435671e-02 -6.55557262e-06 9.99904173e-01 -1.70723787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.118623853 meters Centerline goodness [0,1] 0.9995939823916574 Centerline is valid? [True, True] Translation: X:83.61, Y:-12.58, Z:-1.70 [[ 9.79315722e-01 2.01943381e-01 1.26327803e-02 8.36086981e+01] [-2.01926603e-01 9.79397198e-01 -2.60311025e-03 -1.25792249e+01] [-1.28981906e-02 -1.62763186e-06 9.99916815e-01 -1.70192703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.148623853 meters Centerline goodness [0,1] 0.9998929015122306 Centerline is valid? [True, True] Translation: X:83.64, Y:-12.59, Z:-1.71 [[ 9.79599531e-01 2.00503092e-01 1.35376575e-02 8.36350531e+01] [-2.00483696e-01 9.79693069e-01 -2.78889153e-03 -1.25877933e+01] [-1.38219306e-02 1.79172266e-05 9.99904472e-01 -1.70852714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.178623853 meters Centerline goodness [0,1] 0.9999360995143564 Centerline is valid? [True, True] Translation: X:83.66, Y:-12.60, Z:-1.71 [[ 9.79820163e-01 1.99404185e-01 1.37992587e-02 8.36613747e+01] [-1.99383934e-01 9.79917328e-01 -2.84200353e-03 -1.25955730e+01] [-1.40888401e-02 3.33018810e-05 9.99900747e-01 -1.70862218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.208623853 meters Centerline goodness [0,1] 0.9999571789491715 Centerline is valid? [True, True] Translation: X:83.69, Y:-12.60, Z:-1.71 [[ 9.80109586e-01 1.97965952e-01 1.39528298e-02 8.36876852e+01] [-1.97945117e-01 9.80208896e-01 -2.87258894e-03 -1.26038819e+01] [-1.42453627e-02 5.35574313e-05 9.99898528e-01 -1.70949368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.238623853 meters Centerline goodness [0,1] 0.9999785702040117 Centerline is valid? [True, True] Translation: X:83.71, Y:-12.62, Z:-1.71 [[ 9.80704930e-01 1.94966241e-01 1.43528735e-02 8.37141791e+01] [-1.94943904e-01 9.80809949e-01 -2.95283589e-03 -1.26157470e+01] [-1.46531445e-02 9.78555224e-05 9.99892632e-01 -1.70925011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.26862385300001 meters Centerline goodness [0,1] 0.9999145061662428 Centerline is valid? [True, True] Translation: X:83.74, Y:-12.62, Z:-1.71 [[ 9.80952388e-01 1.93694573e-01 1.46568877e-02 8.37414328e+01] [-1.93671151e-01 9.81061873e-01 -3.01444724e-03 -1.26243025e+01] [-1.49631958e-02 1.18412903e-04 9.99888038e-01 -1.70956904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.29862385300001 meters Centerline goodness [0,1] 0.999893119001304 Centerline is valid? [True, True] Translation: X:83.77, Y:-12.63, Z:-1.71 [[ 9.81272636e-01 1.92041357e-01 1.49709888e-02 8.37685294e+01] [-1.92016738e-01 9.81386823e-01 -3.07834923e-03 -1.26332595e+01] [-1.52835015e-02 1.46019423e-04 9.99883190e-01 -1.70910727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.32862385300001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:83.80, Y:-12.64, Z:-1.71 [[ 9.81347264e-01 1.91636022e-01 1.52703206e-02 8.37968193e+01] [-1.91610376e-01 9.81466052e-01 -3.13889577e-03 -1.26394861e+01] [-1.55888267e-02 1.54394917e-04 9.99878475e-01 -1.70888279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.35862385300001 meters Centerline goodness [0,1] 0.9999574060270472 Centerline is valid? [True, True] Translation: X:83.82, Y:-12.65, Z:-1.71 [[ 9.81359363e-01 1.91579875e-01 1.51970939e-02 8.38229785e+01] [-1.91554475e-01 9.81477013e-01 -3.12331455e-03 -1.26498674e+01] [-1.55139625e-02 1.54022637e-04 9.99879639e-01 -1.70998051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.38862385300001 meters Centerline goodness [0,1] 0.9999572594777109 Centerline is valid? [True, True] Translation: X:83.85, Y:-12.66, Z:-1.71 [[ 9.81213613e-01 1.92331137e-01 1.51188183e-02 8.38506834e+01] [-1.92306103e-01 9.81330074e-01 -3.10622293e-03 -1.26566007e+01] [-1.54339745e-02 1.40427201e-04 9.99880879e-01 -1.71090880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.418623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:83.88, Y:-12.66, Z:-1.71 [[ 9.81065762e-01 1.93075228e-01 1.52291538e-02 8.38788909e+01] [-1.93049929e-01 9.81183948e-01 -3.12818592e-03 -1.26612687e+01] [-1.55465765e-02 1.28969037e-04 9.99879136e-01 -1.71137276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.448623853 meters Centerline goodness [0,1] 0.9999566611770825 Centerline is valid? [True, True] Translation: X:83.91, Y:-12.67, Z:-1.71 [[ 9.80897169e-01 1.93937638e-01 1.51306487e-02 8.39068664e+01] [-1.93912778e-01 9.81013853e-01 -3.10722092e-03 -1.26664383e+01] [-1.54459831e-02 1.13838064e-04 9.99880697e-01 -1.71181449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.478623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:83.93, Y:-12.67, Z:-1.71 [[ 9.80702667e-01 1.94936519e-01 1.49007533e-02 8.39342597e+01] [-1.94912535e-01 9.80815856e-01 -3.05933434e-03 -1.26717372e+01] [-1.52112711e-02 9.59537595e-05 9.99884297e-01 -1.71313441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.508623853 meters Centerline goodness [0,1] 0.9998926508791893 Centerline is valid? [True, True] Translation: X:83.96, Y:-12.67, Z:-1.71 [[ 9.80216419e-01 1.97401488e-01 1.44369118e-02 8.39629364e+01] [-1.97379257e-01 9.80322727e-01 -2.96301229e-03 -1.26740278e+01] [-1.47377358e-02 5.48463808e-05 9.99891392e-01 -1.71410859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.538623853 meters Centerline goodness [0,1] 0.9998939082093827 Centerline is valid? [True, True] Translation: X:83.99, Y:-12.68, Z:-1.72 [[ 9.80007291e-01 1.98433598e-01 1.44850415e-02 8.39904137e+01] [-1.98411342e-01 9.80114333e-01 -2.97219271e-03 -1.26792879e+01] [-1.47867797e-02 3.87740037e-05 9.99890669e-01 -1.71530370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.568623853 meters Centerline goodness [0,1] 0.9998702927061265 Centerline is valid? [True, True] Translation: X:84.02, Y:-12.69, Z:-1.72 [[ 9.79824816e-01 1.99294528e-01 1.50006807e-02 8.40181663e+01] [-1.99270774e-01 9.79939636e-01 -3.07698604e-03 -1.26858797e+01] [-1.53129881e-02 2.57100151e-05 9.99882749e-01 -1.71502351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.598623853 meters Centerline goodness [0,1] 0.9999144293507327 Centerline is valid? [True, True] Translation: X:84.04, Y:-12.69, Z:-1.72 [[ 9.79763160e-01 1.99564247e-01 1.54357140e-02 8.40446105e+01] [-1.99539142e-01 9.79884744e-01 -3.16546982e-03 -1.26918452e+01] [-1.57569353e-02 2.13815767e-05 9.99875852e-01 -1.71528808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.62862385300001 meters Centerline goodness [0,1] 0.999871633041655 Centerline is valid? [True, True] Translation: X:84.07, Y:-12.70, Z:-1.71 [[ 9.79727865e-01 1.99706008e-01 1.58373030e-02 8.40721406e+01] [-1.99679617e-01 9.79855862e-01 -3.24660930e-03 -1.26977594e+01] [-1.61666416e-02 1.84069871e-05 9.99869311e-01 -1.71496069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.65862385300001 meters Centerline goodness [0,1] 0.999892445362244 Centerline is valid? [True, True] Translation: X:84.10, Y:-12.70, Z:-1.72 [[ 9.79611933e-01 2.00268838e-01 1.59013430e-02 8.40999402e+01] [-2.00242327e-01 9.79740982e-01 -3.25856078e-03 -1.27037307e+01] [-1.62317856e-02 8.00310386e-06 9.99868256e-01 -1.71507776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.68862385300001 meters Centerline goodness [0,1] 0.9997850895102189 Centerline is valid? [True, True] Translation: X:84.13, Y:-12.71, Z:-1.71 [[ 9.79572090e-01 2.00528231e-01 1.50648553e-02 8.41271818e+01] [-2.00504482e-01 9.79687924e-01 -3.08610940e-03 -1.27090097e+01] [-1.53777089e-02 2.49562145e-06 9.99881756e-01 -1.71040052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.71862385300001 meters Centerline goodness [0,1] 0.9999138116785176 Centerline is valid? [True, True] Translation: X:84.15, Y:-12.71, Z:-1.72 [[ 9.79445598e-01 2.01094653e-01 1.57245544e-02 8.41532493e+01] [-2.01068871e-01 9.79571815e-01 -3.22004132e-03 -1.27143160e+01] [-1.60508633e-02 -7.86309520e-06 9.99871177e-01 -1.71681855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.74862385300001 meters Centerline goodness [0,1] 0.9999569355324921 Centerline is valid? [True, True] Translation: X:84.18, Y:-12.72, Z:-1.72 [[ 9.79138914e-01 2.02623203e-01 1.51929429e-02 8.41812859e+01] [-2.02599340e-01 9.79256778e-01 -3.10983971e-03 -1.27193132e+01] [-1.55079180e-02 -3.31151246e-05 9.99879744e-01 -1.71845533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.778623853 meters Centerline goodness [0,1] 0.9999356816671312 Centerline is valid? [True, True] Translation: X:84.21, Y:-12.72, Z:-1.72 [[ 9.79005476e-01 2.03285597e-01 1.49413732e-02 8.42080678e+01] [-2.03262603e-01 9.79119484e-01 -3.05778963e-03 -1.27239244e+01] [-1.52509942e-02 -4.34296060e-05 9.99883696e-01 -1.71923137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.808623853 meters Centerline goodness [0,1] 0.999912736157773 Centerline is valid? [True, True] Translation: X:84.24, Y:-12.73, Z:-1.72 [[ 9.78895257e-01 2.03798621e-01 1.51722575e-02 8.42355833e+01] [-2.03775003e-01 9.79012829e-01 -3.10302059e-03 -1.27294649e+01] [-1.54862261e-02 -5.41946875e-05 9.99880080e-01 -1.71955145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.838623853 meters Centerline goodness [0,1] 0.9999136609898768 Centerline is valid? [True, True] Translation: X:84.26, Y:-12.73, Z:-1.72 [[ 9.78652361e-01 2.05012023e-01 1.44784721e-02 8.42637715e+01] [-2.04990665e-01 9.78759452e-01 -2.96002781e-03 -1.27337037e+01] [-1.47777828e-02 -7.11134335e-05 9.99890800e-01 -1.72072792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.868623853 meters Centerline goodness [0,1] 0.9999141317648069 Centerline is valid? [True, True] Translation: X:84.29, Y:-12.74, Z:-1.72 [[ 9.78548335e-01 2.05519010e-01 1.43210189e-02 8.42918807e+01] [-2.05498179e-01 9.78653120e-01 -2.92715902e-03 -1.27373671e+01] [-1.46168967e-02 -7.85767194e-05 9.99893164e-01 -1.72256690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.898623853 meters Centerline goodness [0,1] 0.9999354588873112 Centerline is valid? [True, True] Translation: X:84.32, Y:-12.74, Z:-1.72 [[ 9.78341203e-01 2.06511303e-01 1.41976286e-02 8.43200661e+01] [-2.06490947e-01 9.78444211e-01 -2.90101638e-03 -1.27415351e+01] [-1.44906802e-02 -9.34979122e-05 9.99895000e-01 -1.72357163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.928623853 meters Centerline goodness [0,1] 0.999892399070328 Centerline is valid? [True, True] Translation: X:84.35, Y:-12.75, Z:-1.72 [[ 9.78314494e-01 2.06639880e-01 1.41672291e-02 8.43477364e+01] [-2.06619634e-01 9.78417064e-01 -2.89417044e-03 -1.27469998e+01] [-1.44595097e-02 -9.58188036e-05 9.99895451e-01 -1.72418292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.958623853 meters Centerline goodness [0,1] 0.9999354185951391 Centerline is valid? [True, True] Translation: X:84.38, Y:-12.75, Z:-1.72 [[ 9.78264325e-01 2.06852930e-01 1.45181488e-02 8.43753545e+01] [-2.06831708e-01 9.78372043e-01 -2.96473013e-03 -1.27524707e+01] [-1.48174140e-02 -1.02523790e-04 9.99890211e-01 -1.72456220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.988623853 meters Centerline goodness [0,1] 0.99991533495608 Centerline is valid? [True, True] Translation: X:84.40, Y:-12.76, Z:-1.73 [[ 9.78307580e-01 2.06660745e-01 1.43392608e-02 8.44022176e+01] [-2.06640038e-01 9.78412657e-01 -2.92717715e-03 -1.27565750e+01] [-1.46346469e-02 -9.93857984e-05 9.99892903e-01 -1.72613164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.01862385300001 meters Centerline goodness [0,1] 0.9999138413819842 Centerline is valid? [True, True] Translation: X:84.43, Y:-12.76, Z:-1.73 [[ 9.78390063e-01 2.06263683e-01 1.44283480e-02 8.44290589e+01] [-2.06242693e-01 9.78496440e-01 -2.94406189e-03 -1.27640877e+01] [-1.47253402e-02 -9.53004469e-05 9.99891572e-01 -1.72666848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.04862385300001 meters Centerline goodness [0,1] 0.9998938451412921 Centerline is valid? [True, True] Translation: X:84.46, Y:-12.77, Z:-1.73 [[ 9.78492509e-01 2.05794766e-01 1.41747357e-02 8.44552311e+01] [-2.05774473e-01 9.78595170e-01 -2.89132064e-03 -1.27699130e+01] [-1.44663465e-02 -8.76631752e-05 9.99895353e-01 -1.72760414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.07862385300001 meters Centerline goodness [0,1] 0.9999141759821486 Centerline is valid? [True, True] Translation: X:84.48, Y:-12.78, Z:-1.73 [[ 9.78629274e-01 2.05130509e-01 1.43603000e-02 8.44829265e+01] [-2.05109629e-01 9.78734626e-01 -2.92780594e-03 -1.27770119e+01] [-1.46555052e-02 -8.01992109e-05 9.99892599e-01 -1.72846067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.10862385300001 meters Centerline goodness [0,1] 0.999935367114788 Centerline is valid? [True, True] Translation: X:84.51, Y:-12.79, Z:-1.73 [[ 9.78953873e-01 2.03611725e-01 1.38412502e-02 8.45095235e+01] [-2.03592183e-01 9.79051716e-01 -2.82146664e-03 -1.27859944e+01] [-1.41257835e-02 -5.58846512e-05 9.99900225e-01 -1.72995357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.13862385300001 meters Centerline goodness [0,1] 0.9999356775300171 Centerline is valid? [True, True] Translation: X:84.54, Y:-12.79, Z:-1.73 [[ 9.79137475e-01 2.02763610e-01 1.32937679e-02 8.45359266e+01] [-2.02745520e-01 9.79227714e-01 -2.70875192e-03 -1.27928245e+01] [-1.35668623e-02 -4.30113795e-05 9.99907965e-01 -1.73151630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.168623853 meters Centerline goodness [0,1] 0.9999352051835854 Centerline is valid? [True, True] Translation: X:84.56, Y:-12.80, Z:-1.73 [[ 9.79336407e-01 2.01824889e-01 1.29195801e-02 8.45631005e+01] [-2.01807736e-01 9.79421622e-01 -2.63141465e-03 -1.28006109e+01] [-1.31848011e-02 -3.02310512e-05 9.99913076e-01 -1.73274186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.198623853 meters Centerline goodness [0,1] 0.9999348915945049 Centerline is valid? [True, True] Translation: X:84.59, Y:-12.81, Z:-1.73 [[ 9.79391002e-01 2.01569777e-01 1.27628499e-02 8.45893930e+01] [-2.01553028e-01 9.79474157e-01 -2.59860460e-03 -1.28062513e+01] [-1.30246818e-02 -2.73410812e-05 9.99915175e-01 -1.73413340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.228623853 meters Centerline goodness [0,1] 0.9999571348964807 Centerline is valid? [True, True] Translation: X:84.62, Y:-12.81, Z:-1.74 [[ 9.79378648e-01 2.01674835e-01 1.20301203e-02 8.46179479e+01] [-2.01659977e-01 9.79452531e-01 -2.44824304e-03 -1.28127500e+01] [-1.22766808e-02 -2.82368221e-05 9.99924638e-01 -1.73555175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.258623853 meters Centerline goodness [0,1] 0.9999347230079638 Centerline is valid? [True, True] Translation: X:84.65, Y:-12.82, Z:-1.74 [[ 9.79285027e-01 2.02141272e-01 1.18212134e-02 8.46467318e+01] [-2.02126966e-01 9.79356373e-01 -2.40516717e-03 -1.28179718e+01] [-1.20633643e-02 -3.40418037e-05 9.99927234e-01 -1.73634667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.288623853 meters Centerline goodness [0,1] 0.9999139155511557 Centerline is valid? [True, True] Translation: X:84.67, Y:-12.82, Z:-1.74 [[ 9.79193652e-01 2.02580965e-01 1.18635816e-02 8.46746331e+01] [-2.02566594e-01 9.79265516e-01 -2.41334611e-03 -1.28228095e+01] [-1.21064944e-02 -4.00321310e-05 9.99926713e-01 -1.73605748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.318623853 meters Centerline goodness [0,1] 0.999849381387843 Centerline is valid? [True, True] Translation: X:84.70, Y:-12.83, Z:-1.73 [[ 9.79159671e-01 2.02742445e-01 1.19096754e-02 8.47019413e+01] [-2.02727981e-01 9.79232097e-01 -2.42207658e-03 -1.28259180e+01] [-1.21533941e-02 -4.28247330e-05 9.99926144e-01 -1.73177582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.348623853 meters Centerline goodness [0,1] 0.9999145207821348 Centerline is valid? [True, True] Translation: X:84.73, Y:-12.83, Z:-1.74 [[ 9.79007050e-01 2.03442840e-01 1.24982621e-02 8.47287105e+01] [-2.03426992e-01 9.79086823e-01 -2.53987855e-03 -1.28300199e+01] [-1.27536039e-02 -5.59248638e-05 9.99918668e-01 -1.73778595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.37862385300001 meters Centerline goodness [0,1] 0.9999140265657912 Centerline is valid? [True, True] Translation: X:84.76, Y:-12.83, Z:-1.74 [[ 9.78834976e-01 2.04252744e-01 1.27634829e-02 8.47572377e+01] [-2.04236301e-01 9.78918184e-01 -2.59255980e-03 -1.28338531e+01] [-1.30239430e-02 -6.90783305e-05 9.99915182e-01 -1.73725601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.40862385300001 meters Centerline goodness [0,1] 0.9999145390449738 Centerline is valid? [True, True] Translation: X:84.79, Y:-12.84, Z:-1.74 [[ 9.78828458e-01 2.04280031e-01 1.28265047e-02 8.47850633e+01] [-2.04263435e-01 9.78912490e-01 -2.60483573e-03 -1.28386841e+01] [-1.30881416e-02 -7.02985598e-05 9.99914344e-01 -1.73753837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.43862385300001 meters Centerline goodness [0,1] 0.9999145390449738 Centerline is valid? [True, True] Translation: X:84.81, Y:-12.84, Z:-1.74 [[ 9.78842750e-01 2.04211526e-01 1.28266868e-02 8.48120308e+01] [-2.04194936e-01 9.78926784e-01 -2.60393878e-03 -1.28440202e+01] [-1.30881415e-02 -7.02978812e-05 9.99914344e-01 -1.73802320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.46862385300001 meters Centerline goodness [0,1] 0.9999355905275136 Centerline is valid? [True, True] Translation: X:84.84, Y:-12.85, Z:-1.74 [[ 9.78982486e-01 2.03477824e-01 1.37865131e-02 8.48400818e+01] [-2.03458602e-01 9.79079553e-01 -2.79761367e-03 -1.28511913e+01] [-1.40673455e-02 -6.61699022e-05 9.99901048e-01 -1.73672818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.49862385300001 meters Centerline goodness [0,1] 0.9999356071175599 Centerline is valid? [True, True] Translation: X:84.87, Y:-12.86, Z:-1.74 [[ 9.79104288e-01 2.02871520e-01 1.40690749e-02 8.48680055e+01] [-2.02851449e-01 9.79205363e-01 -2.85423144e-03 -1.28578061e+01] [-1.43555559e-02 -5.93419915e-05 9.99896952e-01 -1.73711234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.528623853 meters Centerline goodness [0,1] 0.9999572832123025 Centerline is valid? [True, True] Translation: X:84.89, Y:-12.87, Z:-1.74 [[ 9.79453583e-01 2.01193782e-01 1.38470767e-02 8.48945810e+01] [-2.01174181e-01 9.79551459e-01 -2.80856298e-03 -1.28660222e+01] [-1.41289896e-02 -3.48172443e-05 9.99900180e-01 -1.73852079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.558623853 meters Centerline goodness [0,1] 0.9999571348964807 Centerline is valid? [True, True] Translation: X:84.92, Y:-12.87, Z:-1.74 [[ 9.79614612e-01 2.00383150e-01 1.42058007e-02 8.49222429e+01] [-2.00362449e-01 9.79717609e-01 -2.88037518e-03 -1.28727301e+01] [-1.44948517e-02 -2.46513993e-05 9.99894944e-01 -1.73830037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.588623853 meters Centerline goodness [0,1] 0.9999569086247387 Centerline is valid? [True, True] Translation: X:84.95, Y:-12.88, Z:-1.74 [[ 9.79783068e-01 1.99540127e-01 1.44525831e-02 8.49482012e+01] [-1.99518617e-01 9.79889656e-01 -2.92979349e-03 -1.28789658e+01] [-1.47465480e-02 -1.29973409e-05 9.99891264e-01 -1.73852063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.618623853 meters Centerline goodness [0,1] 0.9999788614792737 Centerline is valid? [True, True] Translation: X:84.98, Y:-12.89, Z:-1.74 [[ 9.80026159e-01 1.98407068e-01 1.35411724e-02 8.49751713e+01] [-1.98388094e-01 9.80119705e-01 -2.74387871e-03 -1.28865857e+01] [-1.38163748e-02 2.66554281e-06 9.99904549e-01 -1.74100577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.648623853 meters Centerline goodness [0,1] 0.9999357739242132 Centerline is valid? [True, True] Translation: X:85.00, Y:-12.89, Z:-1.74 [[ 9.80136132e-01 1.97851308e-01 1.37121496e-02 8.50021343e+01] [-1.97831808e-01 9.80232044e-01 -2.77772559e-03 -1.28931209e+01] [-1.39906651e-02 9.84986233e-06 9.99902126e-01 -1.74104804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.678623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.03, Y:-12.90, Z:-1.74 [[ 9.80247683e-01 1.97322850e-01 1.33481393e-02 8.50300216e+01] [-1.97304337e-01 9.80338560e-01 -2.70295865e-03 -1.28997553e+01] [-1.36190511e-02 1.59231900e-05 9.99907256e-01 -1.74206390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.708623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.06, Y:-12.91, Z:-1.74 [[ 9.80341553e-01 1.96870877e-01 1.31261965e-02 8.50569821e+01] [-1.96852941e-01 9.80429425e-01 -2.65749265e-03 -1.29066295e+01] [-1.33924922e-02 2.13200991e-05 9.99910316e-01 -1.74255149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.738623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.08, Y:-12.91, Z:-1.74 [[ 9.80530816e-01 1.95924285e-01 1.31526755e-02 8.50842640e+01] [-1.95906204e-01 9.80619026e-01 -2.66191686e-03 -1.29147931e+01] [-1.34192980e-02 3.34007812e-05 9.99909957e-01 -1.74336601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.76862385300001 meters Centerline goodness [0,1] 0.9999788341870212 Centerline is valid? [True, True] Translation: X:85.11, Y:-12.92, Z:-1.74 [[ 9.80637793e-01 1.95402670e-01 1.29350578e-02 8.51116080e+01] [-1.95385150e-01 9.80723098e-01 -2.61686646e-03 -1.29223318e+01] [-1.31970527e-02 3.88799316e-05 9.99912914e-01 -1.74435409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.79862385300001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.14, Y:-12.93, Z:-1.75 [[ 9.80746912e-01 1.94876950e-01 1.25884618e-02 8.51394977e+01] [-1.94860324e-01 9.80827698e-01 -2.54591862e-03 -1.29302916e+01] [-1.28432529e-02 4.39100692e-05 9.99917521e-01 -1.74550838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.82862385300001 meters Centerline goodness [0,1] 0.9997847796143251 Centerline is valid? [True, True] Translation: X:85.17, Y:-12.94, Z:-1.74 [[ 9.80796523e-01 1.94656427e-01 1.21266731e-02 8.51678164e+01] [-1.94640988e-01 9.80871487e-01 -2.45198158e-03 -1.29372092e+01] [-1.23720018e-02 4.45473684e-05 9.99923463e-01 -1.74002431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.85862385300001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.19, Y:-12.94, Z:-1.75 [[ 9.80780563e-01 1.94693375e-01 1.28053557e-02 8.51942926e+01] [-1.94676171e-01 9.80864154e-01 -2.58861379e-03 -1.29449851e+01] [-1.30643003e-02 4.59644822e-05 9.99914657e-01 -1.74757516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.88862385300001 meters Centerline goodness [0,1] 0.9999784403768622 Centerline is valid? [True, True] Translation: X:85.22, Y:-12.95, Z:-1.75 [[ 9.80738959e-01 1.94933657e-01 1.23273782e-02 8.52217083e+01] [-1.94917740e-01 9.80816429e-01 -2.49136156e-03 -1.29511341e+01] [-1.25765453e-02 4.05506444e-05 9.99920911e-01 -1.74578603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.918623853 meters Centerline goodness [0,1] 0.9999136665803332 Centerline is valid? [True, True] Translation: X:85.25, Y:-12.95, Z:-1.74 [[ 9.80384157e-01 1.96759456e-01 1.15161304e-02 8.52493317e+01] [-1.96745700e-01 9.80451792e-01 -2.32668461e-03 -1.29546027e+01] [-1.17488079e-02 1.52955982e-05 9.99930980e-01 -1.74467672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.948623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.28, Y:-12.96, Z:-1.75 [[ 9.80105723e-01 1.98120555e-01 1.18751149e-02 8.52758471e+01] [-1.98106037e-01 9.80177660e-01 -2.39839937e-03 -1.29583102e+01] [-1.21148945e-02 -1.84700535e-06 9.99926612e-01 -1.75072547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.978623853 meters Centerline goodness [0,1] 0.9999132941712007 Centerline is valid? [True, True] Translation: X:85.31, Y:-12.96, Z:-1.75 [[ 9.79252487e-01 2.02305041e-01 1.17148575e-02 8.53056682e+01] [-2.02291225e-01 9.79322555e-01 -2.36489978e-03 -1.29587637e+01] [-1.19510554e-02 -5.39788906e-05 9.99928582e-01 -1.74504792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.008623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.33, Y:-12.96, Z:-1.75 [[ 9.78721923e-01 2.04851946e-01 1.17930883e-02 8.53342243e+01] [-2.04838136e-01 9.78792967e-01 -2.38015954e-03 -1.29626434e+01] [-1.20305722e-02 -8.61599029e-05 9.99927626e-01 -1.75099501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.038623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.36, Y:-12.96, Z:-1.75 [[ 9.78183534e-01 2.07423340e-01 1.15122122e-02 8.53633451e+01] [-2.07410364e-01 9.78251269e-01 -2.32292686e-03 -1.29648464e+01] [-1.17436654e-02 -1.15503316e-04 9.99931034e-01 -1.75163073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.068623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.39, Y:-12.96, Z:-1.75 [[ 9.77194227e-01 2.12033964e-01 1.15343708e-02 8.53929123e+01] [-2.12021267e-01 9.77262282e-01 -2.32675694e-03 -1.29623871e+01] [-1.17654570e-02 -1.71838451e-04 9.99930770e-01 -1.75310113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.098623853 meters Centerline goodness [0,1] 0.9999361022364217 Centerline is valid? [True, True] Translation: X:85.42, Y:-12.96, Z:-1.75 [[ 9.76834118e-01 2.13695606e-01 1.13707170e-02 8.54210117e+01] [-2.13683379e-01 9.76900278e-01 -2.29374688e-03 -1.29615904e+01] [-1.15982202e-02 -1.89123013e-04 9.99932720e-01 -1.75496221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.12862385300001 meters Centerline goodness [0,1] 0.9995939476833646 Centerline is valid? [True, True] Translation: X:85.45, Y:-12.97, Z:-1.75 [[ 9.76532866e-01 2.15081870e-01 1.11063482e-02 8.54495098e+01] [-2.15070312e-01 9.76596000e-01 -2.23891331e-03 -1.29651457e+01] [-1.13279649e-02 -2.02273352e-04 9.99935816e-01 -1.74781434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.15862385300001 meters Centerline goodness [0,1] 0.9998507462686567 Centerline is valid? [True, True] Translation: X:85.48, Y:-12.97, Z:-1.76 [[ 9.76234962e-01 2.16391521e-01 1.18324935e-02 8.54772836e+01] [-2.16378501e-01 9.76306640e-01 -2.38499495e-03 -1.29651386e+01] [-1.20682347e-02 -2.31981760e-04 9.99927149e-01 -1.75613605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.18862385300001 meters Centerline goodness [0,1] 0.9999136926595606 Centerline is valid? [True, True] Translation: X:85.50, Y:-12.97, Z:-1.76 [[ 9.76271869e-01 2.16217887e-01 1.19609287e-02 8.55045942e+01] [-2.16204589e-01 9.76345108e-01 -2.40937256e-03 -1.29749712e+01] [-1.21989437e-02 -2.33805028e-04 9.99925563e-01 -1.75510016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.21862385300001 meters Centerline goodness [0,1] 0.9997862882544024 Centerline is valid? [True, True] Translation: X:85.53, Y:-12.98, Z:-1.76 [[ 9.76445388e-01 2.15431685e-01 1.19830357e-02 8.55325605e+01] [-2.15418286e-01 9.76518888e-01 -2.41325030e-03 -1.29816054e+01] [-1.22215513e-02 -2.24957890e-04 9.99925289e-01 -1.75619733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.24862385300001 meters Centerline goodness [0,1] 0.999849711230865 Centerline is valid? [True, True] Translation: X:85.56, Y:-12.99, Z:-1.76 [[ 9.76947062e-01 2.13143857e-01 1.20055526e-02 8.55603992e+01] [-2.13130241e-01 9.77020807e-01 -2.41727336e-03 -1.29854580e+01] [-1.22449017e-02 -1.97198210e-04 9.99925009e-01 -1.75768618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.278623853 meters Centerline goodness [0,1] 0.999914374397945 Centerline is valid? [True, True] Translation: X:85.59, Y:-12.99, Z:-1.76 [[ 9.77207366e-01 2.11953608e-01 1.18924841e-02 8.55875338e+01] [-2.11940167e-01 9.77279712e-01 -2.39378590e-03 -1.29912521e+01] [-1.21296550e-02 -1.81269851e-04 9.99926417e-01 -1.75857248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.308623853 meters Centerline goodness [0,1] 0.9999361267245784 Centerline is valid? [True, True] Translation: X:85.62, Y:-13.00, Z:-1.76 [[ 9.77547164e-01 2.10393328e-01 1.16700210e-02 8.56157564e+01] [-2.10380283e-01 9.77616807e-01 -2.34832328e-03 -1.29987443e+01] [-1.19028802e-02 -1.59545560e-04 9.99929145e-01 -1.75961180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.338623853 meters Centerline goodness [0,1] 0.999978465447811 Centerline is valid? [True, True] Translation: X:85.64, Y:-13.02, Z:-1.76 [[ 9.78377370e-01 2.06467228e-01 1.22067801e-02 8.56418721e+01] [-2.06452656e-01 9.78453509e-01 -2.45579726e-03 -1.30153592e+01] [-1.24508085e-02 -1.17425705e-04 9.99922479e-01 -1.75805800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.368623853 meters Centerline goodness [0,1] 0.9998705808761674 Centerline is valid? [True, True] Translation: X:85.67, Y:-13.02, Z:-1.76 [[ 9.78922276e-01 2.03886119e-01 1.19007722e-02 8.56688368e+01] [-2.03872084e-01 9.78994609e-01 -2.39372231e-03 -1.30209662e+01] [-1.21388386e-02 -8.29671408e-05 9.99926318e-01 -1.75541201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.398623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.70, Y:-13.03, Z:-1.76 [[ 9.79474485e-01 2.01203540e-01 1.21189360e-02 8.56963753e+01] [-2.01188791e-01 9.79549454e-01 -2.43666624e-03 -1.30323305e+01] [-1.23613630e-02 -5.15416704e-05 9.99923594e-01 -1.76171381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.428623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.72, Y:-13.05, Z:-1.76 [[ 9.80595205e-01 1.95680102e-01 1.19307266e-02 8.57221809e+01] [-1.95665402e-01 9.80667781e-01 -2.39850266e-03 -1.30498615e+01] [-1.21694185e-02 1.75297748e-05 9.99925950e-01 -1.76320490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.458623853 meters Centerline goodness [0,1] 0.9998717400598547 Centerline is valid? [True, True] Translation: X:85.75, Y:-13.06, Z:-1.76 [[ 9.81054039e-01 1.93390625e-01 1.15342585e-02 8.57492623e+01] [-1.93376734e-01 9.81121840e-01 -2.31832522e-03 -1.30603151e+01] [-1.17648553e-02 4.39450883e-05 9.99930791e-01 -1.75672779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.488623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.78, Y:-13.07, Z:-1.76 [[ 9.81437973e-01 1.91410758e-01 1.18923051e-02 8.57758257e+01] [-1.91395852e-01 9.81510019e-01 -2.38975148e-03 -1.30719078e+01] [-1.21298407e-02 6.92549861e-05 9.99926428e-01 -1.76450576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.51862385300001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.80, Y:-13.08, Z:-1.76 [[ 9.81895236e-01 1.89105418e-01 1.09947886e-02 8.58027279e+01] [-1.89092537e-01 9.81956788e-01 -2.20899629e-03 -1.30827157e+01] [-1.12141404e-02 8.99704631e-05 9.99937116e-01 -1.76474209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.54862385300001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.83, Y:-13.09, Z:-1.77 [[ 9.81945276e-01 1.88856560e-01 1.08015777e-02 8.58300794e+01] [-1.88844117e-01 9.82004680e-01 -2.16976464e-03 -1.30896718e+01] [-1.10169741e-02 9.07757353e-05 9.99939307e-01 -1.76591160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.57862385300001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.86, Y:-13.10, Z:-1.77 [[ 9.81853920e-01 1.89342096e-01 1.06043057e-02 8.58577911e+01] [-1.89330139e-01 9.81911179e-01 -2.12946614e-03 -1.30956416e+01] [-1.08156838e-02 8.31100194e-05 9.99941505e-01 -1.76683573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.60862385300001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.88, Y:-13.10, Z:-1.77 [[ 9.81354652e-01 1.91920302e-01 1.04711083e-02 8.58848174e+01] [-1.91908794e-01 9.81410513e-01 -2.10234626e-03 -1.31001549e+01] [-1.06799387e-02 5.36495108e-05 9.99942966e-01 -1.76740310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.63862385300001 meters Centerline goodness [0,1] 0.9998709816148801 Centerline is valid? [True, True] Translation: X:85.91, Y:-13.10, Z:-1.76 [[ 9.80960042e-01 1.93948987e-01 1.00591129e-02 8.59137834e+01] [-1.93938481e-01 9.81011615e-01 -2.01897960e-03 -1.31023944e+01] [-1.02596856e-02 2.96892478e-05 9.99947368e-01 -1.75948641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.668623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.94, Y:-13.10, Z:-1.77 [[ 9.79936029e-01 1.99058318e-01 1.00581196e-02 8.59411028e+01] [-1.99048084e-01 9.79987646e-01 -2.01854670e-03 -1.31002896e+01] [-1.02586415e-02 -2.40028071e-05 9.99947378e-01 -1.77077482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.698623853 meters Centerline goodness [0,1] 0.9999785651512229 Centerline is valid? [True, True] Translation: X:85.97, Y:-13.10, Z:-1.77 [[ 9.79381431e-01 2.01776865e-01 9.90499602e-03 8.59700925e+01] [-2.01767091e-01 9.79431516e-01 -1.98669738e-03 -1.31029623e+01] [-1.01021348e-02 -5.27677125e-05 9.99948971e-01 -1.76792736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.728623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.00, Y:-13.10, Z:-1.77 [[ 9.78818841e-01 2.04490593e-01 9.86276072e-03 8.59985551e+01] [-2.04481044e-01 9.78868526e-01 -1.97783776e-03 -1.31029241e+01] [-1.00587953e-02 -8.08027421e-05 9.99949406e-01 -1.76986756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.758623853 meters Centerline goodness [0,1] 0.9999359467076607 Centerline is valid? [True, True] Translation: X:86.03, Y:-13.10, Z:-1.77 [[ 9.77704160e-01 2.09767528e-01 9.59997528e-03 8.60292019e+01] [-2.09758742e-01 9.77751281e-01 -1.92438292e-03 -1.30961280e+01] [-9.79006118e-03 -1.32201556e-04 9.99952067e-01 -1.77129241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.788623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.06, Y:-13.10, Z:-1.77 [[ 9.77211018e-01 2.12054446e-01 9.56755341e-03 8.60574273e+01] [-2.12045830e-01 9.77257841e-01 -1.91774875e-03 -1.30994787e+01] [-9.75663374e-03 -1.54714595e-04 9.99952391e-01 -1.77068328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.818623853 meters Centerline goodness [0,1] 0.9998926969547396 Centerline is valid? [True, True] Translation: X:86.09, Y:-13.10, Z:-1.77 [[ 9.76743897e-01 2.14206569e-01 9.32234447e-03 8.60869070e+01] [-2.14198494e-01 9.76788368e-01 -1.86796648e-03 -1.31010173e+01] [-9.50608833e-03 -1.72307287e-04 9.99954801e-01 -1.77166987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.848623853 meters Centerline goodness [0,1] 0.9998288074297575 Centerline is valid? [True, True] Translation: X:86.12, Y:-13.09, Z:-1.78 [[ 9.76074835e-01 2.17240306e-01 9.19597449e-03 8.61175716e+01] [-2.17232587e-01 9.76118133e-01 -1.84210722e-03 -1.30948852e+01] [-9.37653739e-03 -1.99630824e-04 9.99956019e-01 -1.77504360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.87862385300001 meters Centerline goodness [0,1] 0.9997840872287596 Centerline is valid? [True, True] Translation: X:86.15, Y:-13.10, Z:-1.77 [[ 9.75810233e-01 2.18426949e-01 9.16825638e-03 8.61453005e+01] [-2.18419331e-01 9.75853280e-01 -1.83632091e-03 -1.31023556e+01] [-9.34797503e-03 -2.10623692e-04 9.99956285e-01 -1.77325583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.90862385300001 meters Centerline goodness [0,1] 0.9994418564712448 Centerline is valid? [True, True] Translation: X:86.17, Y:-13.10, Z:-1.78 [[ 9.75545218e-01 2.19614079e-01 9.01022955e-03 8.61740904e+01] [-2.19606775e-01 9.75586802e-01 -1.80435171e-03 -1.30986827e+01] [-9.18652207e-03 -2.18480772e-04 9.99957779e-01 -1.77588450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.93862385300001 meters Centerline goodness [0,1] 0.999614857925368 Centerline is valid? [True, True] Translation: X:86.20, Y:-13.10, Z:-1.78 [[ 9.75198177e-01 2.21175679e-01 8.35671193e-03 8.62023459e+01] [-2.21169455e-01 9.75233958e-01 -1.67332212e-03 -1.31017809e+01] [-8.51984740e-03 -2.16428742e-04 9.99963682e-01 -1.77638463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.96862385300001 meters Centerline goodness [0,1] 0.9994640828313576 Centerline is valid? [True, True] Translation: X:86.23, Y:-13.10, Z:-1.78 [[ 9.75111721e-01 2.21559316e-01 8.28257344e-03 8.62312066e+01] [-2.21553225e-01 9.75146872e-01 -1.65747692e-03 -1.30968343e+01] [-8.44395504e-03 -2.18805682e-04 9.99964325e-01 -1.77919809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.99862385300001 meters Centerline goodness [0,1] 0.9998492548884487 Centerline is valid? [True, True] Translation: X:86.26, Y:-13.11, Z:-1.78 [[ 9.75184325e-01 2.21247198e-01 8.07524341e-03 8.62583771e+01] [-2.21241390e-01 9.75217736e-01 -1.61679785e-03 -1.31062696e+01] [-8.23283259e-03 -2.09902158e-04 9.99966088e-01 -1.77675838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.028623853 meters Centerline goodness [0,1] 0.9996975915325629 Centerline is valid? [True, True] Translation: X:86.29, Y:-13.11, Z:-1.78 [[ 9.75314916e-01 2.20662956e-01 8.28697667e-03 8.62863943e+01] [-2.20656843e-01 9.75350098e-01 -1.65626648e-03 -1.31059745e+01] [-8.44818017e-03 -2.13196707e-04 9.99964291e-01 -1.77817740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.058623853 meters Centerline goodness [0,1] 0.999638028318961 Centerline is valid? [True, True] Translation: X:86.32, Y:-13.11, Z:-1.78 [[ 9.75500063e-01 2.19847924e-01 8.15575832e-03 8.63151241e+01] [-2.19841971e-01 9.75534135e-01 -1.63049350e-03 -1.31105306e+01] [-8.31468125e-03 -2.02431470e-04 9.99965412e-01 -1.77925461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.088623853 meters Centerline goodness [0,1] 0.9996153928334864 Centerline is valid? [True, True] Translation: X:86.34, Y:-13.12, Z:-1.78 [[ 9.75843684e-01 2.18316694e-01 8.18074358e-03 8.63432041e+01] [-2.18310662e-01 9.75877956e-01 -1.63414736e-03 -1.31163693e+01] [-8.34016897e-03 -1.91271161e-04 9.99965202e-01 -1.77990517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.118623853 meters Centerline goodness [0,1] 0.999785531987904 Centerline is valid? [True, True] Translation: X:86.37, Y:-13.12, Z:-1.78 [[ 9.76651768e-01 2.14658870e-01 8.53775234e-03 8.63712156e+01] [-2.14652183e-01 9.76689071e-01 -1.70283487e-03 -1.31222329e+01] [-8.70425801e-03 -1.69570487e-04 9.99962103e-01 -1.77945610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.148623853 meters Centerline goodness [0,1] 0.9999568398109584 Centerline is valid? [True, True] Translation: X:86.40, Y:-13.13, Z:-1.78 [[ 9.77134107e-01 2.12432563e-01 9.01908720e-03 8.63994753e+01] [-2.12425005e-01 9.77175717e-01 -1.79891485e-03 -1.31305293e+01] [-9.19538109e-03 -1.58098588e-04 9.99957709e-01 -1.77836713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.178623853 meters Centerline goodness [0,1] 0.9999570492859444 Centerline is valid? [True, True] Translation: X:86.43, Y:-13.14, Z:-1.78 [[ 9.78110791e-01 2.07893886e-01 8.91136908e-03 8.64276188e+01] [-2.07886329e-01 9.78151378e-01 -1.77636985e-03 -1.31370949e+01] [-9.08596438e-03 -1.15065282e-04 9.99958715e-01 -1.77924363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.208623853 meters Centerline goodness [0,1] 0.9999571468363652 Centerline is valid? [True, True] Translation: X:86.45, Y:-13.14, Z:-1.78 [[ 9.78538745e-01 2.05876812e-01 8.75569616e-03 8.64546463e+01] [-2.05869438e-01 9.78577912e-01 -1.74502988e-03 -1.31415682e+01] [-8.92739205e-03 -9.49509028e-05 9.99960146e-01 -1.78123293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.238623853 meters Centerline goodness [0,1] 0.9999569503637694 Centerline is valid? [True, True] Translation: X:86.48, Y:-13.15, Z:-1.78 [[ 9.78905928e-01 2.04120935e-01 8.82197744e-03 8.64821367e+01] [-2.04113384e-01 9.78945676e-01 -1.75759190e-03 -1.31489723e+01] [-8.99499798e-03 -8.01665380e-05 9.99959541e-01 -1.78068364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.26862385300001 meters Centerline goodness [0,1] 0.9999784594175426 Centerline is valid? [True, True] Translation: X:86.51, Y:-13.16, Z:-1.78 [[ 9.79609603e-01 2.00698647e-01 9.22380105e-03 8.65095602e+01] [-2.00690244e-01 9.79653026e-01 -1.83725710e-03 -1.31550591e+01] [-9.40485962e-03 -5.13321871e-05 9.99955772e-01 -1.78033768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.29862385300001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.54, Y:-13.16, Z:-1.78 [[ 9.79888586e-01 1.99322194e-01 9.43514912e-03 8.65382230e+01] [-1.99313344e-01 9.79934009e-01 -1.87867788e-03 -1.31608208e+01] [-9.62028569e-03 -3.96561102e-05 9.99953723e-01 -1.77986599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.32862385300001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.57, Y:-13.17, Z:-1.78 [[ 9.80212375e-01 1.97724030e-01 9.42913961e-03 8.65669147e+01] [-1.97715122e-01 9.80257725e-01 -1.87702716e-03 -1.31667362e+01] [-9.61412031e-03 -2.43982387e-05 9.99953783e-01 -1.77996654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.35862385300001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.59, Y:-13.17, Z:-1.78 [[ 9.80226378e-01 1.97654591e-01 9.42919104e-03 8.65939010e+01] [-1.97645682e-01 9.80271729e-01 -1.87676875e-03 -1.31719686e+01] [-9.61412137e-03 -2.39806582e-05 9.99953783e-01 -1.78045136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.38862385300001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.62, Y:-13.18, Z:-1.78 [[ 9.80952817e-01 1.93964814e-01 1.04509296e-02 8.66204407e+01] [-1.93953671e-01 9.81008487e-01 -2.07913989e-03 -1.31799776e+01] [-1.06557307e-02 1.25419669e-05 9.99943226e-01 -1.77923167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.418623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.65, Y:-13.19, Z:-1.78 [[ 9.81321983e-01 1.92031830e-01 1.14430179e-02 8.66486651e+01] [-1.92018349e-01 9.81388697e-01 -2.27563594e-03 -1.31870681e+01] [-1.16670430e-02 3.58621539e-05 9.99931937e-01 -1.77807935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.448623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.68, Y:-13.19, Z:-1.78 [[ 9.81736268e-01 1.89881048e-01 1.17935181e-02 8.66758824e+01] [-1.89866580e-01 9.81807101e-01 -2.34480765e-03 -1.31943040e+01] [-1.20241943e-02 6.27877629e-05 9.99927705e-01 -1.77802798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.478623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.70, Y:-13.20, Z:-1.78 [[ 9.82582655e-01 1.85487899e-01 1.12055531e-02 8.67032645e+01] [-1.85474560e-01 9.82646542e-01 -2.22721522e-03 -1.32038965e+01] [-1.14242195e-02 1.10078012e-04 9.99934735e-01 -1.77931139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.508623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.73, Y:-13.21, Z:-1.78 [[ 9.82985070e-01 1.83330242e-01 1.14181741e-02 8.67301690e+01] [-1.83316252e-01 9.83051374e-01 -2.26896869e-03 -1.32131300e+01] [-1.16406224e-02 1.37225461e-04 9.99932236e-01 -1.77987713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.538623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.76, Y:-13.22, Z:-1.78 [[ 9.83586509e-01 1.80110821e-01 1.08476775e-02 8.67573467e+01] [-1.80098005e-01 9.83646311e-01 -2.15500465e-03 -1.32215092e+01] [-1.10584176e-02 1.65988415e-04 9.99938840e-01 -1.78062979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.568623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.79, Y:-13.23, Z:-1.78 [[ 9.83824579e-01 1.78864427e-01 9.83432750e-03 8.67856674e+01] [-1.78853837e-01 9.83873717e-01 -1.95309466e-03 -1.32285667e+01] [-1.00250755e-02 1.62595326e-04 9.99949734e-01 -1.78292301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.598623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.81, Y:-13.24, Z:-1.78 [[ 9.83955423e-01 1.78182506e-01 9.09509921e-03 8.68133931e+01] [-1.78173423e-01 9.83997444e-01 -1.80590077e-03 -1.32354016e+01] [-9.27133430e-03 1.56420896e-04 9.99957008e-01 -1.78495232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.62862385300001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.84, Y:-13.24, Z:-1.79 [[ 9.84049059e-01 1.77668972e-01 9.01027744e-03 8.68414981e+01] [-1.77660040e-01 9.84090296e-01 -1.78862092e-03 -1.32424315e+01] [-9.18470903e-03 1.59324485e-04 9.99957807e-01 -1.78598538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.65862385300001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.87, Y:-13.25, Z:-1.79 [[ 9.84062285e-01 1.77599394e-01 8.93724016e-03 8.68682903e+01] [-1.77590605e-01 9.84102856e-01 -1.77389393e-03 -1.32496206e+01] [-9.11020605e-03 1.58452226e-04 9.99958489e-01 -1.78723110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.68862385300001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.90, Y:-13.25, Z:-1.79 [[ 9.84026040e-01 1.77825283e-01 8.42144850e-03 8.68956841e+01] [-1.77817492e-01 9.84062065e-01 -1.67100092e-03 -1.32529353e+01] [-8.58437421e-03 1.46827562e-04 9.99963143e-01 -1.78732498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.71862385300001 meters Centerline goodness [0,1] 0.9998492548884487 Centerline is valid? [True, True] Translation: X:86.92, Y:-13.26, Z:-1.78 [[ 9.83883672e-01 1.78657142e-01 7.38557215e-03 8.69229636e+01] [-1.78651177e-01 9.83911384e-01 -1.46493517e-03 -1.32597079e+01] [-7.52846965e-03 1.21884634e-04 9.99971653e-01 -1.78266200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.74862385300001 meters Centerline goodness [0,1] 0.9999784124516978 Centerline is valid? [True, True] Translation: X:86.95, Y:-13.27, Z:-1.79 [[ 9.83791415e-01 1.79136936e-01 8.02557650e-03 8.69513506e+01] [-1.79129915e-01 9.83824142e-01 -1.59115740e-03 -1.32660625e+01] [-8.18079097e-03 1.27746158e-04 9.99966529e-01 -1.79002494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.77862385300001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.98, Y:-13.27, Z:-1.79 [[ 9.83396142e-01 1.81300066e-01 7.89396201e-03 8.69788358e+01] [-1.81293343e-01 9.83427819e-01 -1.56498861e-03 -1.32701575e+01] [-8.04687438e-03 1.07881001e-04 9.99967618e-01 -1.79057454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.808623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.01, Y:-13.27, Z:-1.79 [[ 9.83196892e-01 1.82387038e-01 7.67073532e-03 8.70070153e+01] [-1.82380731e-01 9.83226810e-01 -1.51973392e-03 -1.32741466e+01] [-7.81925239e-03 9.52033507e-05 9.99969425e-01 -1.79152000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.838623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.03, Y:-13.28, Z:-1.79 [[ 9.83025107e-01 1.83310611e-01 7.67196569e-03 8.70349355e+01] [-1.83304331e-01 9.83055040e-01 -1.51993201e-03 -1.32782084e+01] [-7.82058421e-03 8.78267839e-05 9.99969415e-01 -1.79233572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.868623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.06, Y:-13.28, Z:-1.79 [[ 9.82920784e-01 1.83859128e-01 7.90902020e-03 8.70633352e+01] [-1.83852476e-01 9.82952600e-01 -1.56626789e-03 -1.32826688e+01] [-8.06216462e-03 8.54243158e-05 9.99967497e-01 -1.79250338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.898623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.09, Y:-13.29, Z:-1.79 [[ 9.82750707e-01 1.84767061e-01 7.88546075e-03 8.70901318e+01] [-1.84760478e-01 9.82782340e-01 -1.56158192e-03 -1.32883788e+01] [-8.03822047e-03 7.77242402e-05 9.99967690e-01 -1.79309025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.928623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.12, Y:-13.29, Z:-1.79 [[ 9.82681096e-01 1.85132197e-01 7.99584155e-03 8.71181495e+01] [-1.85125450e-01 9.82713623e-01 -1.58236395e-03 -1.32937980e+01] [-8.15056893e-03 7.47253795e-05 9.99966781e-01 -1.79358740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.958623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.15, Y:-13.30, Z:-1.79 [[ 9.82405236e-01 1.86592816e-01 7.94188761e-03 8.71461350e+01] [-1.86586210e-01 9.82437335e-01 -1.57130629e-03 -1.32984606e+01] [-8.09560136e-03 6.18128145e-05 9.99967228e-01 -1.79429360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.988623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.17, Y:-13.30, Z:-1.79 [[ 9.82267426e-01 1.87306574e-01 8.18241763e-03 8.71749501e+01] [-1.87299590e-01 9.82301504e-01 -1.61849117e-03 -1.33024852e+01] [-8.34075518e-03 5.72276903e-05 9.99965214e-01 -1.79374106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.01862385300001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.20, Y:-13.31, Z:-1.80 [[ 9.82027788e-01 1.88556134e-01 8.24672096e-03 8.72019320e+01] [-1.88549087e-01 9.82062413e-01 -1.63079439e-03 -1.33069553e+01] [-8.40629097e-03 4.65736952e-05 9.99964665e-01 -1.79592570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.04862385300001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.23, Y:-13.31, Z:-1.79 [[ 9.81612268e-01 1.90688110e-01 8.68325715e-03 8.72314308e+01] [-1.90680385e-01 9.81650673e-01 -1.71666043e-03 -1.33078741e+01] [-8.85127196e-03 2.93681173e-05 9.99960826e-01 -1.79348402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.07862385300001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.26, Y:-13.31, Z:-1.80 [[ 9.81400199e-01 1.91785168e-01 8.49112490e-03 8.72576713e+01] [-1.91777823e-01 9.81436931e-01 -1.67859471e-03 -1.33121956e+01] [-8.65543313e-03 1.89637412e-05 9.99962541e-01 -1.79586373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.10862385300001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.29, Y:-13.32, Z:-1.80 [[ 9.81224787e-01 1.92679521e-01 8.51583560e-03 8.72851923e+01] [-1.92672174e-01 9.81261740e-01 -1.68262424e-03 -1.33158645e+01] [-8.68047089e-03 1.02680508e-05 9.99962324e-01 -1.79563529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.13862385300001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.31, Y:-13.32, Z:-1.80 [[ 9.80899198e-01 1.94325908e-01 8.61419608e-03 8.73135226e+01] [-1.94318460e-01 9.80937022e-01 -1.70140494e-03 -1.33178844e+01] [-8.78061091e-03 -4.99057836e-06 9.99961450e-01 -1.79613070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.168623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.34, Y:-13.32, Z:-1.80 [[ 9.80800787e-01 1.94820191e-01 8.65499033e-03 8.73405325e+01] [-1.94812696e-01 9.80838974e-01 -1.70892608e-03 -1.33216517e+01] [-8.82208514e-03 -9.98595299e-06 9.99961085e-01 -1.79671058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.198623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.37, Y:-13.33, Z:-1.80 [[ 9.80746346e-01 1.95098516e-01 8.55415942e-03 8.73684321e+01] [-1.95091212e-01 9.80783650e-01 -1.68820901e-03 -1.33258663e+01] [-8.71914678e-03 -1.31365180e-05 9.99961987e-01 -1.79722944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.228623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.40, Y:-13.33, Z:-1.80 [[ 9.80735687e-01 1.95178073e-01 7.93924432e-03 8.73967270e+01] [-1.95171790e-01 9.80767821e-01 -1.56612188e-03 -1.33308987e+01] [-8.09222801e-03 -1.35649117e-05 9.99967257e-01 -1.79783633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.258623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.42, Y:-13.34, Z:-1.80 [[ 9.80715874e-01 1.95293887e-01 7.52813465e-03 8.74248244e+01] [-1.95288244e-01 9.80744767e-01 -1.48469372e-03 -1.33356228e+01] [-7.67313027e-03 -1.40935048e-05 9.99970561e-01 -1.79926110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.288623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.45, Y:-13.34, Z:-1.80 [[ 9.80629782e-01 1.95724780e-01 7.55261578e-03 8.74514589e+01] [-1.95719109e-01 9.80658865e-01 -1.48997561e-03 -1.33386811e+01] [-7.69816477e-03 -1.70767771e-05 9.99970369e-01 -1.80021328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.318623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.48, Y:-13.34, Z:-1.80 [[ 9.80578775e-01 1.95984145e-01 7.44860356e-03 8.74803972e+01] [-1.95978651e-01 9.80607064e-01 -1.46763127e-03 -1.33430721e+01] [-7.59178573e-03 -2.06392087e-05 9.99971182e-01 -1.80041172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.348623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.51, Y:-13.35, Z:-1.80 [[ 9.80484926e-01 1.96461821e-01 7.21547162e-03 8.75090264e+01] [-1.96456681e-01 9.80511475e-01 -1.42136464e-03 -1.33471329e+01] [-7.35409661e-03 -2.39009959e-05 9.99972958e-01 -1.80163881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.37862385300001 meters Centerline goodness [0,1] 0.9998711007991751 Centerline is valid? [True, True] Translation: X:87.54, Y:-13.35, Z:-1.80 [[ 9.80396472e-01 1.96936938e-01 6.21291814e-03 8.75370872e+01] [-1.96933136e-01 9.80416158e-01 -1.22381672e-03 -1.33489490e+01] [-6.33226004e-03 -2.37038641e-05 9.99979951e-01 -1.79751071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.40862385300001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.56, Y:-13.35, Z:-1.81 [[ 9.80315489e-01 1.97342085e-01 6.13541027e-03 8.75649336e+01] [-1.97338388e-01 9.80334688e-01 -1.20816895e-03 -1.33524265e+01] [-6.25317809e-03 -2.63652431e-05 9.99980448e-01 -1.80787943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.43862385300001 meters Centerline goodness [0,1] 0.9998494623655914 Centerline is valid? [True, True] Translation: X:87.59, Y:-13.36, Z:-1.80 [[ 9.80309326e-01 1.97398195e-01 5.25145931e-03 8.75933266e+01] [-1.97395489e-01 9.80323392e-01 -1.03380199e-03 -1.33574935e+01] [-5.35219905e-03 -2.31686450e-05 9.99985677e-01 -1.80081747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.46862385300001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.62, Y:-13.36, Z:-1.81 [[ 9.80229307e-01 1.97749338e-01 6.76051322e-03 8.76202927e+01] [-1.97744865e-01 9.80252620e-01 -1.33042785e-03 -1.33616745e+01] [-6.89010202e-03 -3.27324038e-05 9.99976262e-01 -1.80711272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.49862385300001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.65, Y:-13.37, Z:-1.81 [[ 9.80295763e-01 1.97399568e-01 7.32311404e-03 8.76472561e+01] [-1.97394314e-01 9.80323115e-01 -1.44059621e-03 -1.33665939e+01] [-7.46339104e-03 -3.33307167e-05 9.99972148e-01 -1.80647551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.52862385300001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.68, Y:-13.37, Z:-1.80 [[ 9.80580476e-01 1.95962448e-01 7.78773716e-03 8.76757653e+01] [-1.95956466e-01 9.80611400e-01 -1.53137198e-03 -1.33726215e+01] [-7.93683524e-03 -2.44239881e-05 9.99968503e-01 -1.80436769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.558623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.70, Y:-13.38, Z:-1.81 [[ 9.80822208e-01 1.94755641e-01 7.61818516e-03 8.77030922e+01] [-1.94749881e-01 9.80851793e-01 -1.49792001e-03 -1.33784062e+01] [-7.76403895e-03 -1.44474432e-05 9.99969859e-01 -1.80500673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.588623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.73, Y:-13.38, Z:-1.81 [[ 9.81077261e-01 1.93473824e-01 7.43550229e-03 8.77307702e+01] [-1.93468304e-01 9.81105437e-01 -1.46147230e-03 -1.33847485e+01] [-7.57776836e-03 -4.71678171e-06 9.99971288e-01 -1.80539632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.618623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.76, Y:-13.39, Z:-1.81 [[ 9.81379200e-01 1.91941107e-01 7.31286408e-03 8.77565475e+01] [-1.91935729e-01 9.81406446e-01 -1.43695449e-03 -1.33913134e+01] [-7.45270258e-03 6.59735729e-06 9.99972228e-01 -1.80733159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.648623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.78, Y:-13.40, Z:-1.81 [[ 9.81978175e-01 1.88840692e-01 7.61954581e-03 8.77835282e+01] [-1.88834767e-01 9.82007735e-01 -1.49609303e-03 -1.34015578e+01] [-7.76497617e-03 3.02955405e-05 9.99969852e-01 -1.80747835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.678623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.81, Y:-13.41, Z:-1.81 [[ 9.82248684e-01 1.87419695e-01 7.83453125e-03 8.78117351e+01] [-1.87413390e-01 9.82279928e-01 -1.53789573e-03 -1.34098253e+01] [-7.98393474e-03 4.23000007e-05 9.99968127e-01 -1.80730763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.708623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.84, Y:-13.42, Z:-1.81 [[ 9.82434357e-01 1.86436726e-01 8.00510067e-03 8.78386714e+01] [-1.86430113e-01 9.82466969e-01 -1.57107602e-03 -1.34177037e+01] [-8.15765326e-03 5.10872341e-05 9.99966724e-01 -1.80802657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.738623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.87, Y:-13.42, Z:-1.81 [[ 9.82452958e-01 1.86342984e-01 7.90430331e-03 8.78666153e+01] [-1.86336536e-01 9.82484753e-01 -1.55093091e-03 -1.34229292e+01] [-8.05486258e-03 5.08561628e-05 9.99967558e-01 -1.80828127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.76862385300001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.90, Y:-13.43, Z:-1.81 [[ 9.82332476e-01 1.86969211e-01 8.08829530e-03 8.78957783e+01] [-1.86962489e-01 9.82365773e-01 -1.58608812e-03 -1.34267246e+01] [-8.24221410e-03 4.58580548e-05 9.99966031e-01 -1.80774935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.79862385300001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.92, Y:-13.43, Z:-1.81 [[ 9.81960673e-01 1.88870557e-01 9.00832653e-03 8.79238272e+01] [-1.88862300e-01 9.82001992e-01 -1.76629804e-03 -1.34301613e+01] [-9.17979629e-03 3.31019461e-05 9.99957864e-01 -1.80722313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.82862385300001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.95, Y:-13.43, Z:-1.81 [[ 9.81791321e-01 1.89729275e-01 9.41293326e-03 8.79522793e+01] [-1.89720307e-01 9.81836443e-01 -1.84489568e-03 -1.34349798e+01] [-9.59199163e-03 2.54779825e-05 9.99953995e-01 -1.80684842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.85862385300001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.98, Y:-13.44, Z:-1.81 [[ 9.81680165e-01 1.90287434e-01 9.73380090e-03 8.79805763e+01] [-1.90277876e-01 9.81728421e-01 -1.90729316e-03 -1.34401227e+01] [-9.91888290e-03 2.02248993e-05 9.99950806e-01 -1.80528390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.88862385300001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:88.01, Y:-13.45, Z:-1.80 [[ 9.81503731e-01 1.91117526e-01 1.11587486e-02 8.80085099e+01] [-1.91105027e-01 9.81567161e-01 -2.18581442e-03 -1.34459029e+01] [-1.13708086e-02 1.28920526e-05 9.99935350e-01 -1.80384374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.918623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:88.04, Y:-13.45, Z:-1.80 [[ 9.81417926e-01 1.91510038e-01 1.19482210e-02 8.80357534e+01] [-1.91495744e-01 9.81490655e-01 -2.33986493e-03 -1.34518933e+01] [-1.21751749e-02 8.35190679e-06 9.99925880e-01 -1.80383823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.948623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:88.06, Y:-13.46, Z:-1.80 [[ 9.81313682e-01 1.92040877e-01 1.19899528e-02 8.80633489e+01] [-1.92026531e-01 9.81386927e-01 -2.34735457e-03 -1.34577451e+01] [-1.22175709e-02 1.10212305e-06 9.99925363e-01 -1.80355600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.978623853 meters Centerline goodness [0,1] 0.9999785047934311 Centerline is valid? [True, True] Translation: X:88.09, Y:-13.46, Z:-1.81 [[ 9.81045905e-01 1.93458739e-01 1.10746618e-02 8.80911899e+01] [-1.93446597e-01 9.81108412e-01 -2.16752151e-03 -1.34622645e+01] [-1.12847698e-02 -1.59175416e-05 9.99936325e-01 -1.80633863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.008623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:88.12, Y:-13.47, Z:-1.81 [[ 9.80874645e-01 1.94345876e-01 1.07056453e-02 8.81196833e+01] [-1.94334595e-01 9.80933066e-01 -2.09410754e-03 -1.34668862e+01] [-1.09085026e-02 -2.64202529e-05 9.99940500e-01 -1.80671354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.038623853 meters Centerline goodness [0,1] 0.9999785375485588 Centerline is valid? [True, True] Translation: X:88.15, Y:-13.47, Z:-1.81 [[ 9.80649663e-01 1.95495098e-01 1.03877155e-02 8.81472890e+01] [-1.95484546e-01 9.80704678e-01 -2.03150845e-03 -1.34709137e+01] [-1.05844312e-02 -3.84397742e-05 9.99943983e-01 -1.80784630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.068623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:88.18, Y:-13.47, Z:-1.81 [[ 9.80074890e-01 1.98389983e-01 9.72750708e-03 8.81754497e+01] [-1.98380878e-01 9.80123161e-01 -1.90185368e-03 -1.34713817e+01] [-9.91146370e-03 -6.57923532e-05 9.99950878e-01 -1.80970295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.098623853 meters Centerline goodness [0,1] 0.9999573415237608 Centerline is valid? [True, True] Translation: X:88.20, Y:-13.47, Z:-1.81 [[ 9.79768186e-01 1.99912303e-01 9.45371294e-03 8.82028776e+01] [-1.99903780e-01 9.79813791e-01 -1.84776106e-03 -1.34742160e+01] [-9.63226848e-03 -7.94554459e-05 9.99953605e-01 -1.81104471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.12862385300001 meters Centerline goodness [0,1] 0.99993608453885 Centerline is valid? [True, True] Translation: X:88.23, Y:-13.48, Z:-1.81 [[ 9.79442491e-01 2.01517411e-01 9.11808707e-03 8.82307751e+01] [-2.01509556e-01 9.79484928e-01 -1.78163700e-03 -1.34771777e+01] [-9.29005973e-03 -9.23706970e-05 9.99956842e-01 -1.81192845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.15862385300001 meters Centerline goodness [0,1] 0.9998924638678596 Centerline is valid? [True, True] Translation: X:88.26, Y:-13.48, Z:-1.81 [[ 9.78798122e-01 2.04611244e-01 9.40607666e-03 8.82596362e+01] [-2.04603025e-01 9.78843309e-01 -1.83820843e-03 -1.34785163e+01] [-9.58319331e-03 -1.25276778e-04 9.99954072e-01 -1.81067521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.18862385300001 meters Centerline goodness [0,1] 0.9998066636592124 Centerline is valid? [True, True] Translation: X:88.29, Y:-13.48, Z:-1.81 [[ 9.78487785e-01 2.06087316e-01 9.46954041e-03 8.82875994e+01] [-2.06079079e-01 9.78533596e-01 -1.84806661e-03 -1.34801229e+01] [-9.64712652e-03 -1.43163560e-04 9.99953455e-01 -1.81174246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.21862385300001 meters Centerline goodness [0,1] 0.9999146684870722 Centerline is valid? [True, True] Translation: X:88.32, Y:-13.48, Z:-1.81 [[ 9.78201404e-01 2.07462303e-01 9.02255085e-03 8.83166946e+01] [-2.07454880e-01 9.78243002e-01 -1.76121991e-03 -1.34824777e+01] [-9.19163397e-03 -1.48944420e-04 9.99957745e-01 -1.81309969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.24862385300001 meters Centerline goodness [0,1] 0.9999146684870722 Centerline is valid? [True, True] Translation: X:88.34, Y:-13.49, Z:-1.81 [[ 9.78240138e-01 2.07279573e-01 9.02280051e-03 8.83436981e+01] [-2.07272154e-01 9.78281737e-01 -1.75993957e-03 -1.34875413e+01] [-9.19164048e-03 -1.48531775e-04 9.99957745e-01 -1.81358437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.27862385300001 meters Centerline goodness [0,1] 0.9998287524616833 Centerline is valid? [True, True] Translation: X:88.37, Y:-13.49, Z:-1.82 [[ 9.77750993e-01 2.09611077e-01 8.13585461e-03 8.83734736e+01] [-2.09605138e-01 9.77784829e-01 -1.58545930e-03 -1.34863265e+01] [-8.28744504e-03 -1.55132524e-04 9.99965647e-01 -1.81613427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.308623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:88.40, Y:-13.49, Z:-1.82 [[ 9.77679637e-01 2.09955893e-01 7.81347858e-03 8.84017009e+01] [-2.09950435e-01 9.77710847e-01 -1.52151213e-03 -1.34916833e+01] [-7.95877319e-03 -1.52891803e-04 9.99968317e-01 -1.81613910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.338623853 meters Centerline goodness [0,1] 0.9997459618519381 Centerline is valid? [True, True] Translation: X:88.43, Y:-13.49, Z:-1.82 [[ 9.77698022e-01 2.09876873e-01 7.63390426e-03 8.84289700e+01] [-2.09871678e-01 9.77727813e-01 -1.48440178e-03 -1.34924502e+01] [-7.77542212e-03 -1.50843608e-04 9.99969760e-01 -1.81840038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.368623853 meters Centerline goodness [0,1] 0.9999574730485445 Centerline is valid? [True, True] Translation: X:88.46, Y:-13.50, Z:-1.82 [[ 9.78084734e-01 2.08073089e-01 7.47283080e-03 8.84570146e+01] [-2.08068057e-01 9.78113271e-01 -1.45329237e-03 -1.34994980e+01] [-7.61166601e-03 -1.33414301e-04 9.99971022e-01 -1.81922141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.398623853 meters Centerline goodness [0,1] 0.999871432244793 Centerline is valid? [True, True] Translation: X:88.48, Y:-13.50, Z:-1.82 [[ 9.78335982e-01 2.06894492e-01 7.30581933e-03 8.84844764e+01] [-2.06889666e-01 9.78363253e-01 -1.41849728e-03 -1.35042889e+01] [-7.44122444e-03 -1.23731593e-04 9.99972306e-01 -1.81703511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.428623853 meters Centerline goodness [0,1] 0.9999784821294084 Centerline is valid? [True, True] Translation: X:88.51, Y:-13.51, Z:-1.82 [[ 9.78824904e-01 2.04543821e-01 7.97698188e-03 8.85115433e+01] [-2.04537995e-01 9.78857401e-01 -1.54821175e-03 -1.35097327e+01] [-8.12500489e-03 -1.16167660e-04 9.99966985e-01 -1.81911307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.458623853 meters Centerline goodness [0,1] 0.999914345060922 Centerline is valid? [True, True] Translation: X:88.54, Y:-13.52, Z:-1.82 [[ 9.79109800e-01 2.03182408e-01 7.80437115e-03 8.85395116e+01] [-2.03176783e-01 9.79140898e-01 -1.51532120e-03 -1.35158116e+01] [-7.94946559e-03 -1.02001183e-04 9.99968397e-01 -1.81935214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.488623853 meters Centerline goodness [0,1] 0.9999355794627327 Centerline is valid? [True, True] Translation: X:88.57, Y:-13.52, Z:-1.82 [[ 9.79436518e-01 2.01602284e-01 7.78626387e-03 8.85672902e+01] [-2.01596645e-01 9.79467463e-01 -1.51046086e-03 -1.35210061e+01] [-7.93090447e-03 -9.02841448e-05 9.99968546e-01 -1.82019566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.51862385300001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:88.59, Y:-13.53, Z:-1.82 [[ 9.80208364e-01 1.97823839e-01 7.56912659e-03 8.85945864e+01] [-1.97818417e-01 9.80237586e-01 -1.46594566e-03 -1.35312453e+01] [-7.70954137e-03 -6.03804433e-05 9.99970279e-01 -1.82024736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.54862385300001 meters Centerline goodness [0,1] 0.9999784955485785 Centerline is valid? [True, True] Translation: X:88.62, Y:-13.54, Z:-1.82 [[ 9.80710024e-01 1.95341735e-01 7.03240145e-03 8.86220891e+01] [-1.95336989e-01 9.80735237e-01 -1.36215086e-03 -1.35377882e+01] [-7.16300881e-03 -3.78131272e-05 9.99974345e-01 -1.82269042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.57862385300001 meters Centerline goodness [0,1] 0.9999783975286772 Centerline is valid? [True, True] Translation: X:88.65, Y:-13.55, Z:-1.82 [[ 9.81600529e-01 1.90801111e-01 7.43887065e-03 8.86500446e+01] [-1.90795679e-01 9.81628716e-01 -1.43964256e-03 -1.35468163e+01] [-7.57689445e-03 -6.15048452e-06 9.99971295e-01 -1.82104955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.60862385300001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:88.68, Y:-13.55, Z:-1.82 [[ 9.82110441e-01 1.88139070e-01 7.92281840e-03 8.86770822e+01] [-1.88132826e-01 9.82142398e-01 -1.53295796e-03 -1.35545572e+01] [-8.06974515e-03 1.49918035e-05 9.99967439e-01 -1.82152068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.63862385300001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:88.70, Y:-13.56, Z:-1.82 [[ 9.82684069e-01 1.85104115e-01 8.27568034e-03 8.87048573e+01] [-1.85097200e-01 9.82718914e-01 -1.60054705e-03 -1.35637049e+01] [-8.42893544e-03 4.10268302e-05 9.99964475e-01 -1.82141974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.668623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:88.73, Y:-13.58, Z:-1.82 [[ 9.83955529e-01 1.78138594e-01 9.90748127e-03 8.87309224e+01] [-1.78128335e-01 9.84005400e-01 -1.91557925e-03 -1.35780461e+01] [-1.00902537e-02 1.20041654e-04 9.99949085e-01 -1.81805476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.698623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:88.76, Y:-13.59, Z:-1.82 [[ 9.84597657e-01 1.74517933e-01 1.05330712e-02 8.87582705e+01] [-1.74506139e-01 9.84653982e-01 -2.03572817e-03 -1.35886476e+01] [-1.07267016e-02 1.66287601e-04 9.99942453e-01 -1.81762107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.728623853 meters Centerline goodness [0,1] 0.9999784626650299 Centerline is valid? [True, True] Translation: X:88.79, Y:-13.60, Z:-1.82 [[ 9.85235208e-01 1.70869558e-01 1.07321827e-02 8.87859137e+01] [-1.70857104e-01 9.85293637e-01 -2.07358868e-03 -1.36000652e+01] [-1.09286645e-02 2.09302915e-04 9.99940258e-01 -1.81785812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.758623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:88.81, Y:-13.62, Z:-1.82 [[ 9.86262504e-01 1.64872591e-01 1.01637739e-02 8.88133720e+01] [-1.64861108e-01 9.86314839e-01 -1.96325319e-03 -1.36156692e+01] [-1.03483676e-02 2.60671989e-04 9.99946420e-01 -1.81932803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.788623853 meters Centerline goodness [0,1] 0.9999135191230839 Centerline is valid? [True, True] Translation: X:88.84, Y:-13.63, Z:-1.82 [[ 9.86713348e-01 1.62173558e-01 9.82370897e-03 8.88404206e+01] [-1.62162696e-01 9.86762210e-01 -1.89763347e-03 -1.36282895e+01] [-1.00014107e-02 2.79381144e-04 9.99949946e-01 -1.82093107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.818623853 meters Centerline goodness [0,1] 0.9997446699859569 Centerline is valid? [True, True] Translation: X:88.87, Y:-13.64, Z:-1.82 [[ 9.87069585e-01 1.59991627e-01 9.81400482e-03 8.88674192e+01] [-1.59980682e-01 9.87118326e-01 -1.89539270e-03 -1.36408050e+01] [-9.99083097e-03 3.00833301e-04 9.99950045e-01 -1.82219123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.848623853 meters Centerline goodness [0,1] 0.9995238095238095 Centerline is valid? [True, True] Translation: X:88.90, Y:-13.65, Z:-1.82 [[ 9.87555525e-01 1.56998019e-01 9.25785411e-03 8.88951096e+01] [-1.56988151e-01 9.87598868e-01 -1.78768868e-03 -1.36512147e+01] [-9.42370982e-03 3.12068430e-04 9.99955547e-01 -1.81705716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.87862385300001 meters Centerline goodness [0,1] 0.999804992199688 Centerline is valid? [True, True] Translation: X:88.92, Y:-13.66, Z:-1.82 [[ 9.87711986e-01 1.56011740e-01 9.23960424e-03 8.89225699e+01] [-1.56001870e-01 9.87755149e-01 -1.78393268e-03 -1.36593099e+01] [-9.40478110e-03 3.20616146e-04 9.99955723e-01 -1.82209603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.90862385300001 meters Centerline goodness [0,1] 0.9995496654657746 Centerline is valid? [True, True] Translation: X:88.95, Y:-13.68, Z:-1.82 [[ 9.87749169e-01 1.55775133e-01 9.25669793e-03 8.89485891e+01] [-1.55765222e-01 9.87792490e-01 -1.78666739e-03 -1.36753256e+01] [-9.42201505e-03 3.22907623e-04 9.99955560e-01 -1.82380654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.93862385300001 meters Centerline goodness [0,1] 0.9995287666538148 Centerline is valid? [True, True] Translation: X:88.98, Y:-13.68, Z:-1.82 [[ 9.87696613e-01 1.56099689e-01 9.39616253e-03 8.89768460e+01] [-1.56089493e-01 9.87741253e-01 -1.81330552e-03 -1.36831628e+01] [-9.56403378e-03 3.24353469e-04 9.99954211e-01 -1.82395720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.96862385300001 meters Centerline goodness [0,1] 0.9996545395660154 Centerline is valid? [True, True] Translation: X:89.01, Y:-13.69, Z:-1.82 [[ 9.87556666e-01 1.56967724e-01 9.64181547e-03 8.90066211e+01] [-1.56957036e-01 9.87603680e-01 -1.86006384e-03 -1.36867828e+01] [-9.81426243e-03 3.23567659e-04 9.99951787e-01 -1.82259277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.99862385300001 meters Centerline goodness [0,1] 0.9998473215843657 Centerline is valid? [True, True] Translation: X:89.04, Y:-13.70, Z:-1.82 [[ 9.87226004e-01 1.59003401e-01 1.01358626e-02 8.90355847e+01] [-1.58991701e-01 9.87277984e-01 -1.95501086e-03 -1.36961877e+01] [-1.03177673e-02 3.18519530e-04 9.99946720e-01 -1.82223688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.02862385300001 meters Centerline goodness [0,1] 0.9996791581108829 Centerline is valid? [True, True] Translation: X:89.06, Y:-13.71, Z:-1.82 [[ 9.86991492e-01 1.60478545e-01 9.71756982e-03 8.90632557e+01] [-1.60467863e-01 9.87039286e-01 -1.87421855e-03 -1.37065589e+01] [-9.89239504e-03 2.90480101e-04 9.99951027e-01 -1.81959002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.058623853 meters Centerline goodness [0,1] 0.9999141077947177 Centerline is valid? [True, True] Translation: X:89.09, Y:-13.71, Z:-1.82 [[ 9.86265963e-01 1.64858874e-01 1.00499503e-02 8.90925966e+01] [-1.64847677e-01 9.86317133e-01 -1.93827908e-03 -1.37109536e+01] [-1.02319807e-02 2.54947726e-04 9.99947619e-01 -1.82347273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.088623853 meters Centerline goodness [0,1] 0.9999566696275755 Centerline is valid? [True, True] Translation: X:89.12, Y:-13.71, Z:-1.82 [[ 9.85836709e-01 1.67400191e-01 1.01567715e-02 8.91219882e+01] [-1.67388891e-01 9.85889001e-01 -1.95872962e-03 -1.37128807e+01] [-1.03413411e-02 2.30856842e-04 9.99946500e-01 -1.82287071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.118623853 meters Centerline goodness [0,1] 0.9999573760709262 Centerline is valid? [True, True] Translation: X:89.15, Y:-13.72, Z:-1.83 [[ 9.85324896e-01 1.70400079e-01 9.93295003e-03 8.91491346e+01] [-1.70389426e-01 9.85374942e-01 -1.91520224e-03 -1.37218067e+01] [-1.01140307e-02 1.94626786e-04 9.99948833e-01 -1.82526762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.148623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:89.18, Y:-13.72, Z:-1.83 [[ 9.84105005e-01 1.77349050e-01 9.20072193e-03 8.91796721e+01] [-1.77340219e-01 9.84148008e-01 -1.77351133e-03 -1.37205625e+01] [-9.36940271e-03 1.13663339e-04 9.99956100e-01 -1.82562355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.178623853 meters Centerline goodness [0,1] 0.9999140117803861 Centerline is valid? [True, True] Translation: X:89.21, Y:-13.72, Z:-1.82 [[ 9.83433821e-01 1.81056051e-01 8.75365403e-03 8.92084472e+01] [-1.81048202e-01 9.83472776e-01 -1.68755387e-03 -1.37220034e+01] [-8.91452227e-03 7.47642227e-05 9.99960262e-01 -1.82044809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.208623853 meters Centerline goodness [0,1] 0.9999785564180641 Centerline is valid? [True, True] Translation: X:89.24, Y:-13.72, Z:-1.83 [[ 9.81845260e-01 1.89495949e-01 8.43626110e-03 8.92372805e+01] [-1.89488972e-01 9.81881503e-01 -1.62609272e-03 -1.37196512e+01] [-8.59154671e-03 -2.00702264e-06 9.99963092e-01 -1.82811025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.238623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:89.27, Y:-13.72, Z:-1.83 [[ 9.81013533e-01 1.93757683e-01 8.39102614e-03 8.92666348e+01] [-1.93750942e-01 9.81049417e-01 -1.61675705e-03 -1.37196400e+01] [-8.54527040e-03 -3.97086709e-05 9.99963488e-01 -1.82873349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.26862385300001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:89.30, Y:-13.72, Z:-1.83 [[ 9.80176746e-01 1.97935172e-01 8.67264854e-03 8.92957898e+01] [-1.97928138e-01 9.80215110e-01 -1.67057548e-03 -1.37189368e+01] [-8.83172679e-03 -7.91019473e-05 9.99960996e-01 -1.82793243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.29862385300001 meters Centerline goodness [0,1] 0.9999354366633668 Centerline is valid? [True, True] Translation: X:89.32, Y:-13.72, Z:-1.83 [[ 9.79389224e-01 2.01781023e-01 9.00927005e-03 8.93249364e+01] [-2.01773599e-01 9.79430653e-01 -1.73495662e-03 -1.37195569e+01] [-9.17403657e-03 -1.18635032e-04 9.99957911e-01 -1.82701010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.32862385300001 meters Centerline goodness [0,1] 0.9997435568662649 Centerline is valid? [True, True] Translation: X:89.36, Y:-13.71, Z:-1.83 [[ 9.77868291e-01 2.09028531e-01 8.98216393e-03 8.93555794e+01] [-2.09021463e-01 9.77909525e-01 -1.72907974e-03 -1.37148303e+01] [-9.14517066e-03 -1.86652787e-04 9.99958165e-01 -1.82840173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.35862385300001 meters Centerline goodness [0,1] 0.999718687786722 Centerline is valid? [True, True] Translation: X:89.39, Y:-13.72, Z:-1.83 [[ 9.77279811e-01 2.11782359e-01 8.50897422e-03 8.93852326e+01] [-2.11776122e-01 9.77316833e-01 -1.63779785e-03 -1.37178641e+01] [-8.66282042e-03 -2.01410788e-04 9.99962457e-01 -1.82878375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.38862385300001 meters Centerline goodness [0,1] 0.9994827809146157 Centerline is valid? [True, True] Translation: X:89.42, Y:-13.72, Z:-1.83 [[ 9.76264392e-01 2.16436493e-01 7.94234629e-03 8.94155498e+01] [-2.16431215e-01 9.76296673e-01 -1.52845275e-03 -1.37161288e+01] [-8.08489921e-03 -2.26797667e-04 9.99967291e-01 -1.83060097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.418623853 meters Centerline goodness [0,1] 0.9993123159908023 Centerline is valid? [True, True] Translation: X:89.45, Y:-13.72, Z:-1.83 [[ 9.75856289e-01 2.18282247e-01 7.57383962e-03 8.94450811e+01] [-2.18277503e-01 9.75885653e-01 -1.45757121e-03 -1.37193759e+01] [-7.70936334e-03 -2.30818767e-04 9.99970256e-01 -1.83191004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.448623853 meters Centerline goodness [0,1] 0.9985307582564998 Centerline is valid? [True, True] Translation: X:89.47, Y:-13.72, Z:-1.83 [[ 9.75536943e-01 2.19707325e-01 7.50762184e-03 8.94735412e+01] [-2.19702704e-01 9.75565802e-01 -1.44500278e-03 -1.37167805e+01] [-7.64165682e-03 -2.39791228e-04 9.99970773e-01 -1.83416623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.478623853 meters Centerline goodness [0,1] 0.9985889596784538 Centerline is valid? [True, True] Translation: X:89.50, Y:-13.72, Z:-1.83 [[ 9.75057607e-01 2.21795827e-01 8.32310994e-03 8.95025582e+01] [-2.21790230e-01 9.75093088e-01 -1.60112597e-03 -1.37213085e+01] [-8.47093003e-03 -2.84794417e-04 9.99964080e-01 -1.83154436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.508623853 meters Centerline goodness [0,1] 0.9988247863247863 Centerline is valid? [True, True] Translation: X:89.53, Y:-13.73, Z:-1.83 [[ 9.74947558e-01 2.22265136e-01 8.68729617e-03 8.95308758e+01] [-2.22259051e-01 9.74986215e-01 -1.67197917e-03 -1.37253577e+01] [-8.84161668e-03 -3.00738194e-04 9.99960867e-01 -1.83126553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.538623853 meters Centerline goodness [0,1] 0.9987884295017416 Centerline is valid? [True, True] Translation: X:89.56, Y:-13.73, Z:-1.83 [[ 9.74902668e-01 2.22467182e-01 8.55218354e-03 8.95589437e+01] [-2.22461304e-01 9.74940133e-01 -1.64462913e-03 -1.37309221e+01] [-8.70374296e-03 -2.99176572e-04 9.99962077e-01 -1.82870876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.568623853 meters Centerline goodness [0,1] 0.9979242900858103 Centerline is valid? [True, True] Translation: X:89.59, Y:-13.73, Z:-1.83 [[ 9.75050206e-01 2.21809495e-01 8.81152629e-03 8.95871181e+01] [-2.21803251e-01 9.75089973e-01 -1.69197137e-03 -1.37313726e+01] [-8.96732624e-03 -3.04668141e-04 9.99959746e-01 -1.83305688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.598623853 meters Centerline goodness [0,1] 0.9985335685291055 Centerline is valid? [True, True] Translation: X:89.62, Y:-13.74, Z:-1.83 [[ 9.75294079e-01 2.20746313e-01 8.51614386e-03 8.96153588e+01] [-2.20740436e-01 9.75331218e-01 -1.63567570e-03 -1.37364787e+01] [-8.66713034e-03 -2.84592486e-04 9.99962399e-01 -1.83409572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.62862385300001 meters Centerline goodness [0,1] 0.9989002458274033 Centerline is valid? [True, True] Translation: X:89.64, Y:-13.74, Z:-1.83 [[ 9.75651042e-01 2.19170601e-01 8.32414588e-03 8.96429064e+01] [-2.19164949e-01 9.75686516e-01 -1.59644872e-03 -1.37426960e+01] [-8.47165152e-03 -2.66784147e-04 9.99964079e-01 -1.83489925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.65862385300001 meters Centerline goodness [0,1] 0.9994366441324319 Centerline is valid? [True, True] Translation: X:89.67, Y:-13.75, Z:-1.84 [[ 9.76611389e-01 2.14853793e-01 8.24879494e-03 8.96702426e+01] [-2.14848094e-01 9.76646198e-01 -1.58140747e-03 -1.37527009e+01] [-8.39592561e-03 -2.27817328e-04 9.99964728e-01 -1.83596338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.68862385300001 meters Centerline goodness [0,1] 0.9995498971193416 Centerline is valid? [True, True] Translation: X:89.70, Y:-13.76, Z:-1.84 [[ 9.77222813e-01 2.12052157e-01 8.33404693e-03 8.96983543e+01] [-2.12046230e-01 9.77258329e-01 -1.59869516e-03 -1.37616369e+01] [-8.48352353e-03 -2.04921846e-04 9.99963993e-01 -1.83646463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.71862385300001 meters Centerline goodness [0,1] 0.9998931920620341 Centerline is valid? [True, True] Translation: X:89.73, Y:-13.77, Z:-1.84 [[ 9.78590258e-01 2.05649063e-01 8.34090598e-03 8.97256668e+01] [-2.05642913e-01 9.78625792e-01 -1.59761578e-03 -1.37744611e+01] [-8.49117391e-03 -1.51836968e-04 9.99963938e-01 -1.83689254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.74862385300001 meters Centerline goodness [0,1] 0.9999358165208275 Centerline is valid? [True, True] Translation: X:89.75, Y:-13.79, Z:-1.84 [[ 9.79319466e-01 2.02160678e-01 8.02768547e-03 8.97526041e+01] [-2.02154864e-01 9.79352361e-01 -1.53768425e-03 -1.37857483e+01] [-8.17279201e-03 -1.16951548e-04 9.99966595e-01 -1.83683471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.77862385300001 meters Centerline goodness [0,1] 0.9999355780793678 Centerline is valid? [True, True] Translation: X:89.78, Y:-13.80, Z:-1.84 [[ 9.80063365e-01 1.98541945e-01 7.54304354e-03 8.97797075e+01] [-1.98536706e-01 9.80092388e-01 -1.44454636e-03 -1.37963227e+01] [-7.67968260e-03 -8.18240529e-05 9.99970507e-01 -1.83814962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.808623853 meters Centerline goodness [0,1] 0.9999353141575748 Centerline is valid? [True, True] Translation: X:89.81, Y:-13.81, Z:-1.84 [[ 9.80865249e-01 1.94554778e-01 7.19731157e-03 8.98072209e+01] [-1.94549904e-01 9.80891654e-01 -1.37803299e-03 -1.38073834e+01] [-7.32788575e-03 -4.85716008e-05 9.99973150e-01 -1.83885566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.838623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:89.83, Y:-13.82, Z:-1.84 [[ 9.82392571e-01 1.86698506e-01 6.96453848e-03 8.98334539e+01] [-1.86693746e-01 9.82417258e-01 -1.33316597e-03 -1.38243530e+01] [-7.09098288e-03 9.45656725e-06 9.99974859e-01 -1.83877503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.868623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:89.86, Y:-13.84, Z:-1.84 [[ 9.83081190e-01 1.83031358e-01 7.13418842e-03 8.98600457e+01] [-1.83026269e-01 9.83107075e-01 -1.36538383e-03 -1.38356415e+01] [-7.26357917e-03 3.65392740e-05 9.99973619e-01 -1.83997076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.898623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:89.89, Y:-13.85, Z:-1.84 [[ 9.84336036e-01 1.76130214e-01 7.79209047e-03 8.98864933e+01] [-1.76123932e-01 9.84366872e-01 -1.49059071e-03 -1.38512903e+01] [-7.93281379e-03 9.48685413e-05 9.99968530e-01 -1.83861126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.928623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:89.91, Y:-13.86, Z:-1.84 [[ 9.84855287e-01 1.73201213e-01 7.83605083e-03 8.99138071e+01] [-1.73194771e-01 9.84886453e-01 -1.49861026e-03 -1.38603576e+01] [-7.97718142e-03 1.18751209e-04 9.99968175e-01 -1.83820736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.958623853 meters Centerline goodness [0,1] 0.9999785283318661 Centerline is valid? [True, True] Translation: X:89.94, Y:-13.87, Z:-1.84 [[ 9.85325789e-01 1.70511014e-01 7.68657079e-03 8.99406922e+01] [-1.70504737e-01 9.85355761e-01 -1.46952900e-03 -1.38720004e+01] [-7.82457768e-03 1.37368086e-04 9.99969378e-01 -1.83978298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.988623853 meters Centerline goodness [0,1] 0.9999573688024896 Centerline is valid? [True, True] Translation: X:89.97, Y:-13.88, Z:-1.84 [[ 9.85932223e-01 1.66946997e-01 8.14569809e-03 8.99675453e+01] [-1.66939828e-01 9.85965856e-01 -1.55694827e-03 -1.38838336e+01] [-8.29130803e-03 1.75204027e-04 9.99965611e-01 -1.83872487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.01862385300001 meters Centerline goodness [0,1] 0.9999359672152142 Centerline is valid? [True, True] Translation: X:90.00, Y:-13.89, Z:-1.84 [[ 9.85991368e-01 1.66598756e-01 8.11642334e-03 8.99957159e+01] [-1.66591629e-01 9.86024758e-01 -1.55117455e-03 -1.38894155e+01] [-8.26141811e-03 1.77316533e-04 9.99965858e-01 -1.83843664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.04862385300001 meters Centerline goodness [0,1] 0.9999358851061102 Centerline is valid? [True, True] Translation: X:90.02, Y:-13.90, Z:-1.84 [[ 9.86000877e-01 1.66549860e-01 7.96333716e-03 9.00234335e+01] [-1.66543002e-01 9.86033019e-01 -1.52133403e-03 -1.38980302e+01] [-8.10549135e-03 1.73798610e-04 9.99967135e-01 -1.84008464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.07862385300001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.05, Y:-13.90, Z:-1.84 [[ 9.85734176e-01 1.68120417e-01 7.97864741e-03 9.00526938e+01] [-1.68113584e-01 9.85766453e-01 -1.52429768e-03 -1.38989673e+01] [-8.12134852e-03 1.61233302e-04 9.99967008e-01 -1.83824154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.10862385300001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.08, Y:-13.90, Z:-1.84 [[ 9.85549746e-01 1.69205330e-01 7.82656796e-03 9.00814602e+01] [-1.69198792e-01 9.85580811e-01 -1.49487382e-03 -1.39028348e+01] [-7.96665581e-03 1.49026668e-04 9.99968255e-01 -1.83871640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.13862385300001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.11, Y:-13.90, Z:-1.84 [[ 9.85080492e-01 1.71913422e-01 7.88666243e-03 9.01103558e+01] [-1.71906874e-01 9.85112054e-01 -1.50595242e-03 -1.39049240e+01] [-8.02813966e-03 1.27712873e-04 9.99967766e-01 -1.83943381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.168623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.14, Y:-13.91, Z:-1.84 [[ 9.85088666e-01 1.71866575e-01 7.88673387e-03 9.01382010e+01] [-1.71860028e-01 9.85120228e-01 -1.50557811e-03 -1.39101492e+01] [-8.02813962e-03 1.27713634e-04 9.99967766e-01 -1.83993344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.198623853 meters Centerline goodness [0,1] 0.9999787685774947 Centerline is valid? [True, True] Translation: X:90.17, Y:-13.91, Z:-1.84 [[ 9.84856323e-01 1.73195794e-01 7.82564388e-03 9.01660355e+01] [-1.73189392e-01 9.84887407e-01 -1.49366851e-03 -1.39145131e+01] [-7.96607521e-03 1.15730375e-04 9.99968264e-01 -1.84075813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.228623853 meters Centerline goodness [0,1] 0.9999784608094427 Centerline is valid? [True, True] Translation: X:90.19, Y:-13.92, Z:-1.84 [[ 9.84447694e-01 1.75499441e-01 7.91738069e-03 9.01945232e+01] [-1.75492967e-01 9.84479526e-01 -1.51052918e-03 -1.39171822e+01] [-8.05959621e-03 9.75923408e-05 9.99967516e-01 -1.84053304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.258623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.22, Y:-13.92, Z:-1.84 [[ 9.84208267e-01 1.76834645e-01 7.97465950e-03 9.02235926e+01] [-1.76828124e-01 9.84240571e-01 -1.52106492e-03 -1.39204124e+01] [-8.11796039e-03 8.69005870e-05 9.99967045e-01 -1.84120094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.288623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.25, Y:-13.92, Z:-1.84 [[ 9.84006606e-01 1.77970408e-01 7.58502767e-03 9.02508217e+01] [-1.77964545e-01 9.84035837e-01 -1.44653311e-03 -1.39242281e+01] [-7.72137914e-03 7.35321382e-05 9.99970187e-01 -1.84280356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.318623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.28, Y:-13.93, Z:-1.84 [[ 9.83773604e-01 1.79255372e-01 7.55035244e-03 9.02798034e+01] [-1.79249604e-01 9.83802576e-01 -1.43934575e-03 -1.39280861e+01] [-7.68606663e-03 6.25926686e-05 9.99970460e-01 -1.84360153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.348623853 meters Centerline goodness [0,1] 0.9997836013070481 Centerline is valid? [True, True] Translation: X:90.31, Y:-13.93, Z:-1.84 [[ 9.83195369e-01 1.82429893e-01 6.79703297e-03 9.03088596e+01] [-1.82425296e-01 9.83218863e-01 -1.29551131e-03 -1.39291152e+01] [-6.91931102e-03 3.37899697e-05 9.99976061e-01 -1.83594587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.37862385300001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.34, Y:-13.93, Z:-1.84 [[ 9.82843259e-01 1.84272699e-01 7.91843427e-03 9.03363099e+01] [-1.84266523e-01 9.82875156e-01 -1.50882857e-03 -1.39324568e+01] [-8.06086823e-03 2.38396317e-05 9.99967510e-01 -1.84282504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.40862385300001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.37, Y:-13.93, Z:-1.84 [[ 9.81980116e-01 1.88756937e-01 9.26659835e-03 9.03656898e+01] [-1.88748687e-01 9.82023838e-01 -1.76484844e-03 -1.39295792e+01] [-9.43314787e-03 -1.60122001e-05 9.99955507e-01 -1.84121560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.43862385300001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.40, Y:-13.93, Z:-1.84 [[ 9.81584362e-01 1.90788277e-01 9.59032638e-03 9.03950224e+01] [-1.90779543e-01 9.81631210e-01 -1.82601229e-03 -1.39314781e+01] [-9.76254543e-03 -3.72529768e-05 9.99952345e-01 -1.83981343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.46862385300001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.42, Y:-13.93, Z:-1.84 [[ 9.81226181e-01 1.92627591e-01 9.47594440e-03 9.04226810e+01] [-1.92619152e-01 9.81271934e-01 -1.80387481e-03 -1.39334705e+01] [-9.64595435e-03 -5.52391846e-05 9.99953475e-01 -1.84088983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.49862385300001 meters Centerline goodness [0,1] 0.9999783042610432 Centerline is valid? [True, True] Translation: X:90.45, Y:-13.94, Z:-1.84 [[ 9.80882233e-01 1.94397798e-01 8.91854555e-03 9.04514038e+01] [-1.94390402e-01 9.80922775e-01 -1.69718062e-03 -1.39356115e+01] [-9.07833262e-03 -6.89453395e-05 9.99958789e-01 -1.84219557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.52862385300001 meters Centerline goodness [0,1] 0.9999785871822873 Centerline is valid? [True, True] Translation: X:90.48, Y:-13.93, Z:-1.85 [[ 9.80326560e-01 1.97225791e-01 7.86281321e-03 9.04799442e+01] [-1.97220134e-01 9.80358088e-01 -1.49610572e-03 -1.39330896e+01] [-8.00344315e-03 -8.40329071e-05 9.99967968e-01 -1.84603659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.558623853 meters Centerline goodness [0,1] 0.9998930229572733 Centerline is valid? [True, True] Translation: X:90.51, Y:-13.93, Z:-1.85 [[ 9.80082220e-01 1.98458362e-01 7.28835530e-03 9.05086995e+01] [-1.98453540e-01 9.80109316e-01 -1.38630961e-03 -1.39349993e+01] [-7.41850966e-03 -8.77025103e-05 9.99972479e-01 -1.84781041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.588623853 meters Centerline goodness [0,1] 0.9999357326478149 Centerline is valid? [True, True] Translation: X:90.54, Y:-13.93, Z:-1.85 [[ 9.79813608e-01 1.99829040e-01 5.80078441e-03 9.05373143e+01] [-1.99826009e-01 9.79830776e-01 -1.10338711e-03 -1.39346921e+01] [-5.90427587e-03 -7.80338879e-05 9.99982567e-01 -1.85261600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.618623853 meters Centerline goodness [0,1] 0.9998925216568861 Centerline is valid? [True, True] Translation: X:90.57, Y:-13.94, Z:-1.85 [[ 9.79804900e-01 1.99879498e-01 5.52676024e-03 9.05660742e+01] [-1.99876750e-01 9.79820484e-01 -1.05083381e-03 -1.39395520e+01] [-5.62527302e-03 -7.50587528e-05 9.99984175e-01 -1.85301546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.648623853 meters Centerline goodness [0,1] 0.9999139451830816 Centerline is valid? [True, True] Translation: X:90.59, Y:-13.94, Z:-1.85 [[ 9.79884404e-01 1.99492251e-01 5.42187481e-03 9.05944607e+01] [-1.99489601e-01 9.79899401e-01 -1.03064985e-03 -1.39435633e+01] [-5.51849854e-03 -7.16899295e-05 9.99984770e-01 -1.85339096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.678623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.62, Y:-13.95, Z:-1.85 [[ 9.80266991e-01 1.97586095e-01 6.03004202e-03 9.06216488e+01] [-1.97582783e-01 9.80285535e-01 -1.14600803e-03 -1.39490351e+01] [-6.13759822e-03 -6.80386386e-05 9.99981162e-01 -1.85346034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.708623853 meters Centerline goodness [0,1] 0.9999569725915408 Centerline is valid? [True, True] Translation: X:90.65, Y:-13.96, Z:-1.85 [[ 9.80588706e-01 1.95973063e-01 6.35204313e-03 9.06496342e+01] [-1.95969358e-01 9.80609277e-01 -1.20663998e-03 -1.39562948e+01] [-6.46534135e-03 -6.15882783e-05 9.99979098e-01 -1.85352165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.738623853 meters Centerline goodness [0,1] 0.9999568742452993 Centerline is valid? [True, True] Translation: X:90.68, Y:-13.97, Z:-1.85 [[ 9.81421489e-01 1.91731251e-01 7.14055619e-03 9.06762830e+01] [-1.91726457e-01 9.81447465e-01 -1.35636915e-03 -1.39665505e+01] [-7.26813912e-03 -3.78637072e-05 9.99973586e-01 -1.85278596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.76862385300001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.70, Y:-13.97, Z:-1.85 [[ 9.81851160e-01 1.89518852e-01 7.13473155e-03 9.07036615e+01] [-1.89514015e-01 9.81877082e-01 -1.35426546e-03 -1.39743701e+01] [-7.26208823e-03 -2.24445080e-05 9.99973630e-01 -1.85332946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.79862385300001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.73, Y:-13.98, Z:-1.85 [[ 9.82284077e-01 1.87254147e-01 7.34002964e-03 9.07316750e+01] [-1.87248967e-01 9.82311501e-01 -1.39287035e-03 -1.39825361e+01] [-7.47101628e-03 -6.21859610e-06 9.99972092e-01 -1.85413054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.82862385300001 meters Centerline goodness [0,1] 0.9999352065830112 Centerline is valid? [True, True] Translation: X:90.76, Y:-13.99, Z:-1.86 [[ 9.82768358e-01 1.84707032e-01 7.04749053e-03 9.07586253e+01] [-1.84702190e-01 9.82793626e-01 -1.33743533e-03 -1.39909270e+01] [-7.17326248e-03 1.27021823e-05 9.99974272e-01 -1.85514197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.85862385300001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.78, Y:-14.01, Z:-1.86 [[ 9.83755787e-01 1.79394767e-01 6.48612452e-03 9.07847479e+01] [-1.79390555e-01 9.83777167e-01 -1.23020412e-03 -1.40050683e+01] [-6.60159339e-03 4.66709377e-05 9.99978208e-01 -1.85678317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.88862385300001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.81, Y:-14.02, Z:-1.86 [[ 9.84286555e-01 1.76459219e-01 6.49014462e-03 9.08122404e+01] [-1.76454941e-01 9.84307950e-01 -1.23046767e-03 -1.40157098e+01] [-6.60542831e-03 6.59146935e-05 9.99978182e-01 -1.85747908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.918623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.84, Y:-14.03, Z:-1.86 [[ 9.85229537e-01 1.71105633e-01 6.75440337e-03 9.08385676e+01] [-1.71100876e-01 9.85252684e-01 -1.28021897e-03 -1.40304472e+01] [-6.87384672e-03 1.05625207e-04 9.99976369e-01 -1.85719241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.948623853 meters Centerline goodness [0,1] 0.9999786320220517 Centerline is valid? [True, True] Translation: X:90.87, Y:-14.04, Z:-1.86 [[ 9.85634915e-01 1.68760823e-01 6.60299707e-03 9.08650015e+01] [-1.68756225e-01 9.85657025e-01 -1.25136528e-03 -1.40403754e+01] [-6.71947188e-03 1.19092451e-04 9.99977417e-01 -1.85804014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.978623853 meters Centerline goodness [0,1] 0.9998056281450446 Centerline is valid? [True, True] Translation: X:90.89, Y:-14.05, Z:-1.85 [[ 9.85960440e-01 1.66870467e-01 6.02144303e-03 9.08921844e+01] [-1.66866610e-01 9.85978820e-01 -1.14089285e-03 -1.40498846e+01] [-6.12739661e-03 1.20097431e-04 9.99981220e-01 -1.85143131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.008623853 meters Centerline goodness [0,1] 0.9998915024737436 Centerline is valid? [True, True] Translation: X:90.92, Y:-14.06, Z:-1.86 [[ 9.86582824e-01 1.63110485e-01 7.02154731e-03 9.09185069e+01] [-1.63105150e-01 9.86607795e-01 -1.32960009e-03 -1.40649956e+01] [-7.14438503e-03 1.66510079e-04 9.99974465e-01 -1.85800265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.038623853 meters Centerline goodness [0,1] 0.9997637659994846 Centerline is valid? [True, True] Translation: X:90.95, Y:-14.07, Z:-1.86 [[ 9.86776456e-01 1.61934524e-01 7.03102297e-03 9.09458339e+01] [-1.61929147e-01 9.86801489e-01 -1.33115413e-03 -1.40744001e+01] [-7.15378374e-03 1.75023998e-04 9.99974396e-01 -1.85884369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.068623853 meters Centerline goodness [0,1] 0.9998285799995714 Centerline is valid? [True, True] Translation: X:90.97, Y:-14.08, Z:-1.86 [[ 9.86948138e-01 1.60885792e-01 7.00963956e-03 9.09734250e+01] [-1.60880422e-01 9.86973013e-01 -1.32698795e-03 -1.40832580e+01] [-7.13181859e-03 1.81954514e-04 9.99974552e-01 -1.85903306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.098623853 meters Centerline goodness [0,1] 0.9995656234389593 Centerline is valid? [True, True] Translation: X:91.00, Y:-14.10, Z:-1.86 [[ 9.87133216e-01 1.59701654e-01 7.96216389e-03 9.10006130e+01] [-1.59694692e-01 9.87165303e-01 -1.50675137e-03 -1.40950560e+01] [-8.10060261e-03 2.15849016e-04 9.99967166e-01 -1.85792167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.12862385300001 meters Centerline goodness [0,1] 0.999698859969886 Centerline is valid? [True, True] Translation: X:91.03, Y:-14.10, Z:-1.86 [[ 9.87169998e-01 1.59450358e-01 8.42485207e-03 9.10289632e+01] [-1.59442558e-01 9.87205921e-01 -1.59390209e-03 -1.41029064e+01] [-8.57121211e-03 2.30172360e-04 9.99963240e-01 -1.85730916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.15862385300001 meters Centerline goodness [0,1] 0.9998064890666323 Centerline is valid? [True, True] Translation: X:91.06, Y:-14.11, Z:-1.86 [[ 9.87096014e-01 1.59930309e-01 7.98463918e-03 9.10565260e+01] [-1.59923319e-01 9.87128285e-01 -1.51056443e-03 -1.41117069e+01] [-8.12344821e-03 2.14142131e-04 9.99966981e-01 -1.85842617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.18862385300001 meters Centerline goodness [0,1] 0.9999141575637917 Centerline is valid? [True, True] Translation: X:91.09, Y:-14.11, Z:-1.86 [[ 9.87002812e-01 1.60505182e-01 7.97093748e-03 9.10866799e+01] [-1.60498237e-01 9.87034976e-01 -1.50762395e-03 -1.41139924e+01] [-8.10957554e-03 2.08707662e-04 9.99967095e-01 -1.85763584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.21862385300001 meters Centerline goodness [0,1] 0.999699034761485 Centerline is valid? [True, True] Translation: X:91.11, Y:-14.13, Z:-1.86 [[ 9.86826265e-01 1.61599092e-01 7.72369304e-03 9.11148132e+01] [-1.61592609e-01 9.86856472e-01 -1.46030550e-03 -1.41250274e+01] [-7.85816051e-03 1.92976116e-04 9.99969106e-01 -1.86036404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.24862385300001 meters Centerline goodness [0,1] 0.9999785715816316 Centerline is valid? [True, True] Translation: X:91.14, Y:-14.13, Z:-1.86 [[ 9.86331582e-01 1.64624340e-01 6.98839808e-03 9.11433483e+01] [-1.64619105e-01 9.86356327e-01 -1.32178175e-03 -1.41303882e+01] [-7.11064811e-03 1.53291248e-04 9.99974707e-01 -1.86172646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.27862385300001 meters Centerline goodness [0,1] 0.9998705892502804 Centerline is valid? [True, True] Translation: X:91.17, Y:-14.13, Z:-1.86 [[ 9.86047413e-01 1.66324831e-01 6.82272866e-03 9.11727824e+01] [-1.66319883e-01 9.86071007e-01 -1.29030916e-03 -1.41348841e+01] [-6.94230537e-03 1.37550579e-04 9.99975892e-01 -1.86271365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.308623853 meters Centerline goodness [0,1] 0.999978501096444 Centerline is valid? [True, True] Translation: X:91.20, Y:-14.14, Z:-1.86 [[ 9.85743142e-01 1.68139411e-01 6.29259085e-03 9.12014484e+01] [-1.68135238e-01 9.85763220e-01 -1.19018018e-03 -1.41392478e+01] [-6.40312081e-03 1.15205696e-04 9.99979493e-01 -1.86449252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.338623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.23, Y:-14.14, Z:-1.86 [[ 9.85106955e-01 1.71828389e-01 6.26838233e-03 9.12301791e+01] [-1.71824325e-01 9.85126894e-01 -1.18521706e-03 -1.41426207e+01] [-6.37880595e-03 9.05050084e-05 9.99979651e-01 -1.86474731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.368623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.26, Y:-14.14, Z:-1.86 [[ 9.84816541e-01 1.73467064e-01 6.74970357e-03 9.12602999e+01] [-1.73462392e-01 9.84839667e-01 -1.27615305e-03 -1.41406446e+01] [-6.86874634e-03 8.59569081e-05 9.99976406e-01 -1.85869868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.398623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.29, Y:-14.15, Z:-1.86 [[ 9.84232499e-01 1.76715142e-01 7.62532993e-03 9.12874450e+01] [-1.76709280e-01 9.84262035e-01 -1.44108959e-03 -1.41494227e+01] [-7.75998511e-03 7.09006484e-05 9.99969888e-01 -1.86241859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.428623853 meters Centerline goodness [0,1] 0.9999123249238323 Centerline is valid? [True, True] Translation: X:91.32, Y:-14.15, Z:-1.85 [[ 9.83865909e-01 1.78766460e-01 7.10109921e-03 9.13175437e+01] [-1.78761430e-01 9.83891534e-01 -1.34194041e-03 -1.41483045e+01] [-7.22660533e-03 5.08867754e-05 9.99973886e-01 -1.85147174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.458623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.34, Y:-14.15, Z:-1.86 [[ 9.83526706e-01 1.80606125e-01 7.52634127e-03 9.13444726e+01] [-1.80600531e-01 9.83555502e-01 -1.42198620e-03 -1.41533006e+01] [-7.65939378e-03 3.93001755e-05 9.99970666e-01 -1.85816743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.488623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.37, Y:-14.16, Z:-1.86 [[ 9.83129722e-01 1.82754303e-01 7.53747584e-03 9.13715875e+01] [-1.82748760e-01 9.83158616e-01 -1.42359309e-03 -1.41584679e+01] [-7.67070208e-03 2.21123232e-05 9.99970579e-01 -1.86442522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.51862385300001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.40, Y:-14.16, Z:-1.86 [[ 9.82487803e-01 1.86143512e-01 8.26492448e-03 9.14008857e+01] [-1.86136973e-01 9.82522566e-01 -1.56023693e-03 -1.41607137e+01] [-8.41090279e-03 -5.49427152e-06 9.99964628e-01 -1.85917927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.54862385300001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.43, Y:-14.17, Z:-1.86 [[ 9.82252839e-01 1.87366230e-01 8.55892331e-03 9.14288132e+01] [-1.87359267e-01 9.82290128e-01 -1.61539619e-03 -1.41651441e+01] [-8.71001657e-03 -1.68661048e-05 9.99962067e-01 -1.85942959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.57862385300001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.46, Y:-14.17, Z:-1.87 [[ 9.81849215e-01 1.89514736e-01 7.50226148e-03 9.14564069e+01] [-1.89509451e-01 9.81877876e-01 -1.41563572e-03 -1.41675260e+01] [-7.63458839e-03 -3.18086330e-05 9.99970856e-01 -1.86651555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.60862385300001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.48, Y:-14.18, Z:-1.86 [[ 9.81654894e-01 1.90540919e-01 6.91573589e-03 9.14846439e+01] [-1.90536457e-01 9.81679254e-01 -1.30452655e-03 -1.41753841e+01] [-7.03760013e-03 -3.71049431e-05 9.99975235e-01 -1.86148735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.63862385300001 meters Centerline goodness [0,1] 0.9999786539159391 Centerline is valid? [True, True] Translation: X:91.51, Y:-14.18, Z:-1.86 [[ 9.81410604e-01 1.91802686e-01 6.70488120e-03 9.15120128e+01] [-1.91798523e-01 9.81433506e-01 -1.26456945e-03 -1.41790488e+01] [-6.82294289e-03 -4.49244442e-05 9.99976722e-01 -1.86380052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.668623853 meters Centerline goodness [0,1] 0.9999568602920558 Centerline is valid? [True, True] Translation: X:91.54, Y:-14.18, Z:-1.87 [[ 9.80837094e-01 1.94721726e-01 6.48416564e-03 9.15403890e+01] [-1.94717898e-01 9.80858525e-01 -1.22254722e-03 -1.41800852e+01] [-6.59810564e-03 -6.34634418e-05 9.99978230e-01 -1.86549349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.698623853 meters Centerline goodness [0,1] 0.9999571743645747 Centerline is valid? [True, True] Translation: X:91.57, Y:-14.18, Z:-1.86 [[ 9.80401235e-01 1.96894978e-01 6.76647568e-03 9.15690709e+01] [-1.96890865e-01 9.80424582e-01 -1.27521056e-03 -1.41841844e+01] [-6.88510165e-03 -8.20392414e-05 9.99976294e-01 -1.86361652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.728623853 meters Centerline goodness [0,1] 0.9999351603700182 Centerline is valid? [True, True] Translation: X:91.60, Y:-14.18, Z:-1.86 [[ 9.79493472e-01 2.01352703e-01 7.04458774e-03 9.15987177e+01] [-2.01348364e-01 9.79518798e-01 -1.32725648e-03 -1.41840118e+01] [-7.16755279e-03 -1.18377153e-04 9.99974306e-01 -1.86263058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.758623853 meters Centerline goodness [0,1] 0.9999356154093787 Centerline is valid? [True, True] Translation: X:91.63, Y:-14.18, Z:-1.86 [[ 9.79002737e-01 2.03719309e-01 7.21696956e-03 9.16265170e+01] [-2.03714820e-01 9.79029327e-01 -1.35960763e-03 -1.41846801e+01] [-7.34260318e-03 -1.39144057e-04 9.99973033e-01 -1.86332941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.788623853 meters Centerline goodness [0,1] 0.9997644993470209 Centerline is valid? [True, True] Translation: X:91.66, Y:-14.19, Z:-1.86 [[ 9.78525612e-01 2.05993461e-01 7.37026356e-03 9.16552784e+01] [-2.05988850e-01 9.78553355e-01 -1.38766203e-03 -1.41866137e+01] [-7.49804544e-03 -1.60329274e-04 9.99971876e-01 -1.86309379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.818623853 meters Centerline goodness [0,1] 0.9995247969587006 Centerline is valid? [True, True] Translation: X:91.69, Y:-14.18, Z:-1.86 [[ 9.77693243e-01 2.09900645e-01 7.59228065e-03 9.16860430e+01] [-2.09895874e-01 9.77722701e-01 -1.42882590e-03 -1.41847819e+01] [-7.72305662e-03 -1.96634955e-04 9.99970157e-01 -1.86281562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.848623853 meters Centerline goodness [0,1] 0.9993104488546987 Centerline is valid? [True, True] Translation: X:91.71, Y:-14.19, Z:-1.86 [[ 9.77340501e-01 2.11536674e-01 7.60133496e-03 9.17147098e+01] [-2.11531941e-01 9.77370038e-01 -1.43058175e-03 -1.41865787e+01] [-7.73193755e-03 -2.09759657e-04 9.99970086e-01 -1.86298153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.87862385300001 meters Centerline goodness [0,1] 0.9989882682165536 Centerline is valid? [True, True] Translation: X:91.74, Y:-14.18, Z:-1.86 [[ 9.76778942e-01 2.14092660e-01 8.19944683e-03 9.17442828e+01] [-2.14087247e-01 9.76813325e-01 -1.54267692e-03 -1.41827099e+01] [-8.33960473e-03 -2.48542669e-04 9.99965194e-01 -1.86335914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.90862385300001 meters Centerline goodness [0,1] 0.9988255141045079 Centerline is valid? [True, True] Translation: X:91.77, Y:-14.18, Z:-1.86 [[ 9.76606154e-01 2.14879033e-01 8.21097420e-03 9.17728667e+01] [-2.14873636e-01 9.76640638e-01 -1.54442614e-03 -1.41846028e+01] [-8.35103588e-03 -2.56025806e-04 9.99965097e-01 -1.86359930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.93862385300001 meters Centerline goodness [0,1] 0.9991157504259495 Centerline is valid? [True, True] Translation: X:91.80, Y:-14.19, Z:-1.86 [[ 9.76536858e-01 2.15186038e-01 8.41034343e-03 9.18015936e+01] [-2.15180390e-01 9.76573038e-01 -1.58151926e-03 -1.41902845e+01] [-8.55363550e-03 -2.65329121e-04 9.99963382e-01 -1.86341834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.96862385300001 meters Centerline goodness [0,1] 0.9988271170537181 Centerline is valid? [True, True] Translation: X:91.83, Y:-14.19, Z:-1.87 [[ 9.76483388e-01 2.15432674e-01 8.30394450e-03 9.18303494e+01] [-2.15427179e-01 9.76518660e-01 -1.56122237e-03 -1.41886743e+01] [-8.44529507e-03 -2.64387625e-04 9.99964303e-01 -1.86519812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.99862385300001 meters Centerline goodness [0,1] 0.9989919138622568 Centerline is valid? [True, True] Translation: X:91.86, Y:-14.19, Z:-1.86 [[ 9.76450948e-01 2.15554116e-01 8.94253035e-03 9.18577407e+01] [-2.15547753e-01 9.76491854e-01 -1.68076415e-03 -1.41928899e+01] [-9.09460367e-03 -2.86358577e-04 9.99958602e-01 -1.86380059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.02862385300001 meters Centerline goodness [0,1] 0.998997995991984 Centerline is valid? [True, True] Translation: X:91.88, Y:-14.20, Z:-1.87 [[ 9.76536371e-01 2.15189334e-01 8.38255351e-03 9.18846643e+01] [-2.15183730e-01 9.76572312e-01 -1.57550065e-03 -1.41951317e+01] [-8.52520059e-03 -2.65255442e-04 9.99963625e-01 -1.86522675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.058623853 meters Centerline goodness [0,1] 0.998997995991984 Centerline is valid? [True, True] Translation: X:91.91, Y:-14.20, Z:-1.87 [[ 9.76551324e-01 2.15121455e-01 8.38284526e-03 9.19117201e+01] [-2.15115862e-01 9.76587266e-01 -1.57394628e-03 -1.42000759e+01] [-8.52516955e-03 -2.66243663e-04 9.99963625e-01 -1.86571183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.088623853 meters Centerline goodness [0,1] 0.9992196306251626 Centerline is valid? [True, True] Translation: X:91.94, Y:-14.21, Z:-1.87 [[ 9.76684400e-01 2.14549472e-01 7.49041472e-03 9.19399842e+01] [-2.14544994e-01 9.76713095e-01 -1.40576626e-03 -1.42054245e+01] [-7.61759255e-03 -2.34041006e-04 9.99970958e-01 -1.86681314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.118623853 meters Centerline goodness [0,1] 0.9992443542467291 Centerline is valid? [True, True] Translation: X:91.97, Y:-14.21, Z:-1.87 [[ 9.76718034e-01 2.14406536e-01 7.19168382e-03 9.19673981e+01] [-2.14402400e-01 9.76744484e-01 -1.35024888e-03 -1.42062163e+01] [-7.31393969e-03 -2.23101839e-04 9.99973228e-01 -1.86886061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.148623853 meters Centerline goodness [0,1] 0.9983961336127625 Centerline is valid? [True, True] Translation: X:92.00, Y:-14.21, Z:-1.86 [[ 9.76717708e-01 2.14432282e-01 6.42770618e-03 9.19963221e+01] [-2.14428988e-01 9.76738837e-01 -1.20536576e-03 -1.42054146e+01] [-6.53665959e-03 -2.00984450e-04 9.99978616e-01 -1.86352272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.178623853 meters Centerline goodness [0,1] 0.999198040618159 Centerline is valid? [True, True] Translation: X:92.02, Y:-14.21, Z:-1.87 [[ 9.76897912e-01 2.13582627e-01 7.27532911e-03 9.20235898e+01] [-2.13578389e-01 9.76924978e-01 -1.36362065e-03 -1.42141039e+01] [-7.39869641e-03 -2.21734905e-04 9.99972605e-01 -1.86901703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.208623853 meters Centerline goodness [0,1] 0.9987934975869952 Centerline is valid? [True, True] Translation: X:92.05, Y:-14.21, Z:-1.87 [[ 9.77171490e-01 2.12304685e-01 7.91199060e-03 9.20529313e+01] [-2.12299634e-01 9.77203493e-01 -1.48247041e-03 -1.42107800e+01] [-8.04636027e-03 -2.31084893e-04 9.99967601e-01 -1.86959662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.238623853 meters Centerline goodness [0,1] 0.9989148363573227 Centerline is valid? [True, True] Translation: X:92.08, Y:-14.21, Z:-1.87 [[ 9.77437942e-01 2.11075967e-01 7.87431258e-03 9.20820660e+01] [-2.11070920e-01 9.77469635e-01 -1.47598671e-03 -1.42142470e+01] [-8.00844677e-03 -2.19352986e-04 9.99967908e-01 -1.87027937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.26862385300001 meters Centerline goodness [0,1] 0.9992565213697001 Centerline is valid? [True, True] Translation: X:92.11, Y:-14.21, Z:-1.87 [[ 9.78001600e-01 2.08475133e-01 7.14070805e-03 9.21104969e+01] [-2.08470926e-01 9.78027651e-01 -1.33668377e-03 -1.42147185e+01] [-7.26247525e-03 -1.81351151e-04 9.99973611e-01 -1.87336276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.29862385300001 meters Centerline goodness [0,1] 0.9992739696775571 Centerline is valid? [True, True] Translation: X:92.14, Y:-14.22, Z:-1.87 [[ 9.78321113e-01 2.06973633e-01 7.05088134e-03 9.21380770e+01] [-2.06969497e-01 9.78346507e-01 -1.31935867e-03 -1.42224794e+01] [-7.17127759e-03 -1.68560914e-04 9.99974272e-01 -1.87335012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.32862385300001 meters Centerline goodness [0,1] 0.9995717069619033 Centerline is valid? [True, True] Translation: X:92.17, Y:-14.23, Z:-1.87 [[ 9.78678689e-01 2.05277548e-01 7.01090295e-03 9.21657533e+01] [-2.05273417e-01 9.78703788e-01 -1.31156345e-03 -1.42298021e+01] [-7.13083180e-03 -1.55552810e-04 9.99974563e-01 -1.87329253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.35862385300001 meters Centerline goodness [0,1] 0.9996389815031111 Centerline is valid? [True, True] Translation: X:92.19, Y:-14.23, Z:-1.87 [[ 9.79176334e-01 2.02887870e-01 7.08653737e-03 9.21941270e+01] [-2.02883590e-01 9.79201967e-01 -1.32535785e-03 -1.42322851e+01] [-7.20805037e-03 -1.39983097e-04 9.99974012e-01 -1.87339098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.38862385300001 meters Centerline goodness [0,1] 0.9996564754379939 Centerline is valid? [True, True] Translation: X:92.22, Y:-14.23, Z:-1.87 [[ 9.79387213e-01 2.01865081e-01 7.15380148e-03 9.22215758e+01] [-2.01860693e-01 9.79413330e-01 -1.33769570e-03 -1.42346993e+01] [-7.27656258e-03 -1.33949259e-04 9.99973516e-01 -1.87416720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.418623853 meters Centerline goodness [0,1] 0.999765982342304 Centerline is valid? [True, True] Translation: X:92.25, Y:-14.24, Z:-1.88 [[ 9.79614888e-01 2.00774203e-01 6.66257839e-03 9.22504162e+01] [-2.00770375e-01 9.79637538e-01 -1.24538748e-03 -1.42359163e+01] [-6.77695357e-03 -1.17648238e-04 9.99977029e-01 -1.87501860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.448623853 meters Centerline goodness [0,1] 0.9997210539867822 Centerline is valid? [True, True] Translation: X:92.28, Y:-14.24, Z:-1.88 [[ 9.79744374e-01 2.00141037e-01 6.67281966e-03 9.22784842e+01] [-2.00137184e-01 9.79767091e-01 -1.24710953e-03 -1.42378848e+01] [-6.78740690e-03 -1.13630784e-04 9.99976959e-01 -1.87721126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.478623853 meters Centerline goodness [0,1] 0.9995729780510718 Centerline is valid? [True, True] Translation: X:92.31, Y:-14.24, Z:-1.87 [[ 9.79831789e-01 1.99731650e-01 6.07719478e-03 9.23063757e+01] [-1.99728447e-01 9.79850630e-01 -1.13568519e-03 -1.42439320e+01] [-6.18157542e-03 -1.01008221e-04 9.99980889e-01 -1.87099545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.508623853 meters Centerline goodness [0,1] 0.999765173024785 Centerline is valid? [True, True] Translation: X:92.33, Y:-14.25, Z:-1.88 [[ 9.80096204e-01 1.98413544e-01 6.59522321e-03 9.23344998e+01] [-1.98409739e-01 9.80118389e-01 -1.23294251e-03 -1.42480037e+01] [-6.70873204e-03 -1.00154238e-04 9.99977491e-01 -1.87663516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.538623853 meters Centerline goodness [0,1] 0.9995289482699554 Centerline is valid? [True, True] Translation: X:92.36, Y:-14.25, Z:-1.87 [[ 9.80518206e-01 1.96327154e-01 6.30043571e-03 9.23630069e+01] [-1.96323652e-01 9.80538445e-01 -1.17558337e-03 -1.42517096e+01] [-6.40861837e-03 -8.42436551e-05 9.99979461e-01 -1.86986181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.568623853 meters Centerline goodness [0,1] 0.9999570317535341 Centerline is valid? [True, True] Translation: X:92.39, Y:-14.26, Z:-1.88 [[ 9.80878278e-01 1.94517478e-01 6.38391894e-03 9.23900948e+01] [-1.94513844e-01 9.80899049e-01 -1.19129139e-03 -1.42570260e+01] [-6.49370701e-03 -7.32487692e-05 9.99978913e-01 -1.87772563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.598623853 meters Centerline goodness [0,1] 0.9998699525326744 Centerline is valid? [True, True] Translation: X:92.42, Y:-14.26, Z:-1.88 [[ 9.81633264e-01 1.90680151e-01 6.10045282e-03 9.24183959e+01] [-1.90676764e-01 9.81652218e-01 -1.13744304e-03 -1.42622945e+01] [-6.20541085e-03 -4.66626782e-05 9.99980745e-01 -1.87768766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.62862385300001 meters Centerline goodness [0,1] 0.9999571192727429 Centerline is valid? [True, True] Translation: X:92.45, Y:-14.27, Z:-1.88 [[ 9.82023914e-01 1.88653485e-01 6.23650236e-03 9.24456037e+01] [-1.88649906e-01 9.82043717e-01 -1.16261237e-03 -1.42673611e+01] [-6.34384883e-03 -3.48024338e-05 9.99979877e-01 -1.87835296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.65862385300001 meters Centerline goodness [0,1] 0.9998054432650944 Centerline is valid? [True, True] Translation: X:92.47, Y:-14.27, Z:-1.87 [[ 9.82488882e-01 1.86227436e-01 5.91093017e-03 9.24727436e+01] [-1.86224179e-01 9.82506662e-01 -1.10160523e-03 -1.42743575e+01] [-6.01267739e-03 -1.84432237e-05 9.99981924e-01 -1.87390050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.68862385300001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.50, Y:-14.29, Z:-1.88 [[ 9.83450747e-01 1.81042095e-01 6.95607871e-03 9.24999825e+01] [-1.81037460e-01 9.83475348e-01 -1.29565278e-03 -1.42854401e+01] [-7.07569962e-03 1.48998786e-05 9.99974967e-01 -1.87757568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.71862385300001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.53, Y:-14.29, Z:-1.88 [[ 9.83893776e-01 1.78603823e-01 7.32880102e-03 9.25272874e+01] [-1.78598611e-01 9.83921071e-01 -1.36478331e-03 -1.42925000e+01] [-7.45471726e-03 3.38881161e-05 9.99972213e-01 -1.87803602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.74862385300001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.55, Y:-14.30, Z:-1.88 [[ 9.84282699e-01 1.76437889e-01 7.56569378e-03 9.25540021e+01] [-1.76432275e-01 9.84311774e-01 -1.40838038e-03 -1.42994857e+01] [-7.69549313e-03 5.14118755e-05 9.99970388e-01 -1.87833796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.77862385300001 meters Centerline goodness [0,1] 0.9998919269426132 Centerline is valid? [True, True] Translation: X:92.58, Y:-14.31, Z:-1.87 [[ 9.84996319e-01 1.72427463e-01 7.14294858e-03 9.25816025e+01] [-1.72422356e-01 9.85022215e-01 -1.32932771e-03 -1.43070624e+01] [-7.26517564e-03 7.77788818e-05 9.99973605e-01 -1.87202832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.808623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.61, Y:-14.31, Z:-1.88 [[ 9.85335029e-01 1.70461717e-01 7.59502333e-03 9.26086883e+01] [-1.70455889e-01 9.85364295e-01 -1.41293060e-03 -1.43144913e+01] [-7.72471539e-03 9.75935608e-05 9.99970159e-01 -1.87872380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.838623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.64, Y:-14.32, Z:-1.88 [[ 9.85786976e-01 1.67837634e-01 7.38697321e-03 9.26367985e+01] [-1.67832051e-01 9.85814646e-01 -1.37369049e-03 -1.43221896e+01] [-7.51274334e-03 1.14395335e-04 9.99971772e-01 -1.87929258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.868623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.67, Y:-14.33, Z:-1.88 [[ 9.85959931e-01 1.66832715e-01 7.06117007e-03 9.26651077e+01] [-1.66827591e-01 9.85985209e-01 -1.31282438e-03 -1.43269077e+01] [-7.18123130e-03 1.16394246e-04 9.99974208e-01 -1.87895742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.898623853 meters Centerline goodness [0,1] 0.9999569058392588 Centerline is valid? [True, True] Translation: X:92.69, Y:-14.33, Z:-1.88 [[ 9.86154059e-01 1.65692762e-01 6.78826442e-03 9.26914970e+01] [-1.65687999e-01 9.86177415e-01 -1.26196690e-03 -1.43341023e+01] [-6.90353184e-03 1.19759826e-04 9.99976163e-01 -1.88045095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.928623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.72, Y:-14.34, Z:-1.88 [[ 9.86424328e-01 1.64079588e-01 6.70332408e-03 9.27188618e+01] [-1.64074910e-01 9.86447095e-01 -1.24567161e-03 -1.43416183e+01] [-6.81686386e-03 1.28913488e-04 9.99976757e-01 -1.88148938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.958623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.75, Y:-14.35, Z:-1.88 [[ 9.86543914e-01 1.63373178e-01 6.34910214e-03 9.27455676e+01] [-1.63368969e-01 9.86564336e-01 -1.17951443e-03 -1.43477707e+01] [-6.45649876e-03 1.26396508e-04 9.99979149e-01 -1.88226723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.988623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.77, Y:-14.36, Z:-1.88 [[ 9.86710497e-01 1.62339197e-01 6.95557176e-03 9.27721135e+01] [-1.62334122e-01 9.86735002e-01 -1.29181162e-03 -1.43570004e+01] [-7.07301777e-03 1.45517455e-04 9.99974975e-01 -1.88281677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.01862385300001 meters Centerline goodness [0,1] 0.9999785251041532 Centerline is valid? [True, True] Translation: X:92.80, Y:-14.36, Z:-1.88 [[ 9.86763967e-01 1.61995454e-01 7.37202135e-03 9.28002704e+01] [-1.61989750e-01 9.86791492e-01 -1.36825805e-03 -1.43616278e+01] [-7.49629953e-03 1.55955846e-04 9.99971890e-01 -1.88174581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.04862385300001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.83, Y:-14.37, Z:-1.88 [[ 9.86872417e-01 1.61329342e-01 7.46168471e-03 9.28282659e+01] [-1.61323481e-01 9.86900611e-01 -1.38482202e-03 -1.43662344e+01] [-7.58735362e-03 1.62897702e-04 9.99971202e-01 -1.88090222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.07862385300001 meters Centerline goodness [0,1] 0.9999574486192077 Centerline is valid? [True, True] Translation: X:92.86, Y:-14.37, Z:-1.88 [[ 9.87084482e-01 1.60013194e-01 7.74612000e-03 9.28552834e+01] [-1.60006843e-01 9.87114859e-01 -1.43681854e-03 -1.43748639e+01] [-7.87622008e-03 1.78829075e-04 9.99968966e-01 -1.88115447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.10862385300001 meters Centerline goodness [0,1] 0.9999568547082299 Centerline is valid? [True, True] Translation: X:92.88, Y:-14.38, Z:-1.88 [[ 9.87199766e-01 1.59297319e-01 7.80935557e-03 9.28834469e+01] [-1.59290847e-01 9.87230637e-01 -1.44795218e-03 -1.43820543e+01] [-7.94028998e-03 1.85459189e-04 9.99968458e-01 -1.88163625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.13862385300001 meters Centerline goodness [0,1] 0.9998272846995834 Centerline is valid? [True, True] Translation: X:92.91, Y:-14.39, Z:-1.88 [[ 9.87290080e-01 1.58761179e-01 7.29280558e-03 9.29111924e+01] [-1.58755522e-01 9.87316999e-01 -1.35188334e-03 -1.43889836e+01] [-7.41493751e-03 1.76927855e-04 9.99972493e-01 -1.87622938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.168623853 meters Centerline goodness [0,1] 0.9998925054822204 Centerline is valid? [True, True] Translation: X:92.94, Y:-14.40, Z:-1.88 [[ 9.87448908e-01 1.57768445e-01 7.33294536e-03 9.29385751e+01] [-1.57762700e-01 9.87476118e-01 -1.35896880e-03 -1.43979414e+01] [-7.45551081e-03 1.85046991e-04 9.99972190e-01 -1.87565744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.198623853 meters Centerline goodness [0,1] 0.9999784608094427 Centerline is valid? [True, True] Translation: X:92.96, Y:-14.41, Z:-1.88 [[ 9.87581924e-01 1.56888984e-01 8.23352207e-03 9.29646515e+01] [-1.56881716e-01 9.87616221e-01 -1.52532457e-03 -1.44066215e+01] [-8.37086658e-03 2.14693896e-04 9.99964941e-01 -1.88293232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.228623853 meters Centerline goodness [0,1] 0.9999351197041458 Centerline is valid? [True, True] Translation: X:92.99, Y:-14.41, Z:-1.88 [[ 9.87670200e-01 1.56319770e-01 8.46794864e-03 9.29919733e+01] [-1.56312063e-01 9.87706474e-01 -1.56854499e-03 -1.44148969e+01] [-8.60904229e-03 2.25562617e-04 9.99962916e-01 -1.88273779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.258623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.02, Y:-14.42, Z:-1.88 [[ 9.87672680e-01 1.56324784e-01 8.07708541e-03 9.30200663e+01] [-1.56317777e-01 9.87705683e-01 -1.49548339e-03 -1.44223894e+01] [-8.21156428e-03 2.14456044e-04 9.99966262e-01 -1.88421796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.288623853 meters Centerline goodness [0,1] 0.9999135658412205 Centerline is valid? [True, True] Translation: X:93.05, Y:-14.43, Z:-1.89 [[ 9.87683142e-01 1.56279660e-01 7.66017158e-03 9.30482215e+01] [-1.56273358e-01 9.87712826e-01 -1.41816740e-03 -1.44283732e+01] [-7.78768044e-03 2.03619296e-04 9.99969655e-01 -1.88547350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.318623853 meters Centerline goodness [0,1] 0.9999352750809062 Centerline is valid? [True, True] Translation: X:93.08, Y:-14.44, Z:-1.89 [[ 9.87653471e-01 1.56483328e-01 7.32043884e-03 9.30759421e+01] [-1.56477581e-01 9.87680581e-01 -1.35496532e-03 -1.44350331e+01] [-7.44228478e-03 1.92751645e-04 9.99972287e-01 -1.88637935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.348623853 meters Centerline goodness [0,1] 0.999956742727371 Centerline is valid? [True, True] Translation: X:93.10, Y:-14.44, Z:-1.89 [[ 9.87637825e-01 1.56592011e-01 7.10419260e-03 9.31024506e+01] [-1.56586602e-01 9.87663357e-01 -1.31479101e-03 -1.44422540e+01] [-7.22243648e-03 1.86115957e-04 9.99973901e-01 -1.88717422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.37862385300001 meters Centerline goodness [0,1] 0.9999141980737467 Centerline is valid? [True, True] Translation: X:93.13, Y:-14.45, Z:-1.89 [[ 9.87550064e-01 1.57150947e-01 6.96070813e-03 9.31290046e+01] [-1.57145773e-01 9.87574579e-01 -1.28751317e-03 -1.44543483e+01] [-7.07655231e-03 1.77637851e-04 9.99974945e-01 -1.88948597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.40862385300001 meters Centerline goodness [0,1] 0.9998715753424657 Centerline is valid? [True, True] Translation: X:93.16, Y:-14.46, Z:-1.89 [[ 9.87521230e-01 1.57318781e-01 7.25405920e-03 9.31554292e+01] [-1.57313167e-01 9.87547856e-01 -1.34171233e-03 -1.44625513e+01] [-7.37480716e-03 1.83810389e-04 9.99972789e-01 -1.88947240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.43862385300001 meters Centerline goodness [0,1] 0.9999786196869922 Centerline is valid? [True, True] Translation: X:93.18, Y:-14.47, Z:-1.89 [[ 9.87511735e-01 1.57375637e-01 7.31319544e-03 9.31820806e+01] [-1.57369936e-01 9.87538797e-01 -1.35221142e-03 -1.44709177e+01] [-7.43486936e-03 1.84447544e-04 9.99972344e-01 -1.88963186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.46862385300001 meters Centerline goodness [0,1] 0.9998721990287126 Centerline is valid? [True, True] Translation: X:93.21, Y:-14.48, Z:-1.89 [[ 9.87378630e-01 1.58203226e-01 7.42832663e-03 9.32082321e+01] [-1.58197371e-01 9.87406556e-01 -1.37305717e-03 -1.44809709e+01] [-7.55200049e-03 1.80585569e-04 9.99971467e-01 -1.89019894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.49862385300001 meters Centerline goodness [0,1] 0.9998933469849193 Centerline is valid? [True, True] Translation: X:93.24, Y:-14.49, Z:-1.89 [[ 9.87300028e-01 1.58708519e-01 7.08952412e-03 9.32361381e+01] [-1.58703199e-01 9.87325467e-01 -1.31025715e-03 -1.44878821e+01] [-7.20761668e-03 1.68486762e-04 9.99974011e-01 -1.89060189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.52862385300001 meters Centerline goodness [0,1] 0.9999784594175426 Centerline is valid? [True, True] Translation: X:93.26, Y:-14.49, Z:-1.89 [[ 9.87144333e-01 1.59682040e-01 6.90736584e-03 9.32641695e+01] [-1.59677020e-01 9.87168487e-01 -1.27582198e-03 -1.44940134e+01] [-7.02245974e-03 1.56472841e-04 9.99975330e-01 -1.89157493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.558623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.29, Y:-14.50, Z:-1.89 [[ 9.86598360e-01 1.63038551e-01 6.48894539e-03 9.32916956e+01] [-1.63034194e-01 9.86619691e-01 -1.19840718e-03 -1.44989068e+01] [-6.59750786e-03 1.24426574e-04 9.99978228e-01 -1.89274087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.588623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.32, Y:-14.50, Z:-1.89 [[ 9.86201936e-01 1.65420084e-01 6.47595412e-03 9.33213308e+01] [-1.65415800e-01 9.86223192e-01 -1.19542687e-03 -1.44998183e+01] [-6.58448376e-03 1.07707164e-04 9.99978316e-01 -1.89157879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.618623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.35, Y:-14.50, Z:-1.89 [[ 9.85200566e-01 1.71284680e-01 6.43446182e-03 9.33512698e+01] [-1.71280579e-01 9.85221576e-01 -1.18728159e-03 -1.45006194e+01] [-6.54273376e-03 6.76121527e-05 9.99978594e-01 -1.89169549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.648623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.38, Y:-14.50, Z:-1.89 [[ 9.84596929e-01 1.74712293e-01 6.67103870e-03 9.33803430e+01] [-1.74707961e-01 9.84619527e-01 -1.23123303e-03 -1.45020217e+01] [-6.78354651e-03 4.67846944e-05 9.99976990e-01 -1.89150836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.678623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.41, Y:-14.50, Z:-1.89 [[ 9.83964833e-01 1.78224954e-01 7.00524771e-03 9.34080752e+01] [-1.78220268e-01 9.83989769e-01 -1.29265762e-03 -1.45035172e+01] [-7.12347592e-03 2.34525148e-05 9.99974627e-01 -1.89466303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.708623853 meters Centerline goodness [0,1] 0.9999783638763279 Centerline is valid? [True, True] Translation: X:93.44, Y:-14.50, Z:-1.89 [[ 9.83281427e-01 1.81959804e-01 6.94727556e-03 9.34371788e+01] [-1.81955292e-01 9.83305970e-01 -1.28142779e-03 -1.45035633e+01] [-7.06446588e-03 -4.08940484e-06 9.99975046e-01 -1.89268914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.738623853 meters Centerline goodness [0,1] 0.9999359795134443 Centerline is valid? [True, True] Translation: X:93.47, Y:-14.50, Z:-1.89 [[ 9.81981908e-01 1.88858194e-01 6.64189443e-03 9.34655135e+01] [-1.88854228e-01 9.82004369e-01 -1.22507140e-03 -1.45004620e+01] [-6.75373412e-03 -5.13518897e-05 9.99977192e-01 -1.89371325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.76862385300001 meters Centerline goodness [0,1] 0.999828833069451 Centerline is valid? [True, True] Translation: X:93.49, Y:-14.50, Z:-1.89 [[ 9.81343582e-01 1.92141436e-01 6.81491601e-03 9.34940135e+01] [-1.92137344e-01 9.81367242e-01 -1.25633043e-03 -1.45002473e+01] [-6.92932846e-03 -7.65080527e-05 9.99975989e-01 -1.89405343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.79862385300001 meters Centerline goodness [0,1] 0.9997463806403889 Centerline is valid? [True, True] Translation: X:93.52, Y:-14.49, Z:-1.89 [[ 9.80134663e-01 1.98187688e-01 7.59487186e-03 9.35243761e+01] [-1.98182792e-01 9.80164079e-01 -1.39942607e-03 -1.44914160e+01] [-7.72156960e-03 -1.33546910e-04 9.99970179e-01 -1.89488191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.82862385300001 meters Centerline goodness [0,1] 0.9993778159193306 Centerline is valid? [True, True] Translation: X:93.55, Y:-14.50, Z:-1.89 [[ 9.79630895e-01 2.00661151e-01 7.64272008e-03 9.35526552e+01] [-2.00656271e-01 9.79660696e-01 -1.40787407e-03 -1.44959688e+01] [-7.76977811e-03 -1.54362781e-04 9.99969803e-01 -1.88751257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.85862385300001 meters Centerline goodness [0,1] 0.9997648467228184 Centerline is valid? [True, True] Translation: X:93.58, Y:-14.50, Z:-1.89 [[ 9.79203585e-01 2.02719787e-01 8.06396720e-03 9.35818506e+01] [-2.02714428e-01 9.79236772e-01 -1.48504631e-03 -1.44975163e+01] [-8.19758149e-03 -1.80519823e-04 9.99966383e-01 -1.89287955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.88862385300001 meters Centerline goodness [0,1] 0.9994029850746269 Centerline is valid? [True, True] Translation: X:93.61, Y:-14.50, Z:-1.89 [[ 9.78370203e-01 2.06688620e-01 8.45936611e-03 9.36116914e+01] [-2.06682876e-01 9.78406748e-01 -1.55733376e-03 -1.44965702e+01] [-8.59858405e-03 -2.24757169e-04 9.99963006e-01 -1.89124238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.91862385300001 meters Centerline goodness [0,1] 0.9991218864449252 Centerline is valid? [True, True] Translation: X:93.64, Y:-14.49, Z:-1.89 [[ 9.78037542e-01 2.08278530e-01 7.91328978e-03 9.36407413e+01] [-2.08273555e-01 9.78069529e-01 -1.45677769e-03 -1.44939496e+01] [-8.04316313e-03 -2.23345718e-04 9.99967628e-01 -1.89376550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.948623853 meters Centerline goodness [0,1] 0.9991218864449252 Centerline is valid? [True, True] Translation: X:93.67, Y:-14.50, Z:-1.89 [[ 9.78051454e-01 2.08213190e-01 7.91335764e-03 9.36678121e+01] [-2.08208216e-01 9.78083441e-01 -1.45640896e-03 -1.44987893e+01] [-8.04316762e-03 -2.23183169e-04 9.99967628e-01 -1.89425052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.978623853 meters Centerline goodness [0,1] 0.9989871126244558 Centerline is valid? [True, True] Translation: X:93.70, Y:-14.50, Z:-1.90 [[ 9.77815691e-01 2.09334602e-01 7.44970339e-03 9.36968481e+01] [-2.09330222e-01 9.77844045e-01 -1.37153672e-03 -1.45000726e+01] [-7.57175819e-03 -2.18337944e-04 9.99971310e-01 -1.89587696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.008623853 meters Centerline goodness [0,1] 0.9989955977262042 Centerline is valid? [True, True] Translation: X:93.73, Y:-14.50, Z:-1.90 [[ 9.77479915e-01 2.10893505e-01 7.54621669e-03 9.37253815e+01] [-2.10889067e-01 9.77509015e-01 -1.38811194e-03 -1.45025133e+01] [-7.66923863e-03 -2.34563056e-04 9.99970563e-01 -1.89518551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.038623853 meters Centerline goodness [0,1] 0.9987127778254526 Centerline is valid? [True, True] Translation: X:93.75, Y:-14.50, Z:-1.90 [[ 9.77416206e-01 2.11191717e-01 7.45780738e-03 9.37542217e+01] [-2.11187400e-01 9.77444629e-01 -1.37063904e-03 -1.45045859e+01] [-7.57906138e-03 -2.35310145e-04 9.99971251e-01 -1.89529460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.068623853 meters Centerline goodness [0,1] 0.9989781581300293 Centerline is valid? [True, True] Translation: X:93.78, Y:-14.50, Z:-1.89 [[ 9.77416008e-01 2.11168336e-01 8.11676671e-03 9.37825926e+01] [-2.11163244e-01 9.77449675e-01 -1.48916247e-03 -1.45032860e+01] [-8.24819495e-03 -2.58431549e-04 9.99965950e-01 -1.89482019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.098623853 meters Centerline goodness [0,1] 0.9991360877734822 Centerline is valid? [True, True] Translation: X:93.81, Y:-14.51, Z:-1.89 [[ 9.77505287e-01 2.10740152e-01 8.48542192e-03 9.38110333e+01] [-2.10734566e-01 9.77542080e-01 -1.55722186e-03 -1.45080673e+01] [-8.62302616e-03 -2.65979109e-04 9.99962786e-01 -1.89417549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.12862385300001 meters Centerline goodness [0,1] 0.9988070638859894 Centerline is valid? [True, True] Translation: X:93.84, Y:-14.50, Z:-1.90 [[ 9.77781107e-01 2.09438579e-01 8.92125977e-03 9.38405838e+01] [-2.09432374e-01 9.77821767e-01 -1.63464773e-03 -1.45019502e+01] [-9.06576029e-03 -2.70072943e-04 9.99958869e-01 -1.89516433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.15862385300001 meters Centerline goodness [0,1] 0.9987531708155982 Centerline is valid? [True, True] Translation: X:93.87, Y:-14.50, Z:-1.90 [[ 9.77984329e-01 2.08503944e-01 8.52979314e-03 9.38679975e+01] [-2.08498240e-01 9.78021494e-01 -1.56242514e-03 -1.45041715e+01] [-8.66809283e-03 -2.50419552e-04 9.99962400e-01 -1.89677666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.18862385300001 meters Centerline goodness [0,1] 0.9987431298197776 Centerline is valid? [True, True] Translation: X:93.90, Y:-14.51, Z:-1.90 [[ 9.78265603e-01 2.07203126e-01 7.95459560e-03 9.38965123e+01] [-2.07198118e-01 9.78297917e-01 -1.45762702e-03 -1.45082895e+01] [-8.08398918e-03 -2.22230864e-04 9.99967299e-01 -1.89877166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.21862385300001 meters Centerline goodness [0,1] 0.9992911914427476 Centerline is valid? [True, True] Translation: X:93.92, Y:-14.52, Z:-1.90 [[ 9.78895918e-01 2.04231370e-01 7.23397469e-03 9.39245080e+01] [-2.04227159e-01 9.78922630e-01 -1.32391906e-03 -1.45188940e+01] [-7.35188733e-03 -1.81395139e-04 9.99972958e-01 -1.89529232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.24862385300001 meters Centerline goodness [0,1] 0.9996130030959752 Centerline is valid? [True, True] Translation: X:93.95, Y:-14.52, Z:-1.90 [[ 9.79264719e-01 2.02458128e-01 7.16351339e-03 9.39532765e+01] [-2.02453955e-01 9.79290906e-01 -1.31057096e-03 -1.45245657e+01] [-7.28049926e-03 -1.66885710e-04 9.99973483e-01 -1.89883147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.27862385300001 meters Centerline goodness [0,1] 0.9996786770061266 Centerline is valid? [True, True] Translation: X:93.98, Y:-14.53, Z:-1.90 [[ 9.80043720e-01 1.98678740e-01 6.40817436e-03 9.39815688e+01] [-1.98675325e-01 9.80064663e-01 -1.17153887e-03 -1.45259217e+01] [-6.51318511e-03 -1.24986808e-04 9.99978781e-01 -1.90044765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.308623853 meters Centerline goodness [0,1] 0.9998294424901396 Centerline is valid? [True, True] Translation: X:94.01, Y:-14.53, Z:-1.90 [[ 9.80594823e-01 1.95932668e-01 6.64702261e-03 9.40097913e+01] [-1.95928925e-01 9.80617345e-01 -1.21607952e-03 -1.45310911e+01] [-6.75645537e-03 -1.09862708e-04 9.99977169e-01 -1.90086198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.338623853 meters Centerline goodness [0,1] 0.9997650225364749 Centerline is valid? [True, True] Translation: X:94.04, Y:-14.54, Z:-1.90 [[ 9.81202995e-01 1.92864112e-01 6.64209784e-03 9.40381337e+01] [-1.92860317e-01 9.81225472e-01 -1.21325205e-03 -1.45389290e+01] [-6.75138837e-03 -9.05505505e-05 9.99977205e-01 -1.90078824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.368623853 meters Centerline goodness [0,1] 0.9999136087773483 Centerline is valid? [True, True] Translation: X:94.07, Y:-14.55, Z:-1.90 [[ 9.81890818e-01 1.89331124e-01 6.64432268e-03 9.40651005e+01] [-1.89327251e-01 9.81913296e-01 -1.21280171e-03 -1.45466523e+01] [-6.75376989e-03 -6.71124811e-05 9.99977191e-01 -1.90161035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.398623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.09, Y:-14.56, Z:-1.90 [[ 9.83345801e-01 1.81576681e-01 7.80676283e-03 9.40929799e+01] [-1.81571087e-01 9.83376789e-01 -1.42528034e-03 -1.45578110e+01] [-7.93578704e-03 -1.59389820e-05 9.99968511e-01 -1.89872321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.428623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.12, Y:-14.57, Z:-1.90 [[ 9.84708176e-01 1.74014984e-01 8.28206796e-03 9.41195504e+01] [-1.74008441e-01 9.84743004e-01 -1.50963410e-03 -1.45690853e+01] [-8.41840743e-03 4.53993065e-05 9.99964564e-01 -1.89840911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.458623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.15, Y:-14.58, Z:-1.90 [[ 9.85377606e-01 1.70197112e-01 7.99482207e-03 9.41469901e+01] [-1.70190895e-01 9.85410035e-01 -1.45669550e-03 -1.45785032e+01] [-8.12610326e-03 7.47492025e-05 9.99966980e-01 -1.89907966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.488623853 meters Centerline goodness [0,1] 0.9999786132854271 Centerline is valid? [True, True] Translation: X:94.17, Y:-14.59, Z:-1.90 [[ 9.86003751e-01 1.66538418e-01 7.84592614e-03 9.41731737e+01] [-1.66532316e-01 9.86034961e-01 -1.42931003e-03 -1.45893255e+01] [-7.97439250e-03 1.02704801e-04 9.99968199e-01 -1.90080302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.51862385300001 meters Centerline goodness [0,1] 0.9999783737024222 Centerline is valid? [True, True] Translation: X:94.20, Y:-14.60, Z:-1.90 [[ 9.86638882e-01 1.62724159e-01 8.03516695e-03 9.42006042e+01] [-1.62717637e-01 9.86671592e-01 -1.46316367e-03 -1.45985249e+01] [-8.16616304e-03 1.36150785e-04 9.99966647e-01 -1.90035921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.54862385300001 meters Centerline goodness [0,1] 0.9997856009605077 Centerline is valid? [True, True] Translation: X:94.23, Y:-14.62, Z:-1.90 [[ 9.87756202e-01 1.55762124e-01 8.70897870e-03 9.42270623e+01] [-1.55754199e-01 9.87794572e-01 -1.58504740e-03 -1.46159513e+01] [-8.84957223e-03 2.09180394e-04 9.99960820e-01 -1.89983933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.57862385300001 meters Centerline goodness [0,1] 0.999548794637102 Centerline is valid? [True, True] Translation: X:94.25, Y:-14.63, Z:-1.90 [[ 9.88273856e-01 1.52417730e-01 9.14445085e-03 9.42540613e+01] [-1.52408848e-01 9.88316130e-01 -1.66450962e-03 -1.46264029e+01] [-9.29130905e-03 2.51296123e-04 9.99956803e-01 -1.89956151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.60862385300001 meters Centerline goodness [0,1] 0.9970544290288154 Centerline is valid? [True, True] Translation: X:94.28, Y:-14.65, Z:-1.90 [[ 9.89095844e-01 1.46991768e-01 9.10117616e-03 9.42797121e+01] [-1.46982746e-01 9.89137670e-01 -1.65595342e-03 -1.46500388e+01] [-9.24572771e-03 3.00180779e-04 9.99957212e-01 -1.90208663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.63862385300001 meters Centerline goodness [0,1] 0.9990564014582887 Centerline is valid? [True, True] Translation: X:94.31, Y:-14.65, Z:-1.90 [[ 9.89428756e-01 1.44756335e-01 8.73725244e-03 9.43099319e+01] [-1.44747934e-01 9.89467285e-01 -1.58966042e-03 -1.46507844e+01] [-8.87533887e-03 3.08156496e-04 9.99960566e-01 -1.90065560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.66862385300001 meters Centerline goodness [0,1] 0.998386784538943 Centerline is valid? [True, True] Translation: X:94.34, Y:-14.66, Z:-1.90 [[ 9.89686487e-01 1.43007508e-01 8.33722917e-03 9.43366295e+01] [-1.42999799e-01 9.89721555e-01 -1.51668410e-03 -1.46606992e+01] [-8.46843264e-03 3.08819670e-04 9.99964094e-01 -1.90192032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.698623853 meters Centerline goodness [0,1] 0.998828887443071 Centerline is valid? [True, True] Translation: X:94.37, Y:-14.67, Z:-1.90 [[ 9.89968992e-01 1.41079717e-01 7.60971396e-03 9.43652990e+01] [-1.41073238e-01 9.89998195e-01 -1.38423106e-03 -1.46690765e+01] [-7.72889001e-03 2.96818842e-04 9.99970088e-01 -1.90296062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.728623853 meters Centerline goodness [0,1] 0.9973820875191555 Centerline is valid? [True, True] Translation: X:94.39, Y:-14.68, Z:-1.90 [[ 9.89984258e-01 1.40974945e-01 7.56529459e-03 9.43922632e+01] [-1.40968539e-01 9.90013120e-01 -1.37608684e-03 -1.46804726e+01] [-7.68373466e-03 2.95835782e-04 9.99970436e-01 -1.90444421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.758623853 meters Centerline goodness [0,1] 0.997484520123839 Centerline is valid? [True, True] Translation: X:94.42, Y:-14.69, Z:-1.90 [[ 9.89963691e-01 1.41117138e-01 7.60546211e-03 9.44216220e+01] [-1.41110672e-01 9.89992862e-01 -1.38288248e-03 -1.46875725e+01] [-7.72450161e-03 2.95791575e-04 9.99970122e-01 -1.90466209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.788623853 meters Centerline goodness [0,1] 0.998102426335764 Centerline is valid? [True, True] Translation: X:94.45, Y:-14.70, Z:-1.90 [[ 9.89700307e-01 1.42945110e-01 7.74586918e-03 9.44491874e+01] [-1.42938458e-01 9.89730576e-01 -1.40853860e-03 -1.46957079e+01] [-7.86766727e-03 2.86848486e-04 9.99969008e-01 -1.90463827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.818623853 meters Centerline goodness [0,1] 0.9991900072473036 Centerline is valid? [True, True] Translation: X:94.48, Y:-14.70, Z:-1.90 [[ 9.89511654e-01 1.44238775e-01 7.86524568e-03 9.44785923e+01] [-1.44231961e-01 9.89542873e-01 -1.42986198e-03 -1.46982573e+01] [-7.98923934e-03 2.80445292e-04 9.99968046e-01 -1.90427722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.848623853 meters Centerline goodness [0,1] 0.9995688633081118 Centerline is valid? [True, True] Translation: X:94.51, Y:-14.70, Z:-1.90 [[ 9.88980488e-01 1.47806841e-01 8.41022067e-03 9.45081232e+01] [-1.47799180e-01 9.89016211e-01 -1.52871843e-03 -1.47009188e+01] [-8.54379962e-03 2.68848980e-04 9.99963465e-01 -1.90306286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.87862385300001 meters Centerline goodness [0,1] 0.999567745142536 Centerline is valid? [True, True] Translation: X:94.54, Y:-14.71, Z:-1.90 [[ 9.88686117e-01 1.49775483e-01 8.18940476e-03 9.45371396e+01] [-1.49768288e-01 9.88720003e-01 -1.48839567e-03 -1.47052044e+01] [-8.31995348e-03 2.45043010e-04 9.99965359e-01 -1.90345584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.90862385300001 meters Centerline goodness [0,1] 0.9995705574164734 Centerline is valid? [True, True] Translation: X:94.57, Y:-14.71, Z:-1.90 [[ 9.88336460e-01 1.52077066e-01 7.97543606e-03 9.45651538e+01] [-1.52070317e-01 9.88368614e-01 -1.44943540e-03 -1.47118557e+01] [-8.10309657e-03 2.19702762e-04 9.99967145e-01 -1.90474022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.93862385300001 meters Centerline goodness [0,1] 0.9998281307065976 Centerline is valid? [True, True] Translation: X:94.59, Y:-14.72, Z:-1.91 [[ 9.87614845e-01 1.56698799e-01 7.89958785e-03 9.45949588e+01] [-1.56692329e-01 9.87646422e-01 -1.43527160e-03 -1.47167515e+01] [-8.02690501e-03 1.79690718e-04 9.99967768e-01 -1.90598519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.96862385300001 meters Centerline goodness [0,1] 0.9999567268163919 Centerline is valid? [True, True] Translation: X:94.62, Y:-14.72, Z:-1.91 [[ 9.87237467e-01 1.59060414e-01 7.87199796e-03 9.46235862e+01] [-1.59054064e-01 9.87268838e-01 -1.43027233e-03 -1.47185159e+01] [-7.99927799e-03 1.59945166e-04 9.99967992e-01 -1.90533001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.99862385300001 meters Centerline goodness [0,1] 0.9999138580811887 Centerline is valid? [True, True] Translation: X:94.65, Y:-14.72, Z:-1.91 [[ 9.86840192e-01 1.61508711e-01 7.83403557e-03 9.46507978e+01] [-1.61502501e-01 9.86871277e-01 -1.42310464e-03 -1.47239380e+01] [-7.96102848e-03 1.39160513e-04 9.99968301e-01 -1.90670429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.02862385300001 meters Centerline goodness [0,1] 0.9999568528466335 Centerline is valid? [True, True] Translation: X:94.68, Y:-14.73, Z:-1.91 [[ 9.86116707e-01 1.65878626e-01 7.62380942e-03 9.46784169e+01] [-1.65872879e-01 9.86146171e-01 -1.38445236e-03 -1.47278542e+01] [-7.74784153e-03 1.00648389e-04 9.99969980e-01 -1.90746805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.058623853 meters Centerline goodness [0,1] 0.9999783905264068 Centerline is valid? [True, True] Translation: X:94.71, Y:-14.73, Z:-1.91 [[ 9.85757098e-01 1.68015349e-01 7.33388156e-03 9.47069940e+01] [-1.68010094e-01 9.85784376e-01 -1.33127901e-03 -1.47322922e+01] [-7.45330117e-03 8.01516077e-05 9.99972221e-01 -1.90848069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.088623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.74, Y:-14.74, Z:-1.91 [[ 9.85120148e-01 1.71720493e-01 7.09696825e-03 9.47358862e+01] [-1.71715670e-01 9.85145710e-01 -1.28796134e-03 -1.47360020e+01] [-7.21271718e-03 5.01360049e-05 9.99973987e-01 -1.90962128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.118623853 meters Centerline goodness [0,1] 0.9999783867900061 Centerline is valid? [True, True] Translation: X:94.76, Y:-14.74, Z:-1.91 [[ 9.84851020e-01 1.73246297e-01 7.36129324e-03 9.47639969e+01] [-1.73241154e-01 9.84878530e-01 -1.33554519e-03 -1.47406560e+01] [-7.48135793e-03 4.00341092e-05 9.99972013e-01 -1.90995174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.148623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.79, Y:-14.75, Z:-1.91 [[ 9.84620351e-01 1.74547784e-01 7.47229499e-03 9.47923397e+01] [-1.74542525e-01 9.84648704e-01 -1.35530818e-03 -1.47458935e+01] [-7.59415162e-03 3.02307868e-05 9.99971164e-01 -1.90985019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.178623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.82, Y:-14.75, Z:-1.91 [[ 9.84199960e-01 1.76890686e-01 7.75393520e-03 9.48202500e+01] [-1.76885099e-01 9.84230504e-01 -1.40599882e-03 -1.47511822e+01] [-7.88036764e-03 1.22283934e-05 9.99968949e-01 -1.90914852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.208623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.85, Y:-14.76, Z:-1.91 [[ 9.84006379e-01 1.77968603e-01 7.65650365e-03 9.48478484e+01] [-1.77963190e-01 9.84036166e-01 -1.38807501e-03 -1.47562408e+01] [-7.78131027e-03 3.29885634e-06 9.99969725e-01 -1.90997444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.238623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.87, Y:-14.76, Z:-1.91 [[ 9.83730393e-01 1.79489134e-01 7.62664352e-03 9.48746918e+01] [-1.79483811e-01 9.83759956e-01 -1.38230779e-03 -1.47613086e+01] [-7.75089572e-03 -9.04085822e-06 9.99969961e-01 -1.91075235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.26862385300001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.90, Y:-14.77, Z:-1.91 [[ 9.83677451e-01 1.79794844e-01 7.24475114e-03 9.49016916e+01] [-1.79790054e-01 9.83704129e-01 -1.31248082e-03 -1.47670528e+01] [-7.36266889e-03 -1.14764171e-05 9.99972895e-01 -1.91231957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.29862385300001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.93, Y:-14.77, Z:-1.91 [[ 9.83678550e-01 1.79798340e-01 7.00479891e-03 9.49294307e+01] [-1.79793866e-01 9.83703490e-01 -1.26848975e-03 -1.47734633e+01] [-7.11871749e-03 -1.16337157e-05 9.99974662e-01 -1.91320595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.32862385300001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.96, Y:-14.78, Z:-1.91 [[ 9.83732482e-01 1.79513996e-01 6.71776340e-03 9.49572921e+01] [-1.79509876e-01 9.83755419e-01 -1.21623015e-03 -1.47812933e+01] [-6.82696648e-03 -9.45977679e-06 9.99976696e-01 -1.91338672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.35862385300001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.98, Y:-14.79, Z:-1.91 [[ 9.83716100e-01 1.79603193e-01 6.73258089e-03 9.49840881e+01] [-1.79599058e-01 9.83739139e-01 -1.21870545e-03 -1.47874808e+01] [-6.84198672e-03 -1.03050168e-05 9.99976593e-01 -1.91422504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.38862385300001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.01, Y:-14.79, Z:-1.91 [[ 9.83706223e-01 1.79666652e-01 6.47766976e-03 9.50125965e+01] [-1.79662830e-01 9.83727551e-01 -1.17209448e-03 -1.47940891e+01] [-6.58284850e-03 -1.07998484e-05 9.99978333e-01 -1.91350718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.41862385300001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.04, Y:-14.80, Z:-1.91 [[ 9.83659791e-01 1.79887498e-01 7.34186928e-03 9.50401561e+01] [-1.79882596e-01 9.83687190e-01 -1.32813493e-03 -1.48002313e+01] [-7.46101763e-03 -1.42415721e-05 9.99972166e-01 -1.91420663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.448623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.07, Y:-14.81, Z:-1.91 [[ 9.83764767e-01 1.79282459e-01 8.04254219e-03 9.50668017e+01] [-1.79276562e-01 9.83797642e-01 -1.45417319e-03 -1.48079458e+01] [-8.17294179e-03 -1.12749634e-05 9.99966601e-01 -1.91415001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.478623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.09, Y:-14.82, Z:-1.91 [[ 9.83900833e-01 1.78531377e-01 8.10544498e-03 9.50935765e+01] [-1.78525365e-01 9.83934219e-01 -1.46508026e-03 -1.48150644e+01] [-8.23678747e-03 -5.53383426e-06 9.99966077e-01 -1.91452945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.508623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.12, Y:-14.82, Z:-1.92 [[ 9.84047386e-01 1.77729774e-01 7.92899400e-03 9.51217265e+01] [-1.77724001e-01 9.84079330e-01 -1.43254365e-03 -1.48221915e+01] [-8.05736476e-03 5.18295939e-07 9.99967539e-01 -1.91511398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.538623853 meters Centerline goodness [0,1] 0.9999785926829791 Centerline is valid? [True, True] Translation: X:95.15, Y:-14.83, Z:-1.92 [[ 9.84211717e-01 1.76824037e-01 7.78181175e-03 9.51482660e+01] [-1.76818449e-01 9.84242480e-01 -1.40575008e-03 -1.48290202e+01] [-7.90776010e-03 7.58780972e-06 9.99968733e-01 -1.91632037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.568623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.18, Y:-14.84, Z:-1.92 [[ 9.84532217e-01 1.75038480e-01 7.60557530e-03 9.51754643e+01] [-1.75033095e-01 9.84561593e-01 -1.37327871e-03 -1.48384789e+01] [-7.72853395e-03 2.08097493e-05 9.99970134e-01 -1.91636702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.598623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.20, Y:-14.85, Z:-1.92 [[ 9.84743039e-01 1.73848659e-01 7.60210677e-03 9.52026078e+01] [-1.73843244e-01 9.84772381e-01 -1.37244381e-03 -1.48463734e+01] [-7.72494230e-03 2.99295841e-05 9.99970162e-01 -1.91747230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.62862385300001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.23, Y:-14.86, Z:-1.92 [[ 9.85086445e-01 1.71915051e-01 7.06482765e-03 9.52309833e+01] [-1.71910331e-01 9.85111777e-01 -1.27462484e-03 -1.48567142e+01] [-7.17877211e-03 4.10987953e-05 9.99974231e-01 -1.91760656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.65862385300001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.26, Y:-14.86, Z:-1.92 [[ 9.85181363e-01 1.71365923e-01 7.16959385e-03 9.52583792e+01] [-1.71361047e-01 9.85207449e-01 -1.29346574e-03 -1.48644456e+01] [-7.28519322e-03 4.57092322e-05 9.99973462e-01 -1.91909144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.68862385300001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.29, Y:-14.87, Z:-1.92 [[ 9.85231002e-01 1.71090730e-01 6.91630874e-03 9.52875610e+01] [-1.71086189e-01 9.85255277e-01 -1.24740021e-03 -1.48711379e+01] [-7.02774829e-03 4.56924577e-05 9.99975304e-01 -1.91904292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.71862385300001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.32, Y:-14.88, Z:-1.92 [[ 9.85136524e-01 1.71638171e-01 6.80935585e-03 9.53160632e+01] [-1.71633781e-01 9.85160056e-01 -1.22820835e-03 -1.48771809e+01] [-6.91911283e-03 4.12374116e-05 9.99976062e-01 -1.91890460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.74862385300001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.35, Y:-14.88, Z:-1.92 [[ 9.85072698e-01 1.72002624e-01 6.84669489e-03 9.53453580e+01] [-1.71998200e-01 9.85096491e-01 -1.23434121e-03 -1.48820670e+01] [-6.95696503e-03 3.82966290e-05 9.99975799e-01 -1.91982531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.77862385300001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.37, Y:-14.89, Z:-1.92 [[ 9.84939305e-01 1.72751379e-01 7.17817812e-03 9.53729607e+01] [-1.72746536e-01 9.84965461e-01 -1.29402916e-03 -1.48880220e+01] [-7.29380285e-03 3.45347770e-05 9.99973399e-01 -1.92010635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.808623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.40, Y:-14.89, Z:-1.92 [[ 9.84894561e-01 1.73002217e-01 7.27573300e-03 9.54017841e+01] [-1.72997251e-01 9.84921434e-01 -1.31121687e-03 -1.48945790e+01] [-7.39286881e-03 3.27285520e-05 9.99972672e-01 -1.92063552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.838623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.43, Y:-14.90, Z:-1.92 [[ 9.84898632e-01 1.72979037e-01 7.27576368e-03 9.54304931e+01] [-1.72974072e-01 9.84925506e-01 -1.31104662e-03 -1.48997053e+01] [-7.39286880e-03 3.27295534e-05 9.99972672e-01 -1.92114982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.868623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.46, Y:-14.91, Z:-1.92 [[ 9.84871301e-01 1.73132111e-01 7.33441282e-03 9.54585591e+01] [-1.73127070e-01 9.84898610e-01 -1.32155309e-03 -1.49061843e+01] [-7.45245627e-03 3.17743088e-05 9.99972230e-01 -1.92193665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.898623853 meters Centerline goodness [0,1] 0.9999783624718712 Centerline is valid? [True, True] Translation: X:95.49, Y:-14.91, Z:-1.92 [[ 9.84679536e-01 1.74239945e-01 6.83024529e-03 9.54879867e+01] [-1.74235602e-01 9.84703225e-01 -1.23037667e-03 -1.49119930e+01] [-6.94014533e-03 2.14548301e-05 9.99975917e-01 -1.92264983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.928623853 meters Centerline goodness [0,1] 0.9999784904605192 Centerline is valid? [True, True] Translation: X:95.52, Y:-14.92, Z:-1.92 [[ 9.84540268e-01 1.75039244e-01 6.45933746e-03 9.55156715e+01] [-1.75035375e-01 9.84561457e-01 -1.16382135e-03 -1.49162035e+01] [-6.56332911e-03 1.52164235e-05 9.99978461e-01 -1.92392765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.958623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.54, Y:-14.92, Z:-1.93 [[ 9.84198699e-01 1.76974448e-01 5.74161276e-03 9.55435508e+01] [-1.76971426e-01 9.84215446e-01 -1.03426881e-03 -1.49199067e+01] [-5.83402312e-03 1.82462214e-06 9.99982982e-01 -1.92640976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.988623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.57, Y:-14.92, Z:-1.93 [[ 9.83989503e-01 1.78139257e-01 5.57346674e-03 9.55724453e+01] [-1.78136430e-01 9.84005287e-01 -1.00354064e-03 -1.49240524e+01] [-5.66309072e-03 -5.36401651e-06 9.99983965e-01 -1.92683833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.01862385300001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.60, Y:-14.93, Z:-1.93 [[ 9.83757672e-01 1.79402088e-01 5.97777512e-03 9.56004006e+01] [-1.79398861e-01 9.83775834e-01 -1.07612600e-03 -1.49271245e+01] [-6.07384995e-03 -1.37588340e-05 9.99981554e-01 -1.92716070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.04862385300001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.63, Y:-14.93, Z:-1.93 [[ 9.83179680e-01 1.82530843e-01 6.34100507e-03 9.56294106e+01] [-1.82527281e-01 9.83200127e-01 -1.14093847e-03 -1.49276841e+01] [-6.44273345e-03 -3.56588947e-05 9.99979245e-01 -1.92656644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.07862385300001 meters Centerline goodness [0,1] 0.9999784394471875 Centerline is valid? [True, True] Translation: X:95.66, Y:-14.93, Z:-1.93 [[ 9.82849045e-01 1.84307175e-01 6.21447745e-03 9.56584578e+01] [-1.84303790e-01 9.82868691e-01 -1.11792063e-03 -1.49311313e+01] [-6.31405610e-03 -4.66045252e-05 9.99980065e-01 -1.92562177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.10862385300001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.69, Y:-14.93, Z:-1.93 [[ 9.82163256e-01 1.87916748e-01 6.52945280e-03 9.56872116e+01] [-1.87913093e-01 9.82184957e-01 -1.17434733e-03 -1.49271596e+01] [-6.63380985e-03 -7.35688773e-05 9.99977993e-01 -1.92821750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.13862385300001 meters Centerline goodness [0,1] 0.999978366216684 Centerline is valid? [True, True] Translation: X:95.72, Y:-14.93, Z:-1.93 [[ 9.81778712e-01 1.89918988e-01 6.42958207e-03 9.57160981e+01] [-1.89915490e-01 9.81799761e-01 -1.15585006e-03 -1.49277307e+01] [-6.53208002e-03 -8.62882478e-05 9.99978662e-01 -1.92873451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.16862385300001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.74, Y:-14.93, Z:-1.93 [[ 9.81376818e-01 1.91996736e-01 6.06579300e-03 9.57443590e+01] [-1.91993664e-01 9.81395560e-01 -1.09028352e-03 -1.49330341e+01] [-6.16227319e-03 -9.46148519e-05 9.99981009e-01 -1.92650005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.198623853 meters Centerline goodness [0,1] 0.9999567698426423 Centerline is valid? [True, True] Translation: X:95.77, Y:-14.93, Z:-1.93 [[ 9.80964973e-01 1.94111634e-01 5.32874606e-03 9.57734033e+01] [-1.94109294e-01 9.80979441e-01 -9.57789748e-04 -1.49274620e+01] [-5.41330846e-03 -9.48009426e-05 9.99985343e-01 -1.93233464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.228623853 meters Centerline goodness [0,1] 0.9998938901975765 Centerline is valid? [True, True] Translation: X:95.80, Y:-14.93, Z:-1.93 [[ 9.80300590e-01 1.97447433e-01 5.02626635e-03 9.58037762e+01] [-1.97445399e-01 9.80313470e-01 -9.02647666e-04 -1.49256689e+01] [-5.10554208e-03 -1.07547128e-04 9.99986961e-01 -1.93409614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.258623853 meters Centerline goodness [0,1] 0.9998495982123673 Centerline is valid? [True, True] Translation: X:95.83, Y:-14.93, Z:-1.93 [[ 9.80076635e-01 1.98558748e-01 4.92065412e-03 9.58324314e+01] [-1.98556811e-01 9.80088981e-01 -8.83998951e-04 -1.49264580e+01] [-4.99820461e-03 -1.10642673e-04 9.99987503e-01 -1.93411527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.288623853 meters Centerline goodness [0,1] 0.999914102261258 Centerline is valid? [True, True] Translation: X:95.86, Y:-14.93, Z:-1.93 [[ 9.79790444e-01 1.99945867e-01 5.68647580e-03 9.58609420e+01] [-1.99943306e-01 9.79806936e-01 -1.02102778e-03 -1.49295859e+01] [-5.77579872e-03 -1.36579509e-04 9.99983311e-01 -1.92994030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.318623853 meters Centerline goodness [0,1] 0.9997425224220058 Centerline is valid? [True, True] Translation: X:95.89, Y:-14.92, Z:-1.93 [[ 9.79761129e-01 2.00079188e-01 6.03722246e-03 9.58897679e+01] [-2.00076302e-01 9.79779719e-01 -1.08449976e-03 -1.49231620e+01] [-6.13213396e-03 -1.45354438e-04 9.99981188e-01 -1.93384875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.348623853 meters Centerline goodness [0,1] 0.9999569549964488 Centerline is valid? [True, True] Translation: X:95.92, Y:-14.93, Z:-1.93 [[ 9.79822903e-01 1.99751638e-01 6.80901395e-03 9.59178468e+01] [-1.99747972e-01 9.79846547e-01 -1.22121544e-03 -1.49315736e+01] [-6.91572860e-03 -1.63511867e-04 9.99976073e-01 -1.92936567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.37862385300001 meters Centerline goodness [0,1] 0.9998722371278906 Centerline is valid? [True, True] Translation: X:95.95, Y:-14.93, Z:-1.93 [[ 9.79886758e-01 1.99427306e-01 7.11982919e-03 9.59460408e+01] [-1.99423291e-01 9.79912609e-01 -1.27669546e-03 -1.49331358e+01] [-7.23141833e-03 -1.68842786e-04 9.99973839e-01 -1.92943506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.40862385300001 meters Centerline goodness [0,1] 0.9999146630256224 Centerline is valid? [True, True] Translation: X:95.97, Y:-14.93, Z:-1.93 [[ 9.79999023e-01 1.98869578e-01 7.26672511e-03 9.59742914e+01] [-1.98865384e-01 9.80025950e-01 -1.30257209e-03 -1.49334913e+01] [-7.38062114e-03 -1.68580697e-04 9.99972749e-01 -1.93051662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.43862385300001 meters Centerline goodness [0,1] 0.9999136516708401 Centerline is valid? [True, True] Translation: X:96.00, Y:-14.94, Z:-1.93 [[ 9.80376227e-01 1.96977056e-01 7.90525753e-03 9.60032292e+01] [-1.96972036e-01 9.80408084e-01 -1.41633774e-03 -1.49366179e+01] [-8.02936443e-03 -1.68570825e-04 9.99967750e-01 -1.92952404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.46862385300001 meters Centerline goodness [0,1] 0.9999572302296736 Centerline is valid? [True, True] Translation: X:96.03, Y:-14.94, Z:-1.93 [[ 9.80647673e-01 1.95614933e-01 8.05852089e-03 9.60319924e+01] [-1.95609674e-01 9.80680770e-01 -1.44339611e-03 -1.49407832e+01] [-8.18518630e-03 -1.60861601e-04 9.99966488e-01 -1.93010272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.49862385300001 meters Centerline goodness [0,1] 0.9999787215933271 Centerline is valid? [True, True] Translation: X:96.06, Y:-14.95, Z:-1.93 [[ 9.81396233e-01 1.91829594e-01 7.92721958e-03 9.60608108e+01] [-1.91824386e-01 9.81428240e-01 -1.41928248e-03 -1.49460002e+01] [-8.05225755e-03 -1.27755556e-04 9.99967572e-01 -1.93076449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.52862385300001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.09, Y:-14.95, Z:-1.93 [[ 9.81905961e-01 1.89191754e-01 8.19540707e-03 9.60889949e+01] [-1.89186096e-01 9.81940155e-01 -1.46732666e-03 -1.49539734e+01] [-8.32500540e-03 -1.09680271e-04 9.99965341e-01 -1.93034641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.558623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.12, Y:-14.96, Z:-1.93 [[ 9.82424465e-01 1.86489820e-01 7.98227225e-03 9.61169028e+01] [-1.86484366e-01 9.82456890e-01 -1.42878694e-03 -1.49604539e+01] [-8.10869258e-03 -8.48937313e-05 9.99967120e-01 -1.93062796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.588623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.14, Y:-14.97, Z:-1.93 [[ 9.83565697e-01 1.80378759e-01 7.87544198e-03 9.61436010e+01] [-1.80373256e-01 9.83597226e-01 -1.40939581e-03 -1.49682098e+01] [-8.00048795e-03 -3.42857437e-05 9.99967995e-01 -1.93131274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.618623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.17, Y:-14.98, Z:-1.93 [[ 9.84145249e-01 1.77181552e-01 8.05149431e-03 9.61719423e+01] [-1.77175699e-01 9.84178184e-01 -1.44025501e-03 -1.49757078e+01] [-8.17929167e-03 -9.10899963e-06 9.99966549e-01 -1.93194538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.648623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.20, Y:-14.99, Z:-1.93 [[ 9.85299226e-01 1.70646619e-01 8.07262937e-03 9.61983896e+01] [-1.70640518e-01 9.85332294e-01 -1.44374328e-03 -1.49869764e+01] [-8.20059233e-03 4.50014845e-05 9.99966374e-01 -1.93223410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.678623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.23, Y:-15.00, Z:-1.93 [[ 9.85854270e-01 1.67392421e-01 8.43419511e-03 9.62252605e+01] [-1.67385646e-01 9.85890345e-01 -1.50782942e-03 -1.49954199e+01] [-8.56759074e-03 7.47368754e-05 9.99963295e-01 -1.93237714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.708623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.25, Y:-15.00, Z:-1.93 [[ 9.86365480e-01 1.64348593e-01 8.52522046e-03 9.62532610e+01] [-1.64341564e-01 9.86402316e-01 -1.52345788e-03 -1.50036127e+01] [-8.65967537e-03 1.01638206e-04 9.99962499e-01 -1.93227532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.738623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.28, Y:-15.02, Z:-1.93 [[ 9.87214540e-01 1.59201017e-01 7.90493944e-03 9.62798584e+01] [-1.59194811e-01 9.87246179e-01 -1.41228638e-03 -1.50151825e+01] [-8.02895868e-03 1.35804307e-04 9.99967758e-01 -1.93412484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.76862385300001 meters Centerline goodness [0,1] 0.9999570271373628 Centerline is valid? [True, True] Translation: X:96.31, Y:-15.02, Z:-1.94 [[ 9.87566227e-01 1.57038408e-01 7.20317307e-03 9.63088641e+01] [-1.57033201e-01 9.87592486e-01 -1.28638884e-03 -1.50233113e+01] [-7.31581206e-03 1.39256847e-04 9.99973229e-01 -1.93606380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.79862385300001 meters Centerline goodness [0,1] 0.999978557337679 Centerline is valid? [True, True] Translation: X:96.34, Y:-15.03, Z:-1.94 [[ 9.87996575e-01 1.54339027e-01 6.49869386e-03 9.63369076e+01] [-1.54334730e-01 9.88017937e-01 -1.16059314e-03 -1.50330830e+01] [-6.59995091e-03 1.43687884e-04 9.99978210e-01 -1.93831347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.82862385300001 meters Centerline goodness [0,1] 0.9999359316604378 Centerline is valid? [True, True] Translation: X:96.36, Y:-15.04, Z:-1.94 [[ 9.88061369e-01 1.53927636e-01 6.40423015e-03 9.63641094e+01] [-1.53923455e-01 9.88082113e-01 -1.14376205e-03 -1.50389079e+01] [-6.50396185e-03 1.44345871e-04 9.99978839e-01 -1.93961192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.85862385300001 meters Centerline goodness [0,1] 0.999802479973664 Centerline is valid? [True, True] Translation: X:96.39, Y:-15.04, Z:-1.93 [[ 9.88005705e-01 1.54318860e-01 5.51506453e-03 9.63928097e+01] [-1.54315766e-01 9.88021090e-01 -9.84633770e-04 -1.50426090e+01] [-5.60094763e-03 1.21762373e-04 9.99984307e-01 -1.93443473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.88862385300001 meters Centerline goodness [0,1] 0.9999359070224539 Centerline is valid? [True, True] Translation: X:96.42, Y:-15.04, Z:-1.94 [[ 9.87628412e-01 1.56714015e-01 5.55314829e-03 9.64211883e+01] [-1.56710918e-01 9.87644018e-01 -9.91158879e-04 -1.50443594e+01] [-5.63986218e-03 1.08657703e-04 9.99984090e-01 -1.94137544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.91862385300001 meters Centerline goodness [0,1] 0.9999577301067315 Centerline is valid? [True, True] Translation: X:96.45, Y:-15.05, Z:-1.94 [[ 9.87297373e-01 1.58774879e-01 5.86813482e-03 9.64488241e+01] [-1.58771458e-01 9.87314807e-01 -1.04717868e-03 -1.50465050e+01] [-5.95996206e-03 1.02184440e-04 9.99982234e-01 -1.94142141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.948623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.48, Y:-15.04, Z:-1.94 [[ 9.86513115e-01 1.63577909e-01 5.84300332e-03 9.64775211e+01] [-1.63574604e-01 9.86530416e-01 -1.04234006e-03 -1.50442488e+01] [-5.93480431e-03 7.25151844e-05 9.99982386e-01 -1.94287706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.978623853 meters Centerline goodness [0,1] 0.9998710370768404 Centerline is valid? [True, True] Translation: X:96.51, Y:-15.04, Z:-1.94 [[ 9.86075003e-01 1.66221631e-01 5.14374169e-03 9.65071699e+01] [-1.66219107e-01 9.86088417e-01 -9.17288426e-04 -1.50432749e+01] [-5.22465728e-03 4.95270356e-05 9.99986350e-01 -1.93655835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.008623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.54, Y:-15.04, Z:-1.94 [[ 9.85643207e-01 1.68746350e-01 5.66898332e-03 9.65362909e+01] [-1.68743329e-01 9.85659509e-01 -1.01060536e-03 -1.50430617e+01] [-5.75822328e-03 3.94931967e-05 9.99983421e-01 -1.94307876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.038623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.57, Y:-15.04, Z:-1.94 [[ 9.84779542e-01 1.73691871e-01 6.35507453e-03 9.65653580e+01] [-1.73688179e-01 9.84800048e-01 -1.13264421e-03 -1.50369383e+01] [-6.45520879e-03 1.16035302e-05 9.99979165e-01 -1.94334710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.068623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.59, Y:-15.04, Z:-1.94 [[ 9.84360187e-01 1.76058408e-01 6.20158076e-03 9.65941972e+01] [-1.76054940e-01 9.84379722e-01 -1.10507238e-03 -1.50361576e+01] [-6.29926763e-03 -4.02967845e-06 9.99980159e-01 -1.94346688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.098623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.62, Y:-15.03, Z:-1.95 [[ 9.83661965e-01 1.79931279e-01 5.82013517e-03 9.66242163e+01] [-1.79928289e-01 9.83679183e-01 -1.03770423e-03 -1.50323741e+01] [-5.91186125e-03 -2.64567827e-05 9.99982524e-01 -1.94564711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.12862385300001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.65, Y:-15.03, Z:-1.95 [[ 9.83371268e-01 1.81523223e-01 5.50164136e-03 9.66518458e+01] [-1.81520586e-01 9.83386657e-01 -9.79137838e-04 -1.50336387e+01] [-5.58797696e-03 -3.58051460e-05 9.99984386e-01 -1.94763317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.15862385300001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.68, Y:-15.04, Z:-1.95 [[ 9.83148634e-01 1.82734516e-01 5.18270919e-03 9.66813057e+01] [-1.82732194e-01 9.83162293e-01 -9.21992062e-04 -1.50350060e+01] [-5.26392403e-03 -4.05925873e-05 9.99986145e-01 -1.94850501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.18862385300001 meters Centerline goodness [0,1] 0.999978526026456 Centerline is valid? [True, True] Translation: X:96.71, Y:-15.03, Z:-1.95 [[ 9.82812551e-01 1.84542181e-01 4.86548201e-03 9.67105251e+01] [-1.84540158e-01 9.82824593e-01 -8.65399727e-04 -1.50344516e+01] [-4.94161813e-03 -4.73511043e-05 9.99987789e-01 -1.94810777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.21862385300001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.74, Y:-15.04, Z:-1.95 [[ 9.82870638e-01 1.84214558e-01 5.50500046e-03 9.67386140e+01] [-1.84211962e-01 9.82886053e-01 -9.79266766e-04 -1.50369332e+01] [-5.59118337e-03 -5.15943844e-05 9.99984368e-01 -1.94904021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.24862385300001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.77, Y:-15.04, Z:-1.94 [[ 9.83247682e-01 1.82141109e-01 6.97228718e-03 9.67667755e+01] [-1.82136904e-01 9.83272400e-01 -1.23883991e-03 -1.50446106e+01] [-7.08130123e-03 -5.18243257e-05 9.99974926e-01 -1.94431126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.27862385300001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.79, Y:-15.05, Z:-1.94 [[ 9.83508914e-01 1.80720983e-01 7.08113707e-03 9.67939663e+01] [-1.80716610e-01 9.83534404e-01 -1.25794289e-03 -1.50505786e+01] [-7.19187860e-03 -4.24810398e-05 9.99974137e-01 -1.94463829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.308623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.82, Y:-15.06, Z:-1.94 [[ 9.84260068e-01 1.76564392e-01 7.55868795e-03 9.68210989e+01] [-1.76559292e-01 9.84289091e-01 -1.34213814e-03 -1.50614921e+01] [-7.67690790e-03 -1.35436170e-05 9.99970532e-01 -1.94402018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.338623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.85, Y:-15.07, Z:-1.94 [[ 9.84711185e-01 1.74027246e-01 7.64193231e-03 9.68480855e+01] [-1.74021957e-01 9.84740838e-01 -1.35676846e-03 -1.50696996e+01] [-7.76143751e-03 6.16105984e-06 9.99969880e-01 -1.94383749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.368623853 meters Centerline goodness [0,1] 0.9999784872214095 Centerline is valid? [True, True] Translation: X:96.87, Y:-15.08, Z:-1.94 [[ 9.85561874e-01 1.69124090e-01 8.05193700e-03 9.68740879e+01] [-1.69118060e-01 9.85594765e-01 -1.42891079e-03 -1.50814402e+01] [-8.17761019e-03 4.65520324e-05 9.99966562e-01 -1.94390915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.398623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.90, Y:-15.09, Z:-1.95 [[ 9.85960052e-01 1.66777511e-01 8.24846739e-03 9.68999279e+01] [-1.66771106e-01 9.85994552e-01 -1.46315926e-03 -1.50925906e+01] [-8.37696597e-03 6.70105472e-05 9.99964910e-01 -1.94650064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.428623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.93, Y:-15.10, Z:-1.94 [[ 9.86362257e-01 1.64371768e-01 8.45098205e-03 9.69285661e+01] [-1.64364964e-01 9.86398456e-01 -1.49822389e-03 -1.50990098e+01] [-8.58230136e-03 8.87461440e-05 9.99963167e-01 -1.94398826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.458623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.95, Y:-15.11, Z:-1.95 [[ 9.86953532e-01 1.60822245e-01 7.67670624e-03 9.69542915e+01] [-1.60816524e-01 9.86983381e-01 -1.36088459e-03 -1.51112689e+01] [-7.79564199e-03 1.08588641e-04 9.99969608e-01 -1.94550682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.488623853 meters Centerline goodness [0,1] 0.9999786174011589 Centerline is valid? [True, True] Translation: X:96.98, Y:-15.12, Z:-1.95 [[ 9.87215231e-01 1.59211905e-01 7.59321663e-03 9.69809203e+01] [-1.59206265e-01 9.87244425e-01 -1.34542687e-03 -1.51191910e+01] [-7.71056876e-03 1.19338241e-04 9.99970266e-01 -1.94657148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.51862385300001 meters Centerline goodness [0,1] 0.9999784375875973 Centerline is valid? [True, True] Translation: X:97.01, Y:-15.12, Z:-1.95 [[ 9.87393237e-01 1.58103134e-01 7.61540130e-03 9.70089160e+01] [-1.58097433e-01 9.87422596e-01 -1.34878100e-03 -1.51248219e+01] [-7.73286582e-03 1.27801844e-04 9.99970093e-01 -1.94631969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.54862385300001 meters Centerline goodness [0,1] 0.9999572146753664 Centerline is valid? [True, True] Translation: X:97.03, Y:-15.14, Z:-1.95 [[ 9.87578161e-01 1.56973114e-01 6.98688039e-03 9.70348463e+01] [-1.56968288e-01 9.87602868e-01 -1.23725789e-03 -1.51351209e+01] [-7.09447934e-03 1.25170221e-04 9.99974826e-01 -1.94877157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.57862385300001 meters Centerline goodness [0,1] 0.9999785545785975 Centerline is valid? [True, True] Translation: X:97.06, Y:-15.14, Z:-1.95 [[ 9.87556225e-01 1.57126732e-01 6.62518494e-03 9.70628620e+01] [-1.57122399e-01 9.87578441e-01 -1.17279260e-03 -1.51414657e+01] [-6.72716688e-03 1.17233681e-04 9.99977365e-01 -1.94936599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.60862385300001 meters Centerline goodness [0,1] 0.9999569938716267 Centerline is valid? [True, True] Translation: X:97.09, Y:-15.15, Z:-1.95 [[ 9.87317528e-01 1.58619460e-01 6.63066973e-03 9.70899413e+01] [-1.58615154e-01 9.87339787e-01 -1.17357252e-03 -1.51472154e+01] [-6.73287548e-03 1.06964013e-04 9.99977328e-01 -1.94998157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.63862385300001 meters Centerline goodness [0,1] 0.999978369024443 Centerline is valid? [True, True] Translation: X:97.12, Y:-15.15, Z:-1.95 [[ 9.87032784e-01 1.60387856e-01 6.48220207e-03 9.71186720e+01] [-1.60383782e-01 9.87054065e-01 -1.14682190e-03 -1.51495897e+01] [-6.58222021e-03 9.23107308e-05 9.99978333e-01 -1.94931992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.66862385300001 meters Centerline goodness [0,1] 0.9998270980570144 Centerline is valid? [True, True] Translation: X:97.15, Y:-15.15, Z:-1.95 [[ 9.86669205e-01 1.62631199e-01 5.91372352e-03 9.71460805e+01] [-1.62627850e-01 9.86686925e-01 -1.04616889e-03 -1.51534624e+01] [-6.00513338e-03 7.04864930e-05 9.99981967e-01 -1.94532784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.698623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.18, Y:-15.15, Z:-1.95 [[ 9.85667924e-01 1.68588379e-01 6.05815271e-03 9.71755124e+01] [-1.68584980e-01 9.85686541e-01 -1.07115532e-03 -1.51494639e+01] [-6.15202393e-03 3.44898907e-05 9.99981076e-01 -1.95243663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.728623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.20, Y:-15.15, Z:-1.95 [[ 9.85121204e-01 1.71747925e-01 6.23405746e-03 9.72046408e+01] [-1.71744390e-01 9.85140929e-01 -1.10193764e-03 -1.51493417e+01] [-6.33068067e-03 1.48777384e-05 9.99979961e-01 -1.95287804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.758623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.23, Y:-15.15, Z:-1.95 [[ 9.85132990e-01 1.71680312e-01 6.23406261e-03 9.72317366e+01] [-1.71676776e-01 9.85152714e-01 -1.10190868e-03 -1.51539875e+01] [-6.33067972e-03 1.52828215e-05 9.99979961e-01 -1.95336288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.788623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.26, Y:-15.15, Z:-1.95 [[ 9.84036327e-01 1.77835061e-01 6.87005226e-03 9.72613515e+01] [-1.77830921e-01 9.84060308e-01 -1.21372552e-03 -1.51491234e+01] [-6.97638869e-03 -2.73577139e-05 9.99975664e-01 -1.95224879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.818623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.29, Y:-15.15, Z:-1.95 [[ 9.83539862e-01 1.80560977e-01 6.86096128e-03 9.72901370e+01] [-1.80556919e-01 9.83563791e-01 -1.21150567e-03 -1.51491307e+01] [-6.96694374e-03 -4.72299095e-05 9.99975729e-01 -1.95200671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.848623853 meters Centerline goodness [0,1] 0.9999786853099156 Centerline is valid? [True, True] Translation: X:97.32, Y:-15.15, Z:-1.95 [[ 9.83107889e-01 1.82885267e-01 7.20123653e-03 9.73182503e+01] [-1.82880862e-01 9.83134261e-01 -1.27109871e-03 -1.51486321e+01] [-7.31224758e-03 -6.73411779e-05 9.99973263e-01 -1.95331563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.87862385300001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.35, Y:-15.15, Z:-1.95 [[ 9.82360454e-01 1.86862538e-01 7.09430921e-03 9.73479333e+01] [-1.86858371e-01 9.82386066e-01 -1.25169966e-03 -1.51462236e+01] [-7.20324629e-03 -9.60108130e-05 9.99974052e-01 -1.95224729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.90862385300001 meters Centerline goodness [0,1] 0.9999784677662461 Centerline is valid? [True, True] Translation: X:97.38, Y:-15.15, Z:-1.95 [[ 9.82071355e-01 1.88373112e-01 7.17112846e-03 9.73767375e+01] [-1.88368896e-01 9.82097530e-01 -1.26490980e-03 -1.51484759e+01] [-7.28102255e-03 -1.08585868e-04 9.99973487e-01 -1.95176003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.93862385300001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.41, Y:-15.15, Z:-1.95 [[ 9.81778844e-01 1.89869708e-01 7.73272479e-03 9.74053814e+01] [-1.89864855e-01 9.81809288e-01 -1.36362690e-03 -1.51460652e+01] [-7.85097246e-03 -1.29392632e-04 9.99969172e-01 -1.95301069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.96862385300001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.43, Y:-15.15, Z:-1.95 [[ 9.81720035e-01 1.90151064e-01 8.26713411e-03 9.74328021e+01] [-1.90145531e-01 9.81754833e-01 -1.45738635e-03 -1.51510558e+01] [-8.39342243e-03 -1.41213226e-04 9.99964765e-01 -1.95115336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.99862385300001 meters Centerline goodness [0,1] 0.9998066470449224 Centerline is valid? [True, True] Translation: X:97.46, Y:-15.15, Z:-1.95 [[ 9.81712161e-01 1.90206987e-01 7.90786068e-03 9.74609259e+01] [-1.90201932e-01 9.81744001e-01 -1.39339295e-03 -1.51517401e+01] [-8.02852786e-03 -1.36179568e-04 9.99967762e-01 -1.94692863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.02862385300001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.49, Y:-15.15, Z:-1.95 [[ 9.81848610e-01 1.89515234e-01 7.56860338e-03 9.74900391e+01] [-1.89510587e-01 9.81877773e-01 -1.33304890e-03 -1.51543676e+01] [-7.68407651e-03 -1.25478261e-04 9.99970469e-01 -1.95497590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.058623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.52, Y:-15.16, Z:-1.95 [[ 9.82021457e-01 1.88630394e-01 7.24105066e-03 9.75181499e+01] [-1.88626118e-01 9.82048146e-01 -1.27507255e-03 -1.51614036e+01] [-7.35157782e-03 -1.13702677e-04 9.99972970e-01 -1.95479944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.088623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.55, Y:-15.17, Z:-1.96 [[ 9.82434643e-01 1.86482946e-01 6.80312034e-03 9.75457836e+01] [-1.86479122e-01 9.82458194e-01 -1.19779713e-03 -1.51654634e+01] [-6.90715006e-03 -9.18825087e-05 9.99976141e-01 -1.95710189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.118623853 meters Centerline goodness [0,1] 0.9999352750809062 Centerline is valid? [True, True] Translation: X:97.57, Y:-15.17, Z:-1.95 [[ 9.82684751e-01 1.85176053e-01 6.36472419e-03 9.75746297e+01] [-1.85172681e-01 9.82705359e-01 -1.12014020e-03 -1.51706908e+01] [-6.46207171e-03 -7.78283456e-05 9.99979118e-01 -1.95305458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.148623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.60, Y:-15.18, Z:-1.96 [[ 9.82956946e-01 1.83711316e-01 6.76710531e-03 9.76026428e+01] [-1.83707473e-01 9.82980237e-01 -1.19055622e-03 -1.51753556e+01] [-6.87064944e-03 -7.29023045e-05 9.99976394e-01 -1.95839524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.178623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.63, Y:-15.18, Z:-1.96 [[ 9.83483391e-01 1.80867798e-01 6.87455151e-03 9.76297115e+01] [-1.80863761e-01 9.83507416e-01 -1.20954348e-03 -1.51819684e+01] [-6.97993986e-03 -5.37913271e-05 9.99975638e-01 -1.95901450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.208623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.66, Y:-15.19, Z:-1.96 [[ 9.83757347e-01 1.79366849e-01 7.00106103e-03 9.76571665e+01] [-1.79362630e-01 9.83782258e-01 -1.23111444e-03 -1.51875514e+01] [-7.10834074e-03 -4.46108386e-05 9.99974734e-01 -1.95908844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.238623853 meters Centerline goodness [0,1] 0.999892507793185 Centerline is valid? [True, True] Translation: X:97.69, Y:-15.19, Z:-1.95 [[ 9.84222899e-01 1.76782016e-01 7.30775678e-03 9.76855439e+01] [-1.76777356e-01 9.84250028e-01 -1.28389681e-03 -1.51938856e+01] [-7.41962968e-03 -2.82052802e-05 9.99972474e-01 -1.95230879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.26862385300001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.71, Y:-15.20, Z:-1.96 [[ 9.84462209e-01 1.75417336e-01 7.93208291e-03 9.77126037e+01] [-1.75411805e-01 9.84494163e-01 -1.39324066e-03 -1.51993164e+01] [-8.05348789e-03 -1.97881971e-05 9.99967570e-01 -1.95763576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.29862385300001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.74, Y:-15.20, Z:-1.96 [[ 9.84811318e-01 1.73387683e-01 9.13122358e-03 9.77407064e+01] [-1.73380273e-01 9.84853650e-01 -1.60305624e-03 -1.52049086e+01] [-9.27086907e-03 -4.46610196e-06 9.99957025e-01 -1.95546294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.32862385300001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.77, Y:-15.21, Z:-1.96 [[ 9.84894723e-01 1.72885862e-01 9.63657540e-03 9.77687626e+01] [-1.72877589e-01 9.84941866e-01 -1.69124702e-03 -1.52086251e+01] [-9.78385925e-03 -2.47657665e-07 9.99952137e-01 -1.95806843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.35862385300001 meters Centerline goodness [0,1] 0.9998927498927499 Centerline is valid? [True, True] Translation: X:97.80, Y:-15.21, Z:-1.95 [[ 9.84905007e-01 1.72839438e-01 9.41572529e-03 9.77964636e+01] [-1.72831541e-01 9.84950013e-01 -1.65222624e-03 -1.52116367e+01] [-9.55958861e-03 -4.84188396e-08 9.99954306e-01 -1.94977540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.38862385300001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.82, Y:-15.21, Z:-1.96 [[ 9.84785335e-01 1.73516279e-01 9.48392006e-03 9.78247878e+01] [-1.73508305e-01 9.84831001e-01 -1.66349842e-03 -1.52118486e+01] [-9.62870255e-03 -7.35004639e-06 9.99953643e-01 -1.95608692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.41862385300001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.85, Y:-15.21, Z:-1.96 [[ 9.84640083e-01 1.74352043e-01 9.23430392e-03 9.78526297e+01] [-1.74344527e-01 9.84683383e-01 -1.61897596e-03 -1.52130055e+01] [-9.37513739e-03 -1.58417162e-05 9.99956052e-01 -1.95690984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.448623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.88, Y:-15.21, Z:-1.96 [[ 9.84252138e-01 1.76594573e-01 7.87940191e-03 9.78813450e+01] [-1.76589175e-01 9.84283677e-01 -1.38110697e-03 -1.52079737e+01] [-7.99946268e-03 -3.20595927e-05 9.99968003e-01 -1.96023907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.478623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.91, Y:-15.21, Z:-1.96 [[ 9.84016855e-01 1.77927112e-01 7.26446118e-03 9.79103536e+01] [-1.77922564e-01 9.84043668e-01 -1.27285018e-03 -1.52087891e+01] [-7.37502159e-03 -4.00055228e-05 9.99972803e-01 -1.96138937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.508623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.94, Y:-15.21, Z:-1.96 [[ 9.83671135e-01 1.79847306e-01 6.78556659e-03 9.79401729e+01] [-1.79843385e-01 9.83694538e-01 -1.18867480e-03 -1.52071106e+01] [-6.88870475e-03 -5.10741782e-05 9.99976271e-01 -1.96269450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.538623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.97, Y:-15.21, Z:-1.96 [[ 9.83659249e-01 1.79904977e-01 6.97721727e-03 9.79670433e+01] [-1.79900829e-01 9.83683992e-01 -1.22276085e-03 -1.52081016e+01] [-7.08335770e-03 -5.24271591e-05 9.99974911e-01 -1.96433398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.568623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.99, Y:-15.21, Z:-1.96 [[ 9.83744758e-01 1.79438292e-01 6.93908483e-03 9.79949301e+01] [-1.79434180e-01 9.83769230e-01 -1.21580628e-03 -1.52119004e+01] [-7.04462034e-03 -4.90659417e-05 9.99975185e-01 -1.96349057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.598623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:98.02, Y:-15.21, Z:-1.96 [[ 9.84187719e-01 1.76981487e-01 7.21714918e-03 9.80230889e+01] [-1.76976994e-01 9.84214180e-01 -1.26160394e-03 -1.52138740e+01] [-7.32650110e-03 -3.56142557e-05 9.99973160e-01 -1.96415070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.62862385300001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:98.05, Y:-15.22, Z:-1.96 [[ 9.84506032e-01 1.75187044e-01 7.57448470e-03 9.80505119e+01] [-1.75182046e-01 9.84535169e-01 -1.32354284e-03 -1.52182698e+01] [-7.68921413e-03 -2.38778233e-05 9.99970437e-01 -1.96432898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.65862385300001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:98.08, Y:-15.22, Z:-1.96 [[ 9.84969748e-01 1.72552573e-01 7.75922471e-03 9.80790088e+01] [-1.72547251e-01 9.85000309e-01 -1.35524663e-03 -1.52242535e+01] [-7.87669004e-03 -3.95595872e-06 9.99968978e-01 -1.96262345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.68862385300001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:98.11, Y:-15.23, Z:-1.96 [[ 9.85904176e-01 1.67083638e-01 8.71855128e-03 9.81054922e+01] [-1.67076709e-01 9.85942724e-01 -1.52236851e-03 -1.52335778e+01] [-8.85035508e-03 4.42426155e-05 9.99960834e-01 -1.96237289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.71862385300001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:98.13, Y:-15.24, Z:-1.96 [[ 9.86423042e-01 1.64003684e-01 8.50725649e-03 9.81336653e+01] [-1.63996977e-01 9.86459724e-01 -1.48486119e-03 -1.52413226e+01] [-8.63558859e-03 6.95369392e-05 9.99962710e-01 -1.96242738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.74862385300001 meters Centerline goodness [0,1] 0.9998707063741757 Centerline is valid? [True, True] Translation: X:98.16, Y:-15.25, Z:-1.96 [[ 9.87502249e-01 1.57409101e-01 7.85385657e-03 9.81604069e+01] [-1.57403179e-01 9.87533473e-01 -1.37037718e-03 -1.52549864e+01] [-7.97165610e-03 1.17028557e-04 9.99968219e-01 -1.96463283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.77862385300001 meters Centerline goodness [0,1] 0.9999567959906679 Centerline is valid? [True, True] Translation: X:98.19, Y:-15.26, Z:-1.97 [[ 9.88015375e-01 1.54180242e-01 7.35330755e-03 9.81893451e+01] [-1.54174964e-01 9.88042729e-01 -1.28269146e-03 -1.52630884e+01] [-7.46314775e-03 1.33622956e-04 9.99972141e-01 -1.96552614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.808623853 meters Centerline goodness [0,1] 0.9998276419261015 Centerline is valid? [True, True] Translation: X:98.22, Y:-15.27, Z:-1.96 [[ 9.88848033e-01 1.48786994e-01 6.48062606e-03 9.82167661e+01] [-1.48782779e-01 9.88869257e-01 -1.13035269e-03 -1.52746665e+01] [-6.57667366e-03 1.53541479e-04 9.99978362e-01 -1.96396899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.838623853 meters Centerline goodness [0,1] 0.9999784932361228 Centerline is valid? [True, True] Translation: X:98.25, Y:-15.28, Z:-1.97 [[ 9.89201743e-01 1.46413230e-01 6.56331650e-03 9.82456152e+01] [-1.46408857e-01 9.89223502e-01 -1.14460390e-03 -1.52822903e+01] [-6.66017209e-03 1.71316511e-04 9.99977806e-01 -1.96736300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.868623853 meters Centerline goodness [0,1] 0.9998480243161094 Centerline is valid? [True, True] Translation: X:98.27, Y:-15.29, Z:-1.97 [[ 9.89547007e-01 1.44066337e-01 6.45069246e-03 9.82748951e+01] [-1.44062063e-01 9.89568015e-01 -1.12482068e-03 -1.52891208e+01] [-6.54544773e-03 1.83762877e-04 9.99978561e-01 -1.96712500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.898623853 meters Centerline goodness [0,1] 0.9996540316128614 Centerline is valid? [True, True] Translation: X:98.30, Y:-15.30, Z:-1.97 [[ 9.90107714e-01 1.40138422e-01 6.92364618e-03 9.83036515e+01] [-1.40133406e-01 9.90131896e-01 -1.20682934e-03 -1.53016402e+01] [-7.02444609e-03 2.24656916e-04 9.99975303e-01 -1.96683070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.928623853 meters Centerline goodness [0,1] 0.9994590266808041 Centerline is valid? [True, True] Translation: X:98.33, Y:-15.31, Z:-1.97 [[ 9.90328362e-01 1.38541262e-01 7.48692829e-03 9.83313450e+01] [-1.38535346e-01 9.90356629e-01 -1.30562287e-03 -1.53083125e+01] [-7.59561171e-03 2.55791155e-04 9.99971120e-01 -1.96621907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.958623853 meters Centerline goodness [0,1] 0.999116969266223 Centerline is valid? [True, True] Translation: X:98.36, Y:-15.32, Z:-1.96 [[ 9.90517255e-01 1.37101470e-01 8.87440457e-03 9.83578430e+01] [-1.37093106e-01 9.90556958e-01 -1.54693142e-03 -1.53201996e+01] [-9.00268976e-03 3.15642577e-04 9.99959425e-01 -1.96469116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.988623853 meters Centerline goodness [0,1] 0.9989984657347426 Centerline is valid? [True, True] Translation: X:98.38, Y:-15.33, Z:-1.97 [[ 9.90506930e-01 1.37168498e-01 8.99030136e-03 9.83844285e+01] [-1.37159924e-01 9.90547678e-01 -1.56633958e-03 -1.53297591e+01] [-9.12017459e-03 3.18361148e-04 9.99958360e-01 -1.96569850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.01862385300001 meters Centerline goodness [0,1] 0.9989624089405763 Centerline is valid? [True, True] Translation: X:98.41, Y:-15.33, Z:-1.96 [[ 9.90440115e-01 1.37661858e-01 8.80855937e-03 9.84130192e+01] [-1.37653652e-01 9.90479237e-01 -1.53406148e-03 -1.53348174e+01] [-8.93587692e-03 3.06865662e-04 9.99960027e-01 -1.96187710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.04862385300001 meters Centerline goodness [0,1] 0.999587816730302 Centerline is valid? [True, True] Translation: X:98.44, Y:-15.33, Z:-1.97 [[ 9.90105194e-01 1.40080301e-01 8.31944937e-03 9.84427205e+01] [-1.40073069e-01 9.90140110e-01 -1.44856279e-03 -1.53328970e+01] [-8.44033562e-03 2.68898730e-04 9.99964344e-01 -1.96661942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.07862385300001 meters Centerline goodness [0,1] 0.9996561875496917 Centerline is valid? [True, True] Translation: X:98.47, Y:-15.34, Z:-1.97 [[ 9.89872684e-01 1.41747903e-01 7.72022926e-03 9.84716959e+01] [-1.41741729e-01 9.89902761e-01 -1.34380800e-03 -1.53368110e+01] [-7.83275823e-03 2.35920188e-04 9.99969296e-01 -1.96852982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.10862385300001 meters Centerline goodness [0,1] 0.9996760469084076 Centerline is valid? [True, True] Translation: X:98.50, Y:-15.34, Z:-1.97 [[ 9.89314090e-01 1.45656165e-01 6.47404474e-03 9.85006036e+01] [-1.45651909e-01 9.89335258e-01 -1.12662883e-03 -1.53390818e+01] [-6.56910116e-03 1.71632802e-04 9.99978408e-01 -1.97183824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.13862385300001 meters Centerline goodness [0,1] 0.9998708566508825 Centerline is valid? [True, True] Translation: X:98.53, Y:-15.34, Z:-1.97 [[ 9.88976587e-01 1.47963048e-01 5.67854264e-03 9.85291601e+01] [-1.47959811e-01 9.88992880e-01 -9.88384890e-04 -1.53421832e+01] [-5.76228269e-03 1.37293421e-04 9.99983388e-01 -1.97408249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.16862385300001 meters Centerline goodness [0,1] 0.9998923759094236 Centerline is valid? [True, True] Translation: X:98.56, Y:-15.34, Z:-1.98 [[ 9.88619938e-01 1.50340273e-01 5.33100247e-03 9.85582344e+01] [-1.50337455e-01 9.88634305e-01 -9.27690619e-04 -1.53446654e+01] [-5.40988118e-03 1.15684097e-04 9.99985360e-01 -1.97527608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.198623853 meters Centerline goodness [0,1] 0.9999785269486794 Centerline is valid? [True, True] Translation: X:98.59, Y:-15.34, Z:-1.98 [[ 9.87840736e-01 1.55370025e-01 5.55304967e-03 9.85878428e+01] [-1.55367050e-01 9.87856339e-01 -9.65752620e-04 -1.53435064e+01] [-5.63566433e-03 9.12488342e-05 9.99984115e-01 -1.97559969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.228623853 meters Centerline goodness [0,1] 0.9999783704280493 Centerline is valid? [True, True] Translation: X:98.62, Y:-15.35, Z:-1.98 [[ 9.87435458e-01 1.57903485e-01 6.14057146e-03 9.86170766e+01] [-1.57899896e-01 9.87454547e-01 -1.06800685e-03 -1.53453119e+01] [-6.23217721e-03 8.49922390e-05 9.99980576e-01 -1.97549168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.258623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:98.65, Y:-15.35, Z:-1.98 [[ 9.86651552e-01 1.62713576e-01 6.55800060e-03 9.86456944e+01] [-1.62709591e-01 9.86673345e-01 -1.14024077e-03 -1.53455648e+01] [-6.65613704e-03 5.79707279e-05 9.99977846e-01 -1.97558385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.288623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:98.67, Y:-15.35, Z:-1.98 [[ 9.86294907e-01 1.64857659e-01 6.65645861e-03 9.86746492e+01] [-1.64853604e-01 9.86317368e-01 -1.15703451e-03 -1.53479090e+01] [-6.75612674e-03 4.38360544e-05 9.99977176e-01 -1.97586980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.318623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:98.70, Y:-15.35, Z:-1.98 [[ 9.85943367e-01 1.66936997e-01 6.90765222e-03 9.87032305e+01] [-1.66932684e-01 9.85967564e-01 -1.20033906e-03 -1.53504466e+01] [-7.01110203e-03 3.03534098e-05 9.99975421e-01 -1.97598586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.348623853 meters Centerline goodness [0,1] 0.9999785564180641 Centerline is valid? [True, True] Translation: X:98.73, Y:-15.35, Z:-1.97 [[ 9.85236476e-01 1.71013049e-01 7.97645325e-03 9.87315838e+01] [-1.71007433e-01 9.85268764e-01 -1.38594104e-03 -1.53502889e+01] [-8.09596424e-03 1.44687061e-06 9.99967227e-01 -1.97248050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.37862385300001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:98.76, Y:-15.35, Z:-1.97 [[ 9.84932631e-01 1.72750347e-01 8.06417940e-03 9.87593671e+01] [-1.72744672e-01 9.84965643e-01 -1.40031907e-03 -1.53530520e+01] [-8.18484525e-03 -1.38240789e-05 9.99966503e-01 -1.97466793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.40862385300001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:98.79, Y:-15.35, Z:-1.98 [[ 9.84415535e-01 1.75691247e-01 7.65773127e-03 9.87872474e+01] [-1.75686223e-01 9.84445318e-01 -1.32914656e-03 -1.53540526e+01] [-7.77213711e-03 -3.69253633e-05 9.99969796e-01 -1.97705334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.43862385300001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:98.82, Y:-15.36, Z:-1.98 [[ 9.84158492e-01 1.77121793e-01 7.74167517e-03 9.88159907e+01] [-1.77116706e-01 9.84188939e-01 -1.34317568e-03 -1.53585661e+01] [-7.85717676e-03 -4.92822581e-05 9.99969131e-01 -1.97513772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.46862385300001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:98.84, Y:-15.36, Z:-1.98 [[ 9.83751487e-01 1.79395614e-01 7.08700280e-03 9.88444982e+01] [-1.79391412e-01 9.83777012e-01 -1.22943480e-03 -1.53588846e+01] [-7.19258565e-03 -6.18891276e-05 9.99974131e-01 -1.97808171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.49862385300001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:98.87, Y:-15.36, Z:-1.98 [[ 9.83538351e-01 1.80580303e-01 6.56247386e-03 9.88726242e+01] [-1.80576726e-01 9.83560242e-01 -1.13839416e-03 -1.53599970e+01] [-6.66015994e-03 -6.53757331e-05 9.99977819e-01 -1.98131680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.52862385300001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:98.90, Y:-15.37, Z:-1.98 [[ 9.83368915e-01 1.81506826e-01 6.39134308e-03 9.89012946e+01] [-1.81503451e-01 9.83389682e-01 -1.10908690e-03 -1.53654425e+01] [-6.48648768e-03 -6.94092461e-05 9.99978960e-01 -1.97991790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.558623853 meters Centerline goodness [0,1] 0.9999570806240478 Centerline is valid? [True, True] Translation: X:98.93, Y:-15.36, Z:-1.98 [[ 9.83044858e-01 1.83243557e-01 6.67883197e-03 9.89301286e+01] [-1.83239928e-01 9.83067542e-01 -1.15649891e-03 -1.53641189e+01] [-6.77766389e-03 -8.69383822e-05 9.99977028e-01 -1.98224096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.588623853 meters Centerline goodness [0,1] 0.999978605964657 Centerline is valid? [True, True] Translation: X:98.96, Y:-15.37, Z:-1.98 [[ 9.82981644e-01 1.83564964e-01 7.14088635e-03 9.89575965e+01] [-1.83560819e-01 9.83007576e-01 -1.23723063e-03 -1.53658485e+01] [-7.24665758e-03 -9.46119454e-05 9.99973738e-01 -1.98255355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.618623853 meters Centerline goodness [0,1] 0.9999785444558874 Centerline is valid? [True, True] Translation: X:98.99, Y:-15.37, Z:-1.98 [[ 9.82961678e-01 1.83670572e-01 7.17365269e-03 9.89855321e+01] [-1.83666401e-01 9.82987849e-01 -1.24158950e-03 -1.53688847e+01] [-7.27965688e-03 -9.71240716e-05 9.99973498e-01 -1.98283079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.648623853 meters Centerline goodness [0,1] 0.9999784468823415 Centerline is valid? [True, True] Translation: X:99.01, Y:-15.38, Z:-1.98 [[ 9.83133758e-01 1.82766526e-01 6.66422073e-03 9.90119598e+01] [-1.82762911e-01 9.83156341e-01 -1.15258774e-03 -1.53774522e+01] [-6.76262532e-03 -8.48244675e-05 9.99977130e-01 -1.98185012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.678623853 meters Centerline goodness [0,1] 0.9999784468823415 Centerline is valid? [True, True] Translation: X:99.04, Y:-15.38, Z:-1.98 [[ 9.83168588e-01 1.82579057e-01 6.66443889e-03 9.90390587e+01] [-1.82575446e-01 9.83191172e-01 -1.15132377e-03 -1.53819305e+01] [-6.76262509e-03 -8.48175433e-05 9.99977130e-01 -1.98233481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.708623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:99.07, Y:-15.39, Z:-1.98 [[ 9.83337593e-01 1.81675343e-01 6.42236977e-03 9.90663581e+01] [-1.81671979e-01 9.83358563e-01 -1.10837110e-03 -1.53870939e+01] [-6.51685601e-03 -7.68616486e-05 9.99978762e-01 -1.98326553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.738623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:99.09, Y:-15.39, Z:-1.99 [[ 9.83778689e-01 1.79255146e-01 6.86175066e-03 9.90940901e+01] [-1.79251267e-01 9.83802616e-01 -1.18119079e-03 -1.53901733e+01] [-6.96234278e-03 -6.79471663e-05 9.99975760e-01 -1.98551691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.76862385300001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:99.12, Y:-15.40, Z:-1.98 [[ 9.84072080e-01 1.77612537e-01 7.47856283e-03 9.91223080e+01] [-1.77607879e-01 9.84100494e-01 -1.28774312e-03 -1.53966493e+01] [-7.58837670e-03 -6.10196269e-05 9.99971206e-01 -1.98480182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.79862385300001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:99.15, Y:-15.41, Z:-1.98 [[ 9.84686378e-01 1.74103241e-01 8.98883567e-03 9.91500450e+01] [-1.74096391e-01 9.84727404e-01 -1.54497158e-03 -1.54079315e+01] [-9.12053737e-03 -4.36113850e-05 9.99958406e-01 -1.98008268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.82862385300001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:99.18, Y:-15.41, Z:-1.98 [[ 9.85001632e-01 1.72302854e-01 9.13844908e-03 9.91772312e+01] [-1.72295700e-01 9.85044022e-01 -1.57033046e-03 -1.54146549e+01] [-9.27234706e-03 -2.77374136e-05 9.99957010e-01 -1.98113988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.85862385300001 meters Centerline goodness [0,1] 0.9999356264618158 Centerline is valid? [True, True] Translation: X:99.20, Y:-15.42, Z:-1.98 [[ 9.85326183e-01 1.70443116e-01 9.02540718e-03 9.92048431e+01] [-1.70436066e-01 9.85367517e-01 -1.55029358e-03 -1.54221904e+01] [-9.15757993e-03 -1.07100294e-05 9.99958068e-01 -1.97624187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.88862385300001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:99.23, Y:-15.43, Z:-1.98 [[ 9.85956960e-01 1.66753660e-01 9.06038740e-03 9.92326038e+01] [-1.66746403e-01 9.85998588e-01 -1.55585735e-03 -1.54329452e+01] [-9.19297409e-03 2.32213741e-05 9.99957743e-01 -1.98036832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.91862385300001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:99.26, Y:-15.44, Z:-1.98 [[ 9.86544919e-01 1.63263785e-01 8.60576351e-03 9.92585643e+01] [-1.63257108e-01 9.86582452e-01 -1.47751888e-03 -1.54435158e+01] [-8.73152058e-03 5.26866809e-05 9.99961878e-01 -1.98229980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.948623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:99.29, Y:-15.45, Z:-1.98 [[ 9.86821033e-01 1.61596329e-01 8.41877196e-03 9.92857151e+01] [-1.61589880e-01 9.86856941e-01 -1.44516938e-03 -1.54509350e+01] [-8.54165762e-03 6.57351898e-05 9.99963517e-01 -1.98330486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.978623853 meters Centerline goodness [0,1] 0.9999138599362564 Centerline is valid? [True, True] Translation: X:99.31, Y:-15.46, Z:-1.98 [[ 9.87030505e-01 1.60350429e-01 7.64992861e-03 9.93138120e+01] [-1.60345074e-01 9.87060148e-01 -1.31229824e-03 -1.54578529e+01] [-7.76136725e-03 6.86500265e-05 9.99969878e-01 -1.98001620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.008623853 meters Centerline goodness [0,1] 0.999914528088207 Centerline is valid? [True, True] Translation: X:99.34, Y:-15.47, Z:-1.98 [[ 9.87498518e-01 1.57468719e-01 7.09085601e-03 9.93411753e+01] [-1.57464046e-01 9.87523972e-01 -1.21611341e-03 -1.54678380e+01] [-7.19389011e-03 8.43553181e-05 9.99974120e-01 -1.98302371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.038623853 meters Centerline goodness [0,1] 0.9999782971981683 Centerline is valid? [True, True] Translation: X:99.37, Y:-15.48, Z:-1.99 [[ 9.87663682e-01 1.56413173e-01 7.44118407e-03 9.93683117e+01] [-1.56407998e-01 9.87691708e-01 -1.27591731e-03 -1.54750670e+01] [-7.54916608e-03 9.63164857e-05 9.99971500e-01 -1.98607280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.068623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:99.40, Y:-15.48, Z:-1.99 [[ 9.87792489e-01 1.55624144e-01 6.86466548e-03 9.93960195e+01] [-1.55619725e-01 9.87816338e-01 -1.17661111e-03 -1.54831531e+01] [-6.96413781e-03 9.39702679e-05 9.99975746e-01 -1.98734020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.098623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:99.42, Y:-15.49, Z:-1.99 [[ 9.87751706e-01 1.55898579e-01 6.49612954e-03 9.94236019e+01] [-1.55894627e-01 9.87773064e-01 -1.11343579e-03 -1.54879883e+01] [-6.59028484e-03 8.70864128e-05 9.99978280e-01 -1.98840751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.12862385300001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:99.45, Y:-15.49, Z:-1.99 [[ 9.87665723e-01 1.56447696e-01 6.36695806e-03 9.94507958e+01] [-1.56443913e-01 9.87686242e-01 -1.09103112e-03 -1.54925920e+01] [-6.45924618e-03 8.15022039e-05 9.99979136e-01 -1.99001230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.15862385300001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:99.48, Y:-15.50, Z:-1.99 [[ 9.87487843e-01 1.57570962e-01 6.25718704e-03 9.94794212e+01] [-1.57567337e-01 9.87507664e-01 -1.07129587e-03 -1.54964941e+01] [-6.34782528e-03 7.19633521e-05 9.99979850e-01 -1.99022401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.18862385300001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:99.51, Y:-15.50, Z:-1.99 [[ 9.87014240e-01 1.60510721e-01 6.26081420e-03 9.95079076e+01] [-1.60507149e-01 9.87034096e-01 -1.07205576e-03 -1.54981108e+01] [-6.35171352e-03 5.32288581e-05 9.99979826e-01 -1.99069927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.21862385300001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:99.54, Y:-15.50, Z:-1.99 [[ 9.86767636e-01 1.62018823e-01 6.28756976e-03 9.95365576e+01] [-1.62015258e-01 9.86787667e-01 -1.07567225e-03 -1.55004994e+01] [-6.37877545e-03 4.27563326e-05 9.99979654e-01 -1.99140478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.24862385300001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:99.57, Y:-15.50, Z:-1.99 [[ 9.86332992e-01 1.64632339e-01 6.58947608e-03 9.95656691e+01] [-1.64628484e-01 9.86355003e-01 -1.12697983e-03 -1.55025678e+01] [-6.68510003e-03 2.67619285e-05 9.99977654e-01 -1.99189679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.27862385300001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:99.59, Y:-15.51, Z:-1.99 [[ 9.86155515e-01 1.65687923e-01 6.69422461e-03 9.95941269e+01] [-1.65683971e-01 9.86178235e-01 -1.14457357e-03 -1.55064688e+01] [-6.79134063e-03 1.96018272e-05 9.99976938e-01 -1.99172347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.308623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:99.62, Y:-15.51, Z:-1.99 [[ 9.86017704e-01 1.66495295e-01 6.95731615e-03 9.96227967e+01] [-1.66491048e-01 9.86042249e-01 -1.18924896e-03 -1.55099110e+01] [-7.05821202e-03 1.42896701e-05 9.99975090e-01 -1.98928089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.338623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:99.65, Y:-15.51, Z:-1.99 [[ 9.85797789e-01 1.67747862e-01 7.96082343e-03 9.96499818e+01] [-1.67742346e-01 9.85829932e-01 -1.36037619e-03 -1.55133167e+01] [-8.07621821e-03 5.68863874e-06 9.99967387e-01 -1.98847416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.368623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:99.68, Y:-15.52, Z:-1.99 [[ 9.85707213e-01 1.68276002e-01 8.02978880e-03 9.96763827e+01] [-1.68270410e-01 9.85739919e-01 -1.37187277e-03 -1.55175369e+01] [-8.14613662e-03 1.08903353e-06 9.99966820e-01 -1.99075112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.398623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:99.70, Y:-15.52, Z:-1.99 [[ 9.85512968e-01 1.69423270e-01 7.74243889e-03 9.97048679e+01] [-1.69418114e-01 9.85543381e-01 -1.32183910e-03 -1.55232401e+01] [-7.85445970e-03 -9.01981780e-06 9.99969153e-01 -1.98915727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.428623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:99.73, Y:-15.53, Z:-1.99 [[ 9.85420587e-01 1.69964637e-01 7.63467534e-03 9.97318119e+01] [-1.69959639e-01 9.85450162e-01 -1.30343611e-03 -1.55273749e+01] [-7.74513009e-03 -1.31538887e-05 9.99970006e-01 -1.99117431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.458623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:99.76, Y:-15.53, Z:-1.99 [[ 9.85190627e-01 1.71310756e-01 7.21484604e-03 9.97603322e+01] [-1.71306336e-01 9.85217044e-01 -1.23083127e-03 -1.55314053e+01] [-7.31904392e-03 -2.33454090e-05 9.99973215e-01 -1.99113492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.488623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:99.79, Y:-15.54, Z:-1.99 [[ 9.85060671e-01 1.72068226e-01 6.92826148e-03 9.97885151e+01] [-1.72064171e-01 9.85085034e-01 -1.18164492e-03 -1.55351508e+01] [-7.02825024e-03 -2.81136316e-05 9.99975301e-01 -1.99193520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.51862385300001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:99.82, Y:-15.54, Z:-2.00 [[ 9.84826595e-01 1.73425400e-01 6.34105075e-03 9.98160431e+01] [-1.73422032e-01 9.84847008e-01 -1.08138541e-03 -1.55375845e+01] [-6.43250456e-03 -3.47007939e-05 9.99979311e-01 -1.99593047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.54862385300001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:99.84, Y:-15.54, Z:-2.00 [[ 9.84701382e-01 1.74129505e-01 6.48875496e-03 9.98447976e+01] [-1.74125998e-01 9.84722760e-01 -1.10598722e-03 -1.55428511e+01] [-6.58220970e-03 -4.07937916e-05 9.99978336e-01 -1.99500670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.57862385300001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:99.87, Y:-15.55, Z:-2.00 [[ 9.84556564e-01 1.74935433e-01 6.77988551e-03 9.98724510e+01] [-1.74931625e-01 9.84579906e-01 -1.15537113e-03 -1.55462784e+01] [-6.87745438e-03 -4.84881603e-05 9.99976349e-01 -1.99683708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.60862385300001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:99.90, Y:-15.55, Z:-1.99 [[ 9.84198002e-01 1.76922346e-01 7.26468798e-03 9.99007556e+01] [-1.76918032e-01 9.84224811e-01 -1.23736470e-03 -1.55497607e+01] [-7.36900362e-03 -6.74424316e-05 9.99972846e-01 -1.99439452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.63862385300001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:99.93, Y:-15.55, Z:-1.99 [[ 9.84017978e-01 1.77914172e-01 7.42733557e-03 9.99290253e+01] [-1.77909694e-01 9.84046006e-01 -1.26469492e-03 -1.55533902e+01] [-7.53384705e-03 -7.69124600e-05 9.99971617e-01 -1.99452554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.66862385300001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:99.96, Y:-15.56, Z:-2.00 [[ 9.83874723e-01 1.78706528e-01 7.38281963e-03 9.99579933e+01] [-1.78702128e-01 9.83902419e-01 -1.25675630e-03 -1.55570217e+01] [-7.48856465e-03 -8.28348186e-05 9.99971957e-01 -1.99515487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.698623853 meters Centerline goodness [0,1] 0.9999784510623626 Centerline is valid? [True, True] Translation: X:99.99, Y:-15.56, Z:-1.99 [[ 9.83527435e-01 1.80619699e-01 7.09286865e-03 9.99872571e+01] [-1.80615690e-01 9.83553006e-01 -1.20709169e-03 -1.55595474e+01] [-7.19423682e-03 -9.38755704e-05 9.99974117e-01 -1.99329768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.728623853 meters Centerline goodness [0,1] 0.9999784334023465 Centerline is valid? [True, True] Translation: X:100.02, Y:-15.56, Z:-1.99 [[ 9.83447906e-01 1.81058639e-01 6.92713380e-03 1.00015384e+02] [-1.81054828e-01 9.83472298e-01 -1.17856450e-03 -1.55636754e+01] [-7.02603348e-03 -9.51342291e-05 9.99975313e-01 -1.99445191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.758623853 meters Centerline goodness [0,1] 0.9998917350540242 Centerline is valid? [True, True] Translation: X:100.04, Y:-15.57, Z:-1.99 [[ 9.83440914e-01 1.81117004e-01 6.37178773e-03 1.00042940e+02] [-1.81113781e-01 9.83461551e-01 -1.08396250e-03 -1.55662632e+01] [-6.46273228e-03 -8.80054982e-05 9.99979112e-01 -1.99494708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.788623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:100.07, Y:-15.57, Z:-2.00 [[ 9.83550425e-01 1.80511240e-01 6.65238646e-03 1.00071715e+02] [-1.80507710e-01 9.83572918e-01 -1.13238991e-03 -1.55706821e+01] [-6.74751626e-03 -8.70444684e-05 9.99977231e-01 -1.99956675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.818623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:100.10, Y:-15.58, Z:-2.00 [[ 9.83609661e-01 1.80176098e-01 6.97200406e-03 1.00099689e+02] [-1.80172229e-01 9.83634366e-01 -1.18423749e-03 -1.55758609e+01] [-7.07127408e-03 -9.13340774e-05 9.99974994e-01 -1.99797935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.848623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:100.13, Y:-15.58, Z:-2.00 [[ 9.83685719e-01 1.79745012e-01 7.35772307e-03 1.00127451e+02] [-1.79740694e-01 9.83713231e-01 -1.24945923e-03 -1.55779623e+01] [-7.46247361e-03 -9.34070496e-05 9.99972151e-01 -1.99878366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.87862385300001 meters Centerline goodness [0,1] 0.9999785071034023 Centerline is valid? [True, True] Translation: X:100.16, Y:-15.58, Z:-2.00 [[ 9.83735739e-01 1.79469723e-01 7.39013027e-03 1.00155167e+02] [-1.79465363e-01 9.83763493e-01 -1.25448411e-03 -1.55820293e+01] [-7.49528228e-03 -9.21915597e-05 9.99971906e-01 -1.99979641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.90862385300001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:100.18, Y:-15.59, Z:-2.00 [[ 9.83842338e-01 1.78854862e-01 8.07416706e-03 1.00183285e+02] [-1.78849641e-01 9.83875464e-01 -1.36991992e-03 -1.55876041e+01] [-8.18899170e-03 -9.62766616e-05 9.99966465e-01 -1.99645313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.93862385300001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:100.21, Y:-15.59, Z:-2.00 [[ 9.83918102e-01 1.78436513e-01 8.09806249e-03 1.00210601e+02] [-1.78431244e-01 9.83951423e-01 -1.37437831e-03 -1.55901478e+01] [-8.21333938e-03 -9.26716570e-05 9.99966266e-01 -1.99730740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.96862385300001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:100.24, Y:-15.59, Z:-2.00 [[ 9.84056319e-01 1.77671040e-01 8.13402474e-03 1.00238176e+02] [-1.77665713e-01 9.84089932e-01 -1.37863097e-03 -1.55937586e+01] [-8.24955465e-03 -8.84867870e-05 9.99965968e-01 -1.99834485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.99862385300001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:100.27, Y:-15.60, Z:-2.00 [[ 9.84409441e-01 1.75700294e-01 8.21340270e-03 1.00266541e+02] [-1.75694799e-01 9.84443702e-01 -1.39145968e-03 -1.56003731e+01] [-8.33011243e-03 -7.32860903e-05 9.99965301e-01 -1.99813927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.02862385300001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:100.29, Y:-15.61, Z:-2.00 [[ 9.84964800e-01 1.72581833e-01 7.73648726e-03 1.00294102e+02] [-1.72576864e-01 9.84995182e-01 -1.31032856e-03 -1.56070284e+01] [-7.84654158e-03 -4.45112065e-05 9.99969214e-01 -1.99917022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.05862385300001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:100.32, Y:-15.61, Z:-2.00 [[ 9.85264423e-01 1.70869430e-01 7.59311508e-03 1.00322606e+02] [-1.70864596e-01 9.85293680e-01 -1.28568631e-03 -1.56125058e+01] [-7.70113279e-03 -3.06535652e-05 9.99970345e-01 -1.99985191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.088623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:100.35, Y:-15.62, Z:-2.00 [[ 9.85568812e-01 1.69101816e-01 7.66110833e-03 1.00349498e+02] [-1.69096843e-01 9.85598587e-01 -1.29693470e-03 -1.56177392e+01] [-7.77009156e-03 -1.72508428e-05 9.99969812e-01 -2.00270152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.118623853 meters Centerline goodness [0,1] 0.9999783108489134 Centerline is valid? [True, True] Translation: X:100.38, Y:-15.62, Z:-2.00 [[ 9.85835637e-01 1.67528510e-01 7.89268890e-03 1.00377574e+02] [-1.67523187e-01 9.85867232e-01 -1.33550616e-03 -1.56245759e+01] [-8.00487872e-03 -5.61883300e-06 9.99967960e-01 -2.00058755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.148623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:100.40, Y:-15.63, Z:-2.00 [[ 9.86298774e-01 1.64807102e-01 7.30399230e-03 1.00404284e+02] [-1.64802470e-01 9.86325818e-01 -1.23571639e-03 -1.56312612e+01] [-7.40777101e-03 1.50695934e-05 9.99972562e-01 -2.00159911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.178623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:100.43, Y:-15.64, Z:-2.00 [[ 9.86628250e-01 1.62767283e-01 8.45627310e-03 1.00431434e+02] [-1.62761005e-01 9.86664487e-01 -1.42997928e-03 -1.56371815e+01] [-8.57625821e-03 3.45064443e-05 9.99963223e-01 -2.00030323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.208623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:100.46, Y:-15.64, Z:-2.00 [[ 9.86774617e-01 1.61864241e-01 8.70758425e-03 1.00458361e+02] [-1.61857552e-01 9.86813035e-01 -1.47212419e-03 -1.56427962e+01] [-8.83104191e-03 4.32665079e-05 9.99961005e-01 -2.00051399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.238623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:100.49, Y:-15.65, Z:-2.00 [[ 9.86928290e-01 1.60908665e-01 8.99734936e-03 1.00486867e+02] [-1.60901494e-01 9.86969300e-01 -1.52002120e-03 -1.56481380e+01] [-9.12469218e-03 5.24649655e-05 9.99958368e-01 -2.00017844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.26862385300001 meters Centerline goodness [0,1] 0.9998923318762247 Centerline is valid? [True, True] Translation: X:100.51, Y:-15.65, Z:-2.00 [[ 9.87133821e-01 1.59690176e-01 8.11581649e-03 1.00514136e+02] [-1.59684299e-01 9.87167182e-01 -1.37114655e-03 -1.56526700e+01] [-8.23062633e-03 5.75366640e-05 9.99966126e-01 -1.99797421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.29862385300001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:100.54, Y:-15.66, Z:-2.00 [[ 9.87375245e-01 1.58203541e-01 7.85906915e-03 1.00542644e+02] [-1.58197991e-01 9.87406520e-01 -1.32675208e-03 -1.56572572e+01] [-7.96999299e-03 6.67132062e-05 9.99968237e-01 -2.00243871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.32862385300001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:100.57, Y:-15.66, Z:-2.00 [[ 9.87593214e-01 1.56849994e-01 7.59752529e-03 1.00569835e+02] [-1.56844770e-01 9.87622435e-01 -1.28236723e-03 -1.56644375e+01] [-7.70462572e-03 7.48250743e-05 9.99970316e-01 -2.00457397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.35862385300001 meters Centerline goodness [0,1] 0.999935170178282 Centerline is valid? [True, True] Translation: X:100.60, Y:-15.67, Z:-2.01 [[ 9.88084210e-01 1.53753557e-01 7.03112925e-03 1.00597028e+02] [-1.53749007e-01 9.88109222e-01 -1.18641629e-03 -1.56731306e+01] [-7.12993938e-03 9.12500672e-05 9.99974577e-01 -2.00531398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.38862385300001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:100.62, Y:-15.68, Z:-2.01 [[ 9.88367661e-01 1.51923696e-01 6.96828310e-03 1.00623613e+02] [-1.51919184e-01 9.88392220e-01 -1.17539018e-03 -1.56818673e+01] [-7.06596642e-03 1.03101762e-04 9.99975030e-01 -2.00737418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.41862385300001 meters Centerline goodness [0,1] 0.9998697718837497 Centerline is valid? [True, True] Translation: X:100.65, Y:-15.70, Z:-2.00 [[ 9.88965250e-01 1.47987376e-01 6.88985841e-03 1.00649999e+02] [-1.47982874e-01 9.88989241e-01 -1.16160390e-03 -1.56959499e+01] [-6.98589855e-03 1.29204848e-04 9.99975590e-01 -2.00343924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.448623853 meters Centerline goodness [0,1] 0.9997419188334731 Centerline is valid? [True, True] Translation: X:100.68, Y:-15.71, Z:-2.00 [[ 9.89293310e-01 1.45771874e-01 7.02199341e-03 1.00677364e+02] [-1.45767144e-01 9.89318219e-01 -1.18352351e-03 -1.57057637e+01] [-7.11951046e-03 1.47275960e-04 9.99974645e-01 -2.00369333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.478623853 meters Centerline goodness [0,1] 0.9998487206085753 Centerline is valid? [True, True] Translation: X:100.71, Y:-15.71, Z:-2.00 [[ 9.89592820e-01 1.43719969e-01 7.11480132e-03 1.00705401e+02] [-1.43715062e-01 9.89618383e-01 -1.19883592e-03 -1.57140718e+01] [-7.21323484e-03 1.63855300e-04 9.99973971e-01 -2.00437811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.508623853 meters Centerline goodness [0,1] 0.9997655434064412 Centerline is valid? [True, True] Translation: X:100.73, Y:-15.73, Z:-2.01 [[ 9.90068292e-01 1.40384435e-01 7.54905988e-03 1.00732122e+02] [-1.40378818e-01 9.90097051e-01 -1.27149051e-03 -1.57288955e+01] [-7.65279940e-03 1.99134337e-04 9.99970697e-01 -2.00903433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.538623853 meters Centerline goodness [0,1] 0.9999571091571949 Centerline is valid? [True, True] Translation: X:100.76, Y:-15.74, Z:-2.01 [[ 9.90375768e-01 1.38201873e-01 7.48867913e-03 1.00760191e+02] [-1.38196286e-01 9.90404057e-01 -1.26095619e-03 -1.57385016e+01] [-7.59108470e-03 2.13912810e-04 9.99971164e-01 -2.00778437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.568623853 meters Centerline goodness [0,1] 0.9998066511987626 Centerline is valid? [True, True] Translation: X:100.79, Y:-15.75, Z:-2.01 [[ 9.90436860e-01 1.37771579e-01 7.33616082e-03 1.00786684e+02] [-1.37766204e-01 9.90464006e-01 -1.23546792e-03 -1.57467637e+01] [-7.43641560e-03 2.12977943e-04 9.99972327e-01 -2.00844164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.598623853 meters Centerline goodness [0,1] 0.9998066511987626 Centerline is valid? [True, True] Translation: X:100.81, Y:-15.75, Z:-2.01 [[ 9.90443151e-01 1.37726335e-01 7.33625305e-03 1.00814642e+02] [-1.37720963e-01 9.90470298e-01 -1.23491984e-03 -1.57513798e+01] [-7.43642173e-03 2.12762064e-04 9.99972327e-01 -2.00894142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.62862385300001 meters Centerline goodness [0,1] 0.9998062808067328 Centerline is valid? [True, True] Translation: X:100.84, Y:-15.76, Z:-2.01 [[ 9.90396366e-01 1.38067812e-01 7.23309720e-03 1.00841718e+02] [-1.38062600e-01 9.90422756e-01 -1.21734357e-03 -1.57589812e+01] [-7.33190003e-03 2.07032442e-04 9.99973100e-01 -2.01014106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.65862385300001 meters Centerline goodness [0,1] 0.9999784737918416 Centerline is valid? [True, True] Translation: X:100.87, Y:-15.76, Z:-2.01 [[ 9.90103726e-01 1.40151323e-01 7.22617084e-03 1.00870674e+02] [-1.40146181e-01 9.90130077e-01 -1.21564859e-03 -1.57622395e+01] [-7.32522385e-03 1.90897958e-04 9.99973152e-01 -2.00893705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.68862385300001 meters Centerline goodness [0,1] 0.9999568118508282 Centerline is valid? [True, True] Translation: X:100.90, Y:-15.76, Z:-2.01 [[ 9.89856324e-01 1.41866890e-01 7.63172177e-03 1.00899888e+02] [-1.41861208e-01 9.89885726e-01 -1.28348282e-03 -1.57639012e+01] [-7.73661616e-03 1.87818312e-04 9.99970054e-01 -2.00756867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.71862385300001 meters Centerline goodness [0,1] 0.9999140911921994 Centerline is valid? [True, True] Translation: X:100.93, Y:-15.77, Z:-2.01 [[ 9.89165718e-01 1.46563207e-01 8.39095768e-03 1.00927969e+02] [-1.46556513e-01 9.89201294e-01 -1.41043951e-03 -1.57739519e+01] [-8.50706473e-03 1.65408913e-04 9.99963801e-01 -2.01019163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.74862385300001 meters Centerline goodness [0,1] 0.999978339506574 Centerline is valid? [True, True] Translation: X:100.96, Y:-15.77, Z:-2.01 [[ 9.88806083e-01 1.48938492e-01 8.93616604e-03 1.00957952e+02] [-1.48930998e-01 9.88846450e-01 -1.50203920e-03 -1.57708671e+01] [-9.06020752e-03 1.54353374e-04 9.99958944e-01 -2.00642922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.77862385300001 meters Centerline goodness [0,1] 0.9999782097097534 Centerline is valid? [True, True] Translation: X:100.99, Y:-15.77, Z:-2.01 [[ 9.88372762e-01 1.51786230e-01 8.95678160e-03 1.00987235e+02] [-1.51778820e-01 9.88413337e-01 -1.50524312e-03 -1.57733498e+01] [-9.08147756e-03 1.28291560e-04 9.99958754e-01 -2.00636908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.80862385300001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:101.01, Y:-15.78, Z:-2.01 [[ 9.87529396e-01 1.57238824e-01 7.85139436e-03 1.01014712e+02] [-1.57233307e-01 9.87560605e-01 -1.31894380e-03 -1.57757509e+01] [-7.96111693e-03 6.79950750e-05 9.99968307e-01 -2.00989866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.838623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:101.04, Y:-15.78, Z:-2.01 [[ 9.87120587e-01 1.59795895e-01 7.63014288e-03 1.01042253e+02] [-1.59790764e-01 9.87150075e-01 -1.28139044e-03 -1.57785270e+01] [-7.73685704e-03 4.56605184e-05 9.99970069e-01 -2.01201620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.868623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:101.07, Y:-15.78, Z:-2.01 [[ 9.86464120e-01 1.63814237e-01 7.30991639e-03 1.01071689e+02] [-1.63809639e-01 9.86491204e-01 -1.22754300e-03 -1.57785093e+01] [-7.41225724e-03 1.34923686e-05 9.99972529e-01 -2.01266158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.898623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:101.10, Y:-15.78, Z:-2.01 [[ 9.86193473e-01 1.65438207e-01 7.25495684e-03 1.01099403e+02] [-1.65433727e-01 9.86220158e-01 -1.21747683e-03 -1.57811234e+01] [-7.35640186e-03 4.53152405e-07 9.99972941e-01 -2.01308987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.928623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:101.13, Y:-15.78, Z:-2.01 [[ 9.85891055e-01 1.67216332e-01 7.58454447e-03 1.01126206e+02] [-1.67211492e-01 9.85920229e-01 -1.27228494e-03 -1.57834207e+01] [-7.69050264e-03 -1.38886550e-05 9.99970428e-01 -2.01339972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.958623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:101.16, Y:-15.79, Z:-2.01 [[ 9.85339842e-01 1.70394604e-01 8.43064083e-03 1.01155586e+02] [-1.70388751e-01 9.85375906e-01 -1.41299712e-03 -1.57853193e+01] [-8.54811744e-03 -4.42039980e-05 9.99963463e-01 -2.01227407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.988623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:101.18, Y:-15.79, Z:-2.01 [[ 9.84672224e-01 1.74139236e-01 9.80502477e-03 1.01184422e+02] [-1.74131510e-01 9.84721036e-01 -1.64275436e-03 -1.57856949e+01] [-9.94128214e-03 -8.97891855e-05 9.99950580e-01 -2.00965298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.01862385300001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:101.21, Y:-15.79, Z:-2.01 [[ 9.84326286e-01 1.76077142e-01 9.92991103e-03 1.01212497e+02] [-1.76069321e-01 9.84376365e-01 -1.66326376e-03 -1.57857242e+01] [-1.00676325e-02 -1.11158450e-04 9.99949314e-01 -2.01065142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.04862385300001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:101.24, Y:-15.79, Z:-2.01 [[ 9.84065957e-01 1.77522023e-01 1.00062032e-02 1.01240893e+02] [-1.77514163e-01 9.84116820e-01 -1.67539867e-03 -1.57878607e+01] [-1.01446930e-02 -1.27539994e-04 9.99948533e-01 -2.01066715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.07862385300001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:101.27, Y:-15.79, Z:-2.01 [[ 9.83582742e-01 1.80175431e-01 1.00897747e-02 1.01269804e+02] [-1.80167585e-01 9.83634480e-01 -1.68868913e-03 -1.57875938e+01] [-1.02289106e-02 -1.56884862e-04 9.99947671e-01 -2.01155711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.10862385300001 meters Centerline goodness [0,1] 0.9999573760709262 Centerline is valid? [True, True] Translation: X:101.30, Y:-15.79, Z:-2.01 [[ 9.83420586e-01 1.81076032e-01 9.76842563e-03 1.01298041e+02] [-1.81068727e-01 9.83469087e-01 -1.63446849e-03 -1.57909590e+01] [-9.90290770e-03 -1.61386439e-04 9.99950952e-01 -2.01199389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.13862385300001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:101.33, Y:-15.79, Z:-2.01 [[ 9.83304677e-01 1.81692833e-01 9.98132848e-03 1.01326408e+02] [-1.81685243e-01 9.83355320e-01 -1.66959653e-03 -1.57940946e+01] [-1.01185462e-02 -1.71738010e-04 9.99948791e-01 -2.01194044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.16862385300001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:101.35, Y:-15.80, Z:-2.01 [[ 9.83331056e-01 1.81572666e-01 9.56043297e-03 1.01353539e+02] [-1.81565695e-01 9.83377517e-01 -1.59942927e-03 -1.57968969e+01] [-9.69192747e-03 -1.63078180e-04 9.99953019e-01 -2.01356034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.198623853 meters Centerline goodness [0,1] 0.9999782736220044 Centerline is valid? [True, True] Translation: X:101.38, Y:-15.80, Z:-2.02 [[ 9.83429327e-01 1.81055529e-01 9.25500299e-03 1.01381377e+02] [-1.81048990e-01 9.83472863e-01 -1.54653064e-03 -1.58016857e+01] [-9.38205221e-03 -1.54705360e-04 9.99955976e-01 -2.01523243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.228623853 meters Centerline goodness [0,1] 0.999957211013885 Centerline is valid? [True, True] Translation: X:101.41, Y:-15.81, Z:-2.02 [[ 9.83591381e-01 1.80185843e-01 9.00321183e-03 1.01409999e+02] [-1.80179624e-01 9.83632574e-01 -1.50383861e-03 -1.58068171e+01] [-9.12682285e-03 -1.43032628e-04 9.99958339e-01 -2.01574170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.258623853 meters Centerline goodness [0,1] 0.9999785393909479 Centerline is valid? [True, True] Translation: X:101.44, Y:-15.81, Z:-2.02 [[ 9.83686356e-01 1.79651267e-01 9.30461511e-03 1.01437451e+02] [-1.79644604e-01 9.83730350e-01 -1.55380122e-03 -1.58103796e+01] [-9.43237464e-03 -1.43070840e-04 9.99955504e-01 -2.01595266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.288623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:101.47, Y:-15.81, Z:-2.02 [[ 9.83747758e-01 1.79291593e-01 9.74025923e-03 1.01466601e+02] [-1.79284281e-01 9.83795966e-01 -1.62583042e-03 -1.58132076e+01] [-9.87392546e-03 -1.46868342e-04 9.99951241e-01 -2.01599825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.318623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:101.49, Y:-15.82, Z:-2.02 [[ 9.83773150e-01 1.79150821e-01 9.76587682e-03 1.01493792e+02] [-1.79143466e-01 9.83821611e-01 -1.62984014e-03 -1.58176825e+01] [-9.89986787e-03 -1.46100057e-04 9.99950984e-01 -2.01572436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.348623853 meters Centerline goodness [0,1] 0.9999786557384047 Centerline is valid? [True, True] Translation: X:101.52, Y:-15.82, Z:-2.02 [[ 9.83768052e-01 1.79194310e-01 9.47728604e-03 1.01521600e+02] [-1.79187393e-01 9.83813691e-01 -1.58091820e-03 -1.58189785e+01] [-9.60717531e-03 -1.42953369e-04 9.99953840e-01 -2.01799484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.37862385300001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:101.55, Y:-15.82, Z:-2.02 [[ 9.83895320e-01 1.78553621e-01 8.28279390e-03 1.01548398e+02] [-1.78548317e-01 9.83930175e-01 -1.38148559e-03 -1.58204233e+01] [-8.39636011e-03 -1.19641703e-04 9.99964743e-01 -2.02110451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.40862385300001 meters Centerline goodness [0,1] 0.9999568286312518 Centerline is valid? [True, True] Translation: X:101.58, Y:-15.83, Z:-2.02 [[ 9.84042867e-01 1.77742832e-01 8.19281058e-03 1.01576113e+02] [-1.77737622e-01 9.84076965e-01 -1.36552603e-03 -1.58274478e+01] [-8.30506863e-03 -1.12434524e-04 9.99965506e-01 -2.02007162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.43862385300001 meters Centerline goodness [0,1] 0.9999786880354631 Centerline is valid? [True, True] Translation: X:101.60, Y:-15.83, Z:-2.02 [[ 9.84364724e-01 1.75952681e-01 8.16966530e-03 1.01604537e+02] [-1.75947441e-01 9.84398621e-01 -1.36137332e-03 -1.58279888e+01] [-8.28174454e-03 -9.73438302e-05 9.99965701e-01 -2.02265472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.46862385300001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:101.63, Y:-15.83, Z:-2.02 [[ 9.84612826e-01 1.74551958e-01 8.31848780e-03 1.01633097e+02] [-1.74546482e-01 9.84647961e-01 -1.38548931e-03 -1.58322951e+01] [-8.43262192e-03 -8.77922315e-05 9.99964441e-01 -2.02307730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.49862385300001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:101.66, Y:-15.84, Z:-2.02 [[ 9.85163329e-01 1.71367953e-01 9.28656281e-03 1.01661452e+02] [-1.71360992e-01 9.85207095e-01 -1.54613892e-03 -1.58412334e+01] [-9.41414623e-03 -6.81552482e-05 9.99955684e-01 -2.01951903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.52862385300001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:101.69, Y:-15.85, Z:-2.02 [[ 9.85464097e-01 1.69598815e-01 9.83644131e-03 1.01690018e+02] [-1.69590920e-01 9.85513186e-01 -1.63738119e-03 -1.58475373e+01] [-9.97164052e-03 -5.45907554e-05 9.99950280e-01 -2.01888940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.55862385300001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:101.72, Y:-15.85, Z:-2.02 [[ 9.85764974e-01 1.67851091e-01 9.66581300e-03 1.01716966e+02] [-1.67843387e-01 9.85812360e-01 -1.60859752e-03 -1.58523824e+01] [-9.79868277e-03 -3.66437031e-05 9.99951991e-01 -2.02113640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.588623853 meters Centerline goodness [0,1] 0.9998930206684069 Centerline is valid? [True, True] Translation: X:101.75, Y:-15.86, Z:-2.02 [[ 9.86232548e-01 1.65064706e-01 9.95009484e-03 1.01745217e+02] [-1.65056408e-01 9.86282740e-01 -1.65514363e-03 -1.58581722e+01] [-1.00868126e-02 -9.97038985e-06 9.99949127e-01 -2.02038952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.618623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:101.77, Y:-15.86, Z:-2.02 [[ 9.86435480e-01 1.63835004e-01 1.01555889e-02 1.01771512e+02] [-1.63826297e-01 9.86487755e-01 -1.68907246e-03 -1.58622908e+01] [-1.02950933e-02 2.40847473e-06 9.99947004e-01 -2.02083626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.648623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:101.80, Y:-15.87, Z:-2.02 [[ 9.86768406e-01 1.61858041e-01 9.49144090e-03 1.01799951e+02] [-1.61850354e-01 9.86814052e-01 -1.57762382e-03 -1.58661240e+01] [-9.62163836e-03 2.05562773e-05 9.99953711e-01 -2.02265487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.678623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:101.83, Y:-15.87, Z:-2.02 [[ 9.86946937e-01 1.60766403e-01 9.48194412e-03 1.01828214e+02] [-1.60758685e-01 9.86992484e-01 -1.57560193e-03 -1.58703473e+01] [-9.61191143e-03 3.07306254e-05 9.99953804e-01 -2.02277045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.708623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:101.86, Y:-15.88, Z:-2.02 [[ 9.87242850e-01 1.58919307e-01 9.80862203e-03 1.01855326e+02] [-1.58910959e-01 9.87291574e-01 -1.62967957e-03 -1.58755812e+01] [-9.94295743e-03 5.01919760e-05 9.99950566e-01 -2.02388392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.738623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:101.88, Y:-15.88, Z:-2.02 [[ 9.87414449e-01 1.57833569e-01 1.00633166e-02 1.01883468e+02] [-1.57824739e-01 9.87465726e-01 -1.67064788e-03 -1.58804574e+01] [-1.02008645e-02 6.13815430e-05 9.99947968e-01 -2.02377507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.76862385300001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:101.91, Y:-15.88, Z:-2.02 [[ 9.87726864e-01 1.55802497e-01 1.10101887e-02 1.01911739e+02] [-1.55791805e-01 9.87788223e-01 -1.82747856e-03 -1.58844206e+01] [-1.11604604e-02 8.97524965e-05 9.99937716e-01 -2.02205372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.79862385300001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:101.94, Y:-15.89, Z:-2.02 [[ 9.87901926e-01 1.54705714e-01 1.07669266e-02 1.01939776e+02] [-1.54695430e-01 9.87960592e-01 -1.78658351e-03 -1.58897184e+01] [-1.09136939e-02 9.93749487e-05 9.99940439e-01 -2.02295738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.82862385300001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:101.97, Y:-15.89, Z:-2.02 [[ 9.88059812e-01 1.53701099e-01 1.06667692e-02 1.01968550e+02] [-1.53690952e-01 9.88117382e-01 -1.76944565e-03 -1.58949346e+01] [-1.08119858e-02 1.08932218e-04 9.99941543e-01 -2.02365342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.85862385300001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:102.00, Y:-15.90, Z:-2.02 [[ 9.88267858e-01 1.52340970e-01 1.09027214e-02 1.01995614e+02] [-1.52330292e-01 9.88327988e-01 -1.80810445e-03 -1.59002477e+01] [-1.10509131e-02 1.26076765e-04 9.99938929e-01 -2.02400614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.88862385300001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:102.02, Y:-15.90, Z:-2.02 [[ 9.88257266e-01 1.52380975e-01 1.12966512e-02 1.02024273e+02] [-1.52369523e-01 9.88321821e-01 -1.87262145e-03 -1.59028346e+01] [-1.14500787e-02 1.29366406e-04 9.99934437e-01 -2.02339117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.91862385300001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:102.05, Y:-15.91, Z:-2.02 [[ 9.88212654e-01 1.52671389e-01 1.12782119e-02 1.02051688e+02] [-1.52659999e-01 9.88277001e-01 -1.86908347e-03 -1.59067012e+01] [-1.14313530e-02 1.25320117e-04 9.99934652e-01 -2.02380292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.948623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:102.08, Y:-15.91, Z:-2.02 [[ 9.88150767e-01 1.53071467e-01 1.12777398e-02 1.02080268e+02] [-1.53060113e-01 9.88215114e-01 -1.86824731e-03 -1.59093852e+01] [-1.14308083e-02 1.19937884e-04 9.99934659e-01 -2.02386722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.978623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:102.11, Y:-15.91, Z:-2.02 [[ 9.88108952e-01 1.53343024e-01 1.12523713e-02 1.02106941e+02] [-1.53331740e-01 9.88173013e-01 -1.86388326e-03 -1.59128397e+01] [-1.14051032e-02 1.16374050e-04 9.99934953e-01 -2.02435053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.008623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:102.13, Y:-15.91, Z:-2.02 [[ 9.87904990e-01 1.54636731e-01 1.14547796e-02 1.02134522e+02] [-1.54625143e-01 9.87971392e-01 -1.89577583e-03 -1.59142767e+01] [-1.16101511e-02 1.01649468e-04 9.99932595e-01 -2.02493427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.038623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:102.16, Y:-15.91, Z:-2.03 [[ 9.87602417e-01 1.56576365e-01 1.11940692e-02 1.02163684e+02] [-1.56565431e-01 9.87665853e-01 -1.85189943e-03 -1.59136565e+01] [-1.13459636e-02 7.63360800e-05 9.99935630e-01 -2.02524737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.068623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:102.19, Y:-15.92, Z:-2.03 [[ 9.87440795e-01 1.57604672e-01 1.10201714e-02 1.02191962e+02] [-1.57594144e-01 9.87502285e-01 -1.82268046e-03 -1.59159407e+01] [-1.11697074e-02 6.30745639e-05 9.99937615e-01 -2.02707450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.098623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:102.22, Y:-15.92, Z:-2.03 [[ 9.87244344e-01 1.58828875e-01 1.10450654e-02 1.02221224e+02] [-1.58818385e-01 9.87306126e-01 -1.82603954e-03 -1.59169532e+01] [-1.11948886e-02 4.85877583e-05 9.99937334e-01 -2.02688616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.12862385300001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:102.25, Y:-15.92, Z:-2.03 [[ 9.86895057e-01 1.60970320e-01 1.12562392e-02 1.02250538e+02] [-1.60959571e-01 9.86959247e-01 -1.86038737e-03 -1.59154982e+01] [-1.14089165e-02 2.42076744e-05 9.99934916e-01 -2.02751789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.15862385300001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:102.28, Y:-15.92, Z:-2.03 [[ 9.86770959e-01 1.61737485e-01 1.11382113e-02 1.02278954e+02] [-1.61727013e-01 9.86833819e-01 -1.84049741e-03 -1.59171275e+01] [-1.12892410e-02 1.47997554e-05 9.99936274e-01 -2.02791337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.18862385300001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:102.31, Y:-15.92, Z:-2.03 [[ 9.86654574e-01 1.62476443e-01 1.06844596e-02 1.02306480e+02] [-1.62466854e-01 9.86712423e-01 -1.76518997e-03 -1.59175304e+01] [-1.08292908e-02 5.76221714e-06 9.99941361e-01 -2.02951753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.21862385300001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:102.33, Y:-15.92, Z:-2.03 [[ 9.86641987e-01 1.62540973e-01 1.08638009e-02 1.02333311e+02] [-1.62531080e-01 9.86701795e-01 -1.79334245e-03 -1.59200083e+01] [-1.10108235e-02 3.68166444e-06 9.99939379e-01 -2.03039219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.24862385300001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:102.36, Y:-15.92, Z:-2.03 [[ 9.86644925e-01 1.62536600e-01 1.06604869e-02 1.02360853e+02] [-1.62527092e-01 9.86702515e-01 -1.75801539e-03 -1.59224080e+01] [-1.08044711e-02 1.91902084e-06 9.99941630e-01 -2.03096908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.27862385300001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:102.39, Y:-15.92, Z:-2.03 [[ 9.86770244e-01 1.61759932e-01 1.08724678e-02 1.02387852e+02] [-1.61750003e-01 9.86830140e-01 -1.79224484e-03 -1.59241864e+01] [-1.10191924e-02 9.91216824e-06 9.99939287e-01 -2.03124464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.30862385300001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:102.41, Y:-15.93, Z:-2.03 [[ 9.86875543e-01 1.61101225e-01 1.10931629e-02 1.02414949e+02] [-1.61090855e-01 9.86937888e-01 -1.82796729e-03 -1.59277516e+01] [-1.12427506e-02 1.69691108e-05 9.99936798e-01 -2.03142406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.338623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:102.44, Y:-15.93, Z:-2.03 [[ 9.87205890e-01 1.58996231e-01 1.20303599e-02 1.02442780e+02] [-1.58983903e-01 9.87279189e-01 -1.98038691e-03 -1.59327287e+01] [-1.21921981e-02 4.24160484e-05 9.99925671e-01 -2.02954589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.368623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:102.47, Y:-15.94, Z:-2.03 [[ 9.87445147e-01 1.57476419e-01 1.23798278e-02 1.02469916e+02] [-1.57463257e-01 9.87522746e-01 -2.03692240e-03 -1.59394368e+01] [-1.25461288e-02 6.19811297e-05 9.99921292e-01 -2.02971788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.398623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:102.50, Y:-15.95, Z:-2.03 [[ 9.88119726e-01 1.53050023e-01 1.39677552e-02 1.02497396e+02] [-1.53032840e-01 9.88218434e-01 -2.29719409e-03 -1.59493286e+01] [-1.41547788e-02 1.32377550e-04 9.99899807e-01 -2.02769583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.428623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:102.52, Y:-15.96, Z:-2.03 [[ 9.88542142e-01 1.50293448e-01 1.40111859e-02 1.02524967e+02] [-1.50275890e-01 9.88641416e-01 -2.30365508e-03 -1.59570586e+01] [-1.41982630e-02 1.71716683e-04 9.99899185e-01 -2.02745610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.458623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:102.55, Y:-15.97, Z:-2.03 [[ 9.89451550e-01 1.44185521e-01 1.40059198e-02 1.02551240e+02] [-1.44167374e-01 9.89550640e-01 -2.30209190e-03 -1.59704566e+01] [-1.41914952e-02 2.58611719e-04 9.99899262e-01 -2.02769477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.488623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:102.58, Y:-15.97, Z:-2.03 [[ 9.89461977e-01 1.44113938e-01 1.40060252e-02 1.02578386e+02] [-1.44095793e-01 9.89561067e-01 -2.30145074e-03 -1.59747888e+01] [-1.41914884e-02 2.58988691e-04 9.99899262e-01 -2.02817963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.51862385300001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:102.61, Y:-15.98, Z:-2.03 [[ 9.89892399e-01 1.41131412e-01 1.39629370e-02 1.02605738e+02] [-1.41113099e-01 9.89990826e-01 -2.29320877e-03 -1.59843047e+01] [-1.41468233e-02 2.99676625e-04 9.99899884e-01 -2.02850685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.54862385300001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:102.63, Y:-16.00, Z:-2.03 [[ 9.90252723e-01 1.38584590e-01 1.39232283e-02 1.02632767e+02] [-1.38566136e-01 9.90350544e-01 -2.28617100e-03 -1.59950311e+01] [-1.41057048e-02 3.34599114e-04 9.99900454e-01 -2.02969349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.57862385300001 meters Centerline goodness [0,1] 0.9999139562897952 Centerline is valid? [True, True] Translation: X:102.66, Y:-16.01, Z:-2.03 [[ 9.90881939e-01 1.34081969e-01 1.32290849e-02 1.02661425e+02] [-1.34064915e-01 9.90970172e-01 -2.17159952e-03 -1.60084917e+01] [-1.34008009e-02 3.78242596e-04 9.99910134e-01 -2.03105781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.60862385300001 meters Centerline goodness [0,1] 0.9999354463882254 Centerline is valid? [True, True] Translation: X:102.69, Y:-16.02, Z:-2.03 [[ 9.91116207e-01 1.32359725e-01 1.30217738e-02 1.02689024e+02] [-1.32343050e-01 9.91201668e-01 -2.13783297e-03 -1.60157340e+01] [-1.31901669e-02 3.95499638e-04 9.99912928e-01 -2.03204655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.63862385300001 meters Centerline goodness [0,1] 0.9998263926564094 Centerline is valid? [True, True] Translation: X:102.72, Y:-16.03, Z:-2.03 [[ 9.91482617e-01 1.29619992e-01 1.26837795e-02 1.02716830e+02] [-1.29603959e-01 9.91563655e-01 -2.08149315e-03 -1.60274604e+01] [-1.28465779e-02 4.19896247e-04 9.99917391e-01 -2.03315041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.66862385300001 meters Centerline goodness [0,1] 0.9998264077248562 Centerline is valid? [True, True] Translation: X:102.74, Y:-16.04, Z:-2.03 [[ 9.91615244e-01 1.28623275e-01 1.24603612e-02 1.02743555e+02] [-1.28607727e-01 9.91693437e-01 -2.04450214e-03 -1.60365513e+01] [-1.26198290e-02 4.24860753e-04 9.99920277e-01 -2.03367129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.698623853 meters Centerline goodness [0,1] 0.9997192042680951 Centerline is valid? [True, True] Translation: X:102.77, Y:-16.05, Z:-2.03 [[ 9.91730652e-01 1.27629913e-01 1.34506225e-02 1.02770519e+02] [-1.27611717e-01 9.91821750e-01 -2.20598628e-03 -1.60484087e+01] [-1.36221698e-02 4.71287170e-04 9.99907103e-01 -2.03338732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.728623853 meters Centerline goodness [0,1] 0.9996990024079807 Centerline is valid? [True, True] Translation: X:102.80, Y:-16.05, Z:-2.03 [[ 9.91720658e-01 1.27710545e-01 1.34221153e-02 1.02798462e+02] [-1.27692439e-01 9.91811372e-01 -2.20087382e-03 -1.60548548e+01] [-1.35932813e-02 4.68749395e-04 9.99907497e-01 -2.03365057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.758623853 meters Centerline goodness [0,1] 0.9996994869813467 Centerline is valid? [True, True] Translation: X:102.83, Y:-16.06, Z:-2.03 [[ 9.91655378e-01 1.28220350e-01 1.33848190e-02 1.02826756e+02] [-1.28202400e-01 9.91745598e-01 -2.19411997e-03 -1.60614938e+01] [-1.35556662e-02 4.59844940e-04 9.99908012e-01 -2.03378316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.788623853 meters Centerline goodness [0,1] 0.9998921739880529 Centerline is valid? [True, True] Translation: X:102.86, Y:-16.07, Z:-2.03 [[ 9.91394482e-01 1.30234099e-01 1.32688027e-02 1.02855344e+02] [-1.30216649e-01 9.91483180e-01 -2.17441895e-03 -1.60685127e+01] [-1.34389781e-02 4.27887935e-04 9.99909601e-01 -2.03429383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.818623853 meters Centerline goodness [0,1] 0.9998073093968785 Centerline is valid? [True, True] Translation: X:102.88, Y:-16.08, Z:-2.04 [[ 9.91195360e-01 1.31726897e-01 1.34083050e-02 1.02882407e+02] [-1.31709220e-01 9.91285960e-01 -2.19681874e-03 -1.60802419e+01] [-1.35808446e-02 4.11479146e-04 9.99907691e-01 -2.03595327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.848623853 meters Centerline goodness [0,1] 0.9999566827662385 Centerline is valid? [True, True] Translation: X:102.91, Y:-16.08, Z:-2.04 [[ 9.90730959e-01 1.35206868e-01 1.30870154e-02 1.02912157e+02] [-1.35190338e-01 9.90817328e-01 -2.14368272e-03 -1.60810781e+01] [-1.32566822e-02 3.54574810e-04 9.99912063e-01 -2.03569411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.87862385300001 meters Centerline goodness [0,1] 0.9999569679626482 Centerline is valid? [True, True] Translation: X:102.94, Y:-16.09, Z:-2.04 [[ 9.90438337e-01 1.37334356e-01 1.30834036e-02 1.02939816e+02] [-1.37318024e-01 9.90524694e-01 -2.14284359e-03 -1.60867199e+01] [-1.32537204e-02 3.25767313e-04 9.99912113e-01 -2.03625087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.90862385300001 meters Centerline goodness [0,1] 0.9999784264233167 Centerline is valid? [True, True] Translation: X:102.97, Y:-16.09, Z:-2.04 [[ 9.90093366e-01 1.39821700e-01 1.28459359e-02 1.02969131e+02] [-1.39806173e-01 9.90176656e-01 -2.10328411e-03 -1.60886426e+01] [-1.30138306e-02 2.86506503e-04 9.99915275e-01 -2.03675182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.93862385300001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:103.00, Y:-16.09, Z:-2.04 [[ 9.89245542e-01 1.45692159e-01 1.29248666e-02 1.02998103e+02] [-1.45676949e-01 9.89329950e-01 -2.11566406e-03 -1.60915211e+01] [-1.30951933e-02 2.10056116e-04 9.99914232e-01 -2.03729072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.96862385300001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:103.03, Y:-16.09, Z:-2.04 [[ 9.88799792e-01 1.48725384e-01 1.24792798e-02 1.03026826e+02] [-1.48711448e-01 9.88878523e-01 -2.04254718e-03 -1.60943020e+01] [-1.26442704e-02 1.63858463e-04 9.99920045e-01 -2.03838877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.99862385300001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:103.06, Y:-16.10, Z:-2.04 [[ 9.87891942e-01 1.54661936e-01 1.22145936e-02 1.03055254e+02] [-1.54649045e-01 9.87967448e-01 -1.99865029e-03 -1.60960243e+01] [-1.23767360e-02 8.54752733e-05 9.99923402e-01 -2.03985253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.02862385300001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:103.08, Y:-16.10, Z:-2.04 [[ 9.87457629e-01 1.57423876e-01 1.20480229e-02 1.03083661e+02] [-1.57411547e-01 9.87531124e-01 -1.97082556e-03 -1.60990611e+01] [-1.22080526e-02 4.96088087e-05 9.99925478e-01 -2.04024220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.05862385300001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:103.11, Y:-16.10, Z:-2.04 [[ 9.86614033e-01 1.62609996e-01 1.22775960e-02 1.03111753e+02] [-1.62597601e-01 9.86690422e-01 -2.00783145e-03 -1.61001108e+01] [-1.24406799e-02 -1.53529768e-05 9.99922612e-01 -2.04067736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.088623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:103.14, Y:-16.10, Z:-2.04 [[ 9.86168369e-01 1.65310702e-01 1.20133045e-02 1.03140370e+02] [-1.65299044e-01 9.86241537e-01 -1.96384360e-03 -1.61024259e+01] [-1.21726643e-02 -4.91073108e-05 9.99925909e-01 -2.04142978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.118623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:103.17, Y:-16.10, Z:-2.04 [[ 9.85342828e-01 1.70140197e-01 1.23217290e-02 1.03168437e+02] [-1.70128317e-01 9.85419860e-01 -2.01370968e-03 -1.61021004e+01] [-1.24846894e-02 -1.12080626e-04 9.99922057e-01 -2.04180082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.148623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:103.20, Y:-16.10, Z:-2.04 [[ 9.84922055e-01 1.72536520e-01 1.26370638e-02 1.03196973e+02] [-1.72524232e-01 9.85003110e-01 -2.06440494e-03 -1.61045418e+01] [-1.28037324e-02 -1.46921768e-04 9.99918018e-01 -2.04193730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.178623853 meters Centerline goodness [0,1] 0.9999785697447656 Centerline is valid? [True, True] Translation: X:103.23, Y:-16.11, Z:-2.04 [[ 9.84550231e-01 1.74644235e-01 1.26583400e-02 1.03225658e+02] [-1.74632087e-01 9.84631586e-01 -2.06727991e-03 -1.61075943e+01] [-1.28248399e-02 -1.75211414e-04 9.99917743e-01 -2.04225914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.208623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:103.26, Y:-16.11, Z:-2.04 [[ 9.83918292e-01 1.78182304e-01 1.24844267e-02 1.03255489e+02] [-1.78170781e-01 9.83997469e-01 -2.03818155e-03 -1.61100144e+01] [-1.26478121e-02 -2.18955942e-04 9.99919989e-01 -2.04321598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.238623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:103.28, Y:-16.11, Z:-2.04 [[ 9.83672981e-01 1.79560352e-01 1.20642334e-02 1.03282884e+02] [-1.79549693e-01 9.83746933e-01 -1.96973672e-03 -1.61121166e+01] [-1.22218392e-02 -2.28552609e-04 9.99925284e-01 -2.04493771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.26862385300001 meters Centerline goodness [0,1] 0.9999782040104621 Centerline is valid? [True, True] Translation: X:103.31, Y:-16.12, Z:-2.05 [[ 9.83224658e-01 1.82039140e-01 1.14465104e-02 1.03311280e+02] [-1.82029730e-01 9.83291254e-01 -1.86744319e-03 -1.61163522e+01] [-1.15952013e-02 -2.47488996e-04 9.99932743e-01 -2.04655939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.29862385300001 meters Centerline goodness [0,1] 0.9999149569469544 Centerline is valid? [True, True] Translation: X:103.34, Y:-16.12, Z:-2.05 [[ 9.83054319e-01 1.82976472e-01 1.11273233e-02 1.03338886e+02] [-1.82967644e-01 9.83117260e-01 -1.81493508e-03 -1.61181678e+01] [-1.12715540e-02 -2.51760357e-04 9.99936442e-01 -2.04822411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.32862385300001 meters Centerline goodness [0,1] 0.9999359111301004 Centerline is valid? [True, True] Translation: X:103.37, Y:-16.12, Z:-2.05 [[ 9.83007055e-01 1.83241316e-01 1.09429982e-02 1.03367040e+02] [-1.83232802e-01 9.83067931e-01 -1.78414114e-03 -1.61226198e+01] [-1.10846390e-02 -2.51292904e-04 9.99938532e-01 -2.04914101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.35862385300001 meters Centerline goodness [0,1] 0.999957172530461 Centerline is valid? [True, True] Translation: X:103.40, Y:-16.13, Z:-2.05 [[ 9.83113173e-01 1.82717488e-01 1.01394363e-02 1.03395069e+02] [-1.82710155e-01 9.83165433e-01 -1.65279019e-03 -1.61257424e+01] [-1.02707370e-02 -2.27698176e-04 9.99947229e-01 -2.05219378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.38862385300001 meters Centerline goodness [0,1] 0.999978293900586 Centerline is valid? [True, True] Translation: X:103.42, Y:-16.14, Z:-2.05 [[ 9.83239688e-01 1.82035305e-01 1.01422029e-02 1.03422908e+02] [-1.82027938e-01 9.83291970e-01 -1.65255658e-03 -1.61354604e+01] [-1.02735703e-02 -2.21305071e-04 9.99947201e-01 -2.05185158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.41862385300001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:103.45, Y:-16.14, Z:-2.05 [[ 9.83339276e-01 1.81468892e-01 1.06259100e-02 1.03450313e+02] [-1.81460778e-01 9.83396660e-01 -1.73089719e-03 -1.61402301e+01] [-1.07635884e-02 -2.26126717e-04 9.99942045e-01 -2.05164865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.448623853 meters Centerline goodness [0,1] 0.9999787645197596 Centerline is valid? [True, True] Translation: X:103.48, Y:-16.14, Z:-2.05 [[ 9.83322291e-01 1.81543474e-01 1.09196367e-02 1.03478214e+02] [-1.81534916e-01 9.83382892e-01 -1.77812993e-03 -1.61439519e+01] [-1.10609918e-02 -2.33820544e-04 9.99938798e-01 -2.05126729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.478623853 meters Centerline goodness [0,1] 0.9998926024572558 Centerline is valid? [True, True] Translation: X:103.51, Y:-16.15, Z:-2.05 [[ 9.83312812e-01 1.81559043e-01 1.14990376e-02 1.03506520e+02] [-1.81549564e-01 9.83380014e-01 -1.87159271e-03 -1.61468898e+01] [-1.16477284e-02 -2.47284182e-04 9.99932132e-01 -2.05104526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.508623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:103.53, Y:-16.15, Z:-2.05 [[ 9.83374616e-01 1.81221482e-01 1.15386110e-02 1.03534128e+02] [-1.81211926e-01 9.83442278e-01 -1.87712564e-03 -1.61502488e+01] [-1.16877333e-02 -2.45016209e-04 9.99931666e-01 -2.05197155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.538623853 meters Centerline goodness [0,1] 0.9998930481283422 Centerline is valid? [True, True] Translation: X:103.56, Y:-16.15, Z:-2.05 [[ 9.83433577e-01 1.80898511e-01 1.15814261e-02 1.03562411e+02] [-1.80888870e-01 9.83501739e-01 -1.88331918e-03 -1.61543414e+01] [-1.17310424e-02 -2.42831773e-04 9.99931159e-01 -2.05263964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.568623853 meters Centerline goodness [0,1] 0.9999361702127659 Centerline is valid? [True, True] Translation: X:103.59, Y:-16.16, Z:-2.05 [[ 9.83761742e-01 1.79131764e-01 1.11645082e-02 1.03589806e+02] [-1.79122696e-01 9.83825068e-01 -1.81508928e-03 -1.61576238e+01] [-1.13090632e-02 -2.14201416e-04 9.99936028e-01 -2.05427240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.598623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:103.62, Y:-16.17, Z:-2.05 [[ 9.83984824e-01 1.77913888e-01 1.09779090e-02 1.03618084e+02] [-1.77905052e-01 9.84046040e-01 -1.78404557e-03 -1.61651784e+01] [-1.11201744e-02 -1.97551714e-04 9.99938149e-01 -2.05470188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.62862385300001 meters Centerline goodness [0,1] 0.9999569281130206 Centerline is valid? [True, True] Translation: X:103.65, Y:-16.17, Z:-2.06 [[ 9.84417755e-01 1.75534838e-01 1.04500765e-02 1.03645540e+02] [-1.75526702e-01 9.84473206e-01 -1.69788375e-03 -1.61694303e+01] [-1.05858581e-02 -1.62840557e-04 9.99943955e-01 -2.05665551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.65862385300001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:103.67, Y:-16.18, Z:-2.06 [[ 9.84664312e-01 1.74125744e-01 1.07897503e-02 1.03674111e+02] [-1.74116994e-01 9.84723414e-01 -1.75230598e-03 -1.61750079e+01] [-1.09300413e-02 -1.53245727e-04 9.99940254e-01 -2.05625570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.68862385300001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:103.70, Y:-16.18, Z:-2.06 [[ 9.84852147e-01 1.73046300e-01 1.10102885e-02 1.03702784e+02] [-1.73037128e-01 9.84913680e-01 -1.78757376e-03 -1.61796007e+01] [-1.11535168e-02 -1.44692830e-04 9.99937787e-01 -2.05600780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.71862385300001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:103.73, Y:-16.18, Z:-2.06 [[ 9.85183830e-01 1.71120473e-01 1.14282147e-02 1.03731262e+02] [-1.71110468e-01 9.85250104e-01 -1.85484713e-03 -1.61840489e+01] [-1.15770520e-02 -1.28121764e-04 9.99932975e-01 -2.05565613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.74862385300001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:103.76, Y:-16.19, Z:-2.06 [[ 9.85502557e-01 1.69257149e-01 1.16930561e-02 1.03759121e+02] [-1.69246550e-01 9.85571918e-01 -1.89730911e-03 -1.61887984e+01] [-1.18454809e-02 -1.09206425e-04 9.99929834e-01 -2.05549391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.77862385300001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:103.79, Y:-16.19, Z:-2.06 [[ 9.85688527e-01 1.68170182e-01 1.17011557e-02 1.03786782e+02] [-1.68159500e-01 9.85757973e-01 -1.89791110e-03 -1.61933535e+01] [-1.18536796e-02 -9.69112964e-05 9.99929738e-01 -2.05715764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.80862385300001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:103.81, Y:-16.20, Z:-2.06 [[ 9.85946211e-01 1.66665358e-01 1.15207580e-02 1.03814824e+02] [-1.66654909e-01 9.86013515e-01 -1.86791707e-03 -1.62003104e+01] [-1.16709402e-02 -7.83251189e-05 9.99931889e-01 -2.05671077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.838623853 meters Centerline goodness [0,1] 0.9999358960661553 Centerline is valid? [True, True] Translation: X:103.84, Y:-16.20, Z:-2.05 [[ 9.86455052e-01 1.63626581e-01 1.15226497e-02 1.03842536e+02] [-1.63615925e-01 9.86522346e-01 -1.86788145e-03 -1.62049341e+01] [-1.16729865e-02 -4.27078939e-05 9.99931867e-01 -2.05460446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.868623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:103.87, Y:-16.21, Z:-2.06 [[ 9.86750795e-01 1.61804335e-01 1.19258586e-02 1.03870918e+02] [-1.61792803e-01 9.86822860e-01 -1.93192581e-03 -1.62124359e+01] [-1.20813038e-02 -2.31887548e-05 9.99927018e-01 -2.05721988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.898623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:103.90, Y:-16.22, Z:-2.06 [[ 9.87366898e-01 1.58057013e-01 1.11619449e-02 1.03899034e+02] [-1.58046677e-01 9.87429987e-01 -1.80768227e-03 -1.62200044e+01] [-1.13073560e-02 2.07373332e-05 9.99936070e-01 -2.05850502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.928623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:103.93, Y:-16.23, Z:-2.06 [[ 9.87645502e-01 1.56331483e-01 1.08087575e-02 1.03926441e+02] [-1.56321693e-01 9.87704645e-01 -1.75004525e-03 -1.62256768e+01] [-1.09494472e-02 3.87810422e-05 9.99940052e-01 -2.06011328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.958623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:103.96, Y:-16.23, Z:-2.06 [[ 9.87855780e-01 1.55021108e-01 1.04600743e-02 1.03955114e+02] [-1.55011873e-01 9.87911157e-01 -1.69287543e-03 -1.62310384e+01] [-1.05960555e-02 5.08810674e-05 9.99943859e-01 -2.06080012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.988623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:103.98, Y:-16.24, Z:-2.06 [[ 9.88176412e-01 1.52971217e-01 1.03530804e-02 1.03982876e+02] [-1.52962063e-01 9.88230642e-01 -1.67505498e-03 -1.62373233e+01] [-1.04874665e-02 7.16212840e-05 9.99945002e-01 -2.06137266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.01862385300001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:104.01, Y:-16.24, Z:-2.06 [[ 9.88251585e-01 1.52456483e-01 1.07622230e-02 1.04009589e+02] [-1.52446563e-01 9.88310181e-01 -1.74092553e-03 -1.62424377e+01] [-1.09018299e-02 7.98085044e-05 9.99940570e-01 -2.06212932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.04862385300001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:104.04, Y:-16.25, Z:-2.06 [[ 9.88360651e-01 1.51709494e-01 1.12894774e-02 1.04036925e+02] [-1.51698543e-01 9.88425122e-01 -1.82509564e-03 -1.62464050e+01] [-1.14356874e-02 9.12554454e-05 9.99934606e-01 -2.06054077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.07862385300001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:104.06, Y:-16.25, Z:-2.06 [[ 9.88375446e-01 1.51584296e-01 1.16695404e-02 1.04064405e+02] [-1.51572597e-01 9.88444329e-01 -1.88566473e-03 -1.62504566e+01] [-1.18205282e-02 9.49621741e-05 9.99930131e-01 -2.06089116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.10862385300001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:104.09, Y:-16.25, Z:-2.06 [[ 9.88457918e-01 1.51042765e-01 1.17058714e-02 1.04092759e+02] [-1.51030968e-01 9.88527224e-01 -1.89047333e-03 -1.62529208e+01] [-1.18571149e-02 1.00704248e-04 9.99929697e-01 -2.05997545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.13862385300001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:104.12, Y:-16.26, Z:-2.06 [[ 9.88685984e-01 1.49509762e-01 1.21184456e-02 1.04120423e+02] [-1.49497010e-01 9.88760242e-01 -1.95653572e-03 -1.62586358e+01] [-1.22747584e-02 1.22728065e-04 9.99924655e-01 -2.06070984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.16862385300001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:104.15, Y:-16.26, Z:-2.06 [[ 9.88855457e-01 1.48372176e-01 1.22712217e-02 1.04149029e+02] [-1.48359024e-01 9.88931584e-01 -1.98036568e-03 -1.62640833e+01] [-1.24292299e-02 1.37748936e-04 9.99922745e-01 -2.06057846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.198623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:104.18, Y:-16.27, Z:-2.06 [[ 9.89341032e-01 1.45059054e-01 1.27355274e-02 1.04175885e+02] [-1.45044620e-01 9.89422981e-01 -2.05475014e-03 -1.62731474e+01] [-1.28988836e-02 1.85628902e-04 9.99916789e-01 -2.06046686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.228623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:104.20, Y:-16.28, Z:-2.06 [[ 9.89612453e-01 1.43201406e-01 1.26708074e-02 1.04203496e+02] [-1.43186979e-01 9.89693546e-01 -2.04328389e-03 -1.62809366e+01] [-1.28328175e-02 2.07764549e-04 9.99917634e-01 -2.06128786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.258623853 meters Centerline goodness [0,1] 0.9999785665294925 Centerline is valid? [True, True] Translation: X:104.23, Y:-16.29, Z:-2.06 [[ 9.90161888e-01 1.39435413e-01 1.17133363e-02 1.04230085e+02] [-1.39422826e-01 9.90231140e-01 -1.88837985e-03 -1.62922438e+01] [-1.18622173e-02 2.36695315e-04 9.99929613e-01 -2.06366147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.288623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:104.26, Y:-16.30, Z:-2.07 [[ 9.90408517e-01 1.37713617e-01 1.12218374e-02 1.04257993e+02] [-1.37701960e-01 9.90472059e-01 -1.80863684e-03 -1.62995284e+01] [-1.13639903e-02 2.46020326e-04 9.99935398e-01 -2.06540564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.318623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:104.29, Y:-16.31, Z:-2.07 [[ 9.90589253e-01 1.36456015e-01 1.06154237e-02 1.04285827e+02] [-1.36445516e-01 9.90646100e-01 -1.71043728e-03 -1.63070080e+01] [-1.07495275e-02 2.45913819e-04 9.99942192e-01 -2.06716362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.348623853 meters Centerline goodness [0,1] 0.9999784296807592 Centerline is valid? [True, True] Translation: X:104.31, Y:-16.32, Z:-2.07 [[ 9.90787649e-01 1.35027219e-01 1.03674730e-02 1.04312459e+02] [-1.35017131e-01 9.90841857e-01 -1.67009652e-03 -1.63158252e+01] [-1.04980347e-02 2.54924542e-04 9.99944862e-01 -2.06840279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.37862385300001 meters Centerline goodness [0,1] 0.9999784012613664 Centerline is valid? [True, True] Translation: X:104.34, Y:-16.32, Z:-2.07 [[ 9.90815559e-01 1.34764756e-01 1.10900240e-02 1.04339774e+02] [-1.34753204e-01 9.90877583e-01 -1.78576236e-03 -1.63238304e+01] [-1.12295140e-02 2.74944865e-04 9.99936909e-01 -2.06730520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.40862385300001 meters Centerline goodness [0,1] 0.9999784012613664 Centerline is valid? [True, True] Translation: X:104.37, Y:-16.33, Z:-2.07 [[ 9.90821692e-01 1.34719650e-01 1.10901376e-02 1.04367761e+02] [-1.34708104e-01 9.90883717e-01 -1.78505657e-03 -1.63282464e+01] [-1.12295190e-02 2.74741360e-04 9.99936909e-01 -2.06780491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.43862385300001 meters Centerline goodness [0,1] 0.9999785894745857 Centerline is valid? [True, True] Translation: X:104.39, Y:-16.33, Z:-2.07 [[ 9.90831806e-01 1.34609193e-01 1.15194721e-02 1.04394636e+02] [-1.34596733e-01 9.90898725e-01 -1.85365948e-03 -1.63348282e+01] [-1.16641498e-02 2.86181466e-04 9.99931931e-01 -2.06750710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.46862385300001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:104.42, Y:-16.34, Z:-2.07 [[ 9.90884664e-01 1.34192312e-01 1.18324232e-02 1.04423037e+02] [-1.34179148e-01 9.90955264e-01 -1.90310875e-03 -1.63428562e+01] [-1.19807846e-02 2.98096815e-04 9.99928183e-01 -2.06782036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.49862385300001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:104.45, Y:-16.35, Z:-2.07 [[ 9.91001100e-01 1.33287690e-01 1.22968342e-02 1.04452855e+02] [-1.33273405e-01 9.91077337e-01 -1.97751275e-03 -1.63472070e+01] [-1.24506918e-02 3.20876343e-04 9.99922436e-01 -2.06591849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.52862385300001 meters Centerline goodness [0,1] 0.9999783385681793 Centerline is valid? [True, True] Translation: X:104.48, Y:-16.36, Z:-2.07 [[ 9.91031582e-01 1.33038056e-01 1.25411228e-02 1.04479970e+02] [-1.33023183e-01 9.91110875e-01 -2.01641290e-03 -1.63615778e+01] [-1.26979028e-02 3.30068793e-04 9.99919324e-01 -2.06734045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.55862385300001 meters Centerline goodness [0,1] 0.9999146466370775 Centerline is valid? [True, True] Translation: X:104.51, Y:-16.37, Z:-2.07 [[ 9.91026502e-01 1.33101449e-01 1.22668602e-02 1.04508262e+02] [-1.33087228e-01 9.91102366e-01 -1.97204821e-03 -1.63696721e+01] [-1.24201967e-02 3.21789624e-04 9.99922815e-01 -2.06858342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.588623853 meters Centerline goodness [0,1] 0.9998940004239983 Centerline is valid? [True, True] Translation: X:104.54, Y:-16.38, Z:-2.07 [[ 9.90972303e-01 1.33529354e-01 1.19919284e-02 1.04536642e+02] [-1.33515792e-01 9.91044810e-01 -1.92809549e-03 -1.63775391e+01] [-1.21419957e-02 3.09577406e-04 9.99926235e-01 -2.06937232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.618623853 meters Centerline goodness [0,1] 0.9999354046896195 Centerline is valid? [True, True] Translation: X:104.57, Y:-16.38, Z:-2.07 [[ 9.90786291e-01 1.34933818e-01 1.16357342e-02 1.04565904e+02] [-1.34921147e-01 9.90854573e-01 -1.87076484e-03 -1.63845711e+01] [-1.17817499e-02 2.83621544e-04 9.99930553e-01 -2.07095536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.648623853 meters Centerline goodness [0,1] 0.9999785582572152 Centerline is valid? [True, True] Translation: X:104.60, Y:-16.39, Z:-2.07 [[ 9.90591682e-01 1.36407749e-01 1.10021167e-02 1.04595096e+02] [-1.36396513e-01 9.90652746e-01 -1.76866312e-03 -1.63894263e+01] [-1.11405364e-02 2.51372620e-04 9.99937911e-01 -2.07266267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.678623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:104.62, Y:-16.39, Z:-2.07 [[ 9.90100914e-01 1.39915628e-01 1.11263760e-02 1.04623683e+02] [-1.39904363e-01 9.90163406e-01 -1.78829388e-03 -1.63932216e+01] [-1.12671406e-02 2.13962868e-04 9.99936501e-01 -2.07342911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.708623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:104.65, Y:-16.39, Z:-2.07 [[ 9.89849572e-01 1.41663792e-01 1.13664164e-02 1.04653765e+02] [-1.41652151e-01 9.89914810e-01 -1.82688132e-03 -1.63914350e+01] [-1.15105868e-02 1.98260366e-04 9.99933731e-01 -2.07128454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.738623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:104.68, Y:-16.40, Z:-2.07 [[ 9.89574936e-01 1.43573865e-01 1.13132875e-02 1.04681170e+02] [-1.43562459e-01 9.89639588e-01 -1.81813301e-03 -1.64007196e+01] [-1.14571135e-02 1.75015489e-04 9.99934350e-01 -2.07402274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.76862385300001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:104.71, Y:-16.40, Z:-2.07 [[ 9.89012459e-01 1.47399989e-01 1.12959540e-02 1.04710955e+02] [-1.47388873e-01 9.89076957e-01 -1.81483557e-03 -1.64009649e+01] [-1.14400745e-02 1.29997064e-04 9.99934552e-01 -2.07347498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.79862385300001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:104.74, Y:-16.41, Z:-2.07 [[ 9.88732826e-01 1.49275974e-01 1.11392187e-02 1.04738712e+02] [-1.49265284e-01 9.88795566e-01 -1.78962959e-03 -1.64050067e+01] [-1.12815588e-02 1.06766868e-04 9.99936355e-01 -2.07424639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.82862385300001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:104.77, Y:-16.41, Z:-2.07 [[ 9.88190859e-01 1.52836578e-01 1.09456132e-02 1.04767427e+02] [-1.52826483e-01 9.88251474e-01 -1.75777649e-03 -1.64063167e+01] [-1.10856709e-02 6.42391005e-05 9.99938550e-01 -2.07443823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.85862385300001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:104.80, Y:-16.41, Z:-2.08 [[ 9.87885263e-01 1.54808130e-01 1.08235603e-02 1.04796330e+02] [-1.54798382e-01 9.87944554e-01 -1.73766394e-03 -1.64084593e+01] [-1.09620819e-02 4.11429849e-05 9.99939914e-01 -2.07505588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.88862385300001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:104.82, Y:-16.41, Z:-2.08 [[ 9.87363204e-01 1.58087610e-01 1.10548822e-02 1.04824142e+02] [-1.58077652e-01 9.87425090e-01 -1.77432724e-03 -1.64105826e+01] [-1.11963672e-02 4.37560707e-06 9.99937319e-01 -2.07557267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.91862385300001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:104.85, Y:-16.41, Z:-2.08 [[ 9.87116969e-01 1.59611239e-01 1.11508343e-02 1.04852492e+02] [-1.59601213e-01 9.87179949e-01 -1.78897863e-03 -1.64144815e+01] [-1.12934211e-02 -1.37555234e-05 9.99936227e-01 -2.07583902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.948623853 meters Centerline goodness [0,1] 0.9999141907111445 Centerline is valid? [True, True] Translation: X:104.88, Y:-16.42, Z:-2.07 [[ 9.86690777e-01 1.62273027e-01 1.04295214e-02 1.04881500e+02] [-1.62264411e-01 9.86745896e-01 -1.67273855e-03 -1.64161694e+01] [-1.05627278e-02 -4.18644482e-05 9.99944212e-01 -2.07116363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.978623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:104.91, Y:-16.42, Z:-2.08 [[ 9.86444152e-01 1.63732181e-01 1.09410914e-02 1.04909462e+02] [-1.63722791e-01 9.86504825e-01 -1.75451471e-03 -1.64198500e+01] [-1.10807100e-02 -6.05752570e-05 9.99938605e-01 -2.07632150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.008623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:104.94, Y:-16.42, Z:-2.08 [[ 9.86222260e-01 1.65054070e-01 1.10818563e-02 1.04938348e+02] [-1.65044530e-01 9.86284517e-01 -1.77632258e-03 -1.64234227e+01] [-1.12230526e-02 -7.71508999e-05 9.99937017e-01 -2.07697178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.038623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:104.97, Y:-16.43, Z:-2.08 [[ 9.85797013e-01 1.67567589e-01 1.11960882e-02 1.04966837e+02] [-1.67558019e-01 9.85860584e-01 -1.79409537e-03 -1.64256748e+01] [-1.13384143e-02 -1.07380509e-04 9.99935712e-01 -2.07649191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.068623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:105.00, Y:-16.43, Z:-2.08 [[ 9.85578319e-01 1.68849575e-01 1.11892355e-02 1.04995986e+02] [-1.68840105e-01 9.85641824e-01 -1.79244581e-03 -1.64285365e+01] [-1.13312322e-02 -1.22595980e-04 9.99935792e-01 -2.07682650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.098623853 meters Centerline goodness [0,1] 0.9999787261200698 Centerline is valid? [True, True] Translation: X:105.02, Y:-16.43, Z:-2.08 [[ 9.85148643e-01 1.71338551e-01 1.11915826e-02 1.05024161e+02] [-1.71329243e-01 9.85212199e-01 -1.79233701e-03 -1.64275284e+01] [-1.13331801e-02 -1.51727003e-04 9.99935766e-01 -2.07887989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.12862385300001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:105.05, Y:-16.43, Z:-2.08 [[ 9.84968846e-01 1.72364069e-01 1.12694390e-02 1.05052332e+02] [-1.72354707e-01 9.85033299e-01 -1.80401570e-03 -1.64330479e+01] [-1.14117202e-02 -1.65441604e-04 9.99934871e-01 -2.07785783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.15862385300001 meters Centerline goodness [0,1] 0.9999784747185569 Centerline is valid? [True, True] Translation: X:105.08, Y:-16.43, Z:-2.08 [[ 9.84504948e-01 1.74941131e-01 1.20667812e-02 1.05081959e+02] [-1.74930599e-01 9.84578873e-01 -1.93100263e-03 -1.64319542e+01] [-1.22185096e-02 -2.09767620e-04 9.99925329e-01 -2.07680664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.18862385300001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:105.11, Y:-16.43, Z:-2.08 [[ 9.84274098e-01 1.76246315e-01 1.19052779e-02 1.05111073e+02] [-1.76236166e-01 9.84346070e-01 -1.90459036e-03 -1.64336130e+01] [-1.20545906e-02 -2.23501572e-04 9.99927316e-01 -2.07777650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.21862385300001 meters Centerline goodness [0,1] 0.9999572247412097 Centerline is valid? [True, True] Translation: X:105.14, Y:-16.43, Z:-2.08 [[ 9.84064777e-01 1.77476362e-01 1.08929005e-02 1.05138723e+02] [-1.77467943e-01 9.84125039e-01 -1.74240870e-03 -1.64342676e+01] [-1.10292125e-02 -2.18497615e-04 9.99939153e-01 -2.08057373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.24862385300001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:105.17, Y:-16.44, Z:-2.08 [[ 9.84049403e-01 1.77575638e-01 1.06613807e-02 1.05167656e+02] [-1.77567591e-01 9.84107131e-01 -1.70425517e-03 -1.64378836e+01] [-1.07945750e-02 -2.16044411e-04 9.99941714e-01 -2.08170736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.27862385300001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:105.20, Y:-16.44, Z:-2.08 [[ 9.84068434e-01 1.77480223e-01 1.04922997e-02 1.05195639e+02] [-1.77472427e-01 9.84124345e-01 -1.67690876e-03 -1.64413001e+01] [-1.06233457e-02 -2.11900926e-04 9.99943548e-01 -2.08235907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.30862385300001 meters Centerline goodness [0,1] 0.9999786283687034 Centerline is valid? [True, True] Translation: X:105.22, Y:-16.44, Z:-2.08 [[ 9.84262955e-01 1.76365862e-01 1.10235016e-02 1.05223286e+02] [-1.76357197e-01 9.84324661e-01 -1.76086457e-03 -1.64437844e+01] [-1.11612609e-02 -2.10920084e-04 9.99937689e-01 -2.08173119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.338623853 meters Centerline goodness [0,1] 0.9999570916736392 Centerline is valid? [True, True] Translation: X:105.25, Y:-16.45, Z:-2.08 [[ 9.84440740e-01 1.75336042e-01 1.15629341e-02 1.05251789e+02] [-1.75326447e-01 9.84508623e-01 -1.84621370e-03 -1.64484769e+01] [-1.17075162e-02 -2.09800181e-04 9.99931443e-01 -2.08162100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.368623853 meters Centerline goodness [0,1] 0.9999784124516978 Centerline is valid? [True, True] Translation: X:105.28, Y:-16.46, Z:-2.08 [[ 9.85066328e-01 1.71789363e-01 1.15214885e-02 1.05278818e+02] [-1.71779599e-01 9.85133690e-01 -1.83919981e-03 -1.64563622e+01] [-1.16661615e-02 -1.67422880e-04 9.99931934e-01 -2.08167258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.398623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:105.31, Y:-16.47, Z:-2.08 [[ 9.85466653e-01 1.69445470e-01 1.19878352e-02 1.05306646e+02] [-1.69434738e-01 9.85539553e-01 -1.91259530e-03 -1.64650096e+01] [-1.21385664e-02 -1.46356833e-04 9.99926314e-01 -2.08083097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.428623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:105.33, Y:-16.47, Z:-2.08 [[ 9.86378890e-01 1.64008031e-01 1.25718250e-02 1.05333561e+02] [-1.63995794e-01 9.86459000e-01 -2.00515914e-03 -1.64746229e+01] [-1.27304521e-02 -8.38797805e-05 9.99918961e-01 -2.08147386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.458623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:105.36, Y:-16.48, Z:-2.08 [[ 9.86937474e-01 1.60589568e-01 1.28613123e-02 1.05361074e+02] [-1.60576482e-01 9.87021271e-01 -2.05043591e-03 -1.64843270e+01] [-1.30236674e-02 -4.15722484e-05 9.99915188e-01 -2.08150074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.488623853 meters Centerline goodness [0,1] 0.9999783390373869 Centerline is valid? [True, True] Translation: X:105.39, Y:-16.50, Z:-2.08 [[ 9.88056373e-01 1.53595847e-01 1.23660205e-02 1.05386421e+02] [-1.53583208e-01 9.88133753e-01 -1.97098519e-03 -1.64998467e+01] [-1.25220174e-02 4.82313735e-05 9.99921595e-01 -2.08018623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.51862385300001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:105.42, Y:-16.51, Z:-2.08 [[ 9.88617592e-01 1.49957658e-01 1.21638169e-02 1.05415085e+02] [-1.49945164e-01 9.88692415e-01 -1.93789856e-03 -1.65094492e+01] [-1.23168762e-02 9.19350931e-05 9.99924140e-01 -2.08327449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.54862385300001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:105.44, Y:-16.52, Z:-2.09 [[ 9.89163063e-01 1.46349106e-01 1.17632694e-02 1.05441931e+02] [-1.46337169e-01 9.89232997e-01 -1.87387810e-03 -1.65215458e+01] [-1.19108546e-02 1.32167463e-04 9.99929055e-01 -2.08580349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.57862385300001 meters Centerline goodness [0,1] 0.9999786233433091 Centerline is valid? [True, True] Translation: X:105.47, Y:-16.54, Z:-2.09 [[ 9.90133340e-01 1.39684666e-01 1.11428245e-02 1.05470954e+02] [-1.39673540e-01 9.90196018e-01 -1.77436368e-03 -1.65365262e+01] [-1.12814318e-02 2.00498903e-04 9.99936343e-01 -2.08664328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.60862385300001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:105.50, Y:-16.55, Z:-2.09 [[ 9.90526178e-01 1.36853860e-01 1.13538913e-02 1.05500236e+02] [-1.36842120e-01 9.90591220e-01 -1.80818634e-03 -1.65469244e+01] [-1.14945223e-02 2.37365345e-04 9.99933908e-01 -2.08641533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.63862385300001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:105.53, Y:-16.56, Z:-2.09 [[ 9.91120410e-01 1.32446041e-01 1.17634798e-02 1.05529178e+02] [-1.32433129e-01 9.91190172e-01 -1.87334883e-03 -1.65605402e+01] [-1.19079632e-02 2.98839825e-04 9.99929053e-01 -2.08589466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.66862385300001 meters Centerline goodness [0,1] 0.9999783993951831 Centerline is valid? [True, True] Translation: X:105.56, Y:-16.57, Z:-2.09 [[ 9.91289860e-01 1.31157584e-01 1.19206776e-02 1.05560969e+02] [-1.31144240e-01 9.91361482e-01 -1.89764695e-03 -1.65663321e+01] [-1.20665914e-02 3.17789975e-04 9.99927146e-01 -2.08541619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.698623853 meters Centerline goodness [0,1] 0.9999786693969839 Centerline is valid? [True, True] Translation: X:105.59, Y:-16.58, Z:-2.09 [[ 9.91407606e-01 1.30274520e-01 1.18113723e-02 1.05590329e+02] [-1.30261327e-01 9.91477908e-01 -1.88273995e-03 -1.65771599e+01] [-1.19559877e-02 3.27997674e-04 9.99928471e-01 -2.08656431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.728623853 meters Centerline goodness [0,1] 0.9999360150151431 Centerline is valid? [True, True] Translation: X:105.62, Y:-16.59, Z:-2.09 [[ 9.91523349e-01 1.29405042e-01 1.16526301e-02 1.05619878e+02] [-1.29392135e-01 9.91591762e-01 -1.85801934e-03 -1.65874382e+01] [-1.17950891e-02 3.34510868e-04 9.99930380e-01 -2.08752567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.758623853 meters Centerline goodness [0,1] 0.9999568267674042 Centerline is valid? [True, True] Translation: X:105.65, Y:-16.59, Z:-2.09 [[ 9.91517021e-01 1.29470722e-01 1.14599373e-02 1.05652419e+02] [-1.29458225e-01 9.91583190e-01 -1.82879320e-03 -1.65933983e+01] [-1.16002564e-02 3.29696435e-04 9.99932660e-01 -2.08808074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.788623853 meters Centerline goodness [0,1] 0.999978233424753 Centerline is valid? [True, True] Translation: X:105.68, Y:-16.60, Z:-2.09 [[ 9.91399673e-01 1.30397485e-01 1.10988248e-02 1.05683270e+02] [-1.30385797e-01 9.91461749e-01 -1.77332478e-03 -1.66013886e+01] [-1.12352973e-02 3.10944482e-04 9.99936834e-01 -2.08965674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.818623853 meters Centerline goodness [0,1] 0.9998924731182796 Centerline is valid? [True, True] Translation: X:105.71, Y:-16.61, Z:-2.09 [[ 9.91293586e-01 1.31186286e-01 1.12776221e-02 1.05714911e+02] [-1.31174247e-01 9.91357687e-01 -1.80380702e-03 -1.66076692e+01] [-1.14167921e-02 3.08768735e-04 9.99934779e-01 -2.08962070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.848623853 meters Centerline goodness [0,1] 0.9999787586558477 Centerline is valid? [True, True] Translation: X:105.75, Y:-16.61, Z:-2.09 [[ 9.91065982e-01 1.32865145e-01 1.16220803e-02 1.05746492e+02] [-1.32852451e-01 9.91134079e-01 -1.86091242e-03 -1.66140364e+01] [-1.17662902e-02 3.00265145e-04 9.99930730e-01 -2.08955209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.87862385300001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:105.78, Y:-16.62, Z:-2.09 [[ 9.90960449e-01 1.33664073e-01 1.14588059e-02 1.05778113e+02] [-1.33651766e-01 9.91026656e-01 -1.83660126e-03 -1.66186272e+01] [-1.16014697e-02 2.88509572e-04 9.99932659e-01 -2.08988267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.90862385300001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:105.81, Y:-16.63, Z:-2.09 [[ 9.90789998e-01 1.34919846e-01 1.14810953e-02 1.05808065e+02] [-1.34907548e-01 9.90856477e-01 -1.84253255e-03 -1.66273475e+01] [-1.16247118e-02 2.76676405e-04 9.99932392e-01 -2.09077554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.93862385300001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:105.84, Y:-16.63, Z:-2.09 [[ 9.90665428e-01 1.35838802e-01 1.13942916e-02 1.05839869e+02] [-1.35826743e-01 9.90730917e-01 -1.82925154e-03 -1.66330167e+01] [-1.15371603e-02 2.64526743e-04 9.99933410e-01 -2.09089531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.96862385300001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:105.87, Y:-16.64, Z:-2.09 [[ 9.90535139e-01 1.36778203e-01 1.14831007e-02 1.05871078e+02] [-1.36765995e-01 9.90601664e-01 -1.84544992e-03 -1.66392363e+01] [-1.16275960e-02 2.57485304e-04 9.99932364e-01 -2.09127571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.99862385300001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:105.90, Y:-16.65, Z:-2.09 [[ 9.90249642e-01 1.38765199e-01 1.22419636e-02 1.05901553e+02] [-1.38751448e-01 9.90325278e-01 -1.96970103e-03 -1.66466682e+01] [-1.23968520e-02 2.51905564e-04 9.99923124e-01 -2.09072240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.02862385300001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:105.93, Y:-16.65, Z:-2.09 [[ 9.90064304e-01 1.40078307e-01 1.22777061e-02 1.05933464e+02] [-1.40064553e-01 9.90140400e-01 -1.97729108e-03 -1.66524362e+01] [-1.24336284e-02 2.37973895e-04 9.99922671e-01 -2.09092176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.05862385300001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:105.96, Y:-16.66, Z:-2.09 [[ 9.89666311e-01 1.42860415e-01 1.23083103e-02 1.05964854e+02] [-1.42846782e-01 9.89742825e-01 -1.98425161e-03 -1.66576832e+01] [-1.24655329e-02 2.05544450e-04 9.99922281e-01 -2.09195458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.088623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:106.00, Y:-16.66, Z:-2.09 [[ 9.89447087e-01 1.44397618e-01 1.19912866e-02 1.05995805e+02] [-1.44384767e-01 9.89519729e-01 -1.93512310e-03 -1.66637932e+01] [-1.21450418e-02 1.83342799e-04 9.99926229e-01 -2.09307262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.118623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:106.03, Y:-16.67, Z:-2.09 [[ 9.89228649e-01 1.45932250e-01 1.14218414e-02 1.06026105e+02] [-1.45920674e-01 9.89294574e-01 -1.84486304e-03 -1.66702138e+01] [-1.15687907e-02 1.58308585e-04 9.99933067e-01 -2.09471668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.148623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:106.06, Y:-16.68, Z:-2.10 [[ 9.88811376e-01 1.48779287e-01 1.08068138e-02 1.06057386e+02] [-1.48769070e-01 9.88870421e-01 -1.74778416e-03 -1.66759413e+01] [-1.09465726e-02 1.20509225e-04 9.99940077e-01 -2.09599182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.178623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:106.09, Y:-16.68, Z:-2.10 [[ 9.88579688e-01 1.50327166e-01 1.05803364e-02 1.06087801e+02] [-1.50317456e-01 9.88636300e-01 -1.71167208e-03 -1.66803356e+01] [-1.07174155e-02 1.01715002e-04 9.99942562e-01 -2.09727545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.208623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:106.12, Y:-16.68, Z:-2.10 [[ 9.87940950e-01 1.54493088e-01 1.02257368e-02 1.06120580e+02] [-1.54484252e-01 9.87993868e-01 -1.65322867e-03 -1.66815068e+01] [-1.03583776e-02 5.35770087e-05 9.99946349e-01 -2.09677365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.238623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:106.15, Y:-16.69, Z:-2.10 [[ 9.87552130e-01 1.56960667e-01 1.02048563e-02 1.06151893e+02] [-1.56951978e-01 9.87604854e-01 -1.65174555e-03 -1.66854885e+01] [-1.03376247e-02 2.95124549e-05 9.99946565e-01 -2.09801690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.26862385300001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:106.18, Y:-16.68, Z:-2.10 [[ 9.86705759e-01 1.62208436e-01 1.00084627e-02 1.06181779e+02] [-1.62200321e-01 9.86756516e-01 -1.62266847e-03 -1.66846913e+01] [-1.01391263e-02 -2.22795514e-05 9.99948597e-01 -2.10006383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.29862385300001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:106.21, Y:-16.69, Z:-2.10 [[ 9.86709419e-01 1.62186171e-01 1.00084015e-02 1.06210573e+02] [-1.62178051e-01 9.86760176e-01 -1.62304645e-03 -1.66893127e+01] [-1.01391277e-02 -2.16678177e-05 9.99948597e-01 -2.10057815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.32862385300001 meters Centerline goodness [0,1] 0.9999565585699082 Centerline is valid? [True, True] Translation: X:106.24, Y:-16.69, Z:-2.10 [[ 9.86331696e-01 1.64495268e-01 9.54423734e-03 1.06241149e+02] [-1.64487996e-01 9.86377871e-01 -1.54738914e-03 -1.66922876e+01] [-9.66876270e-03 -4.36735206e-05 9.99953255e-01 -2.09714946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.35862385300001 meters Centerline goodness [0,1] 0.9999360654689597 Centerline is valid? [True, True] Translation: X:106.27, Y:-16.69, Z:-2.10 [[ 9.85728110e-01 1.68068136e-01 9.65370564e-03 1.06269906e+02] [-1.68060864e-01 9.85775378e-01 -1.56542783e-03 -1.66925562e+01] [-9.77948387e-03 -7.93238967e-05 9.99952177e-01 -2.10237880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.38862385300001 meters Centerline goodness [0,1] 0.99991440005136 Centerline is valid? [True, True] Translation: X:106.30, Y:-16.70, Z:-2.10 [[ 9.85567592e-01 1.69014807e-01 9.51400253e-03 1.06298630e+02] [-1.69007791e-01 9.85613508e-01 -1.54241038e-03 -1.66954944e+01] [-9.63781961e-03 -8.77908716e-05 9.99953551e-01 -2.10423394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.41862385300001 meters Centerline goodness [0,1] 0.9999351421467949 Centerline is valid? [True, True] Translation: X:106.33, Y:-16.70, Z:-2.10 [[ 9.85462242e-01 1.69644743e-01 9.21040023e-03 1.06328021e+02] [-1.69638200e-01 9.85505278e-01 -1.49279474e-03 -1.67023212e+01] [-9.33014282e-03 -9.13428638e-05 9.99956469e-01 -2.10393693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.448623853 meters Centerline goodness [0,1] 0.999956401368997 Centerline is valid? [True, True] Translation: X:106.36, Y:-16.71, Z:-2.10 [[ 9.85555886e-01 1.69097897e-01 9.24650017e-03 1.06357111e+02] [-1.69091280e-01 9.85599256e-01 -1.49841814e-03 -1.67086038e+01] [-9.36672305e-03 -8.67277294e-05 9.99956128e-01 -2.10414158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.478623853 meters Centerline goodness [0,1] 0.9999140284136093 Centerline is valid? [True, True] Translation: X:106.39, Y:-16.71, Z:-2.11 [[ 9.85713101e-01 1.68177581e-01 9.27276738e-03 1.06386455e+02] [-1.68170889e-01 9.85756712e-01 -1.50233984e-03 -1.67147147e+01] [-9.39335256e-03 -7.85334723e-05 9.99955878e-01 -2.10570441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.508623853 meters Centerline goodness [0,1] 0.9999572804750411 Centerline is valid? [True, True] Translation: X:106.42, Y:-16.73, Z:-2.11 [[ 9.86125531e-01 1.65757812e-01 8.98799887e-03 1.06416106e+02] [-1.65751426e-01 9.86166489e-01 -1.45599264e-03 -1.67250719e+01] [-9.10500545e-03 -5.39821132e-05 9.99958547e-01 -2.10662248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.538623853 meters Centerline goodness [0,1] 0.999847849240333 Centerline is valid? [True, True] Translation: X:106.45, Y:-16.73, Z:-2.10 [[ 9.86344587e-01 1.64456110e-01 8.86246455e-03 1.06445513e+02] [-1.64449848e-01 9.86384401e-01 -1.43565697e-03 -1.67322566e+01] [-8.97789935e-03 -4.13784724e-05 9.99959697e-01 -2.10072255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.568623853 meters Centerline goodness [0,1] 0.9999568267674042 Centerline is valid? [True, True] Translation: X:106.47, Y:-16.74, Z:-2.10 [[ 9.86820333e-01 1.61545784e-01 9.41218708e-03 1.06474076e+02] [-1.61538590e-01 9.86865218e-01 -1.52460916e-03 -1.67434641e+01] [-9.53485424e-03 -1.59161166e-05 9.99954542e-01 -2.10428884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.598623853 meters Centerline goodness [0,1] 0.9999357670484958 Centerline is valid? [True, True] Translation: X:106.50, Y:-16.75, Z:-2.11 [[ 9.87041111e-01 1.60174246e-01 9.69821178e-03 1.06503726e+02] [-1.60166547e-01 9.87088755e-01 -1.57043456e-03 -1.67524861e+01] [-9.82453896e-03 -3.24561934e-06 9.99951738e-01 -2.10752223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.62862385300001 meters Centerline goodness [0,1] 0.9998924869909259 Centerline is valid? [True, True] Translation: X:106.53, Y:-16.76, Z:-2.10 [[ 9.87334437e-01 1.58345615e-01 9.86793855e-03 1.06534733e+02] [-1.58337549e-01 9.87383748e-01 -1.59830814e-03 -1.67613657e+01] [-9.99652724e-03 1.55994656e-05 9.99950033e-01 -2.10272609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.65862385300001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:106.57, Y:-16.78, Z:-2.11 [[ 9.87935304e-01 1.54478833e-01 1.09601289e-02 1.06565342e+02] [-1.54468623e-01 9.87996096e-01 -1.77721577e-03 -1.67767260e+01] [-1.11031068e-02 6.27781938e-05 9.99938357e-01 -2.10660866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.68862385300001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:106.59, Y:-16.79, Z:-2.11 [[ 9.88571547e-01 1.50338725e-01 1.11608621e-02 1.06594643e+02] [-1.50327844e-01 9.88634541e-01 -1.81229077e-03 -1.67909709e+01] [-1.13064712e-02 1.13790754e-04 9.99936073e-01 -2.10690874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.71862385300001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:106.62, Y:-16.80, Z:-2.11 [[ 9.88844442e-01 1.48535523e-01 1.11296223e-02 1.06624628e+02] [-1.48524569e-01 9.88907063e-01 -1.80900697e-03 -1.68008795e+01] [-1.12748639e-02 1.35804130e-04 9.99936427e-01 -2.10758028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.74862385300001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:106.66, Y:-16.81, Z:-2.11 [[ 9.89023730e-01 1.47304314e-01 1.15542908e-02 1.06656037e+02] [-1.47292401e-01 9.89091206e-01 -1.87991361e-03 -1.68105050e+01] [-1.17051668e-02 1.57419925e-04 9.99931480e-01 -2.10821071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.77862385300001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:106.69, Y:-16.82, Z:-2.11 [[ 9.89198499e-01 1.46133931e-01 1.14544525e-02 1.06687097e+02] [-1.46122123e-01 9.89264800e-01 -1.86560491e-03 -1.68201968e+01] [-1.16041148e-02 1.71704667e-04 9.99932655e-01 -2.10815616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.80862385300001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:106.72, Y:-16.83, Z:-2.11 [[ 9.89313364e-01 1.45404039e-01 1.08043020e-02 1.06718144e+02] [-1.45393471e-01 9.89372344e-01 -1.76137600e-03 -1.68313697e+01] [-1.09455888e-02 1.71677849e-04 9.99940081e-01 -2.10940503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.838623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:106.75, Y:-16.84, Z:-2.11 [[ 9.89236921e-01 1.45942309e-01 1.05431034e-02 1.06749097e+02] [-1.45932260e-01 9.89293089e-01 -1.72042183e-03 -1.68403027e+01] [-1.06813017e-02 1.63325888e-04 9.99942940e-01 -2.11097062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.868623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:106.78, Y:-16.85, Z:-2.11 [[ 9.89149822e-01 1.46526572e-01 1.06110293e-02 1.06780867e+02] [-1.46516404e-01 9.89206722e-01 -1.73354382e-03 -1.68463991e+01] [-1.07505117e-02 1.60044710e-04 9.99942199e-01 -2.11127879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.898623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:106.81, Y:-16.85, Z:-2.11 [[ 9.89035236e-01 1.47304360e-01 1.05227297e-02 1.06811926e+02] [-1.47294386e-01 9.89091200e-01 -1.72085564e-03 -1.68524100e+01] [-1.06614289e-02 1.52047851e-04 9.99943154e-01 -2.11253403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.928623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:106.84, Y:-16.86, Z:-2.11 [[ 9.88814306e-01 1.48784140e-01 1.04665485e-02 1.06843499e+02] [-1.48774337e-01 9.88869689e-01 -1.71339252e-03 -1.68601502e+01] [-1.06049782e-02 1.37073223e-04 9.99943756e-01 -2.11309354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.958623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:106.87, Y:-16.87, Z:-2.11 [[ 9.88668914e-01 1.49741105e-01 1.05536649e-02 1.06873710e+02] [-1.49731173e-01 9.88725232e-01 -1.72951227e-03 -1.68666656e+01] [-1.06936538e-02 1.29702400e-04 9.99942813e-01 -2.11336437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.988623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:106.90, Y:-16.87, Z:-2.11 [[ 9.88368678e-01 1.51686601e-01 1.08872235e-02 1.06904300e+02] [-1.51676130e-01 9.88428633e-01 -1.78593746e-03 -1.68725939e+01] [-1.10321462e-02 1.13832726e-04 9.99939138e-01 -2.11408077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.01862385300001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:106.94, Y:-16.88, Z:-2.11 [[ 9.88187381e-01 1.52871986e-01 1.07636872e-02 1.06936303e+02] [-1.52861804e-01 9.88245995e-01 -1.76721288e-03 -1.68781086e+01] [-1.09073281e-02 1.00980821e-04 9.99940508e-01 -2.11487469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.04862385300001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:106.97, Y:-16.88, Z:-2.12 [[ 9.87998387e-01 1.54098479e-01 1.06229250e-02 1.06967817e+02] [-1.54088614e-01 9.88055490e-01 -1.74580141e-03 -1.68841497e+01] [-1.07650647e-02 8.79771830e-05 9.99942051e-01 -2.11626314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.07862385300001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:107.00, Y:-16.89, Z:-2.12 [[ 9.87540774e-01 1.57048508e-01 9.94915737e-03 1.06999000e+02] [-1.57039989e-01 9.87590889e-01 -1.63660512e-03 -1.68888279e+01] [-1.00827236e-02 5.37987184e-05 9.99949167e-01 -2.11753570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.10862385300001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:107.03, Y:-16.89, Z:-2.12 [[ 9.87225299e-01 1.59011271e-01 1.00808947e-02 1.07029749e+02] [-1.59002612e-01 9.87276767e-01 -1.65984910e-03 -1.68924751e+01] [-1.02165678e-02 3.57564405e-05 9.99947809e-01 -2.11820768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.13862385300001 meters Centerline goodness [0,1] 0.9999569836968211 Centerline is valid? [True, True] Translation: X:107.06, Y:-16.89, Z:-2.12 [[ 9.86492464e-01 1.63500930e-01 1.00032416e-02 1.07062282e+02] [-1.63492620e-01 9.86543180e-01 -1.64847363e-03 -1.68946118e+01] [-1.01381568e-02 -9.24937061e-06 9.99948608e-01 -2.11906647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.16862385300001 meters Centerline goodness [0,1] 0.9999566893325826 Centerline is valid? [True, True] Translation: X:107.09, Y:-16.90, Z:-2.12 [[ 9.86086490e-01 1.65929975e-01 1.00337913e-02 1.07094766e+02] [-1.65921725e-01 9.86137537e-01 -1.65495021e-03 -1.68985961e+01] [-1.01693040e-02 -3.28999056e-05 9.99948291e-01 -2.11879524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.19862385300002 meters Centerline goodness [0,1] 0.9999361511939727 Centerline is valid? [True, True] Translation: X:107.13, Y:-16.90, Z:-2.12 [[ 9.85661233e-01 1.68447471e-01 9.86826441e-03 1.07125889e+02] [-1.68439592e-01 9.85710630e-01 -1.63015876e-03 -1.69007991e+01] [-1.00018492e-02 -5.54221413e-05 9.99949979e-01 -2.11978925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.228623853 meters Centerline goodness [0,1] 0.9998926070707504 Centerline is valid? [True, True] Translation: X:107.16, Y:-16.90, Z:-2.12 [[ 9.84937125e-01 1.72666112e-01 9.23440344e-03 1.07158188e+02] [-1.72659397e-01 9.84980409e-01 -1.52558161e-03 -1.69004822e+01] [-9.35912271e-03 -9.18045581e-05 9.99956198e-01 -2.12201589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.258623853 meters Centerline goodness [0,1] 0.9998923202825516 Centerline is valid? [True, True] Translation: X:107.19, Y:-16.91, Z:-2.12 [[ 9.84627120e-01 1.74415354e-01 9.41907839e-03 1.07190043e+02] [-1.74408433e-01 9.84672165e-01 -1.55752778e-03 -1.69072680e+01] [-9.54636107e-03 -1.09182614e-04 9.99954426e-01 -2.12047516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.288623853 meters Centerline goodness [0,1] 0.9999137968191026 Centerline is valid? [True, True] Translation: X:107.22, Y:-16.91, Z:-2.12 [[ 9.84249201e-01 1.76538534e-01 9.36245919e-03 1.07220587e+02] [-1.76531776e-01 9.84293721e-01 -1.54988979e-03 -1.69109124e+01] [-9.48902507e-03 -1.27293762e-04 9.99954970e-01 -2.12170808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.318623853 meters Centerline goodness [0,1] 0.999847945086454 Centerline is valid? [True, True] Translation: X:107.25, Y:-16.92, Z:-2.12 [[ 9.84098230e-01 1.77373179e-01 9.45664528e-03 1.07253098e+02] [-1.77366311e-01 9.84143657e-01 -1.56672274e-03 -1.69180492e+01] [-9.58459206e-03 -1.35481214e-04 9.99954058e-01 -2.12129731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.348623853 meters Centerline goodness [0,1] 0.9998920506066756 Centerline is valid? [True, True] Translation: X:107.29, Y:-16.92, Z:-2.12 [[ 9.84036516e-01 1.77706987e-01 9.61052014e-03 1.07285022e+02] [-1.77699885e-01 9.84083435e-01 -1.59479474e-03 -1.69221135e+01] [-9.74095985e-03 -1.38452058e-04 9.99952546e-01 -2.12240515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.37862385300001 meters Centerline goodness [0,1] 0.9998933606330113 Centerline is valid? [True, True] Translation: X:107.32, Y:-16.93, Z:-2.12 [[ 9.84104495e-01 1.77297081e-01 1.02023628e-02 1.07315554e+02] [-1.77289038e-01 9.84157368e-01 -1.69462566e-03 -1.69266348e+01] [-1.03411827e-02 -1.41078361e-04 9.99946519e-01 -2.12350170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.40862385300001 meters Centerline goodness [0,1] 0.999914757591902 Centerline is valid? [True, True] Translation: X:107.35, Y:-16.94, Z:-2.12 [[ 9.84184410e-01 1.76829255e-01 1.06048267e-02 1.07346771e+02] [-1.76820532e-01 9.84241533e-01 -1.76208458e-03 -1.69361697e+01] [-1.07492990e-02 -1.40934919e-04 9.99942215e-01 -2.12186807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.43862385300001 meters Centerline goodness [0,1] 0.999914555474858 Centerline is valid? [True, True] Translation: X:107.38, Y:-16.95, Z:-2.12 [[ 9.84505322e-01 1.74994247e-01 1.12376571e-02 1.07377460e+02] [-1.74984309e-01 9.84569448e-01 -1.86923313e-03 -1.69470882e+01] [-1.13913589e-02 -1.26143699e-04 9.99935108e-01 -2.12078919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.46862385300001 meters Centerline goodness [0,1] 0.9998923735927847 Centerline is valid? [True, True] Translation: X:107.41, Y:-16.96, Z:-2.12 [[ 9.84653518e-01 1.74140761e-01 1.15084919e-02 1.07408348e+02] [-1.74130256e-01 9.84720763e-01 -1.91630745e-03 -1.69554560e+01] [-1.16663582e-02 -1.17077772e-04 9.99931939e-01 -2.12129640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.49862385300001 meters Centerline goodness [0,1] 0.9998496143682729 Centerline is valid? [True, True] Translation: X:107.44, Y:-16.96, Z:-2.12 [[ 9.84815463e-01 1.73225516e-01 1.14640782e-02 1.07438792e+02] [-1.73215007e-01 9.84882181e-01 -1.91092167e-03 -1.69601570e+01] [-1.16217867e-02 -1.03845168e-04 9.99932459e-01 -2.12095854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.52862385300001 meters Centerline goodness [0,1] 0.9997829295823565 Centerline is valid? [True, True] Translation: X:107.47, Y:-16.97, Z:-2.12 [[ 9.85142146e-01 1.71302469e-01 1.22644374e-02 1.07469392e+02] [-1.71290267e-01 9.85218482e-01 -2.04635089e-03 -1.69744491e+01] [-1.24336954e-02 -8.48322520e-05 9.99922695e-01 -2.12152109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.55862385300001 meters Centerline goodness [0,1] 0.9997840965520219 Centerline is valid? [True, True] Translation: X:107.50, Y:-16.98, Z:-2.12 [[ 9.85424817e-01 1.69665243e-01 1.23140429e-02 1.07499637e+02] [-1.69652787e-01 9.85501751e-01 -2.05685516e-03 -1.69839812e+01] [-1.24844877e-02 -6.22355765e-05 9.99922064e-01 -2.12328991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.588623853 meters Centerline goodness [0,1] 0.9998921437508089 Centerline is valid? [True, True] Translation: X:107.53, Y:-16.99, Z:-2.12 [[ 9.85501402e-01 1.69249291e-01 1.19023007e-02 1.07531944e+02] [-1.69237604e-01 9.85573272e-01 -1.98969161e-03 -1.69924450e+01] [-1.20673433e-02 -5.34729721e-05 9.99927186e-01 -2.12342295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.618623853 meters Centerline goodness [0,1] 0.9997833481378773 Centerline is valid? [True, True] Translation: X:107.56, Y:-17.00, Z:-2.12 [[ 9.85562751e-01 1.68916571e-01 1.15436577e-02 1.07563639e+02] [-1.68905528e-01 9.85630352e-01 -1.93200646e-03 -1.69992896e+01] [-1.17041273e-02 -4.56740103e-05 9.99931503e-01 -2.12479813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.648623853 meters Centerline goodness [0,1] 0.9998917256761731 Centerline is valid? [True, True] Translation: X:107.60, Y:-17.01, Z:-2.13 [[ 9.85608628e-01 1.68642558e-01 1.16327038e-02 1.07595842e+02] [-1.68631300e-01 9.85677273e-01 -1.94901480e-03 -1.70074378e+01] [-1.17947786e-02 -4.06721602e-05 9.99930438e-01 -2.12522859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.678623853 meters Centerline goodness [0,1] 0.999913781954563 Centerline is valid? [True, True] Translation: X:107.63, Y:-17.01, Z:-2.13 [[ 9.85603566e-01 1.68692287e-01 1.13367736e-02 1.07627528e+02] [-1.68681572e-01 9.85668763e-01 -1.90166129e-03 -1.70130709e+01] [-1.14950992e-02 -3.80206390e-05 9.99933928e-01 -2.12777964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.708623853 meters Centerline goodness [0,1] 0.9998298017190026 Centerline is valid? [True, True] Translation: X:107.66, Y:-17.02, Z:-2.13 [[ 9.85547598e-01 1.69043166e-01 1.09699763e-02 1.07658428e+02] [-1.69033133e-01 9.85608648e-01 -1.84214292e-03 -1.70194132e+01] [-1.11235051e-02 -3.87699271e-05 9.99938131e-01 -2.13075282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.738623853 meters Centerline goodness [0,1] 0.9997604738263217 Centerline is valid? [True, True] Translation: X:107.69, Y:-17.03, Z:-2.13 [[ 9.85442928e-01 1.69620198e-01 1.14553218e-02 1.07691074e+02] [-1.69609276e-01 9.85509506e-01 -1.92547841e-03 -1.70270267e+01] [-1.16159286e-02 -4.54797524e-05 9.99932532e-01 -2.12657895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.76862385300001 meters Centerline goodness [0,1] 0.9997847610848042 Centerline is valid? [True, True] Translation: X:107.72, Y:-17.03, Z:-2.13 [[ 9.85292443e-01 1.70483124e-01 1.15890775e-02 1.07722629e+02] [-1.70471975e-01 9.85360595e-01 -1.95048360e-03 -1.70312498e+01] [-1.17519448e-02 -5.38161807e-05 9.99930942e-01 -2.12745374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.79862385300001 meters Centerline goodness [0,1] 0.9998497370398197 Centerline is valid? [True, True] Translation: X:107.75, Y:-17.03, Z:-2.13 [[ 9.84942742e-01 1.72503139e-01 1.14220190e-02 1.07753620e+02] [-1.72492413e-01 9.85008965e-01 -1.92509824e-03 -1.70334135e+01] [-1.15828767e-02 -7.41000862e-05 9.99932913e-01 -2.12870029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.82862385300001 meters Centerline goodness [0,1] 0.9999144750908702 Centerline is valid? [True, True] Translation: X:107.79, Y:-17.04, Z:-2.13 [[ 9.84672501e-01 1.74025272e-01 1.16305869e-02 1.07785326e+02] [-1.74014248e-01 9.84741182e-01 -1.96094604e-03 -1.70370700e+01] [-1.17943721e-02 -9.29981945e-05 9.99930440e-01 -2.12916835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.85862385300001 meters Centerline goodness [0,1] 0.9997210060949437 Centerline is valid? [True, True] Translation: X:107.82, Y:-17.04, Z:-2.13 [[ 9.84086735e-01 1.77314319e-01 1.15295487e-02 1.07817110e+02] [-1.77303689e-01 9.84154264e-01 -1.94587885e-03 -1.70386619e+01] [-1.16918867e-02 -1.29317955e-04 9.99931639e-01 -2.12913937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.88862385300001 meters Centerline goodness [0,1] 0.999586543064804 Centerline is valid? [True, True] Translation: X:107.85, Y:-17.04, Z:-2.13 [[ 9.83734092e-01 1.79244691e-01 1.17718439e-02 1.07848287e+02] [-1.79233724e-01 9.83804512e-01 -1.98872652e-03 -1.70410120e+01] [-1.19376619e-02 -1.53533350e-04 9.99928732e-01 -2.12947251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.91862385300001 meters Centerline goodness [0,1] 0.9995717253046104 Centerline is valid? [True, True] Translation: X:107.88, Y:-17.04, Z:-2.13 [[ 9.83047742e-01 1.83024784e-01 1.09117478e-02 1.07880412e+02] [-1.83015576e-01 9.83108282e-01 -1.84498030e-03 -1.70402882e+01] [-1.10651067e-02 -1.83316091e-04 9.99938763e-01 -2.13077916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.94862385300002 meters Centerline goodness [0,1] 0.9994666666666666 Centerline is valid? [True, True] Translation: X:107.91, Y:-17.04, Z:-2.13 [[ 9.82717691e-01 1.84803042e-01 1.06665780e-02 1.07911666e+02] [-1.84794331e-01 9.82775558e-01 -1.80516340e-03 -1.70398010e+01] [-1.08164518e-02 -1.97157123e-04 9.99941481e-01 -2.13305121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.978623853 meters Centerline goodness [0,1] 0.9991129765046948 Centerline is valid? [True, True] Translation: X:107.94, Y:-17.04, Z:-2.13 [[ 9.82363020e-01 1.86710759e-01 1.00989432e-02 1.07944841e+02] [-1.86703036e-01 9.82414908e-01 -1.71046410e-03 -1.70395603e+01] [-1.02407144e-02 -2.05206691e-04 9.99947541e-01 -2.12785222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.008623853 meters Centerline goodness [0,1] 0.9992271692928599 Centerline is valid? [True, True] Translation: X:107.98, Y:-17.04, Z:-2.13 [[ 9.82282843e-01 1.87090469e-01 1.08430918e-02 1.07976553e+02] [-1.87081569e-01 9.82342663e-01 -1.83847552e-03 -1.70426501e+01] [-1.09955930e-02 -2.22639667e-04 9.99939522e-01 -2.13456831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.038623853 meters Centerline goodness [0,1] 0.9993981083404987 Centerline is valid? [True, True] Translation: X:108.01, Y:-17.05, Z:-2.14 [[ 9.82321673e-01 1.86893131e-01 1.07279596e-02 1.08008415e+02] [-1.86884385e-01 9.82380227e-01 -1.82092610e-03 -1.70488466e+01] [-1.08792540e-02 -2.16152961e-04 9.99940796e-01 -2.13510514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.068623853 meters Centerline goodness [0,1] 0.9994442782028812 Centerline is valid? [True, True] Translation: X:108.04, Y:-17.06, Z:-2.14 [[ 9.82657469e-01 1.85134814e-01 1.04594453e-02 1.08039966e+02] [-1.85126383e-01 9.82713114e-01 -1.77699578e-03 -1.70567341e+01] [-1.06076178e-02 -1.90141100e-04 9.99943720e-01 -2.13608555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.098623853 meters Centerline goodness [0,1] 0.9995911164672463 Centerline is valid? [True, True] Translation: X:108.07, Y:-17.06, Z:-2.14 [[ 9.82891782e-01 1.83872178e-01 1.07129506e-02 1.08071813e+02] [-1.83863231e-01 9.82950146e-01 -1.82259398e-03 -1.70646235e+01] [-1.08654207e-02 -1.78305072e-04 9.99940954e-01 -2.13583027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.12862385300001 meters Centerline goodness [0,1] 0.9996363402999123 Centerline is valid? [True, True] Translation: X:108.10, Y:-17.07, Z:-2.14 [[ 9.83493313e-01 1.80606638e-01 1.10519265e-02 1.08102684e+02] [-1.80596909e-01 9.83555398e-01 -1.88026600e-03 -1.70729415e+01] [-1.12097705e-02 -1.46714734e-04 9.99937158e-01 -2.13606676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.15862385300001 meters Centerline goodness [0,1] 0.9997421905212048 Centerline is valid? [True, True] Translation: X:108.13, Y:-17.08, Z:-2.14 [[ 9.83810710e-01 1.78879973e-01 1.08830963e-02 1.08133966e+02] [-1.78870414e-01 9.83870896e-01 -1.85335550e-03 -1.70803131e+01] [-1.10390899e-02 -1.23312961e-04 9.99939060e-01 -2.13628112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.18862385300001 meters Centerline goodness [0,1] 0.9997208023710322 Centerline is valid? [True, True] Translation: X:108.17, Y:-17.09, Z:-2.13 [[ 9.84364119e-01 1.75734879e-01 1.20222019e-02 1.08165653e+02] [-1.75722944e-01 9.84437526e-01 -2.05030581e-03 -1.70888756e+01] [-1.21954170e-02 -9.43292392e-05 9.99925629e-01 -2.13460834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.21862385300001 meters Centerline goodness [0,1] 0.9997208023710322 Centerline is valid? [True, True] Translation: X:108.20, Y:-17.09, Z:-2.14 [[ 9.84329821e-01 1.75926891e-01 1.20222000e-02 1.08197651e+02] [-1.75914969e-01 9.84403230e-01 -2.05031763e-03 -1.70945165e+01] [-1.21953985e-02 -9.66961671e-05 9.99925629e-01 -2.13518149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.24862385300001 meters Centerline goodness [0,1] 0.9998722915158997 Centerline is valid? [True, True] Translation: X:108.23, Y:-17.10, Z:-2.14 [[ 9.84546060e-01 1.74708265e-01 1.20862462e-02 1.08228603e+02] [-1.74696092e-01 9.84620239e-01 -2.06389041e-03 -1.70999564e+01] [-1.22609413e-02 -7.94248060e-05 9.99924829e-01 -2.13675692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.27862385300001 meters Centerline goodness [0,1] 0.9997401697557595 Centerline is valid? [True, True] Translation: X:108.26, Y:-17.11, Z:-2.14 [[ 9.84804409e-01 1.73248789e-01 1.20471327e-02 1.08259454e+02] [-1.73236556e-01 9.84878091e-01 -2.05968312e-03 -1.71082662e+01] [-1.22217947e-02 -5.86187560e-05 9.99925309e-01 -2.13653510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.30862385300001 meters Centerline goodness [0,1] 0.9999141870293695 Centerline is valid? [True, True] Translation: X:108.29, Y:-17.12, Z:-2.14 [[ 9.85339833e-01 1.70181405e-01 1.19876595e-02 1.08289786e+02] [-1.70169062e-01 9.85412751e-01 -2.04972257e-03 -1.71166672e+01] [-1.21616172e-02 -2.02554755e-05 9.99926045e-01 -2.13880275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.338623853 meters Centerline goodness [0,1] 0.9998495982123673 Centerline is valid? [True, True] Translation: X:108.32, Y:-17.12, Z:-2.14 [[ 9.85577438e-01 1.68817920e-01 1.17312961e-02 1.08322230e+02] [-1.68805983e-01 9.85647254e-01 -2.00755686e-03 -1.71244499e+01] [-1.19018313e-02 -1.71021265e-06 9.99929171e-01 -2.13798469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.368623853 meters Centerline goodness [0,1] 0.9999131133653366 Centerline is valid? [True, True] Translation: X:108.35, Y:-17.13, Z:-2.14 [[ 9.86069688e-01 1.65942281e-01 1.13898977e-02 1.08353834e+02] [-1.65930811e-01 9.86135467e-01 -1.95128971e-03 -1.71333710e+01] [-1.15557836e-02 3.41726696e-05 9.99933229e-01 -2.13945391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.398623853 meters Centerline goodness [0,1] 0.9999129905159663 Centerline is valid? [True, True] Translation: X:108.39, Y:-17.14, Z:-2.13 [[ 9.86306925e-01 1.64525027e-01 1.14089736e-02 1.08386171e+02] [-1.64513398e-01 9.86372908e-01 -1.95683469e-03 -1.71401184e+01] [-1.15754508e-02 5.31105944e-05 9.99933001e-01 -2.13374255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.428623853 meters Centerline goodness [0,1] 0.9999568528466335 Centerline is valid? [True, True] Translation: X:108.42, Y:-17.15, Z:-2.14 [[ 9.86508114e-01 1.63300972e-01 1.15988811e-02 1.08416720e+02] [-1.63288839e-01 9.86576296e-01 -1.99187134e-03 -1.71486753e+01] [-1.17684557e-02 7.10294140e-05 9.99930747e-01 -2.14046966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.458623853 meters Centerline goodness [0,1] 0.9997167509151125 Centerline is valid? [True, True] Translation: X:108.45, Y:-17.16, Z:-2.13 [[ 9.87031933e-01 1.60122677e-01 1.13442682e-02 1.08447647e+02] [-1.60110837e-01 9.87097116e-01 -1.95026679e-03 -1.71571591e+01] [-1.15101763e-02 1.08635333e-04 9.99933750e-01 -2.13473472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.488623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:108.48, Y:-17.17, Z:-2.14 [[ 9.87201833e-01 1.59042364e-01 1.17502042e-02 1.08477846e+02] [-1.59029557e-01 9.87271751e-01 -2.02232084e-03 -1.71661941e+01] [-1.19222793e-02 1.27809067e-04 9.99928919e-01 -2.14126207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.51862385300001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:108.51, Y:-17.18, Z:-2.14 [[ 9.87457096e-01 1.57418520e-01 1.21611299e-02 1.08507703e+02] [-1.57404653e-01 9.87531967e-01 -2.09515543e-03 -1.71761377e+01] [-1.23393208e-02 1.54657664e-04 9.99923856e-01 -2.14162259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.54862385300001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:108.54, Y:-17.18, Z:-2.14 [[ 9.87475036e-01 1.57315664e-01 1.20347166e-02 1.08539832e+02] [-1.57302055e-01 9.87548357e-01 -2.07512834e-03 -1.71833438e+01] [-1.22113148e-02 1.56051783e-04 9.99925427e-01 -2.14173777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.57862385300001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:108.57, Y:-17.19, Z:-2.14 [[ 9.87388104e-01 1.57877272e-01 1.18110125e-02 1.08571052e+02] [-1.57864176e-01 9.87458731e-01 -2.03890705e-03 -1.71905511e+01] [-1.19847845e-02 1.48656823e-04 9.99928169e-01 -2.14277378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.60862385300001 meters Centerline goodness [0,1] 0.9999784101213351 Centerline is valid? [True, True] Translation: X:108.60, Y:-17.20, Z:-2.14 [[ 9.87282433e-01 1.58516919e-01 1.20741154e-02 1.08601790e+02] [-1.58503251e-01 9.87356250e-01 -2.08676938e-03 -1.71967969e+01] [-1.22522415e-02 1.46444213e-04 9.99924928e-01 -2.14343583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.63862385300001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:108.63, Y:-17.20, Z:-2.14 [[ 9.87082937e-01 1.59755588e-01 1.20593670e-02 1.08633310e+02] [-1.59742023e-01 9.87156591e-01 -2.08606858e-03 -1.72005664e+01] [-1.22377447e-02 1.32735015e-04 9.99925107e-01 -2.14371194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.66862385300001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:108.67, Y:-17.21, Z:-2.14 [[ 9.86975476e-01 1.60409048e-01 1.21797518e-02 1.08665560e+02] [-1.60395236e-01 9.87050617e-01 -2.10884645e-03 -1.72061616e+01] [-1.23603096e-02 1.27805569e-04 9.99923600e-01 -2.14406460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.69862385300002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:108.70, Y:-17.21, Z:-2.15 [[ 9.86927422e-01 1.60714990e-01 1.20397955e-02 1.08696197e+02] [-1.60701483e-01 9.87000849e-01 -2.08731662e-03 -1.72147523e+01] [-1.22187515e-02 1.25217011e-04 9.99925340e-01 -2.14544392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.728623853 meters Centerline goodness [0,1] 0.9999782981401506 Centerline is valid? [True, True] Translation: X:108.73, Y:-17.22, Z:-2.14 [[ 9.86919514e-01 1.60736487e-01 1.23957594e-02 1.08729127e+02] [-1.60722157e-01 9.86997348e-01 -2.15018272e-03 -1.72209444e+01] [-1.25801944e-02 1.29784098e-04 9.99920858e-01 -2.14473280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.758623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:108.76, Y:-17.23, Z:-2.15 [[ 9.86931859e-01 1.60649858e-01 1.25351130e-02 1.08760121e+02] [-1.60635163e-01 9.87011451e-01 -2.17702911e-03 -1.72300278e+01] [-1.27220395e-02 1.34999460e-04 9.99919062e-01 -2.14570718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.788623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:108.79, Y:-17.24, Z:-2.15 [[ 9.86965484e-01 1.60428067e-01 1.27266936e-02 1.08792596e+02] [-1.60412870e-01 9.87047524e-01 -2.21271800e-03 -1.72379711e+01] [-1.29168335e-02 1.42350848e-04 9.99916564e-01 -2.14577809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.818623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:108.82, Y:-17.25, Z:-2.15 [[ 9.86929631e-01 1.60669515e-01 1.24583548e-02 1.08824821e+02] [-1.60654940e-01 9.87008251e-01 -2.16851150e-03 -1.72458631e+01] [-1.26449126e-02 1.38672018e-04 9.99920040e-01 -2.14640597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.848623853 meters Centerline goodness [0,1] 0.9999564051703468 Centerline is valid? [True, True] Translation: X:108.86, Y:-17.25, Z:-2.15 [[ 9.86751906e-01 1.61783129e-01 1.21200709e-02 1.08856091e+02] [-1.61769389e-01 9.86826329e-01 -2.11211721e-03 -1.72540213e+01] [-1.23021100e-02 1.23479228e-04 9.99924319e-01 -2.14505697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.87862385300001 meters Centerline goodness [0,1] 0.9999783226030218 Centerline is valid? [True, True] Translation: X:108.89, Y:-17.26, Z:-2.15 [[ 9.86613629e-01 1.62631526e-01 1.20222366e-02 1.08886360e+02] [-1.62618043e-01 9.86686867e-01 -2.09724070e-03 -1.72613582e+01] [-1.22032604e-02 1.14133668e-04 9.99925531e-01 -2.14891421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.90862385300001 meters Centerline goodness [0,1] 0.9999568649441402 Centerline is valid? [True, True] Translation: X:108.92, Y:-17.27, Z:-2.15 [[ 9.86282473e-01 1.64695391e-01 1.10594914e-02 1.08916399e+02] [-1.64684089e-01 9.86344474e-01 -1.93128072e-03 -1.72695460e+01] [-1.12265413e-02 8.34660499e-05 9.99936977e-01 -2.15239053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.93862385300001 meters Centerline goodness [0,1] 0.999848162769511 Centerline is valid? [True, True] Translation: X:108.95, Y:-17.27, Z:-2.15 [[ 9.86026593e-01 1.66261491e-01 1.04247538e-02 1.08949178e+02] [-1.66251533e-01 9.86081697e-01 -1.82063591e-03 -1.72720902e+01] [-1.05823605e-02 6.20641231e-05 9.99944003e-01 -2.14569080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.96862385300001 meters Centerline goodness [0,1] 0.9996331383931462 Centerline is valid? [True, True] Translation: X:108.98, Y:-17.28, Z:-2.15 [[ 9.85524806e-01 1.69209816e-01 1.04352352e-02 1.08979648e+02] [-1.69199979e-01 9.85580051e-01 -1.82488329e-03 -1.72763555e+01] [-1.05935478e-02 3.28261819e-05 9.99943886e-01 -2.14659449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.99862385300001 meters Centerline goodness [0,1] 0.9998928992181643 Centerline is valid? [True, True] Translation: X:109.01, Y:-17.28, Z:-2.15 [[ 9.85200436e-01 1.71042260e-01 1.11644949e-02 1.09010396e+02] [-1.71031093e-01 9.85263693e-01 -1.95451118e-03 -1.72823843e+01] [-1.13342755e-02 1.61094929e-05 9.99935765e-01 -2.15271221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.02862385300001 meters Centerline goodness [0,1] 0.999585071302221 Centerline is valid? [True, True] Translation: X:109.04, Y:-17.29, Z:-2.15 [[ 9.84612429e-01 1.74365277e-01 1.16239187e-02 1.09042599e+02] [-1.74353384e-01 9.84681040e-01 -2.03667091e-03 -1.72878481e+01] [-1.18009771e-02 -2.13380712e-05 9.99930366e-01 -2.15233481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.05862385300001 meters Centerline goodness [0,1] 0.9995921258828327 Centerline is valid? [True, True] Translation: X:109.07, Y:-17.29, Z:-2.15 [[ 9.84282043e-01 1.76236098e-01 1.13884739e-02 1.09073334e+02] [-1.76224774e-01 9.84347924e-01 -1.99816041e-03 -1.72926740e+01] [-1.15623686e-02 -4.01778233e-05 9.99933153e-01 -2.15345209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.088623853 meters Centerline goodness [0,1] 0.9995248893208077 Centerline is valid? [True, True] Translation: X:109.10, Y:-17.30, Z:-2.15 [[ 9.83622799e-01 1.79901424e-01 1.10303125e-02 1.09104981e+02] [-1.79891025e-01 9.83684640e-01 -1.93589342e-03 -1.72953981e+01] [-1.11986189e-02 -8.00653119e-05 9.99937290e-01 -2.15442109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.118623853 meters Centerline goodness [0,1] 0.9993976551575777 Centerline is valid? [True, True] Translation: X:109.14, Y:-17.30, Z:-2.15 [[ 9.83236695e-01 1.81974016e-01 1.14481027e-02 1.09137120e+02] [-1.81962935e-01 9.83303334e-01 -2.01104132e-03 -1.72989913e+01] [-1.16229148e-02 -1.05800746e-04 9.99932446e-01 -2.15449872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.148623853 meters Centerline goodness [0,1] 0.9990806465406653 Centerline is valid? [True, True] Translation: X:109.17, Y:-17.30, Z:-2.15 [[ 9.82450858e-01 1.86157190e-01 1.16538097e-02 1.09169587e+02] [-1.86145977e-01 9.82519962e-01 -2.04916638e-03 -1.73005243e+01] [-1.18315678e-02 -1.56104534e-04 9.99929992e-01 -2.15413872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.178623853 meters Centerline goodness [0,1] 0.9991795137539405 Centerline is valid? [True, True] Translation: X:109.20, Y:-17.30, Z:-2.15 [[ 9.82051946e-01 1.88236119e-01 1.18802010e-02 1.09201502e+02] [-1.88224593e-01 9.82123786e-01 -2.09105542e-03 -1.73036063e+01] [-1.20614401e-02 -1.82620956e-04 9.99927242e-01 -2.15459805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.208623853 meters Centerline goodness [0,1] 0.9989045450640089 Centerline is valid? [True, True] Translation: X:109.23, Y:-17.31, Z:-2.15 [[ 9.81632860e-01 1.90396884e-01 1.20811986e-02 1.09233577e+02] [-1.90385102e-01 9.81707177e-01 -2.12854244e-03 -1.73065048e+01] [-1.22654672e-02 -2.10633027e-04 9.99924754e-01 -2.15469431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.238623853 meters Centerline goodness [0,1] 0.9986597492434068 Centerline is valid? [True, True] Translation: X:109.27, Y:-17.31, Z:-2.15 [[ 9.80918200e-01 1.94039375e-01 1.21739598e-02 1.09265141e+02] [-1.94027665e-01 9.80993708e-01 -2.14703310e-03 -1.73054232e+01] [-1.23591869e-02 -2.56021149e-04 9.99923590e-01 -2.15487366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.26862385300001 meters Centerline goodness [0,1] 0.9986365702166339 Centerline is valid? [True, True] Translation: X:109.30, Y:-17.31, Z:-2.16 [[ 9.80551904e-01 1.95880186e-01 1.22030883e-02 1.09297445e+02] [-1.95868540e-01 9.80627797e-01 -2.15403162e-03 -1.73083429e+01] [-1.23886197e-02 -2.78061277e-04 9.99923219e-01 -2.15608631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.29862385300001 meters Centerline goodness [0,1] 0.9986205707388568 Centerline is valid? [True, True] Translation: X:109.33, Y:-17.31, Z:-2.16 [[ 9.79952303e-01 1.98858657e-01 1.21950445e-02 1.09329289e+02] [-1.98847230e-01 9.80028130e-01 -2.15468410e-03 -1.73103124e+01] [-1.23799643e-02 -3.13463175e-04 9.99923316e-01 -2.15628928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.32862385300001 meters Centerline goodness [0,1] 0.9986342351716961 Centerline is valid? [True, True] Translation: X:109.36, Y:-17.31, Z:-2.16 [[ 9.79733217e-01 1.99947755e-01 1.19883058e-02 1.09360509e+02] [-1.99936772e-01 9.79806508e-01 -2.12000036e-03 -1.73131747e+01] [-1.21701094e-02 -3.19868396e-04 9.99925890e-01 -2.15703474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.35862385300001 meters Centerline goodness [0,1] 0.9985152669291847 Centerline is valid? [True, True] Translation: X:109.39, Y:-17.31, Z:-2.16 [[ 9.79420549e-01 2.01508227e-01 1.13939483e-02 1.09391736e+02] [-2.01498387e-01 9.79486770e-01 -2.01697936e-03 -1.73123727e+01] [-1.15666595e-02 -3.20391163e-04 9.99933053e-01 -2.15901792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.38862385300001 meters Centerline goodness [0,1] 0.9983941418293937 Centerline is valid? [True, True] Translation: X:109.42, Y:-17.31, Z:-2.16 [[ 9.79340364e-01 2.01907883e-01 1.12097252e-02 1.09423077e+02] [-2.01898375e-01 9.79404464e-01 -1.98523429e-03 -1.73148032e+01] [-1.13796894e-02 -3.19005238e-04 9.99935198e-01 -2.16065788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.41862385300001 meters Centerline goodness [0,1] 0.9981631781290047 Centerline is valid? [True, True] Translation: X:109.46, Y:-17.32, Z:-2.16 [[ 9.79299989e-01 2.02107470e-01 1.11400844e-02 1.09455943e+02] [-2.02098088e-01 9.79363298e-01 -1.97329087e-03 -1.73196615e+01] [-1.13090066e-02 -3.18946033e-04 9.99936000e-01 -2.16116044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.44862385300002 meters Centerline goodness [0,1] 0.9984662576687117 Centerline is valid? [True, True] Translation: X:109.49, Y:-17.33, Z:-2.16 [[ 9.79503104e-01 2.01106799e-01 1.13897069e-02 1.09487640e+02] [-2.01096898e-01 9.79569272e-01 -2.01980572e-03 -1.73254585e+01] [-1.15632035e-02 -3.12028736e-04 9.99933095e-01 -2.16084613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.478623853 meters Centerline goodness [0,1] 0.9984369912080755 Centerline is valid? [True, True] Translation: X:109.52, Y:-17.33, Z:-2.16 [[ 9.79716792e-01 2.00054639e-01 1.15390475e-02 1.09518245e+02] [-2.00044380e-01 9.79784696e-01 -2.04827068e-03 -1.73300113e+01] [-1.17155482e-02 -3.01596419e-04 9.99931325e-01 -2.16132916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.508623853 meters Centerline goodness [0,1] 0.998666035543698 Centerline is valid? [True, True] Translation: X:109.55, Y:-17.34, Z:-2.16 [[ 9.80377929e-01 1.96787113e-01 1.15736413e-02 1.09547465e+02] [-1.96776539e-01 9.80446207e-01 -2.05662532e-03 -1.73376820e+01] [-1.17520501e-02 -2.61151010e-04 9.99930908e-01 -2.16251172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.538623853 meters Centerline goodness [0,1] 0.9988526505896101 Centerline is valid? [True, True] Translation: X:109.58, Y:-17.35, Z:-2.16 [[ 9.80724604e-01 1.95058906e-01 1.14575055e-02 1.09577924e+02] [-1.95048422e-01 9.80791500e-01 -2.03629152e-03 -1.73455802e+01] [-1.16346208e-02 -2.37727171e-04 9.99932287e-01 -2.16350231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.568623853 meters Centerline goodness [0,1] 0.9992295509994435 Centerline is valid? [True, True] Translation: X:109.61, Y:-17.36, Z:-2.16 [[ 9.81690933e-01 1.90157115e-01 1.10988320e-02 1.09607724e+02] [-1.90146939e-01 9.81753657e-01 -1.97473169e-03 -1.73593993e+01] [-1.12718281e-02 -1.71832727e-04 9.99936456e-01 -2.16371473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.598623853 meters Centerline goodness [0,1] 0.9991082303810683 Centerline is valid? [True, True] Translation: X:109.64, Y:-17.37, Z:-2.16 [[ 9.82152740e-01 1.87786959e-01 1.05855550e-02 1.09638808e+02] [-1.87777569e-01 9.82209773e-01 -1.88306185e-03 -1.73672590e+01] [-1.07508500e-02 -1.38275420e-04 9.99942198e-01 -2.16131829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.62862385300001 meters Centerline goodness [0,1] 0.9994433620929585 Centerline is valid? [True, True] Translation: X:109.67, Y:-17.38, Z:-2.17 [[ 9.82607343e-01 1.85405574e-01 1.03721742e-02 1.09669578e+02] [-1.85396407e-01 9.82662079e-01 -1.84678221e-03 -1.73774030e+01] [-1.05347459e-02 -1.08302057e-04 9.99944502e-01 -2.16708734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.65862385300001 meters Centerline goodness [0,1] 0.9998276976093043 Centerline is valid? [True, True] Translation: X:109.70, Y:-17.39, Z:-2.17 [[ 9.83501025e-01 1.80664020e-01 9.28684034e-03 1.09700591e+02] [-1.80656442e-01 9.83544869e-01 -1.65539996e-03 -1.73895401e+01] [-9.43309538e-03 -4.96399718e-05 9.99955506e-01 -2.16890436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.68862385300001 meters Centerline goodness [0,1] 0.9999128388390134 Centerline is valid? [True, True] Translation: X:109.73, Y:-17.40, Z:-2.17 [[ 9.84205563e-01 1.76775773e-01 9.47292035e-03 1.09731924e+02] [-1.76767698e-01 9.84251150e-01 -1.68971874e-03 -1.73998861e+01] [-9.62243409e-03 -1.14757434e-05 9.99953703e-01 -2.16949283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.71862385300001 meters Centerline goodness [0,1] 0.9999786857642219 Centerline is valid? [True, True] Translation: X:109.76, Y:-17.41, Z:-2.17 [[ 9.84509460e-01 1.75072691e-01 9.52243622e-03 1.09763547e+02] [-1.75064456e-01 9.84555510e-01 -1.69808936e-03 -1.74081517e+01] [-9.67265613e-03 4.74491796e-06 9.99953219e-01 -2.16989824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.74862385300001 meters Centerline goodness [0,1] 0.999935809654228 Centerline is valid? [True, True] Translation: X:109.79, Y:-17.42, Z:-2.17 [[ 9.85219342e-01 1.71045573e-01 9.28761840e-03 1.09794226e+02] [-1.71037542e-01 9.85263117e-01 -1.65812917e-03 -1.74199553e+01] [-9.43436351e-03 4.50895083e-05 9.99955494e-01 -2.16669174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.77862385300001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:109.82, Y:-17.43, Z:-2.17 [[ 9.85583459e-01 1.68922188e-01 9.51525344e-03 1.09824739e+02] [-1.68913643e-01 9.85629388e-01 -1.70046662e-03 -1.74298299e+01] [-9.66575996e-03 6.86956441e-05 9.99953283e-01 -2.17044790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.80862385300001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:109.86, Y:-17.44, Z:-2.17 [[ 9.86269096e-01 1.64901239e-01 8.99174354e-03 1.09855328e+02] [-1.64893429e-01 9.86310078e-01 -1.60825193e-03 -1.74418700e+01] [-9.13385001e-03 1.03489755e-04 9.99958280e-01 -2.17213330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.838623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:109.89, Y:-17.45, Z:-2.17 [[ 9.86532370e-01 1.63309014e-01 9.16782544e-03 1.09886729e+02] [-1.63300811e-01 9.86574960e-01 -1.64131953e-03 -1.74493986e+01] [-9.31278929e-03 1.22101510e-04 9.99956628e-01 -2.17194260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.868623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:109.92, Y:-17.46, Z:-2.17 [[ 9.86889697e-01 1.61101868e-01 9.74234698e-03 1.09915765e+02] [-1.61092467e-01 9.86937771e-01 -1.74725150e-03 -1.74611169e+01] [-9.89657569e-03 1.54925797e-04 9.99951016e-01 -2.17256870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.898623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:109.95, Y:-17.47, Z:-2.17 [[ 9.86879522e-01 1.61174751e-01 9.56600225e-03 1.09947994e+02] [-1.61165701e-01 9.86925872e-01 -1.71456670e-03 -1.74683411e+01] [-9.71727998e-03 1.50359312e-04 9.99952775e-01 -2.17325043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.928623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:109.98, Y:-17.47, Z:-2.17 [[ 9.86785355e-01 1.61759011e-01 9.41735057e-03 1.09980286e+02] [-1.61750250e-01 9.86830280e-01 -1.68963436e-03 -1.74735843e+01] [-9.56664028e-03 1.44047627e-04 9.99954228e-01 -2.17349479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.958623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:110.01, Y:-17.48, Z:-2.17 [[ 9.86418720e-01 1.64000840e-01 9.04617888e-03 1.10011915e+02] [-1.63992834e-01 9.86460192e-01 -1.62487545e-03 -1.74774734e+01] [-9.19017629e-03 1.19299055e-04 9.99957762e-01 -2.17408460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.988623853 meters Centerline goodness [0,1] 0.9999132546842471 Centerline is valid? [True, True] Translation: X:110.04, Y:-17.48, Z:-2.17 [[ 9.86159223e-01 1.65578356e-01 8.59038291e-03 1.10043056e+02] [-1.65571183e-01 9.86196632e-01 -1.54445371e-03 -1.74825780e+01] [-8.72753481e-03 1.00757412e-04 9.99961909e-01 -2.17111817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.01862385300001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:110.08, Y:-17.49, Z:-2.18 [[ 9.85650282e-01 1.68570526e-01 8.80338112e-03 1.10075170e+02] [-1.68563100e-01 9.85689592e-01 -1.58415519e-03 -1.74854414e+01] [-8.94444301e-03 7.74978013e-05 9.99959995e-01 -2.17554624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.04862385300001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:110.11, Y:-17.49, Z:-2.18 [[ 9.85347168e-01 1.70324922e-01 8.96547687e-03 1.10107165e+02] [-1.70317279e-01 9.85387952e-01 -1.61487033e-03 -1.74891827e+01] [-9.10952556e-03 6.42322853e-05 9.99958505e-01 -2.17532977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.07862385300001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:110.14, Y:-17.49, Z:-2.18 [[ 9.84790510e-01 1.73500393e-01 9.23386886e-03 1.10139979e+02] [-1.73492401e-01 9.84833799e-01 -1.66578372e-03 -1.74914284e+01] [-9.38284028e-03 3.84419197e-05 9.99955979e-01 -2.17541669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.10862385300001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:110.17, Y:-17.50, Z:-2.18 [[ 9.84757766e-01 1.73686145e-01 9.23396132e-03 1.10171911e+02] [-1.73678165e-01 9.84801057e-01 -1.66527234e-03 -1.74973900e+01] [-9.38284960e-03 3.61524122e-05 9.99955979e-01 -2.17598973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.13862385300001 meters Centerline goodness [0,1] 0.9999784886097188 Centerline is valid? [True, True] Translation: X:110.20, Y:-17.50, Z:-2.18 [[ 9.84478100e-01 1.75254948e-01 9.41142193e-03 1.10204085e+02] [-1.75246710e-01 9.84523084e-01 -1.69937161e-03 -1.75016534e+01] [-9.56358542e-03 2.36734010e-05 9.99954268e-01 -2.17592601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.16862385300001 meters Centerline goodness [0,1] 0.9999141962332146 Centerline is valid? [True, True] Translation: X:110.23, Y:-17.51, Z:-2.18 [[ 9.84207267e-01 1.76743658e-01 9.88605603e-03 1.10234580e+02] [-1.76734624e-01 9.84256917e-01 -1.78700083e-03 -1.75062955e+01] [-1.00462601e-02 1.15708011e-05 9.99949535e-01 -2.17603514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.19862385300002 meters Centerline goodness [0,1] 0.9999348817017581 Centerline is valid? [True, True] Translation: X:110.27, Y:-17.51, Z:-2.18 [[ 9.83744391e-01 1.79284068e-01 1.02076212e-02 1.10266600e+02] [-1.79274558e-01 9.83797348e-01 -1.84665508e-03 -1.75102839e+01] [-1.03733065e-02 -1.33302021e-05 9.99946196e-01 -2.17608313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.228623853 meters Centerline goodness [0,1] 0.999763517145007 Centerline is valid? [True, True] Translation: X:110.30, Y:-17.51, Z:-2.17 [[ 9.83476389e-01 1.80755805e-01 1.00762351e-02 1.10299895e+02] [-1.80746598e-01 9.83528006e-01 -1.82457890e-03 -1.75140592e+01] [-1.02400626e-02 -2.68149452e-05 9.99947569e-01 -2.17151417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.258623853 meters Centerline goodness [0,1] 0.9997838165034482 Centerline is valid? [True, True] Translation: X:110.33, Y:-17.52, Z:-2.18 [[ 9.83047982e-01 1.83051291e-01 1.04350783e-02 1.10332832e+02] [-1.83041523e-01 9.83103363e-01 -1.89166498e-03 -1.75182662e+01] [-1.06050323e-02 -5.04551793e-05 9.99943764e-01 -2.17692894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.288623853 meters Centerline goodness [0,1] 0.9996350521660727 Centerline is valid? [True, True] Translation: X:110.37, Y:-17.52, Z:-2.18 [[ 9.82792635e-01 1.84412471e-01 1.05202978e-02 1.10365321e+02] [-1.84402599e-01 9.82848939e-01 -1.90914041e-03 -1.75227681e+01] [-1.06919328e-02 -6.36811282e-05 9.99942838e-01 -2.17767639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.318623853 meters Centerline goodness [0,1] 0.9996152037282483 Centerline is valid? [True, True] Translation: X:110.40, Y:-17.53, Z:-2.18 [[ 9.82402833e-01 1.86520189e-01 9.74128280e-03 1.10396223e+02] [-1.86511811e-01 9.82451125e-01 -1.76963254e-03 -1.75261758e+01] [-9.90040645e-03 -7.83722745e-05 9.99950987e-01 -2.17992731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.348623853 meters Centerline goodness [0,1] 0.9998292058070025 Centerline is valid? [True, True] Translation: X:110.43, Y:-17.53, Z:-2.18 [[ 9.82015593e-01 1.88576109e-01 9.18838860e-03 1.10427531e+02] [-1.88568733e-01 9.82058574e-01 -1.67043918e-03 -1.75285664e+01] [-9.33854072e-03 -9.22454804e-05 9.99956391e-01 -2.18199532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.37862385300001 meters Centerline goodness [0,1] 0.999678814611794 Centerline is valid? [True, True] Translation: X:110.46, Y:-17.53, Z:-2.18 [[ 9.81816306e-01 1.89623970e-01 8.91577726e-03 1.10459761e+02] [-1.89617057e-01 9.81856782e-01 -1.62205401e-03 -1.75325602e+01] [-9.06159669e-03 -9.80243725e-05 9.99958938e-01 -2.18299180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.40862385300001 meters Centerline goodness [0,1] 0.9997424339987122 Centerline is valid? [True, True] Translation: X:110.49, Y:-17.54, Z:-2.18 [[ 9.81678566e-01 1.90363742e-01 8.29693334e-03 1.10491383e+02] [-1.90357774e-01 9.81713622e-01 -1.51054741e-03 -1.75388892e+01] [-8.43276594e-03 -9.65137442e-05 9.99964439e-01 -2.18364495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.43862385300001 meters Centerline goodness [0,1] 0.9997639636933244 Centerline is valid? [True, True] Translation: X:110.52, Y:-17.54, Z:-2.19 [[ 9.81599349e-01 1.90783769e-01 8.01691177e-03 1.10522806e+02] [-1.90778201e-01 9.81632082e-01 -1.46070539e-03 -1.75432825e+01] [-8.14833667e-03 -9.56245426e-05 9.99966797e-01 -2.18621963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.46862385300001 meters Centerline goodness [0,1] 0.9997411840828211 Centerline is valid? [True, True] Translation: X:110.55, Y:-17.55, Z:-2.18 [[ 9.81689886e-01 1.90296503e-01 8.49754150e-03 1.10553767e+02] [-1.90290214e-01 9.81726658e-01 -1.55008986e-03 -1.75518940e+01] [-8.63723970e-03 -9.52914495e-05 9.99962694e-01 -2.18476933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.49862385300001 meters Centerline goodness [0,1] 0.99973795693759 Centerline is valid? [True, True] Translation: X:110.59, Y:-17.56, Z:-2.18 [[ 9.81825700e-01 1.89560727e-01 9.22097015e-03 1.10585009e+02] [-1.89553272e-01 9.81868994e-01 -1.68376412e-03 -1.75611437e+01] [-9.37296024e-03 -9.47021745e-05 9.99956068e-01 -2.18260715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.52862385300001 meters Centerline goodness [0,1] 0.9995677825081581 Centerline is valid? [True, True] Translation: X:110.62, Y:-17.57, Z:-2.18 [[ 9.81780655e-01 1.89815401e-01 8.76686694e-03 1.10617338e+02] [-1.89808662e-01 9.81819793e-01 -1.60215685e-03 -1.75650442e+01] [-8.91159752e-03 -9.10606811e-05 9.99960287e-01 -2.17928083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.55862385300001 meters Centerline goodness [0,1] 0.9997874420779662 Centerline is valid? [True, True] Translation: X:110.65, Y:-17.57, Z:-2.19 [[ 9.81778558e-01 1.89821372e-01 8.87181650e-03 1.10649528e+02] [-1.89814455e-01 9.81818638e-01 -1.62301287e-03 -1.75688632e+01] [-9.01859733e-03 -9.05597773e-05 9.99959328e-01 -2.18750854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.588623853 meters Centerline goodness [0,1] 0.9997636238610967 Centerline is valid? [True, True] Translation: X:110.68, Y:-17.58, Z:-2.19 [[ 9.81766547e-01 1.89901349e-01 8.48084427e-03 1.10682080e+02] [-1.89895018e-01 9.81803173e-01 -1.55301041e-03 -1.75770174e+01] [-8.62143858e-03 -8.57764045e-05 9.99962831e-01 -2.18631640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.618623853 meters Centerline goodness [0,1] 0.9996957315482917 Centerline is valid? [True, True] Translation: X:110.71, Y:-17.58, Z:-2.19 [[ 9.81712806e-01 1.90153939e-01 9.02469505e-03 1.10714479e+02] [-1.90146763e-01 9.81754282e-01 -1.65456489e-03 -1.75836129e+01] [-9.17465505e-03 -9.17090073e-05 9.99957908e-01 -2.18625087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.648623853 meters Centerline goodness [0,1] 0.9997014734417979 Centerline is valid? [True, True] Translation: X:110.75, Y:-17.59, Z:-2.19 [[ 9.81552019e-01 1.90938716e-01 9.90152408e-03 1.10746745e+02] [-1.90930094e-01 9.81601954e-01 -1.81767896e-03 -1.75856084e+01] [-1.00664207e-02 -1.06352473e-04 9.99949327e-01 -2.18708830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.678623853 meters Centerline goodness [0,1] 0.999572877736252 Centerline is valid? [True, True] Translation: X:110.78, Y:-17.59, Z:-2.18 [[ 9.81439440e-01 1.91486425e-01 1.04677421e-02 1.10778486e+02] [-1.91476798e-01 9.81495255e-01 -1.92362436e-03 -1.75930276e+01] [-1.06423871e-02 -1.16408921e-04 9.99943361e-01 -2.18387130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.708623853 meters Centerline goodness [0,1] 0.9996338574197717 Centerline is valid? [True, True] Translation: X:110.81, Y:-17.60, Z:-2.18 [[ 9.81144798e-01 1.92950204e-01 1.11849769e-02 1.10810912e+02] [-1.92939279e-01 9.81208540e-01 -2.05792863e-03 -1.75960457e+01] [-1.13718726e-02 -1.38895401e-04 9.99935329e-01 -2.18247147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.738623853 meters Centerline goodness [0,1] 0.9994830594266267 Centerline is valid? [True, True] Translation: X:110.84, Y:-17.60, Z:-2.18 [[ 9.80988021e-01 1.93741130e-01 1.12639679e-02 1.10842440e+02] [-1.93730081e-01 9.81052676e-01 -2.07440048e-03 -1.75989074e+01] [-1.14524426e-02 -1.47207393e-04 9.99934408e-01 -2.18381431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.76862385300001 meters Centerline goodness [0,1] 0.9995236239227404 Centerline is valid? [True, True] Translation: X:110.88, Y:-17.60, Z:-2.18 [[ 9.80855568e-01 1.94393048e-01 1.15627872e-02 1.10875070e+02] [-1.94381424e-01 9.80923707e-01 -2.13162971e-03 -1.76049656e+01] [-1.17565861e-02 -1.56770167e-04 9.99930877e-01 -2.18351980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.79862385300001 meters Centerline goodness [0,1] 0.999614238871863 Centerline is valid? [True, True] Translation: X:110.91, Y:-17.61, Z:-2.18 [[ 9.80738315e-01 1.94955138e-01 1.20354735e-02 1.10907813e+02] [-1.94942554e-01 9.80812146e-01 -2.22138055e-03 -1.76064142e+01] [-1.22376081e-02 -1.67632921e-04 9.99925104e-01 -2.18384620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.82862385300001 meters Centerline goodness [0,1] 0.9996556622046228 Centerline is valid? [True, True] Translation: X:110.94, Y:-17.61, Z:-2.18 [[ 9.80768755e-01 1.94820867e-01 1.17251459e-02 1.10940702e+02] [-1.94808890e-01 9.80838827e-01 -2.16613304e-03 -1.76096021e+01] [-1.19224863e-02 -1.59687056e-04 9.99928912e-01 -2.18455215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.85862385300001 meters Centerline goodness [0,1] 0.9996742953923655 Centerline is valid? [True, True] Translation: X:110.97, Y:-17.62, Z:-2.18 [[ 9.80855313e-01 1.94380073e-01 1.18000945e-02 1.10971927e+02] [-1.94367881e-01 9.80926278e-01 -2.18243591e-03 -1.76158069e+01] [-1.19992448e-02 -1.52905506e-04 9.99927995e-01 -2.18477872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.88862385300001 meters Centerline goodness [0,1] 0.9995928426015215 Centerline is valid? [True, True] Translation: X:111.00, Y:-17.62, Z:-2.19 [[ 9.80895747e-01 1.94191401e-01 1.15427014e-02 1.11003546e+02] [-1.94179700e-01 9.80963648e-01 -2.13674826e-03 -1.76199294e+01] [-1.17379086e-02 -1.45431012e-04 9.99931098e-01 -2.18674190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.91862385300001 meters Centerline goodness [0,1] 0.9998500460572824 Centerline is valid? [True, True] Translation: X:111.03, Y:-17.63, Z:-2.19 [[ 9.81280665e-01 1.92287975e-01 1.06579020e-02 1.11034447e+02] [-1.92277866e-01 9.81338536e-01 -1.97485370e-03 -1.76277056e+01] [-1.08387505e-02 -1.11392897e-04 9.99941253e-01 -2.18815241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.94862385300002 meters Centerline goodness [0,1] 0.9997871344033378 Centerline is valid? [True, True] Translation: X:111.06, Y:-17.63, Z:-2.19 [[ 9.81480694e-01 1.91258853e-01 1.07563462e-02 1.11064604e+02] [-1.91248473e-01 9.81539628e-01 -1.99505453e-03 -1.76333325e+01] [-1.09393519e-02 -9.90272891e-05 9.99940159e-01 -2.18984604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.978623853 meters Centerline goodness [0,1] 0.9997428589795787 Centerline is valid? [True, True] Translation: X:111.10, Y:-17.64, Z:-2.19 [[ 9.81944618e-01 1.88808263e-01 1.16707649e-02 1.11095560e+02] [-1.88795846e-01 9.82013968e-01 -2.16669353e-03 -1.76416984e+01] [-1.18699438e-02 -7.58188787e-05 9.99929547e-01 -2.18789408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.008623853 meters Centerline goodness [0,1] 0.9997856285371292 Centerline is valid? [True, True] Translation: X:111.13, Y:-17.65, Z:-2.19 [[ 9.82154300e-01 1.87706873e-01 1.17923773e-02 1.11127285e+02] [-1.87694092e-01 9.82225089e-01 -2.19127143e-03 -1.76483441e+01] [-1.19940855e-02 -6.11928858e-05 9.99928066e-01 -2.18799186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.038623853 meters Centerline goodness [0,1] 0.999807428962684 Centerline is valid? [True, True] Translation: X:111.16, Y:-17.66, Z:-2.19 [[ 9.82519941e-01 1.85793991e-01 1.16257311e-02 1.11157690e+02] [-1.85781411e-01 9.82588720e-01 -2.16233354e-03 -1.76556800e+01] [-1.18250608e-02 -3.53088969e-05 9.99930081e-01 -2.18921012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.068623853 meters Centerline goodness [0,1] 0.9998073836276083 Centerline is valid? [True, True] Translation: X:111.19, Y:-17.66, Z:-2.19 [[ 9.82615312e-01 1.85282179e-01 1.17329713e-02 1.11189658e+02] [-1.85269309e-01 9.82685358e-01 -2.18395318e-03 -1.76622993e+01] [-1.19344667e-02 -2.77736404e-05 9.99928781e-01 -2.18936674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.098623853 meters Centerline goodness [0,1] 0.9999358823655132 Centerline is valid? [True, True] Translation: X:111.22, Y:-17.67, Z:-2.19 [[ 9.82685483e-01 1.84921435e-01 1.15457905e-02 1.11220898e+02] [-1.84908921e-01 9.82753307e-01 -2.15142292e-03 -1.76679522e+01] [-1.17445080e-02 -2.07475860e-05 9.99931031e-01 -2.19077339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.12862385300001 meters Centerline goodness [0,1] 0.9998934492605379 Centerline is valid? [True, True] Translation: X:111.25, Y:-17.67, Z:-2.19 [[ 9.82810070e-01 1.84279982e-01 1.11916699e-02 1.11253646e+02] [-1.84268161e-01 9.82873790e-01 -2.08733740e-03 -1.76735235e+01] [-1.13846536e-02 -1.08122202e-05 9.99935193e-01 -2.19178786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.15862385300001 meters Centerline goodness [0,1] 0.9999787816418766 Centerline is valid? [True, True] Translation: X:111.29, Y:-17.68, Z:-2.19 [[ 9.82884656e-01 1.83925520e-01 1.04477710e-02 1.11285836e+02] [-1.83915177e-01 9.82940183e-01 -1.95047407e-03 -1.76780622e+01] [-1.06282759e-02 -4.41262703e-06 9.99943518e-01 -2.19369033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.18862385300001 meters Centerline goodness [0,1] 0.999870418763363 Centerline is valid? [True, True] Translation: X:111.32, Y:-17.68, Z:-2.19 [[ 9.82898207e-01 1.83885250e-01 9.86552550e-03 1.11318761e+02] [-1.83876012e-01 9.82947717e-01 -1.84326486e-03 -1.76828179e+01] [-1.00362450e-02 -2.29175593e-06 9.99949636e-01 -2.19036353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.21862385300001 meters Centerline goodness [0,1] 0.9999569076962854 Centerline is valid? [True, True] Translation: X:111.35, Y:-17.69, Z:-2.20 [[ 9.82951942e-01 1.83602850e-01 9.77103853e-03 1.11350403e+02] [-1.83593753e-01 9.83000505e-01 -1.82764645e-03 -1.76893761e+01] [-9.94049691e-03 2.58698863e-06 9.99950592e-01 -2.19602358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.24862385300001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:111.38, Y:-17.70, Z:-2.20 [[ 9.82982481e-01 1.83460126e-01 9.37148228e-03 1.11383374e+02] [-1.83451737e-01 9.83027152e-01 -1.75447110e-03 -1.76951576e+01] [-9.53429703e-03 5.39965550e-06 9.99954548e-01 -2.19671449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.27862385300001 meters Centerline goodness [0,1] 0.9999568677349091 Centerline is valid? [True, True] Translation: X:111.42, Y:-17.70, Z:-2.20 [[ 9.82997286e-01 1.83366527e-01 9.64632680e-03 1.11415630e+02] [-1.83357615e-01 9.83044616e-01 -1.80790051e-03 -1.77011251e+01] [-9.81427806e-03 8.43381959e-06 9.99951839e-01 -2.19688236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.30862385300001 meters Centerline goodness [0,1] 0.9999347485644684 Centerline is valid? [True, True] Translation: X:111.45, Y:-17.71, Z:-2.20 [[ 9.83173405e-01 1.82406320e-01 9.89901144e-03 1.11447247e+02] [-1.82396865e-01 9.83223237e-01 -1.85738267e-03 -1.77068527e+01] [-1.00717364e-02 2.05805971e-05 9.99949279e-01 -2.19708227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.338623853 meters Centerline goodness [0,1] 0.999934997399896 Centerline is valid? [True, True] Translation: X:111.48, Y:-17.71, Z:-2.20 [[ 9.83329034e-01 1.81551182e-01 1.01577393e-02 1.11479544e+02] [-1.81541161e-01 9.83381496e-01 -1.90775105e-03 -1.77136204e+01] [-1.03352873e-02 3.18992154e-05 9.99946589e-01 -2.19689288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.368623853 meters Centerline goodness [0,1] 0.9999785903913676 Centerline is valid? [True, True] Translation: X:111.51, Y:-17.72, Z:-2.20 [[ 9.83834127e-01 1.78773471e-01 1.05098434e-02 1.11509202e+02] [-1.78762558e-01 9.83890259e-01 -1.97635214e-03 -1.77239612e+01] [-1.06938519e-02 6.56361849e-05 9.99942817e-01 -2.19782854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.398623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:111.54, Y:-17.73, Z:-2.20 [[ 9.84065377e-01 1.77506144e-01 1.03393744e-02 1.11539813e+02] [-1.77495495e-01 9.84119689e-01 -1.94594959e-03 -1.77321236e+01] [-1.05205999e-02 7.97492406e-05 9.99944654e-01 -2.19871759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.428623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:111.57, Y:-17.74, Z:-2.20 [[ 9.84279614e-01 1.76326633e-01 1.01271695e-02 1.11570107e+02] [-1.76316339e-01 9.84331707e-01 -1.90755747e-03 -1.77398719e+01] [-1.03048472e-02 9.19844885e-05 9.99946899e-01 -2.20026745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.458623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:111.60, Y:-17.75, Z:-2.20 [[ 9.84551823e-01 1.74821709e-01 9.75081373e-03 1.11601342e+02] [-1.74812079e-01 9.84600101e-01 -1.83793976e-03 -1.77475733e+01] [-9.92196395e-03 1.04986920e-04 9.99950771e-01 -2.20105068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.488623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:111.63, Y:-17.76, Z:-2.20 [[ 9.84620451e-01 1.74453399e-01 9.41164150e-03 1.11631513e+02] [-1.74444395e-01 9.84665426e-01 -1.77562374e-03 -1.77559067e+01] [-9.57708158e-03 1.06507341e-04 9.99954133e-01 -2.20263038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.51862385300001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:111.66, Y:-17.76, Z:-2.20 [[ 9.84609897e-01 1.74522186e-01 9.23891475e-03 1.11663866e+02] [-1.74513502e-01 9.84653236e-01 -1.74417528e-03 -1.77622993e+01] [-9.40152460e-03 1.05016877e-04 9.99955799e-01 -2.20231433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.54862385300001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:111.70, Y:-17.77, Z:-2.20 [[ 9.84492720e-01 1.75149824e-01 9.82967913e-03 1.11695501e+02] [-1.75140002e-01 9.84541786e-01 -1.85799980e-03 -1.77682231e+01] [-1.00031582e-02 1.07617248e-04 9.99949961e-01 -2.20192624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.57862385300001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:111.73, Y:-17.77, Z:-2.20 [[ 9.84349940e-01 1.75934206e-01 1.01168438e-02 1.11727976e+02] [-1.75923817e-01 9.84401922e-01 -1.91481752e-03 -1.77725371e+01] [-1.02959223e-02 1.05056740e-04 9.99946990e-01 -2.20070545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.60862385300001 meters Centerline goodness [0,1] 0.9999786643908684 Centerline is valid? [True, True] Translation: X:111.76, Y:-17.78, Z:-2.20 [[ 9.84050348e-01 1.77582254e-01 1.04621574e-02 1.11758637e+02] [-1.77571236e-01 9.84105957e-01 -1.98019140e-03 -1.77772690e+01] [-1.06475182e-02 9.08298170e-05 9.99943309e-01 -2.20156101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.63862385300001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:111.79, Y:-17.78, Z:-2.20 [[ 9.83816390e-01 1.78868442e-01 1.05542241e-02 1.11788910e+02] [-1.78857285e-01 9.83872997e-01 -1.99938573e-03 -1.77832432e+01] [-1.07416431e-02 7.93285972e-05 9.99942304e-01 -2.20302663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.66862385300001 meters Centerline goodness [0,1] 0.9999352597164376 Centerline is valid? [True, True] Translation: X:111.82, Y:-17.79, Z:-2.20 [[ 9.83726482e-01 1.79357469e-01 1.06351825e-02 1.11820951e+02] [-1.79346144e-01 9.83783966e-01 -2.01703524e-03 -1.77895736e+01] [-1.08244924e-02 7.68320054e-05 9.99941411e-01 -2.20301404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.69862385300002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:111.85, Y:-17.80, Z:-2.20 [[ 9.83594929e-01 1.80099065e-01 1.02636101e-02 1.11852325e+02] [-1.80088555e-01 9.83648475e-01 -1.94672809e-03 -1.77971832e+01] [-1.04463884e-02 6.64331518e-05 9.99945433e-01 -2.20491654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.728623853 meters Centerline goodness [0,1] 0.9999137893874736 Centerline is valid? [True, True] Translation: X:111.89, Y:-17.80, Z:-2.21 [[ 9.83233779e-01 1.82101529e-01 9.50629246e-03 1.11885059e+02] [-1.82092603e-01 9.83279732e-01 -1.80349463e-03 -1.78018987e+01] [-9.67576384e-03 4.22313081e-05 9.99953188e-01 -2.20554914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.758623853 meters Centerline goodness [0,1] 0.9997421406622687 Centerline is valid? [True, True] Translation: X:111.92, Y:-17.81, Z:-2.21 [[ 9.82636126e-01 1.85311033e-01 9.27716035e-03 1.11916439e+02] [-1.85302655e-01 9.82679918e-01 -1.76210773e-03 -1.78050657e+01] [-9.44301717e-03 1.24282644e-05 9.99955414e-01 -2.20695835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.788623853 meters Centerline goodness [0,1] 0.9997438907267101 Centerline is valid? [True, True] Translation: X:111.95, Y:-17.81, Z:-2.21 [[ 9.82238637e-01 1.87398813e-01 9.43104793e-03 1.11947864e+02] [-1.87390238e-01 9.82283912e-01 -1.79271672e-03 -1.78087250e+01] [-9.59991965e-03 -6.41069518e-06 9.99953920e-01 -2.20779296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.818623853 meters Centerline goodness [0,1] 0.9996604270130311 Centerline is valid? [True, True] Translation: X:111.98, Y:-17.81, Z:-2.21 [[ 9.81778108e-01 1.89800745e-01 9.35004529e-03 1.11981080e+02] [-1.89792410e-01 9.81822630e-01 -1.77896396e-03 -1.78117989e+01] [-9.51773474e-03 -2.80197598e-05 9.99954705e-01 -2.20809269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.848623853 meters Centerline goodness [0,1] 0.9994006977590377 Centerline is valid? [True, True] Translation: X:112.01, Y:-17.81, Z:-2.21 [[ 9.80687929e-01 1.95358821e-01 9.27994074e-03 1.12014571e+02] [-1.95350841e-01 9.80731831e-01 -1.76754434e-03 -1.78098633e+01] [-9.44643866e-03 -7.94348319e-05 9.99955378e-01 -2.20843712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.87862385300001 meters Centerline goodness [0,1] 0.9992677148395434 Centerline is valid? [True, True] Translation: X:112.05, Y:-17.81, Z:-2.21 [[ 9.80077588e-01 1.98404953e-01 9.13210479e-03 1.12046557e+02] [-1.98397338e-01 9.80120127e-01 -1.74150041e-03 -1.78113642e+01] [-9.29608202e-03 -1.04979760e-04 9.99956785e-01 -2.20887624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.90862385300001 meters Centerline goodness [0,1] 0.9992007603577138 Centerline is valid? [True, True] Translation: X:112.08, Y:-17.81, Z:-2.21 [[ 9.78925161e-01 2.04018931e-01 9.04465271e-03 1.12079182e+02] [-2.04011687e-01 9.78966931e-01 -1.72630158e-03 -1.78079338e+01] [-9.20661411e-03 -1.55294801e-04 9.99957606e-01 -2.20872218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.93862385300001 meters Centerline goodness [0,1] 0.9988985832757429 Centerline is valid? [True, True] Translation: X:112.11, Y:-17.81, Z:-2.21 [[ 9.78336883e-01 2.06810979e-01 9.28237632e-03 1.12110584e+02] [-2.06803472e-01 9.78380899e-01 -1.77191883e-03 -1.78075655e+01] [-9.44815196e-03 -1.86094110e-04 9.99955348e-01 -2.20913026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.96862385300001 meters Centerline goodness [0,1] 0.9987814784727863 Centerline is valid? [True, True] Translation: X:112.14, Y:-17.80, Z:-2.21 [[ 9.77827912e-01 2.09191437e-01 9.56648863e-03 1.12141843e+02] [-2.09183573e-01 9.77874683e-01 -1.82650655e-03 -1.78045553e+01] [-9.73691657e-03 -2.15143191e-04 9.99952572e-01 -2.21096882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.99862385300001 meters Centerline goodness [0,1] 0.9984928085436224 Centerline is valid? [True, True] Translation: X:112.17, Y:-17.80, Z:-2.21 [[ 9.77098791e-01 2.12568305e-01 9.62638737e-03 1.12172425e+02] [-2.12560503e-01 9.77146178e-01 -1.83833857e-03 -1.78022060e+01] [-9.79716014e-03 -2.49951342e-04 9.99951975e-01 -2.21012513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.02862385300001 meters Centerline goodness [0,1] 0.9984928085436224 Centerline is valid? [True, True] Translation: X:112.20, Y:-17.81, Z:-2.21 [[ 9.77103678e-01 2.12545839e-01 9.62642961e-03 1.12201088e+02] [-2.12538038e-01 9.77151065e-01 -1.83811736e-03 -1.78076336e+01] [-9.79716014e-03 -2.49951232e-04 9.99951975e-01 -2.21063958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.05862385300001 meters Centerline goodness [0,1] 0.9986270808306161 Centerline is valid? [True, True] Translation: X:112.23, Y:-17.81, Z:-2.21 [[ 9.76877532e-01 2.13563737e-01 1.00407638e-02 1.12230864e+02] [-2.13555306e-01 9.76929095e-01 -1.91698023e-03 -1.78115477e+01] [-1.02185118e-02 -2.71603469e-04 9.99947753e-01 -2.21068776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.088623853 meters Centerline goodness [0,1] 0.9984015345268542 Centerline is valid? [True, True] Translation: X:112.26, Y:-17.81, Z:-2.21 [[ 9.76852754e-01 2.13704790e-01 9.43187968e-03 1.12260194e+02] [-2.13697359e-01 9.76898253e-01 -1.80062124e-03 -1.78100560e+01] [-9.59878817e-03 -2.56625960e-04 9.99953898e-01 -2.21259389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.118623853 meters Centerline goodness [0,1] 0.9987156984459952 Centerline is valid? [True, True] Translation: X:112.29, Y:-17.81, Z:-2.21 [[ 9.77049730e-01 2.12810470e-01 9.24820646e-03 1.12287906e+02] [-2.12803286e-01 9.77093468e-01 -1.76541164e-03 -1.78122232e+01] [-9.41206020e-03 -2.43153764e-04 9.99955676e-01 -2.21372619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.148623853 meters Centerline goodness [0,1] 0.9987913060369946 Centerline is valid? [True, True] Translation: X:112.32, Y:-17.82, Z:-2.21 [[ 9.77788155e-01 2.09368032e-01 9.76473871e-03 1.12316692e+02] [-2.09359861e-01 9.77836887e-01 -1.86311482e-03 -1.78194168e+01] [-9.93839838e-03 -2.22612734e-04 9.99950588e-01 -2.21359737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.178623853 meters Centerline goodness [0,1] 0.998712031769883 Centerline is valid? [True, True] Translation: X:112.34, Y:-17.83, Z:-2.21 [[ 9.78283151e-01 2.07030694e-01 1.00184387e-02 1.12344664e+02] [-2.07021971e-01 9.78334427e-01 -1.91136073e-03 -1.78252104e+01] [-1.01970939e-02 -2.04184934e-04 9.99947987e-01 -2.21463742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.208623853 meters Centerline goodness [0,1] 0.999041373450402 Centerline is valid? [True, True] Translation: X:112.37, Y:-17.84, Z:-2.21 [[ 9.78832548e-01 2.04404434e-01 1.02795644e-02 1.12374068e+02] [-2.04395114e-01 9.78886507e-01 -1.96038337e-03 -1.78392055e+01] [-1.04632380e-02 -1.82205702e-04 9.99945242e-01 -2.21200866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.238623853 meters Centerline goodness [0,1] 0.999181634147392 Centerline is valid? [True, True] Translation: X:112.40, Y:-17.85, Z:-2.21 [[ 9.79830937e-01 1.99495540e-01 1.15266859e-02 1.12403967e+02] [-1.99483477e-01 9.79898724e-01 -2.19856217e-03 -1.78478037e+01] [-1.17335881e-02 -1.45164151e-04 9.99931149e-01 -2.21089162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.26862385300001 meters Centerline goodness [0,1] 0.9994006207856149 Centerline is valid? [True, True] Translation: X:112.43, Y:-17.85, Z:-2.21 [[ 9.80238810e-01 1.97471589e-01 1.16981524e-02 1.12434840e+02] [-1.97459027e-01 9.80308603e-01 -2.23079610e-03 -1.78542284e+01] [-1.19083183e-02 -1.23192874e-04 9.99929086e-01 -2.21127392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.29862385300001 meters Centerline goodness [0,1] 0.9995706127356263 Centerline is valid? [True, True] Translation: X:112.47, Y:-17.86, Z:-2.22 [[ 9.80834392e-01 1.94558699e-01 1.05264996e-02 1.12465268e+02] [-1.94548344e-01 9.80890874e-01 -2.00881127e-03 -1.78607339e+01] [-1.07161791e-02 -7.76018787e-05 9.99942577e-01 -2.21534554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.32862385300001 meters Centerline goodness [0,1] 0.9997218180261919 Centerline is valid? [True, True] Translation: X:112.50, Y:-17.87, Z:-2.22 [[ 9.81113216e-01 1.93188428e-01 9.75139064e-03 1.12495292e+02] [-1.93179450e-01 9.81161673e-01 -1.86327602e-03 -1.78681464e+01] [-9.92765411e-03 -5.56835576e-05 9.99950718e-01 -2.21656441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.35862385300001 meters Centerline goodness [0,1] 0.9998933128494004 Centerline is valid? [True, True] Translation: X:112.53, Y:-17.87, Z:-2.22 [[ 9.81481374e-01 1.91351257e-01 8.88867425e-03 1.12525731e+02] [-1.91343730e-01 9.81521622e-01 -1.69748340e-03 -1.78747813e+01] [-9.04924155e-03 -3.47437512e-05 9.99959054e-01 -2.21883440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.38862385300001 meters Centerline goodness [0,1] 0.9999353448275862 Centerline is valid? [True, True] Translation: X:112.56, Y:-17.88, Z:-2.22 [[ 9.81645363e-01 1.90511650e-01 8.81429146e-03 1.12557432e+02] [-1.90504205e-01 9.81684934e-01 -1.68451530e-03 -1.78812123e+01] [-8.97377692e-03 -2.55629507e-05 9.99959735e-01 -2.21904985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.41862385300001 meters Centerline goodness [0,1] 0.9999564621111522 Centerline is valid? [True, True] Translation: X:112.59, Y:-17.89, Z:-2.22 [[ 9.81817747e-01 1.89621932e-01 8.79971323e-03 1.12587855e+02] [-1.89614461e-01 9.81857180e-01 -1.68336554e-03 -1.78875013e+01] [-8.95926465e-03 -1.57947174e-05 9.99959865e-01 -2.21942679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.44862385300002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.62, Y:-17.89, Z:-2.22 [[ 9.82204804e-01 1.87548554e-01 9.96305893e-03 1.12619240e+02] [-1.87538850e-01 9.82255333e-01 -1.90781275e-03 -1.78948425e+01] [-1.01440753e-02 5.40223109e-06 9.99948548e-01 -2.21837113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.478623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.65, Y:-17.90, Z:-2.22 [[ 9.82415942e-01 1.86417832e-01 1.03589803e-02 1.12649962e+02] [-1.86407253e-01 9.82470555e-01 -1.98602785e-03 -1.79018346e+01] [-1.05476241e-02 2.01163641e-05 9.99944372e-01 -2.21787671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.508623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.68, Y:-17.91, Z:-2.22 [[ 9.82892757e-01 1.83859096e-01 1.08471547e-02 1.12680446e+02] [-1.83847335e-01 9.82952608e-01 -2.08017510e-03 -1.79105965e+01] [-1.10446981e-02 5.03685509e-05 9.99939004e-01 -2.21842896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.538623853 meters Centerline goodness [0,1] 0.9998706840812104 Centerline is valid? [True, True] Translation: X:112.71, Y:-17.92, Z:-2.21 [[ 9.83051753e-01 1.83051273e-01 1.00738766e-02 1.12711969e+02] [-1.83041069e-01 9.83103366e-01 -1.93357265e-03 -1.79177841e+01] [-1.02576050e-02 5.68688367e-05 9.99947388e-01 -2.21383867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.568623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.74, Y:-17.93, Z:-2.22 [[ 9.83373150e-01 1.81338705e-01 9.67068585e-03 1.12741481e+02] [-1.81329203e-01 9.83420698e-01 -1.85779425e-03 -1.79280963e+01] [-9.84724263e-03 7.33272276e-05 9.99951512e-01 -2.22252432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.598623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.77, Y:-17.94, Z:-2.22 [[ 9.83432684e-01 1.81040029e-01 9.20134973e-03 1.12774094e+02] [-1.81031404e-01 9.83475725e-01 -1.76864566e-03 -1.79351524e+01] [-9.36949976e-03 7.36106805e-05 9.99956103e-01 -2.22350334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.62862385300001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.81, Y:-17.94, Z:-2.22 [[ 9.83438352e-01 1.81022323e-01 8.94020820e-03 1.12805015e+02] [-1.81014160e-01 9.83478985e-01 -1.72067474e-03 -1.79416394e+01] [-9.10398742e-03 7.38732509e-05 9.99958555e-01 -2.22475697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.65862385300001 meters Centerline goodness [0,1] 0.9999348590784731 Centerline is valid? [True, True] Translation: X:112.84, Y:-17.95, Z:-2.22 [[ 9.83326235e-01 1.81681882e-01 7.82361717e-03 1.12837102e+02] [-1.81675651e-01 9.83357356e-01 -1.50588899e-03 -1.79465242e+01] [-7.96700425e-03 5.94194077e-05 9.99968261e-01 -2.22137342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.68862385300001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.87, Y:-17.95, Z:-2.23 [[ 9.83330812e-01 1.81643769e-01 8.12746421e-03 1.12867495e+02] [-1.81637018e-01 9.83364397e-01 -1.56735361e-03 -1.79531956e+01] [-8.27695895e-03 6.49787313e-05 9.99965743e-01 -2.22752346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.71862385300001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.90, Y:-17.96, Z:-2.23 [[ 9.83128734e-01 1.82751780e-01 7.72520195e-03 1.12897895e+02] [-1.82745714e-01 9.83159084e-01 -1.49005309e-03 -1.79575954e+01] [-7.86741233e-03 5.31664675e-05 9.99969050e-01 -2.22901974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.74862385300001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.93, Y:-17.96, Z:-2.23 [[ 9.82940995e-01 1.83765258e-01 7.57170662e-03 1.12929365e+02] [-1.83759460e-01 9.82970156e-01 -1.46041879e-03 -1.79623682e+01] [-7.71113588e-03 4.41327704e-05 9.99970268e-01 -2.22952013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.77862385300001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.96, Y:-17.96, Z:-2.23 [[ 9.82488468e-01 1.86162483e-01 7.74207746e-03 1.12959749e+02] [-1.86156493e-01 9.82518971e-01 -1.49358083e-03 -1.79640640e+01] [-7.88478670e-03 2.61879471e-05 9.99968914e-01 -2.23016561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.80862385300001 meters Centerline goodness [0,1] 0.9999782896593647 Centerline is valid? [True, True] Translation: X:112.99, Y:-17.97, Z:-2.23 [[ 9.82193193e-01 1.87698805e-01 8.10500106e-03 1.12989480e+02] [-1.87692289e-01 9.82226633e-01 -1.56401740e-03 -1.79669995e+01] [-8.25451210e-03 1.49210366e-05 9.99965931e-01 -2.22995636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.838623853 meters Centerline goodness [0,1] 0.9999137596481393 Centerline is valid? [True, True] Translation: X:113.02, Y:-17.97, Z:-2.23 [[ 9.81674330e-01 1.90367173e-01 8.70917479e-03 1.13018057e+02] [-1.90359756e-01 9.81712962e-01 -1.68047031e-03 -1.79684663e+01] [-8.86981616e-03 -8.20182481e-06 9.99960662e-01 -2.22955105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.868623853 meters Centerline goodness [0,1] 0.9997851818435695 Centerline is valid? [True, True] Translation: X:113.05, Y:-17.97, Z:-2.23 [[ 9.81397346e-01 1.91793071e-01 8.64102659e-03 1.13047036e+02] [-1.91785828e-01 9.81435386e-01 -1.66696415e-03 -1.79717854e+01] [-8.80032144e-03 -2.12722488e-05 9.99961276e-01 -2.22990273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.898623853 meters Centerline goodness [0,1] 0.999678670122748 Centerline is valid? [True, True] Translation: X:113.08, Y:-17.97, Z:-2.23 [[ 9.80893504e-01 1.94358149e-01 8.53483990e-03 1.13076717e+02] [-1.94351181e-01 9.80930634e-01 -1.64641699e-03 -1.79722639e+01] [-8.69208047e-03 -4.37964814e-05 9.99962222e-01 -2.23139415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.928623853 meters Centerline goodness [0,1] 0.9997183891861448 Centerline is valid? [True, True] Translation: X:113.11, Y:-17.98, Z:-2.23 [[ 9.80646041e-01 1.95605928e-01 8.46539245e-03 1.13105023e+02] [-1.95599121e-01 9.80682578e-01 -1.63274485e-03 -1.79751172e+01] [-8.62123746e-03 -5.46785486e-05 9.99962835e-01 -2.23180747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.958623853 meters Centerline goodness [0,1] 0.9996745286089352 Centerline is valid? [True, True] Translation: X:113.14, Y:-17.98, Z:-2.23 [[ 9.80371925e-01 1.96964686e-01 8.70637920e-03 1.13135049e+02] [-1.96957548e-01 9.80410581e-01 -1.67822262e-03 -1.79810149e+01] [-8.86637689e-03 -6.95047674e-05 9.99960690e-01 -2.22895283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.988623853 meters Centerline goodness [0,1] 0.9995961141933976 Centerline is valid? [True, True] Translation: X:113.16, Y:-17.98, Z:-2.23 [[ 9.79770882e-01 1.99919370e-01 9.01463760e-03 1.13164845e+02] [-1.99911840e-01 9.79812347e-01 -1.73795472e-03 -1.79772737e+01] [-9.18010404e-03 -9.93353576e-05 9.99957857e-01 -2.23156603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.01862385300001 meters Centerline goodness [0,1] 0.9996959628205964 Centerline is valid? [True, True] Translation: X:113.19, Y:-17.98, Z:-2.23 [[ 9.79492586e-01 2.01270319e-01 9.19413383e-03 1.13192538e+02] [-2.01262548e-01 9.79535730e-01 -1.77234314e-03 -1.79788306e+01] [-9.36270266e-03 -1.14437841e-04 9.99956162e-01 -2.23168949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.04862385300001 meters Centerline goodness [0,1] 0.9995471795756425 Centerline is valid? [True, True] Translation: X:113.22, Y:-17.98, Z:-2.23 [[ 9.78870165e-01 2.04213741e-01 1.04856330e-02 1.13221600e+02] [-2.04203810e-01 9.78926310e-01 -2.02058808e-03 -1.79766043e+01] [-1.06772938e-02 -1.63312811e-04 9.99942983e-01 -2.22896851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.07862385300001 meters Centerline goodness [0,1] 0.999543746062094 Centerline is valid? [True, True] Translation: X:113.25, Y:-17.98, Z:-2.23 [[ 9.78586194e-01 2.05544475e-01 1.09785600e-02 1.13249605e+02] [-2.05533680e-01 9.78647758e-01 -2.11489477e-03 -1.79843336e+01] [-1.11788480e-02 -1.86857005e-04 9.99937497e-01 -2.22579405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.10862385300001 meters Centerline goodness [0,1] 0.9994395464637538 Centerline is valid? [True, True] Translation: X:113.28, Y:-17.98, Z:-2.23 [[ 9.78363721e-01 2.06614912e-01 1.07101880e-02 1.13278947e+02] [-2.06604707e-01 9.78422322e-01 -2.06276502e-03 -1.79794452e+01] [-1.09052850e-02 -1.94640796e-04 9.99940517e-01 -2.22949959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.13862385300001 meters Centerline goodness [0,1] 0.9993960440887815 Centerline is valid? [True, True] Translation: X:113.31, Y:-17.98, Z:-2.23 [[ 9.78041608e-01 2.08154042e-01 1.03202845e-02 1.13307280e+02] [-2.08144658e-01 9.78096035e-01 -1.98701745e-03 -1.79785084e+01] [-1.05078351e-02 -2.04726356e-04 9.99944770e-01 -2.23079360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.16862385300001 meters Centerline goodness [0,1] 0.9993137023612928 Centerline is valid? [True, True] Translation: X:113.34, Y:-17.98, Z:-2.23 [[ 9.77876486e-01 2.08911670e-01 1.06532755e-02 1.13335889e+02] [-2.08901724e-01 9.77934489e-01 -2.05044722e-03 -1.79802355e+01] [-1.08465679e-02 -2.20403499e-04 9.99941150e-01 -2.23036667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.19862385300002 meters Centerline goodness [0,1] 0.9993306704091547 Centerline is valid? [True, True] Translation: X:113.36, Y:-17.99, Z:-2.23 [[ 9.77694939e-01 2.09756402e-01 1.07171749e-02 1.13363980e+02] [-2.09746391e-01 9.77753649e-01 -2.06231973e-03 -1.79873331e+01] [-1.09113417e-02 -2.31569198e-04 9.99940443e-01 -2.22834366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.228623853 meters Centerline goodness [0,1] 0.9992311963439116 Centerline is valid? [True, True] Translation: X:113.39, Y:-17.98, Z:-2.23 [[ 9.77683587e-01 2.09822858e-01 1.04485001e-02 1.13393248e+02] [-2.09813351e-01 9.77739391e-01 -2.01020570e-03 -1.79832348e+01] [-1.06376972e-02 -2.26889694e-04 9.99943392e-01 -2.23185303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.258623853 meters Centerline goodness [0,1] 0.9991090747104493 Centerline is valid? [True, True] Translation: X:113.42, Y:-17.98, Z:-2.23 [[ 9.77837580e-01 2.09120404e-01 1.01154881e-02 1.13422086e+02] [-2.09111464e-01 9.77889877e-01 -1.94541667e-03 -1.79830738e+01] [-1.02986598e-02 -2.12962996e-04 9.99946945e-01 -2.23369035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.288623853 meters Centerline goodness [0,1] 0.9994588627459469 Centerline is valid? [True, True] Translation: X:113.45, Y:-18.00, Z:-2.23 [[ 9.78024912e-01 2.08240855e-01 1.01497572e-02 1.13448912e+02] [-2.08231810e-01 9.78077555e-01 -1.95160128e-03 -1.79962272e+01] [-1.03336528e-02 -2.04787643e-04 9.99946585e-01 -2.23088898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.318623853 meters Centerline goodness [0,1] 0.99950313242601 Centerline is valid? [True, True] Translation: X:113.48, Y:-18.00, Z:-2.23 [[ 9.78270512e-01 2.07069893e-01 1.04338657e-02 1.13477396e+02] [-2.07060274e-01 9.78326132e-01 -2.00569137e-03 -1.80010808e+01] [-1.06230418e-02 -1.98330378e-04 9.99943554e-01 -2.23111803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.348623853 meters Centerline goodness [0,1] 0.9992286265266767 Centerline is valid? [True, True] Translation: X:113.51, Y:-18.01, Z:-2.23 [[ 9.78966192e-01 2.03747274e-01 1.05945000e-02 1.13505300e+02] [-2.03737167e-01 9.79023504e-01 -2.03610566e-03 -1.80052710e+01] [-1.07871155e-02 -1.65214815e-04 9.99941804e-01 -2.22627222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.37862385300001 meters Centerline goodness [0,1] 0.9995018949648078 Centerline is valid? [True, True] Translation: X:113.53, Y:-18.01, Z:-2.23 [[ 9.79469308e-01 2.01265555e-01 1.14913425e-02 1.13532871e+02] [-2.01253504e-01 9.79536704e-01 -2.20757885e-03 -1.80140360e+01] [-1.17005013e-02 -1.50417217e-04 9.99931535e-01 -2.23089768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.40862385300001 meters Centerline goodness [0,1] 0.9997214305612103 Centerline is valid? [True, True] Translation: X:113.56, Y:-18.02, Z:-2.23 [[ 9.80418005e-01 1.96578584e-01 1.17216276e-02 1.13560735e+02] [-1.96565718e-01 9.80488068e-01 -2.25114249e-03 -1.80215643e+01] [-1.19354424e-02 -9.70095147e-05 9.99928765e-01 -2.23073737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.43862385300001 meters Centerline goodness [0,1] 0.9998291766313632 Centerline is valid? [True, True] Translation: X:113.59, Y:-18.03, Z:-2.23 [[ 9.80911394e-01 1.94100071e-01 1.17473006e-02 1.13587685e+02] [-1.94086974e-01 9.80981732e-01 -2.25576764e-03 -1.80274530e+01] [-1.19617320e-02 -6.72898557e-05 9.99928454e-01 -2.23252545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.46862385300001 meters Centerline goodness [0,1] 0.9999359111301004 Centerline is valid? [True, True] Translation: X:113.62, Y:-18.04, Z:-2.23 [[ 9.81750442e-01 1.89851176e-01 1.10725472e-02 1.13615258e+02] [-1.89839278e-01 9.81812880e-01 -2.12549306e-03 -1.80378359e+01] [-1.12746968e-02 -1.53006106e-05 9.99936438e-01 -2.23309675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.49862385300001 meters Centerline goodness [0,1] 0.999913741050634 Centerline is valid? [True, True] Translation: X:113.64, Y:-18.04, Z:-2.24 [[ 9.82127775e-01 1.87925327e-01 1.04453693e-02 1.13643495e+02] [-1.87914635e-01 9.82183319e-01 -2.00462974e-03 -1.80443494e+01] [-1.06359882e-02 5.96478070e-06 9.99943436e-01 -2.23506921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.52862385300001 meters Centerline goodness [0,1] 0.9999137856711785 Centerline is valid? [True, True] Translation: X:113.67, Y:-18.05, Z:-2.24 [[ 9.82405554e-01 1.86488662e-01 1.00651161e-02 1.13671808e+02] [-1.86478663e-01 9.82457113e-01 -1.93119088e-03 -1.80497361e+01] [-1.02486901e-02 2.02832456e-05 9.99947481e-01 -2.23620991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.55862385300001 meters Centerline goodness [0,1] 0.9999350410324145 Centerline is valid? [True, True] Translation: X:113.70, Y:-18.05, Z:-2.24 [[ 9.82687285e-01 1.85026258e-01 9.53849065e-03 1.13701360e+02] [-1.85017216e-01 9.82733577e-01 -1.82953087e-03 -1.80544085e+01] [-9.71230628e-03 3.30717395e-05 9.99952834e-01 -2.23760161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.588623853 meters Centerline goodness [0,1] 0.9999137596481393 Centerline is valid? [True, True] Translation: X:113.73, Y:-18.06, Z:-2.24 [[ 9.82715051e-01 1.84883002e-01 9.45537452e-03 1.13731132e+02] [-1.84874112e-01 9.82760538e-01 -1.81335525e-03 -1.80585889e+01] [-9.62762751e-03 3.39575303e-05 9.99953653e-01 -2.23807790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.618623853 meters Centerline goodness [0,1] 0.9998490923985686 Centerline is valid? [True, True] Translation: X:113.76, Y:-18.06, Z:-2.24 [[ 9.82597876e-01 1.85544001e-01 8.65087808e-03 1.13759462e+02] [-1.85536583e-01 9.82635957e-01 -1.65926411e-03 -1.80597326e+01] [-8.80853036e-03 2.53350280e-05 9.99961204e-01 -2.23510961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.648623853 meters Centerline goodness [0,1] 0.999978488146969 Centerline is valid? [True, True] Translation: X:113.79, Y:-18.06, Z:-2.24 [[ 9.82557329e-01 1.85742411e-01 8.99175305e-03 1.13787902e+02] [-1.85734414e-01 9.82598471e-01 -1.72380514e-03 -1.80640393e+01] [-9.15546653e-03 2.36593891e-05 9.99958088e-01 -2.24106588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.678623853 meters Centerline goodness [0,1] 0.9999575515748366 Centerline is valid? [True, True] Translation: X:113.82, Y:-18.07, Z:-2.24 [[ 9.82501377e-01 1.86052641e-01 8.68677779e-03 1.13815356e+02] [-1.86045191e-01 9.82539778e-01 -1.66504803e-03 -1.80672922e+01] [-8.84489130e-03 1.97787506e-05 9.99960883e-01 -2.24232925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.708623853 meters Centerline goodness [0,1] 0.9999573942311789 Centerline is valid? [True, True] Translation: X:113.84, Y:-18.07, Z:-2.24 [[ 9.82433910e-01 1.86431269e-01 8.18501968e-03 1.13844398e+02] [-1.86424673e-01 9.82468005e-01 -1.56832835e-03 -1.80700390e+01] [-8.33390540e-03 1.48893314e-05 9.99965272e-01 -2.24445902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.738623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:113.87, Y:-18.07, Z:-2.24 [[ 9.82446603e-01 1.86341683e-01 8.68616390e-03 1.13873358e+02] [-1.86334255e-01 9.82485001e-01 -1.66388851e-03 -1.80745520e+01] [-8.84407753e-03 1.61517329e-05 9.99960890e-01 -2.24422930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.76862385300001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:113.90, Y:-18.08, Z:-2.24 [[ 9.82467209e-01 1.86181100e-01 9.73555940e-03 1.13900681e+02] [-1.86171765e-01 9.82515444e-01 -1.86445633e-03 -1.80785696e+01] [-9.91246400e-03 1.92809354e-05 9.99950870e-01 -2.24300271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.79862385300001 meters Centerline goodness [0,1] 0.999978438052525 Centerline is valid? [True, True] Translation: X:113.93, Y:-18.08, Z:-2.24 [[ 9.82514845e-01 1.85919317e-01 9.92909492e-03 1.13928570e+02] [-1.85909601e-01 9.82565014e-01 -1.90084823e-03 -1.80834251e+01] [-1.01093857e-02 2.16975309e-05 9.99948899e-01 -2.24352059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.82862385300001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:113.96, Y:-18.09, Z:-2.24 [[ 9.82567997e-01 1.85640682e-01 9.88277393e-03 1.13956239e+02] [-1.85631048e-01 9.82617696e-01 -1.89139453e-03 -1.80881987e+01] [-1.00621083e-02 2.38740537e-05 9.99949375e-01 -2.24392982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.85862385300001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:113.98, Y:-18.09, Z:-2.25 [[ 9.82523346e-01 1.85898369e-01 9.46948160e-03 1.13984960e+02] [-1.85889542e-01 9.82568978e-01 -1.81169456e-03 -1.80915595e+01] [-9.64120992e-03 1.97546064e-05 9.99953522e-01 -2.24553668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.88862385300001 meters Centerline goodness [0,1] 0.9998071855517707 Centerline is valid? [True, True] Translation: X:114.01, Y:-18.09, Z:-2.24 [[ 9.82225059e-01 1.87498043e-01 8.85539157e-03 1.14012852e+02] [-1.87490392e-01 9.82264976e-01 -1.69384720e-03 -1.80920263e+01] [-9.01593403e-03 3.43833639e-06 9.99959356e-01 -2.24105419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.91862385300001 meters Centerline goodness [0,1] 0.9998071855517707 Centerline is valid? [True, True] Translation: X:114.04, Y:-18.10, Z:-2.24 [[ 9.82237582e-01 1.87432427e-01 8.85543050e-03 1.14039883e+02] [-1.87424775e-01 9.82277499e-01 -1.69364366e-03 -1.80970500e+01] [-9.01593387e-03 3.83338340e-06 9.99959356e-01 -2.24153904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.94862385300002 meters Centerline goodness [0,1] 0.9999784529196294 Centerline is valid? [True, True] Translation: X:114.07, Y:-18.10, Z:-2.25 [[ 9.82114408e-01 1.88065876e-01 9.08384599e-03 1.14066284e+02] [-1.88057856e-01 9.82156416e-01 -1.73676111e-03 -1.81004495e+01] [-9.24838313e-03 -2.59049279e-06 9.99957233e-01 -2.24783682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.978623853 meters Centerline goodness [0,1] 0.9999133411326314 Centerline is valid? [True, True] Translation: X:114.09, Y:-18.10, Z:-2.25 [[ 9.81925422e-01 1.89053065e-01 9.02244312e-03 1.14093968e+02] [-1.89045203e-01 9.81966872e-01 -1.72420828e-03 -1.81022159e+01] [-9.18570711e-03 -1.26056451e-05 9.99957810e-01 -2.24869994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.008623853 meters Centerline goodness [0,1] 0.9998933538094019 Centerline is valid? [True, True] Translation: X:114.12, Y:-18.10, Z:-2.25 [[ 9.81442124e-01 1.91562891e-01 8.66120327e-03 1.14122586e+02] [-1.91555749e-01 9.81480340e-01 -1.65452705e-03 -1.80994721e+01] [-8.81774672e-03 -3.52807362e-05 9.99961122e-01 -2.24992468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.038623853 meters Centerline goodness [0,1] 0.9999137745203708 Centerline is valid? [True, True] Translation: X:114.15, Y:-18.10, Z:-2.25 [[ 9.81139240e-01 1.93090517e-01 9.04679334e-03 1.14151724e+02] [-1.93082796e-01 9.81180946e-01 -1.72755183e-03 -1.81013913e+01] [-9.21011512e-03 -5.18112653e-05 9.99957585e-01 -2.24861678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.068623853 meters Centerline goodness [0,1] 0.9998713605763047 Centerline is valid? [True, True] Translation: X:114.18, Y:-18.10, Z:-2.25 [[ 9.80560818e-01 1.95964379e-01 9.92191100e-03 1.14181556e+02] [-1.95955244e-01 9.80611011e-01 -1.89410563e-03 -1.80986985e+01] [-1.01007124e-02 -8.69647275e-05 9.99948983e-01 -2.24692761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.098623853 meters Centerline goodness [0,1] 0.9998703095279267 Centerline is valid? [True, True] Translation: X:114.21, Y:-18.10, Z:-2.25 [[ 9.80373926e-01 1.96897343e-01 9.91971672e-03 1.14210546e+02] [-1.96888265e-01 9.80424106e-01 -1.89319942e-03 -1.81006795e+01] [-1.00982953e-02 -9.70324616e-05 9.99949006e-01 -2.24714545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.12862385300001 meters Centerline goodness [0,1] 0.9998281011624659 Centerline is valid? [True, True] Translation: X:114.24, Y:-18.10, Z:-2.25 [[ 9.80251413e-01 1.97499271e-01 1.00600864e-02 1.14239786e+02] [-1.97489972e-01 9.80303028e-01 -1.91948486e-03 -1.81031879e+01] [-1.02410300e-02 -1.05188434e-04 9.99947554e-01 -2.24737298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.15862385300001 meters Centerline goodness [0,1] 0.9997878119164828 Centerline is valid? [True, True] Translation: X:114.27, Y:-18.10, Z:-2.25 [[ 9.80181923e-01 1.97813977e-01 1.06315148e-02 1.14268161e+02] [-1.97803612e-01 9.80239571e-01 -2.02819238e-03 -1.81007253e+01] [-1.08226363e-02 -1.14954531e-04 9.99941427e-01 -2.24855983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.18862385300001 meters Centerline goodness [0,1] 0.9998085187864346 Centerline is valid? [True, True] Translation: X:114.30, Y:-18.10, Z:-2.25 [[ 9.80221185e-01 1.97624462e-01 1.05356556e-02 1.14295675e+02] [-1.97614283e-01 9.80277797e-01 -2.00890327e-03 -1.81033379e+01] [-1.07248777e-02 -1.12826494e-04 9.99942480e-01 -2.24924239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.21862385300001 meters Centerline goodness [0,1] 0.9998292969166755 Centerline is valid? [True, True] Translation: X:114.32, Y:-18.11, Z:-2.25 [[ 9.80446589e-01 1.96509891e-01 1.04090706e-02 1.14324476e+02] [-1.96499901e-01 9.80501837e-01 -1.98393915e-03 -1.81058527e+01] [-1.05959765e-02 -1.00234968e-04 9.99943856e-01 -2.25071258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.24862385300001 meters Centerline goodness [0,1] 0.9998714102014573 Centerline is valid? [True, True] Translation: X:114.35, Y:-18.11, Z:-2.25 [[ 9.80632641e-01 1.95585280e-01 1.02967121e-02 1.14352630e+02] [-1.95575459e-01 9.80686693e-01 -1.96208066e-03 -1.81108197e+01] [-1.04816026e-02 -8.97038437e-05 9.99945062e-01 -2.25135983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.27862385300001 meters Centerline goodness [0,1] 0.9998275601922704 Centerline is valid? [True, True] Translation: X:114.38, Y:-18.12, Z:-2.25 [[ 9.80824039e-01 1.94630124e-01 1.01646157e-02 1.14380352e+02] [-1.94620506e-01 9.80876704e-01 -1.93649307e-03 -1.81170557e+01] [-1.03471346e-02 -7.88836921e-05 9.99946464e-01 -2.25069208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.30862385300001 meters Centerline goodness [0,1] 0.9999136516708401 Centerline is valid? [True, True] Translation: X:114.41, Y:-18.12, Z:-2.25 [[ 9.81283611e-01 1.92292740e-01 1.02945129e-02 1.14407933e+02] [-1.92282750e-01 9.81337607e-01 -1.96082591e-03 -1.81199347e+01] [-1.04794453e-02 -5.53309390e-05 9.99945088e-01 -2.25271227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.33862385300002 meters Centerline goodness [0,1] 0.9998712418721432 Centerline is valid? [True, True] Translation: X:114.44, Y:-18.13, Z:-2.25 [[ 9.81575397e-01 1.90792730e-01 1.03862166e-02 1.14435277e+02] [-1.90782484e-01 9.81630344e-01 -1.97764329e-03 -1.81262285e+01] [-1.05727454e-02 -4.03022137e-05 9.99944106e-01 -2.25297777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.368623853 meters Centerline goodness [0,1] 0.9999567445984817 Centerline is valid? [True, True] Translation: X:114.46, Y:-18.14, Z:-2.25 [[ 9.82295182e-01 1.87059705e-01 1.02392117e-02 1.14462713e+02] [-1.87049551e-01 9.82348546e-01 -1.94906039e-03 -1.81361913e+01] [-1.04230654e-02 -6.87310951e-07 9.99945678e-01 -2.25228973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.398623853 meters Centerline goodness [0,1] 0.9999569197630587 Centerline is valid? [True, True] Translation: X:114.49, Y:-18.14, Z:-2.25 [[ 9.82688670e-01 1.84995181e-01 9.98802354e-03 1.14489908e+02] [-1.84985416e-01 9.82739428e-01 -1.90088201e-03 -1.81433446e+01] [-1.01672785e-02 2.03365229e-05 9.99948312e-01 -2.25299345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.428623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:114.52, Y:-18.15, Z:-2.25 [[ 9.83577912e-01 1.80201658e-01 1.00922440e-02 1.14517757e+02] [-1.80191442e-01 9.83629685e-01 -1.92005786e-03 -1.81520923e+01] [-1.02730284e-02 6.99905039e-05 9.99947229e-01 -2.25187474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.458623853 meters Centerline goodness [0,1] 0.9998926439644437 Centerline is valid? [True, True] Translation: X:114.55, Y:-18.16, Z:-2.25 [[ 9.84034259e-01 1.77702571e-01 9.91831642e-03 1.14545286e+02] [-1.77692581e-01 9.84084238e-01 -1.88658800e-03 -1.81595147e+01] [-1.00957104e-02 9.40559831e-05 9.99949033e-01 -2.24685080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.488623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:114.57, Y:-18.17, Z:-2.25 [[ 9.84550930e-01 1.74779737e-01 1.05598249e-02 1.14572881e+02] [-1.74768254e-01 9.84607549e-01 -2.00782929e-03 -1.81692499e+01] [-1.07482112e-02 1.31288036e-04 9.99942228e-01 -2.25190019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.51862385300001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:114.60, Y:-18.18, Z:-2.25 [[ 9.85369788e-01 1.70128059e-01 1.01401903e-02 1.14599637e+02] [-1.70117229e-01 9.85421947e-01 -1.92750303e-03 -1.81821198e+01] [-1.03202884e-02 1.74282177e-04 9.99946729e-01 -2.25339850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.54862385300001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:114.63, Y:-18.19, Z:-2.25 [[ 9.85743755e-01 1.67963785e-01 9.86995827e-03 1.14626955e+02] [-1.67953418e-01 9.85793148e-01 -1.87588589e-03 -1.81915513e+01] [-1.00448181e-02 1.91449578e-04 9.99949531e-01 -2.25476400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.57862385300001 meters Centerline goodness [0,1] 0.9999785366272456 Centerline is valid? [True, True] Translation: X:114.65, Y:-18.20, Z:-2.26 [[ 9.86214482e-01 1.65193416e-01 9.59849346e-03 1.14653706e+02] [-1.65183485e-01 9.86261167e-01 -1.82386367e-03 -1.82025577e+01] [-9.76791163e-03 2.13208159e-04 9.99952270e-01 -2.25569826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.60862385300001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:114.68, Y:-18.21, Z:-2.25 [[ 9.86334802e-01 1.64450006e-01 9.99272227e-03 1.14682105e+02] [-1.64439209e-01 9.86385393e-01 -1.89827522e-03 -1.82084753e+01] [-1.01688467e-02 2.29139565e-04 9.99948270e-01 -2.25450937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.63862385300001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:114.71, Y:-18.21, Z:-2.25 [[ 9.86444531e-01 1.63771393e-01 1.03013914e-02 1.14710436e+02] [-1.63759886e-01 9.86498288e-01 -1.95650742e-03 -1.82113028e+01] [-1.04827249e-02 2.43031356e-04 9.99945025e-01 -2.25339821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.66862385300001 meters Centerline goodness [0,1] 0.9999569651848346 Centerline is valid? [True, True] Translation: X:114.74, Y:-18.23, Z:-2.26 [[ 9.86535422e-01 1.63217086e-01 1.03943943e-02 1.14736960e+02] [-1.63205349e-01 9.86590148e-01 -1.97333330e-03 -1.82251728e+01] [-1.05770888e-02 2.50342448e-04 9.99944030e-01 -2.25577703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.69862385300002 meters Centerline goodness [0,1] 0.9999782566154247 Centerline is valid? [True, True] Translation: X:114.77, Y:-18.23, Z:-2.26 [[ 9.86575549e-01 1.62960917e-01 1.06030961e-02 1.14765086e+02] [-1.62948692e-01 9.86632491e-01 -2.01261381e-03 -1.82306514e+01] [-1.07893365e-02 2.57834940e-04 9.99941760e-01 -2.25535810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.728623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:114.79, Y:-18.24, Z:-2.26 [[ 9.86553178e-01 1.63110904e-01 1.03759609e-02 1.14792930e+02] [-1.63099212e-01 9.86607708e-01 -1.96894216e-03 -1.82396058e+01] [-1.05581589e-02 2.50155099e-04 9.99944230e-01 -2.25656167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.758623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:114.82, Y:-18.25, Z:-2.26 [[ 9.86574350e-01 1.63008763e-01 9.95964432e-03 1.14820524e+02] [-1.62997988e-01 9.86624592e-01 -1.88960703e-03 -1.82477762e+01] [-1.01344525e-02 2.40835847e-04 9.99948616e-01 -2.25805728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.788623853 meters Centerline goodness [0,1] 0.9999784923110012 Centerline is valid? [True, True] Translation: X:114.85, Y:-18.25, Z:-2.26 [[ 9.86554170e-01 1.63155794e-01 9.54235272e-03 1.14849936e+02] [-1.63145914e-01 9.86600291e-01 -1.81004792e-03 -1.82511802e+01] [-9.70980778e-03 2.28914463e-04 9.99952833e-01 -2.25803709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.818623853 meters Centerline goodness [0,1] 0.9999782608695652 Centerline is valid? [True, True] Translation: X:114.88, Y:-18.26, Z:-2.26 [[ 9.86409814e-01 1.64107034e-01 8.03488889e-03 1.14879586e+02] [-1.64100061e-01 9.86442521e-01 -1.52398174e-03 -1.82564122e+01] [-8.17605218e-03 1.84744785e-04 9.99966558e-01 -2.25997091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.848623853 meters Centerline goodness [0,1] 0.9999785324803572 Centerline is valid? [True, True] Translation: X:114.91, Y:-18.27, Z:-2.26 [[ 9.86210277e-01 1.65335580e-01 7.30993545e-03 1.14906516e+02] [-1.65329843e-01 9.86237355e-01 -1.38645846e-03 -1.82661360e+01] [-7.43856232e-03 1.58789099e-04 9.99972321e-01 -2.26425741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.87862385300001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:114.94, Y:-18.27, Z:-2.26 [[ 9.85578653e-01 1.69077046e-01 6.90438136e-03 1.14936202e+02] [-1.69072021e-01 9.85602829e-01 -1.30943298e-03 -1.82653332e+01] [-7.02637287e-03 1.23211485e-04 9.99975307e-01 -2.26369541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.90862385300001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:114.97, Y:-18.27, Z:-2.26 [[ 9.85123922e-01 1.71698955e-01 7.09411872e-03 1.14965252e+02] [-1.71693720e-01 9.85149459e-01 -1.34505928e-03 -1.82667134e+01] [-7.21971249e-03 1.07034443e-04 9.99973932e-01 -2.26323469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.93862385300001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:114.99, Y:-18.27, Z:-2.26 [[ 9.84647381e-01 1.74401040e-01 7.33572318e-03 1.14994565e+02] [-1.74395520e-01 9.84674702e-01 -1.39047947e-03 -1.82687462e+01] [-7.46580210e-03 8.98147085e-05 9.99972126e-01 -2.26320533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.96862385300001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.02, Y:-18.27, Z:-2.26 [[ 9.83742246e-01 1.79420166e-01 7.71996934e-03 1.15023471e+02] [-1.79414211e-01 9.83772535e-01 -1.46288889e-03 -1.82682699e+01] [-7.85716558e-03 5.40333988e-05 9.99969131e-01 -2.26394688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.99862385300001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.05, Y:-18.27, Z:-2.26 [[ 9.83467301e-01 1.80905712e-01 8.07406729e-03 1.15051973e+02] [-1.80899251e-01 9.83500443e-01 -1.52954965e-03 -1.82723573e+01] [-8.21755302e-03 4.36693434e-05 9.99966234e-01 -2.26454216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.02862385300001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.08, Y:-18.28, Z:-2.26 [[ 9.83156503e-01 1.82589122e-01 8.03135015e-03 1.15080690e+02] [-1.82582789e-01 9.83189306e-01 -1.52107278e-03 -1.82762526e+01] [-8.17406892e-03 2.90662838e-05 9.99966591e-01 -2.26458969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.05862385300001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.11, Y:-18.28, Z:-2.27 [[ 9.83111845e-01 1.82828229e-01 8.05848020e-03 1.15107580e+02] [-1.82821862e-01 9.83144871e-01 -1.52603655e-03 -1.82817313e+01] [-8.20165604e-03 2.69982534e-05 9.99966365e-01 -2.26781411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.08862385300002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.14, Y:-18.29, Z:-2.27 [[ 9.83181980e-01 1.82437548e-01 8.35073992e-03 1.15135740e+02] [-1.82430704e-01 9.83217443e-01 -1.58052779e-03 -1.82882588e+01] [-8.49894077e-03 3.05150866e-05 9.99963883e-01 -2.26507464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.118623853 meters Centerline goodness [0,1] 0.9999359480752397 Centerline is valid? [True, True] Translation: X:115.16, Y:-18.30, Z:-2.26 [[ 9.83261043e-01 1.82032730e-01 7.86177527e-03 1.15163944e+02] [-1.82026653e-01 9.83292471e-01 -1.48764878e-03 -1.82954193e+01] [-8.00122521e-03 3.16944518e-05 9.99967989e-01 -2.26142252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.148623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.19, Y:-18.30, Z:-2.27 [[ 9.83423767e-01 1.81140883e-01 8.10398863e-03 1.15191250e+02] [-1.81134400e-01 9.83457157e-01 -1.53306368e-03 -1.83036220e+01] [-8.24762612e-03 3.97401426e-05 9.99965987e-01 -2.26538022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.178623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.22, Y:-18.32, Z:-2.27 [[ 9.83728478e-01 1.79494919e-01 7.73658734e-03 1.15216953e+02] [-1.79488961e-01 9.83758899e-01 -1.46332554e-03 -1.83168360e+01] [-7.87359614e-03 5.08829787e-05 9.99969001e-01 -2.27062813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.208623853 meters Centerline goodness [0,1] 0.9999357436600411 Centerline is valid? [True, True] Translation: X:115.25, Y:-18.32, Z:-2.26 [[ 9.83838601e-01 1.78906250e-01 7.35934663e-03 1.15245449e+02] [-1.78900847e-01 9.83866124e-01 -1.39141189e-03 -1.83224266e+01] [-7.48954413e-03 5.23313838e-05 9.99971952e-01 -2.26324215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.238623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.27, Y:-18.33, Z:-2.27 [[ 9.83995725e-01 1.78015217e-01 7.93703473e-03 1.15273042e+02] [-1.78008907e-01 9.84027733e-01 -1.50020679e-03 -1.83312811e+01] [-8.07732193e-03 6.33341920e-05 9.99967376e-01 -2.26687644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.26862385300001 meters Centerline goodness [0,1] 0.9998918872167445 Centerline is valid? [True, True] Translation: X:115.30, Y:-18.34, Z:-2.26 [[ 9.83972927e-01 1.78162377e-01 7.44627379e-03 1.15300071e+02] [-1.78156829e-01 9.84001100e-01 -1.40724421e-03 -1.83372452e+01] [-7.57785957e-03 5.80856815e-05 9.99971286e-01 -2.26233446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.29862385300001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.33, Y:-18.34, Z:-2.27 [[ 9.83950580e-01 1.78266635e-01 7.89063020e-03 1.15328518e+02] [-1.78260414e-01 9.83982217e-01 -1.49053142e-03 -1.83439525e+01] [-8.02995182e-03 6.00222507e-05 9.99967758e-01 -2.26858285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.32862385300001 meters Centerline goodness [0,1] 0.9999785172613804 Centerline is valid? [True, True] Translation: X:115.36, Y:-18.35, Z:-2.27 [[ 9.83683252e-01 1.79740395e-01 7.78778097e-03 1.15356946e+02] [-1.79734383e-01 9.83714079e-01 -1.47073914e-03 -1.83501187e+01] [-7.92530101e-03 4.70094533e-05 9.99968593e-01 -2.26546802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.35862385300001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.38, Y:-18.36, Z:-2.27 [[ 9.83546599e-01 1.80479707e-01 7.94747314e-03 1.15383633e+02] [-1.80473473e-01 9.83578707e-01 -1.50063444e-03 -1.83565239e+01] [-8.08779942e-03 4.16358229e-05 9.99967292e-01 -2.26931620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.38862385300001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.41, Y:-18.36, Z:-2.27 [[ 9.83200903e-01 1.82348274e-01 8.06790666e-03 1.15412282e+02] [-1.82341919e-01 9.83234004e-01 -1.52265819e-03 -1.83620140e+01] [-8.21029426e-03 2.59613239e-05 9.99966295e-01 -2.26967428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.41862385300001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.44, Y:-18.37, Z:-2.27 [[ 9.83021994e-01 1.83296687e-01 8.37160004e-03 1.15440685e+02] [-1.83289882e-01 9.83057640e-01 -1.57954374e-03 -1.83657239e+01] [-8.51929052e-03 1.82966538e-05 9.99963710e-01 -2.26853622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.44862385300002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.47, Y:-18.37, Z:-2.27 [[ 9.82802685e-01 1.84453443e-01 8.70682432e-03 1.15468488e+02] [-1.84446131e-01 9.82841252e-01 -1.64242392e-03 -1.83693867e+01] [-8.86037686e-03 8.23858568e-06 9.99960746e-01 -2.26905825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.478623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.50, Y:-18.37, Z:-2.27 [[ 9.82373984e-01 1.86725289e-01 8.66147754e-03 1.15496024e+02] [-1.86718146e-01 9.82412167e-01 -1.63332547e-03 -1.83719253e+01] [-8.81412410e-03 -1.27185837e-05 9.99961155e-01 -2.27126840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.508623853 meters Centerline goodness [0,1] 0.9999786045914547 Centerline is valid? [True, True] Translation: X:115.52, Y:-18.38, Z:-2.27 [[ 9.82170334e-01 1.87784925e-01 8.84626282e-03 1.15522887e+02] [-1.87777520e-01 9.82210172e-01 -1.66776468e-03 -1.83759762e+01] [-9.00207039e-03 -2.31003085e-05 9.99959480e-01 -2.27192851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.538623853 meters Centerline goodness [0,1] 0.9999572521694524 Centerline is valid? [True, True] Translation: X:115.55, Y:-18.38, Z:-2.27 [[ 9.81663982e-01 1.90434206e-01 8.40475817e-03 1.15551592e+02] [-1.90427627e-01 9.81699960e-01 -1.58361736e-03 -1.83785740e+01] [-8.55252567e-03 -4.59180234e-05 9.99963425e-01 -2.27160773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.568623853 meters Centerline goodness [0,1] 0.9999785112600997 Centerline is valid? [True, True] Translation: X:115.58, Y:-18.38, Z:-2.27 [[ 9.81361424e-01 1.92002286e-01 8.05465586e-03 1.15580568e+02] [-1.91996300e-01 9.81394477e-01 -1.51730104e-03 -1.83816078e+01] [-8.19612005e-03 -5.74434143e-05 9.99966410e-01 -2.27177612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.598623853 meters Centerline goodness [0,1] 0.999956648964994 Centerline is valid? [True, True] Translation: X:115.61, Y:-18.38, Z:-2.28 [[ 9.81048926e-01 1.93598017e-01 7.92541074e-03 1.15608790e+02] [-1.93592274e-01 9.81080936e-01 -1.49281023e-03 -1.83821423e+01] [-8.06447448e-03 -6.97784209e-05 9.99967479e-01 -2.27539643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.62862385300001 meters Centerline goodness [0,1] 0.9999359890754689 Centerline is valid? [True, True] Translation: X:115.64, Y:-18.38, Z:-2.27 [[ 9.80396897e-01 1.96869464e-01 8.02115895e-03 1.15637661e+02] [-1.96863697e-01 9.80429704e-01 -1.51007857e-03 -1.83821727e+01] [-8.16147085e-03 -9.85986617e-05 9.99966690e-01 -2.27425793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.65862385300001 meters Centerline goodness [0,1] 0.9998483305527268 Centerline is valid? [True, True] Translation: X:115.67, Y:-18.39, Z:-2.27 [[ 9.80020219e-01 1.98746818e-01 7.75061803e-03 1.15666350e+02] [-1.98741496e-01 9.80050861e-01 -1.45863458e-03 -1.83851647e+01] [-7.88589886e-03 -1.10878045e-04 9.99968900e-01 -2.27336937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.68862385300001 meters Centerline goodness [0,1] 0.9999146921452793 Centerline is valid? [True, True] Translation: X:115.70, Y:-18.38, Z:-2.27 [[ 9.79243406e-01 2.02543095e-01 7.65805528e-03 1.15696360e+02] [-2.02538019e-01 9.79273340e-01 -1.44083713e-03 -1.83805961e+01] [-7.79116099e-03 -1.40117085e-04 9.99969639e-01 -2.27485278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.71862385300001 meters Centerline goodness [0,1] 0.9998070698192887 Centerline is valid? [True, True] Translation: X:115.72, Y:-18.38, Z:-2.28 [[ 9.78953434e-01 2.03935169e-01 7.78597260e-03 1.15724353e+02] [-2.03929968e-01 9.78984384e-01 -1.46458344e-03 -1.83815122e+01] [-7.92102566e-03 -1.54034148e-04 9.99968616e-01 -2.27557194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.74862385300001 meters Centerline goodness [0,1] 0.9998930275347125 Centerline is valid? [True, True] Translation: X:115.75, Y:-18.38, Z:-2.28 [[ 9.78680802e-01 2.05235934e-01 7.88033375e-03 1.15753049e+02] [-2.05230654e-01 9.78712513e-01 -1.48172147e-03 -1.83829455e+01] [-8.01668374e-03 -1.67153688e-04 9.99967852e-01 -2.27566123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.77862385300001 meters Centerline goodness [0,1] 0.9998297618794288 Centerline is valid? [True, True] Translation: X:115.78, Y:-18.38, Z:-2.28 [[ 9.78414837e-01 2.06518620e-01 7.38019285e-03 1.15782328e+02] [-2.06514027e-01 9.78442656e-01 -1.38737953e-03 -1.83826484e+01] [-7.50761521e-03 -1.66680630e-04 9.99971804e-01 -2.27749745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.80862385300001 meters Centerline goodness [0,1] 0.9998509687034277 Centerline is valid? [True, True] Translation: X:115.81, Y:-18.38, Z:-2.28 [[ 9.78392315e-01 2.06614365e-01 7.67996583e-03 1.15809130e+02] [-2.06609394e-01 9.78422441e-01 -1.44367151e-03 -1.83844454e+01] [-7.81253419e-03 -1.74275981e-04 9.99969467e-01 -2.27854155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.83862385300002 meters Centerline goodness [0,1] 0.9998509687034277 Centerline is valid? [True, True] Translation: X:115.84, Y:-18.39, Z:-2.28 [[ 9.78406602e-01 2.06546693e-01 7.68010436e-03 1.15836180e+02] [-2.06541726e-01 9.78436729e-01 -1.44293396e-03 -1.83893872e+01] [-7.81252943e-03 -1.74485898e-04 9.99969467e-01 -2.27902651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.868623853 meters Centerline goodness [0,1] 0.999764231824417 Centerline is valid? [True, True] Translation: X:115.86, Y:-18.39, Z:-2.28 [[ 9.78434401e-01 2.06405984e-01 7.91786048e-03 1.15864675e+02] [-2.06400707e-01 9.78466421e-01 -1.48688304e-03 -1.83897832e+01] [-8.05426217e-03 -1.79434479e-04 9.99967548e-01 -2.28018014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.898623853 meters Centerline goodness [0,1] 0.9998923086863813 Centerline is valid? [True, True] Translation: X:115.89, Y:-18.40, Z:-2.28 [[ 9.78737644e-01 2.04961872e-01 7.95333074e-03 1.15892297e+02] [-2.04956504e-01 9.78769944e-01 -1.49296623e-03 -1.83972581e+01] [-8.09048223e-03 -1.68864615e-04 9.99967257e-01 -2.27867284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.928623853 meters Centerline goodness [0,1] 0.9999144476526575 Centerline is valid? [True, True] Translation: X:115.92, Y:-18.40, Z:-2.28 [[ 9.78952640e-01 2.03934065e-01 7.91361758e-03 1.15920339e+02] [-2.03928720e-01 9.78984612e-01 -1.48513737e-03 -1.84026593e+01] [-8.05017994e-03 -1.59934757e-04 9.99967584e-01 -2.27870465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.958623853 meters Centerline goodness [0,1] 0.9999566442662042 Centerline is valid? [True, True] Translation: X:115.95, Y:-18.41, Z:-2.28 [[ 9.79436262e-01 2.01596545e-01 7.96497489e-03 1.15949128e+02] [-2.01591053e-01 9.79468638e-01 -1.49476524e-03 -1.84081051e+01] [-8.10278261e-03 -1.41640398e-04 9.99967162e-01 -2.27847140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.988623853 meters Centerline goodness [0,1] 0.9999357794237274 Centerline is valid? [True, True] Translation: X:115.98, Y:-18.41, Z:-2.28 [[ 9.79629099e-01 2.00659628e-01 7.90834489e-03 1.15977202e+02] [-2.00654191e-01 9.79661011e-01 -1.48316945e-03 -1.84100849e+01] [-8.04510938e-03 -1.33886596e-04 9.99967629e-01 -2.27971659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.01862385300001 meters Centerline goodness [0,1] 0.9999355739289165 Centerline is valid? [True, True] Translation: X:116.01, Y:-18.41, Z:-2.28 [[ 9.79729455e-01 2.00152850e-01 8.30849697e-03 1.16005412e+02] [-2.00146837e-01 9.79764675e-01 -1.55751649e-03 -1.84139532e+01] [-8.45211319e-03 -1.36974608e-04 9.99964271e-01 -2.27932143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.04862385300001 meters Centerline goodness [0,1] 0.9999784422359713 Centerline is valid? [True, True] Translation: X:116.03, Y:-18.42, Z:-2.28 [[ 9.79932996e-01 1.99137046e-01 8.70402901e-03 1.16034456e+02] [-1.99130411e-01 9.79971642e-01 -1.63119664e-03 -1.84157363e+01] [-8.85453328e-03 -1.34773464e-04 9.99960789e-01 -2.27854472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.07862385300001 meters Centerline goodness [0,1] 0.9999573933235338 Centerline is valid? [True, True] Translation: X:116.06, Y:-18.42, Z:-2.28 [[ 9.80091490e-01 1.98349006e-01 8.85113222e-03 1.16062103e+02] [-1.98342116e-01 9.80131448e-01 -1.65841538e-03 -1.84176043e+01] [-9.00421808e-03 -1.30153485e-04 9.99959453e-01 -2.27939310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.10862385300001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.09, Y:-18.42, Z:-2.28 [[ 9.80326384e-01 1.97186897e-01 8.80389048e-03 1.16090825e+02] [-1.97180039e-01 9.80365908e-01 -1.64891852e-03 -1.84231773e+01] [-8.95617921e-03 -1.19473135e-04 9.99959885e-01 -2.27960442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.13862385300001 meters Centerline goodness [0,1] 0.9999574649085495 Centerline is valid? [True, True] Translation: X:116.12, Y:-18.43, Z:-2.28 [[ 9.81075131e-01 1.93448231e-01 8.32883156e-03 1.16118944e+02] [-1.93441961e-01 9.81110481e-01 -1.55957768e-03 -1.84306049e+01] [-8.47320148e-03 -8.10826368e-05 9.99964098e-01 -2.28195476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.16862385300001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.15, Y:-18.44, Z:-2.28 [[ 9.81549206e-01 1.91050014e-01 7.81333499e-03 1.16146399e+02] [-1.91044423e-01 9.81580302e-01 -1.46271460e-03 -1.84376044e+01] [-7.94886736e-03 -5.69677232e-05 9.99968406e-01 -2.28386844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.19862385300002 meters Centerline goodness [0,1] 0.9999569679626482 Centerline is valid? [True, True] Translation: X:116.17, Y:-18.45, Z:-2.28 [[ 9.82489910e-01 1.86182674e-01 7.04196501e-03 1.16173673e+02] [-1.86178010e-01 9.82515146e-01 -1.31805083e-03 -1.84464331e+01] [-7.16423551e-03 -1.60873893e-05 9.99974336e-01 -2.28481661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.228623853 meters Centerline goodness [0,1] 0.9999355310095844 Centerline is valid? [True, True] Translation: X:116.20, Y:-18.45, Z:-2.29 [[ 9.82965206e-01 1.83658153e-01 7.00620054e-03 1.16200088e+02] [-1.83653471e-01 9.82990174e-01 -1.31139479e-03 -1.84525886e+01] [-7.12787464e-03 2.34239593e-06 9.99974596e-01 -2.28638242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.258623853 meters Centerline goodness [0,1] 0.9999567221344643 Centerline is valid? [True, True] Translation: X:116.23, Y:-18.46, Z:-2.29 [[ 9.83443312e-01 1.81074699e-01 7.15585057e-03 1.16228488e+02] [-1.81069754e-01 9.83469345e-01 -1.33837397e-03 -1.84598858e+01] [-7.27990534e-03 2.05068257e-05 9.99973501e-01 -2.28604421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.288623853 meters Centerline goodness [0,1] 0.9999358892165662 Centerline is valid? [True, True] Translation: X:116.25, Y:-18.47, Z:-2.29 [[ 9.84384915e-01 1.75859995e-01 7.72012599e-03 1.16254341e+02] [-1.75854081e-01 9.84415186e-01 -1.44369069e-03 -1.84705424e+01] [-7.85369670e-03 6.35316855e-05 9.99969157e-01 -2.28624791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.318623853 meters Centerline goodness [0,1] 0.9999567558217475 Centerline is valid? [True, True] Translation: X:116.28, Y:-18.48, Z:-2.28 [[ 9.84808614e-01 1.73452239e-01 8.14334448e-03 1.16282317e+02] [-1.73445583e-01 9.84842278e-01 -1.52193736e-03 -1.84773396e+01] [-8.28389338e-03 8.63898952e-05 9.99965684e-01 -2.28487728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.348623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.31, Y:-18.48, Z:-2.28 [[ 9.85209946e-01 1.71152908e-01 8.24887924e-03 1.16310671e+02] [-1.71146002e-01 9.85244472e-01 -1.54123660e-03 -1.84844757e+01] [-8.39094980e-03 1.06678927e-04 9.99964790e-01 -2.28437156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.37862385300001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.34, Y:-18.50, Z:-2.28 [[ 9.85993056e-01 1.66528758e-01 9.26641239e-03 1.16338009e+02] [-1.66519845e-01 9.86036585e-01 -1.73068060e-03 -1.84959061e+01] [-9.42522971e-03 1.63397502e-04 9.99955568e-01 -2.28439968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.40862385300001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.36, Y:-18.50, Z:-2.28 [[ 9.86353147e-01 1.64363076e-01 9.60465099e-03 1.16364344e+02] [-1.64353399e-01 9.86399890e-01 -1.79363834e-03 -1.85047604e+01] [-9.76883459e-03 1.90603779e-04 9.99952266e-01 -2.28456836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.43862385300001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.39, Y:-18.51, Z:-2.28 [[ 9.86937698e-01 1.60809946e-01 9.70269645e-03 1.16392124e+02] [-1.60799907e-01 9.86985364e-01 -1.81117940e-03 -1.85145856e+01] [-9.86767505e-03 2.27328540e-04 9.99951287e-01 -2.28497130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.46862385300001 meters Centerline goodness [0,1] 0.9999358288770054 Centerline is valid? [True, True] Translation: X:116.42, Y:-18.52, Z:-2.29 [[ 9.87194259e-01 1.59245735e-01 9.39627468e-03 1.16420105e+02] [-1.59236251e-01 9.87238948e-01 -1.75376238e-03 -1.85226223e+01] [-9.55564752e-03 2.35076597e-04 9.99954316e-01 -2.28610700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.49862385300001 meters Centerline goodness [0,1] 0.9999567857220025 Centerline is valid? [True, True] Translation: X:116.45, Y:-18.53, Z:-2.29 [[ 9.87435971e-01 1.57774786e-01 8.79324190e-03 1.16447431e+02] [-1.57766426e-01 9.87475095e-01 -1.64074402e-03 -1.85314078e+01] [-8.94197542e-03 2.32851315e-04 9.99959993e-01 -2.28812525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.52862385300001 meters Centerline goodness [0,1] 0.9999357174998393 Centerline is valid? [True, True] Translation: X:116.48, Y:-18.54, Z:-2.29 [[ 9.87645761e-01 1.56479314e-01 8.37106166e-03 1.16476167e+02] [-1.56471695e-01 9.87681209e-01 -1.56159851e-03 -1.85394926e+01] [-8.51229816e-03 2.32471945e-04 9.99963743e-01 -2.28952021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.55862385300001 meters Centerline goodness [0,1] 0.9998702983138781 Centerline is valid? [True, True] Translation: X:116.50, Y:-18.55, Z:-2.29 [[ 9.87869163e-01 1.55138082e-01 6.83320092e-03 1.16504832e+02] [-1.55132974e-01 9.87892775e-01 -1.27462972e-03 -1.85488912e+01] [-6.94821343e-03 1.99112614e-04 9.99975841e-01 -2.29302399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.58862385300002 meters Centerline goodness [0,1] 0.9999344262295082 Centerline is valid? [True, True] Translation: X:116.53, Y:-18.55, Z:-2.29 [[ 9.87954052e-01 1.54602950e-01 6.68722052e-03 1.16533252e+02] [-1.54598043e-01 9.87976664e-01 -1.24766210e-03 -1.85510103e+01] [-6.79971006e-03 1.98801622e-04 9.99976862e-01 -2.29236613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.618623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.56, Y:-18.56, Z:-2.29 [[ 9.87844062e-01 1.55302082e-01 6.73598026e-03 1.16561111e+02] [-1.55297124e-01 9.87867008e-01 -1.25620509e-03 -1.85567757e+01] [-6.84934393e-03 1.94856381e-04 9.99976524e-01 -2.29176695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.648623853 meters Centerline goodness [0,1] 0.999936100875418 Centerline is valid? [True, True] Translation: X:116.59, Y:-18.57, Z:-2.29 [[ 9.87702935e-01 1.56181723e-01 7.08385269e-03 1.16588234e+02] [-1.56176265e-01 9.87728318e-01 -1.32055650e-03 -1.85682233e+01] [-7.20316869e-03 1.97987870e-04 9.99974037e-01 -2.29340160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.678623853 meters Centerline goodness [0,1] 0.9998703767715175 Centerline is valid? [True, True] Translation: X:116.62, Y:-18.57, Z:-2.29 [[ 9.87455371e-01 1.57698939e-01 7.93314626e-03 1.16616144e+02] [-1.57692146e-01 9.87487216e-01 -1.47858673e-03 -1.85723989e+01] [-8.06705207e-03 2.09043550e-04 9.99967439e-01 -2.29249524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.708623853 meters Centerline goodness [0,1] 0.9999357381543998 Centerline is valid? [True, True] Translation: X:116.65, Y:-18.57, Z:-2.29 [[ 9.86746931e-01 1.61976593e-01 9.69934019e-03 1.16646382e+02] [-1.61966653e-01 9.86794578e-01 -1.80690228e-03 -1.85729292e+01] [-9.86393218e-03 2.11985609e-04 9.99951328e-01 -2.28948765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.738623853 meters Centerline goodness [0,1] 0.9999573069205482 Centerline is valid? [True, True] Translation: X:116.68, Y:-18.57, Z:-2.29 [[ 9.85834018e-01 1.67391582e-01 1.05520962e-02 1.16677415e+02] [-1.67380129e-01 9.85890475e-01 -1.96562747e-03 -1.85715816e+01] [-1.07322407e-02 1.71571204e-04 9.99942393e-01 -2.28810204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.76862385300001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.71, Y:-18.57, Z:-2.29 [[ 9.85410550e-01 1.69855238e-01 1.07352259e-02 1.16705131e+02] [-1.69843528e-01 9.85469013e-01 -1.99991220e-03 -1.85732158e+01] [-1.09189281e-02 1.47425933e-04 9.99940376e-01 -2.28848455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.79862385300001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.73, Y:-18.58, Z:-2.29 [[ 9.85007572e-01 1.72171484e-01 1.08195892e-02 1.16733872e+02] [-1.72159736e-01 9.85066985e-01 -2.01494172e-03 -1.85753754e+01] [-1.10049356e-02 1.22035230e-04 9.99939436e-01 -2.28895075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.82862385300001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.76, Y:-18.58, Z:-2.29 [[ 9.84664923e-01 1.74142943e-01 1.04510740e-02 1.16761582e+02] [-1.74132097e-01 9.84720380e-01 -1.94594690e-03 -1.85776484e+01] [-1.06302584e-02 9.62382268e-05 9.99943493e-01 -2.29049807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.85862385300001 meters Centerline goodness [0,1] 0.9999786671217681 Centerline is valid? [True, True] Translation: X:116.79, Y:-18.58, Z:-2.29 [[ 9.84169307e-01 1.76994898e-01 9.14224357e-03 1.16789609e+02] [-1.76986724e-01 9.84211767e-01 -1.70199329e-03 -1.85789563e+01] [-9.29914783e-03 5.69938151e-05 9.99956760e-01 -2.29435364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.88862385300001 meters Centerline goodness [0,1] 0.9999571954455954 Centerline is valid? [True, True] Translation: X:116.82, Y:-18.58, Z:-2.30 [[ 9.84027188e-01 1.77801174e-01 8.78836539e-03 1.16817478e+02] [-1.77793658e-01 9.84066431e-01 -1.63548130e-03 -1.85829519e+01] [-8.93912586e-03 4.68424340e-05 9.99960044e-01 -2.29568577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.91862385300001 meters Centerline goodness [0,1] 0.999935572545314 Centerline is valid? [True, True] Translation: X:116.84, Y:-18.59, Z:-2.30 [[ 9.83801946e-01 1.79050540e-01 8.63919292e-03 1.16844621e+02] [-1.79043329e-01 9.83839877e-01 -1.60727682e-03 -1.85872190e+01] [-8.78736628e-03 3.44521982e-05 9.99961390e-01 -2.29633129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.94862385300002 meters Centerline goodness [0,1] 0.9999785297148747 Centerline is valid? [True, True] Translation: X:116.87, Y:-18.59, Z:-2.30 [[ 9.83708900e-01 1.79560561e-01 8.64903428e-03 1.16870752e+02] [-1.79553358e-01 9.83746921e-01 -1.60865282e-03 -1.85918949e+01] [-8.79731145e-03 2.94829419e-05 9.99961302e-01 -2.29681460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.978623853 meters Centerline goodness [0,1] 0.9998926416593306 Centerline is valid? [True, True] Translation: X:116.90, Y:-18.60, Z:-2.30 [[ 9.83605110e-01 1.80133764e-01 8.53320083e-03 1.16898628e+02] [-1.80126785e-01 9.83642123e-01 -1.58587340e-03 -1.85961096e+01] [-8.67928513e-03 2.28151484e-05 9.99962334e-01 -2.29667375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.008623853 meters Centerline goodness [0,1] 0.9998498305230188 Centerline is valid? [True, True] Translation: X:116.93, Y:-18.60, Z:-2.30 [[ 9.83314648e-01 1.81705385e-01 8.68656243e-03 1.16926406e+02] [-1.81698220e-01 9.83353015e-01 -1.61369010e-03 -1.85975796e+01] [-8.83517354e-03 8.43217879e-06 9.99960969e-01 -2.29673466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.038623853 meters Centerline goodness [0,1] 0.9997421517436988 Centerline is valid? [True, True] Translation: X:116.95, Y:-18.60, Z:-2.29 [[ 9.83154451e-01 1.82581255e-01 8.45048753e-03 1.16954781e+02] [-1.82574511e-01 9.83190767e-01 -1.56929901e-03 -1.86005312e+01] [-8.59496590e-03 1.96778433e-08 9.99963063e-01 -2.29207141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.068623853 meters Centerline goodness [0,1] 0.9998067881754363 Centerline is valid? [True, True] Translation: X:116.98, Y:-18.60, Z:-2.30 [[ 9.83001598e-01 1.83352411e-01 9.47373212e-03 1.16983640e+02] [-1.83343975e-01 9.83047249e-01 -1.75884206e-03 -1.86047404e+01] [-9.63561423e-03 -8.00714948e-06 9.99953576e-01 -2.29502320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.098623853 meters Centerline goodness [0,1] 0.9998295950752977 Centerline is valid? [True, True] Translation: X:117.01, Y:-18.61, Z:-2.30 [[ 9.83027015e-01 1.83210014e-01 9.59057054e-03 1.17010135e+02] [-1.83201362e-01 9.83073797e-01 -1.78059872e-03 -1.86099589e+01] [-9.75446211e-03 -6.62893830e-06 9.99952424e-01 -2.29535933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.12862385300001 meters Centerline goodness [0,1] 0.9997852141415009 Centerline is valid? [True, True] Translation: X:117.04, Y:-18.62, Z:-2.30 [[ 9.83051324e-01 1.83064100e-01 9.88079279e-03 1.17037135e+02] [-1.83054924e-01 9.83100979e-01 -1.83298831e-03 -1.86152832e+01] [-1.00493714e-02 -6.80618832e-06 9.99949504e-01 -2.29523399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.15862385300001 meters Centerline goodness [0,1] 0.9998925816916235 Centerline is valid? [True, True] Translation: X:117.06, Y:-18.62, Z:-2.30 [[ 9.83285239e-01 1.81814644e-01 9.67339864e-03 1.17063515e+02] [-1.81805793e-01 9.83332820e-01 -1.79396332e-03 -1.86218912e+01] [-9.83833917e-03 5.29774062e-06 9.99951602e-01 -2.29657770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.18862385300001 meters Centerline goodness [0,1] 0.9998919946429343 Centerline is valid? [True, True] Translation: X:117.09, Y:-18.63, Z:-2.30 [[ 9.83496871e-01 1.80668562e-01 9.63197918e-03 1.17089998e+02] [-1.80659740e-01 9.83544036e-01 -1.78551543e-03 -1.86285534e+01] [-9.79606218e-03 1.59379865e-05 9.99952017e-01 -2.29737135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.21862385300001 meters Centerline goodness [0,1] 0.999871937163835 Centerline is valid? [True, True] Translation: X:117.12, Y:-18.64, Z:-2.29 [[ 9.84008568e-01 1.77895117e-01 8.97024291e-03 1.17116345e+02] [-1.77887357e-01 9.84049453e-01 -1.66203263e-03 -1.86391848e+01] [-9.12283012e-03 3.97615509e-05 9.99958385e-01 -2.29382345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.24862385300001 meters Centerline goodness [0,1] 0.9999356057353825 Centerline is valid? [True, True] Translation: X:117.14, Y:-18.65, Z:-2.30 [[ 9.84323873e-01 1.76121325e-01 9.36972265e-03 1.17143455e+02] [-1.76112785e-01 9.84368465e-01 -1.73538990e-03 -1.86480179e+01] [-9.52889867e-03 5.80577523e-05 9.99954597e-01 -2.29930313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.27862385300001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.17, Y:-18.66, Z:-2.30 [[ 9.84591004e-01 1.74640233e-01 9.01905912e-03 1.17169978e+02] [-1.74632261e-01 9.84632309e-01 -1.67016018e-03 -1.86564866e+01] [-9.17213417e-03 6.94060055e-05 9.99957933e-01 -2.30118947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.30862385300001 meters Centerline goodness [0,1] 0.9999785167998625 Centerline is valid? [True, True] Translation: X:117.20, Y:-18.66, Z:-2.30 [[ 9.85016571e-01 1.72262053e-01 8.25473009e-03 1.17197517e+02] [-1.72255294e-01 9.85051155e-01 -1.52819597e-03 -1.86649971e+01] [-8.39458159e-03 8.33773898e-05 9.99964761e-01 -2.29999541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.33862385300002 meters Centerline goodness [0,1] 0.9999784185082873 Centerline is valid? [True, True] Translation: X:117.22, Y:-18.67, Z:-2.30 [[ 9.85166198e-01 1.71416663e-01 7.99316514e-03 1.17224405e+02] [-1.71410301e-01 9.85198619e-01 -1.47951528e-03 -1.86747963e+01] [-8.12846883e-03 8.74576069e-05 9.99966960e-01 -2.30345790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.368623853 meters Centerline goodness [0,1] 0.9999563871080291 Centerline is valid? [True, True] Translation: X:117.25, Y:-18.68, Z:-2.30 [[ 9.85171310e-01 1.71391390e-01 7.90447803e-03 1.17253056e+02] [-1.71385172e-01 9.85203017e-01 -1.46251405e-03 -1.86790318e+01] [-8.03817791e-03 8.61165616e-05 9.99967690e-01 -2.30165181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.398623853 meters Centerline goodness [0,1] 0.999935521310207 Centerline is valid? [True, True] Translation: X:117.28, Y:-18.68, Z:-2.30 [[ 9.85028303e-01 1.72204775e-01 8.04723423e-03 1.17279848e+02] [-1.72198360e-01 9.85061170e-01 -1.48865825e-03 -1.86845435e+01] [-8.18337203e-03 8.06499751e-05 9.99966512e-01 -2.30230653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.428623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.31, Y:-18.69, Z:-2.30 [[ 9.84828081e-01 1.73341638e-01 8.14417621e-03 1.17308667e+02] [-1.73335113e-01 9.84861752e-01 -1.50578905e-03 -1.86900097e+01] [-8.28190359e-03 7.12716375e-05 9.99965702e-01 -2.30236079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.458623853 meters Centerline goodness [0,1] 0.9998700792516565 Centerline is valid? [True, True] Translation: X:117.34, Y:-18.69, Z:-2.30 [[ 9.84599382e-01 1.74639489e-01 8.06887484e-03 1.17337627e+02] [-1.74633129e-01 9.84632442e-01 -1.49169666e-03 -1.86940776e+01] [-8.20538508e-03 5.96307520e-05 9.99966333e-01 -2.30272282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.488623853 meters Centerline goodness [0,1] 0.9998925424457339 Centerline is valid? [True, True] Translation: X:117.37, Y:-18.70, Z:-2.31 [[ 9.84099130e-01 1.77437963e-01 8.04190049e-03 1.17365133e+02] [-1.77431741e-01 9.84131987e-01 -1.48642244e-03 -1.86967165e+01] [-8.17803928e-03 3.58986254e-05 9.99966559e-01 -2.30663249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.51862385300001 meters Centerline goodness [0,1] 0.999871064789943 Centerline is valid? [True, True] Translation: X:117.39, Y:-18.70, Z:-2.30 [[ 9.83630825e-01 1.80004789e-01 8.28705775e-03 1.17394775e+02] [-1.79998278e-01 9.83665734e-01 -1.53106068e-03 -1.86973451e+01] [-8.42729300e-03 1.43423596e-05 9.99964490e-01 -2.30492728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.54862385300001 meters Centerline goodness [0,1] 0.9998262908759282 Centerline is valid? [True, True] Translation: X:117.42, Y:-18.70, Z:-2.30 [[ 9.83413618e-01 1.81179963e-01 8.45436458e-03 1.17423017e+02] [-1.81173233e-01 9.83449959e-01 -1.56156256e-03 -1.87011384e+01] [-8.59736834e-03 3.95732007e-06 9.99963042e-01 -2.30461682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.57862385300001 meters Centerline goodness [0,1] 0.9998506889637814 Centerline is valid? [True, True] Translation: X:117.45, Y:-18.70, Z:-2.31 [[ 9.83191745e-01 1.82398692e-01 8.04424089e-03 1.17450766e+02] [-1.82392642e-01 9.83224652e-01 -1.48556744e-03 -1.87049104e+01] [-8.18026151e-03 -6.61270439e-06 9.99966541e-01 -2.30727190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.60862385300001 meters Centerline goodness [0,1] 0.999827056941502 Centerline is valid? [True, True] Translation: X:117.48, Y:-18.71, Z:-2.31 [[ 9.82644014e-01 1.85312522e-01 8.36729977e-03 1.17480008e+02] [-1.85306088e-01 9.82679637e-01 -1.54455618e-03 -1.87062765e+01] [-8.50860070e-03 -3.27626996e-05 9.99963801e-01 -2.30637445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.63862385300001 meters Centerline goodness [0,1] 0.999760942321902 Centerline is valid? [True, True] Translation: X:117.51, Y:-18.71, Z:-2.31 [[ 9.82335806e-01 1.86937697e-01 8.40602360e-03 1.17508575e+02] [-1.86931266e-01 9.82371770e-01 -1.55131716e-03 -1.87091121e+01] [-8.54783994e-03 -4.74342367e-05 9.99963465e-01 -2.30543487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.66862385300001 meters Centerline goodness [0,1] 0.999784839813241 Centerline is valid? [True, True] Translation: X:117.54, Y:-18.71, Z:-2.31 [[ 9.82021276e-01 1.88573577e-01 8.61513312e-03 1.17536354e+02] [-1.88566886e-01 9.82059062e-01 -1.58976457e-03 -1.87104370e+01] [-8.76035714e-03 -6.33461886e-05 9.99961625e-01 -2.30671965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.69862385300002 meters Centerline goodness [0,1] 0.9998087100682267 Centerline is valid? [True, True] Translation: X:117.56, Y:-18.71, Z:-2.31 [[ 9.81703101e-01 1.90205645e-01 8.99072994e-03 1.17564041e+02] [-1.90198437e-01 9.81744267e-01 -1.65799401e-03 -1.87115705e+01] [-9.14195739e-03 -8.23649166e-05 9.99958208e-01 -2.30723376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.728623853 meters Centerline goodness [0,1] 0.9998087100682267 Centerline is valid? [True, True] Translation: X:117.59, Y:-18.72, Z:-2.31 [[ 9.81716075e-01 1.90138671e-01 8.99081064e-03 1.17591102e+02] [-1.90131464e-01 9.81757240e-01 -1.65755624e-03 -1.87164168e+01] [-9.14195898e-03 -8.21863802e-05 9.99958208e-01 -2.30771861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.758623853 meters Centerline goodness [0,1] 0.9997417799965571 Centerline is valid? [True, True] Translation: X:117.62, Y:-18.72, Z:-2.31 [[ 9.81175668e-01 1.92860936e-01 9.94823850e-03 1.17619880e+02] [-1.92852261e-01 9.81226093e-01 -1.83314773e-03 -1.87158614e+01] [-1.01150138e-02 -1.19900335e-04 9.99948835e-01 -2.30700024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.788623853 meters Centerline goodness [0,1] 0.9996970287173494 Centerline is valid? [True, True] Translation: X:117.65, Y:-18.72, Z:-2.31 [[ 9.80917354e-01 1.94159567e-01 1.01590523e-02 1.17648340e+02] [-1.94150598e-01 9.80969950e-01 -1.87130666e-03 -1.87196000e+01] [-1.03290571e-02 -1.36788897e-04 9.99946645e-01 -2.30734490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.818623853 meters Centerline goodness [0,1] 0.9997839939518306 Centerline is valid? [True, True] Translation: X:117.68, Y:-18.72, Z:-2.31 [[ 9.80909967e-01 1.94204146e-01 1.00193200e-02 1.17675520e+02] [-1.94195427e-01 9.80961126e-01 -1.84518052e-03 -1.87228595e+01] [-1.01869052e-02 -1.35750173e-04 9.99948103e-01 -2.30879043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.848623853 meters Centerline goodness [0,1] 0.9996809121657555 Centerline is valid? [True, True] Translation: X:117.70, Y:-18.73, Z:-2.31 [[ 9.80990612e-01 1.93810703e-01 9.73808175e-03 1.17702214e+02] [-1.93802452e-01 9.81038936e-01 -1.79299302e-03 -1.87272070e+01] [-9.90093860e-03 -1.28354799e-04 9.99950976e-01 -2.31035484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.87862385300001 meters Centerline goodness [0,1] 0.9997191860716291 Centerline is valid? [True, True] Translation: X:117.73, Y:-18.73, Z:-2.31 [[ 9.81060851e-01 1.93446379e-01 9.90477210e-03 1.17730832e+02] [-1.93437835e-01 9.81110841e-01 -1.82258478e-03 -1.87321895e+01] [-1.00702517e-02 -1.27891097e-04 9.99949286e-01 -2.31046560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.90862385300001 meters Centerline goodness [0,1] 0.9998250333530171 Centerline is valid? [True, True] Translation: X:117.76, Y:-18.74, Z:-2.31 [[ 9.81287796e-01 1.92286869e-01 1.00010321e-02 1.17758827e+02] [-1.92278103e-01 9.81338752e-01 -1.83984405e-03 -1.87399552e+01] [-1.01681782e-02 -1.17562963e-04 9.99948296e-01 -2.30978477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.93862385300001 meters Centerline goodness [0,1] 0.999739572030036 Centerline is valid? [True, True] Translation: X:117.79, Y:-18.74, Z:-2.31 [[ 9.81426934e-01 1.91561115e-01 1.02719402e-02 1.17786374e+02] [-1.91551832e-01 9.81480681e-01 -1.88923248e-03 -1.87436280e+01] [-1.04436143e-02 -1.13465319e-04 9.99945458e-01 -2.31224059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.96862385300001 meters Centerline goodness [0,1] 0.9997413570135356 Centerline is valid? [True, True] Translation: X:117.81, Y:-18.75, Z:-2.31 [[ 9.81735890e-01 1.89923592e-01 1.11207972e-02 1.17813816e+02] [-1.89912617e-01 9.81798868e-01 -2.04449656e-03 -1.87526972e+01] [-1.13066842e-02 -1.04824035e-04 9.99936072e-01 -2.30951166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.99862385300001 meters Centerline goodness [0,1] 0.9998076923076923 Centerline is valid? [True, True] Translation: X:117.84, Y:-18.76, Z:-2.31 [[ 9.81923364e-01 1.88916554e-01 1.17064933e-02 1.17841773e+02] [-1.88904328e-01 9.81993139e-01 -2.15155177e-03 -1.87573707e+01] [-1.19021599e-02 -9.87482933e-05 9.99929162e-01 -2.30989639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.02862385300001 meters Centerline goodness [0,1] 0.9997402878476356 Centerline is valid? [True, True] Translation: X:117.87, Y:-18.76, Z:-2.31 [[ 9.82100361e-01 1.87940031e-01 1.25469584e-02 1.17869597e+02] [-1.87925915e-01 9.82180501e-01 -2.30533831e-03 -1.87640365e+01] [-1.27566432e-02 -9.38250392e-05 9.99918626e-01 -2.30932691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.05862385300001 meters Centerline goodness [0,1] 0.999828200833226 Centerline is valid? [True, True] Translation: X:117.90, Y:-18.77, Z:-2.31 [[ 9.82529261e-01 1.85662686e-01 1.28692884e-02 1.17897689e+02] [-1.85647648e-01 9.82613537e-01 -2.36390827e-03 -1.87733391e+01] [-1.30844266e-02 -6.65440851e-05 9.99914393e-01 -2.30803005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.08862385300002 meters Centerline goodness [0,1] 0.999849095651799 Centerline is valid? [True, True] Translation: X:117.93, Y:-18.78, Z:-2.31 [[ 9.82688553e-01 1.84806696e-01 1.30265910e-02 1.17926162e+02] [-1.84791219e-01 9.82774889e-01 -2.39237159e-03 -1.87789818e+01] [-1.32443328e-02 -5.62434548e-05 9.99912288e-01 -2.30825513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.118623853 meters Centerline goodness [0,1] 0.9997848860971884 Centerline is valid? [True, True] Translation: X:117.95, Y:-18.78, Z:-2.31 [[ 9.82900013e-01 1.83669659e-01 1.31537246e-02 1.17954258e+02] [-1.83653785e-01 9.82988024e-01 -2.41507385e-03 -1.87847832e+01] [-1.33735295e-02 -4.19551882e-05 9.99910569e-01 -2.30898528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.148623853 meters Centerline goodness [0,1] 0.9998504145653475 Centerline is valid? [True, True] Translation: X:117.98, Y:-18.79, Z:-2.31 [[ 9.83160016e-01 1.82279899e-01 1.30545337e-02 1.17982140e+02] [-1.82264149e-01 9.83246682e-01 -2.39624146e-03 -1.87913258e+01] [-1.32726136e-02 -2.34846893e-05 9.99911915e-01 -2.30941442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.178623853 meters Centerline goodness [0,1] 0.9997638268636208 Centerline is valid? [True, True] Translation: X:118.01, Y:-18.80, Z:-2.31 [[ 9.83249297e-01 1.81831495e-01 1.25749086e-02 1.18009227e+02] [-1.81816851e-01 9.83329704e-01 -2.30766753e-03 -1.87962071e+01] [-1.27848878e-02 -1.73178230e-05 9.99918270e-01 -2.30868537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.208623853 meters Centerline goodness [0,1] 0.9998500332069328 Centerline is valid? [True, True] Translation: X:118.04, Y:-18.80, Z:-2.31 [[ 9.83501953e-01 1.80446359e-01 1.27679219e-02 1.18036786e+02] [-1.80431157e-01 9.83584827e-01 -2.34222950e-03 -1.88033181e+01] [-1.29809810e-02 -1.43623718e-07 9.99915744e-01 -2.31113968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.238623853 meters Centerline goodness [0,1] 0.9998280050738503 Centerline is valid? [True, True] Translation: X:118.06, Y:-18.81, Z:-2.31 [[ 9.83611382e-01 1.79821297e-01 1.31510608e-02 1.18064460e+02] [-1.79805121e-01 9.83699294e-01 -2.41188848e-03 -1.88090605e+01] [-1.33703981e-02 7.73288263e-06 9.99910612e-01 -2.31148827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.26862385300001 meters Centerline goodness [0,1] 0.999914006234548 Centerline is valid? [True, True] Translation: X:118.09, Y:-18.81, Z:-2.31 [[ 9.83690600e-01 1.79374978e-01 1.33199310e-02 1.18092737e+02] [-1.79358356e-01 9.83780777e-01 -2.44197572e-03 -1.88142064e+01] [-1.35419214e-02 1.31076446e-05 9.99908304e-01 -2.31197298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.29862385300001 meters Centerline goodness [0,1] 0.9998920226320563 Centerline is valid? [True, True] Translation: X:118.12, Y:-18.82, Z:-2.31 [[ 9.83656622e-01 1.79484745e-01 1.43135238e-02 1.18120955e+02] [-1.79465572e-01 9.83760757e-01 -2.62338067e-03 -1.88179605e+01] [-1.45519398e-02 1.17210306e-05 9.99894115e-01 -2.31063129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.32862385300001 meters Centerline goodness [0,1] 0.99987085943049 Centerline is valid? [True, True] Translation: X:118.15, Y:-18.82, Z:-2.31 [[ 9.83579237e-01 1.79911554e-01 1.42729869e-02 1.18148277e+02] [-1.79892544e-01 9.83682791e-01 -2.61528287e-03 -1.88216582e+01] [-1.45106112e-02 4.73399121e-06 9.99894716e-01 -2.31124336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.35862385300001 meters Centerline goodness [0,1] 0.9998481364168872 Centerline is valid? [True, True] Translation: X:118.18, Y:-18.82, Z:-2.31 [[ 9.83319061e-01 1.81327161e-01 1.42858236e-02 1.18177159e+02] [-1.81308281e-01 9.83422829e-01 -2.61660631e-03 -1.88241139e+01] [-1.45234668e-02 -1.71792525e-05 9.99894529e-01 -2.31191313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.38862385300001 meters Centerline goodness [0,1] 0.9998699130585608 Centerline is valid? [True, True] Translation: X:118.21, Y:-18.83, Z:-2.31 [[ 9.83140190e-01 1.82304344e-01 1.41595388e-02 1.18205683e+02] [-1.82285908e-01 9.83242150e-01 -2.59278729e-03 -1.88270377e+01] [-1.43949317e-02 -3.20110012e-05 9.99896387e-01 -2.31266159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.41862385300001 meters Centerline goodness [0,1] 0.9998513768869828 Centerline is valid? [True, True] Translation: X:118.23, Y:-18.83, Z:-2.32 [[ 9.82888114e-01 1.83690443e-01 1.37395983e-02 1.18233903e+02] [-1.83673228e-01 9.82984139e-01 -2.51532379e-03 -1.88276262e+01] [-1.39678481e-02 -5.13145118e-05 9.99902444e-01 -2.31520287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.44862385300002 meters Centerline goodness [0,1] 0.9997657580919932 Centerline is valid? [True, True] Translation: X:118.26, Y:-18.82, Z:-2.32 [[ 9.82265425e-01 1.87001757e-01 1.36006609e-02 1.18263662e+02] [-1.86985222e-01 9.82359574e-01 -2.48872289e-03 -1.88243635e+01] [-1.38261350e-02 -9.85361553e-05 9.99904410e-01 -2.31622977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.478623853 meters Centerline goodness [0,1] 0.999784505979959 Centerline is valid? [True, True] Translation: X:118.29, Y:-18.83, Z:-2.32 [[ 9.82012252e-01 1.88321928e-01 1.36670888e-02 1.18291768e+02] [-1.88305365e-01 9.82107345e-01 -2.50035386e-03 -1.88284074e+01] [-1.38934198e-02 -1.18208028e-04 9.99903475e-01 -2.31537089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.508623853 meters Centerline goodness [0,1] 0.9998504656925574 Centerline is valid? [True, True] Translation: X:118.32, Y:-18.83, Z:-2.32 [[ 9.81714359e-01 1.89885325e-01 1.34342995e-02 1.18319874e+02] [-1.89869478e-01 9.81806266e-01 -2.45706885e-03 -1.88290324e+01] [-1.36564407e-02 -1.38623657e-04 9.99906737e-01 -2.31641006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.538623853 meters Centerline goodness [0,1] 0.9998291109497159 Centerline is valid? [True, True] Translation: X:118.35, Y:-18.83, Z:-2.32 [[ 9.81460591e-01 1.91189047e-01 1.34854033e-02 1.18349002e+02] [-1.91173220e-01 9.81553220e-01 -2.46508124e-03 -1.88307715e+01] [-1.37079376e-02 -1.58667885e-04 9.99906029e-01 -2.31672822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.568623853 meters Centerline goodness [0,1] 0.9998058755014883 Centerline is valid? [True, True] Translation: X:118.38, Y:-18.83, Z:-2.32 [[ 9.81053658e-01 1.93229353e-01 1.40048726e-02 1.18377429e+02] [-1.93212501e-01 9.81153596e-01 -2.55935475e-03 -1.88289087e+01] [-1.42354736e-02 -1.95052136e-04 9.99898651e-01 -2.31711974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.598623853 meters Centerline goodness [0,1] 0.9997848444425319 Centerline is valid? [True, True] Translation: X:118.41, Y:-18.83, Z:-2.32 [[ 9.80926876e-01 1.93876768e-01 1.39378133e-02 1.18406499e+02] [-1.93860155e-01 9.81025870e-01 -2.54621223e-03 -1.88317033e+01] [-1.41670068e-02 -2.04338643e-04 9.99899622e-01 -2.31794300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.62862385300001 meters Centerline goodness [0,1] 0.999786470789204 Centerline is valid? [True, True] Translation: X:118.44, Y:-18.83, Z:-2.32 [[ 9.80825904e-01 1.94412099e-01 1.35823900e-02 1.18435095e+02] [-1.94396382e-01 9.80919922e-01 -2.48068182e-03 -1.88307666e+01] [-1.38055115e-02 -2.07250491e-04 9.99904678e-01 -2.31957482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.65862385300001 meters Centerline goodness [0,1] 0.9998269035203496 Centerline is valid? [True, True] Translation: X:118.46, Y:-18.84, Z:-2.32 [[ 9.80891618e-01 1.94073861e-01 1.36737306e-02 1.18463588e+02] [-1.94057912e-01 9.80986898e-01 -2.49647907e-03 -1.88355851e+01] [-1.38982519e-02 -2.04720214e-04 9.99903394e-01 -2.31966997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.68862385300001 meters Centerline goodness [0,1] 0.9997859268297904 Centerline is valid? [True, True] Translation: X:118.49, Y:-18.84, Z:-2.32 [[ 9.81156710e-01 1.92731283e-01 1.36441329e-02 1.18491734e+02] [-1.92715281e-01 9.81251557e-01 -2.49043988e-03 -1.88369590e+01] [-1.38683123e-02 -1.85921101e-04 9.99903813e-01 -2.32018707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.71862385300001 meters Centerline goodness [0,1] 0.9999354588873112 Centerline is valid? [True, True] Translation: X:118.52, Y:-18.84, Z:-2.32 [[ 9.81332196e-01 1.91831425e-01 1.37049390e-02 1.18520705e+02] [-1.91815205e-01 9.81427875e-01 -2.50063169e-03 -1.88404656e+01] [-1.39301089e-02 -1.74865294e-04 9.99902956e-01 -2.31994869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.74862385300001 meters Centerline goodness [0,1] 0.999871122948707 Centerline is valid? [True, True] Translation: X:118.55, Y:-18.84, Z:-2.32 [[ 9.81542021e-01 1.90739014e-01 1.39244181e-02 1.18549721e+02] [-1.90722172e-01 9.81640770e-01 -2.53994217e-03 -1.88447549e+01] [-1.41532426e-02 -1.62635282e-04 9.99899825e-01 -2.32007649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.77862385300001 meters Centerline goodness [0,1] 0.9998700820648291 Centerline is valid? [True, True] Translation: X:118.58, Y:-18.85, Z:-2.32 [[ 9.82163299e-01 1.87428704e-01 1.50244509e-02 1.18577147e+02] [-1.87408715e-01 9.82278202e-01 -2.74011026e-03 -1.88496708e+01] [-1.52717659e-02 -1.24477315e-04 9.99883372e-01 -2.31937788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.80862385300001 meters Centerline goodness [0,1] 0.9998506602948393 Centerline is valid? [True, True] Translation: X:118.60, Y:-18.86, Z:-2.32 [[ 9.82544453e-01 1.85406575e-01 1.51921084e-02 1.18604010e+02] [-1.85385917e-01 9.82661891e-01 -2.76930303e-03 -1.88563857e+01] [-1.54421530e-02 -9.54396229e-05 9.99880758e-01 -2.31947900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.83862385300002 meters Centerline goodness [0,1] 0.9998704327545996 Centerline is valid? [True, True] Translation: X:118.63, Y:-18.87, Z:-2.32 [[ 9.83539484e-01 1.79975105e-01 1.60948919e-02 1.18631489e+02] [-1.79951216e-01 9.83671165e-01 -2.93230385e-03 -1.88667811e+01] [-1.63598228e-02 -1.22587584e-05 9.99866169e-01 -2.31877000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.868623853 meters Centerline goodness [0,1] 0.9999358261315993 Centerline is valid? [True, True] Translation: X:118.66, Y:-18.87, Z:-2.32 [[ 9.84085166e-01 1.76983742e-01 1.59104101e-02 1.18658715e+02] [-1.76960019e-01 9.84213774e-01 -2.89795599e-03 -1.88749283e+01] [-1.61721358e-02 3.63290385e-05 9.99869222e-01 -2.31997223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.898623853 meters Centerline goodness [0,1] 0.9999566639942796 Centerline is valid? [True, True] Translation: X:118.69, Y:-18.88, Z:-2.32 [[ 9.84695395e-01 1.73540905e-01 1.60789794e-02 1.18686765e+02] [-1.73516233e-01 9.84826658e-01 -2.92767787e-03 -1.88831068e+01] [-1.63430794e-02 9.29069822e-05 9.99866439e-01 -2.32014315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.928623853 meters Centerline goodness [0,1] 0.9998489132546243 Centerline is valid? [True, True] Translation: X:118.71, Y:-18.89, Z:-2.32 [[ 9.85251254e-01 1.70441626e-01 1.51531950e-02 1.18713800e+02] [-1.70419357e-01 9.85367766e-01 -2.75844489e-03 -1.88925004e+01] [-1.54016237e-02 1.35363547e-04 9.99881379e-01 -2.31781219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.958623853 meters Centerline goodness [0,1] 0.9997823958219998 Centerline is valid? [True, True] Translation: X:118.74, Y:-18.90, Z:-2.32 [[ 9.86310723e-01 1.64277560e-01 1.42842823e-02 1.18741120e+02] [-1.64257137e-01 9.86414130e-01 -2.59939201e-03 -1.89046122e+01] [-1.45172397e-02 2.17512898e-04 9.99894596e-01 -2.31729699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.988623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.77, Y:-18.91, Z:-2.33 [[ 9.86805384e-01 1.61245085e-01 1.46681926e-02 1.18767332e+02] [-1.61223222e-01 9.86914358e-01 -2.66876101e-03 -1.89143908e+01] [-1.49065745e-02 2.68694448e-04 9.99888855e-01 -2.32528202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.01862385300001 meters Centerline goodness [0,1] 0.9999355129941316 Centerline is valid? [True, True] Translation: X:118.80, Y:-18.92, Z:-2.33 [[ 9.87405242e-01 1.57543377e-01 1.45248841e-02 1.18796292e+02] [-1.57521553e-01 9.87512016e-01 -2.64170759e-03 -1.89227147e+01] [-1.47596811e-02 3.20453620e-04 9.99891019e-01 -2.32583453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.04862385300001 meters Centerline goodness [0,1] 0.9999784677662461 Centerline is valid? [True, True] Translation: X:118.82, Y:-18.93, Z:-2.33 [[ 9.87606676e-01 1.56252610e-01 1.47707732e-02 1.18822673e+02] [-1.56229901e-01 9.87717066e-01 -2.68617258e-03 -1.89336993e+01] [-1.50090663e-02 3.45245535e-04 9.99887298e-01 -2.32656170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.07862385300001 meters Centerline goodness [0,1] 0.9998707954692277 Centerline is valid? [True, True] Translation: X:118.85, Y:-18.94, Z:-2.33 [[ 9.87689271e-01 1.55678128e-01 1.53043962e-02 1.18850651e+02] [-1.55653697e-01 9.87807768e-01 -2.78205349e-03 -1.89395009e+01] [-1.55509063e-02 3.65618534e-04 9.99879010e-01 -2.32589531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.10862385300001 meters Centerline goodness [0,1] 0.9998922599551802 Centerline is valid? [True, True] Translation: X:118.88, Y:-18.94, Z:-2.33 [[ 9.87689108e-01 1.55663256e-01 1.54653437e-02 1.18879657e+02] [-1.55638318e-01 9.87810111e-01 -2.81059766e-03 -1.89405260e+01] [-1.57143296e-02 3.68996622e-04 9.99876454e-01 -2.32542903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.13862385300001 meters Centerline goodness [0,1] 0.999871122948707 Centerline is valid? [True, True] Translation: X:118.91, Y:-18.95, Z:-2.33 [[ 9.87620536e-01 1.56117129e-01 1.52682107e-02 1.18906010e+02] [-1.56092888e-01 9.87738485e-01 -2.77406245e-03 -1.89499455e+01] [-1.55140780e-02 3.56461940e-04 9.99879586e-01 -2.32636492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.16862385300001 meters Centerline goodness [0,1] 0.9999570852287357 Centerline is valid? [True, True] Translation: X:118.94, Y:-18.95, Z:-2.33 [[ 9.87525110e-01 1.56709539e-01 1.53713258e-02 1.18935132e+02] [-1.56685056e-01 9.87644672e-01 -2.79183207e-03 -1.89520590e+01] [-1.56189148e-02 3.48547227e-04 9.99877957e-01 -2.32647929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.19862385300002 meters Centerline goodness [0,1] 0.9999570354457572 Centerline is valid? [True, True] Translation: X:118.96, Y:-18.95, Z:-2.33 [[ 9.87223328e-01 1.58641187e-01 1.49356680e-02 1.18964362e+02] [-1.58618304e-01 9.87336254e-01 -2.71202350e-03 -1.89536397e+01] [-1.51767652e-02 3.08302538e-04 9.99884779e-01 -2.32707106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.228623853 meters Centerline goodness [0,1] 0.9999787315496192 Centerline is valid? [True, True] Translation: X:118.99, Y:-18.96, Z:-2.33 [[ 9.87062730e-01 1.59665936e-01 1.46272372e-02 1.18991916e+02] [-1.59644111e-01 9.87171063e-01 -2.65535748e-03 -1.89593248e+01] [-1.48635554e-02 2.85852123e-04 9.99889490e-01 -2.32793232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.258623853 meters Centerline goodness [0,1] 0.9999786343047603 Centerline is valid? [True, True] Translation: X:119.02, Y:-18.96, Z:-2.33 [[ 9.86660600e-01 1.62080600e-01 1.51901305e-02 1.19021770e+02] [-1.62057364e-01 9.86777489e-01 -2.75648795e-03 -1.89596104e+01] [-1.54360521e-02 2.58045534e-04 9.99880824e-01 -2.32736208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.288623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:119.05, Y:-18.96, Z:-2.33 [[ 9.86435748e-01 1.63394663e-01 1.57066597e-02 1.19050143e+02] [-1.63369995e-01 9.86560755e-01 -2.84964294e-03 -1.89631028e+01] [-1.59611906e-02 2.44992729e-04 9.99872582e-01 -2.32754930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.318623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:119.08, Y:-18.97, Z:-2.33 [[ 9.86192769e-01 1.64867922e-01 1.55689081e-02 1.19077622e+02] [-1.64843880e-01 9.86315629e-01 -2.82389860e-03 -1.89685331e+01] [-1.58214277e-02 2.18469153e-04 9.99874810e-01 -2.32847201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.348623853 meters Centerline goodness [0,1] 0.9999782447896272 Centerline is valid? [True, True] Translation: X:119.11, Y:-18.97, Z:-2.33 [[ 9.85603770e-01 1.68380858e-01 1.52674629e-02 1.19107123e+02] [-1.68358175e-01 9.85722000e-01 -2.76823527e-03 -1.89694951e+01] [-1.55155919e-02 1.57980930e-04 9.99879613e-01 -2.32969690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.37862385300001 meters Centerline goodness [0,1] 0.9999787347155769 Centerline is valid? [True, True] Translation: X:119.13, Y:-18.97, Z:-2.33 [[ 9.85325426e-01 1.70084646e-01 1.43184266e-02 1.19134290e+02] [-1.70064881e-01 9.85429449e-01 -2.59576205e-03 -1.89730820e+01] [-1.45512985e-02 1.22608835e-04 9.99894117e-01 -2.33206691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.40862385300001 meters Centerline goodness [0,1] 0.9999783526355667 Centerline is valid? [True, True] Translation: X:119.16, Y:-18.98, Z:-2.33 [[ 9.85038078e-01 1.71744771e-01 1.42729731e-02 1.19162787e+02] [-1.71725320e-01 9.85141474e-01 -2.58649594e-03 -1.89752502e+01] [-1.45051149e-02 9.67661196e-05 9.99894791e-01 -2.33251651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.43862385300001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:119.19, Y:-18.98, Z:-2.33 [[ 9.84379865e-01 1.75458008e-01 1.45179120e-02 1.19191375e+02] [-1.75438297e-01 9.84486915e-01 -2.63023550e-03 -1.89755875e+01] [-1.47541902e-02 4.21531108e-05 9.99891150e-01 -2.33311317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.46862385300001 meters Centerline goodness [0,1] 0.9999351911860013 Centerline is valid? [True, True] Translation: X:119.22, Y:-18.98, Z:-2.33 [[ 9.84056686e-01 1.77193235e-01 1.53295611e-02 1.19219300e+02] [-1.77171492e-01 9.84176080e-01 -2.77585579e-03 -1.89775490e+01] [-1.55788502e-02 1.56382559e-05 9.99878642e-01 -2.33271336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.49862385300001 meters Centerline goodness [0,1] 0.9999131642931574 Centerline is valid? [True, True] Translation: X:119.25, Y:-18.98, Z:-2.33 [[ 9.83238839e-01 1.81625888e-01 1.59192135e-02 1.19248944e+02] [-1.81603037e-01 9.83367700e-01 -2.88157946e-03 -1.89764169e+01] [-1.61778098e-02 -5.76966731e-05 9.99869129e-01 -2.33111947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.52862385300001 meters Centerline goodness [0,1] 0.9998920226320563 Centerline is valid? [True, True] Translation: X:119.28, Y:-18.98, Z:-2.33 [[ 9.82852775e-01 1.83649770e-01 1.65283051e-02 1.19277009e+02] [-1.83625438e-01 9.82991736e-01 -2.99096944e-03 -1.89787869e+01] [-1.67964782e-02 -9.53346456e-05 9.99858925e-01 -2.33125622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.55862385300001 meters Centerline goodness [0,1] 0.9998933219543418 Centerline is valid? [True, True] Translation: X:119.30, Y:-18.98, Z:-2.33 [[ 9.82586908e-01 1.85062492e-01 1.65783376e-02 1.19304660e+02] [-1.85038231e-01 9.82726747e-01 -2.99896816e-03 -1.89814473e+01] [-1.68469723e-02 -1.20879406e-04 9.99858072e-01 -2.33121530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.58862385300002 meters Centerline goodness [0,1] 0.9999574268806676 Centerline is valid? [True, True] Translation: X:119.33, Y:-18.98, Z:-2.33 [[ 9.82350114e-01 1.86239253e-01 1.74124718e-02 1.19332850e+02] [-1.86212694e-01 9.82504411e-01 -3.14870708e-03 -1.89840221e+01] [-1.76942432e-02 -1.49290519e-04 9.99843433e-01 -2.33047407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.618623853 meters Centerline goodness [0,1] 0.9999574268806676 Centerline is valid? [True, True] Translation: X:119.36, Y:-18.99, Z:-2.33 [[ 9.82363260e-01 1.86169882e-01 1.74126614e-02 1.19359923e+02] [-1.86143330e-01 9.82517559e-01 -3.14765799e-03 -1.89887804e+01] [-1.76942447e-02 -1.49107220e-04 9.99843433e-01 -2.33095890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.648623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:119.39, Y:-18.99, Z:-2.33 [[ 9.82347433e-01 1.86208936e-01 1.78816399e-02 1.19387484e+02] [-1.86180966e-01 9.82510157e-01 -3.23109639e-03 -1.89940169e+01] [-1.81705518e-02 -1.55161741e-04 9.99834890e-01 -2.33076504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.678623853 meters Centerline goodness [0,1] 0.9999570750971176 Centerline is valid? [True, True] Translation: X:119.42, Y:-19.00, Z:-2.33 [[ 9.82421034e-01 1.85797041e-01 1.81210311e-02 1.19415398e+02] [-1.85768271e-01 9.82588132e-01 -3.27302850e-03 -1.89999489e+01] [-1.84136291e-02 -1.50820578e-04 9.99830443e-01 -2.33118009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.708623853 meters Centerline goodness [0,1] 0.9999352429468776 Centerline is valid? [True, True] Translation: X:119.44, Y:-19.01, Z:-2.33 [[ 9.82701004e-01 1.84345822e-01 1.77582433e-02 1.19443231e+02] [-1.84317971e-01 9.82861436e-01 -3.20665249e-03 -1.90076644e+01] [-1.80450255e-02 -1.21982755e-04 9.99837168e-01 -2.33273636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.738623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:119.47, Y:-19.01, Z:-2.33 [[ 9.82928868e-01 1.83200668e-01 1.69810640e-02 1.19470817e+02] [-1.83175045e-01 9.83075534e-01 -3.06550935e-03 -1.90139611e+01] [-1.72552719e-02 -9.73295151e-05 9.99851112e-01 -2.33481320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.76862385300001 meters Centerline goodness [0,1] 0.99993627326026 Centerline is valid? [True, True] Translation: X:119.50, Y:-19.02, Z:-2.34 [[ 9.83437631e-01 1.80549906e-01 1.58794957e-02 1.19497365e+02] [-1.80527168e-01 9.83565824e-01 -2.86573316e-03 -1.90240224e+01] [-1.61359371e-02 -4.84105472e-05 9.99869806e-01 -2.33833429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.79862385300001 meters Centerline goodness [0,1] 0.9999570621954099 Centerline is valid? [True, True] Translation: X:119.52, Y:-19.03, Z:-2.34 [[ 9.83631051e-01 1.79499599e-01 1.58066210e-02 1.19524240e+02] [-1.79476949e-01 9.83758046e-01 -2.85162956e-03 -1.90316794e+01] [-1.60617570e-02 -3.19727324e-05 9.99871001e-01 -2.33904740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.82862385300001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:119.55, Y:-19.04, Z:-2.34 [[ 9.83852890e-01 1.78299796e-01 1.55779901e-02 1.19551214e+02] [-1.78277664e-01 9.83976210e-01 -2.80926835e-03 -1.90386360e+01] [-1.58292636e-02 -1.33009007e-05 9.99874709e-01 -2.33958296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.85862385300001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:119.58, Y:-19.05, Z:-2.34 [[ 9.84033297e-01 1.77271451e-01 1.59154892e-02 1.19578788e+02] [-1.77248234e-01 9.84161995e-01 -2.86895154e-03 -1.90453286e+01] [-1.61720028e-02 2.15149244e-06 9.99869225e-01 -2.33971217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.88862385300001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:119.60, Y:-19.05, Z:-2.34 [[ 9.84418666e-01 1.75041954e-01 1.67393083e-02 1.19604186e+02] [-1.75015970e-01 9.84560975e-01 -3.01617896e-03 -1.90541193e+01] [-1.70088276e-02 3.95365780e-05 9.99855339e-01 -2.33888416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.91862385300001 meters Centerline goodness [0,1] 0.9999785301758378 Centerline is valid? [True, True] Translation: X:119.63, Y:-19.06, Z:-2.34 [[ 9.84579850e-01 1.74149756e-01 1.65644479e-02 1.19632286e+02] [-1.74124210e-01 9.84719178e-01 -2.98326010e-03 -1.90615892e+01] [-1.68308635e-02 5.29863721e-05 9.99858350e-01 -2.33955952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.94862385300002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:119.66, Y:-19.07, Z:-2.34 [[ 9.85015451e-01 1.71691950e-01 1.63228554e-02 1.19659839e+02] [-1.71666819e-01 9.85150682e-01 -2.93897947e-03 -1.90716627e+01] [-1.65850713e-02 9.28475178e-05 9.99862454e-01 -2.34097194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.978623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:119.69, Y:-19.08, Z:-2.34 [[ 9.85193776e-01 1.70700934e-01 1.59503929e-02 1.19686685e+02] [-1.70676819e-01 9.85322881e-01 -2.87118932e-03 -1.90789641e+01] [-1.62064018e-02 1.06315531e-04 9.99868662e-01 -2.34195960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.008623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:119.72, Y:-19.09, Z:-2.34 [[ 9.85357839e-01 1.69782751e-01 1.56123637e-02 1.19715023e+02] [-1.69759547e-01 9.85481508e-01 -2.80941811e-03 -1.90864645e+01] [-1.58626865e-02 1.17934371e-04 9.99874173e-01 -2.34319333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.038623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:119.74, Y:-19.10, Z:-2.34 [[ 9.85617532e-01 1.68315594e-01 1.50977395e-02 1.19743082e+02] [-1.68293733e-01 9.85733150e-01 -2.71613118e-03 -1.90954216e+01] [-1.53395096e-02 1.36211567e-04 9.99882334e-01 -2.34467802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.068623853 meters Centerline goodness [0,1] 0.9999570769395858 Centerline is valid? [True, True] Translation: X:119.77, Y:-19.10, Z:-2.35 [[ 9.85757616e-01 1.67514106e-01 1.48642913e-02 1.19769553e+02] [-1.67492834e-01 9.85869668e-01 -2.67342815e-03 -1.91049272e+01] [-1.51020908e-02 1.45689880e-04 9.99885946e-01 -2.34566145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.098623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:119.80, Y:-19.11, Z:-2.35 [[ 9.85881970e-01 1.66752226e-01 1.51801055e-02 1.19798047e+02] [-1.66729966e-01 9.85998818e-01 -2.72922758e-03 -1.91120696e+01] [-1.54226708e-02 1.59717790e-04 9.99881051e-01 -2.34510870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.12862385300001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:119.83, Y:-19.12, Z:-2.35 [[ 9.85910541e-01 1.66571687e-01 1.53061332e-02 1.19826668e+02] [-1.66549046e-01 9.86029334e-01 -2.75112650e-03 -1.91179452e+01] [-1.55505561e-02 1.63142736e-04 9.99879069e-01 -2.34510554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.15862385300001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:119.85, Y:-19.12, Z:-2.35 [[ 9.85836338e-01 1.67004857e-01 1.53653359e-02 1.19854269e+02] [-1.66982104e-01 9.85956061e-01 -2.76103138e-03 -1.91241982e+01] [-1.56106517e-02 1.56188934e-04 9.99878134e-01 -2.34582383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.18862385300001 meters Centerline goodness [0,1] 0.9998265958599761 Centerline is valid? [True, True] Translation: X:119.88, Y:-19.13, Z:-2.34 [[ 9.85481863e-01 1.69131154e-01 1.48374721e-02 1.19882739e+02] [-1.69110193e-01 9.85593547e-01 -2.66527809e-03 -1.91281317e+01] [-1.50744983e-02 1.17415449e-04 9.99886366e-01 -2.33881749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.21862385300001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:119.91, Y:-19.13, Z:-2.35 [[ 9.85196195e-01 1.70701637e-01 1.57926818e-02 1.19911626e+02] [-1.70678105e-01 9.85322760e-01 -2.83604436e-03 -1.91321104e+01] [-1.60450063e-02 9.85951078e-05 9.99871266e-01 -2.34580845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.24862385300001 meters Centerline goodness [0,1] 0.999978789292835 Centerline is valid? [True, True] Translation: X:119.94, Y:-19.13, Z:-2.35 [[ 9.84420866e-01 1.75149665e-01 1.54322405e-02 1.19940242e+02] [-1.75127752e-01 9.84541819e-01 -2.77061153e-03 -1.91315360e+01] [-1.56789578e-02 2.48342148e-05 9.99877077e-01 -2.34672972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.27862385300001 meters Centerline goodness [0,1] 0.9999574495244984 Centerline is valid? [True, True] Translation: X:119.97, Y:-19.13, Z:-2.35 [[ 9.84019993e-01 1.77354423e-01 1.58133429e-02 1.19967529e+02] [-1.77331714e-01 9.84147046e-01 -2.83808888e-03 -1.91327521e+01] [-1.60660023e-02 -1.14709917e-05 9.99870933e-01 -2.34682932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.30862385300001 meters Centerline goodness [0,1] 0.9999784445594068 Centerline is valid? [True, True] Translation: X:120.00, Y:-19.13, Z:-2.35 [[ 9.83566511e-01 1.79858945e-01 1.57378330e-02 1.19997070e+02] [-1.79836794e-01 9.83692410e-01 -2.82317605e-03 -1.91339233e+01] [-1.59889604e-02 -5.34600221e-05 9.99872167e-01 -2.34715832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.33862385300002 meters Centerline goodness [0,1] 0.9999571247883037 Centerline is valid? [True, True] Translation: X:120.03, Y:-19.13, Z:-2.35 [[ 9.82571436e-01 1.85254944e-01 1.52963895e-02 1.20025465e+02] [-1.85234682e-01 9.82690484e-01 -2.74330126e-03 -1.91298426e+01] [-1.55398265e-02 -1.37932398e-04 9.99879240e-01 -2.34878127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.368623853 meters Centerline goodness [0,1] 0.9999565670604587 Centerline is valid? [True, True] Translation: X:120.05, Y:-19.13, Z:-2.35 [[ 9.82114309e-01 1.87675975e-01 1.51397667e-02 1.20054550e+02] [-1.87656432e-01 9.82230980e-01 -2.71404324e-03 -1.91307117e+01] [-1.53801086e-02 -1.75573906e-04 9.99881704e-01 -2.34995101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.398623853 meters Centerline goodness [0,1] 0.9999358522034768 Centerline is valid? [True, True] Translation: X:120.08, Y:-19.13, Z:-2.35 [[ 9.81666167e-01 1.90046416e-01 1.46252157e-02 1.20083188e+02] [-1.90028451e-01 9.81775085e-01 -2.62114270e-03 -1.91295359e+01] [-1.48568112e-02 -2.06119992e-04 9.99889610e-01 -2.35160445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.428623853 meters Centerline goodness [0,1] 0.9999351603700182 Centerline is valid? [True, True] Translation: X:120.11, Y:-19.13, Z:-2.35 [[ 9.81068093e-01 1.93148637e-01 1.41067428e-02 1.20111246e+02] [-1.93132255e-01 9.81169478e-01 -2.52742236e-03 -1.91272278e+01] [-1.43292737e-02 -2.44893620e-04 9.99897301e-01 -2.35348514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.458623853 meters Centerline goodness [0,1] 0.9998500942264862 Centerline is valid? [True, True] Translation: X:120.14, Y:-19.13, Z:-2.35 [[ 9.80904719e-01 1.93976332e-01 1.41107998e-02 1.20140235e+02] [-1.93960042e-01 9.81006175e-01 -2.52708229e-03 -1.91294996e+01] [-1.43329759e-02 -2.58104387e-04 9.99897244e-01 -2.35401514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.488623853 meters Centerline goodness [0,1] 0.9999150003187488 Centerline is valid? [True, True] Translation: X:120.17, Y:-19.13, Z:-2.35 [[ 9.80823295e-01 1.94373618e-01 1.43024609e-02 1.20169222e+02] [-1.94356934e-01 9.80927533e-01 -2.56073130e-03 -1.91329423e+01] [-1.45274163e-02 -2.68157537e-04 9.99894436e-01 -2.35423124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.51862385300001 meters Centerline goodness [0,1] 0.9999354046896195 Centerline is valid? [True, True] Translation: X:120.20, Y:-19.14, Z:-2.35 [[ 9.80931414e-01 1.93798174e-01 1.46911354e-02 1.20197869e+02] [-1.93780517e-01 9.81041384e-01 -2.62961977e-03 -1.91380765e+01] [-1.49222273e-02 -2.67379162e-04 9.99888622e-01 -2.35383096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.54862385300001 meters Centerline goodness [0,1] 0.9999357945425361 Centerline is valid? [True, True] Translation: X:120.23, Y:-19.14, Z:-2.35 [[ 9.81041472e-01 1.93227481e-01 1.48583519e-02 1.20226130e+02] [-1.93209366e-01 9.81153949e-01 -2.65882596e-03 -1.91428144e+01] [-1.50920888e-02 -2.62354205e-04 9.99886074e-01 -2.35397665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.57862385300001 meters Centerline goodness [0,1] 0.9998936419135946 Centerline is valid? [True, True] Translation: X:120.25, Y:-19.15, Z:-2.35 [[ 9.81374721e-01 1.91492130e-01 1.53108170e-02 1.20254460e+02] [-1.91472695e-01 9.81494119e-01 -2.73902895e-03 -1.91482572e+01] [-1.55519793e-02 -2.43589614e-04 9.99879031e-01 -2.35355179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.60862385300001 meters Centerline goodness [0,1] 0.9999784454886408 Centerline is valid? [True, True] Translation: X:120.28, Y:-19.15, Z:-2.35 [[ 9.81627120e-01 1.90184768e-01 1.54256950e-02 1.20283112e+02] [-1.90164891e-01 9.81748289e-01 -2.75880596e-03 -1.91542542e+01] [-1.56688325e-02 -2.25306855e-04 9.99877211e-01 -2.35408567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.63862385300001 meters Centerline goodness [0,1] 0.9998700511132288 Centerline is valid? [True, True] Translation: X:120.31, Y:-19.16, Z:-2.35 [[ 9.81857916e-01 1.89030044e-01 1.49223004e-02 1.20310855e+02] [-1.89011317e-01 9.81971284e-01 -2.66831042e-03 -1.91591785e+01] [-1.51576613e-02 -2.00581927e-04 9.99885096e-01 -2.34903593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.66862385300001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:120.34, Y:-19.16, Z:-2.36 [[ 9.82398725e-01 1.86200770e-01 1.49003053e-02 1.20338499e+02] [-1.86181786e-01 9.82511704e-01 -2.66347265e-03 -1.91639164e+01] [-1.51356650e-02 -1.57573327e-04 9.99885437e-01 -2.35636337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.69862385300002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:120.37, Y:-19.17, Z:-2.36 [[ 9.82691400e-01 1.84654658e-01 1.48414509e-02 1.20367032e+02] [-1.84635661e-01 9.82803459e-01 -2.65203286e-03 -1.91705044e+01] [-1.50759395e-02 -1.34131227e-04 9.99886343e-01 -2.35672248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.728623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:120.40, Y:-19.18, Z:-2.36 [[ 9.83019117e-01 1.82883858e-01 1.50635090e-02 1.20395662e+02] [-1.82864092e-01 9.83134519e-01 -2.69097115e-03 -1.91766551e+01] [-1.53015908e-02 -1.09298817e-04 9.99882918e-01 -2.35759405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.758623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:120.42, Y:-19.19, Z:-2.36 [[ 9.83802403e-01 1.78644851e-01 1.47935629e-02 1.20422705e+02] [-1.78625318e-01 9.83913622e-01 -2.64204848e-03 -1.91862994e+01] [-1.50275764e-02 -4.32512330e-05 9.99887079e-01 -2.35836617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.788623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:120.45, Y:-19.19, Z:-2.36 [[ 9.84221531e-01 1.76303011e-01 1.50075267e-02 1.20449995e+02] [-1.76282648e-01 9.84335943e-01 -2.67955449e-03 -1.91942221e+01] [-1.52448615e-02 -8.29132047e-06 9.99883790e-01 -2.35865554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.818623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:120.48, Y:-19.20, Z:-2.36 [[ 9.85004769e-01 1.71846591e-01 1.53086038e-02 1.20477909e+02] [-1.71824878e-01 9.85123721e-01 -2.73235167e-03 -1.92044687e+01] [-1.55504141e-02 6.09804435e-05 9.99879083e-01 -2.35767160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.848623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:120.51, Y:-19.21, Z:-2.36 [[ 9.85374966e-01 1.69690929e-01 1.55294624e-02 1.20505315e+02] [-1.69668328e-01 9.85497326e-01 -2.77106697e-03 -1.92120717e+01] [-1.57744686e-02 9.56820959e-05 9.99875571e-01 -2.35767706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.87862385300001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:120.53, Y:-19.22, Z:-2.36 [[ 9.85735864e-01 1.67554300e-01 1.58228896e-02 1.20533611e+02] [-1.67530581e-01 9.85862840e-01 -2.82224338e-03 -1.92199117e+01] [-1.60720779e-02 1.31168615e-04 9.99870827e-01 -2.35781483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.90862385300001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:120.56, Y:-19.23, Z:-2.36 [[ 9.86418089e-01 1.63503241e-01 1.56857741e-02 1.20559539e+02] [-1.63479430e-01 9.86542778e-01 -2.79707812e-03 -1.92305015e+01] [-1.59320185e-02 1.94787031e-04 9.99873058e-01 -2.35849896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.93862385300001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:120.59, Y:-19.24, Z:-2.36 [[ 9.86677479e-01 1.61932189e-01 1.56690035e-02 1.20586407e+02] [-1.61908246e-01 9.86801864e-01 -2.79318005e-03 -1.92382405e+01] [-1.59145076e-02 2.19026985e-04 9.99873332e-01 -2.35914574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.96862385300001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:120.61, Y:-19.24, Z:-2.36 [[ 9.87020704e-01 1.59891354e-01 1.49961584e-02 1.20614608e+02] [-1.59869200e-01 9.87134589e-01 -2.67239992e-03 -1.92444789e+01] [-1.52305203e-02 2.40290210e-04 9.99883980e-01 -2.35984035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.99862385300001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:120.64, Y:-19.25, Z:-2.36 [[ 9.87106540e-01 1.59427255e-01 1.42698326e-02 1.20643164e+02] [-1.59407156e-01 9.87209651e-01 -2.54230401e-03 -1.92501386e+01] [-1.44926290e-02 2.34811477e-04 9.99894949e-01 -2.36123154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.02862385300001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:120.67, Y:-19.26, Z:-2.36 [[ 9.87123499e-01 1.59363044e-01 1.38064391e-02 1.20670481e+02] [-1.59344232e-01 9.87220020e-01 -2.45912759e-03 -1.92561295e+01] [-1.40218871e-02 2.27486192e-04 9.99901663e-01 -2.36346989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.05862385300001 meters Centerline goodness [0,1] 0.9999570474411013 Centerline is valid? [True, True] Translation: X:120.70, Y:-19.26, Z:-2.36 [[ 9.87001069e-01 1.60197336e-01 1.28725647e-02 1.20699294e+02] [-1.60181064e-01 9.87084988e-01 -2.29200203e-03 -1.92598544e+01] [-1.30734880e-02 2.00267337e-04 9.99914518e-01 -2.36265475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.08862385300002 meters Centerline goodness [0,1] 0.9998071896825057 Centerline is valid? [True, True] Translation: X:120.73, Y:-19.26, Z:-2.36 [[ 9.86873998e-01 1.61018139e-01 1.23641376e-02 1.20726889e+02] [-1.61003198e-01 9.86951430e-01 -2.20097373e-03 -1.92639256e+01] [-1.25572000e-02 1.81418049e-04 9.99921139e-01 -2.36062126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.118623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:120.76, Y:-19.27, Z:-2.37 [[ 9.86767191e-01 1.61654269e-01 1.25860440e-02 1.20755053e+02] [-1.61638849e-01 9.86847438e-01 -2.23964341e-03 -1.92674790e+01] [-1.27825532e-02 1.75612964e-04 9.99918284e-01 -2.36787864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.148623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:120.78, Y:-19.27, Z:-2.37 [[ 9.86561298e-01 1.62912939e-01 1.24971842e-02 1.20783309e+02] [-1.62897845e-01 9.86640436e-01 -2.22323884e-03 -1.92708240e+01] [-1.26924216e-02 1.57597030e-04 9.99919436e-01 -2.36906456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.178623853 meters Centerline goodness [0,1] 0.9999784385174325 Centerline is valid? [True, True] Translation: X:120.81, Y:-19.27, Z:-2.37 [[ 9.86497972e-01 1.63289643e-01 1.25795115e-02 1.20811783e+02] [-1.63274387e-01 9.86578162e-01 -2.23728418e-03 -1.92740670e+01] [-1.27759967e-02 1.53164264e-04 9.99918372e-01 -2.36859651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.208623853 meters Centerline goodness [0,1] 0.9998715285955935 Centerline is valid? [True, True] Translation: X:120.84, Y:-19.28, Z:-2.37 [[ 9.86470423e-01 1.63418771e-01 1.30541345e-02 1.20839078e+02] [-1.63402362e-01 9.86556780e-01 -2.32107056e-03 -1.92805857e+01] [-1.32579514e-02 1.56591044e-04 9.99912097e-01 -2.36945366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.238623853 meters Centerline goodness [0,1] 0.9998907414286651 Centerline is valid? [True, True] Translation: X:120.87, Y:-19.28, Z:-2.37 [[ 9.86478958e-01 1.63370514e-01 1.30130617e-02 1.20867634e+02] [-1.63354215e-01 9.86564773e-01 -2.31291718e-03 -1.92844399e+01] [-1.32160908e-02 1.55905648e-04 9.99912652e-01 -2.36962600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.26862385300001 meters Centerline goodness [0,1] 0.9998724598248449 Centerline is valid? [True, True] Translation: X:120.89, Y:-19.29, Z:-2.37 [[ 9.86427148e-01 1.63699718e-01 1.28016857e-02 1.20894878e+02] [-1.63683979e-01 9.86510203e-01 -2.27478691e-03 -1.92916190e+01] [-1.30013755e-02 1.48480714e-04 9.99915468e-01 -2.37139472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.29862385300001 meters Centerline goodness [0,1] 0.999807428962684 Centerline is valid? [True, True] Translation: X:120.92, Y:-19.30, Z:-2.37 [[ 9.86432385e-01 1.63705046e-01 1.23210211e-02 1.20923302e+02] [-1.63690478e-01 9.86509320e-01 -2.18858725e-03 -1.92969311e+01] [-1.25130849e-02 1.42059514e-04 9.99921698e-01 -2.37289005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.32862385300001 meters Centerline goodness [0,1] 0.999828082692225 Centerline is valid? [True, True] Translation: X:120.95, Y:-19.30, Z:-2.37 [[ 9.86247254e-01 1.64839751e-01 1.20087330e-02 1.20951631e+02] [-1.64826002e-01 9.86320354e-01 -2.13256673e-03 -1.93014085e+01] [-1.21959895e-02 1.23886633e-04 9.99925618e-01 -2.37338613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.35862385300001 meters Centerline goodness [0,1] 0.9998707592891761 Centerline is valid? [True, True] Translation: X:120.98, Y:-19.30, Z:-2.37 [[ 9.86022999e-01 1.66170111e-01 1.20888008e-02 1.20980543e+02] [-1.66156286e-01 9.86097096e-01 -2.14621405e-03 -1.93041511e+01] [-1.22773679e-02 1.07586183e-04 9.99924624e-01 -2.37339896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.38862385300001 meters Centerline goodness [0,1] 0.9999353462209866 Centerline is valid? [True, True] Translation: X:121.01, Y:-19.30, Z:-2.37 [[ 9.85493222e-01 1.69302018e-01 1.18295058e-02 1.21009572e+02] [-1.69289011e-01 9.85564215e-01 -2.09956478e-03 -1.93044464e+01] [-1.20141982e-02 6.65015148e-05 9.99927825e-01 -2.37431679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.41862385300001 meters Centerline goodness [0,1] 0.999892122807396 Centerline is valid? [True, True] Translation: X:121.04, Y:-19.31, Z:-2.37 [[ 9.85216477e-01 1.70884073e-01 1.21295782e-02 1.21037339e+02] [-1.70870522e-01 9.85291140e-01 -2.15249719e-03 -1.93067361e+01] [-1.23189935e-02 4.80883310e-05 9.99924117e-01 -2.37480871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.44862385300002 meters Centerline goodness [0,1] 0.9999785375485588 Centerline is valid? [True, True] Translation: X:121.07, Y:-19.31, Z:-2.37 [[ 9.84652921e-01 1.73979771e-01 1.37718830e-02 1.21065650e+02] [-1.73962619e-01 9.84749227e-01 -2.44296273e-03 -1.93055593e+01] [-1.39868772e-02 9.67756043e-06 9.99902179e-01 -2.37286533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.478623853 meters Centerline goodness [0,1] 0.9999572686095205 Centerline is valid? [True, True] Translation: X:121.09, Y:-19.31, Z:-2.37 [[ 9.84433890e-01 1.75204758e-01 1.38999851e-02 1.21093294e+02] [-1.75187418e-01 9.84532017e-01 -2.46493093e-03 -1.93080830e+01] [-1.41168480e-02 -8.54095851e-06 9.99900352e-01 -2.37265457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.508623853 meters Centerline goodness [0,1] 0.9999572686095205 Centerline is valid? [True, True] Translation: X:121.12, Y:-19.31, Z:-2.37 [[ 9.84445947e-01 1.75136984e-01 1.39001543e-02 1.21120383e+02] [-1.75119651e-01 9.84544076e-01 -2.46397623e-03 -1.93127474e+01] [-1.41168479e-02 -8.53875674e-06 9.99900352e-01 -2.37313939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.538623853 meters Centerline goodness [0,1] 0.9999572530831213 Centerline is valid? [True, True] Translation: X:121.15, Y:-19.32, Z:-2.37 [[ 9.84248990e-01 1.76219457e-01 1.41643150e-02 1.21147775e+02] [-1.76201585e-01 9.84350904e-01 -2.50980948e-03 -1.93152799e+01] [-1.43849335e-02 -2.54973108e-05 9.99896531e-01 -2.37396140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.568623853 meters Centerline goodness [0,1] 0.9999785711224446 Centerline is valid? [True, True] Translation: X:121.18, Y:-19.32, Z:-2.37 [[ 9.84140820e-01 1.76815018e-01 1.42581751e-02 1.21175461e+02] [-1.76796988e-01 9.84244100e-01 -2.52522036e-03 -1.93186211e+01] [-1.44800216e-02 -3.56299739e-05 9.99895158e-01 -2.37403889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.598623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.20, Y:-19.32, Z:-2.37 [[ 9.83978164e-01 1.77729772e-01 1.41102805e-02 1.21203450e+02] [-1.77712223e-01 9.84079329e-01 -2.49800041e-03 -1.93203463e+01] [-1.43296044e-02 -4.95914620e-05 9.99897325e-01 -2.37493503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.62862385300001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.23, Y:-19.32, Z:-2.38 [[ 9.83934990e-01 1.77996967e-01 1.37483039e-02 1.21231119e+02] [-1.77980344e-01 9.84031035e-01 -2.43313179e-03 -1.93241198e+01] [-1.39618478e-02 -5.28843541e-05 9.99902527e-01 -2.37671160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.65862385300001 meters Centerline goodness [0,1] 0.9999788355309107 Centerline is valid? [True, True] Translation: X:121.26, Y:-19.33, Z:-2.38 [[ 9.83816647e-01 1.78716087e-01 1.28594646e-02 1.21260093e+02] [-1.78701616e-01 9.83900684e-01 -2.27508972e-03 -1.93275355e+01] [-1.30590311e-02 -5.97359598e-05 9.99914725e-01 -2.37941077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.68862385300001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.29, Y:-19.33, Z:-2.38 [[ 9.83831733e-01 1.78663005e-01 1.24358920e-02 1.21288463e+02] [-1.78649474e-01 9.83910325e-01 -2.19960161e-03 -1.93317935e+01] [-1.26287900e-02 -5.76277036e-05 9.99920252e-01 -2.38071971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.71862385300001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.32, Y:-19.34, Z:-2.38 [[ 9.83825091e-01 1.78722149e-01 1.21071749e-02 1.21317038e+02] [-1.78709335e-01 9.83899583e-01 -2.14092332e-03 -1.93358255e+01] [-1.22948748e-02 -5.73710978e-05 9.99924414e-01 -2.38160383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.74862385300001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.34, Y:-19.34, Z:-2.38 [[ 9.83934300e-01 1.78130699e-01 1.19477372e-02 1.21343801e+02] [-1.78118180e-01 9.84006835e-01 -2.11237514e-03 -1.93394327e+01] [-1.21329340e-02 -4.96708589e-05 9.99926392e-01 -2.38245624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.77862385300001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.37, Y:-19.34, Z:-2.38 [[ 9.84010788e-01 1.77713029e-01 1.18679493e-02 1.21371607e+02] [-1.77700659e-01 9.84082353e-01 -2.09726086e-03 -1.93439299e+01] [-1.20517500e-02 -4.52151023e-05 9.99927374e-01 -2.38298461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.80862385300001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.40, Y:-19.35, Z:-2.38 [[ 9.84088135e-01 1.77290541e-01 1.17731083e-02 1.21399289e+02] [-1.77278347e-01 9.84158555e-01 -2.07972656e-03 -1.93488060e+01] [-1.19553211e-02 -4.04829461e-05 9.99928532e-01 -2.38292155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.83862385300002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.43, Y:-19.35, Z:-2.38 [[ 9.84311364e-01 1.76033823e-01 1.19679851e-02 1.21427075e+02] [-1.76021140e-01 9.84384118e-01 -2.11320197e-03 -1.93523819e+01] [-1.21530895e-02 -2.65696674e-05 9.99926148e-01 -2.38330688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.868623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.45, Y:-19.36, Z:-2.38 [[ 9.84357604e-01 1.75763722e-01 1.21334663e-02 1.21453843e+02] [-1.75750673e-01 9.84432381e-01 -2.14180554e-03 -1.93558445e+01] [-1.23210288e-02 -2.41622996e-05 9.99924093e-01 -2.38460676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.898623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.48, Y:-19.36, Z:-2.38 [[ 9.84363340e-01 1.75747008e-01 1.19081378e-02 1.21482296e+02] [-1.75734450e-01 9.84435365e-01 -2.10100924e-03 -1.93582803e+01] [-1.20920381e-02 -2.45135842e-05 9.99926888e-01 -2.38446303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.928623853 meters Centerline goodness [0,1] 0.9999785885577253 Centerline is valid? [True, True] Translation: X:121.51, Y:-19.36, Z:-2.39 [[ 9.84332152e-01 1.75932652e-01 1.17437854e-02 1.21509413e+02] [-1.75920462e-01 9.84402205e-01 -2.07125309e-03 -1.93602093e+01] [-1.19250093e-02 -2.71711457e-05 9.99928894e-01 -2.38668009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.958623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.54, Y:-19.36, Z:-2.39 [[ 9.84282522e-01 1.76219907e-01 1.15957760e-02 1.21538041e+02] [-1.76208056e-01 9.84350823e-01 -2.04398834e-03 -1.93629254e+01] [-1.17745031e-02 -3.14071436e-05 9.99930678e-01 -2.38764415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.988623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.57, Y:-19.36, Z:-2.39 [[ 9.84250655e-01 1.76434528e-01 1.10229959e-02 1.21567112e+02] [-1.76423836e-01 9.84312377e-01 -1.94259822e-03 -1.93641040e+01] [-1.11928127e-02 -3.27156481e-05 9.99937358e-01 -2.38755734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.01862385300001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.60, Y:-19.37, Z:-2.39 [[ 9.84303822e-01 1.76119678e-01 1.13068947e-02 1.21595810e+02] [-1.76108414e-01 9.84368761e-01 -1.99207071e-03 -1.93672238e+01] [-1.14809968e-02 -3.04364883e-05 9.99934091e-01 -2.38728708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.04862385300001 meters Centerline goodness [0,1] 0.9999569197630587 Centerline is valid? [True, True] Translation: X:121.62, Y:-19.37, Z:-2.39 [[ 9.84408209e-01 1.75531681e-01 1.13625468e-02 1.21623694e+02] [-1.75520272e-01 9.84473782e-01 -2.00145567e-03 -1.93706948e+01] [-1.15374483e-02 -2.41079219e-05 9.99933441e-01 -2.38781017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.07862385300001 meters Centerline goodness [0,1] 0.9998492419021364 Centerline is valid? [True, True] Translation: X:121.65, Y:-19.38, Z:-2.39 [[ 9.84921675e-01 1.72610302e-01 1.16179775e-02 1.21651448e+02] [-1.72598182e-01 9.84990195e-01 -2.04548676e-03 -1.93758778e+01] [-1.17966660e-02 9.40245866e-06 9.99930417e-01 -2.38796717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.10862385300001 meters Centerline goodness [0,1] 0.9999136889349215 Centerline is valid? [True, True] Translation: X:121.68, Y:-19.38, Z:-2.39 [[ 9.85282283e-01 1.70547312e-01 1.15081327e-02 1.21678847e+02] [-1.70535287e-01 9.85349488e-01 -2.02544821e-03 -1.93818106e+01] [-1.16849674e-02 3.30955170e-05 9.99931728e-01 -2.38870863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.13862385300001 meters Centerline goodness [0,1] 0.9995895441780082 Centerline is valid? [True, True] Translation: X:121.71, Y:-19.39, Z:-2.38 [[ 9.85956584e-01 1.66647559e-01 1.08722715e-02 1.21707209e+02] [-1.66636597e-01 9.86016524e-01 -1.91287051e-03 -1.93889904e+01] [-1.10390145e-02 7.42889550e-05 9.99939065e-01 -2.38380112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.16862385300001 meters Centerline goodness [0,1] 0.999849426746112 Centerline is valid? [True, True] Translation: X:121.73, Y:-19.40, Z:-2.39 [[ 9.86312019e-01 1.64514640e-01 1.11146047e-02 1.21733538e+02] [-1.64503053e-01 9.86374636e-01 -1.95508403e-03 -1.93962202e+01] [-1.12848041e-02 9.99364743e-05 9.99936320e-01 -2.39070976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.19862385300002 meters Centerline goodness [0,1] 0.9996551872764105 Centerline is valid? [True, True] Translation: X:121.76, Y:-19.40, Z:-2.39 [[ 9.86642840e-01 1.62541479e-01 1.07783793e-02 1.21760286e+02] [-1.62530474e-01 9.86701705e-01 -1.89508109e-03 -1.94027852e+01] [-1.09430745e-02 1.17953107e-04 9.99940116e-01 -2.39123952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.22862385300002 meters Centerline goodness [0,1] 0.9997212633203971 Centerline is valid? [True, True] Translation: X:121.79, Y:-19.41, Z:-2.39 [[ 9.87188639e-01 1.59175418e-01 1.10353164e-02 1.21787005e+02] [-1.59163679e-01 9.87250303e-01 -1.93956137e-03 -1.94105792e+01] [-1.12033500e-02 1.58291383e-04 9.99937228e-01 -2.39147384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.258623853 meters Centerline goodness [0,1] 0.9997632524804684 Centerline is valid? [True, True] Translation: X:121.82, Y:-19.41, Z:-2.39 [[ 9.87447019e-01 1.57560111e-01 1.10993845e-02 1.21815807e+02] [-1.57548142e-01 9.87509382e-01 -1.95008625e-03 -1.94148865e+01] [-1.12680021e-02 1.76919446e-04 9.99936498e-01 -2.39128393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.288623853 meters Centerline goodness [0,1] 0.9995681371596381 Centerline is valid? [True, True] Translation: X:121.84, Y:-19.42, Z:-2.39 [[ 9.87842887e-01 1.55026431e-01 1.15428292e-02 1.21844035e+02] [-1.55013320e-01 9.87910300e-01 -2.02739623e-03 -1.94209130e+01] [-1.17175799e-02 2.13456657e-04 9.99931324e-01 -2.39113739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.318623853 meters Centerline goodness [0,1] 0.9996555139301555 Centerline is valid? [True, True] Translation: X:121.87, Y:-19.43, Z:-2.39 [[ 9.87968036e-01 1.54215800e-01 1.16896126e-02 1.21872261e+02] [-1.54202304e-01 9.88037163e-01 -2.05259849e-03 -1.94250274e+01] [-1.18663148e-02 2.25336512e-04 9.99929567e-01 -2.39129525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.348623853 meters Centerline goodness [0,1] 0.9996770373560125 Centerline is valid? [True, True] Translation: X:121.90, Y:-19.43, Z:-2.39 [[ 9.88088572e-01 1.53421239e-01 1.19539501e-02 1.21900934e+02] [-1.53407075e-01 9.88160850e-01 -2.09841916e-03 -1.94287102e+01] [-1.21343676e-02 2.39603469e-04 9.99926347e-01 -2.39098391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.37862385300001 meters Centerline goodness [0,1] 0.9996158278908951 Centerline is valid? [True, True] Translation: X:121.93, Y:-19.43, Z:-2.39 [[ 9.88159741e-01 1.52917545e-01 1.25120306e-02 1.21928383e+02] [-1.52901994e-01 9.88238918e-01 -2.19578993e-03 -1.94336755e+01] [-1.27006503e-02 2.56676786e-04 9.99919311e-01 -2.39105747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.40862385300001 meters Centerline goodness [0,1] 0.9995938001068947 Centerline is valid? [True, True] Translation: X:121.96, Y:-19.44, Z:-2.39 [[ 9.88336786e-01 1.51761854e-01 1.25991025e-02 1.21956864e+02] [-1.51746004e-01 9.88417050e-01 -2.21017811e-03 -1.94396945e+01] [-1.27885885e-02 2.72536878e-04 9.99918186e-01 -2.39181119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.43862385300001 meters Centerline goodness [0,1] 0.9994220890410959 Centerline is valid? [True, True] Translation: X:121.98, Y:-19.44, Z:-2.39 [[ 9.88457750e-01 1.50983095e-01 1.24651969e-02 1.21984064e+02] [-1.50967523e-01 9.88536305e-01 -2.18636207e-03 -1.94448621e+01] [-1.26524034e-02 2.79286636e-04 9.99919916e-01 -2.39264679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.46862385300001 meters Centerline goodness [0,1] 0.9994371563406503 Centerline is valid? [True, True] Translation: X:122.01, Y:-19.45, Z:-2.39 [[ 9.88600127e-01 1.50056359e-01 1.23643839e-02 1.22010984e+02] [-1.50040973e-01 9.88677402e-01 -2.16802021e-03 -1.94500995e+01] [-1.25497122e-02 2.88140859e-04 9.99921208e-01 -2.39385958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.49862385300001 meters Centerline goodness [0,1] 0.9994869163673679 Centerline is valid? [True, True] Translation: X:122.04, Y:-19.45, Z:-2.39 [[ 9.88611517e-01 1.49977113e-01 1.24151128e-02 1.22038992e+02] [-1.49961606e-01 9.88689426e-01 -2.17594748e-03 -1.94541061e+01] [-1.26010331e-02 2.89376474e-04 9.99920562e-01 -2.39399101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.52862385300001 meters Centerline goodness [0,1] 0.9995059713033766 Centerline is valid? [True, True] Translation: X:122.07, Y:-19.46, Z:-2.39 [[ 9.88673910e-01 1.49576827e-01 1.22748431e-02 1.22067148e+02] [-1.49561650e-01 9.88750064e-01 -2.15037512e-03 -1.94586779e+01] [-1.24583982e-02 2.90173983e-04 9.99922349e-01 -2.39478985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.55862385300001 meters Centerline goodness [0,1] 0.9993112502959471 Centerline is valid? [True, True] Translation: X:122.09, Y:-19.46, Z:-2.39 [[ 9.88779725e-01 1.48915419e-01 1.17835923e-02 1.22094245e+02] [-1.48901390e-01 9.88849896e-01 -2.06394344e-03 -1.94639612e+01] [-1.19595570e-02 2.86192161e-04 9.99928441e-01 -2.39067916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.58862385300002 meters Centerline goodness [0,1] 0.9993976551575777 Centerline is valid? [True, True] Translation: X:122.12, Y:-19.47, Z:-2.40 [[ 9.88850081e-01 1.48418065e-01 1.21488932e-02 1.22122125e+02] [-1.48403129e-01 9.88924662e-01 -2.12682565e-03 -1.94692130e+01] [-1.23299995e-02 3.00177942e-04 9.99923938e-01 -2.39624337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.618623853 meters Centerline goodness [0,1] 0.999417199102055 Centerline is valid? [True, True] Translation: X:122.15, Y:-19.47, Z:-2.40 [[ 9.88969222e-01 1.47635860e-01 1.19804059e-02 1.22150718e+02] [-1.47621284e-01 9.89041738e-01 -2.09678800e-03 -1.94711087e+01] [-1.21586826e-02 3.05095891e-04 9.99926034e-01 -2.39658257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.648623853 meters Centerline goodness [0,1] 0.9993139819062727 Centerline is valid? [True, True] Translation: X:122.18, Y:-19.48, Z:-2.40 [[ 9.88987770e-01 1.47541576e-01 1.16049498e-02 1.22178091e+02] [-1.47527899e-01 9.89055810e-01 -2.03061861e-03 -1.94784390e+01] [-1.17775437e-02 2.96203100e-04 9.99930598e-01 -2.39515789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.678623853 meters Centerline goodness [0,1] 0.9994843810424097 Centerline is valid? [True, True] Translation: X:122.20, Y:-19.48, Z:-2.40 [[ 9.88951690e-01 1.47756509e-01 1.19402148e-02 1.22204935e+02] [-1.47742055e-01 9.89023722e-01 -2.08851952e-03 -1.94842205e+01] [-1.21177480e-02 3.01373037e-04 9.99926532e-01 -2.39838185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.708623853 meters Centerline goodness [0,1] 0.9994655150297174 Centerline is valid? [True, True] Translation: X:122.23, Y:-19.49, Z:-2.40 [[ 9.88899127e-01 1.48104471e-01 1.19825668e-02 1.22233479e+02] [-1.48089953e-01 9.88971677e-01 -2.09489228e-03 -1.94887544e+01] [-1.21606821e-02 2.97139391e-04 9.99926012e-01 -2.39867423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.738623853 meters Centerline goodness [0,1] 0.999640204025482 Centerline is valid? [True, True] Translation: X:122.26, Y:-19.49, Z:-2.40 [[ 9.88755809e-01 1.49090589e-01 1.15734816e-02 1.22260376e+02] [-1.49077118e-01 9.88823503e-01 -2.02292100e-03 -1.94945090e+01] [-1.17457291e-02 2.74833615e-04 9.99930979e-01 -2.40121206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.76862385300001 meters Centerline goodness [0,1] 0.9994239262625616 Centerline is valid? [True, True] Translation: X:122.29, Y:-19.50, Z:-2.40 [[ 9.88715536e-01 1.49390961e-01 1.11323400e-02 1.22287415e+02] [-1.49378523e-01 9.88778172e-01 -1.94527826e-03 -1.95026268e+01] [-1.12980218e-02 2.60394333e-04 9.99936141e-01 -2.40372563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.79862385300001 meters Centerline goodness [0,1] 0.999547286955397 Centerline is valid? [True, True] Translation: X:122.32, Y:-19.50, Z:-2.40 [[ 9.88582208e-01 1.50299797e-01 1.07326529e-02 1.22317601e+02] [-1.50288298e-01 9.88640437e-01 -1.87458658e-03 -1.94978101e+01] [-1.08924847e-02 2.40190789e-04 9.99940646e-01 -2.40288518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.82862385300001 meters Centerline goodness [0,1] 0.9996335022097661 Centerline is valid? [True, True] Translation: X:122.34, Y:-19.50, Z:-2.40 [[ 9.88545400e-01 1.50524627e-01 1.09694226e-02 1.22344791e+02] [-1.50512634e-01 9.88606230e-01 -1.91546199e-03 -1.95029306e+01] [-1.11327637e-02 2.42484451e-04 9.99937999e-01 -2.40352496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.85862385300001 meters Centerline goodness [0,1] 0.9996725605762934 Centerline is valid? [True, True] Translation: X:122.37, Y:-19.51, Z:-2.40 [[ 9.88553334e-01 1.50451981e-01 1.12475453e-02 1.22372326e+02] [-1.50439375e-01 9.88617287e-01 -1.96340566e-03 -1.95058951e+01] [-1.14149160e-02 2.48857532e-04 9.99934817e-01 -2.40309978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.88862385300001 meters Centerline goodness [0,1] 0.9998061389337641 Centerline is valid? [True, True] Translation: X:122.40, Y:-19.51, Z:-2.40 [[ 9.88698323e-01 1.49501864e-01 1.11722349e-02 1.22398826e+02] [-1.49489376e-01 9.88761410e-01 -1.94935308e-03 -1.95137461e+01] [-1.13381067e-02 2.57191698e-04 9.99935689e-01 -2.40446093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.91862385300001 meters Centerline goodness [0,1] 0.9996807899384988 Centerline is valid? [True, True] Translation: X:122.43, Y:-19.52, Z:-2.41 [[ 9.88852152e-01 1.48513343e-01 1.07335609e-02 1.22425829e+02] [-1.48501763e-01 9.88910370e-01 -1.87229446e-03 -1.95217923e+01] [-1.08925904e-02 2.57469681e-04 9.99940641e-01 -2.40574330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.94862385300002 meters Centerline goodness [0,1] 0.9996751559251559 Centerline is valid? [True, True] Translation: X:122.45, Y:-19.53, Z:-2.41 [[ 9.89049659e-01 1.47207503e-01 1.05224794e-02 1.22454631e+02] [-1.47196312e-01 9.89105596e-01 -1.83448876e-03 -1.95266149e+01] [-1.06778937e-02 2.65530328e-04 9.99942954e-01 -2.40627224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.97862385300002 meters Centerline goodness [0,1] 0.999633810098225 Centerline is valid? [True, True] Translation: X:122.48, Y:-19.54, Z:-2.41 [[ 9.89185565e-01 1.46312173e-01 1.02306517e-02 1.22481734e+02] [-1.46301550e-01 9.89238433e-01 -1.78322142e-03 -1.95353826e+01] [-1.03814608e-02 2.67176693e-04 9.99946075e-01 -2.40745111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.00862385300002 meters Centerline goodness [0,1] 0.9995468473522938 Centerline is valid? [True, True] Translation: X:122.51, Y:-19.54, Z:-2.41 [[ 9.89448142e-01 1.44537791e-01 1.00599305e-02 1.22509411e+02] [-1.44527435e-01 9.89499241e-01 -1.75277892e-03 -1.95430076e+01] [-1.02076364e-02 2.80347885e-04 9.99947861e-01 -2.40782794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.03862385300002 meters Centerline goodness [0,1] 0.9993811749141114 Centerline is valid? [True, True] Translation: X:122.54, Y:-19.55, Z:-2.41 [[ 9.89537046e-01 1.43935436e-01 9.95112306e-03 1.22536026e+02] [-1.43925276e-01 9.89587040e-01 -1.73342971e-03 -1.95533168e+01] [-1.00970044e-02 2.83074786e-04 9.99948984e-01 -2.40938961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.06862385300002 meters Centerline goodness [0,1] 0.9992550496988273 Centerline is valid? [True, True] Translation: X:122.56, Y:-19.57, Z:-2.41 [[ 9.89675204e-01 1.42909574e-01 1.09473501e-02 1.22561449e+02] [-1.42897224e-01 9.89735697e-01 -1.90617201e-03 -1.95694351e+01] [-1.11073934e-02 3.22145246e-04 9.99938259e-01 -2.40900213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.09862385300002 meters Centerline goodness [0,1] 0.9994395464637538 Centerline is valid? [True, True] Translation: X:122.59, Y:-19.57, Z:-2.41 [[ 9.89705763e-01 1.42643620e-01 1.16319000e-02 1.22591431e+02] [-1.42629668e-01 9.89774054e-01 -2.02456624e-03 -1.95670016e+01] [-1.18017443e-02 3.44670831e-04 9.99930298e-01 -2.40628051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.12862385300002 meters Centerline goodness [0,1] 0.9993081081081081 Centerline is valid? [True, True] Translation: X:122.62, Y:-19.58, Z:-2.41 [[ 9.89697076e-01 1.42696742e-01 1.17191456e-02 1.22617905e+02] [-1.42682590e-01 9.89766397e-01 -2.03924215e-03 -1.95767161e+01] [-1.18902097e-02 3.46113944e-04 9.99929249e-01 -2.40686354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.15862385300002 meters Centerline goodness [0,1] 0.9989648256378184 Centerline is valid? [True, True] Translation: X:122.64, Y:-19.59, Z:-2.40 [[ 9.89724235e-01 1.42560440e-01 1.10661916e-02 1.22644327e+02] [-1.42547819e-01 9.89786044e-01 -1.92500881e-03 -1.95851865e+01] [-1.12275921e-02 3.27766391e-04 9.99936915e-01 -2.40238168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.188623853 meters Centerline goodness [0,1] 0.9993800239439029 Centerline is valid? [True, True] Translation: X:122.67, Y:-19.59, Z:-2.41 [[ 9.89646786e-01 1.43061247e-01 1.15203395e-02 1.22672477e+02] [-1.43047613e-01 9.89713781e-01 -2.00320799e-03 -1.95926422e+01] [-1.16884202e-02 3.34511281e-04 9.99931632e-01 -2.40934360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.218623853 meters Centerline goodness [0,1] 0.999310552850433 Centerline is valid? [True, True] Translation: X:122.70, Y:-19.60, Z:-2.41 [[ 9.89597916e-01 1.43404685e-01 1.14481617e-02 1.22701037e+02] [-1.43391250e-01 9.89664079e-01 -1.99014150e-03 -1.95959837e+01] [-1.16152301e-02 3.27873661e-04 9.99932487e-01 -2.40894615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.248623853 meters Centerline goodness [0,1] 0.9992499089175114 Centerline is valid? [True, True] Translation: X:122.73, Y:-19.61, Z:-2.41 [[ 9.89428667e-01 1.44524160e-01 1.19866878e-02 1.22727437e+02] [-1.44509521e-01 9.89501217e-01 -2.08313419e-03 -1.96097631e+01] [-1.21619053e-02 3.28922187e-04 9.99925987e-01 -2.40993768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.278623853 meters Centerline goodness [0,1] 0.9993987545630234 Centerline is valid? [True, True] Translation: X:122.76, Y:-19.61, Z:-2.41 [[ 9.89361621e-01 1.44981982e-01 1.19919850e-02 1.22756860e+02] [-1.44967370e-01 9.89434243e-01 -2.08348161e-03 -1.96112835e+01] [-1.21673479e-02 3.22870207e-04 9.99925923e-01 -2.40960257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.308623853 meters Centerline goodness [0,1] 0.9995251354443221 Centerline is valid? [True, True] Translation: X:122.78, Y:-19.62, Z:-2.41 [[ 9.89127359e-01 1.46573158e-01 1.19740251e-02 1.22784011e+02] [-1.46558714e-01 9.89199787e-01 -2.07977375e-03 -1.96202898e+01] [-1.21495421e-02 3.02263389e-04 9.99926146e-01 -2.41027589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.338623853 meters Centerline goodness [0,1] 0.9995115943260001 Centerline is valid? [True, True] Translation: X:122.81, Y:-19.63, Z:-2.41 [[ 9.88998603e-01 1.47464563e-01 1.16604598e-02 1.22810914e+02] [-1.47450933e-01 9.89067299e-01 -2.02482466e-03 -1.96272101e+01] [-1.18315694e-02 2.83203082e-04 9.99929964e-01 -2.41120539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.368623853 meters Centerline goodness [0,1] 0.9996559213780348 Centerline is valid? [True, True] Translation: X:122.84, Y:-19.63, Z:-2.41 [[ 9.88865566e-01 1.48389676e-01 1.11980474e-02 1.22839712e+02] [-1.48377173e-01 9.88928934e-01 -1.94383837e-03 -1.96310510e+01] [-1.13625186e-02 2.60660218e-04 9.99935411e-01 -2.41206933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.398623853 meters Centerline goodness [0,1] 0.9997424671645635 Centerline is valid? [True, True] Translation: X:122.87, Y:-19.64, Z:-2.41 [[ 9.88523732e-01 1.50669429e-01 1.09341228e-02 1.22866531e+02] [-1.50657652e-01 9.88584175e-01 -1.89758986e-03 -1.96385976e+01] [-1.10952095e-02 2.28503340e-04 9.99938420e-01 -2.41374680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.428623853 meters Centerline goodness [0,1] 0.9998267610818771 Centerline is valid? [True, True] Translation: X:122.90, Y:-19.64, Z:-2.41 [[ 9.88320021e-01 1.52004215e-01 1.08744849e-02 1.22895279e+02] [-1.51992655e-01 9.88379823e-01 -1.88651604e-03 -1.96416076e+01] [-1.10348798e-02 2.11639742e-04 9.99939091e-01 -2.41325446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.458623853 meters Centerline goodness [0,1] 0.9998267610818771 Centerline is valid? [True, True] Translation: X:122.92, Y:-19.65, Z:-2.41 [[ 9.88327306e-01 1.51956838e-01 1.08745752e-02 1.22923207e+02] [-1.51945281e-01 9.88387108e-01 -1.88599531e-03 -1.96463637e+01] [-1.10348798e-02 2.11640276e-04 9.99939091e-01 -2.41375410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.488623853 meters Centerline goodness [0,1] 0.999784473468684 Centerline is valid? [True, True] Translation: X:122.95, Y:-19.65, Z:-2.41 [[ 9.88080654e-01 1.53541922e-01 1.10226837e-02 1.22951113e+02] [-1.53530153e-01 9.88142115e-01 -1.91112439e-03 -1.96511339e+01] [-1.11854157e-02 1.96030716e-04 9.99937422e-01 -2.41418416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.518623853 meters Centerline goodness [0,1] 0.9997662608104375 Centerline is valid? [True, True] Translation: X:122.98, Y:-19.66, Z:-2.41 [[ 9.87552827e-01 1.56871399e-01 1.14357905e-02 1.22978178e+02] [-1.56858961e-01 9.87619024e-01 -1.98215418e-03 -1.96568507e+01] [-1.16051476e-02 1.63675740e-04 9.99932645e-01 -2.41401161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.548623853 meters Centerline goodness [0,1] 0.9998927636940763 Centerline is valid? [True, True] Translation: X:123.01, Y:-19.66, Z:-2.41 [[ 9.87291782e-01 1.58492149e-01 1.16264690e-02 1.23006601e+02] [-1.58479412e-01 9.87360227e-01 -2.01462624e-03 -1.96601584e+01] [-1.17988155e-02 1.46467952e-04 9.99930381e-01 -2.41415108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.578623853 meters Centerline goodness [0,1] 0.9999355434759255 Centerline is valid? [True, True] Translation: X:123.03, Y:-19.67, Z:-2.42 [[ 9.87052979e-01 1.59993688e-01 1.13330094e-02 1.23034094e+02] [-1.59981691e-01 9.87118030e-01 -1.96323371e-03 -1.96659052e+01] [-1.15011229e-02 1.24741673e-04 9.99933852e-01 -2.41588453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.608623853 meters Centerline goodness [0,1] 0.9999138061068373 Centerline is valid? [True, True] Translation: X:123.06, Y:-19.67, Z:-2.42 [[ 9.86617067e-01 1.62631659e-01 1.17348758e-02 1.23062395e+02] [-1.62618990e-01 9.86686847e-01 -2.03224239e-03 -1.96697622e+01] [-1.19091545e-02 9.67313827e-05 9.99929079e-01 -2.41510545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.638623853 meters Centerline goodness [0,1] 0.9998919736415686 Centerline is valid? [True, True] Translation: X:123.09, Y:-19.67, Z:-2.41 [[ 9.86459319e-01 1.63557951e-01 1.21164855e-02 1.23089398e+02] [-1.63544521e-01 9.86533724e-01 -2.09777094e-03 -1.96747080e+01] [-1.22964286e-02 8.77808835e-05 9.99924392e-01 -2.41494591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.668623853 meters Centerline goodness [0,1] 0.9999352764773144 Centerline is valid? [True, True] Translation: X:123.12, Y:-19.68, Z:-2.41 [[ 9.86158002e-01 1.65308977e-01 1.28583194e-02 1.23118317e+02] [-1.65294012e-01 9.86241825e-01 -2.22531685e-03 -1.96789823e+01] [-1.30492773e-02 6.91108129e-05 9.99914852e-01 -2.41406124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.69862385300002 meters Centerline goodness [0,1] 0.999956930895622 Centerline is valid? [True, True] Translation: X:123.15, Y:-19.68, Z:-2.41 [[ 9.86039293e-01 1.66011856e-01 1.29064117e-02 1.23145756e+02] [-1.65996848e-01 9.86123755e-01 -2.23304861e-03 -1.96839813e+01] [-1.30980317e-02 5.94500067e-05 9.99914215e-01 -2.41460042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.72862385300002 meters Centerline goodness [0,1] 0.9999355074488897 Centerline is valid? [True, True] Translation: X:123.17, Y:-19.69, Z:-2.42 [[ 9.85921026e-01 1.66720042e-01 1.28123888e-02 1.23172673e+02] [-1.66705321e-01 9.86004272e-01 -2.21599082e-03 -1.96888727e+01] [-1.30025202e-02 4.88985468e-05 9.99915462e-01 -2.41563199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.75862385300002 meters Centerline goodness [0,1] 0.999978583054913 Centerline is valid? [True, True] Translation: X:123.20, Y:-19.69, Z:-2.42 [[ 9.85776520e-01 1.67565459e-01 1.29023219e-02 1.23200532e+02] [-1.67550614e-01 9.85860952e-01 -2.23068389e-03 -1.96939251e+01] [-1.30936810e-02 3.71638374e-05 9.99914273e-01 -2.41657130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.78862385300002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:123.23, Y:-19.70, Z:-2.42 [[ 9.85454120e-01 1.69492072e-01 1.23537764e-02 1.23227960e+02] [-1.69478620e-01 9.85531551e-01 -2.13537415e-03 -1.96973816e+01] [-1.25369654e-02 1.06122740e-05 9.99921409e-01 -2.41806757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.81862385300002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:123.26, Y:-19.70, Z:-2.42 [[ 9.85277570e-01 1.70550415e-01 1.18602807e-02 1.23256336e+02] [-1.70538103e-01 9.85348951e-01 -2.04925232e-03 -1.97016614e+01] [-1.20360159e-02 -3.54741497e-06 9.99927565e-01 -2.41940804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.84862385300002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:123.28, Y:-19.71, Z:-2.42 [[ 9.85061334e-01 1.71807900e-01 1.16710188e-02 1.23284592e+02] [-1.71796073e-01 9.85130471e-01 -2.01601240e-03 -1.97055474e+01] [-1.18438431e-02 -1.91393335e-05 9.99929859e-01 -2.42020336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.87862385300002 meters Centerline goodness [0,1] 0.9998264679724952 Centerline is valid? [True, True] Translation: X:123.31, Y:-19.71, Z:-2.42 [[ 9.84682996e-01 1.73955343e-01 1.17870837e-02 1.23312923e+02] [-1.73943440e-01 9.84753541e-01 -2.03549932e-03 -1.97086942e+01] [-1.19614583e-02 -4.59643056e-05 9.99928458e-01 -2.42007923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.90862385300002 meters Centerline goodness [0,1] 0.9999359767809125 Centerline is valid? [True, True] Translation: X:123.34, Y:-19.71, Z:-2.42 [[ 9.84495140e-01 1.75019070e-01 1.17322238e-02 1.23340170e+02] [-1.75007359e-01 9.84565042e-01 -2.02551945e-03 -1.97118279e+01] [-1.19056420e-02 -5.91114535e-05 9.99929124e-01 -2.42058418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.938623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:123.37, Y:-19.72, Z:-2.42 [[ 9.84156405e-01 1.76867307e-01 1.24147364e-02 1.23368962e+02] [-1.76854351e-01 9.84234702e-01 -2.14248059e-03 -1.97154235e+01] [-1.25979492e-02 -8.70641604e-05 9.99920639e-01 -2.41958176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.968623853 meters Centerline goodness [0,1] 0.9999567885230317 Centerline is valid? [True, True] Translation: X:123.40, Y:-19.72, Z:-2.42 [[ 9.83945953e-01 1.78011040e-01 1.27448561e-02 1.23396269e+02] [-1.77997490e-01 9.84028485e-01 -2.19884634e-03 -1.97188513e+01] [-1.29327204e-02 -1.05006450e-04 9.99916363e-01 -2.41932389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.998623853 meters Centerline goodness [0,1] 0.9999572238263288 Centerline is valid? [True, True] Translation: X:123.42, Y:-19.72, Z:-2.42 [[ 9.83734716e-01 1.79143311e-01 1.31789086e-02 1.23423867e+02] [-1.79128935e-01 9.83822981e-01 -2.27286559e-03 -1.97214723e+01] [-1.33728818e-02 -1.24827083e-04 9.99910571e-01 -2.41911275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.028623853 meters Centerline goodness [0,1] 0.9997224060985245 Centerline is valid? [True, True] Translation: X:123.45, Y:-19.72, Z:-2.42 [[ 9.83213301e-01 1.81972540e-01 1.33266325e-02 1.23452580e+02] [-1.81958111e-01 9.83303599e-01 -2.29751664e-03 -1.97213826e+01] [-1.35222106e-02 -1.65939958e-04 9.99908557e-01 -2.41892563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.058623853 meters Centerline goodness [0,1] 0.9997413402884056 Centerline is valid? [True, True] Translation: X:123.48, Y:-19.73, Z:-2.42 [[ 9.82965008e-01 1.83324898e-01 1.31062662e-02 1.23480696e+02] [-1.83311073e-01 9.83052363e-01 -2.25877150e-03 -1.97253921e+01] [-1.32982350e-02 -1.82230368e-04 9.99911558e-01 -2.41909645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.088623853 meters Centerline goodness [0,1] 0.9998062265857124 Centerline is valid? [True, True] Translation: X:123.51, Y:-19.73, Z:-2.42 [[ 9.82695837e-01 1.84749585e-01 1.32847070e-02 1.23508400e+02] [-1.84735523e-01 9.82785607e-01 -2.28866298e-03 -1.97270015e+01] [-1.34788483e-02 -2.05097704e-04 9.99909135e-01 -2.41961627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.118623853 meters Centerline goodness [0,1] 0.9998273070696169 Centerline is valid? [True, True] Translation: X:123.54, Y:-19.73, Z:-2.42 [[ 9.82344233e-01 1.86592413e-01 1.35306754e-02 1.23537598e+02] [-1.86578012e-01 9.82437385e-01 -2.33011229e-03 -1.97286896e+01] [-1.37278226e-02 -2.35554149e-04 9.99905741e-01 -2.42030228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.148623853 meters Centerline goodness [0,1] 0.9997203880154002 Centerline is valid? [True, True] Translation: X:123.57, Y:-19.73, Z:-2.42 [[ 9.82283997e-01 1.86907411e-01 1.35561797e-02 1.23566597e+02] [-1.86892995e-01 9.82377505e-01 -2.33381615e-03 -1.97325650e+01] [-1.37534935e-02 -2.41084760e-04 9.99905387e-01 -2.42114971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.178623853 meters Centerline goodness [0,1] 0.9997418910780349 Centerline is valid? [True, True] Translation: X:123.59, Y:-19.73, Z:-2.42 [[ 9.82269799e-01 1.87038341e-01 1.27554002e-02 1.23594416e+02] [-1.87025596e-01 9.82352588e-01 -2.19541896e-03 -1.97336371e+01] [-1.29409280e-02 -2.29092590e-04 9.99916236e-01 -2.42378554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.208623853 meters Centerline goodness [0,1] 0.9996170783074861 Centerline is valid? [True, True] Translation: X:123.62, Y:-19.74, Z:-2.43 [[ 9.82327189e-01 1.86792045e-01 1.19174614e-02 1.23621420e+02] [-1.86780908e-01 9.82399454e-01 -2.05064064e-03 -1.97353334e+01] [-1.20907510e-02 -2.11554212e-04 9.99926882e-01 -2.42576364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.238623853 meters Centerline goodness [0,1] 0.9996770234480977 Centerline is valid? [True, True] Translation: X:123.65, Y:-19.74, Z:-2.43 [[ 9.82455236e-01 1.86155616e-01 1.13047105e-02 1.23649904e+02] [-1.86145566e-01 9.82520254e-01 -1.94409231e-03 -1.97402585e+01] [-1.14690107e-02 -1.94338066e-04 9.99934210e-01 -2.42770742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.268623853 meters Centerline goodness [0,1] 0.9997436171349214 Centerline is valid? [True, True] Translation: X:123.68, Y:-19.74, Z:-2.43 [[ 9.82795407e-01 1.84390586e-01 1.06442032e-02 1.23677135e+02] [-1.84381574e-01 9.82853033e-01 -1.83030804e-03 -1.97444528e+01] [-1.07991790e-02 -1.63776618e-04 9.99941674e-01 -2.42955812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.298623853 meters Centerline goodness [0,1] 0.9997839146030512 Centerline is valid? [True, True] Translation: X:123.71, Y:-19.75, Z:-2.43 [[ 9.82995440e-01 1.83306874e-01 1.08882908e-02 1.23705865e+02] [-1.83297392e-01 9.83055729e-01 -1.87102248e-03 -1.97494830e+01] [-1.10467679e-02 -1.56588731e-04 9.99938970e-01 -2.42980575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.328623853 meters Centerline goodness [0,1] 0.9997857709034041 Centerline is valid? [True, True] Translation: X:123.73, Y:-19.75, Z:-2.43 [[ 9.83259822e-01 1.81878894e-01 1.09631133e-02 1.23733878e+02] [-1.81869198e-01 9.83320928e-01 -1.88335047e-03 -1.97547510e+01] [-1.11228004e-02 -1.42029766e-04 9.99938130e-01 -2.43081165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.358623853 meters Centerline goodness [0,1] 0.9998490175355348 Centerline is valid? [True, True] Translation: X:123.76, Y:-19.76, Z:-2.43 [[ 9.83903499e-01 1.78338390e-01 1.13720378e-02 1.23761486e+02] [-1.78327727e-01 9.83969211e-01 -1.95303843e-03 -1.97631804e+01] [-1.15380368e-02 -1.06348315e-04 9.99933429e-01 -2.42974844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.388623853 meters Centerline goodness [0,1] 0.9998046493455753 Centerline is valid? [True, True] Translation: X:123.79, Y:-19.77, Z:-2.43 [[ 9.84270258e-01 1.76245763e-01 1.22266187e-02 1.23789607e+02] [-1.76233285e-01 9.84346191e-01 -2.09914070e-03 -1.97668305e+01] [-1.24051902e-02 -8.86154244e-05 9.99923049e-01 -2.43010741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.418623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:123.82, Y:-19.78, Z:-2.43 [[ 9.85201645e-01 1.70896967e-01 1.31127809e-02 1.23816431e+02] [-1.70882148e-01 9.85288905e-01 -2.25057989e-03 -1.97793101e+01] [-1.33044948e-02 -2.34651656e-05 9.99911491e-01 -2.42762526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.44862385300002 meters Centerline goodness [0,1] 0.9999352415490221 Centerline is valid? [True, True] Translation: X:123.84, Y:-19.79, Z:-2.43 [[ 9.85773469e-01 1.67542386e-01 1.34245076e-02 1.23842084e+02] [-1.67526551e-01 9.85864873e-01 -2.30355109e-03 -1.97879853e+01] [-1.36206930e-02 2.18180877e-05 9.99907234e-01 -2.42762354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.47862385300002 meters Centerline goodness [0,1] 0.9999568909772816 Centerline is valid? [True, True] Translation: X:123.87, Y:-19.80, Z:-2.43 [[ 9.86355447e-01 1.64036958e-01 1.39574030e-02 1.23869479e+02] [-1.64019508e-01 9.86454191e-01 -2.39362980e-03 -1.97973500e+01] [-1.41609825e-02 7.16834101e-05 9.99899726e-01 -2.42734909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.50862385300002 meters Centerline goodness [0,1] 0.9998709038879445 Centerline is valid? [True, True] Translation: X:123.90, Y:-19.81, Z:-2.43 [[ 9.86988873e-01 1.60177992e-01 1.39991293e-02 1.23897181e+02] [-1.60160060e-01 9.87088139e-01 -2.40011183e-03 -1.98074767e+01] [-1.42028196e-02 1.26782295e-04 9.99899127e-01 -2.42718951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.53862385300002 meters Centerline goodness [0,1] 0.9997641307144695 Centerline is valid? [True, True] Translation: X:123.92, Y:-19.83, Z:-2.43 [[ 9.88303322e-01 1.51904133e-01 1.34788359e-02 1.23923465e+02] [-1.51886748e-01 9.88395204e-01 -2.31020052e-03 -1.98256364e+01] [-1.36733457e-02 2.35922296e-04 9.99906488e-01 -2.42927539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.56862385300002 meters Centerline goodness [0,1] 0.9997200930152441 Centerline is valid? [True, True] Translation: X:123.95, Y:-19.84, Z:-2.43 [[ 9.88922149e-01 1.47817623e-01 1.35253051e-02 1.23951649e+02] [-1.47799740e-01 9.89014593e-01 -2.31784106e-03 -1.98377608e+01] [-1.37193419e-02 2.93127780e-04 9.99905842e-01 -2.43018224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.59862385300002 meters Centerline goodness [0,1] 0.9994431713533077 Centerline is valid? [True, True] Translation: X:123.98, Y:-19.86, Z:-2.43 [[ 9.90038948e-01 1.40125842e-01 1.36978100e-02 1.23978632e+02] [-1.40106770e-01 9.90133620e-01 -2.34696387e-03 -1.98571313e+01] [-1.38915325e-02 4.04429732e-04 9.99903426e-01 -2.43056808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.62862385300002 meters Centerline goodness [0,1] 0.9990314040336641 Centerline is valid? [True, True] Translation: X:124.01, Y:-19.87, Z:-2.43 [[ 9.90524027e-01 1.36655727e-01 1.36880829e-02 1.24007397e+02] [-1.36636350e-01 9.90618497e-01 -2.34537260e-03 -1.98698003e+01] [-1.38801767e-02 4.52858221e-04 9.99903563e-01 -2.43089670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.65862385300002 meters Centerline goodness [0,1] 0.9987841296928328 Centerline is valid? [True, True] Translation: X:124.04, Y:-19.88, Z:-2.43 [[ 9.90939958e-01 1.33626458e-01 1.34896128e-02 1.24036464e+02] [-1.33607355e-01 9.91031650e-01 -2.31151836e-03 -1.98816441e+01] [-1.36775132e-02 4.88264418e-04 9.99906339e-01 -2.43167460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.688623853 meters Centerline goodness [0,1] 0.9975125454230835 Centerline is valid? [True, True] Translation: X:124.06, Y:-19.90, Z:-2.43 [[ 9.91574211e-01 1.28924643e-01 1.26102964e-02 1.24063934e+02] [-1.28907568e-01 9.91654259e-01 -2.16107449e-03 -1.98985552e+01] [-1.27836699e-02 5.17303097e-04 9.99918152e-01 -2.43378894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.718623853 meters Centerline goodness [0,1] 0.9963213814294679 Centerline is valid? [True, True] Translation: X:124.09, Y:-19.91, Z:-2.44 [[ 9.91762965e-01 1.27534179e-01 1.18850785e-02 1.24094507e+02] [-1.27518916e-01 9.91834048e-01 -2.03638509e-03 -1.99087824e+01] [-1.20477342e-02 5.04038983e-04 9.99927296e-01 -2.43628018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.748623853 meters Centerline goodness [0,1] 0.9954999569373869 Centerline is valid? [True, True] Translation: X:124.13, Y:-19.92, Z:-2.44 [[ 9.91823707e-01 1.27115713e-01 1.12840459e-02 1.24125836e+02] [-1.27101930e-01 9.91887777e-01 -1.93319319e-03 -1.99183405e+01] [-1.14382464e-02 4.83162821e-04 9.99934464e-01 -2.43773483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.778623853 meters Centerline goodness [0,1] 0.9956231582596637 Centerline is valid? [True, True] Translation: X:124.16, Y:-19.93, Z:-2.44 [[ 9.91794099e-01 1.27329369e-01 1.14759467e-02 1.24158113e+02] [-1.27315108e-01 9.91860369e-01 -1.96779279e-03 -1.99267203e+01] [-1.16330946e-02 4.90583887e-04 9.99932213e-01 -2.43795909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.808623853 meters Centerline goodness [0,1] 0.9986192910922702 Centerline is valid? [True, True] Translation: X:124.19, Y:-19.93, Z:-2.44 [[ 9.91489083e-01 1.29641458e-01 1.19369846e-02 1.24190170e+02] [-1.29626158e-01 9.91560819e-01 -2.04991513e-03 -1.99269830e+01] [-1.21020002e-02 4.85123024e-04 9.99926650e-01 -2.43667588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.838623853 meters Centerline goodness [0,1] 0.9976187411507272 Centerline is valid? [True, True] Translation: X:124.22, Y:-19.94, Z:-2.44 [[ 9.91288701e-01 1.31158862e-01 1.20026860e-02 1.24218414e+02] [-1.31143497e-01 9.91361252e-01 -2.06175966e-03 -1.99401114e+01] [-1.21694159e-02 4.69724831e-04 9.99925840e-01 -2.43832527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.868623853 meters Centerline goodness [0,1] 0.9990664958860691 Centerline is valid? [True, True] Translation: X:124.25, Y:-19.94, Z:-2.44 [[ 9.90753241e-01 1.35153729e-01 1.18947320e-02 1.24249892e+02] [-1.35138925e-01 9.90824553e-01 -2.04335371e-03 -1.99364407e+01] [-1.20617594e-02 4.17018011e-04 9.99927167e-01 -2.43772372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.898623853 meters Centerline goodness [0,1] 0.9991158267020336 Centerline is valid? [True, True] Translation: X:124.28, Y:-19.94, Z:-2.44 [[ 9.90425986e-01 1.37523625e-01 1.19841016e-02 1.24280573e+02] [-1.37508770e-01 9.90498410e-01 -2.05878620e-03 -1.99417843e+01] [-1.21533653e-02 3.91156288e-04 9.99926069e-01 -2.43824844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.928623853 meters Centerline goodness [0,1] 0.9993670747942993 Centerline is valid? [True, True] Translation: X:124.31, Y:-19.94, Z:-2.44 [[ 9.90053650e-01 1.40156570e-01 1.22436325e-02 1.24312713e+02] [-1.40141263e-01 9.90129285e-01 -2.10360699e-03 -1.99425950e+01] [-1.24176134e-02 3.66845665e-04 9.99922831e-01 -2.43774542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.958623853 meters Centerline goodness [0,1] 0.9995699202202009 Centerline is valid? [True, True] Translation: X:124.34, Y:-19.95, Z:-2.44 [[ 9.89297674e-01 1.45367840e-01 1.25818736e-02 1.24342635e+02] [-1.45352087e-01 9.89377630e-01 -2.16239659e-03 -1.99471762e+01] [-1.27625672e-02 3.10452332e-04 9.99918507e-01 -2.43844504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.988623853 meters Centerline goodness [0,1] 0.9997628543710251 Centerline is valid? [True, True] Translation: X:124.37, Y:-19.95, Z:-2.44 [[ 9.88914480e-01 1.47973932e-01 1.23234054e-02 1.24372039e+02] [-1.47959023e-01 9.88991224e-01 -2.11791274e-03 -1.99535265e+01] [-1.25011357e-02 2.71075554e-04 9.99921821e-01 -2.43922150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.018623853 meters Centerline goodness [0,1] 0.9998281343989001 Centerline is valid? [True, True] Translation: X:124.40, Y:-19.96, Z:-2.44 [[ 9.88195903e-01 1.52687248e-01 1.24684014e-02 1.24403861e+02] [-1.52672361e-01 9.88274536e-01 -2.14277797e-03 -1.99557134e+01] [-1.26493785e-02 2.13904117e-04 9.99919971e-01 -2.43846430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.048623853 meters Centerline goodness [0,1] 0.9998285175340822 Centerline is valid? [True, True] Translation: X:124.43, Y:-19.96, Z:-2.44 [[ 9.87859417e-01 1.54838185e-01 1.26058999e-02 1.24433638e+02] [-1.54823132e-01 9.87939826e-01 -2.16731254e-03 -1.99617239e+01] [-1.27894533e-02 1.89315189e-04 9.99918194e-01 -2.43924952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.078623853 meters Centerline goodness [0,1] 0.9998904805712533 Centerline is valid? [True, True] Translation: X:124.47, Y:-19.96, Z:-2.44 [[ 9.87526751e-01 1.56930122e-01 1.28004719e-02 1.24465018e+02] [-1.56914775e-01 9.87609695e-01 -2.20086974e-03 -1.99649686e+01] [-1.29872529e-02 1.64834576e-04 9.99915648e-01 -2.43917396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.108623853 meters Centerline goodness [0,1] 0.9999571082373631 Centerline is valid? [True, True] Translation: X:124.49, Y:-19.97, Z:-2.44 [[ 9.87207276e-01 1.58937066e-01 1.26808052e-02 1.24494880e+02] [-1.58922165e-01 9.87288707e-01 -2.18067176e-03 -1.99713592e+01] [-1.28662053e-02 1.37514012e-04 9.99917217e-01 -2.44037893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.138623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:124.52, Y:-19.97, Z:-2.44 [[ 9.86504064e-01 1.63244463e-01 1.26876518e-02 1.24523968e+02] [-1.63229898e-01 9.86585647e-01 -2.18212562e-03 -1.99747179e+01] [-1.28736751e-02 8.16716736e-05 9.99917127e-01 -2.44055162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.168623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:124.55, Y:-19.98, Z:-2.44 [[ 9.86115327e-01 1.65582236e-01 1.26129080e-02 1.24553164e+02] [-1.65568035e-01 9.86195985e-01 -2.16917642e-03 -1.99774622e+01] [-1.27979763e-02 5.07637234e-05 9.99918101e-01 -2.44071286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.19862385300002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:124.58, Y:-19.98, Z:-2.44 [[ 9.85673283e-01 1.68173551e-01 1.28776954e-02 1.24582670e+02] [-1.68158973e-01 9.85757402e-01 -2.21439758e-03 -1.99795158e+01] [-1.30666867e-02 1.71725006e-05 9.99914627e-01 -2.44048588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.22862385300002 meters Centerline goodness [0,1] 0.9999573087431693 Centerline is valid? [True, True] Translation: X:124.61, Y:-19.98, Z:-2.44 [[ 9.84819396e-01 1.73082045e-01 1.31667540e-02 1.24612023e+02] [-1.73067247e-01 9.84907408e-01 -2.26377470e-03 -1.99791991e+01] [-1.33598523e-02 -4.93246385e-05 9.99910752e-01 -2.44076396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.25862385300002 meters Centerline goodness [0,1] 0.9999784705477093 Centerline is valid? [True, True] Translation: X:124.64, Y:-19.98, Z:-2.44 [[ 9.84445535e-01 1.75201857e-01 1.30880924e-02 1.24641825e+02] [-1.75187427e-01 9.84532530e-01 -2.24988200e-03 -1.99825208e+01] [-1.32798363e-02 -7.79829489e-05 9.99911816e-01 -2.44115608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.28862385300002 meters Centerline goodness [0,1] 0.9999570990368734 Centerline is valid? [True, True] Translation: X:124.67, Y:-19.99, Z:-2.44 [[ 9.84110497e-01 1.77081041e-01 1.29936765e-02 1.24669845e+02] [-1.77066989e-01 9.84196268e-01 -2.23319633e-03 -1.99855770e+01] [-1.31837847e-02 -1.03039225e-04 9.99913085e-01 -2.44231017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.31862385300002 meters Centerline goodness [0,1] 0.999957172530461 Centerline is valid? [True, True] Translation: X:124.70, Y:-19.99, Z:-2.44 [[ 9.83638259e-01 1.79688875e-01 1.29492860e-02 1.24697736e+02] [-1.79675139e-01 9.83723482e-01 -2.22596137e-03 -1.99868702e+01] [-1.31384972e-02 -1.37123999e-04 9.99913677e-01 -2.44304237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.34862385300002 meters Centerline goodness [0,1] 0.999957172530461 Centerline is valid? [True, True] Translation: X:124.73, Y:-19.99, Z:-2.44 [[ 9.83646601e-01 1.79643194e-01 1.29494257e-02 1.24725670e+02] [-1.79629465e-01 9.83731825e-01 -2.22514866e-03 -1.99915788e+01] [-1.31384950e-02 -1.37338492e-04 9.99913677e-01 -2.44354194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.37862385300002 meters Centerline goodness [0,1] 0.9999570649607145 Centerline is valid? [True, True] Translation: X:124.75, Y:-20.00, Z:-2.44 [[ 9.83528909e-01 1.80269836e-01 1.31784469e-02 1.24754431e+02] [-1.80255682e-01 9.83617184e-01 -2.26385927e-03 -1.99955887e+01] [-1.33706524e-02 -1.48918905e-04 9.99910598e-01 -2.44315896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.40862385300002 meters Centerline goodness [0,1] 0.9998065888724131 Centerline is valid? [True, True] Translation: X:124.78, Y:-20.00, Z:-2.44 [[ 9.83443387e-01 1.80705217e-01 1.35915134e-02 1.24782172e+02] [-1.80690212e-01 9.83537289e-01 -2.33420091e-03 -1.99989311e+01] [-1.37895625e-02 -1.60298980e-04 9.99904907e-01 -2.44281922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.438623853 meters Centerline goodness [0,1] 0.9997847888778892 Centerline is valid? [True, True] Translation: X:124.81, Y:-20.01, Z:-2.44 [[ 9.83509018e-01 1.80344544e-01 1.36329257e-02 1.24810596e+02] [-1.80329426e-01 9.83603488e-01 -2.34036495e-03 -2.00058920e+01] [-1.38314653e-02 -1.56647625e-04 9.99904328e-01 -2.44279838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.468623853 meters Centerline goodness [0,1] 0.9998499753530937 Centerline is valid? [True, True] Translation: X:124.84, Y:-20.01, Z:-2.44 [[ 9.83633545e-01 1.79676963e-01 1.34624820e-02 1.24838780e+02] [-1.79662168e-01 9.83725657e-01 -2.31038654e-03 -2.00117171e+01] [-1.36585121e-02 -1.46124990e-04 9.99906707e-01 -2.44371158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.498623853 meters Centerline goodness [0,1] 0.9998058461870348 Centerline is valid? [True, True] Translation: X:124.87, Y:-20.02, Z:-2.44 [[ 9.83882528e-01 1.78322332e-01 1.32784388e-02 1.24867235e+02] [-1.78307822e-01 9.83972119e-01 -2.27826381e-03 -2.00195550e+01] [-1.34718789e-02 -1.26105555e-04 9.99909242e-01 -2.44477120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.528623853 meters Centerline goodness [0,1] 0.9999786224293471 Centerline is valid? [True, True] Translation: X:124.90, Y:-20.03, Z:-2.45 [[ 9.84633940e-01 1.74132832e-01 1.31818699e-02 1.24895558e+02] [-1.74118162e-01 9.84722170e-01 -2.26131325e-03 -2.00310671e+01] [-1.33742484e-02 -6.86371822e-05 9.99910558e-01 -2.44585403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.558623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:124.92, Y:-20.04, Z:-2.45 [[ 9.85556350e-01 1.68854695e-01 1.29140763e-02 1.24922710e+02] [-1.68840164e-01 9.85640955e-01 -2.21521417e-03 -2.00447812e+01] [-1.31026918e-02 2.80363273e-06 9.99914156e-01 -2.44713697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.588623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:124.95, Y:-20.05, Z:-2.45 [[ 9.86096816e-01 1.65684536e-01 1.27163098e-02 1.24951667e+02] [-1.65670185e-01 9.86178804e-01 -2.18108443e-03 -2.00549747e+01] [-1.29019272e-02 4.40470114e-05 9.99916766e-01 -2.44809653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.618623853 meters Centerline goodness [0,1] 0.9999785481379784 Centerline is valid? [True, True] Translation: X:124.98, Y:-20.07, Z:-2.45 [[ 9.86660724e-01 1.62320008e-01 1.23624703e-02 1.24981601e+02] [-1.62306182e-01 9.86738166e-01 -2.12026911e-03 -2.00659622e+01] [-1.25426834e-02 8.54808943e-05 9.99921334e-01 -2.44867861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.648623853 meters Centerline goodness [0,1] 0.9999784779614325 Centerline is valid? [True, True] Translation: X:125.01, Y:-20.08, Z:-2.45 [[ 9.87210692e-01 1.58956141e-01 1.21653170e-02 1.25011393e+02] [-1.58942502e-01 9.87285637e-01 -2.08604163e-03 -2.00783635e+01] [-1.23422318e-02 1.25776680e-04 9.99923824e-01 -2.45000608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.678623853 meters Centerline goodness [0,1] 0.9999139433316839 Centerline is valid? [True, True] Translation: X:125.04, Y:-20.10, Z:-2.45 [[ 9.88305048e-01 1.52043073e-01 1.16634549e-02 1.25040002e+02] [-1.52030025e-01 9.88373847e-01 -2.00253462e-03 -2.00980802e+01] [-1.18323253e-02 2.05919739e-04 9.99929974e-01 -2.45195934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.708623853 meters Centerline goodness [0,1] 0.9996776273372018 Centerline is valid? [True, True] Translation: X:125.07, Y:-20.11, Z:-2.45 [[ 9.88756123e-01 1.49068900e-01 1.18233491e-02 1.25070920e+02] [-1.49055277e-01 9.88826781e-01 -2.03014267e-03 -2.01094639e+01] [-1.19938754e-02 2.44983426e-04 9.99928041e-01 -2.45194337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.738623853 meters Centerline goodness [0,1] 0.9992975136239782 Centerline is valid? [True, True] Translation: X:125.10, Y:-20.13, Z:-2.45 [[ 9.89430691e-01 1.44499144e-01 1.21204052e-02 1.25098148e+02] [-1.44484474e-01 9.89504877e-01 -2.08201383e-03 -2.01266130e+01] [-1.22940493e-02 3.08798016e-04 9.99924378e-01 -2.45245678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.768623853 meters Centerline goodness [0,1] 0.9991872005475702 Centerline is valid? [True, True] Translation: X:125.13, Y:-20.13, Z:-2.45 [[ 9.89656222e-01 1.42967985e-01 1.18624748e-02 1.25129275e+02] [-1.42953833e-01 9.89727262e-01 -2.03685079e-03 -2.01332897e+01] [-1.20318191e-02 3.19995814e-04 9.99927564e-01 -2.44658136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.798623853 meters Centerline goodness [0,1] 0.9992706836268475 Centerline is valid? [True, True] Translation: X:125.16, Y:-20.14, Z:-2.45 [[ 9.89784492e-01 1.42026358e-01 1.24568030e-02 1.25160830e+02] [-1.42010653e-01 9.89862814e-01 -2.14087586e-03 -2.01392916e+01] [-1.26345869e-02 3.50006995e-04 9.99920119e-01 -2.44870107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.828623853 meters Centerline goodness [0,1] 0.9991576128042854 Centerline is valid? [True, True] Translation: X:125.19, Y:-20.15, Z:-2.45 [[ 9.89944380e-01 1.40869148e-01 1.28843933e-02 1.25189755e+02] [-1.40852216e-01 9.90028151e-01 -2.21677261e-03 -2.01541724e+01] [-1.30681869e-02 3.79686234e-04 9.99914536e-01 -2.45273621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.858623853 meters Centerline goodness [0,1] 0.9993972791458584 Centerline is valid? [True, True] Translation: X:125.22, Y:-20.16, Z:-2.45 [[ 9.89939902e-01 1.40876553e-01 1.31448772e-02 1.25222844e+02] [-1.40858904e-01 9.90027093e-01 -2.26360129e-03 -2.01584140e+01] [-1.33326729e-02 3.89256242e-04 9.99911040e-01 -2.45218701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.888623853 meters Centerline goodness [0,1] 0.99899501785447 Centerline is valid? [True, True] Translation: X:125.25, Y:-20.17, Z:-2.45 [[ 9.89929347e-01 1.40961689e-01 1.30265238e-02 1.25253805e+02] [-1.40944329e-01 9.90014976e-01 -2.24582632e-03 -2.01677547e+01] [-1.32130292e-02 3.87194718e-04 9.99912629e-01 -2.45242245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.918623853 meters Centerline goodness [0,1] 0.9991680532445923 Centerline is valid? [True, True] Translation: X:125.29, Y:-20.18, Z:-2.45 [[ 9.89809609e-01 1.41817931e-01 1.28301272e-02 1.25285090e+02] [-1.41801131e-01 9.89892689e-01 -2.21437357e-03 -2.01758758e+01] [-1.30144870e-02 3.72481685e-04 9.99915239e-01 -2.45347885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.94862385300002 meters Centerline goodness [0,1] 0.9989513333047982 Centerline is valid? [True, True] Translation: X:125.32, Y:-20.18, Z:-2.45 [[ 9.89701916e-01 1.42609103e-01 1.23596782e-02 1.25315750e+02] [-1.42593549e-01 9.89779026e-01 -2.13523988e-03 -2.01838048e+01] [-1.25378549e-02 3.50840621e-04 9.99921336e-01 -2.45475745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.97862385300002 meters Centerline goodness [0,1] 0.9993131131002211 Centerline is valid? [True, True] Translation: X:125.35, Y:-20.19, Z:-2.46 [[ 9.89388877e-01 1.44778536e-01 1.21993762e-02 1.25347732e+02] [-1.44763525e-01 9.89464033e-01 -2.10937516e-03 -2.01887129e+01] [-1.23762363e-02 3.20967614e-04 9.99923360e-01 -2.45579421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.00862385300002 meters Centerline goodness [0,1] 0.9995279881567938 Centerline is valid? [True, True] Translation: X:125.38, Y:-20.19, Z:-2.46 [[ 9.89173661e-01 1.46251572e-01 1.20807839e-02 1.25380003e+02] [-1.46236930e-01 9.89247384e-01 -2.09141808e-03 -2.01942994e+01] [-1.22567571e-02 3.02118929e-04 9.99924837e-01 -2.45594965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.03862385300002 meters Centerline goodness [0,1] 0.9996144537023154 Centerline is valid? [True, True] Translation: X:125.41, Y:-20.20, Z:-2.46 [[ 9.88929895e-01 1.47862710e-01 1.24210507e-02 1.25411894e+02] [-1.47847356e-01 9.89007854e-01 -2.15054574e-03 -2.01978658e+01] [-1.26025022e-02 2.90319480e-04 9.99920543e-01 -2.45613065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.06862385300002 meters Centerline goodness [0,1] 0.9998929519568382 Centerline is valid? [True, True] Translation: X:125.44, Y:-20.20, Z:-2.46 [[ 9.88367887e-01 1.51543342e-01 1.27880961e-02 1.25443801e+02] [-1.51527337e-01 9.88450581e-01 -2.21695067e-03 -2.02000886e+01] [-1.29763652e-02 2.53416698e-04 9.99915771e-01 -2.45563593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.09862385300002 meters Centerline goodness [0,1] 0.999935175781672 Centerline is valid? [True, True] Translation: X:125.48, Y:-20.20, Z:-2.46 [[ 9.88029700e-01 1.53720243e-01 1.29382937e-02 1.25475715e+02] [-1.53704048e-01 9.88114384e-01 -2.24286909e-03 -2.02036423e+01] [-1.31292885e-02 2.27353157e-04 9.99913781e-01 -2.45605574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.12862385300002 meters Centerline goodness [0,1] 0.9999787469183031 Centerline is valid? [True, True] Translation: X:125.51, Y:-20.21, Z:-2.46 [[ 9.87686006e-01 1.55931370e-01 1.27185793e-02 1.25506418e+02] [-1.55915875e-01 9.87767872e-01 -2.20698527e-03 -2.02088922e+01] [-1.29071423e-02 1.96780043e-04 9.99916680e-01 -2.45708521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.15862385300002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.54, Y:-20.21, Z:-2.46 [[ 9.87308954e-01 1.58299718e-01 1.27368860e-02 1.25538966e+02] [-1.58284350e-01 9.87391093e-01 -2.21213345e-03 -2.02109387e+01] [-1.29264679e-02 1.68009442e-04 9.99916436e-01 -2.45735913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.188623853 meters Centerline goodness [0,1] 0.9999787536915461 Centerline is valid? [True, True] Translation: X:125.57, Y:-20.21, Z:-2.46 [[ 9.86649890e-01 1.62399229e-01 1.21854100e-02 1.25570458e+02] [-1.62385446e-01 9.86725128e-01 -2.11874339e-03 -2.02132394e+01] [-1.23677325e-02 1.11724706e-04 9.99923510e-01 -2.45933765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.218623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.60, Y:-20.22, Z:-2.46 [[ 9.86261495e-01 1.64755864e-01 1.19903414e-02 1.25603290e+02] [-1.64742676e-01 9.86334375e-01 -2.08620491e-03 -2.02151859e+01] [-1.21702004e-02 8.22226463e-05 9.99925937e-01 -2.45990672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.248623853 meters Centerline goodness [0,1] 0.9999785439955372 Centerline is valid? [True, True] Translation: X:125.64, Y:-20.21, Z:-2.46 [[ 9.85414527e-01 1.69761027e-01 1.18069558e-02 1.25635537e+02] [-1.69748596e-01 9.85485258e-01 -2.05446014e-03 -2.02130256e+01] [-1.19843482e-02 2.02806850e-05 9.99928185e-01 -2.46112718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.278623853 meters Centerline goodness [0,1] 0.9999786616592694 Centerline is valid? [True, True] Translation: X:125.67, Y:-20.22, Z:-2.46 [[ 9.85058269e-01 1.71792812e-01 1.21423331e-02 1.25667549e+02] [-1.71779795e-01 9.85133103e-01 -2.11474223e-03 -2.02158999e+01] [-1.23251118e-02 -2.66317644e-06 9.99924043e-01 -2.46130922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.308623853 meters Centerline goodness [0,1] 0.9999783718314733 Centerline is valid? [True, True] Translation: X:125.70, Y:-20.22, Z:-2.46 [[ 9.84737597e-01 1.73615150e-01 1.22329167e-02 1.25699816e+02] [-1.73602054e-01 9.84813576e-01 -2.13259264e-03 -2.02193007e+01] [-1.24173928e-02 -2.36152996e-05 9.99922901e-01 -2.46151287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.338623853 meters Centerline goodness [0,1] 0.9999570787818959 Centerline is valid? [True, True] Translation: X:125.73, Y:-20.22, Z:-2.46 [[ 9.84280170e-01 1.76214264e-01 1.18776703e-02 1.25732008e+02] [-1.76202084e-01 9.84351833e-01 -2.07255266e-03 -2.02208761e+01] [-1.20570199e-02 -5.28977749e-05 9.99927310e-01 -2.46194367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.368623853 meters Centerline goodness [0,1] 0.9999785702040117 Centerline is valid? [True, True] Translation: X:125.76, Y:-20.22, Z:-2.46 [[ 9.84048327e-01 1.77486696e-01 1.21392967e-02 1.25764336e+02] [-1.77474043e-01 9.84123198e-01 -2.12035652e-03 -2.02243181e+01] [-1.23228985e-02 -6.78767712e-05 9.99924068e-01 -2.45911890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.398623853 meters Centerline goodness [0,1] 0.999935179983579 Centerline is valid? [True, True] Translation: X:125.80, Y:-20.23, Z:-2.46 [[ 9.83845007e-01 1.78529434e-01 1.32756347e-02 1.25795096e+02] [-1.78514353e-01 9.83934568e-01 -2.32204347e-03 -2.02270626e+01] [-1.34769090e-02 -8.53604642e-05 9.99909179e-01 -2.46128416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.428623853 meters Centerline goodness [0,1] 0.9999137949613155 Centerline is valid? [True, True] Translation: X:125.83, Y:-20.23, Z:-2.46 [[ 9.83816276e-01 1.78684839e-01 1.33140017e-02 1.25825913e+02] [-1.78669684e-01 9.83906358e-01 -2.32886852e-03 -2.02321711e+01] [-1.35158644e-02 -8.76297267e-05 9.99908653e-01 -2.46130087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.458623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.86, Y:-20.24, Z:-2.46 [[ 9.83789372e-01 1.78864502e-01 1.28825771e-02 1.25858139e+02] [-1.78850333e-01 9.83873713e-01 -2.25302133e-03 -2.02372113e+01] [-1.30778145e-02 -8.75547536e-05 9.99914478e-01 -2.46167710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.488623853 meters Centerline goodness [0,1] 0.9999142422228415 Centerline is valid? [True, True] Translation: X:125.89, Y:-20.24, Z:-2.46 [[ 9.83796802e-01 1.78860573e-01 1.23591551e-02 1.25888083e+02] [-1.78847496e-01 9.83874427e-01 -2.16434679e-03 -2.02392628e+01] [-1.25469730e-02 -8.11264990e-05 9.99921280e-01 -2.46409762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.518623853 meters Centerline goodness [0,1] 0.9999573887847282 Centerline is valid? [True, True] Translation: X:125.92, Y:-20.24, Z:-2.47 [[ 9.83834069e-01 1.78676582e-01 1.20500790e-02 1.25917593e+02] [-1.78664133e-01 9.83907858e-01 -2.11049546e-03 -2.02428489e+01] [-1.22332635e-02 -7.65395801e-05 9.99925168e-01 -2.46570877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.548623853 meters Centerline goodness [0,1] 0.9999570012684625 Centerline is valid? [True, True] Translation: X:125.95, Y:-20.25, Z:-2.46 [[ 9.83871557e-01 1.78455779e-01 1.22594333e-02 1.25947429e+02] [-1.78442880e-01 9.83947930e-01 -2.14695183e-03 -2.02472272e+01] [-1.24457800e-02 -7.52837497e-05 9.99922545e-01 -2.46484491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.578623853 meters Centerline goodness [0,1] 0.9999355490149742 Centerline is valid? [True, True] Translation: X:125.98, Y:-20.25, Z:-2.46 [[ 9.83828931e-01 1.78666254e-01 1.26096470e-02 1.25977326e+02] [-1.78652625e-01 9.83909733e-01 -2.20828352e-03 -2.02516616e+01] [-1.28013001e-02 -8.01733128e-05 9.99918057e-01 -2.46399385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.608623853 meters Centerline goodness [0,1] 0.9999355310095844 Centerline is valid? [True, True] Translation: X:126.01, Y:-20.25, Z:-2.46 [[ 9.83792497e-01 1.78837591e-01 1.30168346e-02 1.26007178e+02] [-1.78823081e-01 9.83878605e-01 -2.27964653e-03 -2.02533987e+01] [-1.32146716e-02 -8.50113255e-05 9.99912679e-01 -2.46474603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.638623853 meters Centerline goodness [0,1] 0.9998934765009161 Centerline is valid? [True, True] Translation: X:126.04, Y:-20.26, Z:-2.46 [[ 9.83775537e-01 1.78908065e-01 1.33265771e-02 1.26036933e+02] [-1.78892866e-01 9.83865792e-01 -2.33367270e-03 -2.02579120e+01] [-1.35290762e-02 -8.82194583e-05 9.99908474e-01 -2.46362138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.668623853 meters Centerline goodness [0,1] 0.9998922460238783 Centerline is valid? [True, True] Translation: X:126.07, Y:-20.26, Z:-2.46 [[ 9.83782402e-01 1.78812060e-01 1.40866188e-02 1.26067280e+02] [-1.78795067e-01 9.83883245e-01 -2.46680596e-03 -2.02582360e+01] [-1.43006828e-02 -9.18176535e-05 9.99897736e-01 -2.46386340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.69862385300002 meters Centerline goodness [0,1] 0.9998919969759154 Centerline is valid? [True, True] Translation: X:126.10, Y:-20.26, Z:-2.46 [[ 9.83845959e-01 1.78460740e-01 1.41029145e-02 1.26097359e+02] [-1.78443675e-01 9.83947029e-01 -2.46945202e-03 -2.02632798e+01] [-1.43172211e-02 -8.70155121e-05 9.99897500e-01 -2.46395567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.72862385300002 meters Centerline goodness [0,1] 0.9999137261668536 Centerline is valid? [True, True] Translation: X:126.13, Y:-20.26, Z:-2.47 [[ 9.84044543e-01 1.77360623e-01 1.41261058e-02 1.26126740e+02] [-1.77343388e-01 9.84145926e-01 -2.47355246e-03 -2.02647188e+01] [-1.43408603e-02 -7.10856603e-05 9.99897162e-01 -2.46583253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.75862385300002 meters Centerline goodness [0,1] 0.9999568025227327 Centerline is valid? [True, True] Translation: X:126.16, Y:-20.27, Z:-2.47 [[ 9.84177936e-01 1.76656378e-01 1.36497016e-02 1.26155246e+02] [-1.76640218e-01 9.84272585e-01 -2.39009182e-03 -2.02694325e+01] [-1.38572521e-02 -5.88106488e-05 9.99903982e-01 -2.46724170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.78862385300002 meters Centerline goodness [0,1] 0.9999785430747774 Centerline is valid? [True, True] Translation: X:126.18, Y:-20.27, Z:-2.47 [[ 9.84311598e-01 1.75956586e-01 1.30367796e-02 1.26183234e+02] [-1.75941792e-01 9.84397926e-01 -2.28217489e-03 -2.02741779e+01] [-1.32349425e-02 -4.73431453e-05 9.99912413e-01 -2.46963727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.81862385300002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:126.21, Y:-20.28, Z:-2.47 [[ 9.84563408e-01 1.74622088e-01 1.19172921e-02 1.26211634e+02] [-1.74609632e-01 9.84635529e-01 -2.08585496e-03 -2.02774130e+01] [-1.20984255e-02 -2.72175170e-05 9.99926811e-01 -2.47256728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.84862385300002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:126.24, Y:-20.28, Z:-2.47 [[ 9.84813950e-01 1.73227353e-01 1.15658387e-02 1.26240941e+02] [-1.73215529e-01 9.84881863e-01 -2.02392495e-03 -2.02811772e+01] [-1.17415840e-02 -1.01933557e-05 9.99931065e-01 -2.47185280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.87862385300002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:126.27, Y:-20.29, Z:-2.47 [[ 9.84946373e-01 1.72462680e-01 1.17161049e-02 1.26269958e+02] [-1.72450497e-01 9.85016053e-01 -2.04993388e-03 -2.02856077e+01] [-1.18940885e-02 -1.37317181e-06 9.99929263e-01 -2.47184832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.90862385300002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:126.30, Y:-20.29, Z:-2.47 [[ 9.85122498e-01 1.71442317e-01 1.18826238e-02 1.26299089e+02] [-1.71429714e-01 9.85194159e-01 -2.07877960e-03 -2.02903909e+01] [-1.20630824e-02 1.08177452e-05 9.99927238e-01 -2.47165263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.938623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:126.33, Y:-20.30, Z:-2.47 [[ 9.85279518e-01 1.70537186e-01 1.18886751e-02 1.26328829e+02] [-1.70524509e-01 9.85351241e-01 -2.07941860e-03 -2.02952785e+01] [-1.20691390e-02 2.14980657e-05 9.99927165e-01 -2.47176204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.968623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:126.36, Y:-20.30, Z:-2.47 [[ 9.85688521e-01 1.68107442e-01 1.25709240e-02 1.26359185e+02] [-1.68093071e-01 9.85768677e-01 -2.19874906e-03 -2.03010206e+01] [-1.27616493e-02 5.41964801e-05 9.99918565e-01 -2.47161142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.998623853 meters Centerline goodness [0,1] 0.9999784306112764 Centerline is valid? [True, True] Translation: X:126.39, Y:-20.31, Z:-2.47 [[ 9.85937174e-01 1.66610853e-01 1.29889478e-02 1.26389062e+02] [-1.66595380e-01 9.86022727e-01 -2.27186456e-03 -2.03068221e+01] [-1.31859150e-02 7.60170230e-05 9.99913059e-01 -2.47071365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.028623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:126.42, Y:-20.31, Z:-2.47 [[ 9.86226223e-01 1.64856872e-01 1.34181980e-02 1.26420078e+02] [-1.64840199e-01 9.86317495e-01 -2.34684423e-03 -2.03132459e+01] [-1.36214969e-02 1.02660893e-04 9.99907218e-01 -2.47079983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.058623853 meters Centerline goodness [0,1] 0.9998924846790668 Centerline is valid? [True, True] Translation: X:126.45, Y:-20.32, Z:-2.47 [[ 9.86837021e-01 1.61152151e-01 1.35158685e-02 1.26449361e+02] [-1.61134885e-01 9.86929562e-01 -2.36402943e-03 -2.03235261e+01] [-1.37201786e-02 1.55033845e-04 9.99905862e-01 -2.47167938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.088623853 meters Centerline goodness [0,1] 0.9999140985718887 Centerline is valid? [True, True] Translation: X:126.48, Y:-20.33, Z:-2.47 [[ 9.87067009e-01 1.59751848e-01 1.33441385e-02 1.26480817e+02] [-1.59734879e-01 9.87157190e-01 -2.33479117e-03 -2.03297161e+01] [-1.35457495e-02 1.73070991e-04 9.99908237e-01 -2.47191481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.118623853 meters Centerline goodness [0,1] 0.9998924985487304 Centerline is valid? [True, True] Translation: X:126.51, Y:-20.34, Z:-2.47 [[ 9.87452191e-01 1.57379510e-01 1.30330368e-02 1.26511012e+02] [-1.57363082e-01 9.87538176e-01 -2.28292685e-03 -2.03380349e+01] [-1.32299072e-02 2.03362279e-04 9.99912460e-01 -2.47252796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.148623853 meters Centerline goodness [0,1] 0.9997439180537772 Centerline is valid? [True, True] Translation: X:126.54, Y:-20.35, Z:-2.48 [[ 9.87555768e-01 1.56739580e-01 1.28961319e-02 1.26540099e+02] [-1.56723430e-01 9.87639944e-01 -2.25980921e-03 -2.03522441e+01] [-1.30909365e-02 2.10561596e-04 9.99914288e-01 -2.47601292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.178623853 meters Centerline goodness [0,1] 0.9998928693863558 Centerline is valid? [True, True] Translation: X:126.57, Y:-20.35, Z:-2.47 [[ 9.87631778e-01 1.56277091e-01 1.26862632e-02 1.26572977e+02] [-1.56261400e-01 9.87713230e-01 -2.22495292e-03 -2.03506164e+01] [-1.28780992e-02 2.15060962e-04 9.99917051e-01 -2.47495947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.208623853 meters Centerline goodness [0,1] 0.9999785334020265 Centerline is valid? [True, True] Translation: X:126.60, Y:-20.36, Z:-2.48 [[ 9.87746860e-01 1.55564261e-01 1.24860237e-02 1.26603510e+02] [-1.55548977e-01 9.87825749e-01 -2.19198984e-03 -2.03574472e+01] [-1.26750110e-02 2.22942876e-04 9.99919644e-01 -2.47535719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.238623853 meters Centerline goodness [0,1] 0.9998934401773155 Centerline is valid? [True, True] Translation: X:126.64, Y:-20.36, Z:-2.48 [[ 9.87721401e-01 1.55714692e-01 1.26241561e-02 1.26635777e+02] [-1.55699056e-01 9.87802047e-01 -2.21809589e-03 -2.03629364e+01] [-1.28155573e-02 2.25291590e-04 9.99917852e-01 -2.47562937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.268623853 meters Centerline goodness [0,1] 0.9998934401773155 Centerline is valid? [True, True] Translation: X:126.67, Y:-20.37, Z:-2.48 [[ 9.87691870e-01 1.55901931e-01 1.26237347e-02 1.26667761e+02] [-1.55886280e-01 9.87772513e-01 -2.22049094e-03 -2.03687496e+01] [-1.28155570e-02 2.25293805e-04 9.99917852e-01 -2.47620287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.298623853 meters Centerline goodness [0,1] 0.9999133917938725 Centerline is valid? [True, True] Translation: X:126.70, Y:-20.37, Z:-2.48 [[ 9.87649873e-01 1.56169516e-01 1.26019931e-02 1.26700382e+02] [-1.56153910e-01 9.87730243e-01 -2.21909091e-03 -2.03729860e+01] [-1.27939241e-02 2.23834357e-04 9.99918129e-01 -2.47656208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.328623853 meters Centerline goodness [0,1] 0.9999135807803655 Centerline is valid? [True, True] Translation: X:126.73, Y:-20.38, Z:-2.48 [[ 9.87513733e-01 1.57059122e-01 1.22090082e-02 1.26730960e+02] [-1.57044510e-01 9.87589180e-01 -2.15245159e-03 -2.03801950e+01] [-1.23955465e-02 2.08217790e-04 9.99923151e-01 -2.47845845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.358623853 meters Centerline goodness [0,1] 0.99989296112348 Centerline is valid? [True, True] Translation: X:126.76, Y:-20.39, Z:-2.48 [[ 9.87394336e-01 1.57823812e-01 1.20028856e-02 1.26761278e+02] [-1.57809722e-01 9.87467268e-01 -2.11806652e-03 -2.03850843e+01] [-1.21867380e-02 1.97194853e-04 9.99925720e-01 -2.47982029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.388623853 meters Centerline goodness [0,1] 0.9998926301322797 Centerline is valid? [True, True] Translation: X:126.79, Y:-20.39, Z:-2.48 [[ 9.87106415e-01 1.59671805e-01 1.12178812e-02 1.26792894e+02] [-1.59659590e-01 9.87170141e-01 -1.98192104e-03 -2.03863832e+01] [-1.13904142e-02 1.65324673e-04 9.99935113e-01 -2.47709261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.418623853 meters Centerline goodness [0,1] 0.9999784147815576 Centerline is valid? [True, True] Translation: X:126.82, Y:-20.39, Z:-2.48 [[ 9.86986388e-01 1.60395937e-01 1.14461241e-02 1.26824163e+02] [-1.60383265e-01 9.87052743e-01 -2.02252269e-03 -2.03891504e+01] [-1.16223327e-02 1.60435602e-04 9.99932446e-01 -2.48152580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.44862385300002 meters Centerline goodness [0,1] 0.9999786160294244 Centerline is valid? [True, True] Translation: X:126.85, Y:-20.39, Z:-2.48 [[ 9.86819447e-01 1.61436389e-01 1.12102982e-02 1.26853783e+02] [-1.61424297e-01 9.86883109e-01 -1.98119627e-03 -2.03933891e+01] [-1.13830911e-02 1.45468496e-04 9.99935200e-01 -2.48301138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.47862385300002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:126.88, Y:-20.40, Z:-2.48 [[ 9.86670591e-01 1.62359241e-01 1.09828324e-02 1.26884508e+02] [-1.62347690e-01 9.86731706e-01 -1.94120585e-03 -2.03967888e+01] [-1.11522816e-02 1.32293264e-04 9.99937803e-01 -2.48365518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.50862385300002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:126.91, Y:-20.40, Z:-2.48 [[ 9.86348194e-01 1.64301205e-01 1.10613869e-02 1.26914563e+02] [-1.64289610e-01 9.86410210e-01 -1.95509030e-03 -2.03990842e+01] [-1.12322887e-02 1.11128842e-04 9.99936910e-01 -2.48405225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.53862385300002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:126.94, Y:-20.40, Z:-2.48 [[ 9.86160477e-01 1.65411152e-01 1.12544951e-02 1.26943950e+02] [-1.65399220e-01 9.86224691e-01 -1.98929676e-03 -2.04028253e+01] [-1.14285128e-02 1.00281140e-04 9.99934687e-01 -2.48433434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.56862385300002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:126.97, Y:-20.41, Z:-2.48 [[ 9.85992943e-01 1.66417678e-01 1.10938422e-02 1.26973421e+02] [-1.66406148e-01 9.86055348e-01 -1.96084457e-03 -2.04058377e+01] [-1.12654616e-02 8.72953550e-05 9.99936539e-01 -2.48430990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.59862385300002 meters Centerline goodness [0,1] 0.9999785167998625 Centerline is valid? [True, True] Translation: X:127.00, Y:-20.41, Z:-2.48 [[ 9.85750616e-01 1.67828641e-01 1.13696970e-02 1.27002288e+02] [-1.67816628e-01 9.85816181e-01 -2.00938504e-03 -2.04069284e+01] [-1.15456636e-02 7.27283367e-05 9.99933344e-01 -2.48468196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.62862385300002 meters Centerline goodness [0,1] 0.9999785789259473 Centerline is valid? [True, True] Translation: X:127.03, Y:-20.41, Z:-2.49 [[ 9.85687456e-01 1.68194181e-01 1.14436549e-02 1.27031799e+02] [-1.68182041e-01 9.85753880e-01 -2.02196028e-03 -2.04105024e+01] [-1.16207092e-02 6.84036371e-05 9.99932475e-01 -2.48541013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.65862385300002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:127.06, Y:-20.41, Z:-2.49 [[ 9.85627346e-01 1.68537750e-01 1.15655366e-02 1.27060530e+02] [-1.68525377e-01 9.85695198e-01 -2.04328162e-03 -2.04145497e+01] [-1.17444640e-02 6.48278278e-05 9.99931029e-01 -2.48627599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.688623853 meters Centerline goodness [0,1] 0.9999784645202972 Centerline is valid? [True, True] Translation: X:127.09, Y:-20.42, Z:-2.49 [[ 9.85650914e-01 1.68386474e-01 1.17588477e-02 1.27089996e+02] [-1.68373679e-01 9.85721051e-01 -2.07686365e-03 -2.04202113e+01] [-1.19406595e-02 6.71821042e-05 9.99928706e-01 -2.48695625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.718623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:127.12, Y:-20.43, Z:-2.49 [[ 9.85816708e-01 1.67403184e-01 1.18992155e-02 1.27118156e+02] [-1.67390011e-01 9.85888517e-01 -2.10164164e-03 -2.04264294e+01] [-1.20831214e-02 8.00236407e-05 9.99926993e-01 -2.48596635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.748623853 meters Centerline goodness [0,1] 0.9999784997097461 Centerline is valid? [True, True] Translation: X:127.15, Y:-20.43, Z:-2.49 [[ 9.85910258e-01 1.66801883e-01 1.25735915e-02 1.27146394e+02] [-1.66787132e-01 9.85990428e-01 -2.22020644e-03 -2.04325159e+01] [-1.27677754e-02 9.18110446e-05 9.99918484e-01 -2.48560439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.778623853 meters Centerline goodness [0,1] 0.9999785251041532 Centerline is valid? [True, True] Translation: X:127.17, Y:-20.44, Z:-2.49 [[ 9.86070495e-01 1.65848184e-01 1.26237104e-02 1.27174648e+02] [-1.65833240e-01 9.86151291e-01 -2.22880810e-03 -2.04387914e+01] [-1.28185321e-02 1.04331112e-04 9.99917834e-01 -2.48552958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.808623853 meters Centerline goodness [0,1] 0.9999785098747126 Centerline is valid? [True, True] Translation: X:127.20, Y:-20.45, Z:-2.49 [[ 9.86231665e-01 1.64876756e-01 1.27576781e-02 1.27204324e+02] [-1.64861420e-01 9.86314170e-01 -2.25183991e-03 -2.04463242e+01] [-1.29543548e-02 1.17586890e-04 9.99916082e-01 -2.48612502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.838623853 meters Centerline goodness [0,1] 0.9999786794021704 Centerline is valid? [True, True] Translation: X:127.23, Y:-20.45, Z:-2.49 [[ 9.86415676e-01 1.63755947e-01 1.29654829e-02 1.27233688e+02] [-1.63740010e-01 9.86500873e-01 -2.28851924e-03 -2.04538868e+01] [-1.31652189e-02 1.34462948e-04 9.99913326e-01 -2.48617284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.868623853 meters Centerline goodness [0,1] 0.9999574205360755 Centerline is valid? [True, True] Translation: X:127.26, Y:-20.47, Z:-2.49 [[ 9.86899177e-01 1.60801620e-01 1.31473378e-02 1.27262479e+02] [-1.60784972e-01 9.86986731e-01 -2.32056938e-03 -2.04658529e+01] [-1.33493993e-02 1.76273674e-04 9.99910877e-01 -2.48677302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.898623853 meters Centerline goodness [0,1] 0.9999355628584315 Centerline is valid? [True, True] Translation: X:127.29, Y:-20.47, Z:-2.49 [[ 9.87162735e-01 1.59170981e-01 1.32035295e-02 1.27292925e+02] [-1.59154042e-01 9.87251011e-01 -2.33059302e-03 -2.04749423e+01] [-1.34061607e-02 1.99279484e-04 9.99910114e-01 -2.48731468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.928623853 meters Centerline goodness [0,1] 0.9998275192962788 Centerline is valid? [True, True] Translation: X:127.32, Y:-20.48, Z:-2.49 [[ 9.87430511e-01 1.57500490e-01 1.32129319e-02 1.27322909e+02] [-1.57483374e-01 9.87518884e-01 -2.33255940e-03 -2.04841458e+01] [-1.34153990e-02 2.22423224e-04 9.99909985e-01 -2.48825232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.958623853 meters Centerline goodness [0,1] 0.9996371088246595 Centerline is valid? [True, True] Translation: X:127.35, Y:-20.50, Z:-2.49 [[ 9.87901702e-01 1.54501342e-01 1.34001233e-02 1.27351519e+02] [-1.54483457e-01 9.87992542e-01 -2.36591943e-03 -2.04978365e+01] [-1.36047596e-02 2.67198459e-04 9.99907415e-01 -2.48867891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.988623853 meters Centerline goodness [0,1] 0.9996354043794368 Centerline is valid? [True, True] Translation: X:127.38, Y:-20.51, Z:-2.49 [[ 9.88119078e-01 1.53117127e-01 1.32602112e-02 1.27381936e+02] [-1.53099492e-01 9.88208007e-01 -2.34100577e-03 -2.05077782e+01] [-1.34622949e-02 2.83060874e-04 9.99909339e-01 -2.48944204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.018623853 meters Centerline goodness [0,1] 0.9994454752916586 Centerline is valid? [True, True] Translation: X:127.41, Y:-20.52, Z:-2.49 [[ 9.88537218e-01 1.50468088e-01 1.23904641e-02 1.27410652e+02] [-1.50452454e-01 9.88614821e-01 -2.18973946e-03 -2.05218451e+01] [-1.25788824e-02 3.00463218e-04 9.99920838e-01 -2.49200300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.048623853 meters Centerline goodness [0,1] 0.999503443511302 Centerline is valid? [True, True] Translation: X:127.44, Y:-20.53, Z:-2.49 [[ 9.88720748e-01 1.49302715e-01 1.18314128e-02 1.27439894e+02] [-1.49288377e-01 9.88791489e-01 -2.09088042e-03 -2.05321346e+01] [-1.20109744e-02 3.01004437e-04 9.99927820e-01 -2.49333754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.078623853 meters Centerline goodness [0,1] 0.9995499164130481 Centerline is valid? [True, True] Translation: X:127.47, Y:-20.55, Z:-2.50 [[ 9.88914498e-01 1.48048398e-01 1.13924380e-02 1.27469178e+02] [-1.48035016e-01 9.88980070e-01 -2.01374893e-03 -2.05453854e+01] [-1.15650265e-02 3.04945770e-04 9.99933076e-01 -2.49501874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.108623853 meters Centerline goodness [0,1] 0.9995947098976109 Centerline is valid? [True, True] Translation: X:127.50, Y:-20.55, Z:-2.50 [[ 9.88913605e-01 1.48049928e-01 1.14498933e-02 1.27501728e+02] [-1.48036393e-01 9.88979840e-01 -2.02538777e-03 -2.05536177e+01] [-1.16235722e-02 3.07932612e-04 9.99932397e-01 -2.49542517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.138623853 meters Centerline goodness [0,1] 0.9994864882213236 Centerline is valid? [True, True] Translation: X:127.53, Y:-20.56, Z:-2.50 [[ 9.88857680e-01 1.48406298e-01 1.16644249e-02 1.27533391e+02] [-1.48392250e-01 9.88926425e-01 -2.06559419e-03 -2.05615762e+01] [-1.18418052e-02 3.11668413e-04 9.99929835e-01 -2.49521121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.168623853 meters Centerline goodness [0,1] 0.9992675886433157 Centerline is valid? [True, True] Translation: X:127.57, Y:-20.57, Z:-2.50 [[ 9.88758044e-01 1.49041679e-01 1.20045495e-02 1.27565119e+02] [-1.49026823e-01 9.88830865e-01 -2.12774777e-03 -2.05687997e+01] [-1.21875921e-02 3.14827861e-04 9.99925679e-01 -2.49561265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.19862385300002 meters Centerline goodness [0,1] 0.9997433264887063 Centerline is valid? [True, True] Translation: X:127.60, Y:-20.58, Z:-2.50 [[ 9.88483696e-01 1.50839102e-01 1.21469650e-02 1.27595337e+02] [-1.50824002e-01 9.88558282e-01 -2.15495026e-03 -2.05778569e+01] [-1.23330336e-02 2.98079329e-04 9.99923901e-01 -2.49583526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.22862385300002 meters Centerline goodness [0,1] 0.9995967228424673 Centerline is valid? [True, True] Translation: X:127.63, Y:-20.59, Z:-2.50 [[ 9.88314485e-01 1.51926512e-01 1.23617839e-02 1.27625696e+02] [-1.51910936e-01 9.88391749e-01 -2.19486953e-03 -2.05853160e+01] [-1.25517441e-02 2.91331197e-04 9.99921181e-01 -2.49569550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.25862385300002 meters Centerline goodness [0,1] 0.9996574095882491 Centerline is valid? [True, True] Translation: X:127.66, Y:-20.59, Z:-2.50 [[ 9.88172493e-01 1.52855416e-01 1.22615971e-02 1.27657598e+02] [-1.52840136e-01 9.88248523e-01 -2.17923366e-03 -2.05924809e+01] [-1.24506129e-02 2.79394586e-04 9.99922449e-01 -2.49635644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.28862385300002 meters Centerline goodness [0,1] 0.9996372636879615 Centerline is valid? [True, True] Translation: X:127.69, Y:-20.60, Z:-2.50 [[ 9.87814370e-01 1.55201898e-01 1.16250566e-02 1.27688109e+02] [-1.55188325e-01 9.87882743e-01 -2.06612928e-03 -2.06008068e+01] [-1.18048599e-02 2.36879139e-04 9.99930292e-01 -2.49836937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.31862385300002 meters Centerline goodness [0,1] 0.9998489686717873 Centerline is valid? [True, True] Translation: X:127.72, Y:-20.61, Z:-2.50 [[ 9.87591737e-01 1.56609170e-01 1.16674679e-02 1.27719180e+02] [-1.56595576e-01 9.87660629e-01 -2.07543933e-03 -2.06079607e+01] [-1.18485315e-02 2.22612882e-04 9.99929779e-01 -2.49940595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.34862385300002 meters Centerline goodness [0,1] 0.9998939464641751 Centerline is valid? [True, True] Translation: X:127.75, Y:-20.61, Z:-2.50 [[ 9.87336845e-01 1.58214868e-01 1.15763095e-02 1.27750697e+02] [-1.58201575e-01 9.87404686e-01 -2.06094550e-03 -2.06143503e+01] [-1.17565745e-02 2.03457025e-04 9.99930868e-01 -2.50010536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.37862385300002 meters Centerline goodness [0,1] 0.9999787793905441 Centerline is valid? [True, True] Translation: X:127.78, Y:-20.62, Z:-2.50 [[ 9.86890584e-01 1.61003954e-01 1.11670064e-02 1.27782279e+02] [-1.60991745e-01 9.86953747e-01 -1.98965519e-03 -2.06216814e+01] [-1.13416612e-02 1.65776114e-04 9.99935668e-01 -2.50176718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.40862385300002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:127.81, Y:-20.63, Z:-2.50 [[ 9.86688064e-01 1.62269743e-01 1.07329181e-02 1.27813969e+02] [-1.62258523e-01 9.86746426e-01 -1.91381515e-03 -2.06289487e+01] [-1.09012229e-02 1.46831129e-04 9.99940569e-01 -2.50338100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.438623853 meters Centerline goodness [0,1] 0.9999571560163664 Centerline is valid? [True, True] Translation: X:127.85, Y:-20.64, Z:-2.50 [[ 9.86496897e-01 1.63436447e-01 1.06018639e-02 1.27845517e+02] [-1.63425550e-01 9.86553856e-01 -1.89200795e-03 -2.06369261e+01] [-1.07685327e-02 1.33844545e-04 9.99942009e-01 -2.50450350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.468623853 meters Centerline goodness [0,1] 0.9999786347612435 Centerline is valid? [True, True] Translation: X:127.88, Y:-20.65, Z:-2.51 [[ 9.86113003e-01 1.65746482e-01 1.04522193e-02 1.27877060e+02] [-1.65736004e-01 9.86168389e-01 -1.86683302e-03 -2.06455380e+01] [-1.06170692e-02 1.08599267e-04 9.99943631e-01 -2.50513026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.498623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:127.91, Y:-20.65, Z:-2.50 [[ 9.85852433e-01 1.67278066e-01 1.06314920e-02 1.27909748e+02] [-1.67267290e-01 9.85909752e-01 -1.90111307e-03 -2.06484468e+01] [-1.07997062e-02 9.59160899e-05 9.99941677e-01 -2.50236659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.528623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:127.94, Y:-20.65, Z:-2.50 [[ 9.85558937e-01 1.68969843e-01 1.10803251e-02 1.27941140e+02] [-1.68958246e-01 9.85621218e-01 -1.98134076e-03 -2.06536627e+01] [-1.12557904e-02 8.06158022e-05 9.99936648e-01 -2.50123356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.558623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:127.97, Y:-20.66, Z:-2.50 [[ 9.84908363e-01 1.72672978e-01 1.18135525e-02 1.27971696e+02] [-1.72660033e-01 9.84979208e-01 -2.11481234e-03 -2.06607551e+01] [-1.20012746e-02 4.31679872e-05 9.99927981e-01 -2.50086676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.588623853 meters Centerline goodness [0,1] 0.9998707871217831 Centerline is valid? [True, True] Translation: X:128.00, Y:-20.67, Z:-2.49 [[ 9.84520252e-01 1.74902278e-01 1.13607420e-02 1.28004485e+02] [-1.74890437e-01 9.84585798e-01 -2.03525619e-03 -2.06650507e+01] [-1.15415962e-02 1.68658064e-05 9.99933393e-01 -2.49448234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.618623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:128.04, Y:-20.67, Z:-2.50 [[ 9.84077981e-01 1.77335073e-01 1.19498826e-02 1.28035764e+02] [-1.77322119e-01 9.84150533e-01 -2.14344833e-03 -2.06701705e+01] [-1.21405919e-02 -9.65820417e-06 9.99926300e-01 -2.50153938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.648623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:128.07, Y:-20.67, Z:-2.50 [[ 9.83692164e-01 1.79475339e-01 1.17613207e-02 1.28067497e+02] [-1.79462914e-01 9.83762472e-01 -2.11213236e-03 -2.06748527e+01] [-1.19494216e-02 -3.30328305e-05 9.99928603e-01 -2.50262621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.678623853 meters Centerline goodness [0,1] 0.9998491021578392 Centerline is valid? [True, True] Translation: X:128.10, Y:-20.68, Z:-2.50 [[ 9.82980967e-01 1.83429945e-01 1.00932342e-02 1.28099986e+02] [-1.83420997e-01 9.83032782e-01 -1.81310255e-03 -2.06784436e+01] [-1.02545574e-02 -6.90657729e-05 9.99947418e-01 -2.49850519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.708623853 meters Centerline goodness [0,1] 0.999935410252546 Centerline is valid? [True, True] Translation: X:128.13, Y:-20.68, Z:-2.51 [[ 9.82610485e-01 1.85395666e-01 1.02509602e-02 1.28130540e+02] [-1.85386519e-01 9.82663950e-01 -1.84375849e-03 -2.06824975e+01] [-1.04150739e-02 -8.86934067e-05 9.99945758e-01 -2.50652394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.738623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:128.16, Y:-20.69, Z:-2.51 [[ 9.82272452e-01 1.87204863e-01 9.75550951e-03 1.28162415e+02] [-1.87196666e-01 9.82320889e-01 -1.75486634e-03 -2.06884173e+01] [-9.91156028e-03 -1.02441993e-04 9.99950874e-01 -2.50675675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.768623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:128.19, Y:-20.69, Z:-2.51 [[ 9.81974177e-01 1.88768898e-01 9.64460891e-03 1.28193531e+02] [-1.88760944e-01 9.82021532e-01 -1.73661944e-03 -2.06908072e+01] [-9.79903336e-03 -1.15210044e-04 9.99951982e-01 -2.50997044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.798623853 meters Centerline goodness [0,1] 0.999935864545921 Centerline is valid? [True, True] Translation: X:128.22, Y:-20.70, Z:-2.51 [[ 9.81620209e-01 1.90596040e-01 9.74239611e-03 1.28224827e+02] [-1.90588000e-01 9.81668545e-01 -1.75569771e-03 -2.06999469e+01] [-9.89843284e-03 -1.33355435e-04 9.99951000e-01 -2.50790697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.828623853 meters Centerline goodness [0,1] 0.9998699102380643 Centerline is valid? [True, True] Translation: X:128.26, Y:-20.71, Z:-2.51 [[ 9.81525807e-01 1.91072271e-01 9.92357819e-03 1.28256721e+02] [-1.91063939e-01 9.81575961e-01 -1.78979064e-03 -2.07081454e+01] [-1.00827252e-02 -1.39312232e-04 9.99949158e-01 -2.50696361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.858623853 meters Centerline goodness [0,1] 0.9998715670954899 Centerline is valid? [True, True] Translation: X:128.29, Y:-20.71, Z:-2.51 [[ 9.81442637e-01 1.91483798e-01 1.02130414e-02 1.28288100e+02] [-1.91474972e-01 9.81495764e-01 -1.84421480e-03 -2.07136946e+01] [-1.03771941e-02 -1.45550778e-04 9.99946145e-01 -2.50721595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.888623853 meters Centerline goodness [0,1] 0.9999154995035596 Centerline is valid? [True, True] Translation: X:128.32, Y:-20.71, Z:-2.51 [[ 9.81429896e-01 1.91515129e-01 1.08311434e-02 1.28319858e+02] [-1.91505179e-01 9.81489649e-01 -1.95820878e-03 -2.07148914e+01] [-1.10056818e-02 -1.52375409e-04 9.99939424e-01 -2.50990446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.918623853 meters Centerline goodness [0,1] 0.9998706422611733 Centerline is valid? [True, True] Translation: X:128.35, Y:-20.73, Z:-2.51 [[ 9.81712227e-01 1.90055645e-01 1.09523633e-02 1.28349832e+02] [-1.90045361e-01 9.81773310e-01 -1.98177478e-03 -2.07317179e+01] [-1.11293854e-02 -1.35913306e-04 9.99938057e-01 -2.50691522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.94862385300002 meters Centerline goodness [0,1] 0.9999577640276224 Centerline is valid? [True, True] Translation: X:128.38, Y:-20.73, Z:-2.51 [[ 9.81828315e-01 1.89451221e-01 1.10179555e-02 1.28380995e+02] [-1.89440752e-01 9.81890126e-01 -1.99565915e-03 -2.07339132e+01] [-1.11965018e-02 -1.27855125e-04 9.99937309e-01 -2.51034834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.97862385300002 meters Centerline goodness [0,1] 0.9998938361254432 Centerline is valid? [True, True] Translation: X:128.41, Y:-20.74, Z:-2.51 [[ 9.82003664e-01 1.88506139e-01 1.15861637e-02 1.28411099e+02] [-1.88494464e-01 9.82072004e-01 -2.10138464e-03 -2.07421112e+01] [-1.17745709e-02 -1.20360310e-04 9.99930670e-01 -2.50976898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.00862385300002 meters Centerline goodness [0,1] 0.9999144641176974 Centerline is valid? [True, True] Translation: X:128.44, Y:-20.75, Z:-2.51 [[ 9.82131376e-01 1.87840121e-01 1.15779772e-02 1.28441302e+02] [-1.87828423e-01 9.82199611e-01 -2.09929626e-03 -2.07541909e+01] [-1.17662167e-02 -1.12888475e-04 9.99930769e-01 -2.50784994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.03862385300002 meters Centerline goodness [0,1] 0.9998060470228218 Centerline is valid? [True, True] Translation: X:128.47, Y:-20.76, Z:-2.50 [[ 9.82288984e-01 1.87056178e-01 1.08783367e-02 1.28473575e+02] [-1.87045787e-01 9.82349214e-01 -1.97390448e-03 -2.07625518e+01] [-1.10555565e-02 -9.58024247e-05 9.99938881e-01 -2.50168391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.06862385300002 meters Centerline goodness [0,1] 0.999848887161885 Centerline is valid? [True, True] Translation: X:128.50, Y:-20.77, Z:-2.50 [[ 9.82310214e-01 1.86918297e-01 1.13222998e-02 1.28504847e+02] [-1.86907004e-01 9.82375458e-01 -2.05692361e-03 -2.07696535e+01] [-1.15072261e-02 -9.56800653e-05 9.99933785e-01 -2.50168229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.09862385300002 meters Centerline goodness [0,1] 0.9999141907111445 Centerline is valid? [True, True] Translation: X:128.54, Y:-20.78, Z:-2.51 [[ 9.82201328e-01 1.87436494e-01 1.21701272e-02 1.28536766e+02] [-1.87423455e-01 9.82276717e-01 -2.21339808e-03 -2.07758375e+01] [-1.23693042e-02 -1.06964753e-04 9.99923492e-01 -2.50747415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.12862385300002 meters Centerline goodness [0,1] 0.9999365884590996 Centerline is valid? [True, True] Translation: X:128.57, Y:-20.78, Z:-2.51 [[ 9.82093510e-01 1.88024476e-01 1.17955195e-02 1.28567610e+02] [-1.88012237e-01 9.82164337e-01 -2.14804632e-03 -2.07784169e+01] [-1.19890239e-02 -1.08119651e-04 9.99928123e-01 -2.50945195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.15862385300002 meters Centerline goodness [0,1] 0.9999365884590996 Centerline is valid? [True, True] Translation: X:128.60, Y:-20.78, Z:-2.51 [[ 9.82060449e-01 1.88197086e-01 1.17954082e-02 1.28599541e+02] [-1.88184852e-01 9.82131277e-01 -2.14865743e-03 -2.07844395e+01] [-1.19890104e-02 -1.09605664e-04 9.99928123e-01 -2.51002520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.188623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:128.63, Y:-20.79, Z:-2.51 [[ 9.81870511e-01 1.89150173e-01 1.23495777e-02 1.28631868e+02] [-1.89136808e-01 9.81948164e-01 -2.25197420e-03 -2.07901574e+01] [-1.25526065e-02 -1.24612658e-04 9.99921205e-01 -2.50955985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.218623853 meters Centerline goodness [0,1] 0.9999786055069425 Centerline is valid? [True, True] Translation: X:128.66, Y:-20.80, Z:-2.51 [[ 9.81809174e-01 1.89466240e-01 1.23810418e-02 1.28663884e+02] [-1.89452803e-01 9.81887228e-01 -2.26001000e-03 -2.07959219e+01] [-1.25849824e-02 -1.26724524e-04 9.99920798e-01 -2.50969686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.248623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:128.70, Y:-20.80, Z:-2.51 [[ 9.81764147e-01 1.89716140e-01 1.21221549e-02 1.28696193e+02] [-1.89703251e-01 9.81838974e-01 -2.21495942e-03 -2.08015225e+01] [-1.23222177e-02 -1.25044454e-04 9.99924071e-01 -2.51044411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.278623853 meters Centerline goodness [0,1] 0.999914675767918 Centerline is valid? [True, True] Translation: X:128.73, Y:-20.80, Z:-2.51 [[ 9.81755849e-01 1.89794907e-01 1.15475742e-02 1.28728310e+02] [-1.89783187e-01 9.81823752e-01 -2.11244046e-03 -2.08014858e+01] [-1.17386131e-02 -1.17634655e-04 9.99931093e-01 -2.51200276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.308623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:128.76, Y:-20.81, Z:-2.51 [[ 9.81906461e-01 1.89002796e-01 1.17322213e-02 1.28758929e+02] [-1.88990628e-01 9.81976543e-01 -2.14736902e-03 -2.08135427e+01] [-1.19266248e-02 -1.08764348e-04 9.99928869e-01 -2.51238961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.338623853 meters Centerline goodness [0,1] 0.9999785361665593 Centerline is valid? [True, True] Translation: X:128.79, Y:-20.82, Z:-2.51 [[ 9.82040809e-01 1.88318730e-01 1.14850053e-02 1.28790478e+02] [-1.88306994e-01 9.82107961e-01 -2.10464135e-03 -2.08203478e+01] [-1.16758585e-02 -9.58631315e-05 9.99931830e-01 -2.51288326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.368623853 meters Centerline goodness [0,1] 0.9999353615444282 Centerline is valid? [True, True] Translation: X:128.82, Y:-20.83, Z:-2.51 [[ 9.82165783e-01 1.87672632e-01 1.13735588e-02 1.28822534e+02] [-1.87661080e-01 9.82231630e-01 -2.08408077e-03 -2.08279831e+01] [-1.15625941e-02 -8.74615093e-05 9.99933147e-01 -2.51332861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.398623853 meters Centerline goodness [0,1] 0.9999785568778814 Centerline is valid? [True, True] Translation: X:128.85, Y:-20.83, Z:-2.51 [[ 9.82346779e-01 1.86691145e-01 1.18837150e-02 1.28853455e+02] [-1.86678429e-01 9.82418653e-01 -2.18027567e-03 -2.08344233e+01] [-1.20818214e-02 -7.66464686e-05 9.99927009e-01 -2.51307089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.428623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:128.88, Y:-20.84, Z:-2.51 [[ 9.82454861e-01 1.86089272e-01 1.23785253e-02 1.28884906e+02] [-1.86075402e-01 9.82532838e-01 -2.27308816e-03 -2.08406417e+01] [-1.25853049e-02 -7.01325593e-05 9.99920799e-01 -2.51283671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.458623853 meters Centerline goodness [0,1] 0.9999785177228786 Centerline is valid? [True, True] Translation: X:128.92, Y:-20.85, Z:-2.51 [[ 9.82557484e-01 1.85547400e-01 1.23674320e-02 1.28916325e+02] [-1.85533486e-01 9.82635313e-01 -2.27310754e-03 -2.08467243e+01] [-1.25744446e-02 -6.11139459e-05 9.99920937e-01 -2.51329485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.488623853 meters Centerline goodness [0,1] 0.9999141870293695 Centerline is valid? [True, True] Translation: X:128.95, Y:-20.85, Z:-2.51 [[ 9.82683239e-01 1.84912253e-01 1.18789852e-02 1.28948489e+02] [-1.84899346e-01 9.82755034e-01 -2.18528343e-03 -2.08527918e+01] [-1.20782182e-02 -4.89751926e-05 9.99927054e-01 -2.50963671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.518623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:128.98, Y:-20.86, Z:-2.52 [[ 9.82809075e-01 1.84246473e-01 1.18135660e-02 1.28979955e+02] [-1.84233631e-01 9.82880072e-01 -2.17566785e-03 -2.08579469e+01] [-1.20121777e-02 -3.81900479e-05 9.99927850e-01 -2.51625871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.548623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:129.01, Y:-20.86, Z:-2.52 [[ 9.82861910e-01 1.83996744e-01 1.12988239e-02 1.29012588e+02] [-1.83984958e-01 9.82926852e-01 -2.08281752e-03 -2.08638824e+01] [-1.14891490e-02 -3.16916257e-05 9.99933997e-01 -2.51751426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.578623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:129.04, Y:-20.87, Z:-2.52 [[ 9.82892829e-01 1.83844596e-01 1.10838690e-02 1.29044765e+02] [-1.83833222e-01 9.82955321e-01 -2.04522811e-03 -2.08699660e+01] [-1.12709521e-02 -2.73432980e-05 9.99936480e-01 -2.51796153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.608623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:129.08, Y:-20.88, Z:-2.52 [[ 9.82907657e-01 1.83764440e-01 1.10981451e-02 1.29076298e+02] [-1.83753000e-01 9.82970310e-01 -2.05053839e-03 -2.08751157e+01] [-1.12859631e-02 -2.38275688e-05 9.99936311e-01 -2.51886665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.638623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:129.11, Y:-20.88, Z:-2.52 [[ 9.82943659e-01 1.83598963e-01 1.06387649e-02 1.29107874e+02] [-1.83588433e-01 9.83001231e-01 -1.96648832e-03 -2.08787546e+01] [-1.08189642e-02 -2.02069528e-05 9.99941473e-01 -2.52028924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.668623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:129.14, Y:-20.88, Z:-2.52 [[ 9.82950303e-01 1.83567428e-01 1.05688465e-02 1.29140503e+02] [-1.83557014e-01 9.83007121e-01 -1.95536495e-03 -2.08842449e+01] [-1.07481927e-02 -1.79593359e-05 9.99942236e-01 -2.52050142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.69862385300002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:129.17, Y:-20.89, Z:-2.52 [[ 9.83011633e-01 1.83215503e-01 1.09639454e-02 1.29172737e+02] [-1.83204239e-01 9.83072774e-01 -2.03162609e-03 -2.08896306e+01] [-1.11505816e-02 -1.15291895e-05 9.99937830e-01 -2.51997617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.72862385300002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:129.20, Y:-20.90, Z:-2.52 [[ 9.83221718e-01 1.82045462e-01 1.15975750e-02 1.29203743e+02] [-1.82032776e-01 9.83290115e-01 -2.14911043e-03 -2.08953438e+01] [-1.17950166e-02 1.91327846e-06 9.99930436e-01 -2.51955770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.75862385300002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:129.24, Y:-20.90, Z:-2.52 [[ 9.83331751e-01 1.81428322e-01 1.19344477e-02 1.29236149e+02] [-1.81414816e-01 9.83404171e-01 -2.21378508e-03 -2.09021700e+01] [-1.21380289e-02 1.17995346e-05 9.99926331e-01 -2.51977472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.78862385300002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:129.27, Y:-20.91, Z:-2.52 [[ 9.83538986e-01 1.80297669e-01 1.19921898e-02 1.29268701e+02] [-1.80283919e-01 9.83612093e-01 -2.22687580e-03 -2.09100174e+01] [-1.21971634e-02 2.82202038e-05 9.99925611e-01 -2.52027689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.81862385300002 meters Centerline goodness [0,1] 0.9999784742552092 Centerline is valid? [True, True] Translation: X:129.30, Y:-20.92, Z:-2.52 [[ 9.83790906e-01 1.78947645e-01 1.15409293e-02 1.29299732e+02] [-1.78934791e-01 9.83858597e-01 -2.14529308e-03 -2.09176098e+01] [-1.17385376e-02 4.54460610e-05 9.99931100e-01 -2.51808015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.84862385300002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:129.33, Y:-20.93, Z:-2.52 [[ 9.84214553e-01 1.76576659e-01 1.19330678e-02 1.29329231e+02] [-1.76562712e-01 9.84286888e-01 -2.22060198e-03 -2.09270177e+01] [-1.21376686e-02 7.86139602e-05 9.99926333e-01 -2.52156800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.87862385300002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:129.36, Y:-20.93, Z:-2.52 [[ 9.84366213e-01 1.75714015e-01 1.21550199e-02 1.29361110e+02] [-1.75699457e-01 9.84441251e-01 -2.26368320e-03 -2.09347750e+01] [-1.23636638e-02 9.26628695e-05 9.99923563e-01 -2.52165214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.90862385300002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:129.39, Y:-20.94, Z:-2.52 [[ 9.84537156e-01 1.74747148e-01 1.22483724e-02 1.29390975e+02] [-1.74732251e-01 9.84613337e-01 -2.28431685e-03 -2.09420295e+01] [-1.24590887e-02 1.08809143e-04 9.99922377e-01 -2.52173612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.938623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:129.42, Y:-20.95, Z:-2.52 [[ 9.84653803e-01 1.74076953e-01 1.24137913e-02 1.29422837e+02] [-1.74061604e-01 9.84732045e-01 -2.31464830e-03 -2.09493685e+01] [-1.26271850e-02 1.18362833e-04 9.99920267e-01 -2.52198013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.968623853 meters Centerline goodness [0,1] 0.9999785370879121 Centerline is valid? [True, True] Translation: X:129.45, Y:-20.96, Z:-2.52 [[ 9.84754736e-01 1.73493457e-01 1.25750069e-02 1.29454230e+02] [-1.73477627e-01 9.84835013e-01 -2.34721923e-03 -2.09561609e+01] [-1.27915343e-02 1.29952894e-04 9.99918177e-01 -2.52179211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.998623853 meters Centerline goodness [0,1] 0.9999783056730664 Centerline is valid? [True, True] Translation: X:129.49, Y:-20.96, Z:-2.52 [[ 9.84766644e-01 1.73443395e-01 1.23306688e-02 1.29486242e+02] [-1.73428144e-01 9.84843831e-01 -2.30369913e-03 -2.09631605e+01] [-1.25433445e-02 1.30121062e-04 9.99921321e-01 -2.52220506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.028623853 meters Centerline goodness [0,1] 0.9999785227980499 Centerline is valid? [True, True] Translation: X:129.52, Y:-20.97, Z:-2.52 [[ 9.84742771e-01 1.73588632e-01 1.21927191e-02 1.29517245e+02] [-1.73573703e-01 9.84818242e-01 -2.28025258e-03 -2.09699375e+01] [-1.24034381e-02 1.29126841e-04 9.99923066e-01 -2.52316619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.058623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:129.55, Y:-20.98, Z:-2.52 [[ 9.84645370e-01 1.74157563e-01 1.19431309e-02 1.29549127e+02] [-1.74143255e-01 9.84717791e-01 -2.23563388e-03 -2.09753543e+01] [-1.21499661e-02 1.21490850e-04 9.99926179e-01 -2.52406157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.088623853 meters Centerline goodness [0,1] 0.9999786520931623 Centerline is valid? [True, True] Translation: X:129.58, Y:-20.98, Z:-2.52 [[ 9.84572810e-01 1.74564796e-01 1.19797690e-02 1.29581799e+02] [-1.74550405e-01 9.84645681e-01 -2.24454527e-03 -2.09805249e+01] [-1.21876464e-02 1.18844708e-04 9.99925721e-01 -2.52421932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.118623853 meters Centerline goodness [0,1] 0.99997886237291 Centerline is valid? [True, True] Translation: X:129.61, Y:-20.99, Z:-2.52 [[ 9.84418293e-01 1.75429027e-01 1.20532231e-02 1.29613493e+02] [-1.75414495e-01 9.84492074e-01 -2.26069031e-03 -2.09853985e+01] [-1.22628934e-02 1.11154845e-04 9.99924802e-01 -2.52451532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.148623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:129.64, Y:-20.99, Z:-2.52 [[ 9.84245056e-01 1.76396930e-01 1.20744670e-02 1.29644828e+02] [-1.76382396e-01 9.84319111e-01 -2.26662921e-03 -2.09903383e+01] [-1.22849550e-02 1.01195172e-04 9.99924532e-01 -2.52485896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.178623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:129.68, Y:-20.99, Z:-2.52 [[ 9.84145841e-01 1.76946474e-01 1.21206361e-02 1.29677838e+02] [-1.76931848e-01 9.84220471e-01 -2.27709742e-03 -2.09949729e+01] [-1.23323025e-02 9.64694029e-05 9.99923950e-01 -2.52442472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.208623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:129.71, Y:-21.00, Z:-2.52 [[ 9.84044881e-01 1.77502213e-01 1.21916564e-02 1.29710314e+02] [-1.77487429e-01 9.84120397e-01 -2.29279779e-03 -2.10005070e+01] [-1.24050344e-02 9.23501881e-05 9.99923050e-01 -2.52462974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.238623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:129.74, Y:-21.01, Z:-2.53 [[ 9.83937811e-01 1.78095730e-01 1.21776415e-02 1.29742592e+02] [-1.78080995e-01 9.84013162e-01 -2.29256899e-03 -2.10065595e+01] [-1.23912563e-02 8.71387965e-05 9.99923222e-01 -2.52502174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.268623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:129.77, Y:-21.01, Z:-2.53 [[ 9.83746141e-01 1.79137435e-01 1.23818537e-02 1.29772981e+02] [-1.79122250e-01 9.83824056e-01 -2.33373428e-03 -2.10139035e+01] [-1.25996247e-02 7.79365968e-05 9.99920619e-01 -2.52642011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.298623853 meters Centerline goodness [0,1] 0.999978458953536 Centerline is valid? [True, True] Translation: X:129.81, Y:-21.02, Z:-2.53 [[ 9.83668213e-01 1.79555026e-01 1.25235647e-02 1.29805774e+02] [-1.79539502e-01 9.83747928e-01 -2.36231229e-03 -2.10177856e+01] [-1.27441958e-02 7.52569481e-05 9.99918787e-01 -2.52508291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.328623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:129.84, Y:-21.02, Z:-2.53 [[ 9.83516378e-01 1.80390902e-01 1.24361076e-02 1.29837627e+02] [-1.80375628e-01 9.83594997e-01 -2.34833518e-03 -2.10238027e+01] [-1.26557115e-02 6.64554029e-05 9.99919911e-01 -2.52630267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.358623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:129.87, Y:-21.03, Z:-2.53 [[ 9.83336881e-01 1.81356891e-01 1.25799616e-02 1.29870584e+02] [-1.81341312e-01 9.83417345e-01 -2.37778810e-03 -2.10284272e+01] [-1.28025807e-02 5.68999945e-05 9.99918042e-01 -2.52597721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.388623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:129.90, Y:-21.03, Z:-2.53 [[ 9.82952065e-01 1.83399212e-01 1.30371584e-02 1.29901572e+02] [-1.83382620e-01 9.83038518e-01 -2.46713940e-03 -2.10328690e+01] [-1.32685003e-02 3.42914865e-05 9.99911969e-01 -2.52653398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.418623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:129.93, Y:-21.04, Z:-2.53 [[ 9.82762871e-01 1.84437210e-01 1.26512625e-02 1.29933121e+02] [-1.84421647e-01 9.82844299e-01 -2.39601436e-03 -2.10380235e+01] [-1.28761355e-02 2.15472742e-05 9.99917099e-01 -2.52729603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.44862385300002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:129.97, Y:-21.04, Z:-2.53 [[ 9.82603885e-01 1.85289516e-01 1.25459606e-02 1.29966143e+02] [-1.85274253e-01 9.82683975e-01 -2.37824738e-03 -2.10435840e+01] [-1.27693787e-02 1.24316413e-05 9.99918468e-01 -2.52773248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.47862385300002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:130.00, Y:-21.05, Z:-2.53 [[ 9.82501863e-01 1.85845128e-01 1.23157073e-02 1.29997933e+02] [-1.85830434e-01 9.82579049e-01 -2.33699697e-03 -2.10498798e+01] [-1.25354755e-02 7.47063943e-06 9.99921428e-01 -2.52942967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.50862385300002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:130.03, Y:-21.06, Z:-2.53 [[ 9.82588619e-01 1.85393640e-01 1.21985239e-02 1.30029711e+02] [-1.85379163e-01 9.82664336e-01 -2.31686979e-03 -2.10573801e+01] [-1.24165873e-02 1.51777368e-05 9.99922911e-01 -2.53014978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.53862385300002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:130.06, Y:-21.07, Z:-2.53 [[ 9.82748883e-01 1.84544993e-01 1.21564488e-02 1.30060518e+02] [-1.84530520e-01 9.82824066e-01 -2.31132328e-03 -2.10658542e+01] [-1.23741936e-02 2.82145442e-05 9.99923436e-01 -2.53156421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.56862385300002 meters Centerline goodness [0,1] 0.999978795139846 Centerline is valid? [True, True] Translation: X:130.09, Y:-21.08, Z:-2.53 [[ 9.82972470e-01 1.83357738e-01 1.20442221e-02 1.30092553e+02] [-1.83343416e-01 9.83046254e-01 -2.29213423e-03 -2.10751749e+01] [-1.22603080e-02 4.48760202e-05 9.99924839e-01 -2.53214639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.59862385300002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:130.12, Y:-21.09, Z:-2.53 [[ 9.83661195e-01 1.79623261e-01 1.20887484e-02 1.30122582e+02] [-1.79608521e-01 9.83735470e-01 -2.30302150e-03 -2.10886968e+01] [-1.23058068e-02 9.41506620e-05 9.99924276e-01 -2.53270354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.62862385300002 meters Centerline goodness [0,1] 0.9998708065974764 Centerline is valid? [True, True] Translation: X:130.15, Y:-21.10, Z:-2.53 [[ 9.84022964e-01 1.77673510e-01 1.14424685e-02 1.30153119e+02] [-1.77660150e-01 9.84089483e-01 -2.18178170e-03 -2.10978367e+01] [-1.16480577e-02 1.14052631e-04 9.99932153e-01 -2.52765973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.65862385300002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:130.18, Y:-21.11, Z:-2.54 [[ 9.84366689e-01 1.75726342e-01 1.19362427e-02 1.30182364e+02] [-1.75711636e-01 9.84439044e-01 -2.27798895e-03 -2.11105054e+01] [-1.21508061e-02 1.45039702e-04 9.99926166e-01 -2.53506220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.688623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:130.21, Y:-21.12, Z:-2.54 [[ 9.84720233e-01 1.73760914e-01 1.15415720e-02 1.30211550e+02] [-1.73747009e-01 9.84787854e-01 -2.20446626e-03 -2.11216115e+01] [-1.17490500e-02 1.65468919e-04 9.99930964e-01 -2.53662533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.718623853 meters Centerline goodness [0,1] 0.9999787238569392 Centerline is valid? [True, True] Translation: X:130.24, Y:-21.14, Z:-2.54 [[ 9.85338041e-01 1.70250726e-01 1.11190975e-02 1.30239918e+02] [-1.70237573e-01 9.85400756e-01 -2.12587308e-03 -2.11373212e+01] [-1.13186985e-02 2.01815448e-04 9.99935921e-01 -2.53824945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.748623853 meters Centerline goodness [0,1] 0.9999785301758378 Centerline is valid? [True, True] Translation: X:130.27, Y:-21.15, Z:-2.54 [[ 9.85550264e-01 1.69000089e-01 1.13862731e-02 1.30271092e+02] [-1.68986207e-01 9.85616011e-01 -2.17740423e-03 -2.11452946e+01] [-1.15904746e-02 2.21818201e-04 9.99932804e-01 -2.53773252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.778623853 meters Centerline goodness [0,1] 0.9999359138682389 Centerline is valid? [True, True] Translation: X:130.30, Y:-21.16, Z:-2.54 [[ 9.85735449e-01 1.67925685e-01 1.12511708e-02 1.30300404e+02] [-1.67912038e-01 9.85799630e-01 -2.15357629e-03 -2.11588026e+01] [-1.14530408e-02 2.33649477e-04 9.99934384e-01 -2.53968636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.808623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:130.33, Y:-21.17, Z:-2.54 [[ 9.85851167e-01 1.67237642e-01 1.13599512e-02 1.30332293e+02] [-1.67223664e-01 9.85916584e-01 -2.17618586e-03 -2.11651355e+01] [-1.15639044e-02 2.45742716e-04 9.99933106e-01 -2.53829742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.838623853 meters Centerline goodness [0,1] 0.9999571569341502 Centerline is valid? [True, True] Translation: X:130.36, Y:-21.18, Z:-2.54 [[ 9.86068083e-01 1.65948235e-01 1.14420240e-02 1.30361035e+02] [-1.65933942e-01 9.86134430e-01 -2.19400546e-03 -2.11819729e+01] [-1.16474652e-02 2.64818611e-04 9.99932131e-01 -2.53962236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.868623853 meters Centerline goodness [0,1] 0.9999571899481998 Centerline is valid? [True, True] Translation: X:130.39, Y:-21.19, Z:-2.54 [[ 9.86167690e-01 1.65370301e-01 1.12227968e-02 1.30390848e+02] [-1.65356492e-01 9.86231510e-01 -2.15377918e-03 -2.11920616e+01] [-1.14244469e-02 2.68225124e-04 9.99934703e-01 -2.54072616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.898623853 meters Centerline goodness [0,1] 0.9999565849740595 Centerline is valid? [True, True] Translation: X:130.42, Y:-21.20, Z:-2.54 [[ 9.86235004e-01 1.64960011e-01 1.13451013e-02 1.30423231e+02] [-1.64945854e-01 9.86300217e-01 -2.17883731e-03 -2.11965196e+01] [-1.15490969e-02 2.77518197e-04 9.99933268e-01 -2.53963519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.928623853 meters Centerline goodness [0,1] 0.9999572877736252 Centerline is valid? [True, True] Translation: X:130.45, Y:-21.22, Z:-2.54 [[ 9.86255992e-01 1.64790637e-01 1.19650822e-02 1.30451794e+02] [-1.64774852e-01 9.86328524e-01 -2.30011139e-03 -2.12161297e+01] [-1.21805387e-02 2.96953999e-04 9.99925770e-01 -2.54050506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.958623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:130.48, Y:-21.22, Z:-2.54 [[ 9.86210128e-01 1.65047515e-01 1.22025060e-02 1.30483353e+02] [-1.65031087e-01 9.86285571e-01 -2.34811543e-03 -2.12243127e+01] [-1.24227062e-02 3.01942388e-04 9.99922790e-01 -2.53989696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.988623853 meters Centerline goodness [0,1] 0.9999787247622492 Centerline is valid? [True, True] Translation: X:130.52, Y:-21.23, Z:-2.54 [[ 9.86099169e-01 1.65676708e-01 1.26355542e-02 1.30515112e+02] [-1.65659112e-01 9.86180072e-01 -2.43398548e-03 -2.12295828e+01] [-1.28641865e-02 3.06956371e-04 9.99917206e-01 -2.53858470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.018623853 meters Centerline goodness [0,1] 0.9999787197820905 Centerline is valid? [True, True] Translation: X:130.55, Y:-21.24, Z:-2.54 [[ 9.85997880e-01 1.66234174e-01 1.32052897e-02 1.30545993e+02] [-1.66214973e-01 9.86086254e-01 -2.54613613e-03 -2.12386624e+01] [-1.34448095e-02 3.15567952e-04 9.99909565e-01 -2.53825673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.048623853 meters Centerline goodness [0,1] 0.9999574857045682 Centerline is valid? [True, True] Translation: X:130.57, Y:-21.25, Z:-2.54 [[ 9.85813638e-01 1.67299075e-01 1.35088950e-02 1.30574994e+02] [-1.67279047e-01 9.85906143e-01 -2.60710740e-03 -2.12506479e+01] [-1.37546692e-02 3.10366954e-04 9.99905352e-01 -2.53815962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.078623853 meters Centerline goodness [0,1] 0.9999574857045682 Centerline is valid? [True, True] Translation: X:130.61, Y:-21.26, Z:-2.54 [[ 9.85782421e-01 1.67482949e-01 1.35085205e-02 1.30606850e+02] [-1.67462912e-01 9.85874924e-01 -2.60904612e-03 -2.12570020e+01] [-1.37546824e-02 3.09775620e-04 9.99905352e-01 -2.53873306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.108623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:130.64, Y:-21.26, Z:-2.54 [[ 9.85656146e-01 1.68232290e-01 1.34111539e-02 1.30638327e+02] [-1.68212574e-01 9.85747334e-01 -2.59289248e-03 -2.12645845e+01] [-1.36562175e-02 2.99775679e-04 9.99906705e-01 -2.54005861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.138623853 meters Centerline goodness [0,1] 0.9999786425184742 Centerline is valid? [True, True] Translation: X:130.67, Y:-21.28, Z:-2.54 [[ 9.85484574e-01 1.69261493e-01 1.30652742e-02 1.30667783e+02] [-1.69242842e-01 9.85571138e-01 -2.52825553e-03 -2.12753003e+01] [-1.33046935e-02 2.80352682e-04 9.99911449e-01 -2.54157978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.168623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:130.70, Y:-21.28, Z:-2.54 [[ 9.85235898e-01 1.70720612e-01 1.28334837e-02 1.30699824e+02] [-1.70702716e-01 9.85319444e-01 -2.48534247e-03 -2.12808293e+01] [-1.30693802e-02 2.57938111e-04 9.99914559e-01 -2.54203144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.19862385300002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:130.73, Y:-21.29, Z:-2.54 [[ 9.84618514e-01 1.74249516e-01 1.27862554e-02 1.30728834e+02] [-1.74232010e-01 9.84701508e-01 -2.47912782e-03 -2.12886925e+01] [-1.30226318e-02 2.13220175e-04 9.99915179e-01 -2.54299991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.22862385300002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:130.76, Y:-21.29, Z:-2.54 [[ 9.84191823e-01 1.76650475e-01 1.26911282e-02 1.30760248e+02] [-1.76633435e-01 9.84273629e-01 -2.46010328e-03 -2.12943683e+01] [-1.29261212e-02 1.79535958e-04 9.99916438e-01 -2.54347029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.25862385300002 meters Centerline goodness [0,1] 0.9999354505551252 Centerline is valid? [True, True] Translation: X:130.79, Y:-21.30, Z:-2.54 [[ 9.83708745e-01 1.79371544e-01 1.19563701e-02 1.30791863e+02] [-1.79356598e-01 9.83781394e-01 -2.31954384e-03 -2.12985448e+01] [-1.21785146e-02 1.37301680e-04 9.99925830e-01 -2.53898516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.28862385300002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:130.82, Y:-21.31, Z:-2.55 [[ 9.83187306e-01 1.82176004e-01 1.24348525e-02 1.30822447e+02] [-1.82160029e-01 9.83265931e-01 -2.41500147e-03 -2.13056027e+01] [-1.26667221e-02 1.09265705e-04 9.99919768e-01 -2.54550084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.31862385300002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:130.85, Y:-21.31, Z:-2.55 [[ 9.81931621e-01 1.88848838e-01 1.20998993e-02 1.30854742e+02] [-1.88834208e-01 9.82006169e-01 -2.35074531e-03 -2.13066052e+01] [-1.23261112e-02 2.33962592e-05 9.99924030e-01 -2.54661136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.34862385300002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:130.89, Y:-21.31, Z:-2.55 [[ 9.81268974e-01 1.92252349e-01 1.22570487e-02 1.30887783e+02] [-1.92237578e-01 9.81345522e-01 -2.38321720e-03 -2.13101354e+01] [-1.24865790e-02 -1.76882669e-05 9.99922039e-01 -2.54721430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.37862385300002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:130.92, Y:-21.31, Z:-2.55 [[ 9.80654931e-01 1.95366278e-01 1.21624075e-02 1.30920191e+02] [-1.95351944e-01 9.80730347e-01 -2.36718911e-03 -2.13139554e+01] [-1.23905111e-02 -5.45542772e-05 9.99923233e-01 -2.54803584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.40862385300002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:130.95, Y:-21.32, Z:-2.55 [[ 9.80082476e-01 1.98223172e-01 1.20795049e-02 1.30951440e+02] [-1.98209225e-01 9.80156909e-01 -2.35306313e-03 -2.13190093e+01] [-1.23062418e-02 -8.80733557e-05 9.99924271e-01 -2.54835715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.438623853 meters Centerline goodness [0,1] 0.9999786297388554 Centerline is valid? [True, True] Translation: X:130.98, Y:-21.32, Z:-2.55 [[ 9.79555497e-01 2.00808062e-01 1.21305663e-02 1.30982767e+02] [-2.00794171e-01 9.79630598e-01 -2.36491801e-03 -2.13239992e+01] [-1.23583685e-02 -1.19178556e-04 9.99923625e-01 -2.54886893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.468623853 meters Centerline goodness [0,1] 0.9999142183143899 Centerline is valid? [True, True] Translation: X:131.01, Y:-21.33, Z:-2.55 [[ 9.78641472e-01 2.05190488e-01 1.25591840e-02 1.31014556e+02] [-2.05175933e-01 9.78722040e-01 -2.45048691e-03 -2.13275139e+01] [-1.27947668e-02 -1.78694179e-04 9.99918128e-01 -2.54871207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.498623853 meters Centerline goodness [0,1] 0.9999355656264095 Centerline is valid? [True, True] Translation: X:131.05, Y:-21.33, Z:-2.55 [[ 9.78280219e-01 2.06878707e-01 1.30004971e-02 1.31046389e+02] [-2.06863231e-01 9.78366577e-01 -2.53878298e-03 -2.13329483e+01] [-1.32444720e-02 -2.05683671e-04 9.99912267e-01 -2.54902934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.528623853 meters Centerline goodness [0,1] 0.9999562679028273 Centerline is valid? [True, True] Translation: X:131.08, Y:-21.34, Z:-2.55 [[ 9.77978253e-01 2.08303623e-01 1.29667447e-02 1.31077868e+02] [-2.08288324e-01 9.78064186e-01 -2.53433980e-03 -2.13388418e+01] [-1.32102208e-02 -2.22292320e-04 9.99912717e-01 -2.54943124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.558623853 meters Centerline goodness [0,1] 0.9998071566316692 Centerline is valid? [True, True] Translation: X:131.11, Y:-21.34, Z:-2.55 [[ 9.77657207e-01 2.09797437e-01 1.30927915e-02 1.31108269e+02] [-2.09781938e-01 9.77744842e-01 -2.56153676e-03 -2.13431512e+01] [-1.33388132e-02 -2.42326304e-04 9.99911005e-01 -2.55026259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.588623853 meters Centerline goodness [0,1] 0.9998509115692622 Centerline is valid? [True, True] Translation: X:131.14, Y:-21.35, Z:-2.55 [[ 9.77027063e-01 2.12706607e-01 1.31915669e-02 1.31138959e+02] [-2.12691128e-01 9.77116072e-01 -2.58168191e-03 -2.13469670e+01] [-1.34388328e-02 -2.83356147e-04 9.99909655e-01 -2.55093148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.618623853 meters Centerline goodness [0,1] 0.9998289940575436 Centerline is valid? [True, True] Translation: X:131.17, Y:-21.35, Z:-2.55 [[ 9.76689700e-01 2.14271349e-01 1.28459855e-02 1.31171110e+02] [-2.14256782e-01 9.76774130e-01 -2.51587944e-03 -2.13520739e+01] [-1.30867072e-02 -2.95105974e-04 9.99914322e-01 -2.55206117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.648623853 meters Centerline goodness [0,1] 0.9996611820511192 Centerline is valid? [True, True] Translation: X:131.20, Y:-21.36, Z:-2.55 [[ 9.76311907e-01 2.16015376e-01 1.23457521e-02 1.31202142e+02] [-2.16002036e-01 9.76389914e-01 -2.41986587e-03 -2.13556181e+01] [-1.25769961e-02 -3.04163720e-04 9.99920860e-01 -2.55357237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.678623853 meters Centerline goodness [0,1] 0.999656792294987 Centerline is valid? [True, True] Translation: X:131.23, Y:-21.36, Z:-2.56 [[ 9.75952373e-01 2.17653116e-01 1.20036120e-02 1.31233585e+02] [-2.17640607e-01 9.76026138e-01 -2.35454281e-03 -2.13587211e+01] [-1.22283127e-02 -3.14551768e-04 9.99925182e-01 -2.55529193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.708623853 meters Centerline goodness [0,1] 0.9992381597325094 Centerline is valid? [True, True] Translation: X:131.26, Y:-21.36, Z:-2.56 [[ 9.75325790e-01 2.20497698e-01 1.09712455e-02 1.31264032e+02] [-2.20487406e-01 9.75387443e-01 -2.15403878e-03 -2.13582163e+01] [-1.11761756e-02 -3.18131883e-04 9.99937494e-01 -2.55763499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.738623853 meters Centerline goodness [0,1] 0.9991279749877704 Centerline is valid? [True, True] Translation: X:131.30, Y:-21.36, Z:-2.56 [[ 9.75023374e-01 2.21835226e-01 1.08881646e-02 1.31295952e+02] [-2.21825173e-01 9.75084111e-01 -2.13767947e-03 -2.13615148e+01] [-1.10910889e-02 -3.30981534e-04 9.99938437e-01 -2.55884943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.768623853 meters Centerline goodness [0,1] 0.9986108439657199 Centerline is valid? [True, True] Translation: X:131.33, Y:-21.36, Z:-2.56 [[ 9.74807498e-01 2.22778954e-01 1.09489672e-02 1.31327006e+02] [-2.22768823e-01 9.74868925e-01 -2.15183037e-03 -2.13645837e+01] [-1.11531904e-02 -3.41468162e-04 9.99937743e-01 -2.55994710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.798623853 meters Centerline goodness [0,1] 0.9985046888684767 Centerline is valid? [True, True] Translation: X:131.36, Y:-21.37, Z:-2.56 [[ 9.74639231e-01 2.23505261e-01 1.11251245e-02 1.31359130e+02] [-2.23494843e-01 9.74702658e-01 -2.18696493e-03 -2.13691529e+01] [-1.13324866e-02 -3.54906150e-04 9.99935722e-01 -2.56025650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.828623853 meters Centerline goodness [0,1] 0.998001998001998 Centerline is valid? [True, True] Translation: X:131.39, Y:-21.37, Z:-2.56 [[ 9.74536666e-01 2.23936887e-01 1.14261405e-02 1.31391864e+02] [-2.23925907e-01 9.74603578e-01 -2.24787637e-03 -2.13742372e+01] [-1.16393399e-02 -3.67970944e-04 9.99932193e-01 -2.56048404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.858623853 meters Centerline goodness [0,1] 0.9979681317506149 Centerline is valid? [True, True] Translation: X:131.42, Y:-21.38, Z:-2.56 [[ 9.74558898e-01 2.23830953e-01 1.16042467e-02 1.31422491e+02] [-2.23819593e-01 9.74627912e-01 -2.28522642e-03 -2.13790051e+01] [-1.18213271e-02 -3.70170029e-04 9.99930057e-01 -2.56073001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.888623853 meters Centerline goodness [0,1] 0.999568630834268 Centerline is valid? [True, True] Translation: X:131.45, Y:-21.39, Z:-2.56 [[ 9.74813515e-01 2.22708728e-01 1.18082018e-02 1.31451916e+02] [-2.22696864e-01 9.74884963e-01 -2.32697874e-03 -2.13944044e+01] [-1.20298769e-02 -3.61279189e-04 9.99927573e-01 -2.55967897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.918623853 meters Centerline goodness [0,1] 0.9997212095217671 Centerline is valid? [True, True] Translation: X:131.48, Y:-21.40, Z:-2.56 [[ 9.74981163e-01 2.21969798e-01 1.18802488e-02 1.31482921e+02] [-2.21957708e-01 9.75053478e-01 -2.34331797e-03 -2.13979464e+01] [-1.21040237e-02 -3.52221914e-04 9.99926682e-01 -2.56085291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.94862385300002 meters Centerline goodness [0,1] 0.9997411729180596 Centerline is valid? [True, True] Translation: X:131.51, Y:-21.41, Z:-2.56 [[ 9.75148419e-01 2.21237659e-01 1.18093113e-02 1.31513767e+02] [-2.21225638e-01 9.75219864e-01 -2.33113628e-03 -2.14061459e+01] [-1.20324101e-02 -3.39318576e-04 9.99927550e-01 -2.56138480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.97862385300002 meters Centerline goodness [0,1] 0.9994048251673929 Centerline is valid? [True, True] Translation: X:131.55, Y:-21.41, Z:-2.56 [[ 9.75432565e-01 2.19991931e-01 1.16129513e-02 1.31545951e+02] [-2.19980195e-01 9.75501640e-01 -2.29430432e-03 -2.14060965e+01] [-1.18331815e-02 -3.16680139e-04 9.99929935e-01 -2.56399654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.00862385300002 meters Centerline goodness [0,1] 0.9998063391646763 Centerline is valid? [True, True] Translation: X:131.58, Y:-21.42, Z:-2.56 [[ 9.75517494e-01 2.19639056e-01 1.11491289e-02 1.31576548e+02] [-2.19628196e-01 9.75581158e-01 -2.20443262e-03 -2.14171844e+01] [-1.13610596e-02 -2.98200478e-04 9.99935417e-01 -2.56406918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.03862385300002 meters Centerline goodness [0,1] 0.9996580904350799 Centerline is valid? [True, True] Translation: X:131.61, Y:-21.42, Z:-2.57 [[ 9.75576229e-01 2.19394209e-01 1.08260346e-02 1.31607824e+02] [-2.19383934e-01 9.75636254e-01 -2.14238178e-03 -2.14192749e+01] [-1.10322980e-02 -2.85001316e-04 9.99939102e-01 -2.56637409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.06862385300002 meters Centerline goodness [0,1] 0.9998056659181206 Centerline is valid? [True, True] Translation: X:131.64, Y:-21.43, Z:-2.57 [[ 9.75612254e-01 2.19241665e-01 1.06687122e-02 1.31638677e+02] [-2.19231661e-01 9.75670546e-01 -2.11278061e-03 -2.14281712e+01] [-1.08723578e-02 -2.77664830e-04 9.99940856e-01 -2.56624130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.09862385300002 meters Centerline goodness [0,1] 0.9995286757932172 Centerline is valid? [True, True] Translation: X:131.67, Y:-21.43, Z:-2.57 [[ 9.75609397e-01 2.19226068e-01 1.12354368e-02 1.31670002e+02] [-2.19214947e-01 9.75674047e-01 -2.22718371e-03 -2.14310469e+01] [-1.14503808e-02 -2.90114312e-04 9.99934400e-01 -2.56617526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.12862385300002 meters Centerline goodness [0,1] 0.9995463677013804 Centerline is valid? [True, True] Translation: X:131.70, Y:-21.43, Z:-2.57 [[ 9.75555696e-01 2.19441384e-01 1.16860516e-02 1.31702552e+02] [-2.19429345e-01 9.75625639e-01 -2.31837008e-03 -2.14296874e+01] [-1.19099579e-02 -3.02563508e-04 9.99929028e-01 -2.56731503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.15862385300002 meters Centerline goodness [0,1] 0.9996770929756958 Centerline is valid? [True, True] Translation: X:131.73, Y:-21.44, Z:-2.57 [[ 9.75435719e-01 2.19958906e-01 1.19682120e-02 1.31734131e+02] [-2.19946292e-01 9.75509088e-01 -2.37650147e-03 -2.14399233e+01] [-1.21978322e-02 -3.14239424e-04 9.99925554e-01 -2.56607953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.188623853 meters Centerline goodness [0,1] 0.9995710179743469 Centerline is valid? [True, True] Translation: X:131.77, Y:-21.44, Z:-2.57 [[ 9.75222237e-01 2.20889016e-01 1.22323575e-02 1.31766013e+02] [-2.20875881e-01 9.75298894e-01 -2.43149484e-03 -2.14435101e+01] [-1.24672952e-02 -3.30584889e-04 9.99922226e-01 -2.56609217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.218623853 meters Centerline goodness [0,1] 0.9990677176031867 Centerline is valid? [True, True] Translation: X:131.80, Y:-21.44, Z:-2.57 [[ 9.75074818e-01 2.21530681e-01 1.23797209e-02 1.31798553e+02] [-2.21517251e-01 9.75153342e-01 -2.46296089e-03 -2.14390432e+01] [-1.26177477e-02 -3.40750615e-04 9.99920335e-01 -2.56775802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.248623853 meters Centerline goodness [0,1] 0.9993588784647276 Centerline is valid? [True, True] Translation: X:131.83, Y:-21.45, Z:-2.57 [[ 9.74765248e-01 2.22900926e-01 1.21609175e-02 1.31829377e+02] [-2.22888050e-01 9.74841041e-01 -2.42126142e-03 -2.14462174e+01] [-1.23946629e-02 -3.50361705e-04 9.99923122e-01 -2.56763217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.278623853 meters Centerline goodness [0,1] 0.9992765187785935 Centerline is valid? [True, True] Translation: X:131.86, Y:-21.45, Z:-2.57 [[ 9.74609275e-01 2.23571678e-01 1.23476952e-02 1.31860482e+02] [-2.23558433e-01 9.74687423e-01 -2.46040489e-03 -2.14481050e+01] [-1.25852201e-02 -3.62497962e-04 9.99920737e-01 -2.56840492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.308623853 meters Centerline goodness [0,1] 0.9994845582234441 Centerline is valid? [True, True] Translation: X:131.89, Y:-21.45, Z:-2.57 [[ 9.74472172e-01 2.24165976e-01 1.23936395e-02 1.31892087e+02] [-2.24152657e-01 9.74550911e-01 -2.47141779e-03 -2.14525681e+01] [-1.26322404e-02 -3.69739352e-04 9.99920142e-01 -2.56866302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.338623853 meters Centerline goodness [0,1] 0.9996153928334864 Centerline is valid? [True, True] Translation: X:131.92, Y:-21.46, Z:-2.57 [[ 9.74351113e-01 2.24711181e-01 1.20330111e-02 1.31923945e+02] [-2.24698644e-01 9.74425345e-01 -2.40143444e-03 -2.14556671e+01] [-1.22649002e-02 -3.63960954e-04 9.99924717e-01 -2.56951329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.368623853 meters Centerline goodness [0,1] 0.9994446461755345 Centerline is valid? [True, True] Translation: X:131.96, Y:-21.46, Z:-2.57 [[ 9.74322661e-01 2.24846281e-01 1.18110900e-02 1.31956118e+02] [-2.24834185e-01 9.74394182e-01 -2.35934137e-03 -2.14580994e+01] [-1.20391466e-02 -3.56777038e-04 9.99927463e-01 -2.57060305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.398623853 meters Centerline goodness [0,1] 0.9993587688361655 Centerline is valid? [True, True] Translation: X:131.99, Y:-21.46, Z:-2.57 [[ 9.74334436e-01 2.24781651e-01 1.20671319e-02 1.31988791e+02] [-2.24769005e-01 9.74409092e-01 -2.41172053e-03 -2.14593290e+01] [-1.23004335e-02 -3.62494871e-04 9.99924281e-01 -2.57067847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.428623853 meters Centerline goodness [0,1] 0.9993621499798014 Centerline is valid? [True, True] Translation: X:132.02, Y:-21.46, Z:-2.57 [[ 9.74373056e-01 2.24607721e-01 1.21868941e-02 1.32020562e+02] [-2.24594783e-01 9.74449199e-01 -2.43773230e-03 -2.14639996e+01] [-1.24230427e-02 -3.61852175e-04 9.99922766e-01 -2.57099025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.458623853 meters Centerline goodness [0,1] 0.9994693496349125 Centerline is valid? [True, True] Translation: X:132.05, Y:-21.46, Z:-2.57 [[ 9.74694615e-01 2.23185399e-01 1.25969958e-02 1.32051878e+02] [-2.23171428e-01 9.74775950e-01 -2.52205275e-03 -2.14645384e+01] [-1.28421339e-02 -3.53058306e-04 9.99917474e-01 -2.57033958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.488623853 meters Centerline goodness [0,1] 0.9996754441006556 Centerline is valid? [True, True] Translation: X:132.08, Y:-21.47, Z:-2.57 [[ 9.74952359e-01 2.22034280e-01 1.29875515e-02 1.32083004e+02] [-2.22019300e-01 9.75038799e-01 -2.60226865e-03 -2.14737464e+01] [-1.32411594e-02 -3.46399128e-04 9.99912272e-01 -2.56980706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.518623853 meters Centerline goodness [0,1] 0.9994656064298234 Centerline is valid? [True, True] Translation: X:132.11, Y:-21.48, Z:-2.57 [[ 9.75317463e-01 2.20413796e-01 1.31759293e-02 1.32114307e+02] [-2.20398198e-01 9.75406403e-01 -2.64241827e-03 -2.14757916e+01] [-1.34343112e-02 -3.26754390e-04 9.99909702e-01 -2.57084097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.548623853 meters Centerline goodness [0,1] 0.999463000751799 Centerline is valid? [True, True] Translation: X:132.15, Y:-21.48, Z:-2.57 [[ 9.75732267e-01 2.18549719e-01 1.35116347e-02 1.32146025e+02] [-2.18533101e-01 9.75825767e-01 -2.71238874e-03 -2.14833489e+01] [-1.37777931e-02 -3.06174217e-04 9.99905035e-01 -2.57121812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.578623853 meters Centerline goodness [0,1] 0.9996795967190704 Centerline is valid? [True, True] Translation: X:132.18, Y:-21.49, Z:-2.57 [[ 9.76179103e-01 2.16545178e-01 1.35109354e-02 1.32176571e+02] [-2.16528364e-01 9.76272559e-01 -2.71270914e-03 -2.14901316e+01] [-1.37777796e-02 -2.77410768e-04 9.99905043e-01 -2.57153143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.608623853 meters Centerline goodness [0,1] 0.9999147194269146 Centerline is valid? [True, True] Translation: X:132.21, Y:-21.50, Z:-2.57 [[ 9.76681131e-01 2.14260374e-01 1.36550557e-02 1.32208463e+02] [-2.14242940e-01 9.76776552e-01 -2.74418077e-03 -2.14974137e+01] [-1.39259074e-02 -2.45309705e-04 9.99903000e-01 -2.57235306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.638623853 meters Centerline goodness [0,1] 0.9998921670117322 Centerline is valid? [True, True] Translation: X:132.24, Y:-21.50, Z:-2.57 [[ 9.77621052e-01 2.09981393e-01 1.28410820e-02 1.32239078e+02] [-2.09965596e-01 9.77705367e-01 -2.58147698e-03 -2.15047943e+01] [-1.30968569e-02 -1.72479186e-04 9.99914218e-01 -2.57455146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.668623853 meters Centerline goodness [0,1] 0.9999786657564056 Centerline is valid? [True, True] Translation: X:132.27, Y:-21.51, Z:-2.58 [[ 9.78012277e-01 2.08171225e-01 1.25190447e-02 1.32269537e+02] [-2.08156062e-01 9.78092388e-01 -2.51668349e-03 -2.15116651e+01] [-1.27686835e-02 -1.44567699e-04 9.99918467e-01 -2.57567375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.69862385300002 meters Centerline goodness [0,1] 0.9999364433710436 Centerline is valid? [True, True] Translation: X:132.30, Y:-21.52, Z:-2.58 [[ 9.78372957e-01 2.06488548e-01 1.21998507e-02 1.32301282e+02] [-2.06474007e-01 9.78449010e-01 -2.45330365e-03 -2.15190397e+01] [-1.24435109e-02 -1.18706104e-04 9.99922569e-01 -2.57666059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.72862385300002 meters Centerline goodness [0,1] 0.9999785084891468 Centerline is valid? [True, True] Translation: X:132.33, Y:-21.53, Z:-2.58 [[ 9.78696506e-01 2.04968286e-01 1.18807229e-02 1.32332176e+02] [-2.04954360e-01 9.78768610e-01 -2.39113690e-03 -2.15254791e+01] [-1.21185858e-02 -9.48086307e-05 9.99926563e-01 -2.57812168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.75862385300002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:132.36, Y:-21.53, Z:-2.58 [[ 9.79400067e-01 2.01616836e-01 1.12321348e-02 1.32363829e+02] [-2.01604152e-01 9.79464470e-01 -2.26213298e-03 -2.15331083e+01] [-1.14575611e-02 -4.89118119e-05 9.99934359e-01 -2.57962679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.78862385300002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:132.40, Y:-21.54, Z:-2.58 [[ 9.79698077e-01 2.00152743e-01 1.14261692e-02 1.32395097e+02] [-2.00139494e-01 9.79764706e-01 -2.30319415e-03 -2.15400764e+01] [-1.16559479e-02 -3.03928363e-05 9.99932067e-01 -2.58028139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.81862385300002 meters Centerline goodness [0,1] 0.9999785697447656 Centerline is valid? [True, True] Translation: X:132.43, Y:-21.55, Z:-2.58 [[ 9.80022025e-01 1.98553891e-01 1.15405117e-02 1.32426985e+02] [-1.98540233e-01 9.80089972e-01 -2.32886352e-03 -2.15472278e+01] [-1.17731447e-02 -8.91834903e-06 9.99930694e-01 -2.58027051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.84862385300002 meters Centerline goodness [0,1] 0.9999573706198311 Centerline is valid? [True, True] Translation: X:132.46, Y:-21.55, Z:-2.58 [[ 9.80292894e-01 1.97189140e-01 1.19283319e-02 1.32457909e+02] [-1.97174442e-01 9.80365464e-01 -2.40756394e-03 -2.15543797e+01] [-1.21688701e-02 8.15564614e-06 9.99925957e-01 -2.58046958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.87862385300002 meters Centerline goodness [0,1] 0.9999573324230917 Centerline is valid? [True, True] Translation: X:132.49, Y:-21.56, Z:-2.58 [[ 9.80674759e-01 1.95249156e-01 1.24412397e-02 1.32488666e+02] [-1.95232990e-01 9.80753672e-01 -2.51270984e-03 -2.15613285e+01] [-1.26923960e-02 3.52107035e-05 9.99919448e-01 -2.57988847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.90862385300002 meters Centerline goodness [0,1] 0.9999362515937101 Centerline is valid? [True, True] Translation: X:132.52, Y:-21.57, Z:-2.58 [[ 9.80779363e-01 1.94703270e-01 1.27466672e-02 1.32521445e+02] [-1.94686238e-01 9.80862189e-01 -2.57566169e-03 -2.15678468e+01] [-1.30042136e-02 4.45551558e-05 9.99915441e-01 -2.57991420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.93862385300002 meters Centerline goodness [0,1] 0.9999352513327434 Centerline is valid? [True, True] Translation: X:132.55, Y:-21.57, Z:-2.58 [[ 9.80745734e-01 1.94856655e-01 1.29880593e-02 1.32553988e+02] [-1.94838952e-01 9.80831730e-01 -2.62698650e-03 -2.15730238e+01] [-1.32509864e-02 4.58259547e-05 9.99912201e-01 -2.57929374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.968623853 meters Centerline goodness [0,1] 0.9999352513327434 Centerline is valid? [True, True] Translation: X:132.59, Y:-21.58, Z:-2.58 [[ 9.80707979e-01 1.95046621e-01 1.29875496e-02 1.32585793e+02] [-1.95028901e-01 9.80793971e-01 -2.62950334e-03 -2.15796533e+01] [-1.32509861e-02 4.58273742e-05 9.99912201e-01 -2.57986715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.998623853 meters Centerline goodness [0,1] 0.9999785347843819 Centerline is valid? [True, True] Translation: X:132.62, Y:-21.58, Z:-2.58 [[ 9.80602085e-01 1.95578546e-01 1.29839882e-02 1.32617830e+02] [-1.95560847e-01 9.80688039e-01 -2.63145771e-03 -2.15841581e+01] [-1.32478986e-02 4.12531936e-05 9.99912242e-01 -2.58054650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.028623853 meters Centerline goodness [0,1] 0.9999785835135888 Centerline is valid? [True, True] Translation: X:132.65, Y:-21.59, Z:-2.58 [[ 9.80396813e-01 1.96610211e-01 1.29039964e-02 1.32649403e+02] [-1.96592787e-01 9.80481731e-01 -2.61767897e-03 -2.15871458e+01] [-1.31667952e-02 2.95315035e-05 9.99913314e-01 -2.58159994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.058623853 meters Centerline goodness [0,1] 0.9999570437509396 Centerline is valid? [True, True] Translation: X:132.68, Y:-21.58, Z:-2.58 [[ 9.79812557e-01 1.99541799e-01 1.22647350e-02 1.32683909e+02] [-1.99526263e-01 9.79889315e-01 -2.49000627e-03 -2.15849546e+01] [-1.25149431e-02 -7.39732146e-06 9.99921685e-01 -2.58286277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.088623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:132.72, Y:-21.59, Z:-2.58 [[ 9.79492896e-01 2.01133321e-01 1.17921202e-02 1.32716914e+02] [-2.01119048e-01 9.79563876e-01 -2.39624295e-03 -2.15873123e+01] [-1.20330993e-02 -2.45170485e-05 9.99927599e-01 -2.58459771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.118623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:132.75, Y:-21.59, Z:-2.58 [[ 9.79220553e-01 2.02450142e-01 1.18764011e-02 1.32749830e+02] [-2.02435733e-01 9.79292570e-01 -2.41568394e-03 -2.15905774e+01] [-1.21195269e-02 -3.87206067e-05 9.99926555e-01 -2.58488180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.148623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:132.78, Y:-21.59, Z:-2.59 [[ 9.78928635e-01 2.03849111e-01 1.20111285e-02 1.32782301e+02] [-2.03834447e-01 9.79002317e-01 -2.44564138e-03 -2.15929591e+01] [-1.22574645e-02 -5.41733572e-05 9.99924873e-01 -2.58588037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.178623853 meters Centerline goodness [0,1] 0.9999788775531757 Centerline is valid? [True, True] Translation: X:132.81, Y:-21.59, Z:-2.59 [[ 9.78651486e-01 2.05156276e-01 1.23357391e-02 1.32813620e+02] [-2.05140872e-01 9.78729226e-01 -2.51502488e-03 -2.15920630e+01] [-1.25893215e-02 -6.92314270e-05 9.99920749e-01 -2.58596464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.208623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:132.84, Y:-21.60, Z:-2.58 [[ 9.78597418e-01 2.05377366e-01 1.29318037e-02 1.32844766e+02] [-2.05360455e-01 9.78682856e-01 -2.63666186e-03 -2.15970967e+01] [-1.31976452e-02 -7.54505965e-05 9.99912904e-01 -2.58443326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.238623853 meters Centerline goodness [0,1] 0.9999785504386435 Centerline is valid? [True, True] Translation: X:132.88, Y:-21.60, Z:-2.58 [[ 9.78616824e-01 2.05260052e-01 1.33200287e-02 1.32875347e+02] [-2.05242093e-01 9.78707467e-01 -2.71620847e-03 -2.16010879e+01] [-1.35939406e-02 -7.57032589e-05 9.99907595e-01 -2.58466755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.268623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:132.91, Y:-21.61, Z:-2.58 [[ 9.78716558e-01 2.04771353e-01 1.35126390e-02 1.32907090e+02] [-2.04752831e-01 9.78809832e-01 -2.75503827e-03 -2.16065971e+01] [-1.37904568e-02 -7.03495067e-05 9.99904905e-01 -2.58484616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.298623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:132.94, Y:-21.61, Z:-2.59 [[ 9.79156007e-01 2.02651970e-01 1.36269487e-02 1.32938576e+02] [-2.02632889e-01 9.79250825e-01 -2.78117945e-03 -2.16120907e+01] [-1.39078123e-02 -3.80594191e-05 9.99903281e-01 -2.58527726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.328623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:132.97, Y:-21.62, Z:-2.59 [[ 9.79411045e-01 2.01402411e-01 1.38229214e-02 1.32969595e+02] [-2.01382646e-01 9.79508585e-01 -2.82163385e-03 -2.16185074e+01] [-1.41079540e-02 -2.01571166e-05 9.99900478e-01 -2.58612951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.358623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:133.00, Y:-21.63, Z:-2.59 [[ 9.79747756e-01 1.99740545e-01 1.40730169e-02 1.32999927e+02] [-1.99719845e-01 9.79848822e-01 -2.87555006e-03 -2.16257373e+01] [-1.43637930e-02 6.65296426e-06 9.99896835e-01 -2.58647319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.388623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:133.03, Y:-21.63, Z:-2.59 [[ 9.80116932e-01 1.97904432e-01 1.43050600e-02 1.33029749e+02] [-1.97882808e-01 9.80221319e-01 -2.92567188e-03 -2.16336763e+01] [-1.46011282e-02 3.67751094e-05 9.99893397e-01 -2.58742027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.418623853 meters Centerline goodness [0,1] 0.9999568900480676 Centerline is valid? [True, True] Translation: X:133.06, Y:-21.64, Z:-2.59 [[ 9.81004767e-01 1.93436372e-01 1.45608406e-02 1.33060222e+02] [-1.93413477e-01 9.81112817e-01 -2.97791783e-03 -2.16436331e+01] [-1.48618650e-02 1.05088771e-04 9.99889551e-01 -2.58665599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.44862385300002 meters Centerline goodness [0,1] 0.9999130302437328 Centerline is valid? [True, True] Translation: X:133.09, Y:-21.65, Z:-2.59 [[ 9.81434908e-01 1.91246528e-01 1.45013068e-02 1.33091049e+02] [-1.91223543e-01 9.81542025e-01 -2.96827750e-03 -2.16520608e+01] [-1.48013148e-02 1.40179893e-04 9.99890445e-01 -2.58753101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.47862385300002 meters Centerline goodness [0,1] 0.9998283630122291 Centerline is valid? [True, True] Translation: X:133.12, Y:-21.66, Z:-2.59 [[ 9.81915370e-01 1.88781798e-01 1.42701864e-02 1.33120479e+02] [-1.88759239e-01 9.82019043e-01 -2.92378683e-03 -2.16638854e+01] [-1.45655526e-02 1.77281704e-04 9.99893901e-01 -2.58919710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.50862385300002 meters Centerline goodness [0,1] 0.9995931129004626 Centerline is valid? [True, True] Translation: X:133.15, Y:-21.67, Z:-2.59 [[ 9.82350995e-01 1.86503812e-01 1.42425733e-02 1.33151389e+02] [-1.86481084e-01 9.82454214e-01 -2.91927428e-03 -2.16727761e+01] [-1.45371319e-02 2.11781493e-04 9.99894308e-01 -2.58933977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.53862385300002 meters Centerline goodness [0,1] 0.9994207624482441 Centerline is valid? [True, True] Translation: X:133.18, Y:-21.68, Z:-2.59 [[ 9.82789697e-01 1.84169313e-01 1.43553406e-02 1.33181026e+02] [-1.84145934e-01 9.82894501e-01 -2.94516094e-03 -2.16838895e+01] [-1.46521936e-02 2.50996222e-04 9.99892619e-01 -2.59008661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.56862385300002 meters Centerline goodness [0,1] 0.9993546860547656 Centerline is valid? [True, True] Translation: X:133.21, Y:-21.70, Z:-2.59 [[ 9.83620371e-01 1.79698678e-01 1.41191883e-02 1.33210699e+02] [-1.79675579e-01 9.83721651e-01 -2.89818784e-03 -2.16963946e+01] [-1.44101518e-02 3.13843250e-04 9.99896119e-01 -2.59089608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.59862385300002 meters Centerline goodness [0,1] 0.9991432120978452 Centerline is valid? [True, True] Translation: X:133.24, Y:-21.71, Z:-2.59 [[ 9.83989774e-01 1.77685809e-01 1.38520316e-02 1.33240018e+02] [-1.77663379e-01 9.84087212e-01 -2.84322560e-03 -2.17071688e+01] [-1.41368080e-02 3.36706173e-04 9.99900014e-01 -2.59195795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.62862385300002 meters Centerline goodness [0,1] 0.9989244536224402 Centerline is valid? [True, True] Translation: X:133.27, Y:-21.72, Z:-2.59 [[ 9.84343333e-01 1.75714089e-01 1.38838595e-02 1.33271343e+02] [-1.75691324e-01 9.84441173e-01 -2.85229620e-03 -2.17152886e+01] [-1.41690315e-02 3.68365101e-04 9.99899546e-01 -2.59199385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.65862385300002 meters Centerline goodness [0,1] 0.9988420714055967 Centerline is valid? [True, True] Translation: X:133.30, Y:-21.73, Z:-2.59 [[ 9.84700462e-01 1.73699530e-01 1.39095029e-02 1.33300945e+02] [-1.73676475e-01 9.84798616e-01 -2.85788624e-03 -2.17261962e+01] [-1.41944727e-02 3.98408457e-04 9.99899174e-01 -2.59260694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.68862385300002 meters Centerline goodness [0,1] 0.9988632220148853 Centerline is valid? [True, True] Translation: X:133.33, Y:-21.74, Z:-2.59 [[ 9.85316926e-01 1.70216504e-01 1.33002755e-02 1.33329942e+02] [-1.70195071e-01 9.85406594e-01 -2.73533311e-03 -2.17394955e+01] [-1.35717780e-02 4.31528672e-04 9.99907806e-01 -2.59333694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.718623853 meters Centerline goodness [0,1] 0.9986986509348024 Centerline is valid? [True, True] Translation: X:133.36, Y:-21.75, Z:-2.59 [[ 9.85567376e-01 1.68759628e-01 1.33092091e-02 1.33359746e+02] [-1.68738040e-01 9.85657133e-01 -2.73674624e-03 -2.17501812e+01] [-1.35801692e-02 4.51477954e-04 9.99907683e-01 -2.59442474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.748623853 meters Centerline goodness [0,1] 0.9987040476910449 Centerline is valid? [True, True] Translation: X:133.39, Y:-21.76, Z:-2.59 [[ 9.85772114e-01 1.67557704e-01 1.33324974e-02 1.33389936e+02] [-1.67535897e-01 9.85862158e-01 -2.74397955e-03 -2.17602426e+01] [-1.36037796e-02 4.71266613e-04 9.99907353e-01 -2.59431742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.778623853 meters Centerline goodness [0,1] 0.9986366444411308 Centerline is valid? [True, True] Translation: X:133.42, Y:-21.77, Z:-2.59 [[ 9.85894032e-01 1.66815116e-01 1.36262408e-02 1.33419616e+02] [-1.66792250e-01 9.85988070e-01 -2.80565543e-03 -2.17699873e+01] [-1.39033366e-02 4.93327593e-04 9.99903222e-01 -2.59424972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.808623853 meters Centerline goodness [0,1] 0.9985476292182828 Centerline is valid? [True, True] Translation: X:133.45, Y:-21.78, Z:-2.59 [[ 9.86004466e-01 1.66114728e-01 1.41806282e-02 1.33450375e+02] [-1.66089875e-01 9.86106293e-01 -2.92090901e-03 -2.17783652e+01] [-1.44688127e-02 5.24770572e-04 9.99895184e-01 -2.59402241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.838623853 meters Centerline goodness [0,1] 0.9981459381126928 Centerline is valid? [True, True] Translation: X:133.48, Y:-21.79, Z:-2.59 [[ 9.86047305e-01 1.65811439e-01 1.47403801e-02 1.33479770e+02] [-1.65784511e-01 9.86157321e-01 -3.03889472e-03 -2.17902732e+01] [-1.50402173e-02 5.52767242e-04 9.99886737e-01 -2.59351879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.868623853 meters Centerline goodness [0,1] 0.998007157091735 Centerline is valid? [True, True] Translation: X:133.51, Y:-21.80, Z:-2.59 [[ 9.85987400e-01 1.66165667e-01 1.47586542e-02 1.33510731e+02] [-1.66138677e-01 9.86097697e-01 -3.04498198e-03 -2.17983949e+01] [-1.50594463e-02 5.50330587e-04 9.99886449e-01 -2.59392728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.898623853 meters Centerline goodness [0,1] 0.9980540586776152 Centerline is valid? [True, True] Translation: X:133.54, Y:-21.81, Z:-2.60 [[ 9.85853602e-01 1.66988277e-01 1.44079879e-02 1.33541552e+02] [-1.66962606e-01 9.85958740e-01 -2.97501935e-03 -2.18063814e+01] [-1.47024749e-02 5.27338334e-04 9.99891774e-01 -2.59515571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.928623853 meters Centerline goodness [0,1] 0.9986585184081085 Centerline is valid? [True, True] Translation: X:133.57, Y:-21.81, Z:-2.60 [[ 9.85651309e-01 1.68192704e-01 1.42376810e-02 1.33573187e+02] [-1.68167722e-01 9.85754005e-01 -2.94258606e-03 -2.18140718e+01] [-1.45297726e-02 5.06045414e-04 9.99894309e-01 -2.59638992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.958623853 meters Centerline goodness [0,1] 0.9985021291164702 Centerline is valid? [True, True] Translation: X:133.60, Y:-21.82, Z:-2.60 [[ 9.85154646e-01 1.71128301e-01 1.36172010e-02 1.33603756e+02] [-1.71105717e-01 9.85248653e-01 -2.81526266e-03 -2.18208798e+01] [-1.38981000e-02 4.43488153e-04 9.99903318e-01 -2.59800501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.988623853 meters Centerline goodness [0,1] 0.9982897577869466 Centerline is valid? [True, True] Translation: X:133.63, Y:-21.83, Z:-2.60 [[ 9.84844696e-01 1.72914875e-01 1.34673577e-02 1.33634252e+02] [-1.72892955e-01 9.84936686e-01 -2.78410147e-03 -2.18283804e+01] [-1.37459072e-02 4.13496303e-04 9.99905435e-01 -2.59898847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.018623853 meters Centerline goodness [0,1] 0.998518831993229 Centerline is valid? [True, True] Translation: X:133.66, Y:-21.84, Z:-2.60 [[ 9.84542011e-01 1.74634262e-01 1.34127835e-02 1.33664870e+02] [-1.74612649e-01 9.84633293e-01 -2.77492726e-03 -2.18353451e+01] [-1.36912706e-02 3.89990809e-04 9.99906194e-01 -2.59944698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.048623853 meters Centerline goodness [0,1] 0.998888912630072 Centerline is valid? [True, True] Translation: X:133.70, Y:-21.84, Z:-2.60 [[ 9.84200846e-01 1.76523000e-01 1.37231927e-02 1.33696693e+02] [-1.76500529e-01 9.84296444e-01 -2.84130174e-03 -2.18412554e+01] [-1.40092449e-02 3.74260804e-04 9.99901796e-01 -2.59986096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.078623853 meters Centerline goodness [0,1] 0.9989716342445797 Centerline is valid? [True, True] Translation: X:133.73, Y:-21.85, Z:-2.60 [[ 9.83867228e-01 1.78371376e-01 1.37451552e-02 1.33727109e+02] [-1.78348980e-01 9.83963175e-01 -2.84819235e-03 -2.18476828e+01] [-1.40327625e-02 3.50808708e-04 9.99901474e-01 -2.60020163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.108623853 meters Centerline goodness [0,1] 0.9988295132903445 Centerline is valid? [True, True] Translation: X:133.76, Y:-21.85, Z:-2.60 [[ 9.83521861e-01 1.80248779e-01 1.39687808e-02 1.33759050e+02] [-1.80225802e-01 9.83620998e-01 -2.89704929e-03 -2.18541873e+01] [-1.42621757e-02 3.31776583e-04 9.99898235e-01 -2.60008942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.138623853 meters Centerline goodness [0,1] 0.9990332767621216 Centerline is valid? [True, True] Translation: X:133.79, Y:-21.86, Z:-2.60 [[ 9.82892712e-01 1.83608368e-01 1.44873754e-02 1.33788572e+02] [-1.83584001e-01 9.82999431e-01 -3.00563246e-03 -2.18611927e+01] [-1.47929411e-02 2.94563884e-04 9.99890535e-01 -2.59991350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.168623853 meters Centerline goodness [0,1] 0.9993417280699892 Centerline is valid? [True, True] Translation: X:133.82, Y:-21.87, Z:-2.60 [[ 9.82569554e-01 1.85318799e-01 1.46292204e-02 1.33820516e+02] [-1.85294146e-01 9.82678416e-01 -3.03481409e-03 -2.18655378e+01] [-1.49382273e-02 2.71207025e-04 9.99888382e-01 -2.60000098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.19862385300002 meters Centerline goodness [0,1] 0.9996786494708428 Centerline is valid? [True, True] Translation: X:133.85, Y:-21.87, Z:-2.60 [[ 9.82256657e-01 1.86971847e-01 1.46078060e-02 1.33851311e+02] [-1.86947412e-01 9.82365241e-01 -3.03288465e-03 -2.18728539e+01] [-1.49172649e-02 2.48179605e-04 9.99888701e-01 -2.60068032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.22862385300002 meters Centerline goodness [0,1] 0.999577140199167 Centerline is valid? [True, True] Translation: X:133.88, Y:-21.88, Z:-2.60 [[ 9.82011599e-01 1.88258319e-01 1.45610802e-02 1.33880997e+02] [-1.88234144e-01 9.82119520e-01 -3.02569791e-03 -2.18819844e+01] [-1.48703339e-02 2.30377976e-04 9.99889404e-01 -2.60184950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.25862385300002 meters Centerline goodness [0,1] 0.9998084331963986 Centerline is valid? [True, True] Translation: X:133.91, Y:-21.89, Z:-2.60 [[ 9.81699366e-01 1.89927244e-01 1.39282588e-02 1.33912621e+02] [-1.89905259e-01 9.81798148e-01 -2.89651545e-03 -2.18898606e+01] [-1.42248658e-02 1.98457797e-04 9.99898802e-01 -2.60398214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.28862385300002 meters Centerline goodness [0,1] 0.9995746038498352 Centerline is valid? [True, True] Translation: X:133.94, Y:-21.90, Z:-2.61 [[ 9.81569675e-01 1.90606415e-01 1.37901109e-02 1.33942620e+02] [-1.90584917e-01 9.81666521e-01 -2.86877725e-03 -2.18990365e+01] [-1.40840975e-02 1.87717609e-04 9.99900797e-01 -2.60545942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.31862385300002 meters Centerline goodness [0,1] 0.9994251894745806 Centerline is valid? [True, True] Translation: X:133.97, Y:-21.91, Z:-2.61 [[ 9.81457989e-01 1.91181434e-01 1.37795218e-02 1.33973673e+02] [-1.91159998e-01 9.81554699e-01 -2.86863809e-03 -2.19078334e+01] [-1.40737847e-02 1.81354419e-04 9.99900943e-01 -2.60571203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.34862385300002 meters Centerline goodness [0,1] 0.999762731606307 Centerline is valid? [True, True] Translation: X:134.00, Y:-21.92, Z:-2.60 [[ 9.81325608e-01 1.91766078e-01 1.50274144e-02 1.34004314e+02] [-1.91740610e-01 9.81440643e-01 -3.13106770e-03 -2.19165789e+01] [-1.53489478e-02 1.91231297e-04 9.99882180e-01 -2.60332040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.37862385300002 meters Centerline goodness [0,1] 0.9996781806479297 Centerline is valid? [True, True] Translation: X:134.03, Y:-21.93, Z:-2.60 [[ 9.81263738e-01 1.92052098e-01 1.54100087e-02 1.34034999e+02] [-1.92025308e-01 9.81384712e-01 -3.21361857e-03 -2.19260021e+01] [-1.57403292e-02 1.94295694e-04 9.99876094e-01 -2.60334967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.40862385300002 meters Centerline goodness [0,1] 0.9997427211526092 Centerline is valid? [True, True] Translation: X:134.07, Y:-21.94, Z:-2.60 [[ 9.81205144e-01 1.92347323e-01 1.54587479e-02 1.34065732e+02] [-1.92320369e-01 9.81326893e-01 -3.22569255e-03 -2.19366033e+01] [-1.57905384e-02 1.92034012e-04 9.99875303e-01 -2.60438937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.43862385300002 meters Centerline goodness [0,1] 0.9997638572839295 Centerline is valid? [True, True] Translation: X:134.10, Y:-21.95, Z:-2.61 [[ 9.81138855e-01 1.92708188e-01 1.51690854e-02 1.34097921e+02] [-1.92682252e-01 9.81256093e-01 -3.16691637e-03 -2.19452548e+01] [-1.54950482e-02 1.84371160e-04 9.99879928e-01 -2.60510247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.468623853 meters Centerline goodness [0,1] 0.999722577891592 Centerline is valid? [True, True] Translation: X:134.13, Y:-21.95, Z:-2.61 [[ 9.81010350e-01 1.93369137e-01 1.50688159e-02 1.34130286e+02] [-1.93343578e-01 9.81126060e-01 -3.14883493e-03 -2.19532289e+01] [-1.53932954e-02 1.75580895e-04 9.99881501e-01 -2.60587971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.498623853 meters Centerline goodness [0,1] 0.9997871162770895 Centerline is valid? [True, True] Translation: X:134.16, Y:-21.96, Z:-2.61 [[ 9.80874855e-01 1.94064504e-01 1.49494969e-02 1.34162025e+02] [-1.94039383e-01 9.80988757e-01 -3.12681134e-03 -2.19616515e+01] [-1.52720915e-02 1.66219463e-04 9.99883361e-01 -2.60660024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.528623853 meters Centerline goodness [0,1] 0.9999570981166073 Centerline is valid? [True, True] Translation: X:134.19, Y:-21.97, Z:-2.61 [[ 9.80560175e-01 1.95640300e-01 1.50538054e-02 1.34193344e+02] [-1.95614963e-01 9.80675712e-01 -3.15190636e-03 -2.19713313e+01] [-1.53795413e-02 1.45884250e-04 9.99881717e-01 -2.60756091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.558623853 meters Centerline goodness [0,1] 0.9999140782746918 Centerline is valid? [True, True] Translation: X:134.22, Y:-21.98, Z:-2.61 [[ 9.80358060e-01 1.96673188e-01 1.47557185e-02 1.34224293e+02] [-1.96648952e-01 9.80469092e-01 -3.09009585e-03 -2.19792973e+01] [-1.50752649e-02 1.27703793e-04 9.99886354e-01 -2.60842105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.588623853 meters Centerline goodness [0,1] 0.9999574051199046 Centerline is valid? [True, True] Translation: X:134.25, Y:-21.99, Z:-2.61 [[ 9.80136864e-01 1.97784056e-01 1.46011705e-02 1.34253997e+02] [-1.97760410e-01 9.80245609e-01 -3.06027699e-03 -2.19873794e+01] [-1.49180073e-02 1.11956817e-04 9.99888714e-01 -2.60918394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.618623853 meters Centerline goodness [0,1] 0.9999362502390616 Centerline is valid? [True, True] Translation: X:134.28, Y:-22.00, Z:-2.61 [[ 9.79653758e-01 2.00156332e-01 1.46955135e-02 1.34283612e+02] [-2.00132611e-01 9.79763970e-01 -3.08243447e-03 -2.19959381e+01] [-1.50151034e-02 7.86670310e-05 9.99887264e-01 -2.61040874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.648623853 meters Centerline goodness [0,1] 0.999894096964819 Centerline is valid? [True, True] Translation: X:134.32, Y:-22.00, Z:-2.61 [[ 9.79405598e-01 2.01375162e-01 1.45848677e-02 1.34316101e+02] [-2.01351900e-01 9.79514186e-01 -3.06138271e-03 -2.20033610e+01] [-1.49025713e-02 6.16445376e-05 9.99888949e-01 -2.61108614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.678623853 meters Centerline goodness [0,1] 0.9999786329351937 Centerline is valid? [True, True] Translation: X:134.35, Y:-22.01, Z:-2.61 [[ 9.79163390e-01 2.02553612e-01 1.45289458e-02 1.34348429e+02] [-2.02530616e-01 9.79271174e-01 -3.05241758e-03 -2.20112552e+01] [-1.48460560e-02 4.62591979e-05 9.99889790e-01 -2.61182300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.708623853 meters Centerline goodness [0,1] 0.9999148664467383 Centerline is valid? [True, True] Translation: X:134.38, Y:-22.02, Z:-2.61 [[ 9.78910854e-01 2.03780930e-01 1.43830685e-02 1.34380913e+02] [-2.03758486e-01 9.79016512e-01 -3.02453147e-03 -2.20193955e+01] [-1.46976034e-02 3.00744222e-05 9.99891984e-01 -2.61242593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.738623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:134.41, Y:-22.03, Z:-2.61 [[ 9.78293105e-01 2.06753075e-01 1.39916613e-02 1.34412904e+02] [-2.06732102e-01 9.78393155e-01 -2.94487206e-03 -2.20270836e+01] [-1.42982070e-02 -1.15775076e-05 9.99897775e-01 -2.61377071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.768623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:134.44, Y:-22.03, Z:-2.62 [[ 9.77823183e-01 2.08981304e-01 1.37345273e-02 1.34444844e+02] [-2.08961275e-01 9.77919635e-01 -2.89351743e-03 -2.20324075e+01] [-1.40359550e-02 -4.06359242e-05 9.99901490e-01 -2.61515610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.798623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:134.48, Y:-22.04, Z:-2.62 [[ 9.77253180e-01 2.11623541e-01 1.38455565e-02 1.34476188e+02] [-2.11603413e-01 9.77351253e-01 -2.91966188e-03 -2.20363676e+01] [-1.41498412e-02 -7.65181614e-05 9.99899883e-01 -2.61611107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.828623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:134.51, Y:-22.04, Z:-2.62 [[ 9.76565203e-01 2.14779782e-01 1.37858273e-02 1.34508575e+02] [-2.14760112e-01 9.76662496e-01 -2.90913575e-03 -2.20400037e+01] [-1.40889240e-02 -1.19685077e-04 9.99900739e-01 -2.61616331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.858623853 meters Centerline goodness [0,1] 0.9999361321638423 Centerline is valid? [True, True] Translation: X:134.54, Y:-22.04, Z:-2.62 [[ 9.75054499e-01 2.21524332e-01 1.39890475e-02 1.34541009e+02] [-2.21504732e-01 9.75154820e-01 -2.95479341e-03 -2.20373720e+01] [-1.42960458e-02 -2.17555612e-04 9.99897783e-01 -2.61610160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.888623853 meters Centerline goodness [0,1] 0.9999361321638423 Centerline is valid? [True, True] Translation: X:134.57, Y:-22.04, Z:-2.62 [[ 9.75014841e-01 2.21698817e-01 1.39890892e-02 1.34572754e+02] [-2.21679237e-01 9.75115166e-01 -2.95459627e-03 -2.20442711e+01] [-1.42960036e-02 -2.20315421e-04 9.99897783e-01 -2.61667458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.918623853 meters Centerline goodness [0,1] 0.9999564772702544 Centerline is valid? [True, True] Translation: X:134.61, Y:-22.05, Z:-2.62 [[ 9.74237662e-01 2.25075312e-01 1.42155772e-02 1.34605109e+02] [-2.25055407e-01 9.74341332e-01 -3.00556171e-03 -2.20480855e+01] [-1.45273022e-02 -2.71161109e-04 9.99894436e-01 -2.61674888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.94862385300002 meters Centerline goodness [0,1] 0.9998714570345137 Centerline is valid? [True, True] Translation: X:134.64, Y:-22.05, Z:-2.62 [[ 9.73429404e-01 2.28585281e-01 1.35633525e-02 1.34636954e+02] [-2.28567494e-01 9.73523844e-01 -2.86817556e-03 -2.20477132e+01] [-1.38598698e-02 -3.08175064e-04 9.99903900e-01 -2.61868079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.97862385300002 meters Centerline goodness [0,1] 0.9996153188579244 Centerline is valid? [True, True] Translation: X:134.67, Y:-22.05, Z:-2.62 [[ 9.72718990e-01 2.31624417e-01 1.29574766e-02 1.34669153e+02] [-2.31608438e-01 9.72805231e-01 -2.74115676e-03 -2.20508334e+01] [-1.32400199e-02 -3.34685691e-04 9.99912291e-01 -2.61999173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.00862385300002 meters Centerline goodness [0,1] 0.9993017350825222 Centerline is valid? [True, True] Translation: X:134.70, Y:-22.05, Z:-2.62 [[ 9.71566896e-01 2.36447194e-01 1.22674765e-02 1.34700580e+02] [-2.36433248e-01 9.71644267e-01 -2.59576104e-03 -2.20452316e+01] [-1.25333836e-02 -3.78483823e-04 9.99921382e-01 -2.62257886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.03862385300002 meters Centerline goodness [0,1] 0.9995306065843095 Centerline is valid? [True, True] Translation: X:134.73, Y:-22.05, Z:-2.62 [[ 9.71184306e-01 2.38019395e-01 1.21577915e-02 1.34732368e+02] [-2.38005822e-01 9.71260321e-01 -2.57241675e-03 -2.20521394e+01] [-1.24206655e-02 -3.95334383e-04 9.99922782e-01 -2.62256608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.06862385300002 meters Centerline goodness [0,1] 0.9993623262338988 Centerline is valid? [True, True] Translation: X:134.76, Y:-22.05, Z:-2.62 [[ 9.70881726e-01 2.39245494e-01 1.22583435e-02 1.34763348e+02] [-2.39231758e-01 9.70959023e-01 -2.59651611e-03 -2.20537496e+01] [-1.25235540e-02 -4.11675018e-04 9.99921492e-01 -2.62288050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.09862385300002 meters Centerline goodness [0,1] 0.9992249730893433 Centerline is valid? [True, True] Translation: X:134.79, Y:-22.06, Z:-2.62 [[ 9.70685995e-01 2.40021869e-01 1.25778302e-02 1.34794769e+02] [-2.40007477e-01 9.70767384e-01 -2.66388524e-03 -2.20580942e+01] [-1.28495381e-02 -4.32977206e-04 9.99917348e-01 -2.62275857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.12862385300002 meters Centerline goodness [0,1] 0.999328146334063 Centerline is valid? [True, True] Translation: X:134.83, Y:-22.06, Z:-2.62 [[ 9.70613486e-01 2.40257970e-01 1.36223471e-02 1.34827391e+02] [-2.40241080e-01 9.70708961e-01 -2.88732249e-03 -2.20618214e+01] [-1.39170366e-02 -4.70173218e-04 9.99903043e-01 -2.62168396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.15862385300002 meters Centerline goodness [0,1] 0.9992359121298949 Centerline is valid? [True, True] Translation: X:134.86, Y:-22.06, Z:-2.62 [[ 9.70704509e-01 2.39882695e-01 1.37494826e-02 1.34858890e+02] [-2.39865411e-01 9.70801769e-01 -2.91711297e-03 -2.20649484e+01] [-1.40477869e-02 -4.66370577e-04 9.99901216e-01 -2.62190392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.18862385300002 meters Centerline goodness [0,1] 0.9993787489288775 Centerline is valid? [True, True] Translation: X:134.89, Y:-22.07, Z:-2.62 [[ 9.70917188e-01 2.39016305e-01 1.38209790e-02 1.34890121e+02] [-2.38998723e-01 9.71015448e-01 -2.93442408e-03 -2.20734447e+01] [-1.41217593e-02 -4.54113555e-04 9.99900180e-01 -2.62224843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.218623853 meters Centerline goodness [0,1] 0.999130453224746 Centerline is valid? [True, True] Translation: X:134.92, Y:-22.08, Z:-2.62 [[ 9.71133245e-01 2.38151082e-01 1.35750688e-02 1.34921012e+02] [-2.38134003e-01 9.71228025e-01 -2.88452745e-03 -2.20768089e+01] [-1.38714406e-02 -4.31424963e-04 9.99903694e-01 -2.62367162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.248623853 meters Centerline goodness [0,1] 0.9995113349055602 Centerline is valid? [True, True] Translation: X:134.95, Y:-22.08, Z:-2.63 [[ 9.71837675e-01 2.35304730e-01 1.27756636e-02 1.34950861e+02] [-2.35289325e-01 9.71921576e-01 -2.71716986e-03 -2.20817139e+01] [-1.30563060e-02 -3.65329224e-04 9.99914696e-01 -2.62587145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.278623853 meters Centerline goodness [0,1] 0.9995739786137264 Centerline is valid? [True, True] Translation: X:134.98, Y:-22.09, Z:-2.63 [[ 9.72211611e-01 2.33780606e-01 1.22968073e-02 1.34982261e+02] [-2.33766220e-01 9.72289318e-01 -2.61469070e-03 -2.20901347e+01] [-1.25673184e-02 -3.32545519e-04 9.99920973e-01 -2.62686683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.308623853 meters Centerline goodness [0,1] 0.9998073258975402 Centerline is valid? [True, True] Translation: X:135.01, Y:-22.10, Z:-2.63 [[ 9.72665516e-01 2.31906321e-01 1.18849868e-02 1.35014141e+02] [-2.31892713e-01 9.72738079e-01 -2.52960161e-03 -2.20975109e+01] [-1.21476098e-02 -2.95585568e-04 9.99926171e-01 -2.62793218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.338623853 meters Centerline goodness [0,1] 0.9999141741406686 Centerline is valid? [True, True] Translation: X:135.05, Y:-22.10, Z:-2.63 [[ 9.73128459e-01 2.29959539e-01 1.18158118e-02 1.35045201e+02] [-2.29945943e-01 9.73200153e-01 -2.51498694e-03 -2.21044950e+01] [-1.20774951e-02 -2.69592626e-04 9.99927028e-01 -2.62901479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.368623853 meters Centerline goodness [0,1] 0.9999353740763879 Centerline is valid? [True, True] Translation: X:135.08, Y:-22.11, Z:-2.63 [[ 9.74111009e-01 2.25744348e-01 1.21338903e-02 1.35075114e+02] [-2.25729647e-01 9.74186553e-01 -2.58562278e-03 -2.21117135e+01] [-1.24043625e-02 -2.20295159e-04 9.99923039e-01 -2.62905889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.398623853 meters Centerline goodness [0,1] 0.9999359124991989 Centerline is valid? [True, True] Translation: X:135.11, Y:-22.12, Z:-2.63 [[ 9.74586330e-01 2.23664770e-01 1.24721974e-02 1.35106315e+02] [-2.23649073e-01 9.74666112e-01 -2.65733283e-03 -2.21199609e+01] [-1.27505799e-02 -1.99595145e-04 9.99918688e-01 -2.62892363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.428623853 meters Centerline goodness [0,1] 0.9999783844540994 Centerline is valid? [True, True] Translation: X:135.14, Y:-22.13, Z:-2.63 [[ 9.75099965e-01 2.21391331e-01 1.28816042e-02 1.35137817e+02] [-2.21374352e-01 9.75185033e-01 -2.74733707e-03 -2.21292367e+01] [-1.31701842e-02 -1.72728500e-04 9.99913254e-01 -2.62781657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.458623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:135.17, Y:-22.14, Z:-2.63 [[ 9.75598271e-01 2.19149483e-01 1.34728823e-02 1.35168705e+02] [-2.19130688e-01 9.75691284e-01 -2.87392104e-03 -2.21359324e+01] [-1.37751921e-02 -1.48529572e-04 9.99905107e-01 -2.62713774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.488623853 meters Centerline goodness [0,1] 0.9999785416934895 Centerline is valid? [True, True] Translation: X:135.20, Y:-22.14, Z:-2.63 [[ 9.76489772e-01 2.15099032e-01 1.41467551e-02 1.35200129e+02] [-2.15077847e-01 9.76592237e-01 -3.02033037e-03 -2.21435407e+01] [-1.44652814e-02 -9.33319139e-05 9.99895368e-01 -2.62619731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.518623853 meters Centerline goodness [0,1] 0.9999786789475928 Centerline is valid? [True, True] Translation: X:135.23, Y:-22.15, Z:-2.63 [[ 9.76830005e-01 2.13541164e-01 1.42587445e-02 1.35230428e+02] [-2.13519439e-01 9.76934065e-01 -3.04676762e-03 -2.21498007e+01] [-1.45804635e-02 -6.83450895e-05 9.99893697e-01 -2.62714876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.548623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:135.26, Y:-22.16, Z:-2.63 [[ 9.77207331e-01 2.11815283e-01 1.41463115e-02 1.35262374e+02] [-2.11793677e-01 9.77309718e-01 -3.02554668e-03 -2.21566462e+01] [-1.44661847e-02 -3.95129286e-05 9.99895358e-01 -2.62769311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.578623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:135.29, Y:-22.16, Z:-2.63 [[ 9.77482621e-01 2.10551096e-01 1.39986293e-02 1.35294267e+02] [-2.10529804e-01 9.77582853e-01 -2.99436736e-03 -2.21635024e+01] [-1.43152873e-02 -2.01866405e-05 9.99897531e-01 -2.62837530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.608623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:135.33, Y:-22.17, Z:-2.63 [[ 9.77691278e-01 2.09585057e-01 1.39236942e-02 1.35325938e+02] [-2.09563854e-01 9.77790419e-01 -2.98112814e-03 -2.21702248e+01] [-1.42392547e-02 -3.28003111e-06 9.99898617e-01 -2.62951838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.638623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:135.36, Y:-22.18, Z:-2.63 [[ 9.78212635e-01 2.07175881e-01 1.33489850e-02 1.35358632e+02] [-2.07156137e-01 9.78303712e-01 -2.86037959e-03 -2.21763692e+01] [-1.36519632e-02 3.27352996e-05 9.99906807e-01 -2.63110875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.668623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:135.39, Y:-22.18, Z:-2.63 [[ 9.78369701e-01 2.06435299e-01 1.33114684e-02 1.35390863e+02] [-2.06415562e-01 9.78460252e-01 -2.85491176e-03 -2.21817973e+01] [-1.36140972e-02 4.54649403e-05 9.99907323e-01 -2.63191273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.69862385300002 meters Centerline goodness [0,1] 0.9999571091571949 Centerline is valid? [True, True] Translation: X:135.42, Y:-22.19, Z:-2.63 [[ 9.78525075e-01 2.05709530e-01 1.31250756e-02 1.35422752e+02] [-2.05690238e-01 9.78613093e-01 -2.81779376e-03 -2.21877083e+01] [-1.34240179e-02 5.75819235e-05 9.99909892e-01 -2.63305605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.72862385300002 meters Centerline goodness [0,1] 0.9999570806240478 Centerline is valid? [True, True] Translation: X:135.45, Y:-22.19, Z:-2.63 [[ 9.78672906e-01 2.05022170e-01 1.28550738e-02 1.35454723e+02] [-2.05003588e-01 9.78757327e-01 -2.76105335e-03 -2.21938656e+01] [-1.31480748e-02 6.68318508e-05 9.99913558e-01 -2.63444609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.75862385300002 meters Centerline goodness [0,1] 0.9999358288770054 Centerline is valid? [True, True] Translation: X:135.49, Y:-22.20, Z:-2.64 [[ 9.78963461e-01 2.03671176e-01 1.21899295e-02 1.35485530e+02] [-2.03654334e-01 9.79039348e-01 -2.62054641e-03 -2.21986990e+01] [-1.24681504e-02 8.28872140e-05 9.99922266e-01 -2.63638922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.78862385300002 meters Centerline goodness [0,1] 0.9999573660761868 Centerline is valid? [True, True] Translation: X:135.52, Y:-22.20, Z:-2.64 [[ 9.79026511e-01 2.03382765e-01 1.19390997e-02 1.35517987e+02] [-2.03366565e-01 9.79099302e-01 -2.56846569e-03 -2.22040108e+01] [-1.22119458e-02 8.65823185e-05 9.99925428e-01 -2.63715163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.81862385300002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:135.55, Y:-22.21, Z:-2.64 [[ 9.79087491e-01 2.03064369e-01 1.23509740e-02 1.35549513e+02] [-2.03046973e-01 9.79165386e-01 -2.65971367e-03 -2.22101532e+01] [-1.26337393e-02 9.62644972e-05 9.99920186e-01 -2.63778923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.84862385300002 meters Centerline goodness [0,1] 0.9999785665294925 Centerline is valid? [True, True] Translation: X:135.58, Y:-22.21, Z:-2.64 [[ 9.79192058e-01 2.02560136e-01 1.23412241e-02 1.35582621e+02] [-2.02542699e-01 9.79269820e-01 -2.65984420e-03 -2.22140122e+01] [-1.26241667e-02 1.04873476e-04 9.99920307e-01 -2.63802170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.87862385300002 meters Centerline goodness [0,1] 0.9998924985487304 Centerline is valid? [True, True] Translation: X:135.62, Y:-22.22, Z:-2.64 [[ 9.79223387e-01 2.02413513e-01 1.22607965e-02 1.35615558e+02] [-2.02396261e-01 9.79300137e-01 -2.64489776e-03 -2.22190904e+01] [-1.25423627e-02 1.08406378e-04 9.99921336e-01 -2.63850733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.90862385300002 meters Centerline goodness [0,1] 0.9999139747946149 Centerline is valid? [True, True] Translation: X:135.65, Y:-22.22, Z:-2.64 [[ 9.79267759e-01 2.02187208e-01 1.24494318e-02 1.35648339e+02] [-2.02169371e-01 9.79346884e-01 -2.68808775e-03 -2.22247794e+01] [-1.27358092e-02 1.15463877e-04 9.99918890e-01 -2.63921978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.93862385300002 meters Centerline goodness [0,1] 0.9998075360335315 Centerline is valid? [True, True] Translation: X:135.68, Y:-22.23, Z:-2.64 [[ 9.79352459e-01 2.01771501e-01 1.25308956e-02 1.35681087e+02] [-2.01753364e-01 9.79432614e-01 -2.70813781e-03 -2.22312327e+01] [-1.28195928e-02 1.24071084e-04 9.99917818e-01 -2.63969992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.968623853 meters Centerline goodness [0,1] 0.9998714763087996 Centerline is valid? [True, True] Translation: X:135.71, Y:-22.24, Z:-2.64 [[ 9.79516020e-01 2.00986640e-01 1.23587146e-02 1.35712018e+02] [-2.00968904e-01 9.79593973e-01 -2.67347189e-03 -2.22380531e+01] [-1.26438545e-02 1.34991207e-04 9.99920054e-01 -2.63994960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.998623853 meters Centerline goodness [0,1] 0.9998511303460156 Centerline is valid? [True, True] Translation: X:135.74, Y:-22.25, Z:-2.64 [[ 9.79649887e-01 2.00329230e-01 1.24216661e-02 1.35742302e+02] [-2.00311234e-01 9.79728625e-01 -2.68907791e-03 -2.22452481e+01] [-1.27085627e-02 1.46155607e-04 9.99919232e-01 -2.64071360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.028623853 meters Centerline goodness [0,1] 0.9997423510466988 Centerline is valid? [True, True] Translation: X:135.77, Y:-22.25, Z:-2.64 [[ 9.79939076e-01 1.98915398e-01 1.23317439e-02 1.35773019e+02] [-1.98897525e-01 9.80016652e-01 -2.67156446e-03 -2.22503390e+01] [-1.26167297e-02 1.65217064e-04 9.99920392e-01 -2.63527311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.058623853 meters Centerline goodness [0,1] 0.999893219434063 Centerline is valid? [True, True] Translation: X:135.80, Y:-22.26, Z:-2.64 [[ 9.80013571e-01 1.98528700e-01 1.26394306e-02 1.35804381e+02] [-1.98509867e-01 9.80095059e-01 -2.74013267e-03 -2.22581859e+01] [-1.29318385e-02 1.76315506e-04 9.99916365e-01 -2.64187463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.088623853 meters Centerline goodness [0,1] 0.9998928579081579 Centerline is valid? [True, True] Translation: X:135.84, Y:-22.26, Z:-2.64 [[ 9.80063264e-01 1.98285408e-01 1.26053917e-02 1.35836667e+02] [-1.98266629e-01 9.80144308e-01 -2.73490124e-03 -2.22638096e+01] [-1.28973940e-02 1.81147712e-04 9.99916809e-01 -2.64206161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.118623853 meters Centerline goodness [0,1] 0.9998500910161687 Centerline is valid? [True, True] Translation: X:135.87, Y:-22.27, Z:-2.64 [[ 9.79974574e-01 1.98702597e-01 1.29271906e-02 1.35867286e+02] [-1.98682848e-01 9.80059817e-01 -2.80743550e-03 -2.22685654e+01] [-1.32272648e-02 1.82804367e-04 9.99912499e-01 -2.64221299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.148623853 meters Centerline goodness [0,1] 0.999957141326476 Centerline is valid? [True, True] Translation: X:135.90, Y:-22.27, Z:-2.64 [[ 9.79867834e-01 1.99250937e-01 1.25734310e-02 1.35899750e+02] [-1.99232277e-01 9.79948486e-01 -2.73231845e-03 -2.22730719e+01] [-1.28657316e-02 1.72277690e-04 9.99917218e-01 -2.64334300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.178623853 meters Centerline goodness [0,1] 0.9999359658484525 Centerline is valid? [True, True] Translation: X:135.93, Y:-22.28, Z:-2.64 [[ 9.79744800e-01 1.99882201e-01 1.21339366e-02 1.35931785e+02] [-1.99864842e-01 9.79819922e-01 -2.63912056e-03 -2.22781528e+01] [-1.24165860e-02 1.60517333e-04 9.99922898e-01 -2.64484711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.208623853 meters Centerline goodness [0,1] 0.9999356871824555 Centerline is valid? [True, True] Translation: X:135.96, Y:-22.28, Z:-2.65 [[ 9.79623504e-01 2.00504447e-01 1.16514585e-02 1.35963314e+02] [-2.00488464e-01 9.79692781e-01 -2.53598934e-03 -2.22831418e+01] [-1.19233269e-02 1.48331749e-04 9.99928904e-01 -2.64658446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.238623853 meters Centerline goodness [0,1] 0.9999571495907786 Centerline is valid? [True, True] Translation: X:135.99, Y:-22.29, Z:-2.65 [[ 9.79533805e-01 2.00966749e-01 1.12201303e-02 1.35994242e+02] [-2.00951927e-01 9.79598053e-01 -2.44477081e-03 -2.22857054e+01] [-1.14825354e-02 1.40028851e-04 9.99934064e-01 -2.64822157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.268623853 meters Centerline goodness [0,1] 0.9999784250269688 Centerline is valid? [True, True] Translation: X:136.03, Y:-22.29, Z:-2.65 [[ 9.79492617e-01 2.01178770e-01 1.10143351e-02 1.36025553e+02] [-2.01164499e-01 9.79554534e-01 -2.39998348e-03 -2.22910158e+01] [-1.12719676e-02 1.35072888e-04 9.99936460e-01 -2.64943412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.298623853 meters Centerline goodness [0,1] 0.9999567782508159 Centerline is valid? [True, True] Translation: X:136.06, Y:-22.29, Z:-2.65 [[ 9.79534541e-01 2.00988902e-01 1.07491500e-02 1.36057789e+02] [-2.00975307e-01 9.79593509e-01 -2.34146044e-03 -2.22947154e+01] [-1.10004051e-02 1.33227670e-04 9.99939485e-01 -2.64938753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.328623853 meters Centerline goodness [0,1] 0.9999352946251402 Centerline is valid? [True, True] Translation: X:136.09, Y:-22.30, Z:-2.65 [[ 9.79550178e-01 2.00914212e-01 1.07204732e-02 1.36088785e+02] [-2.00900664e-01 9.79608831e-01 -2.33716301e-03 -2.23010680e+01] [-1.09714395e-02 1.35618261e-04 9.99939803e-01 -2.65020872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.358623853 meters Centerline goodness [0,1] 0.9999140524280189 Centerline is valid? [True, True] Translation: X:136.12, Y:-22.31, Z:-2.65 [[ 9.79538271e-01 2.00936317e-01 1.13741670e-02 1.36118535e+02] [-2.00921034e-01 9.79604295e-01 -2.48254503e-03 -2.23062903e+01] [-1.16410163e-02 1.46438470e-04 9.99932230e-01 -2.64902672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.388623853 meters Centerline goodness [0,1] 0.9999353364659224 Centerline is valid? [True, True] Translation: X:136.15, Y:-22.31, Z:-2.65 [[ 9.79489405e-01 2.01163352e-01 1.15676599e-02 1.36149250e+02] [-2.01147560e-01 9.79557698e-01 -2.52485385e-03 -2.23118101e+01] [-1.18390984e-02 1.46261032e-04 9.99929905e-01 -2.64905831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.418623853 meters Centerline goodness [0,1] 0.9998493424875707 Centerline is valid? [True, True] Translation: X:136.18, Y:-22.32, Z:-2.65 [[ 9.79431393e-01 2.01435762e-01 1.17380063e-02 1.36179198e+02] [-2.01419517e-01 9.79501717e-01 -2.56233043e-03 -2.23190925e+01] [-1.20135423e-02 1.45363306e-04 9.99927824e-01 -2.64982859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.44862385300002 meters Centerline goodness [0,1] 0.9998929038061988 Centerline is valid? [True, True] Translation: X:136.21, Y:-22.32, Z:-2.65 [[ 9.79257405e-01 2.02247525e-01 1.22830825e-02 1.36210436e+02] [-2.02229794e-01 9.79334426e-01 -2.68175628e-03 -2.23190767e+01] [-1.25716241e-02 1.42124453e-04 9.99920964e-01 -2.64878218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.47862385300002 meters Centerline goodness [0,1] 0.9998511714929625 Centerline is valid? [True, True] Translation: X:136.24, Y:-22.32, Z:-2.65 [[ 9.79181146e-01 2.02613088e-01 1.23377678e-02 1.36240319e+02] [-2.02595228e-01 9.79258861e-01 -2.69369569e-03 -2.23237646e+01] [-1.26276465e-02 1.38043144e-04 9.99920259e-01 -2.64924461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.50862385300002 meters Centerline goodness [0,1] 0.99991412439082 Centerline is valid? [True, True] Translation: X:136.27, Y:-22.33, Z:-2.65 [[ 9.79170199e-01 2.02679059e-01 1.21210542e-02 1.36270702e+02] [-2.02661827e-01 9.79245210e-01 -2.64638077e-03 -2.23289168e+01] [-1.24058503e-02 1.34782195e-04 9.99923035e-01 -2.64998118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.53862385300002 meters Centerline goodness [0,1] 0.9999141907111445 Centerline is valid? [True, True] Translation: X:136.30, Y:-22.33, Z:-2.65 [[ 9.79170980e-01 2.02692802e-01 1.18245241e-02 1.36300391e+02] [-2.02676403e-01 9.79242366e-01 -2.58163957e-03 -2.23337664e+01] [-1.21023547e-02 1.31314531e-04 9.99926755e-01 -2.65143834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.56862385300002 meters Centerline goodness [0,1] 0.99991503101368 Centerline is valid? [True, True] Translation: X:136.33, Y:-22.34, Z:-2.65 [[ 9.79369164e-01 2.01787857e-01 1.08489942e-02 1.36328997e+02] [-2.01773996e-01 9.79429244e-01 -2.36872925e-03 -2.23411425e+01] [-1.11038030e-02 1.30815460e-04 9.99938342e-01 -2.65469746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.59862385300002 meters Centerline goodness [0,1] 0.999872296952154 Centerline is valid? [True, True] Translation: X:136.36, Y:-22.35, Z:-2.65 [[ 9.79513005e-01 2.01117330e-01 1.03001064e-02 1.36359362e+02] [-2.01104801e-01 9.79567150e-01 -2.24869121e-03 -2.23470976e+01] [-1.05418966e-02 1.31221440e-04 9.99944424e-01 -2.65494087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.62862385300002 meters Centerline goodness [0,1] 0.9999149750239132 Centerline is valid? [True, True] Translation: X:136.39, Y:-22.35, Z:-2.66 [[ 9.79646196e-01 2.00467935e-01 1.02926415e-02 1.36388139e+02] [-2.00455388e-01 9.79700254e-01 -2.24706149e-03 -2.23549969e+01] [-1.05341672e-02 1.38109801e-04 9.99944505e-01 -2.65643692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.65862385300002 meters Centerline goodness [0,1] 0.9999569984949473 Centerline is valid? [True, True] Translation: X:136.42, Y:-22.36, Z:-2.66 [[ 9.79770013e-01 1.99865581e-01 1.02211246e-02 1.36418071e+02] [-1.99853176e-01 9.79823315e-01 -2.23144812e-03 -2.23605678e+01] [-1.04608859e-02 1.43581744e-04 9.99945273e-01 -2.65671253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.68862385300002 meters Centerline goodness [0,1] 0.999914374397945 Centerline is valid? [True, True] Translation: X:136.45, Y:-22.37, Z:-2.66 [[ 9.79926725e-01 1.99104399e-01 1.00525027e-02 1.36447952e+02] [-1.99092359e-01 9.79978273e-01 -2.19463506e-03 -2.23678001e+01] [-1.02881958e-02 1.49205056e-04 9.99947064e-01 -2.65697679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.718623853 meters Centerline goodness [0,1] 0.9998933424347789 Centerline is valid? [True, True] Translation: X:136.48, Y:-22.37, Z:-2.66 [[ 9.79964212e-01 1.98911383e-01 1.02178581e-02 1.36477443e+02] [-1.98898933e-01 9.80017468e-01 -2.23073498e-03 -2.23748868e+01] [-1.04573980e-02 1.53719381e-04 9.99945308e-01 -2.65712732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.748623853 meters Centerline goodness [0,1] 0.9998933424347789 Centerline is valid? [True, True] Translation: X:136.51, Y:-22.38, Z:-2.66 [[ 9.79964212e-01 1.98911383e-01 1.02178581e-02 1.36506752e+02] [-1.98898933e-01 9.80017468e-01 -2.23073498e-03 -2.23812855e+01] [-1.04573980e-02 1.53719381e-04 9.99945308e-01 -2.65765639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.778623853 meters Centerline goodness [0,1] 0.9999347556599465 Centerline is valid? [True, True] Translation: X:136.54, Y:-22.39, Z:-2.66 [[ 9.79953136e-01 1.98943962e-01 1.06372942e-02 1.36537522e+02] [-1.98930473e-01 9.80010854e-01 -2.32214517e-03 -2.23873537e+01] [-1.08866405e-02 1.59511489e-04 9.99940726e-01 -2.65693458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.808623853 meters Centerline goodness [0,1] 0.9999357725491875 Centerline is valid? [True, True] Translation: X:136.57, Y:-22.39, Z:-2.66 [[ 9.79753624e-01 1.99891937e-01 1.12271740e-02 1.36568045e+02] [-1.99876968e-01 9.79817937e-01 -2.45135861e-03 -2.23903788e+01] [-1.14905932e-02 1.57673996e-04 9.99933969e-01 -2.65574492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.838623853 meters Centerline goodness [0,1] 0.9998924337929996 Centerline is valid? [True, True] Translation: X:136.60, Y:-22.40, Z:-2.66 [[ 9.79610597e-01 2.00587260e-01 1.13061809e-02 1.36597826e+02] [-2.00572125e-01 9.79675828e-01 -2.46860910e-03 -2.23957184e+01] [-1.15715637e-02 1.50570911e-04 9.99933036e-01 -2.65611561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.868623853 meters Centerline goodness [0,1] 0.9999365710298751 Centerline is valid? [True, True] Translation: X:136.63, Y:-22.40, Z:-2.66 [[ 9.79420427e-01 2.01509669e-01 1.13789570e-02 1.36627161e+02] [-2.01494400e-01 9.79486515e-01 -2.48457215e-03 -2.24017530e+01] [-1.16462002e-02 1.40644605e-04 9.99932171e-01 -2.65681494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.898623853 meters Centerline goodness [0,1] 0.9999137856711785 Centerline is valid? [True, True] Translation: X:136.66, Y:-22.40, Z:-2.65 [[ 9.78973188e-01 2.03653001e-01 1.17026266e-02 1.36658000e+02] [-2.03637005e-01 9.79043125e-01 -2.55516106e-03 -2.24014934e+01] [-1.19777423e-02 1.18346332e-04 9.99928257e-01 -2.65124661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.928623853 meters Centerline goodness [0,1] 0.9999783676206546 Centerline is valid? [True, True] Translation: X:136.69, Y:-22.41, Z:-2.66 [[ 9.78718145e-01 2.04856495e-01 1.20253558e-02 1.36687628e+02] [-2.04839700e-01 9.78792013e-01 -2.62531506e-03 -2.24052823e+01] [-1.23081351e-02 1.06173205e-04 9.99924246e-01 -2.65589215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.958623853 meters Centerline goodness [0,1] 0.9999784895351589 Centerline is valid? [True, True] Translation: X:136.72, Y:-22.41, Z:-2.66 [[ 9.78433673e-01 2.06196387e-01 1.22718105e-02 1.36715898e+02] [-2.06179006e-01 9.78510624e-01 -2.67879136e-03 -2.24089062e+01] [-1.25604541e-02 9.08299657e-05 9.99921110e-01 -2.65619128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.988623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:136.74, Y:-22.41, Z:-2.66 [[ 9.78217087e-01 2.07221841e-01 1.22653464e-02 1.36744501e+02] [-2.07204560e-01 9.78293976e-01 -2.67724484e-03 -2.24129400e+01] [-1.25538981e-02 7.74909456e-05 9.99921194e-01 -2.65691423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.018623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:136.77, Y:-22.42, Z:-2.66 [[ 9.77813120e-01 2.09155910e-01 1.16322038e-02 1.36772250e+02] [-2.09140509e-01 9.77882305e-01 -2.53858221e-03 -2.24158749e+01] [-1.19058858e-02 4.94939515e-05 9.99929121e-01 -2.66003129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.048623853 meters Centerline goodness [0,1] 0.9999785172613804 Centerline is valid? [True, True] Translation: X:136.80, Y:-22.42, Z:-2.66 [[ 9.77619115e-01 2.10051703e-01 1.17960856e-02 1.36801554e+02] [-2.10035941e-01 9.77690278e-01 -2.57354583e-03 -2.24184139e+01] [-1.20734959e-02 3.83456661e-05 9.99927112e-01 -2.65850348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.078623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:136.83, Y:-22.42, Z:-2.66 [[ 9.77409493e-01 2.11011839e-01 1.20285631e-02 1.36830350e+02] [-2.10995529e-01 9.77483505e-01 -2.62366251e-03 -2.24214407e+01] [-1.23113459e-02 2.64195988e-05 9.99924212e-01 -2.65847772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.108623853 meters Centerline goodness [0,1] 0.9997417577687872 Centerline is valid? [True, True] Translation: X:136.86, Y:-22.42, Z:-2.65 [[ 9.77195197e-01 2.12010910e-01 1.18710149e-02 1.36858600e+02] [-2.11995104e-01 9.77267299e-01 -2.58881856e-03 -2.24237335e+01] [-1.21500124e-02 1.31840295e-05 9.99926186e-01 -2.65162078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.138623853 meters Centerline goodness [0,1] 0.9997434472142643 Centerline is valid? [True, True] Translation: X:136.89, Y:-22.43, Z:-2.66 [[ 9.76935329e-01 2.13167450e-01 1.25300354e-02 1.36888046e+02] [-2.13149948e-01 9.77015680e-01 -2.73158416e-03 -2.24254782e+01] [-1.28243259e-02 -2.19532807e-06 9.99917765e-01 -2.65855365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.168623853 meters Centerline goodness [0,1] 0.9996764591691472 Centerline is valid? [True, True] Translation: X:136.92, Y:-22.43, Z:-2.66 [[ 9.76912888e-01 2.13285949e-01 1.22602563e-02 1.36916656e+02] [-2.13269209e-01 9.76989818e-01 -2.67219982e-03 -2.24299923e+01] [-1.25480882e-02 -4.22871029e-06 9.99921270e-01 -2.65995662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.19862385300002 meters Centerline goodness [0,1] 0.9997010846357502 Centerline is valid? [True, True] Translation: X:136.94, Y:-22.43, Z:-2.66 [[ 9.76905799e-01 2.13324076e-01 1.21613579e-02 1.36944099e+02] [-2.13307614e-01 9.76981494e-01 -2.65012258e-03 -2.24347646e+01] [-1.24467565e-02 -5.19011151e-06 9.99922536e-01 -2.66070066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.22862385300002 meters Centerline goodness [0,1] 0.9997419854221764 Centerline is valid? [True, True] Translation: X:136.97, Y:-22.44, Z:-2.66 [[ 9.76996152e-01 2.12915528e-01 1.20621952e-02 1.36971383e+02] [-2.12899312e-01 9.77070610e-01 -2.62779510e-03 -2.24398507e+01] [-1.23451149e-02 -6.87363391e-07 9.99923796e-01 -2.66121822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.25862385300002 meters Centerline goodness [0,1] 0.9998920925414365 Centerline is valid? [True, True] Translation: X:137.00, Y:-22.45, Z:-2.66 [[ 9.77318332e-01 2.11439931e-01 1.19177861e-02 1.36999023e+02] [-2.11423998e-01 9.77390994e-01 -2.59570320e-03 -2.24457420e+01] [-1.21971722e-02 1.71223244e-05 9.99925612e-01 -2.66253189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.28862385300002 meters Centerline goodness [0,1] 0.9998509623573497 Centerline is valid? [True, True] Translation: X:137.03, Y:-22.45, Z:-2.66 [[ 9.77602092e-01 2.10129836e-01 1.18153377e-02 1.37026016e+02] [-2.10114091e-01 9.77673489e-01 -2.57248970e-03 -2.24527930e+01] [-1.20920992e-02 3.23023810e-05 9.99926887e-01 -2.66373779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.31862385300002 meters Centerline goodness [0,1] 0.9998494720770703 Centerline is valid? [True, True] Translation: X:137.05, Y:-22.46, Z:-2.66 [[ 9.77923268e-01 2.08629255e-01 1.18286189e-02 1.37053551e+02] [-2.08613374e-01 9.77994801e-01 -2.57461323e-03 -2.24604721e+01] [-1.21054674e-02 5.01660943e-05 9.99926725e-01 -2.66399401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.34862385300002 meters Centerline goodness [0,1] 0.9998058545634964 Centerline is valid? [True, True] Translation: X:137.08, Y:-22.47, Z:-2.66 [[ 9.78228407e-01 2.07171861e-01 1.22066935e-02 1.37081170e+02] [-2.07154843e-01 9.78304562e-01 -2.65632550e-03 -2.24672575e+01] [-1.24921799e-02 6.98173825e-05 9.99921967e-01 -2.66277560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.37862385300002 meters Centerline goodness [0,1] 0.9998053001622499 Centerline is valid? [True, True] Translation: X:137.11, Y:-22.48, Z:-2.66 [[ 9.78508043e-01 2.05820794e-01 1.26416421e-02 1.37107646e+02] [-2.05802436e-01 9.78589696e-01 -2.75036655e-03 -2.24756224e+01] [-1.29370633e-02 8.95750457e-05 9.99916309e-01 -2.66311820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.40862385300002 meters Centerline goodness [0,1] 0.9999572183362211 Centerline is valid? [True, True] Translation: X:137.13, Y:-22.48, Z:-2.66 [[ 9.78976841e-01 2.03598612e-01 1.23268346e-02 1.37134431e+02] [-2.03580990e-01 9.79054438e-01 -2.68111689e-03 -2.24842408e+01] [-1.26145138e-02 1.15242143e-04 9.99920427e-01 -2.66418749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.43862385300002 meters Centerline goodness [0,1] 0.9999569688885064 Centerline is valid? [True, True] Translation: X:137.16, Y:-22.49, Z:-2.66 [[ 9.79238211e-01 2.02346116e-01 1.21891829e-02 1.37162213e+02] [-2.02328797e-01 9.79314062e-01 -2.65049635e-03 -2.24899223e+01] [-1.24733559e-02 1.29244578e-04 9.99922196e-01 -2.66416714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.468623853 meters Centerline goodness [0,1] 0.9999353448275862 Centerline is valid? [True, True] Translation: X:137.19, Y:-22.50, Z:-2.67 [[ 9.79552131e-01 2.00829468e-01 1.20476877e-02 1.37188481e+02] [-2.00812443e-01 9.79626206e-01 -2.61899905e-03 -2.24996605e+01] [-1.23282028e-02 1.46120505e-04 9.99923994e-01 -2.66584539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.498623853 meters Centerline goodness [0,1] 0.999892683136228 Centerline is valid? [True, True] Translation: X:137.22, Y:-22.51, Z:-2.66 [[ 9.80140743e-01 1.97893209e-01 1.27437249e-02 1.37217082e+02] [-1.97873925e-01 9.80223567e-01 -2.76930049e-03 -2.25068540e+01] [-1.30397253e-02 1.92653371e-04 9.99914961e-01 -2.66415862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.528623853 meters Centerline goodness [0,1] 0.9999356347486537 Centerline is valid? [True, True] Translation: X:137.24, Y:-22.52, Z:-2.66 [[ 9.80424791e-01 1.96469348e-01 1.29237610e-02 1.37244959e+02] [-1.96449397e-01 9.80509944e-01 -2.80804153e-03 -2.25156348e+01] [-1.32235703e-02 2.14208479e-04 9.99912542e-01 -2.66400810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.558623853 meters Centerline goodness [0,1] 0.9997400064998375 Centerline is valid? [True, True] Translation: X:137.27, Y:-22.52, Z:-2.66 [[ 9.80741455e-01 1.94908726e-01 1.25214782e-02 1.37274062e+02] [-1.94889872e-01 9.80821358e-01 -2.72054344e-03 -2.25225578e+01] [-1.28115909e-02 2.27840450e-04 9.99917902e-01 -2.65812130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.588623853 meters Centerline goodness [0,1] 0.9998918965666349 Centerline is valid? [True, True] Translation: X:137.30, Y:-22.53, Z:-2.67 [[ 9.81127500e-01 1.92927758e-01 1.29502246e-02 1.37303112e+02] [-1.92907426e-01 9.81212929e-01 -2.81304943e-03 -2.25335534e+01] [-1.32496431e-02 2.61765661e-04 9.99912185e-01 -2.66562125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.618623853 meters Centerline goodness [0,1] 0.9999140321090073 Centerline is valid? [True, True] Translation: X:137.33, Y:-22.54, Z:-2.67 [[ 9.81248229e-01 1.92340657e-01 1.25293344e-02 1.37332555e+02] [-1.92321567e-01 9.81328183e-01 -2.72239344e-03 -2.25428209e+01] [-1.28190159e-02 2.61682518e-04 9.99917799e-01 -2.66705837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.648623853 meters Centerline goodness [0,1] 0.9998933424347789 Centerline is valid? [True, True] Translation: X:137.36, Y:-22.55, Z:-2.67 [[ 9.81236745e-01 1.92431878e-01 1.20176248e-02 1.37362667e+02] [-1.92414320e-01 9.81310303e-01 -2.61140957e-03 -2.25473341e+01] [-1.22955374e-02 2.50047924e-04 9.99924376e-01 -2.66813644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.678623853 meters Centerline goodness [0,1] 0.9999142532530172 Centerline is valid? [True, True] Translation: X:137.39, Y:-22.55, Z:-2.67 [[ 9.81172959e-01 1.92782487e-01 1.15990237e-02 1.37391128e+02] [-1.92766155e-01 9.81241487e-01 -2.52051632e-03 -2.25539908e+01] [-1.18673547e-02 2.37163260e-04 9.99929552e-01 -2.67002712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.708623853 meters Centerline goodness [0,1] 0.9997215081405313 Centerline is valid? [True, True] Translation: X:137.42, Y:-22.56, Z:-2.66 [[ 9.80767145e-01 1.94894290e-01 1.05840636e-02 1.37421092e+02] [-1.94880814e-01 9.80824234e-01 -2.29993132e-03 -2.25569637e+01] [-1.08293495e-02 1.93066149e-04 9.99941342e-01 -2.66438871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.738623853 meters Centerline goodness [0,1] 0.9999571358151697 Centerline is valid? [True, True] Translation: X:137.45, Y:-22.56, Z:-2.67 [[ 9.80397028e-01 1.96705096e-01 1.13478080e-02 1.37450490e+02] [-1.96689730e-01 9.80462682e-01 -2.46559537e-03 -2.25598118e+01] [-1.16110974e-02 1.85265083e-04 9.99932572e-01 -2.67106472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.768623853 meters Centerline goodness [0,1] 0.9999151661682679 Centerline is valid? [True, True] Translation: X:137.48, Y:-22.56, Z:-2.67 [[ 9.80038927e-01 1.98484698e-01 1.12927249e-02 1.37478829e+02] [-1.98469601e-01 9.80103973e-01 -2.45342076e-03 -2.25639017e+01] [-1.15550110e-02 1.63185248e-04 9.99933225e-01 -2.67191949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.798623853 meters Centerline goodness [0,1] 0.9998926255207662 Centerline is valid? [True, True] Translation: X:137.51, Y:-22.57, Z:-2.67 [[ 9.79678282e-01 2.00258425e-01 1.12706512e-02 1.37507515e+02] [-2.00243509e-01 9.79743101e-01 -2.44828114e-03 -2.25658296e+01] [-1.15326317e-02 1.41653116e-04 9.99933487e-01 -2.67206074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.828623853 meters Centerline goodness [0,1] 0.9998925932290772 Centerline is valid? [True, True] Translation: X:137.54, Y:-22.57, Z:-2.67 [[ 9.79010692e-01 2.03511858e-01 1.09995159e-02 1.37537340e+02] [-2.03497862e-01 9.79072476e-01 -2.38878558e-03 -2.25660943e+01] [-1.12554695e-02 1.00268647e-04 9.99936650e-01 -2.67386779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.858623853 meters Centerline goodness [0,1] 0.9997637000279264 Centerline is valid? [True, True] Translation: X:137.57, Y:-22.57, Z:-2.67 [[ 9.78679486e-01 2.05109872e-01 1.07890320e-02 1.37565167e+02] [-2.05096507e-01 9.78738951e-01 -2.34286583e-03 -2.25692777e+01] [-1.10401908e-02 8.01219463e-05 9.99939052e-01 -2.67495825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.888623853 meters Centerline goodness [0,1] 0.9998281713132008 Centerline is valid? [True, True] Translation: X:137.59, Y:-22.57, Z:-2.68 [[ 9.78358789e-01 2.06639874e-01 1.06790961e-02 1.37593803e+02] [-2.06626879e-01 9.78417068e-01 -2.31822730e-03 -2.25713513e+01] [-1.09276481e-02 6.14697479e-05 9.99940290e-01 -2.67501485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.918623853 meters Centerline goodness [0,1] 0.9997431891625826 Centerline is valid? [True, True] Translation: X:137.62, Y:-22.57, Z:-2.68 [[ 9.77723495e-01 2.09652409e-01 1.01309023e-02 1.37622732e+02] [-2.09640880e-01 9.77775980e-01 -2.19875895e-03 -2.25714260e+01] [-1.03667280e-02 2.59270068e-05 9.99946264e-01 -2.67770345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.94862385300002 meters Centerline goodness [0,1] 0.999723692320772 Centerline is valid? [True, True] Translation: X:137.65, Y:-22.57, Z:-2.68 [[ 9.77477376e-01 2.10806806e-01 9.92315844e-03 1.37650124e+02] [-2.10795809e-01 9.77527744e-01 -2.15326633e-03 -2.25746005e+01] [-1.01540859e-02 1.30089055e-05 9.99948446e-01 -2.67892003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.97862385300002 meters Centerline goodness [0,1] 0.9996542185338866 Centerline is valid? [True, True] Translation: X:137.68, Y:-22.58, Z:-2.68 [[ 9.77268062e-01 2.11759774e-01 1.02437000e-02 1.37678746e+02] [-2.11748114e-01 9.77321748e-01 -2.22210115e-03 -2.25784406e+01] [-1.04819424e-02 2.50432968e-06 9.99945063e-01 -2.67805347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.00862385300002 meters Centerline goodness [0,1] 0.9996998477799456 Centerline is valid? [True, True] Translation: X:137.71, Y:-22.58, Z:-2.68 [[ 9.77087039e-01 2.12609699e-01 9.90123816e-03 1.37706823e+02] [-2.12598854e-01 9.77137204e-01 -2.14744124e-03 -2.25823864e+01] [-1.01314350e-02 -6.75488729e-06 9.99948676e-01 -2.67995451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.03862385300002 meters Centerline goodness [0,1] 0.9997203037931108 Centerline is valid? [True, True] Translation: X:137.74, Y:-22.59, Z:-2.68 [[ 9.76974303e-01 2.13138843e-01 9.64594023e-03 1.37735660e+02] [-2.13128583e-01 9.77021921e-01 -2.09139282e-03 -2.25865193e+01] [-9.87005210e-03 -1.25885241e-05 9.99951290e-01 -2.68093696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.06862385300002 meters Centerline goodness [0,1] 0.9996580904350799 Centerline is valid? [True, True] Translation: X:137.76, Y:-22.59, Z:-2.68 [[ 9.77008738e-01 2.12986256e-01 9.52789480e-03 1.37763397e+02] [-2.12976240e-01 9.77055195e-01 -2.06555094e-03 -2.25920761e+01] [-9.74921308e-03 -1.11538879e-05 9.99952475e-01 -2.68132443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.09862385300002 meters Centerline goodness [0,1] 0.9996991511765337 Centerline is valid? [True, True] Translation: X:137.79, Y:-22.60, Z:-2.68 [[ 9.77082038e-01 2.12638052e-01 9.78519540e-03 1.37790744e+02] [-2.12627478e-01 9.77131035e-01 -2.12060631e-03 -2.25980224e+01] [-1.00123397e-02 -8.59508582e-06 9.99949875e-01 -2.68175289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.12862385300002 meters Centerline goodness [0,1] 0.999629750626157 Centerline is valid? [True, True] Translation: X:137.82, Y:-22.60, Z:-2.68 [[ 9.77266961e-01 2.11762282e-01 1.02967677e-02 1.37818845e+02] [-2.11750534e-01 9.77321204e-01 -2.23053668e-03 -2.26046709e+01] [-1.05355929e-02 -5.16252956e-07 9.99944499e-01 -2.68015579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.15862385300002 meters Centerline goodness [0,1] 0.9997651078368567 Centerline is valid? [True, True] Translation: X:137.85, Y:-22.61, Z:-2.68 [[ 9.77651374e-01 2.09931224e-01 1.12548610e-02 1.37846879e+02] [-2.09917074e-01 9.77716156e-01 -2.43746097e-03 -2.26119285e+01] [-1.15157586e-02 2.03995688e-05 9.99933691e-01 -2.67897025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.18862385300002 meters Centerline goodness [0,1] 0.9997660569970226 Centerline is valid? [True, True] Translation: X:137.87, Y:-22.62, Z:-2.68 [[ 9.77906848e-01 2.08741079e-01 1.11963473e-02 1.37874105e+02] [-2.08727003e-01 9.77970941e-01 -2.42433336e-03 -2.26198997e+01] [-1.14557603e-02 3.37921756e-05 9.99934380e-01 -2.68068986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.218623853 meters Centerline goodness [0,1] 0.9997456765005086 Centerline is valid? [True, True] Translation: X:137.90, Y:-22.63, Z:-2.68 [[ 9.78171748e-01 2.07497167e-01 1.11784650e-02 1.37901445e+02] [-2.07483065e-01 9.78235618e-01 -2.41956791e-03 -2.26281062e+01] [-1.14372261e-02 4.74107962e-05 9.99934592e-01 -2.68063069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.248623853 meters Centerline goodness [0,1] 0.9997417021826166 Centerline is valid? [True, True] Translation: X:137.93, Y:-22.64, Z:-2.68 [[ 9.78490155e-01 2.05984175e-01 1.12931818e-02 1.37929905e+02] [-2.05969687e-01 9.78555321e-01 -2.44389493e-03 -2.26351767e+01] [-1.15544068e-02 6.52740147e-05 9.99933243e-01 -2.68007843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.278623853 meters Centerline goodness [0,1] 0.9998507621788721 Centerline is valid? [True, True] Translation: X:137.96, Y:-22.65, Z:-2.68 [[ 9.78856809e-01 2.04223642e-01 1.14913343e-02 1.37955979e+02] [-2.04208526e-01 9.78924255e-01 -2.48626107e-03 -2.26452701e+01] [-1.17568991e-02 8.70651490e-05 9.99930881e-01 -2.68252803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.308623853 meters Centerline goodness [0,1] 0.999892122807396 Centerline is valid? [True, True] Translation: X:137.98, Y:-22.65, Z:-2.68 [[ 9.78956284e-01 2.03749872e-01 1.14273056e-02 1.37983628e+02] [-2.03734901e-01 9.79022973e-01 -2.47161160e-03 -2.26516330e+01] [-1.16911853e-02 9.14587179e-05 9.99931652e-01 -2.68259434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.338623853 meters Centerline goodness [0,1] 0.9998273964918337 Centerline is valid? [True, True] Translation: X:138.01, Y:-22.66, Z:-2.68 [[ 9.78940148e-01 2.03814138e-01 1.16611917e-02 1.38012604e+02] [-2.03798559e-01 9.79009596e-01 -2.52169280e-03 -2.26551742e+01] [-1.19303752e-02 9.20522704e-05 9.99928826e-01 -2.68070688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.368623853 meters Centerline goodness [0,1] 0.9998066595059076 Centerline is valid? [True, True] Translation: X:138.04, Y:-22.66, Z:-2.68 [[ 9.78932993e-01 2.03839739e-01 1.18133739e-02 1.38039444e+02] [-2.03823759e-01 9.79004266e-01 -2.55405594e-03 -2.26611176e+01] [-1.20859616e-02 9.24033488e-05 9.99926958e-01 -2.68113412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.398623853 meters Centerline goodness [0,1] 0.9997210240563102 Centerline is valid? [True, True] Translation: X:138.07, Y:-22.66, Z:-2.68 [[ 9.78795725e-01 2.04471111e-01 1.22675759e-02 1.38068419e+02] [-2.04453939e-01 9.78872595e-01 -2.65137591e-03 -2.26649317e+01] [-1.25505237e-02 8.70011838e-05 9.99921235e-01 -2.68055505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.428623853 meters Centerline goodness [0,1] 0.9998068254990341 Centerline is valid? [True, True] Translation: X:138.10, Y:-22.67, Z:-2.68 [[ 9.78716065e-01 2.04848193e-01 1.23321383e-02 1.38096142e+02] [-2.04830877e-01 9.78793753e-01 -2.66478803e-03 -2.26706207e+01] [-1.26164969e-02 8.20681608e-05 9.99920405e-01 -2.68123880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.458623853 meters Centerline goodness [0,1] 0.9997662161013346 Centerline is valid? [True, True] Translation: X:138.12, Y:-22.68, Z:-2.68 [[ 9.78665369e-01 2.05100465e-01 1.21612357e-02 1.38124649e+02] [-2.05083655e-01 9.78740923e-01 -2.62696899e-03 -2.26761204e+01] [-1.24414916e-02 7.68529109e-05 9.99922599e-01 -2.68208800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.488623853 meters Centerline goodness [0,1] 0.9997415686781238 Centerline is valid? [True, True] Translation: X:138.15, Y:-22.68, Z:-2.68 [[ 9.78613324e-01 2.05352709e-01 1.20924089e-02 1.38152775e+02] [-2.05336116e-01 9.78688030e-01 -2.61151824e-03 -2.26813638e+01] [-1.23709782e-02 7.26582652e-05 9.99923474e-01 -2.68257985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.518623853 meters Centerline goodness [0,1] 0.9997638927643865 Centerline is valid? [True, True] Translation: X:138.18, Y:-22.69, Z:-2.68 [[ 9.78558307e-01 2.05610938e-01 1.21565408e-02 1.38180705e+02] [-2.05594194e-01 9.78633812e-01 -2.62489341e-03 -2.26863947e+01] [-1.24365086e-02 6.92970477e-05 9.99922661e-01 -2.68285880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.548623853 meters Centerline goodness [0,1] 0.9997456118036123 Centerline is valid? [True, True] Translation: X:138.21, Y:-22.69, Z:-2.68 [[ 9.78486524e-01 2.05948494e-01 1.22205153e-02 1.38209230e+02] [-2.05931612e-01 9.78562831e-01 -2.63768362e-03 -2.26918527e+01] [-1.25017691e-02 6.43474456e-05 9.99921848e-01 -2.68329580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.578623853 meters Centerline goodness [0,1] 0.999784431654056 Centerline is valid? [True, True] Translation: X:138.24, Y:-22.70, Z:-2.68 [[ 9.78467385e-01 2.06003437e-01 1.28125026e-02 1.38238083e+02] [-2.05984893e-01 9.78551266e-01 -2.76479688e-03 -2.26970499e+01] [-1.31072483e-02 6.60815940e-05 9.99914094e-01 -2.68311052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.608623853 meters Centerline goodness [0,1] 0.9996790345358839 Centerline is valid? [True, True] Translation: X:138.27, Y:-22.70, Z:-2.68 [[ 9.78409616e-01 2.06258826e-01 1.31118560e-02 1.38266979e+02] [-2.06239437e-01 9.78497467e-01 -2.82874027e-03 -2.27021584e+01] [-1.34133705e-02 6.34848815e-05 9.99910035e-01 -2.68257719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.638623853 meters Centerline goodness [0,1] 0.9996972449288526 Centerline is valid? [True, True] Translation: X:138.30, Y:-22.71, Z:-2.68 [[ 9.78316533e-01 2.06669416e-01 1.35835955e-02 1.38295928e+02] [-2.06648657e-01 9.78410828e-01 -2.92981283e-03 -2.27069227e+01] [-1.38958396e-02 5.92525714e-05 9.99903446e-01 -2.68271455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.668623853 meters Centerline goodness [0,1] 0.9998287121293223 Centerline is valid? [True, True] Translation: X:138.32, Y:-22.71, Z:-2.68 [[ 9.78266118e-01 2.06923802e-01 1.33395102e-02 1.38323415e+02] [-2.06903813e-01 9.78357060e-01 -2.87656965e-03 -2.27123675e+01] [-1.36460347e-02 5.40551083e-05 9.99906887e-01 -2.68357920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.69862385300002 meters Centerline goodness [0,1] 0.9998287121293223 Centerline is valid? [True, True] Translation: X:138.35, Y:-22.72, Z:-2.68 [[ 9.78280638e-01 2.06855136e-01 1.33396688e-02 1.38350319e+02] [-2.06835152e-01 9.78371581e-01 -2.87583375e-03 -2.27180301e+01] [-1.36460338e-02 5.42600474e-05 9.99906887e-01 -2.68406403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.72862385300002 meters Centerline goodness [0,1] 0.999422472246583 Centerline is valid? [True, True] Translation: X:138.38, Y:-22.72, Z:-2.68 [[ 9.78258721e-01 2.06995875e-01 1.27507948e-02 1.38378240e+02] [-2.06977640e-01 9.78341814e-01 -2.74796703e-03 -2.27227599e+01] [-1.30434536e-02 4.90932914e-05 9.99914929e-01 -2.67791350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.75862385300002 meters Centerline goodness [0,1] 0.9998289538389172 Centerline is valid? [True, True] Translation: X:138.41, Y:-22.73, Z:-2.69 [[ 9.78067287e-01 2.07881641e-01 1.30232871e-02 1.38406760e+02] [-2.07862709e-01 9.78153987e-01 -2.80573688e-03 -2.27270469e+01] [-1.33220414e-02 3.71437287e-05 9.99911257e-01 -2.68611077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.78862385300002 meters Centerline goodness [0,1] 0.9998272362112901 Centerline is valid? [True, True] Translation: X:138.43, Y:-22.73, Z:-2.69 [[ 9.78013032e-01 2.08148447e-01 1.28348496e-02 1.38433429e+02] [-2.08130088e-01 9.78097246e-01 -2.76468688e-03 -2.27313744e+01] [-1.31291964e-02 3.25814033e-05 9.99913808e-01 -2.68700882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.81862385300002 meters Centerline goodness [0,1] 0.999612919874414 Centerline is valid? [True, True] Translation: X:138.46, Y:-22.74, Z:-2.68 [[ 9.77893937e-01 2.08745133e-01 1.22031371e-02 1.38461125e+02] [-2.08728596e-01 9.77970076e-01 -2.62758299e-03 -2.27351936e+01] [-1.24827981e-02 2.23538012e-05 9.99922087e-01 -2.68355484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.84862385300002 meters Centerline goodness [0,1] 0.9995042462387378 Centerline is valid? [True, True] Translation: X:138.49, Y:-22.74, Z:-2.68 [[ 9.77778256e-01 2.09292456e-01 1.20974856e-02 1.38488381e+02] [-2.09276257e-01 9.77853091e-01 -2.60403539e-03 -2.27390760e+01] [-1.23745687e-02 1.44526795e-05 9.99923432e-01 -2.68470085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.87862385300002 meters Centerline goodness [0,1] 0.9996986330857819 Centerline is valid? [True, True] Translation: X:138.52, Y:-22.74, Z:-2.69 [[ 9.77616043e-01 2.10047464e-01 1.21216934e-02 1.38515829e+02] [-2.10031271e-01 9.77691190e-01 -2.60816306e-03 -2.27419701e+01] [-1.23991109e-02 3.84737426e-06 9.99923128e-01 -2.69068057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.90862385300002 meters Centerline goodness [0,1] 0.9996997061410094 Centerline is valid? [True, True] Translation: X:138.54, Y:-22.75, Z:-2.69 [[ 9.77639900e-01 2.09959033e-01 1.17230930e-02 1.38543990e+02] [-2.09943892e-01 9.77710184e-01 -2.52147164e-03 -2.27475054e+01] [-1.19911932e-02 3.89951203e-06 9.99928103e-01 -2.69212921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.93862385300002 meters Centerline goodness [0,1] 0.999784315417134 Centerline is valid? [True, True] Translation: X:138.57, Y:-22.75, Z:-2.69 [[ 9.77754220e-01 2.09434062e-01 1.15784196e-02 1.38571604e+02] [-2.09419260e-01 9.77822772e-01 -2.48995901e-03 -2.27540342e+01] [-1.18431246e-02 9.82385704e-06 9.99929868e-01 -2.69274345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.968623853 meters Centerline goodness [0,1] 0.9997868485558989 Centerline is valid? [True, True] Translation: X:138.60, Y:-22.76, Z:-2.69 [[ 9.77951265e-01 2.08514494e-01 1.15338273e-02 1.38598548e+02] [-2.08499752e-01 9.78019277e-01 -2.47951994e-03 -2.27612632e+01] [-1.17973212e-02 2.00495408e-05 9.99930409e-01 -2.69371434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.998623853 meters Centerline goodness [0,1] 0.9997650877717508 Centerline is valid? [True, True] Translation: X:138.63, Y:-22.77, Z:-2.69 [[ 9.78529536e-01 2.05750664e-01 1.21083307e-02 1.38625081e+02] [-2.05734218e-01 9.78604446e-01 -2.60200720e-03 -2.27706536e+01] [-1.23846310e-02 5.50429419e-05 9.99923306e-01 -2.69317784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.028623853 meters Centerline goodness [0,1] 0.9997649673090894 Centerline is valid? [True, True] Translation: X:138.65, Y:-22.78, Z:-2.69 [[ 9.78837935e-01 2.04254049e-01 1.25132302e-02 1.38652462e+02] [-2.04236373e-01 9.78917912e-01 -2.68815687e-03 -2.27786569e+01] [-1.27984921e-02 7.56131668e-05 9.99918093e-01 -2.69306973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.058623853 meters Centerline goodness [0,1] 0.9997846220116304 Centerline is valid? [True, True] Translation: X:138.68, Y:-22.79, Z:-2.69 [[ 9.79224602e-01 2.02374326e-01 1.27989061e-02 1.38679899e+02] [-2.02355681e-01 9.79308236e-01 -2.74888902e-03 -2.27873604e+01] [-1.30903788e-02 1.01848381e-04 9.99914312e-01 -2.69322155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.088623853 meters Centerline goodness [0,1] 0.9998720382179189 Centerline is valid? [True, True] Translation: X:138.71, Y:-22.80, Z:-2.69 [[ 9.79605377e-01 2.00532476e-01 1.26503388e-02 1.38706314e+02] [-2.00514115e-01 9.79687047e-01 -2.71643058e-03 -2.27966127e+01] [-1.29381056e-02 1.24458518e-04 9.99916291e-01 -2.69373031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.118623853 meters Centerline goodness [0,1] 0.9999571789491715 Centerline is valid? [True, True] Translation: X:138.73, Y:-22.81, Z:-2.69 [[ 9.80341880e-01 1.96881714e-01 1.29378628e-02 1.38732475e+02] [-1.96862201e-01 9.80427233e-01 -2.77740803e-03 -2.28093818e+01] [-1.32314539e-02 1.75833263e-04 9.99912445e-01 -2.69373941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.148623853 meters Centerline goodness [0,1] 0.9999152021369061 Centerline is valid? [True, True] Translation: X:138.76, Y:-22.82, Z:-2.69 [[ 9.80638029e-01 1.95395401e-01 1.30266509e-02 1.38760246e+02] [-1.95375502e-01 9.80724527e-01 -2.79546747e-03 -2.28184813e+01] [-1.33217775e-02 1.96253260e-04 9.99911242e-01 -2.69414956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.178623853 meters Centerline goodness [0,1] 0.9998481956974323 Centerline is valid? [True, True] Translation: X:138.79, Y:-22.83, Z:-2.69 [[ 9.81155385e-01 1.92747065e-01 1.35159292e-02 1.38786558e+02] [-1.92725400e-01 9.81248445e-01 -2.89978967e-03 -2.28304264e+01] [-1.38214104e-02 2.40281396e-04 9.99904451e-01 -2.69338975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.208623853 meters Centerline goodness [0,1] 0.9996534996534997 Centerline is valid? [True, True] Translation: X:138.81, Y:-22.84, Z:-2.69 [[ 9.81311487e-01 1.91978132e-01 1.31210612e-02 1.38813766e+02] [-1.91957654e-01 9.81399173e-01 -2.81452305e-03 -2.28379352e+01] [-1.34173255e-02 2.43235677e-04 9.99909954e-01 -2.68684427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.238623853 meters Centerline goodness [0,1] 0.9997219489241562 Centerline is valid? [True, True] Translation: X:138.84, Y:-22.85, Z:-2.70 [[ 9.81457703e-01 1.91206370e-01 1.34499674e-02 1.38840611e+02] [-1.91184794e-01 9.81549824e-01 -2.88402140e-03 -2.28463556e+01] [-1.37532564e-02 2.59115778e-04 9.99905386e-01 -2.69519234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.268623853 meters Centerline goodness [0,1] 0.9997404844290657 Centerline is valid? [True, True] Translation: X:138.87, Y:-22.85, Z:-2.70 [[ 9.81551761e-01 1.90713256e-01 1.35865897e-02 1.38868409e+02] [-1.90691189e-01 9.81645752e-01 -2.91356671e-03 -2.28540598e+01] [-1.38928738e-02 2.68973602e-04 9.99903453e-01 -2.69539452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.298623853 meters Centerline goodness [0,1] 0.9994046479981289 Centerline is valid? [True, True] Translation: X:138.90, Y:-22.86, Z:-2.70 [[ 9.81775017e-01 1.89598589e-01 1.30457371e-02 1.38895771e+02] [-1.89578154e-01 9.81861650e-01 -2.79694737e-03 -2.28641368e+01] [-1.33394062e-02 2.72786291e-04 9.99910989e-01 -2.69703303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.328623853 meters Centerline goodness [0,1] 0.9993967987246601 Centerline is valid? [True, True] Translation: X:138.92, Y:-22.87, Z:-2.70 [[ 9.81888762e-01 1.89002260e-01 1.31378878e-02 1.38924910e+02] [-1.88981488e-01 9.81976612e-01 -2.81625714e-03 -2.28715074e+01] [-1.34333775e-02 2.82433646e-04 9.99909728e-01 -2.69709031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.358623853 meters Centerline goodness [0,1] 0.999287380150298 Centerline is valid? [True, True] Translation: X:138.95, Y:-22.88, Z:-2.70 [[ 9.81979976e-01 1.88517319e-01 1.32871381e-02 1.38952906e+02] [-1.88496031e-01 9.82069822e-01 -2.84798207e-03 -2.28792767e+01] [-1.35857913e-02 2.92088558e-04 9.99907666e-01 -2.69766853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.388623853 meters Centerline goodness [0,1] 0.9991296225533902 Centerline is valid? [True, True] Translation: X:138.98, Y:-22.89, Z:-2.70 [[ 9.82049123e-01 1.88154131e-01 1.33245006e-02 1.38981463e+02] [-1.88132697e-01 9.82139468e-01 -2.85547859e-03 -2.28869429e+01] [-1.36237880e-02 2.97446026e-04 9.99907148e-01 -2.69782450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.418623853 meters Centerline goodness [0,1] 0.9992399235580264 Centerline is valid? [True, True] Translation: X:139.01, Y:-22.89, Z:-2.70 [[ 9.82239787e-01 1.87108106e-01 1.39842006e-02 1.39012626e+02] [-1.87084398e-01 9.82339274e-01 -2.99635586e-03 -2.28923674e+01] [-1.42978719e-02 3.26914198e-04 9.99897727e-01 -2.69639592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.44862385300002 meters Centerline goodness [0,1] 0.9990298587905573 Centerline is valid? [True, True] Translation: X:139.04, Y:-22.91, Z:-2.70 [[ 9.82325539e-01 1.86648992e-01 1.40956897e-02 1.39041409e+02] [-1.86624858e-01 9.82426608e-01 -3.02016924e-03 -2.29089330e+01] [-1.44116922e-02 3.36183288e-04 9.99896090e-01 -2.69749351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.47862385300002 meters Centerline goodness [0,1] 0.9988888414034788 Centerline is valid? [True, True] Translation: X:139.07, Y:-22.92, Z:-2.70 [[ 9.82420070e-01 1.86133919e-01 1.43167572e-02 1.39070079e+02] [-1.86108928e-01 9.82524321e-01 -3.07024984e-03 -2.29187945e+01] [-1.46380397e-02 3.51798738e-04 9.99892796e-01 -2.69706245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.50862385300002 meters Centerline goodness [0,1] 0.9987607102412341 Centerline is valid? [True, True] Translation: X:139.10, Y:-22.93, Z:-2.70 [[ 9.82608852e-01 1.85119877e-01 1.45077884e-02 1.39098862e+02] [-1.85094092e-01 9.82715876e-01 -3.11205004e-03 -2.29289257e+01] [-1.48331363e-02 3.72622007e-04 9.99889914e-01 -2.69737231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.53862385300002 meters Centerline goodness [0,1] 0.9986665806396111 Centerline is valid? [True, True] Translation: X:139.13, Y:-22.94, Z:-2.70 [[ 9.82951322e-01 1.83267682e-01 1.48208060e-02 1.39128152e+02] [-1.83240564e-01 9.83062963e-01 -3.17904264e-03 -2.29433869e+01] [-1.51524013e-02 4.09071313e-04 9.99885112e-01 -2.69839974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.56862385300002 meters Centerline goodness [0,1] 0.9986474010777852 Centerline is valid? [True, True] Translation: X:139.16, Y:-22.95, Z:-2.70 [[ 9.83092572e-01 1.82516808e-01 1.47176866e-02 1.39158363e+02] [-1.82489951e-01 9.83202644e-01 -3.15899526e-03 -2.29540096e+01] [-1.50470381e-02 4.19754874e-04 9.99886699e-01 -2.69917389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.59862385300002 meters Centerline goodness [0,1] 0.998383307106982 Centerline is valid? [True, True] Translation: X:139.19, Y:-22.97, Z:-2.70 [[ 9.83200520e-01 1.81959841e-01 1.43998210e-02 1.39188206e+02] [-1.81934036e-01 9.83305872e-01 -3.09315765e-03 -2.29652878e+01] [-1.47222590e-02 4.21376659e-04 9.99891533e-01 -2.70033223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.62862385300002 meters Centerline goodness [0,1] 0.9980523927745912 Centerline is valid? [True, True] Translation: X:139.22, Y:-22.98, Z:-2.70 [[ 9.83204778e-01 1.81969633e-01 1.39791337e-02 1.39219278e+02] [-1.81945303e-01 9.83304065e-01 -3.00369785e-03 -2.29754648e+01] [-1.42923208e-02 4.09812373e-04 9.99897776e-01 -2.70197999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.65862385300002 meters Centerline goodness [0,1] 0.9983099073658088 Centerline is valid? [True, True] Translation: X:139.25, Y:-22.99, Z:-2.70 [[ 9.83034796e-01 1.82935113e-01 1.33167009e-02 1.39249102e+02] [-1.82913097e-01 9.83124916e-01 -2.86327727e-03 -2.29873570e+01] [-1.36157744e-02 3.78902179e-04 9.99907229e-01 -2.70383501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.68862385300002 meters Centerline goodness [0,1] 0.9990316333118141 Centerline is valid? [True, True] Translation: X:139.28, Y:-22.99, Z:-2.70 [[ 9.82839363e-01 1.83977095e-01 1.33871380e-02 1.39282698e+02] [-1.83954914e-01 9.82930462e-01 -2.88040226e-03 -2.29861204e+01] [-1.36885538e-02 3.68342902e-04 9.99906240e-01 -2.70281583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.718623853 meters Centerline goodness [0,1] 0.9985998319798376 Centerline is valid? [True, True] Translation: X:139.31, Y:-23.00, Z:-2.70 [[ 9.82564161e-01 1.85439661e-01 1.34089966e-02 1.39310837e+02] [-1.85417512e-01 9.82655590e-01 -2.88745007e-03 -2.30033488e+01] [-1.37118732e-02 3.50842180e-04 9.99905926e-01 -2.70490776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.748623853 meters Centerline goodness [0,1] 0.9990588436610982 Centerline is valid? [True, True] Translation: X:139.34, Y:-23.00, Z:-2.70 [[ 9.82263101e-01 1.87031937e-01 1.33512259e-02 1.39344790e+02] [-1.87010097e-01 9.82353778e-01 -2.87705834e-03 -2.30001406e+01] [-1.36537290e-02 3.29214191e-04 9.99906729e-01 -2.70397640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.778623853 meters Centerline goodness [0,1] 0.9990451388888889 Centerline is valid? [True, True] Translation: X:139.38, Y:-23.01, Z:-2.70 [[ 9.81712732e-01 1.89869761e-01 1.37690199e-02 1.39375022e+02] [-1.89846770e-01 9.81809240e-01 -2.97000408e-03 -2.30093388e+01] [-1.40824649e-02 3.01686868e-04 9.99900792e-01 -2.70394614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.808623853 meters Centerline goodness [0,1] 0.9993039544090138 Centerline is valid? [True, True] Translation: X:139.41, Y:-23.02, Z:-2.70 [[ 9.81396132e-01 1.91499669e-01 1.37662280e-02 1.39406705e+02] [-1.91476844e-01 9.81492638e-01 -2.96968827e-03 -2.30163001e+01] [-1.40801458e-02 2.78526690e-04 9.99900831e-01 -2.70414063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.838623853 meters Centerline goodness [0,1] 0.9991986311754132 Centerline is valid? [True, True] Translation: X:139.44, Y:-23.02, Z:-2.70 [[ 9.81083242e-01 1.93087484e-01 1.38886665e-02 1.39438468e+02] [-1.93064370e-01 9.81181510e-01 -2.99896724e-03 -2.30237949e+01] [-1.42063658e-02 2.60829862e-04 9.99899050e-01 -2.70477807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.868623853 meters Centerline goodness [0,1] 0.999369907658881 Centerline is valid? [True, True] Translation: X:139.47, Y:-23.03, Z:-2.71 [[ 9.80687260e-01 1.95090697e-01 1.38606778e-02 1.39470129e+02] [-1.95067868e-01 9.80785178e-01 -2.99340797e-03 -2.30304466e+01] [-1.41783334e-02 2.31824176e-04 9.99899456e-01 -2.70600209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.898623853 meters Centerline goodness [0,1] 0.9993161954826164 Centerline is valid? [True, True] Translation: X:139.50, Y:-23.04, Z:-2.71 [[ 9.79838962e-01 1.99350143e-01 1.32336150e-02 1.39499161e+02] [-1.99329691e-01 9.79928310e-01 -2.86025534e-03 -2.30432151e+01] [-1.35381863e-02 1.64737240e-04 9.99908341e-01 -2.70999848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.928623853 meters Centerline goodness [0,1] 0.9995470819134711 Centerline is valid? [True, True] Translation: X:139.53, Y:-23.04, Z:-2.71 [[ 9.79262140e-01 2.02169821e-01 1.31538704e-02 1.39532026e+02] [-2.02149840e-01 9.79350472e-01 -2.84513185e-03 -2.30425848e+01] [-1.34574489e-02 1.27077116e-04 9.99909436e-01 -2.70849498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.958623853 meters Centerline goodness [0,1] 0.9996759069204676 Centerline is valid? [True, True] Translation: X:139.56, Y:-23.05, Z:-2.71 [[ 9.78680757e-01 2.04967519e-01 1.31260281e-02 1.39563021e+02] [-2.04947836e-01 9.78768771e-01 -2.84197327e-03 -2.30462329e+01] [-1.34298586e-02 9.12335036e-05 9.99909811e-01 -2.70905969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.988623853 meters Centerline goodness [0,1] 0.999592047064886 Centerline is valid? [True, True] Translation: X:139.59, Y:-23.05, Z:-2.71 [[ 9.78040194e-01 2.08009011e-01 1.30242370e-02 1.39593524e+02] [-2.07989896e-01 9.78126908e-01 -2.82030679e-03 -2.30496583e+01] [-1.33260058e-02 4.94637112e-05 9.99911204e-01 -2.71021835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.018623853 meters Centerline goodness [0,1] 0.9995292305058632 Centerline is valid? [True, True] Translation: X:139.62, Y:-23.05, Z:-2.71 [[ 9.76779633e-01 2.13874121e-01 1.26256803e-02 1.39624538e+02] [-2.13856644e-01 9.76861228e-01 -2.73432141e-03 -2.30484612e+01] [-1.29183382e-02 -2.92561629e-05 9.99916554e-01 -2.71135825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.048623853 meters Centerline goodness [0,1] 0.9994018116561272 Centerline is valid? [True, True] Translation: X:139.65, Y:-23.05, Z:-2.71 [[ 9.76188409e-01 2.16566661e-01 1.24528115e-02 1.39653733e+02] [-2.16549880e-01 9.76267831e-01 -2.69664165e-03 -2.30509051e+01] [-1.27412819e-02 -6.42245188e-05 9.99918825e-01 -2.71232567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.078623853 meters Centerline goodness [0,1] 0.9993784426774117 Centerline is valid? [True, True] Translation: X:139.68, Y:-23.05, Z:-2.71 [[ 9.75636165e-01 2.19026778e-01 1.27021270e-02 1.39682865e+02] [-2.19009534e-01 9.75718843e-01 -2.75015991e-03 -2.30542518e+01] [-1.29960633e-02 -9.87314479e-05 9.99915543e-01 -2.71182766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.108623853 meters Centerline goodness [0,1] 0.9993322131747878 Centerline is valid? [True, True] Translation: X:139.71, Y:-23.06, Z:-2.71 [[ 9.75151380e-01 2.21145512e-01 1.32079352e-02 1.39712342e+02] [-2.21127068e-01 9.75240814e-01 -2.85910609e-03 -2.30584891e+01] [-1.35131960e-02 -1.32570748e-04 9.99908684e-01 -2.71135172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.138623853 meters Centerline goodness [0,1] 0.9992354577696604 Centerline is valid? [True, True] Translation: X:139.74, Y:-23.06, Z:-2.71 [[ 9.74421594e-01 2.24318913e-01 1.35492475e-02 1.39741743e+02] [-2.24299815e-01 9.74515773e-01 -2.93267885e-03 -2.30595193e+01] [-1.38618108e-02 -1.81428107e-04 9.99903904e-01 -2.71254363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.168623853 meters Centerline goodness [0,1] 0.999163179916318 Centerline is valid? [True, True] Translation: X:139.77, Y:-23.07, Z:-2.71 [[ 9.74191054e-01 2.25317940e-01 1.35505445e-02 1.39769709e+02] [-2.25298941e-01 9.74285270e-01 -2.93248668e-03 -2.30657031e+01] [-1.38628378e-02 -1.96121054e-04 9.99903887e-01 -2.71239288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.19862385300002 meters Centerline goodness [0,1] 0.9991823385118561 Centerline is valid? [True, True] Translation: X:139.80, Y:-23.07, Z:-2.71 [[ 9.74020681e-01 2.26049763e-01 1.36094923e-02 1.39798423e+02] [-2.26030680e-01 9.74115733e-01 -2.94456251e-03 -2.30701287e+01] [-1.39228383e-02 -2.08098021e-04 9.99903051e-01 -2.71331913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.22862385300002 meters Centerline goodness [0,1] 0.9993325151260685 Centerline is valid? [True, True] Translation: X:139.83, Y:-23.07, Z:-2.71 [[ 9.73884528e-01 2.26620998e-01 1.38509904e-02 1.39826499e+02] [-2.26601299e-01 9.73982995e-01 -2.99614960e-03 -2.30735224e+01] [-1.41696195e-02 -2.20748676e-04 9.99899582e-01 -2.71324646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.25862385300002 meters Centerline goodness [0,1] 0.9993127885751101 Centerline is valid? [True, True] Translation: X:139.86, Y:-23.08, Z:-2.71 [[ 9.73932670e-01 2.26390421e-01 1.42313572e-02 1.39855139e+02] [-2.26369614e-01 9.74036615e-01 -3.07747496e-03 -2.30789285e+01] [-1.45585738e-02 -2.24293425e-04 9.99893993e-01 -2.71307942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.28862385300002 meters Centerline goodness [0,1] 0.9993784293552812 Centerline is valid? [True, True] Translation: X:139.88, Y:-23.08, Z:-2.71 [[ 9.74052607e-01 2.25874052e-01 1.42278263e-02 1.39882733e+02] [-2.25853210e-01 9.74156489e-01 -3.07605453e-03 -2.30842514e+01] [-1.45549302e-02 -2.17161308e-04 9.99894048e-01 -2.71386395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.31862385300002 meters Centerline goodness [0,1] 0.9992978723404256 Centerline is valid? [True, True] Translation: X:139.91, Y:-23.09, Z:-2.72 [[ 9.74215808e-01 2.25189422e-01 1.39026410e-02 1.39910562e+02] [-2.25169464e-01 9.74314981e-01 -3.00488920e-03 -2.30916796e+01] [-1.42222206e-02 -2.03039656e-04 9.99898838e-01 -2.71516021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.34862385300002 meters Centerline goodness [0,1] 0.9992951579486961 Centerline is valid? [True, True] Translation: X:139.94, Y:-23.10, Z:-2.72 [[ 9.74847993e-01 2.22465838e-01 1.34291671e-02 1.39938765e+02] [-2.22446968e-01 9.74940473e-01 -2.90183050e-03 -2.31027330e+01] [-1.37381966e-02 -1.58433848e-04 9.99905614e-01 -2.71630170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.37862385300002 meters Centerline goodness [0,1] 0.9993114577729962 Centerline is valid? [True, True] Translation: X:139.97, Y:-23.11, Z:-2.72 [[ 9.75251503e-01 2.20683462e-01 1.35394075e-02 1.39967179e+02] [-2.20664113e-01 9.75345473e-01 -2.92531504e-03 -2.31112393e+01] [-1.38511684e-02 -1.34743456e-04 9.99904059e-01 -2.71665531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.40862385300002 meters Centerline goodness [0,1] 0.999546004842615 Centerline is valid? [True, True] Translation: X:140.00, Y:-23.12, Z:-2.72 [[ 9.75727419e-01 2.18575236e-01 1.34488147e-02 1.39995438e+02] [-2.18555950e-01 9.75820094e-01 -2.90541470e-03 -2.31200767e+01] [-1.37586753e-02 -1.04425679e-04 9.99905339e-01 -2.71751075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.43862385300002 meters Centerline goodness [0,1] 0.9994877486553402 Centerline is valid? [True, True] Translation: X:140.02, Y:-23.13, Z:-2.72 [[ 9.76146771e-01 2.16693954e-01 1.34614822e-02 1.40023404e+02] [-2.16674458e-01 9.76239583e-01 -2.90782011e-03 -2.31286608e+01] [-1.37717388e-02 -7.83001480e-05 9.99905162e-01 -2.71858070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.468623853 meters Centerline goodness [0,1] 0.9995702529061647 Centerline is valid? [True, True] Translation: X:140.05, Y:-23.14, Z:-2.72 [[ 9.76590534e-01 2.14672106e-01 1.36680534e-02 1.40052586e+02] [-2.14651814e-01 9.76686175e-01 -2.95201390e-03 -2.31382312e+01] [-1.39831139e-02 -5.09636360e-05 9.99902230e-01 -2.71870109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.498623853 meters Centerline goodness [0,1] 0.9996312044429018 Centerline is valid? [True, True] Translation: X:140.08, Y:-23.15, Z:-2.72 [[ 9.77283905e-01 2.11457368e-01 1.42109179e-02 1.40081312e+02] [-2.11435093e-01 9.77387222e-01 -3.06922444e-03 -2.31497686e+01] [-1.45385797e-02 -5.18309043e-06 9.99894309e-01 -2.71817490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.528623853 meters Centerline goodness [0,1] 0.9996991705702867 Centerline is valid? [True, True] Translation: X:140.11, Y:-23.16, Z:-2.72 [[ 9.77523234e-01 2.10342460e-01 1.42960279e-02 1.40110440e+02] [-2.10319794e-01 9.77627766e-01 -3.08781735e-03 -2.31576266e+01] [-1.46256930e-02 1.16755478e-05 9.99893039e-01 -2.71845037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.558623853 meters Centerline goodness [0,1] 0.9996991705702867 Centerline is valid? [True, True] Translation: X:140.14, Y:-23.16, Z:-2.72 [[ 9.77523234e-01 2.10342460e-01 1.42960279e-02 1.40139760e+02] [-2.10319794e-01 9.77627766e-01 -3.08781735e-03 -2.31639593e+01] [-1.46256930e-02 1.16755479e-05 9.99893039e-01 -2.71897938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.588623853 meters Centerline goodness [0,1] 0.9998718551108453 Centerline is valid? [True, True] Translation: X:140.17, Y:-23.17, Z:-2.72 [[ 9.77679063e-01 2.09619078e-01 1.42650711e-02 1.40170436e+02] [-2.09596434e-01 9.77783126e-01 -3.08105921e-03 -2.31720076e+01] [-1.45939947e-02 2.23790351e-05 9.99893502e-01 -2.71952872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.618623853 meters Centerline goodness [0,1] 0.9997009633252878 Centerline is valid? [True, True] Translation: X:140.20, Y:-23.18, Z:-2.72 [[ 9.77845113e-01 2.08833224e-01 1.44090473e-02 1.40199288e+02] [-2.08810030e-01 9.77951268e-01 -3.11254256e-03 -2.31797885e+01] [-1.47413484e-02 3.48309362e-05 9.99891340e-01 -2.71981126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.648623853 meters Centerline goodness [0,1] 0.9996978786767086 Centerline is valid? [True, True] Translation: X:140.23, Y:-23.19, Z:-2.72 [[ 9.77989374e-01 2.08153904e-01 1.44477092e-02 1.40228280e+02] [-2.08130508e-01 9.78096084e-01 -3.12106842e-03 -2.31869059e+01] [-1.47809104e-02 4.53626973e-05 9.99890755e-01 -2.72009425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.678623853 meters Centerline goodness [0,1] 0.9998269222448185 Centerline is valid? [True, True] Translation: X:140.26, Y:-23.19, Z:-2.72 [[ 9.78026721e-01 2.08001473e-01 1.41110034e-02 1.40259334e+02] [-2.07979139e-01 9.78128511e-01 -3.04845540e-03 -2.31929322e+01] [-1.44364580e-02 4.66765028e-05 9.99895788e-01 -2.72052080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.708623853 meters Centerline goodness [0,1] 0.9998275044201992 Centerline is valid? [True, True] Translation: X:140.29, Y:-23.20, Z:-2.72 [[ 9.77973779e-01 2.08261715e-01 1.39407816e-02 1.40289328e+02] [-2.08239936e-01 9.78073134e-01 -3.01205980e-03 -2.31995662e+01] [-1.42624007e-02 4.26880262e-05 9.99898286e-01 -2.72149033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.738623853 meters Centerline goodness [0,1] 0.9998718003504123 Centerline is valid? [True, True] Translation: X:140.32, Y:-23.21, Z:-2.72 [[ 9.77974176e-01 2.08268946e-01 1.38042243e-02 1.40319234e+02] [-2.08247590e-01 9.78071595e-01 -2.98276379e-03 -2.32058982e+01] [-1.41227368e-02 4.23695004e-05 9.99900268e-01 -2.72189672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.768623853 meters Centerline goodness [0,1] 0.9998082331884428 Centerline is valid? [True, True] Translation: X:140.35, Y:-23.21, Z:-2.72 [[ 9.77891145e-01 2.08652251e-01 1.38977295e-02 1.40348800e+02] [-2.08630643e-01 9.77989896e-01 -3.00300717e-03 -2.32104663e+01] [-1.42184232e-02 3.71218879e-05 9.99898912e-01 -2.72251769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.798623853 meters Centerline goodness [0,1] 0.9996308200138986 Centerline is valid? [True, True] Translation: X:140.38, Y:-23.22, Z:-2.72 [[ 9.77836033e-01 2.08898501e-01 1.40750824e-02 1.40378454e+02] [-2.08876365e-01 9.77937327e-01 -3.04119812e-03 -2.32153139e+01] [-1.43998502e-02 3.38410431e-05 9.99896316e-01 -2.71887680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.828623853 meters Centerline goodness [0,1] 0.9998477035876684 Centerline is valid? [True, True] Translation: X:140.41, Y:-23.22, Z:-2.72 [[ 9.77858964e-01 2.08731594e-01 1.49321460e-02 1.40407240e+02] [-2.08706667e-01 9.77972965e-01 -3.22601189e-03 -2.32204635e+01] [-1.52766057e-02 3.81462152e-05 9.99883305e-01 -2.72217913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.858623853 meters Centerline goodness [0,1] 0.9997655334114889 Centerline is valid? [True, True] Translation: X:140.44, Y:-23.23, Z:-2.72 [[ 9.77895942e-01 2.08554204e-01 1.49889909e-02 1.40436743e+02] [-2.08529071e-01 9.78010809e-01 -3.23794350e-03 -2.32266607e+01] [-1.53346819e-02 4.07314432e-05 9.99882416e-01 -2.72254173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.888623853 meters Centerline goodness [0,1] 0.999701918368216 Centerline is valid? [True, True] Translation: X:140.47, Y:-23.23, Z:-2.72 [[ 9.77998064e-01 2.08080813e-01 1.49051358e-02 1.40465907e+02] [-2.08055910e-01 9.78111636e-01 -3.21948695e-03 -2.32331724e+01] [-1.52488002e-02 4.75504096e-05 9.99883729e-01 -2.72292936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.918623853 meters Centerline goodness [0,1] 0.999848228611075 Centerline is valid? [True, True] Translation: X:140.50, Y:-23.24, Z:-2.72 [[ 9.78089846e-01 2.07609982e-01 1.54385546e-02 1.40495013e+02] [-2.07583212e-01 9.78211681e-01 -3.33433514e-03 -2.32398130e+01] [-1.57944157e-02 5.64946042e-05 9.99875259e-01 -2.72296248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.94862385300002 meters Centerline goodness [0,1] 0.9995256985167299 Centerline is valid? [True, True] Translation: X:140.52, Y:-23.25, Z:-2.72 [[ 9.78237323e-01 2.06932647e-01 1.51861625e-02 1.40522645e+02] [-2.06906669e-01 9.78355189e-01 -3.27950699e-03 -2.32467265e+01] [-1.55360980e-02 6.60178315e-05 9.99879305e-01 -2.72367569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.97862385300002 meters Centerline goodness [0,1] 0.9996172899878808 Centerline is valid? [True, True] Translation: X:140.55, Y:-23.25, Z:-2.72 [[ 9.78281630e-01 2.06756228e-01 1.47279955e-02 1.40552000e+02] [-2.06731782e-01 9.78392487e-01 -3.18004863e-03 -2.32528881e+01] [-1.50672550e-02 6.62384193e-05 9.99886480e-01 -2.72453561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.00862385300002 meters Centerline goodness [0,1] 0.9998073217726396 Centerline is valid? [True, True] Translation: X:140.58, Y:-23.26, Z:-2.73 [[ 9.78294317e-01 2.06701766e-01 1.46495374e-02 1.40581469e+02] [-2.06677578e-01 9.78403994e-01 -3.16277788e-03 -2.32589039e+01] [-1.49869177e-02 6.63967167e-05 9.99887688e-01 -2.72543254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.03862385300002 meters Centerline goodness [0,1] 0.9997414628891522 Centerline is valid? [True, True] Translation: X:140.61, Y:-23.27, Z:-2.73 [[ 9.78383727e-01 2.06276360e-01 1.46746975e-02 1.40610373e+02] [-2.06252046e-01 9.78493770e-01 -3.16787649e-03 -2.32657329e+01] [-1.50125581e-02 7.27124175e-05 9.99887303e-01 -2.72598253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.06862385300002 meters Centerline goodness [0,1] 0.9997643277986074 Centerline is valid? [True, True] Translation: X:140.64, Y:-23.27, Z:-2.73 [[ 9.78641865e-01 2.05028766e-01 1.49434016e-02 1.40637468e+02] [-2.05003413e-01 9.78755943e-01 -3.22556415e-03 -2.32741237e+01] [-1.52872765e-02 9.32237866e-05 9.99883138e-01 -2.72633686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.09862385300002 meters Centerline goodness [0,1] 0.9997869393842548 Centerline is valid? [True, True] Translation: X:140.67, Y:-23.28, Z:-2.73 [[ 9.78810891e-01 2.04240432e-01 1.46657698e-02 1.40665668e+02] [-2.04215931e-01 9.78920750e-01 -3.16515389e-03 -2.32817275e+01] [-1.50030788e-02 1.03103263e-04 9.99887442e-01 -2.72756214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.12862385300002 meters Centerline goodness [0,1] 0.9998294424901396 Centerline is valid? [True, True] Translation: X:140.69, Y:-23.29, Z:-2.73 [[ 9.78965645e-01 2.03486544e-01 1.48152559e-02 1.40694597e+02] [-2.03461463e-01 9.79077736e-01 -3.19686069e-03 -2.32899093e+01] [-1.51558053e-02 1.15283156e-04 9.99885138e-01 -2.72820789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.15862385300002 meters Centerline goodness [0,1] 0.9996524685592649 Centerline is valid? [True, True] Translation: X:140.73, Y:-23.30, Z:-2.73 [[ 9.79329794e-01 2.01740439e-01 1.46270225e-02 1.40725460e+02] [-2.01715806e-01 9.79439011e-01 -3.15560773e-03 -2.32983011e+01] [-1.49628901e-02 1.39879043e-04 9.99888040e-01 -2.72858760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.18862385300002 meters Centerline goodness [0,1] 0.9997002975617066 Centerline is valid? [True, True] Translation: X:140.76, Y:-23.31, Z:-2.73 [[ 9.79358593e-01 2.01616552e-01 1.44052857e-02 1.40755716e+02] [-2.01592612e-01 9.79464520e-01 -3.11016312e-03 -2.33090643e+01] [-1.47365266e-02 1.41965797e-04 9.99891401e-01 -2.73045415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.218623853 meters Centerline goodness [0,1] 0.9996540989277066 Centerline is valid? [True, True] Translation: X:140.79, Y:-23.31, Z:-2.73 [[ 9.79350367e-01 2.01652869e-01 1.44561420e-02 1.40788743e+02] [-2.01628724e-01 9.79457043e-01 -3.12375461e-03 -2.33139301e+01] [-1.47890842e-02 1.44476753e-04 9.99890625e-01 -2.73039922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.248623853 meters Centerline goodness [0,1] 0.999656748117478 Centerline is valid? [True, True] Translation: X:140.82, Y:-23.32, Z:-2.73 [[ 9.79279693e-01 2.02008059e-01 1.42837692e-02 1.40819437e+02] [-2.01984485e-01 9.79383849e-01 -3.08928333e-03 -2.33242625e+01] [-1.46133530e-02 1.40172663e-04 9.99893209e-01 -2.73210727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.278623853 meters Centerline goodness [0,1] 0.9995905525385742 Centerline is valid? [True, True] Translation: X:140.85, Y:-23.33, Z:-2.73 [[ 9.79207802e-01 2.02391210e-01 1.37796349e-02 1.40848243e+02] [-2.02369265e-01 9.79304743e-01 -2.98333759e-03 -2.33300114e+01] [-1.40982631e-02 1.32732855e-04 9.99900606e-01 -2.73351478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.308623853 meters Centerline goodness [0,1] 0.9997212394124585 Centerline is valid? [True, True] Translation: X:140.88, Y:-23.33, Z:-2.73 [[ 9.78867009e-01 2.04100511e-01 1.27420929e-02 1.40880842e+02] [-2.04081906e-01 9.78949933e-01 -2.75757319e-03 -2.33317321e+01] [-1.30366931e-02 9.88668253e-05 9.99915014e-01 -2.73348742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.338623853 meters Centerline goodness [0,1] 0.9996761448280329 Centerline is valid? [True, True] Translation: X:140.91, Y:-23.34, Z:-2.73 [[ 9.78709162e-01 2.04864861e-01 1.26002000e-02 1.40910912e+02] [-2.04846702e-01 9.78790264e-01 -2.72909913e-03 -2.33379077e+01] [-1.28920496e-02 8.98849104e-05 9.99916890e-01 -2.73493264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.368623853 meters Centerline goodness [0,1] 0.9997865346027409 Centerline is valid? [True, True] Translation: X:140.94, Y:-23.34, Z:-2.74 [[ 9.78555821e-01 2.05590098e-01 1.26971105e-02 1.40940282e+02] [-2.05571684e-01 9.78638189e-01 -2.75284942e-03 -2.33444167e+01] [-1.29918358e-02 8.36504519e-05 9.99915599e-01 -2.73621885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.398623853 meters Centerline goodness [0,1] 0.9996783393734051 Centerline is valid? [True, True] Translation: X:140.97, Y:-23.35, Z:-2.74 [[ 9.78446129e-01 2.06103532e-01 1.28259976e-02 1.40971454e+02] [-2.06084784e-01 9.78530188e-01 -2.78090036e-03 -2.33502808e+01] [-1.31237792e-02 7.77182431e-05 9.99913876e-01 -2.73650181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.428623853 meters Centerline goodness [0,1] 0.9998054011978638 Centerline is valid? [True, True] Translation: X:141.00, Y:-23.35, Z:-2.74 [[ 9.78128877e-01 2.07575275e-01 1.32817463e-02 1.41002464e+02] [-2.07555303e-01 9.78219046e-01 -2.88005207e-03 -2.33548829e+01] [-1.35902848e-02 6.03652185e-05 9.99907646e-01 -2.73628865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.458623853 meters Centerline goodness [0,1] 0.9998496725008054 Centerline is valid? [True, True] Translation: X:141.03, Y:-23.36, Z:-2.74 [[ 9.77997737e-01 2.08181270e-01 1.34530631e-02 1.41032536e+02] [-2.08160832e-01 9.78090260e-01 -2.91759000e-03 -2.33604150e+01] [-1.37656976e-02 5.29956056e-05 9.99905247e-01 -2.73660221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.488623853 meters Centerline goodness [0,1] 0.9998926900459286 Centerline is valid? [True, True] Translation: X:141.06, Y:-23.37, Z:-2.74 [[ 9.77836774e-01 2.08936013e-01 1.34530857e-02 1.41063913e+02] [-2.08915644e-01 9.77929313e-01 -2.91766943e-03 -2.33659085e+01] [-1.37657730e-02 4.24444126e-05 9.99905246e-01 -2.73721238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.518623853 meters Centerline goodness [0,1] 0.9998306448198484 Centerline is valid? [True, True] Translation: X:141.09, Y:-23.37, Z:-2.74 [[ 9.77707767e-01 2.09550368e-01 1.32727702e-02 1.41094048e+02] [-2.09530591e-01 9.77797853e-01 -2.87914244e-03 -2.33715158e+01] [-1.35814116e-02 3.39085370e-05 9.99907768e-01 -2.73822577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.548623853 meters Centerline goodness [0,1] 0.9998718633208756 Centerline is valid? [True, True] Translation: X:141.12, Y:-23.38, Z:-2.74 [[ 9.77453730e-01 2.10714496e-01 1.35501616e-02 1.41124292e+02] [-2.10693992e-01 9.77547646e-01 -2.93952992e-03 -2.33758416e+01] [-1.38653301e-02 1.83168363e-05 9.99903872e-01 -2.73855215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.578623853 meters Centerline goodness [0,1] 0.9999355282386315 Centerline is valid? [True, True] Translation: X:141.15, Y:-23.38, Z:-2.74 [[ 9.77344448e-01 2.11230268e-01 1.34016573e-02 1.41154111e+02] [-2.11210260e-01 9.77436327e-01 -2.90731385e-03 -2.33814864e+01] [-1.37133793e-02 1.08795355e-05 9.99905967e-01 -2.73947012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.608623853 meters Centerline goodness [0,1] 0.999850411368736 Centerline is valid? [True, True] Translation: X:141.19, Y:-23.39, Z:-2.74 [[ 9.77202498e-01 2.11901065e-01 1.31612003e-02 1.41185330e+02] [-2.11881830e-01 9.77291123e-01 -2.85504845e-03 -2.33876003e+01] [-1.34673121e-02 1.34126350e-06 9.99909312e-01 -2.73960510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.638623853 meters Centerline goodness [0,1] 0.9999150833244879 Centerline is valid? [True, True] Translation: X:141.21, Y:-23.39, Z:-2.74 [[ 9.77042381e-01 2.12665334e-01 1.27138151e-02 1.41214176e+02] [-2.12647444e-01 9.77125097e-01 -2.75846829e-03 -2.33924690e+01] [-1.30096184e-02 -8.41985110e-06 9.99915371e-01 -2.74202469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.668623853 meters Centerline goodness [0,1] 0.9998088157195963 Centerline is valid? [True, True] Translation: X:141.24, Y:-23.40, Z:-2.74 [[ 9.76738298e-01 2.14057456e-01 1.27162660e-02 1.41242671e+02] [-2.14039677e-01 9.76821071e-01 -2.75899914e-03 -2.33950025e+01] [-1.30121009e-02 -2.69653387e-05 9.99915339e-01 -2.74188443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.69862385300002 meters Centerline goodness [0,1] 0.9998495044396191 Centerline is valid? [True, True] Translation: X:141.27, Y:-23.40, Z:-2.74 [[ 9.76620565e-01 2.14592950e-01 1.27333485e-02 1.41273151e+02] [-2.14575179e-01 9.76703570e-01 -2.76189202e-03 -2.34002969e+01] [-1.30293895e-02 -3.49399884e-05 9.99915113e-01 -2.74206813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.72862385300002 meters Centerline goodness [0,1] 0.9996139244578855 Centerline is valid? [True, True] Translation: X:141.30, Y:-23.41, Z:-2.74 [[ 9.76553936e-01 2.14907854e-01 1.25309046e-02 1.41301914e+02] [-2.14890667e-01 9.76634329e-01 -2.71815868e-03 -2.34051654e+01] [-1.28222653e-02 -3.83459022e-05 9.99917791e-01 -2.74299362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.75862385300002 meters Centerline goodness [0,1] 0.9998715340969918 Centerline is valid? [True, True] Translation: X:141.33, Y:-23.41, Z:-2.74 [[ 9.76556563e-01 2.14892457e-01 1.25901453e-02 1.41330190e+02] [-2.14875112e-01 9.76637717e-01 -2.73052927e-03 -2.34100295e+01] [-1.28827809e-02 -3.87925966e-05 9.99917013e-01 -2.74416111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.78862385300002 meters Centerline goodness [0,1] 0.9998714487723358 Centerline is valid? [True, True] Translation: X:141.36, Y:-23.41, Z:-2.75 [[ 9.76600713e-01 2.14691084e-01 1.26010285e-02 1.41359370e+02] [-2.14673700e-01 9.76682004e-01 -2.73236059e-03 -2.34143703e+01] [-1.28938112e-02 -3.66841047e-05 9.99916871e-01 -2.74515642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.81862385300002 meters Centerline goodness [0,1] 0.9999139562897952 Centerline is valid? [True, True] Translation: X:141.39, Y:-23.42, Z:-2.75 [[ 9.76690598e-01 2.14281571e-01 1.26049272e-02 1.41388907e+02] [-2.14264145e-01 9.76771932e-01 -2.73289921e-03 -2.34201721e+01] [-1.28977490e-02 -3.15869819e-05 9.99916820e-01 -2.74569036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.84862385300002 meters Centerline goodness [0,1] 0.9998719508291184 Centerline is valid? [True, True] Translation: X:141.42, Y:-23.43, Z:-2.75 [[ 9.76855441e-01 2.13538091e-01 1.24471364e-02 1.41416568e+02] [-2.13521042e-01 9.76934738e-01 -2.69844446e-03 -2.34259972e+01] [-1.27362606e-02 -2.17353746e-05 9.99918890e-01 -2.74698942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.87862385300002 meters Centerline goodness [0,1] 0.9998715973292245 Centerline is valid? [True, True] Translation: X:141.45, Y:-23.43, Z:-2.75 [[ 9.77238083e-01 2.11772085e-01 1.25822360e-02 1.41445224e+02] [-2.11754524e-01 9.77319080e-01 -2.72720677e-03 -2.34342650e+01] [-1.28744056e-02 7.84915663e-07 9.99917121e-01 -2.74698581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.90862385300002 meters Centerline goodness [0,1] 0.999935365722288 Centerline is valid? [True, True] Translation: X:141.48, Y:-23.44, Z:-2.75 [[ 9.77475665e-01 2.10693297e-01 1.22335002e-02 1.41475052e+02] [-2.10676617e-01 9.77552216e-01 -2.65119764e-03 -2.34417326e+01] [-1.25174748e-02 1.41687404e-05 9.99921653e-01 -2.74730524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.93862385300002 meters Centerline goodness [0,1] 0.9999573178539417 Centerline is valid? [True, True] Translation: X:141.50, Y:-23.45, Z:-2.75 [[ 9.77701881e-01 2.09653994e-01 1.20098008e-02 1.41503559e+02] [-2.09637839e-01 9.77775640e-01 -2.60278411e-03 -2.34487222e+01] [-1.22885748e-02 2.70382272e-05 9.99924492e-01 -2.74824704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.968623853 meters Centerline goodness [0,1] 0.9998941754148324 Centerline is valid? [True, True] Translation: X:141.53, Y:-23.46, Z:-2.75 [[ 9.77954113e-01 2.08478124e-01 1.19425516e-02 1.41531969e+02] [-2.08462063e-01 9.78027029e-01 -2.58805983e-03 -2.34562912e+01] [-1.22196921e-02 4.14348121e-05 9.99925336e-01 -2.74982937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.998623853 meters Centerline goodness [0,1] 0.9997847564519253 Centerline is valid? [True, True] Translation: X:141.56, Y:-23.47, Z:-2.75 [[ 9.78503229e-01 2.05823476e-01 1.29664125e-02 1.41562258e+02] [-2.05804314e-01 9.78589133e-01 -2.80960068e-03 -2.34659665e+01] [-1.32670721e-02 8.06597033e-05 9.99911985e-01 -2.74846832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.028623853 meters Centerline goodness [0,1] 0.999828979434777 Centerline is valid? [True, True] Translation: X:141.59, Y:-23.47, Z:-2.75 [[ 9.78801645e-01 2.04379507e-01 1.32799090e-02 1.41591170e+02] [-2.04359270e-01 9.78891723e-01 -2.87792091e-03 -2.34744826e+01] [-1.35877810e-02 1.03041215e-04 9.99907677e-01 -2.74871168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.058623853 meters Centerline goodness [0,1] 0.9998297183967987 Centerline is valid? [True, True] Translation: X:141.62, Y:-23.48, Z:-2.75 [[ 9.79145096e-01 2.02713033e-01 1.35021185e-02 1.41620017e+02] [-2.02691954e-01 9.79238178e-01 -2.92609232e-03 -2.34840657e+01] [-1.38149470e-02 1.28298165e-04 9.99904561e-01 -2.74878085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.088623853 meters Centerline goodness [0,1] 0.9998713909073371 Centerline is valid? [True, True] Translation: X:141.65, Y:-23.49, Z:-2.75 [[ 9.79458313e-01 2.01170217e-01 1.38548295e-02 1.41649796e+02] [-2.01147855e-01 9.79556287e-01 -3.00340615e-03 -2.34931031e+01] [-1.41757812e-02 1.54841894e-04 9.99899507e-01 -2.74901761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.118623853 meters Centerline goodness [0,1] 0.9997006436162251 Centerline is valid? [True, True] Translation: X:141.68, Y:-23.50, Z:-2.75 [[ 9.80018028e-01 1.98429173e-01 1.38031672e-02 1.41679617e+02] [-1.98406707e-01 9.80115211e-01 -2.99207990e-03 -2.35046831e+01] [-1.41224101e-02 1.93651287e-04 9.99900255e-01 -2.75007850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.148623853 meters Centerline goodness [0,1] 0.9995299346181787 Centerline is valid? [True, True] Translation: X:141.71, Y:-23.51, Z:-2.75 [[ 9.80219099e-01 1.97452969e-01 1.35219173e-02 1.41710581e+02] [-1.97431289e-01 9.80312339e-01 -2.93314135e-03 -2.35136095e+01] [-1.38348599e-02 2.05471606e-04 9.99904273e-01 -2.75074212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.178623853 meters Centerline goodness [0,1] 0.999535747446611 Centerline is valid? [True, True] Translation: X:141.74, Y:-23.52, Z:-2.75 [[ 9.80392471e-01 1.96595965e-01 1.34398480e-02 1.41739831e+02] [-1.96574435e-01 9.80484563e-01 -2.91765932e-03 -2.35238512e+01] [-1.37511635e-02 2.18520712e-04 9.99905424e-01 -2.75170209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.208623853 meters Centerline goodness [0,1] 0.9995291801314016 Centerline is valid? [True, True] Translation: X:141.77, Y:-23.53, Z:-2.75 [[ 9.80489430e-01 1.96120136e-01 1.33180150e-02 1.41770846e+02] [-1.96098924e-01 9.80579850e-01 -2.89323376e-03 -2.35313137e+01] [-1.36267986e-02 2.25136707e-04 9.99907126e-01 -2.75210418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.238623853 meters Centerline goodness [0,1] 0.9995484939046677 Centerline is valid? [True, True] Translation: X:141.80, Y:-23.54, Z:-2.75 [[ 9.80528765e-01 1.95918125e-01 1.33951232e-02 1.41802941e+02] [-1.95896617e-01 9.80620230e-01 -2.91215144e-03 -2.35392610e+01] [-1.37060720e-02 2.31388941e-04 9.99906041e-01 -2.75271151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.268623853 meters Centerline goodness [0,1] 0.9995727591215927 Centerline is valid? [True, True] Translation: X:141.83, Y:-23.55, Z:-2.75 [[ 9.80490518e-01 1.96138681e-01 1.29599991e-02 1.41834153e+02] [-1.96118535e-01 9.80576141e-01 -2.81998517e-03 -2.35466227e+01] [-1.32613740e-02 2.23272692e-04 9.99912039e-01 -2.75382393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.298623853 meters Centerline goodness [0,1] 0.9995676984264222 Centerline is valid? [True, True] Translation: X:141.87, Y:-23.55, Z:-2.75 [[ 9.80453418e-01 1.96300826e-01 1.33071470e-02 1.41865587e+02] [-1.96279568e-01 9.80543693e-01 -2.89798079e-03 -2.35543042e+01] [-1.36171151e-02 2.29414120e-04 9.99907256e-01 -2.75440439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.328623853 meters Centerline goodness [0,1] 0.9996767729006399 Centerline is valid? [True, True] Translation: X:141.90, Y:-23.56, Z:-2.75 [[ 9.80364740e-01 1.96737781e-01 1.33873919e-02 1.41897570e+02] [-1.96716274e-01 9.80456115e-01 -2.91780120e-03 -2.35616259e+01] [-1.36997920e-02 2.26991568e-04 9.99906128e-01 -2.75451207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.358623853 meters Centerline goodness [0,1] 0.9995760376478569 Centerline is valid? [True, True] Translation: X:141.93, Y:-23.57, Z:-2.75 [[ 9.80246857e-01 1.97334555e-01 1.32352940e-02 1.41927587e+02] [-1.97313549e-01 9.80336180e-01 -2.88750494e-03 -2.35684545e+01] [-1.35448420e-02 2.18964813e-04 9.99908240e-01 -2.75475630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.388623853 meters Centerline goodness [0,1] 0.999530315969257 Centerline is valid? [True, True] Translation: X:141.96, Y:-23.57, Z:-2.76 [[ 9.79980213e-01 1.98626099e-01 1.36548736e-02 1.41959380e+02] [-1.98603851e-01 9.80075318e-01 -2.98011687e-03 -2.35742845e+01] [-1.39747336e-02 2.08545088e-04 9.99902327e-01 -2.75507200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.418623853 meters Centerline goodness [0,1] 0.9996567333891142 Centerline is valid? [True, True] Translation: X:141.99, Y:-23.58, Z:-2.75 [[ 9.79810268e-01 1.99434349e-01 1.40634017e-02 1.41990923e+02] [-1.99410798e-01 9.79911169e-01 -3.07167271e-03 -2.35803203e+01] [-1.43934814e-02 2.05262299e-04 9.99896387e-01 -2.75462213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.44862385300002 meters Centerline goodness [0,1] 0.9997206583866948 Centerline is valid? [True, True] Translation: X:142.02, Y:-23.59, Z:-2.76 [[ 9.79652127e-01 2.00207006e-01 1.41019667e-02 1.42020966e+02] [-2.00183372e-01 9.79753600e-01 -3.08245570e-03 -2.35867450e+01] [-1.44335819e-02 1.96755034e-04 9.99895811e-01 -2.75536702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.47862385300002 meters Centerline goodness [0,1] 0.9997605207584961 Centerline is valid? [True, True] Translation: X:142.05, Y:-23.59, Z:-2.76 [[ 9.79501477e-01 2.00997525e-01 1.32985225e-02 1.42053790e+02] [-2.00976557e-01 9.79591733e-01 -2.90849900e-03 -2.35914704e+01] [-1.36117238e-02 1.76187801e-04 9.99907341e-01 -2.75692286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.50862385300002 meters Centerline goodness [0,1] 0.9997605207584961 Centerline is valid? [True, True] Translation: X:142.09, Y:-23.60, Z:-2.76 [[ 9.79462932e-01 2.01185309e-01 1.32979628e-02 1.42085495e+02] [-2.01164324e-01 9.79553184e-01 -2.91105537e-03 -2.35986021e+01] [-1.36117234e-02 1.76195133e-04 9.99907341e-01 -2.75749631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.53862385300002 meters Centerline goodness [0,1] 0.9996985811785476 Centerline is valid? [True, True] Translation: X:142.12, Y:-23.61, Z:-2.76 [[ 9.79351618e-01 2.01734842e-01 1.31704939e-02 1.42116015e+02] [-2.01714271e-01 9.79440159e-01 -2.88581878e-03 -2.36084375e+01] [-1.34818808e-02 1.69554708e-04 9.99909101e-01 -2.75937957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.56862385300002 meters Centerline goodness [0,1] 0.9997854675734237 Centerline is valid? [True, True] Translation: X:142.15, Y:-23.62, Z:-2.76 [[ 9.79260438e-01 2.02185659e-01 1.30366080e-02 1.42145340e+02] [-2.02165502e-01 9.79347197e-01 -2.85962948e-03 -2.36157202e+01] [-1.33455416e-02 1.64769604e-04 9.99910931e-01 -2.75977362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.59862385300002 meters Centerline goodness [0,1] 0.9997658279047984 Centerline is valid? [True, True] Translation: X:142.18, Y:-23.62, Z:-2.76 [[ 9.79176915e-01 2.02605515e-01 1.27896097e-02 1.42175806e+02] [-2.02586150e-01 9.79260425e-01 -2.80554336e-03 -2.36218989e+01] [-1.30927771e-02 1.56125520e-04 9.99914274e-01 -2.76058727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.62862385300002 meters Centerline goodness [0,1] 0.9997645648730791 Centerline is valid? [True, True] Translation: X:142.21, Y:-23.63, Z:-2.76 [[ 9.78908239e-01 2.03897077e-01 1.28312948e-02 1.42208208e+02] [-2.03877701e-01 9.78992320e-01 -2.81432729e-03 -2.36256199e+01] [-1.31355722e-02 1.38953285e-04 9.99913715e-01 -2.75994337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.65862385300002 meters Centerline goodness [0,1] 0.9998508988668314 Centerline is valid? [True, True] Translation: X:142.24, Y:-23.63, Z:-2.76 [[ 9.78741399e-01 2.04684519e-01 1.30200336e-02 1.42238649e+02] [-2.04664608e-01 9.78827988e-01 -2.85801563e-03 -2.36345455e+01] [-1.33293648e-02 1.32518150e-04 9.99911151e-01 -2.76113982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.68862385300002 meters Centerline goodness [0,1] 0.9998499592746602 Centerline is valid? [True, True] Translation: X:142.27, Y:-23.64, Z:-2.76 [[ 9.78643706e-01 2.05146252e-01 1.30962472e-02 1.42269726e+02] [-2.05126110e-01 9.78731321e-01 -2.87760215e-03 -2.36392178e+01] [-1.34080366e-02 1.29764993e-04 9.99910100e-01 -2.76054146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.718623853 meters Centerline goodness [0,1] 0.999830608960786 Centerline is valid? [True, True] Translation: X:142.30, Y:-23.65, Z:-2.76 [[ 9.78517504e-01 2.05743115e-01 1.31630253e-02 1.42300070e+02] [-2.05722823e-01 9.78606027e-01 -2.89205775e-03 -2.36482821e+01] [-1.34764369e-02 1.21994398e-04 9.99909181e-01 -2.76185384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.748623853 meters Centerline goodness [0,1] 0.9999138636461519 Centerline is valid? [True, True] Translation: X:142.33, Y:-23.66, Z:-2.76 [[ 9.78452047e-01 2.06061544e-01 1.30472895e-02 1.42328941e+02] [-2.06041599e-01 9.78539026e-01 -2.86938311e-03 -2.36550930e+01] [-1.33585515e-02 1.19269377e-04 9.99910763e-01 -2.76233216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.778623853 meters Centerline goodness [0,1] 0.99989154954017 Centerline is valid? [True, True] Translation: X:142.36, Y:-23.66, Z:-2.76 [[ 9.78166964e-01 2.07420355e-01 1.28913618e-02 1.42361344e+02] [-2.07401015e-01 9.78251904e-01 -2.83411694e-03 -2.36596318e+01] [-1.31988528e-02 9.85580310e-05 9.99912886e-01 -2.76231488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.808623853 meters Centerline goodness [0,1] 0.9999137056932669 Centerline is valid? [True, True] Translation: X:142.39, Y:-23.67, Z:-2.76 [[ 9.77991427e-01 2.08265486e-01 1.25800021e-02 1.42393391e+02] [-2.08247112e-01 9.78072329e-01 -2.76774700e-03 -2.36671722e+01] [-1.28805781e-02 8.70837306e-05 9.99917038e-01 -2.76298902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.838623853 meters Centerline goodness [0,1] 0.9999356140275572 Centerline is valid? [True, True] Translation: X:142.42, Y:-23.67, Z:-2.76 [[ 9.77823627e-01 2.09050731e-01 1.25994512e-02 1.42424343e+02] [-2.09032332e-01 9.77904794e-01 -2.77468343e-03 -2.36744558e+01] [-1.29011133e-02 7.94583593e-05 9.99916774e-01 -2.76359155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.868623853 meters Centerline goodness [0,1] 0.9998275304516546 Centerline is valid? [True, True] Translation: X:142.46, Y:-23.68, Z:-2.76 [[ 9.77693006e-01 2.09662359e-01 1.25730603e-02 1.42455829e+02] [-2.09644055e-01 9.77773844e-01 -2.77134414e-03 -2.36809764e+01] [-1.28746561e-02 7.36564267e-05 9.99917115e-01 -2.76359785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.898623853 meters Centerline goodness [0,1] 0.9998918685121108 Centerline is valid? [True, True] Translation: X:142.49, Y:-23.69, Z:-2.76 [[ 9.77521723e-01 2.10432214e-01 1.30216716e-02 1.42486428e+02] [-2.10412617e-01 9.77608449e-01 -2.87260116e-03 -2.36898654e+01] [-1.33345840e-02 6.81060269e-05 9.99911088e-01 -2.76333122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.928623853 meters Centerline goodness [0,1] 0.9999358988055811 Centerline is valid? [True, True] Translation: X:142.52, Y:-23.70, Z:-2.76 [[ 9.77528088e-01 2.10399243e-01 1.30765539e-02 1.42517141e+02] [-2.10379435e-01 9.77615545e-01 -2.88789304e-03 -2.36979154e+01] [-1.33914529e-02 7.19585386e-05 9.99910328e-01 -2.76346273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.958623853 meters Centerline goodness [0,1] 0.9999569809210385 Centerline is valid? [True, True] Translation: X:142.55, Y:-23.71, Z:-2.76 [[ 9.77526596e-01 2.10397545e-01 1.32146264e-02 1.42547669e+02] [-2.10377312e-01 9.77615910e-01 -2.91871645e-03 -2.37056411e+01] [-1.35329198e-02 7.30653659e-05 9.99908423e-01 -2.76395603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.988623853 meters Centerline goodness [0,1] 0.9998925955362705 Centerline is valid? [True, True] Translation: X:142.58, Y:-23.72, Z:-2.76 [[ 9.77624766e-01 2.09908919e-01 1.37135664e-02 1.42577842e+02] [-2.09887083e-01 9.77720941e-01 -3.02871207e-03 -2.37156189e+01] [-1.40437947e-02 8.26434783e-05 9.99901378e-01 -2.76358503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.018623853 meters Centerline goodness [0,1] 0.9998095560540015 Centerline is valid? [True, True] Translation: X:142.61, Y:-23.73, Z:-2.76 [[ 9.77678822e-01 2.09648073e-01 1.38494055e-02 1.42608012e+02] [-2.09625741e-01 9.77776906e-01 -3.06130645e-03 -2.37260937e+01] [-1.41834259e-02 8.97825959e-05 9.99899406e-01 -2.76464521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.048623853 meters Centerline goodness [0,1] 0.9999359808796228 Centerline is valid? [True, True] Translation: X:142.64, Y:-23.73, Z:-2.76 [[ 9.77760660e-01 2.09283663e-01 1.35808853e-02 1.42639983e+02] [-2.09262120e-01 9.77854968e-01 -3.00431461e-03 -2.37344704e+01] [-1.39088901e-02 9.55357847e-05 9.99903262e-01 -2.76457580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.078623853 meters Centerline goodness [0,1] 0.9998934515311015 Centerline is valid? [True, True] Translation: X:142.67, Y:-23.74, Z:-2.77 [[ 9.77828557e-01 2.08966446e-01 1.35771192e-02 1.42671723e+02] [-2.08944847e-01 9.77922806e-01 -3.00617393e-03 -2.37440947e+01] [-1.39055640e-02 1.02653632e-04 9.99903308e-01 -2.76572369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.108623853 meters Centerline goodness [0,1] 0.9998717098933054 Centerline is valid? [True, True] Translation: X:142.70, Y:-23.76, Z:-2.77 [[ 9.78017707e-01 2.08111123e-01 1.30814830e-02 1.42702361e+02] [-2.08090961e-01 9.78105182e-01 -2.89899640e-03 -2.37558884e+01] [-1.33983797e-02 1.13131450e-04 9.99910231e-01 -2.76737606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.138623853 meters Centerline goodness [0,1] 0.999914524435327 Centerline is valid? [True, True] Translation: X:142.73, Y:-23.77, Z:-2.77 [[ 9.78106300e-01 2.07719476e-01 1.26761816e-02 1.42731640e+02] [-2.07700480e-01 9.78188431e-01 -2.81161482e-03 -2.37656103e+01] [-1.29837214e-02 1.17209169e-04 9.99915701e-01 -2.76855877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.168623853 meters Centerline goodness [0,1] 0.9999574603849836 Centerline is valid? [True, True] Translation: X:142.76, Y:-23.77, Z:-2.77 [[ 9.78165223e-01 2.07474590e-01 1.21281272e-02 1.42763561e+02] [-2.07457175e-01 9.78240400e-01 -2.69060743e-03 -2.37747756e+01] [-1.24224567e-02 1.15791598e-04 9.99922832e-01 -2.76934935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.19862385300002 meters Centerline goodness [0,1] 0.999869994799792 Centerline is valid? [True, True] Translation: X:142.79, Y:-23.78, Z:-2.77 [[ 9.78254721e-01 2.07060144e-01 1.19915314e-02 1.42794787e+02] [-2.07043060e-01 9.78328208e-01 -2.66263728e-03 -2.37843814e+01] [-1.22829795e-02 1.21974130e-04 9.99924554e-01 -2.77088912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.22862385300002 meters Centerline goodness [0,1] 0.9999139229610502 Centerline is valid? [True, True] Translation: X:142.82, Y:-23.80, Z:-2.77 [[ 9.78424576e-01 2.06283730e-01 1.15053412e-02 1.42824195e+02] [-2.06267921e-01 9.78492211e-01 -2.55704062e-03 -2.37962455e+01] [-1.17853626e-02 1.28688575e-04 9.99930542e-01 -2.77300419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.25862385300002 meters Centerline goodness [0,1] 0.9999141262344354 Centerline is valid? [True, True] Translation: X:142.86, Y:-23.81, Z:-2.77 [[ 9.78472688e-01 2.06070199e-01 1.12370325e-02 1.42855888e+02] [-2.06055088e-01 9.78537202e-01 -2.49893108e-03 -2.38050514e+01] [-1.15108095e-02 1.29688102e-04 9.99933740e-01 -2.77346924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.28862385300002 meters Centerline goodness [0,1] 0.9998936826213612 Centerline is valid? [True, True] Translation: X:142.89, Y:-23.82, Z:-2.77 [[ 9.78506339e-01 2.05906526e-01 1.13069816e-02 1.42886236e+02] [-2.05891188e-01 9.78571655e-01 -2.51680239e-03 -2.38151795e+01] [-1.15829177e-02 1.34699230e-04 9.99932907e-01 -2.77456220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.31862385300002 meters Centerline goodness [0,1] 0.9999149189603097 Centerline is valid? [True, True] Translation: X:142.92, Y:-23.82, Z:-2.77 [[ 9.78556278e-01 2.05662107e-01 1.14328126e-02 1.42917505e+02] [-2.05646385e-01 9.78623052e-01 -2.54687155e-03 -2.38246803e+01] [-1.17122089e-02 1.41140573e-04 9.99931400e-01 -2.77415664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.34862385300002 meters Centerline goodness [0,1] 0.9998708733267335 Centerline is valid? [True, True] Translation: X:142.95, Y:-23.84, Z:-2.77 [[ 9.78649516e-01 2.05189350e-01 1.19354554e-02 1.42948823e+02] [-2.05172149e-01 9.78722283e-01 -2.66129525e-03 -2.38366226e+01] [-1.22275656e-02 1.55652269e-04 9.99925228e-01 -2.77353017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.37862385300002 meters Centerline goodness [0,1] 0.9999140930372407 Centerline is valid? [True, True] Translation: X:142.98, Y:-23.85, Z:-2.77 [[ 9.78726569e-01 2.04822486e-01 1.19185932e-02 1.42980966e+02] [-2.04805279e-01 9.78799123e-01 -2.65979436e-03 -2.38453057e+01] [-1.22106943e-02 1.62220588e-04 9.99925434e-01 -2.77349367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.40862385300002 meters Centerline goodness [0,1] 0.9998704607280107 Centerline is valid? [True, True] Translation: X:143.01, Y:-23.86, Z:-2.77 [[ 9.78767202e-01 2.04613637e-01 1.21665263e-02 1.43011169e+02] [-2.04595659e-01 9.78842802e-01 -2.71769633e-03 -2.38552622e+01] [-1.24651944e-02 1.70773571e-04 9.99922292e-01 -2.77394114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.43862385300002 meters Centerline goodness [0,1] 0.9997658727624885 Centerline is valid? [True, True] Translation: X:143.04, Y:-23.86, Z:-2.77 [[ 9.78827818e-01 2.04327679e-01 1.20955296e-02 1.43042757e+02] [-2.04309861e-01 9.78902533e-01 -2.70402231e-03 -2.38649979e+01] [-1.23928512e-02 1.75536279e-04 9.99923190e-01 -2.77434801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.468623853 meters Centerline goodness [0,1] 0.9997840732423562 Centerline is valid? [True, True] Translation: X:143.07, Y:-23.87, Z:-2.77 [[ 9.78861666e-01 2.04158176e-01 1.22179486e-02 1.43074922e+02] [-2.04139952e-01 9.78937897e-01 -2.73384823e-03 -2.38745413e+01] [-1.25187503e-02 1.81887791e-04 9.99921621e-01 -2.77429131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.498623853 meters Centerline goodness [0,1] 0.9998720600464849 Centerline is valid? [True, True] Translation: X:143.10, Y:-23.89, Z:-2.78 [[ 9.78994972e-01 2.03509061e-01 1.23655652e-02 1.43103969e+02] [-2.03490308e-01 9.79073043e-01 -2.76957519e-03 -2.38874722e+01] [-1.26704252e-02 1.95127508e-04 9.99919708e-01 -2.77504988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.528623853 meters Centerline goodness [0,1] 0.9998713578182286 Centerline is valid? [True, True] Translation: X:143.14, Y:-23.90, Z:-2.77 [[ 9.79004660e-01 2.03443408e-01 1.26750120e-02 1.43135553e+02] [-2.03423674e-01 9.79086686e-01 -2.84081567e-03 -2.38963188e+01] [-1.29878807e-02 2.02774273e-04 9.99915633e-01 -2.77485780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.558623853 meters Centerline goodness [0,1] 0.9998933447098977 Centerline is valid? [True, True] Translation: X:143.17, Y:-23.91, Z:-2.78 [[ 9.79022226e-01 2.03349458e-01 1.28249685e-02 1.43165885e+02] [-2.03329211e-01 9.79106202e-01 -2.87710737e-03 -2.39071931e+01] [-1.31420644e-02 2.09061334e-04 9.99913617e-01 -2.77522736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.588623853 meters Centerline goodness [0,1] 0.9998081350729087 Centerline is valid? [True, True] Translation: X:143.20, Y:-23.92, Z:-2.78 [[ 9.79122480e-01 2.02882557e-01 1.25633191e-02 1.43195018e+02] [-2.02863055e-01 9.79203055e-01 -2.82112871e-03 -2.39214508e+01] [-1.28743983e-02 2.13597249e-04 9.99917099e-01 -2.77702654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.618623853 meters Centerline goodness [0,1] 0.9998495626571533 Centerline is valid? [True, True] Translation: X:143.23, Y:-23.93, Z:-2.78 [[ 9.79124521e-01 2.02890433e-01 1.22737348e-02 1.43226622e+02] [-2.02871811e-01 9.79201424e-01 -2.75675989e-03 -2.39289409e+01] [-1.25777788e-02 2.09216408e-04 9.99920875e-01 -2.77766189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.648623853 meters Centerline goodness [0,1] 0.9998929313261526 Centerline is valid? [True, True] Translation: X:143.26, Y:-23.94, Z:-2.78 [[ 9.79142517e-01 2.02833265e-01 1.17727587e-02 1.43257264e+02] [-2.02816104e-01 9.79213268e-01 -2.64630456e-03 -2.39385004e+01] [-1.20648001e-02 2.03404261e-04 9.99927197e-01 -2.77966023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.678623853 meters Centerline goodness [0,1] 0.9997432331229271 Centerline is valid? [True, True] Translation: X:143.29, Y:-23.95, Z:-2.78 [[ 9.79094254e-01 2.03144399e-01 1.03341301e-02 1.43287667e+02] [-2.03131177e-01 9.79148774e-01 -2.32446630e-03 -2.39485264e+01] [-1.05908531e-02 1.76687591e-04 9.99943900e-01 -2.77639453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.708623853 meters Centerline goodness [0,1] 0.9999358165208275 Centerline is valid? [True, True] Translation: X:143.32, Y:-23.96, Z:-2.78 [[ 9.79090317e-01 2.03165058e-01 1.03010001e-02 1.43318488e+02] [-2.03151902e-01 9.79144488e-01 -2.31882141e-03 -2.39603191e+01] [-1.05572709e-02 1.77667834e-04 9.99944255e-01 -2.78344884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.738623853 meters Centerline goodness [0,1] 0.9998052285318559 Centerline is valid? [True, True] Translation: X:143.35, Y:-23.97, Z:-2.78 [[ 9.79020627e-01 2.03503892e-01 1.02360548e-02 1.43350582e+02] [-2.03490900e-01 9.79074121e-01 -2.30616680e-03 -2.39697261e+01] [-1.04911703e-02 1.74840871e-04 9.99944951e-01 -2.78425482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.768623853 meters Centerline goodness [0,1] 0.99989296112348 Centerline is valid? [True, True] Translation: X:143.38, Y:-23.98, Z:-2.79 [[ 9.78927538e-01 2.03972395e-01 9.80493821e-03 1.43381228e+02] [-2.03960474e-01 9.78976626e-01 -2.21134767e-03 -2.39802046e+01] [-1.00498592e-02 1.64929291e-04 9.99949485e-01 -2.78592044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.798623853 meters Centerline goodness [0,1] 0.99985121261717 Centerline is valid? [True, True] Translation: X:143.41, Y:-23.99, Z:-2.79 [[ 9.78762564e-01 2.04763427e-01 9.78682410e-03 1.43412494e+02] [-2.04751581e-01 9.78811481e-01 -2.20809115e-03 -2.39879831e+01] [-1.00315921e-02 1.57329249e-04 9.99949670e-01 -2.78569005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.828623853 meters Centerline goodness [0,1] 0.999891908251724 Centerline is valid? [True, True] Translation: X:143.44, Y:-24.00, Z:-2.78 [[ 9.78333094e-01 2.06773194e-01 1.04500130e-02 1.43443074e+02] [-2.06759782e-01 9.78388892e-01 -2.35968662e-03 -2.39958356e+01] [-1.07120966e-02 1.47917091e-04 9.99942613e-01 -2.78497800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.858623853 meters Centerline goodness [0,1] 0.9999140764290164 Centerline is valid? [True, True] Translation: X:143.47, Y:-24.00, Z:-2.79 [[ 9.78015089e-01 2.08258351e-01 1.07212339e-02 1.43473757e+02] [-2.08244302e-01 9.78073842e-01 -2.42288671e-03 -2.40022787e+01] [-1.09907448e-02 1.36983899e-04 9.99939591e-01 -2.78562455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.888623853 meters Centerline goodness [0,1] 0.9999359371329731 Centerline is valid? [True, True] Translation: X:143.51, Y:-24.01, Z:-2.79 [[ 9.77703277e-01 2.09732131e-01 1.04276147e-02 1.43505194e+02] [-2.09718909e-01 9.77758876e-01 -2.35799980e-03 -2.40087810e+01] [-1.06902411e-02 1.18556165e-04 9.99942851e-01 -2.78634912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.918623853 meters Centerline goodness [0,1] 0.9998516572009833 Centerline is valid? [True, True] Translation: X:143.54, Y:-24.02, Z:-2.79 [[ 9.77478920e-01 2.10771923e-01 1.04955676e-02 1.43536718e+02] [-2.10758569e-01 9.77535260e-01 -2.37511127e-03 -2.40158769e+01] [-1.07603942e-02 1.09590384e-04 9.99942099e-01 -2.78677667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.94862385300002 meters Centerline goodness [0,1] 0.9998926393541183 Centerline is valid? [True, True] Translation: X:143.57, Y:-24.02, Z:-2.79 [[ 9.77316587e-01 2.11511483e-01 1.07322320e-02 1.43568155e+02] [-2.11497544e-01 9.77375507e-01 -2.43052135e-03 -2.40242231e+01] [-1.10035039e-02 1.05548106e-04 9.99939454e-01 -2.78713994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.97862385300002 meters Centerline goodness [0,1] 0.9998915660037735 Centerline is valid? [True, True] Translation: X:143.60, Y:-24.03, Z:-2.78 [[ 9.77323121e-01 2.11506732e-01 1.02185805e-02 1.43599377e+02] [-2.11494082e-01 9.77376535e-01 -2.31552102e-03 -2.40347869e+01] [-1.04771490e-02 1.01842938e-04 9.99945108e-01 -2.78290154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.00862385300002 meters Centerline goodness [0,1] 0.999830634063724 Centerline is valid? [True, True] Translation: X:143.63, Y:-24.05, Z:-2.79 [[ 9.77342600e-01 2.11398682e-01 1.05848743e-02 1.43629190e+02] [-2.11385076e-01 9.77399911e-01 -2.40086944e-03 -2.40478595e+01] [-1.08531958e-02 1.08987521e-04 9.99941096e-01 -2.78872579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.03862385300002 meters Centerline goodness [0,1] 0.99993462912926 Centerline is valid? [True, True] Translation: X:143.66, Y:-24.06, Z:-2.79 [[ 9.77486321e-01 2.10715625e-01 1.09278055e-02 1.43661209e+02] [-2.10701057e-01 9.77547396e-01 -2.48070300e-03 -2.40573801e+01] [-1.12051707e-02 1.22353085e-04 9.99937213e-01 -2.78726336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.06862385300002 meters Centerline goodness [0,1] 0.9999138321018505 Centerline is valid? [True, True] Translation: X:143.69, Y:-24.07, Z:-2.79 [[ 9.77613065e-01 2.10125785e-01 1.09476101e-02 1.43689797e+02] [-2.10111099e-01 9.77674351e-01 -2.48770606e-03 -2.40712310e+01] [-1.12259288e-02 1.31799547e-04 9.99936979e-01 -2.78907714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.09862385300002 meters Centerline goodness [0,1] 0.9999141538791716 Centerline is valid? [True, True] Translation: X:143.72, Y:-24.08, Z:-2.79 [[ 9.78024429e-01 2.08203270e-01 1.09368154e-02 1.43720016e+02] [-2.08188474e-01 9.78085566e-01 -2.48699512e-03 -2.40841595e+01] [-1.12149418e-02 1.55423072e-04 9.99937098e-01 -2.78925508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.12862385300002 meters Centerline goodness [0,1] 0.9998923411493659 Centerline is valid? [True, True] Translation: X:143.75, Y:-24.10, Z:-2.79 [[ 9.78225121e-01 2.07263313e-01 1.08411811e-02 1.43748953e+02] [-2.07248695e-01 9.78285179e-01 -2.46722639e-03 -2.40961894e+01] [-1.11171323e-02 1.66682206e-04 9.99938189e-01 -2.79046313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.15862385300002 meters Centerline goodness [0,1] 0.9998712971106202 Centerline is valid? [True, True] Translation: X:143.78, Y:-24.11, Z:-2.79 [[ 9.78378221e-01 2.06533234e-01 1.09580984e-02 1.43777759e+02] [-2.06518232e-01 9.78439570e-01 -2.49565053e-03 -2.41115414e+01] [-1.12372718e-02 1.78643019e-04 9.99936844e-01 -2.79205310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.18862385300002 meters Centerline goodness [0,1] 0.9998286387490629 Centerline is valid? [True, True] Translation: X:143.81, Y:-24.12, Z:-2.79 [[ 9.78480332e-01 2.06041087e-01 1.11045068e-02 1.43809247e+02] [-2.06025630e-01 9.78543323e-01 -2.53076896e-03 -2.41194095e+01] [-1.13876834e-02 1.88494629e-04 9.99935140e-01 -2.79084366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.218623853 meters Centerline goodness [0,1] 0.9998500042855918 Centerline is valid? [True, True] Translation: X:143.84, Y:-24.13, Z:-2.79 [[ 9.78412448e-01 2.06345767e-01 1.14239369e-02 1.43840475e+02] [-2.06329406e-01 9.78479120e-01 -2.60550149e-03 -2.41323291e+01] [-1.17157179e-02 1.92160974e-04 9.99931350e-01 -2.79086937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.248623853 meters Centerline goodness [0,1] 0.99984980474617 Centerline is valid? [True, True] Translation: X:143.87, Y:-24.14, Z:-2.79 [[ 9.78261552e-01 2.07053948e-01 1.15325258e-02 1.43871231e+02] [-2.07037295e-01 9.78329509e-01 -2.63272153e-03 -2.41417358e+01] [-1.18277257e-02 1.87827307e-04 9.99930032e-01 -2.79099146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.278623853 meters Centerline goodness [0,1] 0.9999570077386071 Centerline is valid? [True, True] Translation: X:143.90, Y:-24.15, Z:-2.79 [[ 9.78071347e-01 2.07931131e-01 1.18779233e-02 1.43901151e+02] [-2.07913503e-01 9.78143451e-01 -2.71377952e-03 -2.41507051e+01] [-1.21825921e-02 1.84689344e-04 9.99925772e-01 -2.79129162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.308623853 meters Centerline goodness [0,1] 0.9998705082550987 Centerline is valid? [True, True] Translation: X:143.93, Y:-24.16, Z:-2.79 [[ 9.77873059e-01 2.08899380e-01 1.11951063e-02 1.43932702e+02] [-2.08883766e-01 9.77937126e-01 -2.55933076e-03 -2.41591147e+01] [-1.14827527e-02 1.64224636e-04 9.99934058e-01 -2.78724910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.338623853 meters Centerline goodness [0,1] 0.9999572722611519 Centerline is valid? [True, True] Translation: X:143.96, Y:-24.17, Z:-2.79 [[ 9.77311894e-01 2.11438991e-01 1.24504808e-02 1.43962088e+02] [-2.11419853e-01 9.77391186e-01 -2.84884791e-03 -2.41688219e+01] [-1.27713478e-02 1.51934120e-04 9.99918431e-01 -2.79051754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.368623853 meters Centerline goodness [0,1] 0.9999572722611519 Centerline is valid? [True, True] Translation: X:143.99, Y:-24.18, Z:-2.79 [[ 9.77273027e-01 2.11618587e-01 1.24500893e-02 1.43993696e+02] [-2.11599442e-01 9.77352317e-01 -2.85055773e-03 -2.41762605e+01] [-1.27713546e-02 1.51341234e-04 9.99918431e-01 -2.79109085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.398623853 meters Centerline goodness [0,1] 0.9999786114557043 Centerline is valid? [True, True] Translation: X:144.02, Y:-24.18, Z:-2.79 [[ 9.76970259e-01 2.12997969e-01 1.26877523e-02 1.44023644e+02] [-2.12978167e-01 9.77052632e-01 -2.90765760e-03 -2.41842617e+01] [-1.30159269e-02 1.38480774e-04 9.99915280e-01 -2.79095809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.428623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:144.06, Y:-24.19, Z:-2.79 [[ 9.76623835e-01 2.14544441e-01 1.32878763e-02 1.44055228e+02] [-2.14522835e-01 9.76714220e-01 -3.04734881e-03 -2.41921119e+01] [-1.36322495e-02 1.25560584e-04 9.99907069e-01 -2.79064077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.458623853 meters Centerline goodness [0,1] 0.9999787703804348 Centerline is valid? [True, True] Translation: X:144.09, Y:-24.20, Z:-2.79 [[ 9.76309427e-01 2.15952192e-01 1.35850553e-02 1.44085586e+02] [-2.15929712e-01 9.76403932e-01 -3.11788224e-03 -2.41999221e+01] [-1.39378149e-02 1.10600738e-04 9.99902858e-01 -2.79112787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.488623853 meters Centerline goodness [0,1] 0.9999785449162178 Centerline is valid? [True, True] Translation: X:144.12, Y:-24.21, Z:-2.79 [[ 9.75560964e-01 2.19350486e-01 1.28906862e-02 1.44116496e+02] [-2.19330513e-01 9.75646125e-01 -2.96063410e-03 -2.42060365e+01] [-1.32261646e-02 6.09582295e-05 9.99912529e-01 -2.79307637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.518623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:144.15, Y:-24.21, Z:-2.79 [[ 9.75093440e-01 2.21453164e-01 1.22995650e-02 1.44148550e+02] [-2.21435141e-01 9.75171008e-01 -2.82550503e-03 -2.42123370e+01] [-1.26198963e-02 3.15755111e-05 9.99920365e-01 -2.79470428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.548623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:144.18, Y:-24.22, Z:-2.80 [[ 9.74628985e-01 2.23508137e-01 1.19353810e-02 1.44181022e+02] [-2.23491293e-01 9.74702063e-01 -2.74398837e-03 -2.42184749e+01] [-1.22467443e-02 6.91686268e-06 9.99925006e-01 -2.79581819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.578623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:144.21, Y:-24.22, Z:-2.80 [[ 9.74139028e-01 2.25652009e-01 1.15898851e-02 1.44213572e+02] [-2.25636252e-01 9.74207971e-01 -2.66663682e-03 -2.42241155e+01] [-1.18926904e-02 -1.74232300e-05 9.99929279e-01 -2.79731354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.608623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:144.25, Y:-24.23, Z:-2.80 [[ 9.73270207e-01 2.29388478e-01 1.12263197e-02 1.44245092e+02] [-2.29373919e-01 9.73334949e-01 -2.58502910e-03 -2.42287596e+01] [-1.15199452e-02 -5.90931499e-05 9.99933641e-01 -2.79721141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.638623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:144.28, Y:-24.24, Z:-2.80 [[ 9.72875829e-01 2.31075065e-01 1.08137207e-02 1.44276734e+02] [-2.31061641e-01 9.72935922e-01 -2.49179779e-03 -2.42358491e+01] [-1.10968497e-02 -7.44262186e-05 9.99938425e-01 -2.79826352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.668623853 meters Centerline goodness [0,1] 0.9999570215966477 Centerline is valid? [True, True] Translation: X:144.31, Y:-24.24, Z:-2.80 [[ 9.72430451e-01 2.32950207e-01 1.06404214e-02 1.44307525e+02] [-2.32937301e-01 9.72488659e-01 -2.45378318e-03 -2.42424533e+01] [-1.09192984e-02 -9.24175497e-05 9.99940378e-01 -2.79883694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.69862385300002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:144.34, Y:-24.25, Z:-2.80 [[ 9.72138904e-01 2.34167723e-01 1.05560200e-02 1.44338413e+02] [-2.34155070e-01 9.72196208e-01 -2.43648328e-03 -2.42475319e+01] [-1.08330684e-02 -1.03145422e-04 9.99941315e-01 -2.80080228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.72862385300002 meters Centerline goodness [0,1] 0.999935247140082 Centerline is valid? [True, True] Translation: X:144.37, Y:-24.25, Z:-2.80 [[ 9.71521409e-01 2.36708955e-01 1.07248342e-02 1.44369603e+02] [-2.36696042e-01 9.71580595e-01 -2.47597277e-03 -2.42546551e+01] [-1.10061257e-02 -1.33065256e-04 9.99939422e-01 -2.79983895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.75862385300002 meters Centerline goodness [0,1] 0.9999357216318135 Centerline is valid? [True, True] Translation: X:144.40, Y:-24.26, Z:-2.80 [[ 9.71268148e-01 2.37734147e-01 1.09845318e-02 1.44400585e+02] [-2.37720644e-01 9.71330250e-01 -2.53800876e-03 -2.42587145e+01] [-1.12729794e-02 -1.46162908e-04 9.99936447e-01 -2.80131496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.78862385300002 meters Centerline goodness [0,1] 0.9999359890754689 Centerline is valid? [True, True] Translation: X:144.43, Y:-24.27, Z:-2.80 [[ 9.71030905e-01 2.38688620e-01 1.12572341e-02 1.44432017e+02] [-2.38674481e-01 9.71096142e-01 -2.60284281e-03 -2.42664913e+01] [-1.15531256e-02 -1.59373703e-04 9.99933248e-01 -2.80084922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.81862385300002 meters Centerline goodness [0,1] 0.9998722344072741 Centerline is valid? [True, True] Translation: X:144.46, Y:-24.27, Z:-2.80 [[ 9.70854449e-01 2.39399169e-01 1.13875721e-02 1.44463663e+02] [-2.39384727e-01 9.70921217e-01 -2.63489388e-03 -2.42725415e+01] [-1.16872268e-02 -1.67912391e-04 9.99931688e-01 -2.80179969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.84862385300002 meters Centerline goodness [0,1] 0.9998929221544063 Centerline is valid? [True, True] Translation: X:144.50, Y:-24.28, Z:-2.80 [[ 9.70569232e-01 2.40537131e-01 1.17155618e-02 1.44495225e+02] [-2.40521901e-01 9.70639920e-01 -2.71305955e-03 -2.42799192e+01] [-1.20241835e-02 -1.84637060e-04 9.99927690e-01 -2.80110796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.87862385300002 meters Centerline goodness [0,1] 0.9998714405090956 Centerline is valid? [True, True] Translation: X:144.53, Y:-24.29, Z:-2.80 [[ 9.70358951e-01 2.41367177e-01 1.20579121e-02 1.44526381e+02] [-2.41351080e-01 9.70433845e-01 -2.79451663e-03 -2.42865126e+01] [-1.23759105e-02 -1.98505875e-04 9.99923396e-01 -2.80079372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.90862385300002 meters Centerline goodness [0,1] 0.999872900205478 Centerline is valid? [True, True] Translation: X:144.56, Y:-24.29, Z:-2.80 [[ 9.70205332e-01 2.41984152e-01 1.20533769e-02 1.44558110e+02] [-2.41968090e-01 9.70280180e-01 -2.79546633e-03 -2.42926431e+01] [-1.23716112e-02 -2.04356252e-04 9.99923448e-01 -2.80091946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.93862385300002 meters Centerline goodness [0,1] 0.9999568826129137 Centerline is valid? [True, True] Translation: X:144.59, Y:-24.30, Z:-2.80 [[ 9.70039954e-01 2.42621159e-01 1.25483309e-02 1.44590423e+02] [-2.42603775e-01 9.70121088e-01 -2.91261978e-03 -2.43003380e+01] [-1.28800636e-02 -2.18914889e-04 9.99917025e-01 -2.80022348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.968623853 meters Centerline goodness [0,1] 0.999849540022354 Centerline is valid? [True, True] Translation: X:144.62, Y:-24.30, Z:-2.80 [[ 9.69916771e-01 2.43108893e-01 1.26302593e-02 1.44623414e+02] [-2.43091289e-01 9.69998977e-01 -2.93419494e-03 -2.43008408e+01] [-1.29646675e-02 -2.24381128e-04 9.99915930e-01 -2.80181929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.998623853 meters Centerline goodness [0,1] 0.9997873968874904 Centerline is valid? [True, True] Translation: X:144.65, Y:-24.31, Z:-2.80 [[ 9.69875455e-01 2.43258982e-01 1.29100529e-02 1.44654168e+02] [-2.43240571e-01 9.69961347e-01 -3.00157712e-03 -2.43122507e+01] [-1.32524129e-02 -2.29092652e-04 9.99912157e-01 -2.80051527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.028623853 meters Centerline goodness [0,1] 0.9998701270590272 Centerline is valid? [True, True] Translation: X:144.69, Y:-24.32, Z:-2.80 [[ 9.69926125e-01 2.43050093e-01 1.30370496e-02 1.44685230e+02] [-2.43031262e-01 9.70013712e-01 -3.03384220e-03 -2.43177164e+01] [-1.33834925e-02 -2.25807804e-04 9.99910412e-01 -2.80132678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.058623853 meters Centerline goodness [0,1] 0.9998932650229481 Centerline is valid? [True, True] Translation: X:144.72, Y:-24.32, Z:-2.80 [[ 9.70057870e-01 2.42521326e-01 1.30818984e-02 1.44716746e+02] [-2.42502289e-01 9.70146051e-01 -3.04636845e-03 -2.43208833e+01] [-1.34301614e-02 -2.17236621e-04 9.99909788e-01 -2.80339340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.088623853 meters Centerline goodness [0,1] 0.9998277643816741 Centerline is valid? [True, True] Translation: X:144.75, Y:-24.33, Z:-2.80 [[ 9.70410173e-01 2.41116351e-01 1.29229286e-02 1.44747899e+02] [-2.41097624e-01 9.70496197e-01 -3.01130786e-03 -2.43297437e+01] [-1.32677286e-02 -1.93483606e-04 9.99911961e-01 -2.80325887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.118623853 meters Centerline goodness [0,1] 0.999745341878528 Centerline is valid? [True, True] Translation: X:144.78, Y:-24.34, Z:-2.80 [[ 9.70575494e-01 2.40442535e-01 1.30613039e-02 1.44778715e+02] [-2.40423317e-01 9.70663357e-01 -3.04554112e-03 -2.43388586e+01] [-1.34104068e-02 -1.84314437e-04 9.99910059e-01 -2.80363360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.148623853 meters Centerline goodness [0,1] 0.9999146448157396 Centerline is valid? [True, True] Translation: X:144.81, Y:-24.35, Z:-2.80 [[ 9.70739041e-01 2.39780486e-01 1.30779183e-02 1.44808858e+02] [-2.39761133e-01 9.70827116e-01 -3.05133408e-03 -2.43508688e+01] [-1.34280481e-02 -1.73527406e-04 9.99909825e-01 -2.80233688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.178623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:144.84, Y:-24.36, Z:-2.80 [[ 9.70918280e-01 2.39050225e-01 1.31409137e-02 1.44839262e+02] [-2.39030587e-01 9.71007190e-01 -3.06834083e-03 -2.43567715e+01] [-1.34934093e-02 -1.61972120e-04 9.99908947e-01 -2.80314942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.208623853 meters Centerline goodness [0,1] 0.9999358316221766 Centerline is valid? [True, True] Translation: X:144.87, Y:-24.36, Z:-2.80 [[ 9.71213707e-01 2.37850196e-01 1.30851196e-02 1.44871036e+02] [-2.37830582e-01 9.71301840e-01 -3.05777266e-03 -2.43642516e+01] [-1.34368926e-02 -1.42290908e-04 9.99909711e-01 -2.80326399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.238623853 meters Centerline goodness [0,1] 0.9999574214425615 Centerline is valid? [True, True] Translation: X:144.90, Y:-24.37, Z:-2.80 [[ 9.71357307e-01 2.37269394e-01 1.29698469e-02 1.44901295e+02] [-2.37250069e-01 9.71443883e-01 -3.03116129e-03 -2.43704012e+01] [-1.33186802e-02 -1.32756400e-04 9.99911294e-01 -2.80482132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.268623853 meters Centerline goodness [0,1] 0.9999357147448947 Centerline is valid? [True, True] Translation: X:144.93, Y:-24.38, Z:-2.80 [[ 9.71490398e-01 2.36720193e-01 1.30367347e-02 1.44932656e+02] [-2.36700588e-01 9.71577858e-01 -3.04901706e-03 -2.43784392e+01] [-1.33879667e-02 -1.23711971e-04 9.99910370e-01 -2.80422926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.298623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:144.96, Y:-24.39, Z:-2.80 [[ 9.71705076e-01 2.35845958e-01 1.28813491e-02 1.44964224e+02] [-2.35826713e-01 9.71790447e-01 -3.01485834e-03 -2.43855409e+01] [-1.32290142e-02 -1.08213064e-04 9.99912487e-01 -2.80479938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.328623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:144.99, Y:-24.39, Z:-2.81 [[ 9.72179273e-01 2.33893684e-01 1.26966750e-02 1.44994722e+02] [-2.33874791e-01 9.72262176e-01 -2.97382495e-03 -2.43906415e+01] [-1.30400557e-02 -7.83412264e-05 9.99914972e-01 -2.80603469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.358623853 meters Centerline goodness [0,1] 0.9999570962759567 Centerline is valid? [True, True] Translation: X:145.03, Y:-24.40, Z:-2.81 [[ 9.72467524e-01 2.32710634e-01 1.23562204e-02 1.45026666e+02] [-2.32692624e-01 9.72546018e-01 -2.89579243e-03 -2.43988554e+01] [-1.26908747e-02 -5.91372492e-05 9.99919466e-01 -2.80719402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.388623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:145.06, Y:-24.41, Z:-2.81 [[ 9.72799884e-01 2.31330721e-01 1.21030428e-02 1.45057254e+02] [-2.31313304e-01 9.72875170e-01 -2.83883665e-03 -2.44070461e+01] [-1.24314599e-02 -3.79748503e-05 9.99922726e-01 -2.80815239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.418623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:145.09, Y:-24.42, Z:-2.81 [[ 9.73155860e-01 2.29826895e-01 1.21355247e-02 1.45088017e+02] [-2.29809240e-01 9.73231523e-01 -2.84870145e-03 -2.44154852e+01] [-1.24653834e-02 -1.66251884e-05 9.99922304e-01 -2.81128432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.44862385300002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:145.12, Y:-24.43, Z:-2.81 [[ 9.73874707e-01 2.26754761e-01 1.22610666e-02 1.45119380e+02] [-2.26736467e-01 9.73951887e-01 -2.88040396e-03 -2.44266601e+01] [-1.25948342e-02 2.51216411e-05 9.99920682e-01 -2.80889300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.47862385300002 meters Centerline goodness [0,1] 0.9999783975286772 Centerline is valid? [True, True] Translation: X:145.15, Y:-24.44, Z:-2.81 [[ 9.74207178e-01 2.25299368e-01 1.26715854e-02 1.45151107e+02] [-2.25279672e-01 9.74289584e-01 -2.97935855e-03 -2.44355736e+01] [-1.30170412e-02 4.78618853e-05 9.99915274e-01 -2.80861326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.50862385300002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:145.18, Y:-24.44, Z:-2.81 [[ 9.74500996e-01 2.24002230e-01 1.30693828e-02 1.45183447e+02] [-2.23981128e-01 9.74588629e-01 -3.07547083e-03 -2.44438033e+01] [-1.34261841e-02 6.97542998e-05 9.99909862e-01 -2.80887320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.53862385300002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:145.21, Y:-24.45, Z:-2.81 [[ 9.74717903e-01 2.23058298e-01 1.30385769e-02 1.45214388e+02] [-2.23037175e-01 9.74805103e-01 -3.07080227e-03 -2.44513852e+01] [-1.33950392e-02 8.50785899e-05 9.99910279e-01 -2.80937452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.56862385300002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:145.25, Y:-24.46, Z:-2.81 [[ 9.74908884e-01 2.22231437e-01 1.28784808e-02 1.45245402e+02] [-2.22210727e-01 9.74993938e-01 -3.03545759e-03 -2.44587669e+01] [-1.32310148e-02 9.75579854e-05 9.99912462e-01 -2.81043792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.59862385300002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:145.28, Y:-24.47, Z:-2.81 [[ 9.75363378e-01 2.20240836e-01 1.26592216e-02 1.45276666e+02] [-2.20220631e-01 9.75445518e-01 -2.98580185e-03 -2.44659993e+01] [-1.30059765e-02 1.24420005e-04 9.99915411e-01 -2.81096543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.62862385300002 meters Centerline goodness [0,1] 0.9999786621145844 Centerline is valid? [True, True] Translation: X:145.31, Y:-24.47, Z:-2.81 [[ 9.75568164e-01 2.19352932e-01 1.22901840e-02 1.45306883e+02] [-2.19333787e-01 9.75645567e-01 -2.90120501e-03 -2.44745160e+01] [-1.26272513e-02 1.34670649e-04 9.99920264e-01 -2.81204617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.65862385300002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:145.34, Y:-24.48, Z:-2.81 [[ 9.75744212e-01 2.18589208e-01 1.19159805e-02 1.45338514e+02] [-2.18571145e-01 9.75816960e-01 -2.81353854e-03 -2.44823835e+01] [-1.22428251e-02 1.40804429e-04 9.99925044e-01 -2.81294749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.68862385300002 meters Centerline goodness [0,1] 0.999847114838597 Centerline is valid? [True, True] Translation: X:145.37, Y:-24.49, Z:-2.81 [[ 9.75935516e-01 2.17797322e-01 1.06862260e-02 1.45370194e+02] [-2.17782731e-01 9.75994010e-01 -2.52469449e-03 -2.44877187e+01] [-1.09795642e-02 1.36663539e-04 9.99939713e-01 -2.80508437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.718623853 meters Centerline goodness [0,1] 0.9999785628537129 Centerline is valid? [True, True] Translation: X:145.40, Y:-24.50, Z:-2.81 [[ 9.76049479e-01 2.17237030e-01 1.16399182e-02 1.45399839e+02] [-2.17219646e-01 9.76118870e-01 -2.75273446e-03 -2.44988464e+01] [-1.19599397e-02 1.58386122e-04 9.99928465e-01 -2.81420636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.748623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:145.43, Y:-24.50, Z:-2.81 [[ 9.76276543e-01 2.16167192e-01 1.24842218e-02 1.45431264e+02] [-2.16147087e-01 9.76356344e-01 -2.95399933e-03 -2.45041600e+01] [-1.28276069e-02 1.85492068e-04 9.99917706e-01 -2.81233756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.778623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:145.46, Y:-24.51, Z:-2.81 [[ 9.76408316e-01 2.15550432e-01 1.28378879e-02 1.45461408e+02] [-2.15529087e-01 9.76492688e-01 -3.04011207e-03 -2.45125603e+01] [-1.31914011e-02 2.01452464e-04 9.99912969e-01 -2.81235240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.808623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:145.49, Y:-24.52, Z:-2.81 [[ 9.76833198e-01 2.13596352e-01 1.31720377e-02 1.45492707e+02] [-2.13573673e-01 9.76921974e-01 -3.12143022e-03 -2.45215182e+01] [-1.35347791e-02 2.35916199e-04 9.99908373e-01 -2.81247751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.838623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:145.52, Y:-24.53, Z:-2.81 [[ 9.77056494e-01 2.12547809e-01 1.35660312e-02 1.45524044e+02] [-2.12523618e-01 9.77150634e-01 -3.21725654e-03 -2.45300347e+01] [-1.39398768e-02 2.60339371e-04 9.99902801e-01 -2.81243407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.868623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:145.55, Y:-24.54, Z:-2.81 [[ 9.77251793e-01 2.11650585e-01 1.35263938e-02 1.45553067e+02] [-2.11626415e-01 9.77345361e-01 -3.21031607e-03 -2.45408494e+01] [-1.38994235e-02 2.74744911e-04 9.99903361e-01 -2.81285524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.898623853 meters Centerline goodness [0,1] 0.9999785029450965 Centerline is valid? [True, True] Translation: X:145.58, Y:-24.55, Z:-2.81 [[ 9.77465665e-01 2.10663580e-01 1.34806835e-02 1.45582484e+02] [-2.10639445e-01 9.77558577e-01 -3.20195863e-03 -2.45508939e+01] [-1.38526938e-02 2.90240929e-04 9.99904005e-01 -2.81351419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.928623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:145.61, Y:-24.56, Z:-2.82 [[ 9.77803033e-01 2.09133640e-01 1.28198473e-02 1.45612781e+02] [-2.09111671e-01 9.77887024e-01 -3.04578410e-03 -2.45613075e+01] [-1.31733383e-02 2.97397235e-04 9.99913184e-01 -2.81517711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.958623853 meters Centerline goodness [0,1] 0.9999145061662428 Centerline is valid? [True, True] Translation: X:145.64, Y:-24.57, Z:-2.82 [[ 9.77848816e-01 2.08949747e-01 1.23165191e-02 1.45642287e+02] [-2.08929429e-01 9.77926336e-01 -2.92826142e-03 -2.45701208e+01] [-1.26565079e-02 2.90113658e-04 9.99919861e-01 -2.81694886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.988623853 meters Centerline goodness [0,1] 0.9999565481880595 Centerline is valid? [True, True] Translation: X:145.67, Y:-24.58, Z:-2.82 [[ 9.77793818e-01 2.09245128e-01 1.16501349e-02 1.45674688e+02] [-2.09226952e-01 9.77863182e-01 -2.77129464e-03 -2.45750330e+01] [-1.19721179e-02 2.72232548e-04 9.99928295e-01 -2.81754514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.018623853 meters Centerline goodness [0,1] 0.9999142734676383 Centerline is valid? [True, True] Translation: X:145.70, Y:-24.59, Z:-2.82 [[ 9.77688482e-01 2.09754893e-01 1.13188848e-02 1.45703488e+02] [-2.09737743e-01 9.77753965e-01 -2.69491290e-03 -2.45867181e+01] [-1.16323557e-02 2.60787956e-04 9.99932308e-01 -2.82034937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.048623853 meters Centerline goodness [0,1] 0.9999784594175426 Centerline is valid? [True, True] Translation: X:145.74, Y:-24.59, Z:-2.82 [[ 9.77518814e-01 2.10550283e-01 1.12047768e-02 1.45735576e+02] [-2.10533509e-01 9.77582997e-01 -2.66947123e-03 -2.45892636e+01] [-1.15156572e-02 2.50477380e-04 9.99933661e-01 -2.81966767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.078623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:145.77, Y:-24.60, Z:-2.82 [[ 9.77289407e-01 2.11595696e-01 1.15185183e-02 1.45765896e+02] [-2.11578017e-01 9.77357253e-01 -2.74637567e-03 -2.45974245e+01] [-1.18388287e-02 2.46938586e-04 9.99929888e-01 -2.82034521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.108623853 meters Centerline goodness [0,1] 0.9999785154151896 Centerline is valid? [True, True] Translation: X:145.80, Y:-24.60, Z:-2.82 [[ 9.76936279e-01 2.13225859e-01 1.14122997e-02 1.45797379e+02] [-2.13208595e-01 9.77002908e-01 -2.72281313e-03 -2.46030579e+01] [-1.17304241e-02 2.26814548e-04 9.99931170e-01 -2.82088301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.138623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:145.83, Y:-24.61, Z:-2.82 [[ 9.76800253e-01 2.13843551e-01 1.14978461e-02 1.45829226e+02] [-2.13826047e-01 9.76867896e-01 -2.74513530e-03 -2.46087844e+01] [-1.18189062e-02 2.22909870e-04 9.99930129e-01 -2.82109561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.168623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:145.86, Y:-24.62, Z:-2.82 [[ 9.76677481e-01 2.14401703e-01 1.15329407e-02 1.45860683e+02] [-2.14384107e-01 9.76745546e-01 -2.75549416e-03 -2.46161587e+01] [-1.18555312e-02 2.18749886e-04 9.99929697e-01 -2.82121534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.19862385300002 meters Centerline goodness [0,1] 0.9999787410446651 Centerline is valid? [True, True] Translation: X:145.89, Y:-24.62, Z:-2.82 [[ 9.76550890e-01 2.14981759e-01 1.14543432e-02 1.45892167e+02] [-2.14964420e-01 9.76618041e-01 -2.73865268e-03 -2.46239831e+01] [-1.17752786e-02 2.12157481e-04 9.99930646e-01 -2.82216767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.22862385300002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:145.92, Y:-24.63, Z:-2.82 [[ 9.76421609e-01 2.15585743e-01 1.11188701e-02 1.45923624e+02] [-2.15569423e-01 9.76484893e-01 -2.66022035e-03 -2.46313494e+01] [-1.14309142e-02 2.00608231e-04 9.99934645e-01 -2.82256253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.25862385300002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:145.95, Y:-24.64, Z:-2.82 [[ 9.76332500e-01 2.15976433e-01 1.13591270e-02 1.45952866e+02] [-2.15959401e-01 9.76398556e-01 -2.71981176e-03 -2.46410435e+01] [-1.16784504e-02 2.02330343e-04 9.99931784e-01 -2.82399083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.28862385300002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:145.99, Y:-24.65, Z:-2.82 [[ 9.76254679e-01 2.16331306e-01 1.12946357e-02 1.45985746e+02] [-2.16314473e-01 9.76319992e-01 -2.70592354e-03 -2.46466511e+01] [-1.16125546e-02 1.98477353e-04 9.99932552e-01 -2.82337011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.31862385300002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:146.02, Y:-24.65, Z:-2.82 [[ 9.76212817e-01 2.16520159e-01 1.12941119e-02 1.46017281e+02] [-2.16503313e-01 9.76278127e-01 -2.70810766e-03 -2.46544043e+01] [-1.16125543e-02 1.98476770e-04 9.99932552e-01 -2.82394361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.34862385300002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:146.05, Y:-24.66, Z:-2.83 [[ 9.75887834e-01 2.18016662e-01 1.05674751e-02 1.46047271e+02] [-2.18001978e-01 9.75945032e-01 -2.53606972e-03 -2.46615179e+01] [-1.08661803e-02 1.71189103e-04 9.99940947e-01 -2.82504258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.37862385300002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:146.08, Y:-24.67, Z:-2.83 [[ 9.75598707e-01 2.19320075e-01 1.02892443e-02 1.46078488e+02] [-2.19306210e-01 9.75652951e-01 -2.47084912e-03 -2.46681212e+01] [-1.05806384e-02 1.54062030e-04 9.99944012e-01 -2.82668033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.40862385300002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:146.11, Y:-24.68, Z:-2.83 [[ 9.75236876e-01 2.20942380e-01 9.87420985e-03 1.46108468e+02] [-2.20929678e-01 9.75286854e-01 -2.37289781e-03 -2.46758846e+01] [-1.01544607e-02 1.32631451e-04 9.99948433e-01 -2.82851819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.43862385300002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:146.14, Y:-24.68, Z:-2.83 [[ 9.74849347e-01 2.22656837e-01 9.62719996e-03 1.46140012e+02] [-2.22644831e-01 9.74896877e-01 -2.31494780e-03 -2.46811575e+01] [-9.90096613e-03 1.13279042e-04 9.99950978e-01 -2.82857928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.468623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:146.17, Y:-24.69, Z:-2.83 [[ 9.74378013e-01 2.24709434e-01 9.65182032e-03 1.46171790e+02] [-2.24697451e-01 9.74425811e-01 -2.32255455e-03 -2.46867351e+01] [-9.92688277e-03 9.43066656e-05 9.99950723e-01 -2.82848982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.498623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:146.20, Y:-24.69, Z:-2.83 [[ 9.73829790e-01 2.27055928e-01 1.00571393e-02 1.46203378e+02] [-2.27043023e-01 9.73881718e-01 -2.42195938e-03 -2.46912068e+01] [-1.03443843e-02 7.51728829e-05 9.99946493e-01 -2.82816436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.528623853 meters Centerline goodness [0,1] 0.9999787789402202 Centerline is valid? [True, True] Translation: X:146.24, Y:-24.69, Z:-2.83 [[ 9.72762563e-01 2.31555434e-01 1.07273818e-02 1.46235103e+02] [-2.31540996e-01 9.72821710e-01 -2.58589614e-03 -2.46925665e+01] [-1.10346082e-02 3.16342928e-05 9.99939116e-01 -2.82828299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.558623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:146.27, Y:-24.70, Z:-2.83 [[ 9.72245484e-01 2.33707175e-01 1.09396153e-02 1.46267487e+02] [-2.33692291e-01 9.72307028e-01 -2.63757793e-03 -2.46972100e+01] [-1.12530858e-02 7.86947114e-06 9.99936682e-01 -2.82784973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.588623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:146.30, Y:-24.70, Z:-2.83 [[ 9.71772946e-01 2.35657118e-01 1.10933959e-02 1.46300258e+02] [-2.35641915e-01 9.71836263e-01 -2.67684675e-03 -2.47018799e+01] [-1.14117824e-02 -1.27818079e-05 9.99934883e-01 -2.82738427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.618623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:146.33, Y:-24.70, Z:-2.83 [[ 9.71044920e-01 2.38614854e-01 1.16067142e-02 1.46332280e+02] [-2.38598388e-01 9.71114282e-01 -2.80351231e-03 -2.47035205e+01] [-1.19404056e-02 -4.70069030e-05 9.99928710e-01 -2.82739166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.648623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:146.36, Y:-24.71, Z:-2.83 [[ 9.70750160e-01 2.39804376e-01 1.17468380e-02 1.46364746e+02] [-2.39787585e-01 9.70821228e-01 -2.83841050e-03 -2.47094523e+01] [-1.20847430e-02 -6.13584715e-05 9.99926975e-01 -2.82719905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.678623853 meters Centerline goodness [0,1] 0.9999783638763279 Centerline is valid? [True, True] Translation: X:146.40, Y:-24.72, Z:-2.83 [[ 9.70466446e-01 2.40952315e-01 1.16987067e-02 1.46397312e+02] [-2.40935718e-01 9.70536953e-01 -2.82901766e-03 -2.47157264e+01] [-1.20356855e-02 -7.31695755e-05 9.99927566e-01 -2.82869388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.708623853 meters Centerline goodness [0,1] 0.9999786050492084 Centerline is valid? [True, True] Translation: X:146.43, Y:-24.72, Z:-2.83 [[ 9.70303831e-01 2.41629168e-01 1.12169416e-02 1.46428827e+02] [-2.41613931e-01 9.70368662e-01 -2.71458084e-03 -2.47223889e+01] [-1.15404905e-02 -7.62011726e-05 9.99933403e-01 -2.83029078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.738623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:146.46, Y:-24.73, Z:-2.83 [[ 9.70135965e-01 2.42334703e-01 1.04929035e-02 1.46459332e+02] [-2.42321391e-01 9.70192706e-01 -2.54119544e-03 -2.47270979e+01] [-1.07959583e-02 -7.73498799e-05 9.99941719e-01 -2.83188829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.768623853 meters Centerline goodness [0,1] 0.9999786862185089 Centerline is valid? [True, True] Translation: X:146.49, Y:-24.73, Z:-2.83 [[ 9.70086761e-01 2.42520911e-01 1.07370614e-02 1.46491055e+02] [-2.42506967e-01 9.70146175e-01 -2.60187478e-03 -2.47340399e+01] [-1.10475281e-02 -7.97679238e-05 9.99938971e-01 -2.83259568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.798623853 meters Centerline goodness [0,1] 0.9999785107983239 Centerline is valid? [True, True] Translation: X:146.52, Y:-24.74, Z:-2.83 [[ 9.70094472e-01 2.42497851e-01 1.05597640e-02 1.46522751e+02] [-2.42484343e-01 9.70151940e-01 -2.56063509e-03 -2.47420133e+01] [-1.08655240e-02 -7.65194858e-05 9.99940966e-01 -2.83398153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.828623853 meters Centerline goodness [0,1] 0.9999785761724189 Centerline is valid? [True, True] Translation: X:146.55, Y:-24.75, Z:-2.83 [[ 9.70181905e-01 2.42154557e-01 1.04039283e-02 1.46554179e+02] [-2.42141405e-01 9.70237685e-01 -2.52473867e-03 -2.47507878e+01] [-1.07056603e-02 -6.97660425e-05 9.99942690e-01 -2.83455133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.858623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:146.58, Y:-24.76, Z:-2.83 [[ 9.70389477e-01 2.41295416e-01 1.09902387e-02 1.46584227e+02] [-2.41280657e-01 9.70451708e-01 -2.66945024e-03 -2.47587358e+01] [-1.13096220e-02 -6.13255908e-05 9.99936042e-01 -2.83385552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.888623853 meters Centerline goodness [0,1] 0.9999785582572152 Centerline is valid? [True, True] Translation: X:146.62, Y:-24.77, Z:-2.83 [[ 9.70534191e-01 2.40711763e-01 1.10105507e-02 1.46615929e+02] [-2.40696895e-01 9.70596644e-01 -2.67582883e-03 -2.47671971e+01] [-1.13309070e-02 -5.32219974e-05 9.99935802e-01 -2.83390378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.918623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:146.65, Y:-24.78, Z:-2.83 [[ 9.70692092e-01 2.40071065e-01 1.10791077e-02 1.46647432e+02] [-2.40055948e-01 9.70755315e-01 -2.69442707e-03 -2.47771543e+01] [-1.14019566e-02 -4.41466517e-05 9.99934995e-01 -2.83264867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.94862385300002 meters Centerline goodness [0,1] 0.9999786178583647 Centerline is valid? [True, True] Translation: X:146.68, Y:-24.79, Z:-2.83 [[ 9.70919456e-01 2.39144861e-01 1.11868126e-02 1.46678335e+02] [-2.39129360e-01 9.70983900e-01 -2.72299044e-03 -2.47859899e+01] [-1.15134041e-02 -3.12909449e-05 9.99933718e-01 -2.83319752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.97862385300002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:146.71, Y:-24.79, Z:-2.83 [[ 9.71174854e-01 2.38093743e-01 1.14355786e-02 1.46709001e+02] [-2.38077442e-01 9.71242178e-01 -2.78611853e-03 -2.47946779e+01] [-1.17700737e-02 -1.67450422e-05 9.99930730e-01 -2.83411958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.00862385300002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:146.74, Y:-24.81, Z:-2.84 [[ 9.71815566e-01 2.35509505e-01 1.04775316e-02 1.46739615e+02] [-2.35495664e-01 9.71872046e-01 -2.55330937e-03 -2.48065616e+01] [-1.07841487e-02 1.39325277e-05 9.99941849e-01 -2.83526880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.03862385300002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:146.77, Y:-24.82, Z:-2.84 [[ 9.72128635e-01 2.34218316e-01 1.03777740e-02 1.46770327e+02] [-2.34204637e-01 9.72184025e-01 -2.53158417e-03 -2.48169067e+01] [-1.06820495e-02 3.05026800e-05 9.99942945e-01 -2.83635165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.06862385300002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:146.80, Y:-24.83, Z:-2.84 [[ 9.72327789e-01 2.33383893e-01 1.05180521e-02 1.46802059e+02] [-2.33369782e-01 9.72384675e-01 -2.56667738e-03 -2.48267493e+01] [-1.08266138e-02 4.10562236e-05 9.99941390e-01 -2.83642316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.09862385300002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:146.83, Y:-24.84, Z:-2.84 [[ 9.72488890e-01 2.32725699e-01 1.02033474e-02 1.46834098e+02] [-2.32712364e-01 9.72542414e-01 -2.49180380e-03 -2.48356091e+01] [-1.05030949e-02 4.88064096e-05 9.99944840e-01 -2.83719632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.12862385300002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:146.87, Y:-24.84, Z:-2.84 [[ 9.72379572e-01 2.33167371e-01 1.05330246e-02 1.46866065e+02] [-2.33153162e-01 9.72436617e-01 -2.57452816e-03 -2.48429397e+01] [-1.08429948e-02 4.76106020e-05 9.99941212e-01 -2.83744540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.15862385300002 meters Centerline goodness [0,1] 0.9999786816747677 Centerline is valid? [True, True] Translation: X:146.90, Y:-24.85, Z:-2.84 [[ 9.72220711e-01 2.33823058e-01 1.06614839e-02 1.46897042e+02] [-2.33808514e-01 9.72279166e-01 -2.60820419e-03 -2.48502343e+01] [-1.09757970e-02 4.30044186e-05 9.99939763e-01 -2.83843341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.18862385300002 meters Centerline goodness [0,1] 0.9999786507258753 Centerline is valid? [True, True] Translation: X:146.93, Y:-24.86, Z:-2.84 [[ 9.71943200e-01 2.34972943e-01 1.06832449e-02 1.46929082e+02] [-2.34958388e-01 9.72001911e-01 -2.61549694e-03 -2.48562461e+01] [-1.09987055e-02 3.19964755e-05 9.99939512e-01 -2.83873066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.21862385300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:146.96, Y:-24.86, Z:-2.84 [[ 9.71585104e-01 2.36437123e-01 1.09486827e-02 1.46960361e+02] [-2.36421903e-01 9.71646791e-01 -2.68276357e-03 -2.48622079e+01] [-1.12725573e-02 1.80247298e-05 9.99936463e-01 -2.83940402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.248623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:146.99, Y:-24.87, Z:-2.84 [[ 9.70961128e-01 2.39014077e-01 1.03323720e-02 1.46993022e+02] [-2.39000652e-01 9.71016102e-01 -2.53330963e-03 -2.48676006e+01] [-1.06383963e-02 -9.69846387e-06 9.99943411e-01 -2.83955052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.278623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:147.02, Y:-24.87, Z:-2.84 [[ 9.70639483e-01 2.40334533e-01 9.91493823e-03 1.47024753e+02] [-2.40322219e-01 9.70690121e-01 -2.43290960e-03 -2.48739268e+01] [-1.02090448e-02 -2.13018405e-05 9.99947886e-01 -2.84092515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.308623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:147.06, Y:-24.88, Z:-2.84 [[ 9.70327101e-01 2.41601556e-01 9.69563356e-03 1.47057254e+02] [-2.41589828e-01 9.70375539e-01 -2.38076287e-03 -2.48797753e+01] [-9.98360166e-03 -3.22477160e-05 9.99950162e-01 -2.84219890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.338623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:147.09, Y:-24.89, Z:-2.84 [[ 9.70079696e-01 2.42591041e-01 9.74528676e-03 1.47088669e+02] [-2.42579222e-01 9.70128644e-01 -2.39498024e-03 -2.48852069e+01] [-1.00351826e-02 -4.06823868e-05 9.99949645e-01 -2.84311196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.368623853 meters Centerline goodness [0,1] 0.9999784686934803 Centerline is valid? [True, True] Translation: X:147.12, Y:-24.89, Z:-2.84 [[ 9.69530769e-01 2.44756599e-01 1.02124764e-02 1.47120931e+02] [-2.44743718e-01 9.69584552e-01 -2.51184504e-03 -2.48883347e+01] [-1.05166500e-02 -6.41284031e-05 9.99944696e-01 -2.84335722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.398623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:147.15, Y:-24.89, Z:-2.84 [[ 9.69262743e-01 2.45799072e-01 1.06089967e-02 1.47153726e+02] [-2.45785213e-01 9.69320798e-01 -2.61132340e-03 -2.48948417e+01] [-1.09253820e-02 -7.64760181e-05 9.99940313e-01 -2.84272904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.428623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:147.19, Y:-24.90, Z:-2.84 [[ 9.68970719e-01 2.46935733e-01 1.08853106e-02 1.47186064e+02] [-2.46921191e-01 9.69031855e-01 -2.68142948e-03 -2.49020958e+01] [-1.12103535e-02 -8.95871994e-05 9.99937158e-01 -2.84161287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.458623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:147.22, Y:-24.91, Z:-2.84 [[ 9.68667515e-01 2.48116907e-01 1.10112125e-02 1.47216902e+02] [-2.48102074e-01 9.68730091e-01 -2.71492608e-03 -2.49070158e+01] [-1.13405120e-02 -1.02043960e-04 9.99935689e-01 -2.84219306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.488623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:147.25, Y:-24.91, Z:-2.84 [[ 9.68437698e-01 2.49017458e-01 1.08963865e-02 1.47247783e+02] [-2.49002970e-01 9.68498990e-01 -2.68837439e-03 -2.49121860e+01] [-1.12225914e-02 -1.09709488e-04 9.99937019e-01 -2.84297728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.518623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:147.28, Y:-24.92, Z:-2.84 [[ 9.68181378e-01 2.50038077e-01 1.02849300e-02 1.47278926e+02] [-2.50025212e-01 9.68235998e-01 -2.53894418e-03 -2.49180684e+01] [-1.05930722e-02 -1.13333332e-04 9.99943885e-01 -2.84398964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.548623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:147.31, Y:-24.92, Z:-2.84 [[ 9.68100824e-01 2.50349772e-01 1.02852855e-02 1.47310459e+02] [-2.50336908e-01 9.68155452e-01 -2.54052066e-03 -2.49249131e+01] [-1.05937740e-02 -1.15306435e-04 9.99943878e-01 -2.84492886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.578623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:147.34, Y:-24.93, Z:-2.85 [[ 9.68046103e-01 2.50554175e-01 1.04569187e-02 1.47341834e+02] [-2.50540868e-01 9.68102573e-01 -2.58490217e-03 -2.49307171e+01] [-1.07710279e-02 -1.17581018e-04 9.99941984e-01 -2.84600304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.608623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:147.37, Y:-24.94, Z:-2.85 [[ 9.68204529e-01 2.49947400e-01 1.03096114e-02 1.47372279e+02] [-2.49934411e-01 9.68259410e-01 -2.55037154e-03 -2.49403056e+01] [-1.06198370e-02 -1.07445369e-04 9.99943602e-01 -2.84523400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.638623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:147.40, Y:-24.95, Z:-2.85 [[ 9.68322994e-01 2.49499727e-01 1.00232692e-02 1.47403526e+02] [-2.49487410e-01 9.68374864e-01 -2.48112762e-03 -2.49463801e+01] [-1.03253226e-02 -9.81465334e-05 9.99946688e-01 -2.84801484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.668623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:147.43, Y:-24.96, Z:-2.85 [[ 9.68500103e-01 2.48811012e-01 1.00315214e-02 1.47434419e+02] [-2.48798616e-01 9.68552049e-01 -2.48519429e-03 -2.49563150e+01] [-1.03343943e-02 -8.89177241e-05 9.99946595e-01 -2.84721011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.69862385300002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:147.46, Y:-24.97, Z:-2.85 [[ 9.68690285e-01 2.48062933e-01 1.01937546e-02 1.47464826e+02] [-2.48050073e-01 9.68743916e-01 -2.52712121e-03 -2.49654724e+01] [-1.05020228e-02 -8.05637962e-05 9.99944849e-01 -2.84625103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.72862385300002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:147.50, Y:-24.97, Z:-2.85 [[ 9.69049509e-01 2.46634049e-01 1.07095341e-02 1.47495011e+02] [-2.46619745e-01 9.69108684e-01 -2.65709350e-03 -2.49733722e+01] [-1.10340322e-02 -6.63274121e-05 9.99939121e-01 -2.84685190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.75862385300002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:147.53, Y:-24.98, Z:-2.85 [[ 9.69136107e-01 2.46299085e-01 1.05814780e-02 1.47525623e+02] [-2.46285084e-01 9.69193870e-01 -2.62687113e-03 -2.49813695e+01] [-1.09024995e-02 -6.02645306e-05 9.99940564e-01 -2.84736880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.78862385300002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:147.56, Y:-24.99, Z:-2.85 [[ 9.69251963e-01 2.45843683e-01 1.05600583e-02 1.47557845e+02] [-2.45829692e-01 9.69309486e-01 -2.62335379e-03 -2.49900068e+01] [-1.08808996e-02 -5.32850675e-05 9.99940800e-01 -2.84770804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.81862385300002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:147.59, Y:-25.00, Z:-2.85 [[ 9.69365695e-01 2.45406007e-01 1.02976368e-02 1.47590091e+02] [-2.45392658e-01 9.69420389e-01 -2.56003176e-03 -2.49988743e+01] [-1.06109863e-02 -4.53575061e-05 9.99943701e-01 -2.84811986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.84862385300002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:147.62, Y:-25.01, Z:-2.85 [[ 9.69664496e-01 2.44229901e-01 1.01252122e-02 1.47621839e+02] [-2.44216911e-01 9.69717358e-01 -2.51904874e-03 -2.50084123e+01] [-1.04338211e-02 -3.01159237e-05 9.99945566e-01 -2.84799920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.87862385300002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:147.65, Y:-25.02, Z:-2.85 [[ 9.69818795e-01 2.43600225e-01 1.05088370e-02 1.47652418e+02] [-2.43586171e-01 9.69875729e-01 -2.61680281e-03 -2.50171182e+01] [-1.08297197e-02 -2.19828143e-05 9.99941357e-01 -2.84865518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.90862385300002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:147.68, Y:-25.03, Z:-2.85 [[ 9.69992353e-01 2.42895440e-01 1.07999953e-02 1.47684118e+02] [-2.42880530e-01 9.70052475e-01 -2.69134766e-03 -2.50266610e+01] [-1.11302783e-02 -1.25219363e-05 9.99938056e-01 -2.84850112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.93862385300002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:147.72, Y:-25.04, Z:-2.85 [[ 9.70187485e-01 2.42107065e-01 1.09732792e-02 1.47715190e+02] [-2.42091592e-01 9.70249540e-01 -2.73718188e-03 -2.50358950e+01] [-1.13095102e-02 -9.59020669e-07 9.99936045e-01 -2.84926489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.96862385300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:147.75, Y:-25.05, Z:-2.85 [[ 9.70433451e-01 2.41111175e-01 1.11498032e-02 1.47746725e+02] [-2.41095116e-01 9.70497502e-01 -2.78279414e-03 -2.50453408e+01] [-1.14918189e-02 1.23534351e-05 9.99933967e-01 -2.84775187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.998623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:147.78, Y:-25.05, Z:-2.85 [[ 9.70690391e-01 2.40063766e-01 1.13820951e-02 1.47777780e+02] [-2.40046954e-01 9.70757121e-01 -2.84123416e-03 -2.50549770e+01] [-1.17313273e-02 2.57214417e-05 9.99931185e-01 -2.84831663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.028623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:147.81, Y:-25.06, Z:-2.85 [[ 9.70775605e-01 2.39725829e-01 1.12362042e-02 1.47809687e+02] [-2.39709398e-01 9.70840628e-01 -2.80686025e-03 -2.50637510e+01] [-1.15814404e-02 3.14077169e-05 9.99932932e-01 -2.84881398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.058623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:147.84, Y:-25.07, Z:-2.85 [[ 9.70750299e-01 2.39848227e-01 1.08021044e-02 1.47840814e+02] [-2.39833026e-01 9.70810397e-01 -2.70052478e-03 -2.50725468e+01] [-1.11345113e-02 3.08338687e-05 9.99938009e-01 -2.85102852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.088623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:147.87, Y:-25.08, Z:-2.85 [[ 9.70821984e-01 2.39571196e-01 1.05031785e-02 1.47873118e+02] [-2.39556789e-01 9.70878798e-01 -2.62747763e-03 -2.50806866e+01] [-1.08267813e-02 3.47053287e-05 9.99941388e-01 -2.84996843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.118623853 meters Centerline goodness [0,1] 0.9999139229610502 Centerline is valid? [True, True] Translation: X:147.90, Y:-25.09, Z:-2.85 [[ 9.70752003e-01 2.39897946e-01 9.46168786e-03 1.47903165e+02] [-2.39886247e-01 9.70798112e-01 -2.36944054e-03 -2.50886771e+01] [-9.75381263e-03 3.04103663e-05 9.99952430e-01 -2.84645683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.148623853 meters Centerline goodness [0,1] 0.9999570981166073 Centerline is valid? [True, True] Translation: X:147.94, Y:-25.10, Z:-2.85 [[ 9.70632879e-01 2.40380188e-01 9.44351139e-03 1.47935136e+02] [-2.40368554e-01 9.70678816e-01 -2.36511018e-03 -2.50963976e+01] [-9.73514208e-03 2.57305184e-05 9.99952612e-01 -2.85374884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.178623853 meters Centerline goodness [0,1] 0.9999785752544188 Centerline is valid? [True, True] Translation: X:147.97, Y:-25.10, Z:-2.86 [[ 9.70444461e-01 2.41155666e-01 9.02734464e-03 1.47966492e+02] [-2.41145051e-01 9.70486447e-01 -2.26264987e-03 -2.51035406e+01] [-9.30656646e-03 1.88765473e-05 9.99956693e-01 -2.85536239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.208623853 meters Centerline goodness [0,1] 0.9999785752544188 Centerline is valid? [True, True] Translation: X:148.00, Y:-25.11, Z:-2.86 [[ 9.70400007e-01 2.41334499e-01 9.02696468e-03 1.47997947e+02] [-2.41323879e-01 9.70441992e-01 -2.26416423e-03 -2.51116285e+01] [-9.30656653e-03 1.87228594e-05 9.99956693e-01 -2.85593578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.238623853 meters Centerline goodness [0,1] 0.9999573869689351 Centerline is valid? [True, True] Translation: X:148.03, Y:-25.12, Z:-2.86 [[ 9.70047046e-01 2.42737038e-01 9.35196749e-03 1.48029241e+02] [-2.42725684e-01 9.70092125e-01 -2.34773662e-03 -2.51168877e+01] [-9.64215265e-03 7.45226423e-06 9.99953513e-01 -2.85614471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.268623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:148.06, Y:-25.12, Z:-2.86 [[ 9.69801773e-01 2.43711708e-01 9.44062891e-03 1.48061354e+02] [-2.43700168e-01 9.69847722e-01 -2.37160576e-03 -2.51233225e+01] [-9.73396053e-03 -6.95384894e-07 9.99952624e-01 -2.85536825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.298623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:148.09, Y:-25.13, Z:-2.86 [[ 9.69693518e-01 2.44127698e-01 9.80553308e-03 1.48093307e+02] [-2.44115249e-01 9.69743093e-01 -2.46538230e-03 -2.51303427e+01] [-1.01107161e-02 -3.01491696e-06 9.99948885e-01 -2.85567199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.328623853 meters Centerline goodness [0,1] 0.9999785669888762 Centerline is valid? [True, True] Translation: X:148.12, Y:-25.14, Z:-2.86 [[ 9.69611750e-01 2.44443896e-01 1.00117683e-02 1.48124443e+02] [-2.44430912e-01 9.69663437e-01 -2.51942531e-03 -2.51380814e+01] [-1.03239038e-02 -4.32128248e-06 9.99946707e-01 -2.85685483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.358623853 meters Centerline goodness [0,1] 0.9999787955894827 Centerline is valid? [True, True] Translation: X:148.16, Y:-25.15, Z:-2.86 [[ 9.69794648e-01 2.43718169e-01 9.98971012e-03 1.48156061e+02] [-2.43705185e-01 9.69846098e-01 -2.51566548e-03 -2.51488301e+01] [-1.03015948e-02 5.13476179e-06 9.99946937e-01 -2.85671860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.388623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:148.19, Y:-25.16, Z:-2.86 [[ 9.69881512e-01 2.43389576e-01 9.55863349e-03 1.48187087e+02] [-2.43377654e-01 9.69928613e-01 -2.40897342e-03 -2.51579173e+01] [-9.85751114e-03 1.00609914e-05 9.99951414e-01 -2.85859361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.418623853 meters Centerline goodness [0,1] 0.9999361416803253 Centerline is valid? [True, True] Translation: X:148.22, Y:-25.17, Z:-2.86 [[ 9.69906957e-01 2.43306405e-01 9.08223347e-03 1.48219147e+02] [-2.43295625e-01 9.69949480e-01 -2.29037357e-03 -2.51664744e+01] [-9.36657019e-03 1.17815942e-05 9.99956133e-01 -2.86070334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.44862385300002 meters Centerline goodness [0,1] 0.9999346988528766 Centerline is valid? [True, True] Translation: X:148.25, Y:-25.17, Z:-2.86 [[ 9.69934119e-01 2.43227334e-01 8.26251491e-03 1.48251565e+02] [-2.43218399e-01 9.69969311e-01 -2.08482364e-03 -2.51745848e+01] [-8.52147199e-03 1.25459281e-05 9.99963692e-01 -2.86093837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.47862385300002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:148.28, Y:-25.18, Z:-2.86 [[ 9.69855522e-01 2.43545221e-01 8.12354099e-03 1.48282113e+02] [-2.43536581e-01 9.69889543e-01 -2.05154877e-03 -2.51821968e+01] [-8.37858235e-03 1.13265087e-05 9.99964899e-01 -2.86279678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.50862385300002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:148.31, Y:-25.19, Z:-2.86 [[ 9.69753616e-01 2.43944076e-01 8.31931719e-03 1.48313388e+02] [-2.43935008e-01 9.69789301e-01 -2.10338046e-03 -2.51891340e+01] [-8.58109200e-03 1.03881010e-05 9.99963182e-01 -2.86325797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.53862385300002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:148.34, Y:-25.20, Z:-2.86 [[ 9.69626096e-01 2.44439905e-01 8.62365991e-03 1.48344620e+02] [-2.44430176e-01 9.69664443e-01 -2.18096696e-03 -2.51960715e+01] [-8.89517174e-03 6.83977340e-06 9.99960437e-01 -2.86453163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.56862385300002 meters Centerline goodness [0,1] 0.9999350044413632 Centerline is valid? [True, True] Translation: X:148.38, Y:-25.20, Z:-2.86 [[ 9.69501623e-01 2.44926070e-01 8.82170796e-03 1.48377172e+02] [-2.44915894e-01 9.69541758e-01 -2.23252842e-03 -2.52032069e+01] [-9.09981866e-03 3.86343418e-06 9.99958596e-01 -2.86208657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.59862385300002 meters Centerline goodness [0,1] 0.9999786388687145 Centerline is valid? [True, True] Translation: X:148.41, Y:-25.21, Z:-2.86 [[ 9.69481762e-01 2.44995404e-01 9.07552447e-03 1.48408020e+02] [-2.44984618e-01 9.69524240e-01 -2.29884942e-03 -2.52113948e+01] [-9.36214851e-03 5.32868553e-06 9.99956174e-01 -2.86208030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.62862385300002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:148.44, Y:-25.22, Z:-2.86 [[ 9.69496060e-01 2.44926663e-01 9.39788804e-03 1.48438596e+02] [-2.44915070e-01 9.69541608e-01 -2.38294240e-03 -2.52196436e+01] [-9.69528962e-03 8.56885724e-06 9.99953000e-01 -2.86311238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.65862385300002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:148.47, Y:-25.23, Z:-2.86 [[ 9.69476117e-01 2.45002004e-01 9.49081243e-03 1.48470408e+02] [-2.44990179e-01 9.69522572e-01 -2.40717715e-03 -2.52278981e+01] [-9.79132010e-03 8.54492006e-06 9.99952064e-01 -2.86268058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.68862385300002 meters Centerline goodness [0,1] 0.9999570833869791 Centerline is valid? [True, True] Translation: X:148.50, Y:-25.24, Z:-2.86 [[ 9.69464167e-01 2.45039371e-01 9.74344897e-03 1.48500804e+02] [-2.45026888e-01 9.69513129e-01 -2.47338112e-03 -2.52361652e+01] [-1.00524774e-02 1.04473955e-05 9.99949473e-01 -2.86360431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.71862385300003 meters Centerline goodness [0,1] 0.9998926900459286 Centerline is valid? [True, True] Translation: X:148.53, Y:-25.24, Z:-2.86 [[ 9.69396482e-01 2.45296972e-01 9.99280987e-03 1.48532809e+02] [-2.45283836e-01 9.69447985e-01 -2.53852617e-03 -2.52442205e+01] [-1.03102022e-02 9.76360081e-06 9.99946848e-01 -2.86269511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.748623853 meters Centerline goodness [0,1] 0.9998932900802459 Centerline is valid? [True, True] Translation: X:148.57, Y:-25.25, Z:-2.86 [[ 9.69309078e-01 2.45642501e-01 9.98367690e-03 1.48565114e+02] [-2.45629387e-01 9.69360491e-01 -2.53820472e-03 -2.52518228e+01] [-1.03012729e-02 8.02043556e-06 9.99946940e-01 -2.86325174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.778623853 meters Centerline goodness [0,1] 0.9999784941611648 Centerline is valid? [True, True] Translation: X:148.60, Y:-25.26, Z:-2.86 [[ 9.69290145e-01 2.45728262e-01 9.70749753e-03 1.48597520e+02] [-2.45715850e-01 9.69338755e-01 -2.46981230e-03 -2.52599781e+01] [-1.00167563e-02 8.67871281e-06 9.99949831e-01 -2.86439914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.808623853 meters Centerline goodness [0,1] 0.9999569401683639 Centerline is valid? [True, True] Translation: X:148.63, Y:-25.27, Z:-2.87 [[ 9.69167105e-01 2.46218999e-01 9.55651714e-03 1.48629363e+02] [-2.46206975e-01 9.69214220e-01 -2.43329257e-03 -2.52676604e+01] [-9.86143517e-03 5.38594077e-06 9.99951375e-01 -2.86551814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.838623853 meters Centerline goodness [0,1] 0.9999360191089595 Centerline is valid? [True, True] Translation: X:148.66, Y:-25.28, Z:-2.87 [[ 9.69068339e-01 2.46617116e-01 9.30330428e-03 1.48661151e+02] [-2.46605722e-01 9.69112996e-01 -2.37059870e-03 -2.52751056e+01] [-9.60058330e-03 3.02407716e-06 9.99953913e-01 -2.86609715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.868623853 meters Centerline goodness [0,1] 0.9997845338389606 Centerline is valid? [True, True] Translation: X:148.69, Y:-25.28, Z:-2.87 [[ 9.68841714e-01 2.47485862e-01 9.82246275e-03 1.48692178e+02] [-2.47473183e-01 9.68891505e-01 -2.50518681e-03 -2.52812123e+01] [-1.01368990e-02 -3.66663617e-06 9.99948620e-01 -2.86604213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.898623853 meters Centerline goodness [0,1] 0.999892507793185 Centerline is valid? [True, True] Translation: X:148.72, Y:-25.29, Z:-2.87 [[ 9.68752471e-01 2.47819549e-01 1.02040275e-02 1.48724452e+02] [-2.47805862e-01 9.68806209e-01 -2.60450028e-03 -2.52888826e+01] [-1.05311712e-02 -5.50173889e-06 9.99944546e-01 -2.86645429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.928623853 meters Centerline goodness [0,1] 0.999978605964657 Centerline is valid? [True, True] Translation: X:148.76, Y:-25.30, Z:-2.87 [[ 9.68725239e-01 2.47937145e-01 9.92896121e-03 1.48755322e+02] [-2.47924167e-01 9.68776121e-01 -2.53673000e-03 -2.52965601e+01] [-1.02478901e-02 -4.23507024e-06 9.99947489e-01 -2.86734293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.958623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:148.79, Y:-25.31, Z:-2.87 [[ 9.68762671e-01 2.47805100e-01 9.56661048e-03 1.48787607e+02] [-2.47793041e-01 9.68809905e-01 -2.44466947e-03 -2.53052717e+01] [-9.87402855e-03 -2.23497022e-06 9.99951251e-01 -2.86788286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.988623853 meters Centerline goodness [0,1] 0.9999564469414864 Centerline is valid? [True, True] Translation: X:148.82, Y:-25.31, Z:-2.87 [[ 9.68800173e-01 2.47654818e-01 9.66003421e-03 1.48819370e+02] [-2.47642496e-01 9.68848332e-01 -2.47052435e-03 -2.53139001e+01] [-9.97094529e-03 1.20943535e-06 9.99950289e-01 -2.86821686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.018623853 meters Centerline goodness [0,1] 0.9999141483516484 Centerline is valid? [True, True] Translation: X:148.85, Y:-25.32, Z:-2.87 [[ 9.68871393e-01 2.47373865e-01 9.71565381e-03 1.48850061e+02] [-2.47361364e-01 9.68920106e-01 -2.48688962e-03 -2.53226321e+01] [-1.00288838e-02 6.19883403e-06 9.99949709e-01 -2.86949201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.048623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:148.88, Y:-25.33, Z:-2.87 [[ 9.68948493e-01 2.47056449e-01 1.00959965e-02 1.48882231e+02] [-2.47042912e-01 9.69001089e-01 -2.58628519e-03 -2.53319422e+01] [-1.04219901e-02 1.18327502e-05 9.99945690e-01 -2.86956416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.078623853 meters Centerline goodness [0,1] 0.9998918498010037 Centerline is valid? [True, True] Translation: X:148.91, Y:-25.34, Z:-2.87 [[ 9.69484305e-01 2.44928613e-01 1.04955209e-02 1.48913014e+02] [-2.44913835e-01 9.69541115e-01 -2.69086833e-03 -2.53436063e+01] [-1.08349097e-02 3.82563387e-05 9.99941300e-01 -2.86894278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.108623853 meters Centerline goodness [0,1] 0.9998708121608819 Centerline is valid? [True, True] Translation: X:148.94, Y:-25.35, Z:-2.86 [[ 9.69770011e-01 2.43817916e-01 9.94734797e-03 1.48942668e+02] [-2.43804560e-01 9.69821025e-01 -2.55248765e-03 -2.53535916e+01] [-1.02694894e-02 5.01171741e-05 9.99947266e-01 -2.86379417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.138623853 meters Centerline goodness [0,1] 0.9999356181728437 Centerline is valid? [True, True] Translation: X:148.97, Y:-25.36, Z:-2.87 [[ 9.70132660e-01 2.42361465e-01 1.01755453e-02 1.48972953e+02] [-2.42347392e-01 9.70186021e-01 -2.61274875e-03 -2.53648870e+01] [-1.05054014e-02 6.86960345e-05 9.99944814e-01 -2.87084940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.168623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:149.00, Y:-25.38, Z:-2.87 [[ 9.70496252e-01 2.40916527e-01 9.81077804e-03 1.49003756e+02] [-2.40903354e-01 9.70545836e-01 -2.52071496e-03 -2.53758070e+01] [-1.01290917e-02 8.28950863e-05 9.99948696e-01 -2.87204389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.19862385300002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:149.03, Y:-25.39, Z:-2.87 [[ 9.70800027e-01 2.39693320e-01 9.71695360e-03 1.49033799e+02] [-2.39680314e-01 9.70848651e-01 -2.49889235e-03 -2.53861613e+01] [-1.00326591e-02 9.69622796e-05 9.99949667e-01 -2.87304202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.22862385300002 meters Centerline goodness [0,1] 0.9999355697779305 Centerline is valid? [True, True] Translation: X:149.06, Y:-25.40, Z:-2.88 [[ 9.71293376e-01 2.37690229e-01 9.61935567e-03 1.49062480e+02] [-2.37677380e-01 9.71341001e-01 -2.47421493e-03 -2.53997814e+01] [-9.93177128e-03 1.16885319e-04 9.99950672e-01 -2.87580966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.25862385300002 meters Centerline goodness [0,1] 0.9999784375875973 Centerline is valid? [True, True] Translation: X:149.09, Y:-25.41, Z:-2.88 [[ 9.71399795e-01 2.37258939e-01 9.52018463e-03 1.49093405e+02] [-2.37246318e-01 9.71446438e-01 -2.45018322e-03 -2.54082712e+01] [-9.82967731e-03 1.21478729e-04 9.99951680e-01 -2.87511093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.28862385300002 meters Centerline goodness [0,1] 0.9997633492534744 Centerline is valid? [True, True] Translation: X:149.12, Y:-25.42, Z:-2.87 [[ 9.71365593e-01 2.37408622e-01 9.27526008e-03 1.49124808e+02] [-2.37396636e-01 9.71409868e-01 -2.38848694e-03 -2.54174314e+01] [-9.57712656e-03 1.18178492e-04 9.99954131e-01 -2.86696813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.31862385300002 meters Centerline goodness [0,1] 0.999978342790315 Centerline is valid? [True, True] Translation: X:149.16, Y:-25.43, Z:-2.88 [[ 9.71348354e-01 2.37444173e-01 1.01311141e-02 1.49156510e+02] [-2.37429851e-01 9.71401178e-01 -2.61118613e-03 -2.54272208e+01] [-1.04613871e-02 1.30942442e-04 9.99945270e-01 -2.87501437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.34862385300002 meters Centerline goodness [0,1] 0.9999355822292844 Centerline is valid? [True, True] Translation: X:149.19, Y:-25.44, Z:-2.87 [[ 9.71203237e-01 2.38028909e-01 1.03204371e-02 1.49186025e+02] [-2.38014054e-01 9.71258061e-01 -2.66238565e-03 -2.54360189e+01] [-1.06575325e-02 1.29308482e-04 9.99943199e-01 -2.87499213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.37862385300002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:149.22, Y:-25.44, Z:-2.88 [[ 9.71072332e-01 2.38567950e-01 1.01911166e-02 1.49217789e+02] [-2.38553480e-01 9.71125799e-01 -2.63042257e-03 -2.54446084e+01] [-1.05243907e-02 1.23204255e-04 9.99944609e-01 -2.87547712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.40862385300002 meters Centerline goodness [0,1] 0.9999571688617624 Centerline is valid? [True, True] Translation: X:149.25, Y:-25.45, Z:-2.88 [[ 9.70871796e-01 2.39372021e-01 1.04399044e-02 1.49248619e+02] [-2.39356857e-01 9.70927918e-01 -2.69695355e-03 -2.54525167e+01] [-1.07819699e-02 1.19533420e-04 9.99941866e-01 -2.87608695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.43862385300002 meters Centerline goodness [0,1] 0.9999785972647305 Centerline is valid? [True, True] Translation: X:149.28, Y:-25.46, Z:-2.88 [[ 9.70676797e-01 2.40167592e-01 1.02997111e-02 1.49280025e+02] [-2.40152860e-01 9.70731433e-01 -2.66247294e-03 -2.54602965e+01] [-1.06376930e-02 1.10895642e-04 9.99943412e-01 -2.87678853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.46862385300003 meters Centerline goodness [0,1] 0.9999573887847282 Centerline is valid? [True, True] Translation: X:149.31, Y:-25.47, Z:-2.88 [[ 9.70261676e-01 2.41845826e-01 1.01428015e-02 1.49310646e+02] [-2.41831612e-01 9.70314685e-01 -2.62371483e-03 -2.54679221e+01] [-1.04762437e-02 9.28399047e-05 9.99945118e-01 -2.87781886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.498623853 meters Centerline goodness [0,1] 0.9999786411499605 Centerline is valid? [True, True] Translation: X:149.34, Y:-25.48, Z:-2.88 [[ 9.70025485e-01 2.42786205e-01 1.02672989e-02 1.49342114e+02] [-2.42771675e-01 9.70079817e-01 -2.65754094e-03 -2.54754884e+01] [-1.06053138e-02 8.52730873e-05 9.99943758e-01 -2.87855289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.528623853 meters Centerline goodness [0,1] 0.9999571027175428 Centerline is valid? [True, True] Translation: X:149.37, Y:-25.48, Z:-2.88 [[ 9.69394430e-01 2.45279527e-01 1.06015178e-02 1.49373715e+02] [-2.45264164e-01 9.69452397e-01 -2.74593513e-03 -2.54804957e+01] [-1.09511885e-02 6.17218217e-05 9.99940032e-01 -2.87856152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.558623853 meters Centerline goodness [0,1] 0.9999784059254141 Centerline is valid? [True, True] Translation: X:149.41, Y:-25.49, Z:-2.88 [[ 9.69051014e-01 2.46626845e-01 1.07392121e-02 1.49405459e+02] [-2.46611142e-01 9.69110518e-01 -2.78347162e-03 -2.54873962e+01] [-1.10939623e-02 4.89166328e-05 9.99938459e-01 -2.87834133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.588623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:149.44, Y:-25.49, Z:-2.88 [[ 9.68683446e-01 2.48049540e-01 1.11268937e-02 1.49436564e+02] [-2.48032753e-01 9.68747348e-01 -2.88596105e-03 -2.54937599e+01] [-1.14950100e-02 3.57486213e-05 9.99933930e-01 -2.87845355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.618623853 meters Centerline goodness [0,1] 0.9999785642322779 Centerline is valid? [True, True] Translation: X:149.47, Y:-25.50, Z:-2.88 [[ 9.68278019e-01 2.49616771e-01 1.13642346e-02 1.49469207e+02] [-2.49599347e-01 9.68344705e-01 -2.94936777e-03 -2.55008332e+01] [-1.17407080e-02 1.93024461e-05 9.99931075e-01 -2.87852228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.648623853 meters Centerline goodness [0,1] 0.9998926070707504 Centerline is valid? [True, True] Translation: X:149.50, Y:-25.51, Z:-2.88 [[ 9.67460169e-01 2.52758266e-01 1.15793499e-02 1.49501997e+02] [-2.52740373e-01 9.67529461e-01 -3.00746114e-03 -2.55053622e+01] [-1.19635229e-02 -1.69703613e-05 9.99928434e-01 -2.87798928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.678623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:149.53, Y:-25.51, Z:-2.88 [[ 9.67020027e-01 2.54447844e-01 1.13385144e-02 1.49533481e+02] [-2.54430777e-01 9.67086497e-01 -2.94722424e-03 -2.55110550e+01] [-1.17152390e-02 -3.48421612e-05 9.99931374e-01 -2.88030874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.708623853 meters Centerline goodness [0,1] 0.999914571898426 Centerline is valid? [True, True] Translation: X:149.57, Y:-25.52, Z:-2.88 [[ 9.66587603e-01 2.56094768e-01 1.11299717e-02 1.49566354e+02] [-2.56078408e-01 9.66651678e-01 -2.89507352e-03 -2.55173567e+01] [-1.15002190e-02 -5.18032634e-05 9.99933869e-01 -2.88113648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.738623853 meters Centerline goodness [0,1] 0.9997864981425338 Centerline is valid? [True, True] Translation: X:149.60, Y:-25.52, Z:-2.88 [[ 9.66198541e-01 2.57562796e-01 1.10356935e-02 1.49598369e+02] [-2.57546785e-01 9.66261560e-01 -2.87257209e-03 -2.55236871e+01] [-1.14032342e-02 -6.67324320e-05 9.99934979e-01 -2.88141547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.768623853 meters Centerline goodness [0,1] 0.9996332887527504 Centerline is valid? [True, True] Translation: X:149.63, Y:-25.53, Z:-2.88 [[ 9.65624859e-01 2.59694922e-01 1.12773431e-02 1.49630390e+02] [-2.59678321e-01 9.65690706e-01 -2.93780815e-03 -2.55281291e+01] [-1.16533593e-02 -9.16609378e-05 9.99932093e-01 -2.88137270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.798623853 meters Centerline goodness [0,1] 0.9995057058735037 Centerline is valid? [True, True] Translation: X:149.66, Y:-25.54, Z:-2.88 [[ 9.65319090e-01 2.60830437e-01 1.12489148e-02 1.49661331e+02] [-2.60813975e-01 9.65384624e-01 -2.93226719e-03 -2.55353444e+01] [-1.16243539e-02 -1.03300680e-04 9.99932430e-01 -2.88129388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.828623853 meters Centerline goodness [0,1] 0.9995713214017791 Centerline is valid? [True, True] Translation: X:149.69, Y:-25.54, Z:-2.88 [[ 9.65136748e-01 2.61523033e-01 1.08056259e-02 1.49692242e+02] [-2.61507866e-01 9.65197230e-01 -2.81857188e-03 -2.55411318e+01] [-1.11666816e-02 -1.05448854e-04 9.99937645e-01 -2.88295269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.858623853 meters Centerline goodness [0,1] 0.9996978851963746 Centerline is valid? [True, True] Translation: X:149.72, Y:-25.55, Z:-2.88 [[ 9.64891220e-01 2.62437000e-01 1.05714235e-02 1.49723100e+02] [-2.62422521e-01 9.64949122e-01 -2.75904131e-03 -2.55487324e+01] [-1.09249603e-02 -1.12004869e-04 9.99940315e-01 -2.88350687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.888623853 meters Centerline goodness [0,1] 0.9992875801472334 Centerline is valid? [True, True] Translation: X:149.76, Y:-25.56, Z:-2.88 [[ 9.64749552e-01 2.62975326e-01 1.01133620e-02 1.49755030e+02] [-2.62962088e-01 9.64802553e-01 -2.64095261e-03 -2.55564034e+01] [-1.04519028e-02 -1.11572937e-04 9.99945371e-01 -2.87650308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.918623853 meters Centerline goodness [0,1] 0.9998499657064472 Centerline is valid? [True, True] Translation: X:149.79, Y:-25.57, Z:-2.88 [[ 9.64761776e-01 2.62903854e-01 1.07833100e-02 1.49785788e+02] [-2.62888771e-01 9.64822030e-01 -2.81843943e-03 -2.55653009e+01] [-1.11449537e-02 -1.15688499e-04 9.99937886e-01 -2.88377642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.94862385300002 meters Centerline goodness [0,1] 0.9997192952150631 Centerline is valid? [True, True] Translation: X:149.82, Y:-25.57, Z:-2.88 [[ 9.64753225e-01 2.62933941e-01 1.08146690e-02 1.49817639e+02] [-2.62918753e-01 9.64813832e-01 -2.82838513e-03 -2.55739801e+01] [-1.11778207e-02 -1.14685607e-04 9.99937520e-01 -2.88361966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.97862385300002 meters Centerline goodness [0,1] 0.9993774953848796 Centerline is valid? [True, True] Translation: X:149.85, Y:-25.58, Z:-2.88 [[ 9.64728933e-01 2.63028950e-01 1.06703689e-02 1.49849516e+02] [-2.63014141e-01 9.64787935e-01 -2.79331509e-03 -2.55791534e+01] [-1.10293659e-02 -1.11666027e-04 9.99939168e-01 -2.87789212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.00862385300002 meters Centerline goodness [0,1] 0.9998067798793447 Centerline is valid? [True, True] Translation: X:149.88, Y:-25.59, Z:-2.89 [[ 9.64677510e-01 2.63193759e-01 1.12404119e-02 1.49881946e+02] [-2.63177323e-01 9.64742987e-01 -2.94374185e-03 -2.55868979e+01] [-1.16188830e-02 -1.18459943e-04 9.99932491e-01 -2.88542035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.03862385300002 meters Centerline goodness [0,1] 0.9996794323816037 Centerline is valid? [True, True] Translation: X:149.91, Y:-25.60, Z:-2.89 [[ 9.64616635e-01 2.63418075e-01 1.12100161e-02 1.49914167e+02] [-2.63401718e-01 9.64681763e-01 -2.93794874e-03 -2.55952451e+01] [-1.15880069e-02 -1.18743256e-04 9.99932850e-01 -2.88578817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.06862385300002 meters Centerline goodness [0,1] 0.9997201713412402 Centerline is valid? [True, True] Translation: X:149.95, Y:-25.60, Z:-2.89 [[ 9.64553018e-01 2.63653984e-01 1.11379003e-02 1.49945702e+02] [-2.63637827e-01 9.64617314e-01 -2.92115532e-03 -2.56045756e+01] [-1.15139857e-02 -1.18762659e-04 9.99933705e-01 -2.88528377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.09862385300002 meters Centerline goodness [0,1] 0.9998064890666323 Centerline is valid? [True, True] Translation: X:149.98, Y:-25.61, Z:-2.89 [[ 9.64495424e-01 2.63855022e-01 1.13624405e-02 1.49976727e+02] [-2.63838193e-01 9.64562342e-01 -2.98252713e-03 -2.56111665e+01] [-1.17467370e-02 -1.21212011e-04 9.99930997e-01 -2.88618998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.12862385300002 meters Centerline goodness [0,1] 0.9998064890666323 Centerline is valid? [True, True] Translation: X:150.01, Y:-25.62, Z:-2.89 [[ 9.64446651e-01 2.64033264e-01 1.13619131e-02 1.50008096e+02] [-2.64016423e-01 9.64513567e-01 -2.98453492e-03 -2.56195996e+01] [-1.17467358e-02 -1.21306945e-04 9.99930997e-01 -2.88676340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.15862385300002 meters Centerline goodness [0,1] 0.999744702578504 Centerline is valid? [True, True] Translation: X:150.04, Y:-25.63, Z:-2.89 [[ 9.64433047e-01 2.64078704e-01 1.14601548e-02 1.50039449e+02] [-2.64061546e-01 9.64501127e-01 -3.01270839e-03 -2.56263036e+01] [-1.18489244e-02 -1.20630664e-04 9.99929792e-01 -2.88737284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.18862385300002 meters Centerline goodness [0,1] 0.9997448979591836 Centerline is valid? [True, True] Translation: X:150.07, Y:-25.63, Z:-2.89 [[ 9.64445200e-01 2.64032999e-01 1.14905174e-02 1.50070947e+02] [-2.64015721e-01 9.64513640e-01 -3.02283391e-03 -2.56328800e+01] [-1.18808887e-02 -1.18319584e-04 9.99929413e-01 -2.88762782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.21862385300003 meters Centerline goodness [0,1] 0.9997006052051923 Centerline is valid? [True, True] Translation: X:150.10, Y:-25.64, Z:-2.89 [[ 9.64356158e-01 2.64355919e-01 1.15389923e-02 1.50102479e+02] [-2.64338494e-01 9.64425183e-01 -3.03759485e-03 -2.56411467e+01] [-1.19315010e-02 -1.20876553e-04 9.99928810e-01 -2.88785974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.248623853 meters Centerline goodness [0,1] 0.9996996610460377 Centerline is valid? [True, True] Translation: X:150.13, Y:-25.65, Z:-2.89 [[ 9.64267364e-01 2.64691244e-01 1.12692531e-02 1.50134991e+02] [-2.64674622e-01 9.64333205e-01 -2.96871909e-03 -2.56483564e+01] [-1.16531090e-02 -1.20046391e-04 9.99932093e-01 -2.88851107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.278623853 meters Centerline goodness [0,1] 0.9996560175431053 Centerline is valid? [True, True] Translation: X:150.17, Y:-25.65, Z:-2.89 [[ 9.64059940e-01 2.65475773e-01 1.05378439e-02 1.50166289e+02] [-2.65461262e-01 9.64117524e-01 -2.77821568e-03 -2.56512326e+01] [-1.08972689e-02 -1.19022886e-04 9.99940616e-01 -2.89114736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.308623853 meters Centerline goodness [0,1] 0.9996774054798055 Centerline is valid? [True, True] Translation: X:150.20, Y:-25.66, Z:-2.89 [[ 9.63877757e-01 2.66145099e-01 1.03177799e-02 1.50197945e+02] [-2.66131211e-01 9.63932970e-01 -2.72165025e-03 -2.56585857e+01] [-1.06700021e-02 -1.22545122e-04 9.99943066e-01 -2.89085548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.338623853 meters Centerline goodness [0,1] 0.9996803000916473 Centerline is valid? [True, True] Translation: X:150.23, Y:-25.66, Z:-2.89 [[ 9.63683083e-01 2.66859156e-01 1.00551826e-02 1.50229140e+02] [-2.66845984e-01 9.63735532e-01 -2.65442591e-03 -2.56628952e+01] [-1.03988946e-02 -1.25159746e-04 9.99945922e-01 -2.89220357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.368623853 meters Centerline goodness [0,1] 0.9995758488325239 Centerline is valid? [True, True] Translation: X:150.26, Y:-25.67, Z:-2.89 [[ 9.63490711e-01 2.67538232e-01 1.04376261e-02 1.50259458e+02] [-2.67524047e-01 9.63547236e-01 -2.75823162e-03 -2.56667639e+01] [-1.07950782e-02 -1.34785442e-04 9.99941722e-01 -2.89286707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.398623853 meters Centerline goodness [0,1] 0.9997008291306949 Centerline is valid? [True, True] Translation: X:150.29, Y:-25.67, Z:-2.89 [[ 9.63290658e-01 2.68255169e-01 1.05011151e-02 1.50291991e+02] [-2.68240864e-01 9.63347883e-01 -2.77405793e-03 -2.56713350e+01] [-1.08603824e-02 -1.44604100e-04 9.99941014e-01 -2.89241224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.428623853 meters Centerline goodness [0,1] 0.9998069912073773 Centerline is valid? [True, True] Translation: X:150.32, Y:-25.68, Z:-2.89 [[ 9.63319571e-01 2.68151363e-01 1.05000514e-02 1.50322439e+02] [-2.68137034e-01 9.63376783e-01 -2.77572703e-03 -2.56775586e+01] [-1.08598207e-02 -1.41540462e-04 9.99941020e-01 -2.89329904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.458623853 meters Centerline goodness [0,1] 0.999550946220464 Centerline is valid? [True, True] Translation: X:150.35, Y:-25.68, Z:-2.89 [[ 9.63414859e-01 2.67813395e-01 1.03824830e-02 1.50353450e+02] [-2.67799337e-01 9.63470792e-01 -2.74724603e-03 -2.56840856e+01] [-1.07389684e-02 -1.33684426e-04 9.99942327e-01 -2.89343704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.488623853 meters Centerline goodness [0,1] 0.9997852141415009 Centerline is valid? [True, True] Translation: X:150.38, Y:-25.69, Z:-2.89 [[ 9.63601709e-01 2.67128853e-01 1.06734559e-02 1.50383308e+02] [-2.67113953e-01 9.63660811e-01 -2.82428400e-03 -2.56903852e+01] [-1.10400389e-02 -1.29544107e-04 9.99939049e-01 -2.89453131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.518623853 meters Centerline goodness [0,1] 0.9997648618028687 Centerline is valid? [True, True] Translation: X:150.41, Y:-25.70, Z:-2.90 [[ 9.64295865e-01 2.64611774e-01 1.06814955e-02 1.50413137e+02] [-2.64596687e-01 9.64355017e-01 -2.82739142e-03 -2.56973963e+01] [-1.10489149e-02 -9.98464800e-05 9.99938954e-01 -2.89588600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.548623853 meters Centerline goodness [0,1] 0.9997431561824447 Centerline is valid? [True, True] Translation: X:150.44, Y:-25.71, Z:-2.90 [[ 9.64674563e-01 2.63214372e-01 1.10083089e-02 1.50443598e+02] [-2.63198266e-01 9.64737367e-01 -2.91305869e-03 -2.57070889e+01] [-1.13868858e-02 -8.72141925e-05 9.99935164e-01 -2.89547128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.578623853 meters Centerline goodness [0,1] 0.9997626804168195 Centerline is valid? [True, True] Translation: X:150.47, Y:-25.72, Z:-2.90 [[ 9.65145474e-01 2.61466885e-01 1.13702398e-02 1.50474653e+02] [-2.61449557e-01 9.65212445e-01 -3.01090004e-03 -2.57168529e+01] [-1.17619476e-02 -6.67876094e-05 9.99930824e-01 -2.89510122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.608623853 meters Centerline goodness [0,1] 0.9999142091152815 Centerline is valid? [True, True] Translation: X:150.50, Y:-25.73, Z:-2.90 [[ 9.65664158e-01 2.59562356e-01 1.09597901e-02 1.50504925e+02] [-2.59546111e-01 9.65726349e-01 -2.90414924e-03 -2.57258477e+01] [-1.13379659e-02 -4.01380677e-05 9.99935722e-01 -2.89658710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.638623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:150.54, Y:-25.74, Z:-2.90 [[ 9.66201089e-01 2.57563033e-01 1.08045753e-02 1.50535181e+02] [-2.57547102e-01 9.66261499e-01 -2.86472322e-03 -2.57356382e+01] [-1.11778920e-02 -1.47883686e-05 9.99937525e-01 -2.89783365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.668623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:150.57, Y:-25.75, Z:-2.90 [[ 9.67214872e-01 2.53742528e-01 1.04938909e-02 1.50565261e+02] [-2.53727256e-01 9.67271797e-01 -2.78401288e-03 -2.57472318e+01] [-1.08568672e-02 3.01525172e-05 9.99941062e-01 -2.89919680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.69862385300002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:150.60, Y:-25.76, Z:-2.90 [[ 9.67678055e-01 2.51972742e-01 1.04364696e-02 1.50596491e+02] [-2.51957506e-01 9.67734331e-01 -2.77130708e-03 -2.57567333e+01] [-1.07980238e-02 5.21861817e-05 9.99941698e-01 -2.89986575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.72862385300002 meters Centerline goodness [0,1] 0.9999785071034023 Centerline is valid? [True, True] Translation: X:150.63, Y:-25.77, Z:-2.90 [[ 9.68146953e-01 2.50181511e-01 1.00343741e-02 1.50625576e+02] [-2.50167321e-01 9.68198950e-01 -2.66549704e-03 -2.57666864e+01] [-1.03821286e-02 7.03203407e-05 9.99946102e-01 -2.89870875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.75862385300002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:150.65, Y:-25.78, Z:-2.90 [[ 9.68597630e-01 2.48436599e-01 9.89379140e-03 1.50654799e+02] [-2.48422709e-01 9.68648155e-01 -2.62852517e-03 -2.57778088e+01] [-1.02366246e-02 8.81407844e-05 9.99947601e-01 -2.90344509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.78862385300002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:150.68, Y:-25.79, Z:-2.90 [[ 9.69656442e-01 2.44280950e-01 9.65406652e-03 1.50683857e+02] [-2.44267499e-01 9.69704491e-01 -2.56682387e-03 -2.57916393e+01] [-9.98861783e-03 1.30762616e-04 9.99950104e-01 -2.90494602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.81862385300002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:150.71, Y:-25.80, Z:-2.90 [[ 9.70137323e-01 2.42364025e-01 9.65680109e-03 1.50714936e+02] [-2.42350469e-01 9.70185372e-01 -2.56774333e-03 -2.58014514e+01] [-9.99121577e-03 1.50733366e-04 9.99950075e-01 -2.90461422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.84862385300002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:150.75, Y:-25.81, Z:-2.90 [[ 9.70622000e-01 2.40407724e-01 9.85186872e-03 1.50745695e+02] [-2.40393497e-01 9.70671981e-01 -2.62136547e-03 -2.58108073e+01] [-1.01931294e-02 1.76029822e-04 9.99948033e-01 -2.90419440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.87862385300002 meters Centerline goodness [0,1] 0.999978488146969 Centerline is valid? [True, True] Translation: X:150.77, Y:-25.83, Z:-2.90 [[ 9.71525466e-01 2.36701360e-01 1.05230840e-02 1.50773712e+02] [-2.36684886e-01 9.71582427e-01 -2.80217727e-03 -2.58258815e+01] [-1.08873227e-02 2.31731640e-04 9.99940704e-01 -2.90490890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.90862385300002 meters Centerline goodness [0,1] 0.999956930895622 Centerline is valid? [True, True] Translation: X:150.80, Y:-25.84, Z:-2.90 [[ 9.71990324e-01 2.34780760e-01 1.06209429e-02 1.50802431e+02] [-2.34763834e-01 9.72048316e-01 -2.83096240e-03 -2.58377099e+01] [-1.09887252e-02 2.58254786e-04 9.99939589e-01 -2.90482900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.93862385300002 meters Centerline goodness [0,1] 0.9998505550811272 Centerline is valid? [True, True] Translation: X:150.83, Y:-25.85, Z:-2.91 [[ 9.72372998e-01 2.33174823e-01 1.09660556e-02 1.50830840e+02] [-2.33156683e-01 9.72434790e-01 -2.92241256e-03 -2.58532807e+01] [-1.13452070e-02 2.84865922e-04 9.99935600e-01 -2.90576365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.96862385300003 meters Centerline goodness [0,1] 0.9999355863786662 Centerline is valid? [True, True] Translation: X:150.86, Y:-25.86, Z:-2.90 [[ 9.72736937e-01 2.31644609e-01 1.11187243e-02 1.50862531e+02] [-2.31625834e-01 9.72800432e-01 -2.96533366e-03 -2.58575624e+01] [-1.15032034e-02 3.09105781e-04 9.99933788e-01 -2.90439222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.998623853 meters Centerline goodness [0,1] 0.9998495755882669 Centerline is valid? [True, True] Translation: X:150.89, Y:-25.88, Z:-2.91 [[ 9.73422575e-01 2.28736744e-01 1.13133533e-02 1.50888746e+02] [-2.28717095e-01 9.73488253e-01 -3.01849537e-03 -2.58752407e+01] [-1.17038573e-02 3.50714233e-04 9.99931446e-01 -2.90633540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.028623853 meters Centerline goodness [0,1] 0.9999359083917279 Centerline is valid? [True, True] Translation: X:150.92, Y:-25.89, Z:-2.91 [[ 9.73670304e-01 2.27687332e-01 1.11632138e-02 1.50918666e+02] [-2.27668131e-01 9.73734230e-01 -2.97852340e-03 -2.58873415e+01] [-1.15481755e-02 3.58591758e-04 9.99933253e-01 -2.90685555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.058623853 meters Centerline goodness [0,1] 0.9996593207707868 Centerline is valid? [True, True] Translation: X:150.95, Y:-25.90, Z:-2.91 [[ 9.73895497e-01 2.26734740e-01 1.09050178e-02 1.50948462e+02] [-2.26716337e-01 9.73956480e-01 -2.91149096e-03 -2.58988198e+01] [-1.12811489e-02 3.63142249e-04 9.99936300e-01 -2.90825752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.088623853 meters Centerline goodness [0,1] 0.9996804771541166 Centerline is valid? [True, True] Translation: X:150.98, Y:-25.91, Z:-2.91 [[ 9.74042579e-01 2.26126443e-01 1.03868564e-02 1.50977529e+02] [-2.26109696e-01 9.74097894e-01 -2.77467226e-03 -2.59109570e+01] [-1.07452418e-02 3.54079975e-04 9.99942206e-01 -2.90972822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.118623853 meters Centerline goodness [0,1] 0.9999137577887497 Centerline is valid? [True, True] Translation: X:151.01, Y:-25.92, Z:-2.91 [[ 9.74103383e-01 2.25876851e-01 1.01117178e-02 1.51008870e+02] [-2.25860946e-01 9.74155802e-01 -2.70309569e-03 -2.59164863e+01] [-1.04609553e-02 3.49252512e-04 9.99945222e-01 -2.90958539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.148623853 meters Centerline goodness [0,1] 0.9998279643886284 Centerline is valid? [True, True] Translation: X:151.04, Y:-25.93, Z:-2.91 [[ 9.73967147e-01 2.26468164e-01 1.00083406e-02 1.51038821e+02] [-2.26452610e-01 9.74018509e-01 -2.67586847e-03 -2.59269409e+01] [-1.03543080e-02 3.39793127e-04 9.99946335e-01 -2.91047694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.178623853 meters Centerline goodness [0,1] 0.9998505869797225 Centerline is valid? [True, True] Translation: X:151.07, Y:-25.94, Z:-2.91 [[ 9.73437731e-01 2.28721352e-01 1.02725970e-02 1.51066283e+02] [-2.28705059e-01 9.73491878e-01 -2.74958754e-03 -2.59405261e+01] [-1.06291791e-02 3.27157367e-04 9.99943455e-01 -2.91217379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.208623853 meters Centerline goodness [0,1] 0.9999346049046322 Centerline is valid? [True, True] Translation: X:151.10, Y:-25.94, Z:-2.91 [[ 9.73095316e-01 2.30165881e-01 1.04486092e-02 1.51099718e+02] [-2.30149109e-01 9.73151359e-01 -2.79649927e-03 -2.59418278e+01] [-1.08117370e-02 3.16522239e-04 9.99941501e-01 -2.91114926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.238623853 meters Centerline goodness [0,1] 0.9998288587014654 Centerline is valid? [True, True] Translation: X:151.13, Y:-25.96, Z:-2.91 [[ 9.72776621e-01 2.31504342e-01 1.05539517e-02 1.51128107e+02] [-2.31487309e-01 9.72833823e-01 -2.82472167e-03 -2.59560113e+01] [-1.09211765e-02 3.04717326e-04 9.99940316e-01 -2.91313145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.268623853 meters Centerline goodness [0,1] 0.9999564526313498 Centerline is valid? [True, True] Translation: X:151.16, Y:-25.96, Z:-2.91 [[ 9.72505211e-01 2.32634048e-01 1.07244397e-02 1.51161354e+02] [-2.32616510e-01 9.72564296e-01 -2.87204414e-03 -2.59559230e+01] [-1.10983424e-02 2.98396160e-04 9.99938367e-01 -2.91124766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.298623853 meters Centerline goodness [0,1] 0.9999134573777585 Centerline is valid? [True, True] Translation: X:151.19, Y:-25.97, Z:-2.91 [[ 9.72266668e-01 2.33636895e-01 1.05511792e-02 1.51190427e+02] [-2.33619956e-01 9.72323876e-01 -2.82765826e-03 -2.59679388e+01] [-1.09198088e-02 2.84271844e-04 9.99940337e-01 -2.91262344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.328623853 meters Centerline goodness [0,1] 0.9998492419021364 Centerline is valid? [True, True] Translation: X:151.22, Y:-25.98, Z:-2.91 [[ 9.71926697e-01 2.35058114e-01 1.03043202e-02 1.51221212e+02] [-2.35042020e-01 9.71981283e-01 -2.76318759e-03 -2.59779352e+01] [-1.06651160e-02 2.63667548e-04 9.99943091e-01 -2.90612925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.358623853 meters Centerline goodness [0,1] 0.999978601844521 Centerline is valid? [True, True] Translation: X:151.25, Y:-25.99, Z:-2.91 [[ 9.71699222e-01 2.35974785e-01 1.07945592e-02 1.51250264e+02] [-2.35957151e-01 9.71759141e-01 -2.89721269e-03 -2.59897480e+01] [-1.11733807e-02 2.68165882e-04 9.99937540e-01 -2.91411416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.388623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:151.28, Y:-26.00, Z:-2.91 [[ 9.71400396e-01 2.37195004e-01 1.09453210e-02 1.51281124e+02] [-2.37176944e-01 9.71462024e-01 -2.93837904e-03 -2.59992392e+01] [-1.13299325e-02 2.58364784e-04 9.99935781e-01 -2.91417154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.418623853 meters Centerline goodness [0,1] 0.999956917907072 Centerline is valid? [True, True] Translation: X:151.31, Y:-26.01, Z:-2.91 [[ 9.70755961e-01 2.39822874e-01 1.08560410e-02 1.51310710e+02] [-2.39805249e-01 9.70816634e-01 -2.91636895e-03 -2.60092165e+01] [-1.12386372e-02 2.27746919e-04 9.99936819e-01 -2.91482961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.44862385300002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:151.34, Y:-26.02, Z:-2.92 [[ 9.70338372e-01 2.41514196e-01 1.06928413e-02 1.51341671e+02] [-2.41497182e-01 9.70397264e-01 -2.87413627e-03 -2.60173410e+01] [-1.10704487e-02 2.06593658e-04 9.99938699e-01 -2.91557593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.47862385300002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:151.37, Y:-26.02, Z:-2.92 [[ 9.69866623e-01 2.43401200e-01 1.07046891e-02 1.51373675e+02] [-2.43384243e-01 9.69925678e-01 -2.87913873e-03 -2.60227545e+01] [-1.10835386e-02 1.87027912e-04 9.99938558e-01 -2.91549003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.50862385300002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:151.41, Y:-26.03, Z:-2.92 [[ 9.69298808e-01 2.45662630e-01 1.04734335e-02 1.51405209e+02] [-2.45646509e-01 9.69355377e-01 -2.81879431e-03 -2.60296956e+01] [-1.08449515e-02 1.59491600e-04 9.99941179e-01 -2.91591814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.53862385300002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:151.44, Y:-26.04, Z:-2.92 [[ 9.68775710e-01 2.47705046e-01 1.07626032e-02 1.51435534e+02] [-2.47688125e-01 9.68835481e-01 -2.89875254e-03 -2.60369740e+01] [-1.11452274e-02 1.42472052e-04 9.99937880e-01 -2.91607610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.56862385300002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:151.47, Y:-26.04, Z:-2.92 [[ 9.68222064e-01 2.49837844e-01 1.12732611e-02 1.51465791e+02] [-2.49819400e-01 9.68287683e-01 -3.03831813e-03 -2.60442047e+01] [-1.16748467e-02 1.25487322e-04 9.99931839e-01 -2.91581903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.59862385300002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:151.50, Y:-26.05, Z:-2.92 [[ 9.67365735e-01 2.53102216e-01 1.19500318e-02 1.51495606e+02] [-2.53081713e-01 9.67439538e-01 -3.22289716e-03 -2.60529745e+01] [-1.23766556e-02 9.33857712e-05 9.99923402e-01 -2.91613775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.62862385300002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:151.53, Y:-26.06, Z:-2.92 [[ 9.67022903e-01 2.54408646e-01 1.19560004e-02 1.51525372e+02] [-2.54388197e-01 9.67096807e-01 -3.22652489e-03 -2.60613451e+01] [-1.23834656e-02 7.86580821e-05 9.99923319e-01 -2.91643325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.65862385300002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:151.56, Y:-26.07, Z:-2.92 [[ 9.66676025e-01 2.55723657e-01 1.19529617e-02 1.51556997e+02] [-2.55703297e-01 9.66749920e-01 -3.22746882e-03 -2.60690432e+01] [-1.23808649e-02 6.35050189e-05 9.99923352e-01 -2.91618968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.68862385300002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:151.59, Y:-26.08, Z:-2.92 [[ 9.66015670e-01 2.58190172e-01 1.23109655e-02 1.51587208e+02] [-2.58168745e-01 9.66094112e-01 -3.32645293e-03 -2.60769097e+01] [-1.27524088e-02 3.50991312e-05 9.99918684e-01 -2.91686554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.71862385300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:151.62, Y:-26.08, Z:-2.92 [[ 9.65624630e-01 2.59647224e-01 1.23447578e-02 1.51618988e+02] [-2.59625775e-01 9.65703536e-01 -3.33740280e-03 -2.60849057e+01] [-1.27879236e-02 1.76610310e-05 9.99918231e-01 -2.91671036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.748623853 meters Centerline goodness [0,1] 0.9999785793848 Centerline is valid? [True, True] Translation: X:151.65, Y:-26.09, Z:-2.92 [[ 9.65221376e-01 2.61146017e-01 1.22659156e-02 1.51650519e+02] [-2.61124931e-01 9.65299310e-01 -3.31854558e-03 -2.60929101e+01] [-1.27069048e-02 1.94764914e-07 9.99919264e-01 -2.91735585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.778623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:151.68, Y:-26.10, Z:-2.92 [[ 9.64779127e-01 2.62765229e-01 1.24767970e-02 1.51682204e+02] [-2.62743513e-01 9.64859800e-01 -3.37821174e-03 -2.61004092e+01] [-1.29260365e-02 -1.89693109e-05 9.99916455e-01 -2.91762832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.808623853 meters Centerline goodness [0,1] 0.9999786192298646 Centerline is valid? [True, True] Translation: X:151.71, Y:-26.11, Z:-2.92 [[ 9.63912342e-01 2.65945369e-01 1.20853896e-02 1.51712673e+02] [-2.65925212e-01 9.63988100e-01 -3.27477789e-03 -2.61052836e+01] [-1.25210838e-02 -5.72109846e-05 9.99921607e-01 -2.91917758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.838623853 meters Centerline goodness [0,1] 0.9999147194269146 Centerline is valid? [True, True] Translation: X:151.74, Y:-26.11, Z:-2.92 [[ 9.63440634e-01 2.67665216e-01 1.17250429e-02 1.51744009e+02] [-2.67646348e-01 9.63511975e-01 -3.17894530e-03 -2.61125748e+01] [-1.21481124e-02 -7.54398424e-05 9.99926206e-01 -2.92016831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.868623853 meters Centerline goodness [0,1] 0.9999572311442807 Centerline is valid? [True, True] Translation: X:151.77, Y:-26.12, Z:-2.92 [[ 9.63082490e-01 2.68963065e-01 1.14449416e-02 1.51774921e+02] [-2.68945158e-01 9.63150488e-01 -3.10490788e-03 -2.61195758e+01] [-1.18583066e-02 -8.77792097e-05 9.99929684e-01 -2.92153443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.898623853 meters Centerline goodness [0,1] 0.9998934606123884 Centerline is valid? [True, True] Translation: X:151.81, Y:-26.13, Z:-2.92 [[ 9.62750577e-01 2.70166220e-01 1.10244831e-02 1.51805665e+02] [-2.70149661e-01 9.62813691e-01 -2.99272391e-03 -2.61257806e+01] [-1.14230562e-02 -9.70137116e-05 9.99934750e-01 -2.92311650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.928623853 meters Centerline goodness [0,1] 0.9999786315654515 Centerline is valid? [True, True] Translation: X:151.84, Y:-26.13, Z:-2.92 [[ 9.62277336e-01 2.71856003e-01 1.08000923e-02 1.51836747e+02] [-2.71840200e-01 9.62337935e-01 -2.93339926e-03 -2.61328721e+01] [-1.11908008e-02 -1.13155637e-04 9.99937375e-01 -2.92362918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.958623853 meters Centerline goodness [0,1] 0.9999139544388754 Centerline is valid? [True, True] Translation: X:151.87, Y:-26.14, Z:-2.92 [[ 9.62103318e-01 2.72465557e-01 1.09419306e-02 1.51868239e+02] [-2.72449354e-01 9.62165529e-01 -2.97382966e-03 -2.61401454e+01] [-1.13382146e-02 -1.19990529e-04 9.99935713e-01 -2.92452527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.988623853 meters Centerline goodness [0,1] 0.999913952587876 Centerline is valid? [True, True] Translation: X:151.90, Y:-26.15, Z:-2.92 [[ 9.61963183e-01 2.72957204e-01 1.10090098e-02 1.51899692e+02] [-2.72940811e-01 9.62026169e-01 -2.99406007e-03 -2.61491081e+01] [-1.14082058e-02 -1.24632523e-04 9.99934917e-01 -2.92473222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.018623853 meters Centerline goodness [0,1] 0.999913952587876 Centerline is valid? [True, True] Translation: X:151.93, Y:-26.16, Z:-2.93 [[ 9.61911709e-01 2.73138571e-01 1.10084463e-02 1.51930984e+02] [-2.73122166e-01 9.61974691e-01 -2.99613023e-03 -2.61578128e+01] [-1.14082054e-02 -1.24637946e-04 9.99934917e-01 -2.92530566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.048623853 meters Centerline goodness [0,1] 0.999914030261348 Centerline is valid? [True, True] Translation: X:151.96, Y:-26.17, Z:-2.93 [[ 9.61800537e-01 2.73528090e-01 1.10503776e-02 1.51961768e+02] [-2.73511559e-01 9.61864007e-01 -3.00987465e-03 -2.61652459e+01] [-1.14522457e-02 -1.27506940e-04 9.99934413e-01 -2.92630725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.078623853 meters Centerline goodness [0,1] 0.9998504465239499 Centerline is valid? [True, True] Translation: X:151.99, Y:-26.17, Z:-2.93 [[ 9.61724722e-01 2.73799261e-01 1.09326768e-02 1.51993126e+02] [-2.73783075e-01 9.61786852e-01 -2.97988919e-03 -2.61729936e+01] [-1.13307963e-02 -1.27348780e-04 9.99935796e-01 -2.92726561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.108623853 meters Centerline goodness [0,1] 0.9999142955090847 Centerline is valid? [True, True] Translation: X:152.02, Y:-26.18, Z:-2.93 [[ 9.61823957e-01 2.73449437e-01 1.09581509e-02 1.52023747e+02] [-2.73433129e-01 9.61886371e-01 -2.98887697e-03 -2.61838237e+01] [-1.13578028e-02 -1.21548020e-04 9.99935491e-01 -2.92745884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.138623853 meters Centerline goodness [0,1] 0.9998921484037964 Centerline is valid? [True, True] Translation: X:152.05, Y:-26.19, Z:-2.93 [[ 9.61961378e-01 2.72965567e-01 1.09592866e-02 1.52054238e+02] [-2.72949203e-01 9.62023797e-01 -2.99108330e-03 -2.61942497e+01] [-1.13595573e-02 -1.14021935e-04 9.99935472e-01 -2.92766158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.168623853 meters Centerline goodness [0,1] 0.9998916787625381 Centerline is valid? [True, True] Translation: X:152.08, Y:-26.20, Z:-2.93 [[ 9.62111663e-01 2.72428198e-01 1.11366515e-02 1.52084299e+02] [-2.72411240e-01 9.62176109e-01 -3.04160806e-03 -2.62029345e+01] [-1.15440398e-02 -1.07382442e-04 9.99933360e-01 -2.92903817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.19862385300002 meters Centerline goodness [0,1] 0.9997207363966403 Centerline is valid? [True, True] Translation: X:152.12, Y:-26.21, Z:-2.92 [[ 9.62235583e-01 2.72001718e-01 1.08511802e-02 1.52115797e+02] [-2.71985573e-01 9.62296761e-01 -2.96517627e-03 -2.62126799e+01] [-1.12485886e-02 -9.81663317e-05 9.99936728e-01 -2.92203508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.22862385300002 meters Centerline goodness [0,1] 0.9999362380446334 Centerline is valid? [True, True] Translation: X:152.15, Y:-26.22, Z:-2.93 [[ 9.62580592e-01 2.70725913e-01 1.20864728e-02 1.52146167e+02] [-2.70705747e-01 9.62656466e-01 -3.30560465e-03 -2.62227946e+01] [-1.25300341e-02 -8.99667703e-05 9.99921492e-01 -2.92732468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.25862385300002 meters Centerline goodness [0,1] 0.9999135957143475 Centerline is valid? [True, True] Translation: X:152.18, Y:-26.23, Z:-2.93 [[ 9.62660512e-01 2.70425426e-01 1.24430082e-02 1.52177564e+02] [-2.70404000e-01 9.62740921e-01 -3.40518243e-03 -2.62324210e+01] [-1.29002411e-02 -8.66045314e-05 9.99916785e-01 -2.92698922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.28862385300002 meters Centerline goodness [0,1] 0.9999784719381714 Centerline is valid? [True, True] Translation: X:152.21, Y:-26.24, Z:-2.93 [[ 9.62635662e-01 2.70502563e-01 1.26864410e-02 1.52209018e+02] [-2.70480261e-01 9.62719251e-01 -3.47457049e-03 -2.62399904e+01] [-1.31533612e-02 -8.66864075e-05 9.99913487e-01 -2.92763194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.31862385300002 meters Centerline goodness [0,1] 0.9998712004121587 Centerline is valid? [True, True] Translation: X:152.24, Y:-26.25, Z:-2.93 [[ 9.62505466e-01 2.70973691e-01 1.25094857e-02 1.52241484e+02] [-2.70952016e-01 9.62586750e-01 -3.42844087e-03 -2.62479168e+01] [-1.29704825e-02 -8.95772866e-05 9.99915876e-01 -2.92831714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.34862385300002 meters Centerline goodness [0,1] 0.9999574087482431 Centerline is valid? [True, True] Translation: X:152.27, Y:-26.25, Z:-2.93 [[ 9.62200177e-01 2.72064298e-01 1.23222099e-02 1.52273294e+02] [-2.72043325e-01 9.62279069e-01 -3.37965870e-03 -2.62527438e+01] [-1.27768891e-02 -1.00266746e-04 9.99918367e-01 -2.93010756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.37862385300002 meters Centerline goodness [0,1] 0.9999354519439723 Centerline is valid? [True, True] Translation: X:152.31, Y:-26.26, Z:-2.93 [[ 9.62076572e-01 2.72509139e-01 1.21424359e-02 1.52305083e+02] [-2.72488781e-01 9.62153189e-01 -3.33257976e-03 -2.62606323e+01] [-1.25910419e-02 -1.02480653e-04 9.99920724e-01 -2.93029170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.40862385300002 meters Centerline goodness [0,1] 0.9999134367763856 Centerline is valid? [True, True] Translation: X:152.34, Y:-26.27, Z:-2.93 [[ 9.61851049e-01 2.73310353e-01 1.20004821e-02 1.52337068e+02] [-2.73290500e-01 9.61925901e-01 -3.29599018e-03 -2.62674239e+01] [-1.24444028e-02 -1.09366135e-04 9.99922559e-01 -2.93153125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.43862385300002 meters Centerline goodness [0,1] 0.9999147085163547 Centerline is valid? [True, True] Translation: X:152.37, Y:-26.27, Z:-2.93 [[ 9.61693147e-01 2.73864429e-01 1.20235709e-02 1.52369364e+02] [-2.73844508e-01 9.61768299e-01 -3.30514921e-03 -2.62703401e+01] [-1.24690521e-02 -1.14049518e-04 9.99922252e-01 -2.93417340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.46862385300003 meters Centerline goodness [0,1] 0.9998926070707504 Centerline is valid? [True, True] Translation: X:152.40, Y:-26.28, Z:-2.93 [[ 9.61512996e-01 2.74502633e-01 1.18769792e-02 1.52400568e+02] [-2.74483230e-01 9.61586341e-01 -3.26593325e-03 -2.62800011e+01] [-1.23172482e-02 -1.19794335e-04 9.99924133e-01 -2.93265880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.498623853 meters Centerline goodness [0,1] 0.9999352625105199 Centerline is valid? [True, True] Translation: X:152.43, Y:-26.28, Z:-2.93 [[ 9.61275780e-01 2.75355900e-01 1.13138722e-02 1.52432320e+02] [-2.75338325e-01 9.61342350e-01 -3.11343015e-03 -2.62837747e+01] [-1.17338058e-02 -1.22277623e-04 9.99931149e-01 -2.93443016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.528623853 meters Centerline goodness [0,1] 0.9999361674964892 Centerline is valid? [True, True] Translation: X:152.46, Y:-26.29, Z:-2.94 [[ 9.61308162e-01 2.75254847e-01 1.10175901e-02 1.52463302e+02] [-2.75238152e-01 9.61371289e-01 -3.03384442e-03 -2.62905641e+01] [-1.14270751e-02 -1.16001728e-04 9.99934702e-01 -2.93617155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.558623853 meters Centerline goodness [0,1] 0.9998717592493641 Centerline is valid? [True, True] Translation: X:152.49, Y:-26.30, Z:-2.94 [[ 9.61383579e-01 2.74996012e-01 1.08998778e-02 1.52494746e+02] [-2.74979645e-01 9.61445360e-01 -3.00231637e-03 -2.62990032e+01] [-1.13052620e-02 -1.10866879e-04 9.99936087e-01 -2.93708303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.588623853 meters Centerline goodness [0,1] 0.9999783989285869 Centerline is valid? [True, True] Translation: X:152.53, Y:-26.31, Z:-2.94 [[ 9.61591403e-01 2.74276285e-01 1.07002009e-02 1.52526039e+02] [-2.74260435e-01 9.61650929e-01 -2.95024483e-03 -2.63083212e+01] [-1.10990403e-02 -9.77116805e-05 9.99938399e-01 -2.93752157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.618623853 meters Centerline goodness [0,1] 0.9999785191072541 Centerline is valid? [True, True] Translation: X:152.56, Y:-26.32, Z:-2.94 [[ 9.62270885e-01 2.71862041e-01 1.12148863e-02 1.52555798e+02] [-2.71844463e-01 9.62336233e-01 -3.09233610e-03 -2.63171786e+01] [-1.16331802e-02 -7.30397521e-05 9.99932330e-01 -2.93793612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.648623853 meters Centerline goodness [0,1] 0.9999784807402625 Centerline is valid? [True, True] Translation: X:152.59, Y:-26.33, Z:-2.94 [[ 9.62641830e-01 2.70532495e-01 1.15272108e-02 1.52586579e+02] [-2.70513806e-01 9.62710842e-01 -3.18039196e-03 -2.63273678e+01] [-1.19577702e-02 -5.66913187e-05 9.99928502e-01 -2.93725938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.678623853 meters Centerline goodness [0,1] 0.9999786306521925 Centerline is valid? [True, True] Translation: X:152.62, Y:-26.34, Z:-2.94 [[ 9.63080872e-01 2.68967515e-01 1.14765277e-02 1.52616492e+02] [-2.68948849e-01 9.63149248e-01 -3.16887991e-03 -2.63363263e+01] [-1.19059348e-02 -3.47112945e-05 9.99929121e-01 -2.93885003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.708623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:152.65, Y:-26.35, Z:-2.94 [[ 9.63978755e-01 2.65738133e-01 1.13227102e-02 1.52647242e+02] [-2.65719735e-01 9.64045250e-01 -3.12696905e-03 -2.63478128e+01] [-1.17465599e-02 5.66416953e-06 9.99931007e-01 -2.93968867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.738623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:152.68, Y:-26.36, Z:-2.94 [[ 9.64429335e-01 2.64088041e-01 1.15570410e-02 1.52677710e+02] [-2.64068726e-01 9.64498577e-01 -3.19410330e-03 -2.63588299e+01] [-1.19902740e-02 2.86338445e-05 9.99928114e-01 -2.94083542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.768623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:152.71, Y:-26.37, Z:-2.94 [[ 9.64965550e-01 2.62113418e-01 1.17491589e-02 1.52708755e+02] [-2.62093282e-01 9.65037073e-01 -3.24934289e-03 -2.63702595e+01] [-1.21900703e-02 5.61283254e-05 9.99925697e-01 -2.94053357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.798623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:152.74, Y:-26.38, Z:-2.94 [[ 9.65494739e-01 2.60169212e-01 1.14843422e-02 1.52737586e+02] [-2.60149807e-01 9.65563035e-01 -3.17854571e-03 -2.63828146e+01] [-1.19158160e-02 8.12197593e-05 9.99929001e-01 -2.94208350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.828623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:152.77, Y:-26.40, Z:-2.94 [[ 9.66608977e-01 2.55995830e-01 1.15421538e-02 1.52766864e+02] [-2.55975911e-01 9.66677876e-01 -3.19632416e-03 -2.63968047e+01] [-1.19757904e-02 1.35082291e-04 9.99928279e-01 -2.94120282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.858623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:152.80, Y:-26.41, Z:-2.94 [[ 9.67114917e-01 2.54083250e-01 1.14209968e-02 1.52796142e+02] [-2.54063588e-01 9.67182339e-01 -3.16489564e-03 -2.64088117e+01] [-1.18503334e-02 1.59158363e-04 9.99929770e-01 -2.94154599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.888623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:152.83, Y:-26.42, Z:-2.94 [[ 9.67572357e-01 2.52343077e-01 1.12563884e-02 1.52825280e+02] [-2.52323838e-01 9.67637814e-01 -3.12114797e-03 -2.64208272e+01] [-1.16797072e-02 1.79681376e-04 9.99931774e-01 -2.94265524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.918623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:152.85, Y:-26.43, Z:-2.94 [[ 9.67996451e-01 2.50711114e-01 1.12609231e-02 1.52854404e+02] [-2.50691722e-01 9.68061928e-01 -3.12470578e-03 -2.64326591e+01] [-1.16846694e-02 2.01683911e-04 9.99931712e-01 -2.94361609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.94862385300002 meters Centerline goodness [0,1] 0.9999784519910361 Centerline is valid? [True, True] Translation: X:152.88, Y:-26.45, Z:-2.94 [[ 9.68746165e-01 2.47797422e-01 1.12830044e-02 1.52883958e+02] [-2.47777741e-01 9.68811840e-01 -3.13215986e-03 -2.64476825e+01] [-1.17072493e-02 2.38590518e-04 9.99931439e-01 -2.94425273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.97862385300002 meters Centerline goodness [0,1] 0.9999785926829791 Centerline is valid? [True, True] Translation: X:152.91, Y:-26.46, Z:-2.95 [[ 9.68984349e-01 2.46865130e-01 1.12667423e-02 1.52913349e+02] [-2.46845439e-01 9.69049816e-01 -3.12796776e-03 -2.64594980e+01] [-1.16902207e-02 2.49807858e-04 9.99931636e-01 -2.94509733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.00862385300002 meters Centerline goodness [0,1] 0.9999354519439723 Centerline is valid? [True, True] Translation: X:152.94, Y:-26.47, Z:-2.95 [[ 9.69157597e-01 2.46166681e-01 1.16412210e-02 1.52942718e+02] [-2.46145598e-01 9.69227473e-01 -3.23276084e-03 -2.64711340e+01] [-1.20787892e-02 2.67619431e-04 9.99927013e-01 -2.94557928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.03862385300002 meters Centerline goodness [0,1] 0.9999145536496272 Centerline is valid? [True, True] Translation: X:152.97, Y:-26.48, Z:-2.95 [[ 9.69224298e-01 2.45905402e-01 1.16100725e-02 1.52971919e+02] [-2.45884390e-01 9.69293794e-01 -3.22603777e-03 -2.64818556e+01] [-1.20468713e-02 2.72018614e-04 9.99927397e-01 -2.94589138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.06862385300002 meters Centerline goodness [0,1] 0.9999135135135135 Centerline is valid? [True, True] Translation: X:153.00, Y:-26.49, Z:-2.95 [[ 9.69215906e-01 2.45932614e-01 1.17336267e-02 1.53004054e+02] [-2.45911133e-01 9.69286889e-01 -3.26208321e-03 -2.64904039e+01] [-1.21755032e-02 2.76233495e-04 9.99925838e-01 -2.94574627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.09862385300002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.03, Y:-26.50, Z:-2.95 [[ 9.69102227e-01 2.46376881e-01 1.18027896e-02 1.53033557e+02] [-2.46355146e-01 9.69174059e-01 -3.28400814e-03 -2.65021825e+01] [-1.22480612e-02 2.74861630e-04 9.99924952e-01 -2.94661004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.12862385300002 meters Centerline goodness [0,1] 0.9999784770349963 Centerline is valid? [True, True] Translation: X:153.06, Y:-26.51, Z:-2.95 [[ 9.68654144e-01 2.48154856e-01 1.13276834e-02 1.53064835e+02] [-2.48134937e-01 9.68720346e-01 -3.15355538e-03 -2.65096020e+01] [-1.17559274e-02 2.43910483e-04 9.99930867e-01 -2.94746070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.15862385300002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.09, Y:-26.52, Z:-2.95 [[ 9.68259107e-01 2.49691183e-01 1.13408955e-02 1.53094353e+02] [-2.49671298e-01 9.68325494e-01 -3.15934406e-03 -2.65192865e+01] [-1.17705386e-02 2.27567552e-04 9.99930699e-01 -2.94859782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.18862385300002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.13, Y:-26.52, Z:-2.95 [[ 9.67247417e-01 2.53588862e-01 1.11858112e-02 1.53125318e+02] [-2.53569748e-01 9.67312078e-01 -3.11876381e-03 -2.65241669e+01] [-1.16110541e-02 1.80232904e-04 9.99932573e-01 -2.94904789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.21862385300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.16, Y:-26.53, Z:-2.95 [[ 9.66587075e-01 2.56094314e-01 1.11860576e-02 1.53157240e+02] [-2.56075373e-01 9.66651788e-01 -3.11823120e-03 -2.65303714e+01] [-1.16115839e-02 1.49568105e-04 9.99932572e-01 -2.94951177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.248623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.19, Y:-26.54, Z:-2.95 [[ 9.65840469e-01 2.58885727e-01 1.14178932e-02 1.53188232e+02] [-2.58866163e-01 9.65907949e-01 -3.18496004e-03 -2.65367766e+01] [-1.18531745e-02 1.20457115e-04 9.99929741e-01 -2.94960317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.278623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.22, Y:-26.54, Z:-2.95 [[ 9.64958443e-01 2.62118562e-01 1.22091202e-02 1.53220227e+02] [-2.62096420e-01 9.65035674e-01 -3.40804461e-03 -2.65415338e+01] [-1.26755483e-02 8.86547201e-05 9.99919658e-01 -2.94887137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.308623853 meters Centerline goodness [0,1] 0.999978489997849 Centerline is valid? [True, True] Translation: X:153.25, Y:-26.54, Z:-2.95 [[ 9.63124274e-01 2.68759447e-01 1.26487753e-02 1.53252750e+02] [-2.68736223e-01 9.63207330e-01 -3.53313320e-03 -2.65406410e+01] [-1.31329560e-02 3.66225280e-06 9.99913759e-01 -2.94816086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.338623853 meters Centerline goodness [0,1] 0.9999787025599522 Centerline is valid? [True, True] Translation: X:153.28, Y:-26.54, Z:-2.95 [[ 9.62190323e-01 2.72085794e-01 1.26136119e-02 1.53284738e+02] [-2.72062959e-01 9.62272996e-01 -3.52523167e-03 -2.65444370e+01] [-1.30969036e-02 -3.97527845e-05 9.99914231e-01 -2.94898131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.368623853 meters Centerline goodness [0,1] 0.999829143796852 Centerline is valid? [True, True] Translation: X:153.32, Y:-26.55, Z:-2.95 [[ 9.61282840e-01 2.75266676e-01 1.27890231e-02 1.53317234e+02] [-2.75243451e-01 9.61367906e-01 -3.57670383e-03 -2.65486868e+01] [-1.32795037e-02 -8.18708204e-05 9.99911820e-01 -2.94995608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.398623853 meters Centerline goodness [0,1] 0.9998705361959219 Centerline is valid? [True, True] Translation: X:153.35, Y:-26.55, Z:-2.95 [[ 9.60452047e-01 2.78146693e-01 1.28950929e-02 1.53349017e+02] [-2.78123310e-01 9.60538600e-01 -3.60858169e-03 -2.65535994e+01] [-1.33899496e-02 -1.20556252e-04 9.99910343e-01 -2.95019099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.428623853 meters Centerline goodness [0,1] 0.9998933014660378 Centerline is valid? [True, True] Translation: X:153.38, Y:-26.56, Z:-2.95 [[ 9.59678905e-01 2.80804108e-01 1.28628242e-02 1.53379934e+02] [-2.80781050e-01 9.59765091e-01 -3.60178214e-03 -2.65585173e+01] [-1.33566849e-02 -1.55082955e-04 9.99910783e-01 -2.95105901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.458623853 meters Centerline goodness [0,1] 0.9999355185384202 Centerline is valid? [True, True] Translation: X:153.41, Y:-26.56, Z:-2.95 [[ 9.58440116e-01 2.85015089e-01 1.26072485e-02 1.53412086e+02] [-2.84993277e-01 9.58523008e-01 -3.53214413e-03 -2.65609768e+01] [-1.30910521e-02 -2.07632427e-04 9.99914287e-01 -2.95199613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.488623853 meters Centerline goodness [0,1] 0.9998266296809986 Centerline is valid? [True, True] Translation: X:153.44, Y:-26.57, Z:-2.95 [[ 9.57837200e-01 2.87040046e-01 1.24864368e-02 1.53443218e+02] [-2.87018798e-01 9.57918555e-01 -3.50012613e-03 -2.65693554e+01] [-1.29656658e-02 -2.31291066e-04 9.99915915e-01 -2.95222673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.518623853 meters Centerline goodness [0,1] 0.9996125699526475 Centerline is valid? [True, True] Translation: X:153.47, Y:-26.57, Z:-2.95 [[ 9.57406091e-01 2.88497013e-01 1.19603793e-02 1.53474814e+02] [-2.88477602e-01 9.57480766e-01 -3.35509637e-03 -2.65708824e+01] [-1.24197684e-02 -2.38111842e-04 9.99922843e-01 -2.95465474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.548623853 meters Centerline goodness [0,1] 0.9995934524446346 Centerline is valid? [True, True] Translation: X:153.50, Y:-26.57, Z:-2.96 [[ 9.57021462e-01 2.89777290e-01 1.17916964e-02 1.53503603e+02] [-2.89758498e-01 9.57094071e-01 -3.30951941e-03 -2.65749911e+01] [-1.22447862e-02 -2.49463119e-04 9.99924999e-01 -2.95605233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.578623853 meters Centerline goodness [0,1] 0.9993788154653529 Centerline is valid? [True, True] Translation: X:153.53, Y:-26.58, Z:-2.95 [[ 9.56653111e-01 2.91017707e-01 1.11139218e-02 1.53532556e+02] [-2.91001100e-01 9.56717634e-01 -3.11902083e-03 -2.65799545e+01] [-1.15405753e-02 -2.50342488e-04 9.99933374e-01 -2.95103590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.608623853 meters Centerline goodness [0,1] 0.9993560988173682 Centerline is valid? [True, True] Translation: X:153.56, Y:-26.58, Z:-2.96 [[ 9.56242766e-01 2.92350702e-01 1.14385239e-02 1.53560741e+02] [-2.92333210e-01 9.56311137e-01 -3.20982185e-03 -2.65813715e+01] [-1.18771815e-02 -2.74491488e-04 9.99929426e-01 -2.95806836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.638623853 meters Centerline goodness [0,1] 0.9992489270386266 Centerline is valid? [True, True] Translation: X:153.59, Y:-26.59, Z:-2.96 [[ 9.56073640e-01 2.92894018e-01 1.16742533e-02 1.53588714e+02] [-2.92875846e-01 9.56144869e-01 -3.27525801e-03 -2.65865855e+01] [-1.21215809e-02 -2.87718976e-04 9.99926490e-01 -2.95829651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.668623853 meters Centerline goodness [0,1] 0.9992122966873882 Centerline is valid? [True, True] Translation: X:153.62, Y:-26.59, Z:-2.96 [[ 9.55998306e-01 2.93123425e-01 1.20787634e-02 1.53616625e+02] [-2.93104000e-01 9.56074561e-01 -3.38800795e-03 -2.65911873e+01] [-1.25413029e-02 -3.01404006e-04 9.99921309e-01 -2.95804863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.69862385300002 meters Centerline goodness [0,1] 0.9996130530117374 Centerline is valid? [True, True] Translation: X:153.64, Y:-26.60, Z:-2.96 [[ 9.56033684e-01 2.93000197e-01 1.22669859e-02 1.53644595e+02] [-2.92980163e-01 9.56112332e-01 -3.43992059e-03 -2.66022105e+01] [-1.27365139e-02 -3.05303574e-04 9.99918841e-01 -2.95685986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.72862385300002 meters Centerline goodness [0,1] 0.9993775354697461 Centerline is valid? [True, True] Translation: X:153.67, Y:-26.60, Z:-2.96 [[ 9.56298625e-01 2.92148211e-01 1.19315471e-02 1.53673293e+02] [-2.92129192e-01 9.56373014e-01 -3.34575946e-03 -2.66019126e+01] [-1.23884673e-02 -2.86008046e-04 9.99923219e-01 -2.95982944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.75862385300002 meters Centerline goodness [0,1] 0.9994659146745284 Centerline is valid? [True, True] Translation: X:153.70, Y:-26.61, Z:-2.96 [[ 9.56545900e-01 2.91339758e-01 1.18780134e-02 1.53700939e+02] [-2.91320857e-01 9.56619606e-01 -3.32994220e-03 -2.66084361e+01] [-1.23328850e-02 -2.75070464e-04 9.99923909e-01 -2.96054704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.78862385300002 meters Centerline goodness [0,1] 0.9995700404162009 Centerline is valid? [True, True] Translation: X:153.73, Y:-26.62, Z:-2.96 [[ 9.56883752e-01 2.90216782e-01 1.21533645e-02 1.53728430e+02] [-2.90196912e-01 9.56960892e-01 -3.40645638e-03 -2.66194255e+01] [-1.26189053e-02 -2.67286092e-04 9.99920343e-01 -2.96017476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.81862385300002 meters Centerline goodness [0,1] 0.9996348640405516 Centerline is valid? [True, True] Translation: X:153.76, Y:-26.62, Z:-2.96 [[ 9.57817058e-01 2.87106456e-01 1.25046546e-02 1.53757378e+02] [-2.87085160e-01 9.57898653e-01 -3.50460455e-03 -2.66245524e+01] [-1.29843864e-02 -2.33130742e-04 9.99915672e-01 -2.96134816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.84862385300002 meters Centerline goodness [0,1] 0.9997837978077098 Centerline is valid? [True, True] Translation: X:153.79, Y:-26.64, Z:-2.96 [[ 9.58295433e-01 2.85487057e-01 1.29229942e-02 1.53785236e+02] [-2.85464170e-01 9.58382540e-01 -3.62152393e-03 -2.66362017e+01] [-1.34190702e-02 -2.18561955e-04 9.99909936e-01 -2.96024065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.87862385300002 meters Centerline goodness [0,1] 0.9998288294071078 Centerline is valid? [True, True] Translation: X:153.81, Y:-26.64, Z:-2.96 [[ 9.58768853e-01 2.83877963e-01 1.32509976e-02 1.53813468e+02] [-2.83853749e-01 9.58860397e-01 -3.71315845e-03 -2.66412474e+01] [-1.37599407e-02 -2.01284697e-04 9.99905307e-01 -2.96102283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.90862385300002 meters Centerline goodness [0,1] 0.9997864069375026 Centerline is valid? [True, True] Translation: X:153.84, Y:-26.65, Z:-2.96 [[ 9.59818726e-01 2.80323139e-01 1.29209255e-02 1.53839692e+02] [-2.80299799e-01 9.59905681e-01 -3.62030062e-03 -2.66496090e+01] [-1.34177238e-02 -1.46900480e-04 9.99909968e-01 -2.96237248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.93862385300002 meters Centerline goodness [0,1] 0.9997864069375026 Centerline is valid? [True, True] Translation: X:153.87, Y:-26.66, Z:-2.96 [[ 9.59830289e-01 2.80283537e-01 1.29211273e-02 1.53867001e+02] [-2.80260203e-01 9.59917245e-01 -3.61958012e-03 -2.66571604e+01] [-1.34177216e-02 -1.47095129e-04 9.99909968e-01 -2.96287202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.96862385300003 meters Centerline goodness [0,1] 0.9997861785836469 Centerline is valid? [True, True] Translation: X:153.89, Y:-26.67, Z:-2.96 [[ 9.60393572e-01 2.78341404e-01 1.30480084e-02 1.53893872e+02] [-2.78317438e-01 9.60482196e-01 -3.65454026e-03 -2.66666263e+01] [-1.35495896e-02 -1.21691283e-04 9.99908193e-01 -2.96251961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.998623853 meters Centerline goodness [0,1] 0.9999137559292799 Centerline is valid? [True, True] Translation: X:153.92, Y:-26.68, Z:-2.96 [[ 9.60963904e-01 2.76352436e-01 1.33306776e-02 1.53923215e+02] [-2.76327242e-01 9.61056357e-01 -3.73282689e-03 -2.66779197e+01] [-1.38431082e-02 -9.65174600e-05 9.99904175e-01 -2.96180552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.028623853 meters Centerline goodness [0,1] 0.9998722616082264 Centerline is valid? [True, True] Translation: X:153.95, Y:-26.69, Z:-2.96 [[ 9.61572110e-01 2.74232579e-01 1.32502924e-02 1.53952441e+02] [-2.74207481e-01 9.61663397e-01 -3.71069118e-03 -2.66852715e+01] [-1.37599136e-02 -6.52321484e-05 9.99905326e-01 -2.96387790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.058623853 meters Centerline goodness [0,1] 0.9999785541186815 Centerline is valid? [True, True] Translation: X:153.98, Y:-26.70, Z:-2.96 [[ 9.62119290e-01 2.72314366e-01 1.30903768e-02 1.53981608e+02] [-2.72289691e-01 9.62208337e-01 -3.66601945e-03 -2.66961115e+01] [-1.35939794e-02 -3.72266179e-05 9.99907597e-01 -2.96375005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.088623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:154.01, Y:-26.71, Z:-2.97 [[ 9.63192127e-01 2.68525314e-01 1.24531689e-02 1.54012214e+02] [-2.68502671e-01 9.63272628e-01 -3.48718178e-03 -2.67076679e+01] [-1.29321933e-02 1.51169338e-05 9.99916376e-01 -2.96552238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.118623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:154.04, Y:-26.72, Z:-2.97 [[ 9.63680943e-01 2.66777184e-01 1.22054841e-02 1.54041846e+02] [-2.66755266e-01 9.63758233e-01 -3.41993701e-03 -2.67179540e+01] [-1.26754970e-02 3.98509729e-05 9.99919662e-01 -2.96740152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.148623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:154.07, Y:-26.73, Z:-2.97 [[ 9.64231298e-01 2.64783183e-01 1.21601500e-02 1.54072154e+02] [-2.64761245e-01 9.64307970e-01 -3.40906656e-03 -2.67275762e+01] [-1.26287930e-02 6.75922302e-05 9.99920251e-01 -2.96724903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.178623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:154.10, Y:-26.74, Z:-2.97 [[ 9.64791186e-01 2.62744512e-01 1.19702927e-02 1.54100859e+02] [-2.62723065e-01 9.64865437e-01 -3.35838246e-03 -2.67386602e+01] [-1.24321182e-02 9.52658144e-05 9.99922714e-01 -2.96847345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.208623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:154.13, Y:-26.75, Z:-2.97 [[ 9.65901617e-01 2.58632479e-01 1.19711092e-02 1.54131322e+02] [-2.58610706e-01 9.65975786e-01 -3.35922973e-03 -2.67499496e+01] [-1.24326075e-02 1.48828423e-04 9.99922701e-01 -2.96871797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.238623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:154.16, Y:-26.76, Z:-2.97 [[ 9.66474948e-01 2.56479995e-01 1.20078237e-02 1.54160160e+02] [-2.56457889e-01 9.66549523e-01 -3.37212403e-03 -2.67617080e+01] [-1.24710386e-02 1.79572274e-04 9.99922217e-01 -2.96976253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.268623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:154.19, Y:-26.77, Z:-2.97 [[ 9.66977186e-01 2.54576194e-01 1.20865195e-02 1.54190319e+02] [-2.54553639e-01 9.67052697e-01 -3.39500799e-03 -2.67725503e+01] [-1.25525895e-02 2.06227754e-04 9.99921192e-01 -2.96987653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.298623853 meters Centerline goodness [0,1] 0.9999788511970222 Centerline is valid? [True, True] Translation: X:154.22, Y:-26.79, Z:-2.97 [[ 9.67440164e-01 2.52797209e-01 1.23733867e-02 1.54219066e+02] [-2.52773395e-01 9.67519258e-01 -3.47789242e-03 -2.67859404e+01] [-1.28506914e-02 2.36989843e-04 9.99917398e-01 -2.97021332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.328623853 meters Centerline goodness [0,1] 0.9999573397039375 Centerline is valid? [True, True] Translation: X:154.25, Y:-26.80, Z:-2.97 [[ 9.68285540e-01 2.49536659e-01 1.24326000e-02 1.54248381e+02] [-2.49512315e-01 9.68365311e-01 -3.49708622e-03 -2.67997247e+01] [-1.29119497e-02 2.84091214e-04 9.99916597e-01 -2.97010929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.358623853 meters Centerline goodness [0,1] 0.9999571899481998 Centerline is valid? [True, True] Translation: X:154.28, Y:-26.81, Z:-2.97 [[ 9.68553360e-01 2.48503030e-01 1.22732300e-02 1.54277840e+02] [-2.48479222e-01 9.68631074e-01 -3.45233568e-03 -2.68110101e+01] [-1.27461479e-02 2.94128671e-04 9.99918721e-01 -2.97082342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.388623853 meters Centerline goodness [0,1] 0.9999785098747126 Centerline is valid? [True, True] Translation: X:154.31, Y:-26.82, Z:-2.97 [[ 9.68796375e-01 2.47560338e-01 1.21434055e-02 1.54308736e+02] [-2.47536935e-01 9.68872430e-01 -3.41758363e-03 -2.68188407e+01] [-1.26114689e-02 3.05001262e-04 9.99920426e-01 -2.97114204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.418623853 meters Centerline goodness [0,1] 0.9999573387939678 Centerline is valid? [True, True] Translation: X:154.34, Y:-26.83, Z:-2.97 [[ 9.68970764e-01 2.46874142e-01 1.21990148e-02 1.54339568e+02] [-2.46850442e-01 9.69047500e-01 -3.43536685e-03 -2.68291465e+01] [-1.26695280e-02 3.17437853e-04 9.99919688e-01 -2.97190690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.44862385300002 meters Centerline goodness [0,1] 0.9999570132828955 Centerline is valid? [True, True] Translation: X:154.37, Y:-26.84, Z:-2.97 [[ 9.69036825e-01 2.46604955e-01 1.23946473e-02 1.54370052e+02] [-2.46580439e-01 9.69116034e-01 -3.49265814e-03 -2.68384642e+01] [-1.28731583e-02 3.28236762e-04 9.99917084e-01 -2.97168607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.47862385300002 meters Centerline goodness [0,1] 0.999914679407875 Centerline is valid? [True, True] Translation: X:154.40, Y:-26.85, Z:-2.97 [[ 9.68939266e-01 2.46984743e-01 1.24593541e-02 1.54400075e+02] [-2.46959973e-01 9.69019313e-01 -3.51311134e-03 -2.68472221e+01] [-1.29410397e-02 3.27029766e-04 9.99916208e-01 -2.97194082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.50862385300002 meters Centerline goodness [0,1] 0.9999137708027939 Centerline is valid? [True, True] Translation: X:154.43, Y:-26.85, Z:-2.97 [[ 9.68848772e-01 2.47321495e-01 1.28115342e-02 1.54432573e+02] [-2.47295309e-01 9.68933417e-01 -3.61432428e-03 -2.68524228e+01] [-1.33074237e-02 3.33501338e-04 9.99911397e-01 -2.97177242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.53862385300002 meters Centerline goodness [0,1] 0.9998505040150351 Centerline is valid? [True, True] Translation: X:154.46, Y:-26.87, Z:-2.97 [[ 9.68684241e-01 2.47959811e-01 1.29140764e-02 1.54461319e+02] [-2.47933222e-01 9.68770263e-01 -3.64612040e-03 -2.68659262e+01] [-1.34148645e-02 3.30110803e-04 9.99909962e-01 -2.97275888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.56862385300002 meters Centerline goodness [0,1] 0.9999134236613134 Centerline is valid? [True, True] Translation: X:154.49, Y:-26.87, Z:-2.97 [[ 9.68598897e-01 2.48284199e-01 1.30817635e-02 1.54490803e+02] [-2.48256914e-01 9.68687177e-01 -3.69573468e-03 -2.68748698e+01] [-1.35897291e-02 3.32046304e-04 9.99907600e-01 -2.97318994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.59862385300002 meters Centerline goodness [0,1] 0.9999355185384202 Centerline is valid? [True, True] Translation: X:154.52, Y:-26.88, Z:-2.97 [[ 9.68415930e-01 2.48997654e-01 1.30673106e-02 1.54522075e+02] [-2.48970467e-01 9.68504034e-01 -3.69365684e-03 -2.68840302e+01] [-1.35754550e-02 3.23621685e-04 9.99907797e-01 -2.97437908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.62862385300002 meters Centerline goodness [0,1] 0.9998491509352642 Centerline is valid? [True, True] Translation: X:154.55, Y:-26.90, Z:-2.98 [[ 9.68293234e-01 2.49495781e-01 1.26517870e-02 1.54550966e+02] [-2.49470310e-01 9.68375836e-01 -3.57829925e-03 -2.68965339e+01] [-1.31444554e-02 3.08597725e-04 9.99913560e-01 -2.97617265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.65862385300002 meters Centerline goodness [0,1] 0.9999567511460946 Centerline is valid? [True, True] Translation: X:154.58, Y:-26.90, Z:-2.98 [[ 9.67793273e-01 2.51429498e-01 1.26249002e-02 1.54582982e+02] [-2.51404271e-01 9.67875574e-01 -3.57292891e-03 -2.69009111e+01] [-1.31176723e-02 2.83902741e-04 9.99913919e-01 -2.97680909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.68862385300002 meters Centerline goodness [0,1] 0.9999784268887258 Centerline is valid? [True, True] Translation: X:154.61, Y:-26.91, Z:-2.98 [[ 9.67421390e-01 2.52852343e-01 1.27101329e-02 1.54614383e+02] [-2.52826884e-01 9.67504843e-01 -3.59796659e-03 -2.69077223e+01] [-1.32068695e-02 2.67286521e-04 9.99912750e-01 -2.97658256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.71862385300003 meters Centerline goodness [0,1] 0.9999785596363714 Centerline is valid? [True, True] Translation: X:154.64, Y:-26.91, Z:-2.98 [[ 9.67022390e-01 2.54360574e-01 1.29767193e-02 1.54644961e+02] [-2.54334141e-01 9.67109422e-01 -3.67570766e-03 -2.69149305e+01] [-1.34848626e-02 2.54068860e-04 9.99909043e-01 -2.97708908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.748623853 meters Centerline goodness [0,1] 0.9999571008772871 Centerline is valid? [True, True] Translation: X:154.68, Y:-26.92, Z:-2.98 [[ 9.66575444e-01 2.56056582e-01 1.29204216e-02 1.54676345e+02] [-2.56030503e-01 9.66661768e-01 -3.66169319e-03 -2.69217118e+01] [-1.34272782e-02 2.31280673e-04 9.99909823e-01 -2.97787603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.778623853 meters Centerline goodness [0,1] 0.9999571578518947 Centerline is valid? [True, True] Translation: X:154.71, Y:-26.93, Z:-2.98 [[ 9.66145159e-01 2.57691260e-01 1.25994171e-02 1.54706933e+02] [-2.57666574e-01 9.66227288e-01 -3.57277309e-03 -2.69285252e+01] [-1.30945730e-02 2.05368795e-04 9.99914241e-01 -2.97916173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.808623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:154.74, Y:-26.94, Z:-2.98 [[ 9.65765872e-01 2.59124103e-01 1.22874040e-02 1.54737761e+02] [-2.59100709e-01 9.65844017e-01 -3.48669899e-03 -2.69350929e+01] [-1.27712034e-02 1.83659799e-04 9.99918428e-01 -2.98025391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.838623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:154.77, Y:-26.94, Z:-2.98 [[ 9.65063425e-01 2.61690225e-01 1.30695415e-02 1.54771013e+02] [-2.61663996e-01 9.65151906e-01 -3.70836112e-03 -2.69371307e+01] [-1.35845347e-02 1.58975224e-04 9.99907713e-01 -2.97831676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.868623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:154.80, Y:-26.95, Z:-2.98 [[ 9.64741257e-01 2.62858588e-01 1.34041117e-02 1.54801083e+02] [-2.62831077e-01 9.64834359e-01 -3.80583155e-03 -2.69455583e+01] [-1.39331430e-02 1.48625599e-04 9.99902918e-01 -2.97802808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.898623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:154.83, Y:-26.95, Z:-2.98 [[ 9.64466002e-01 2.63859707e-01 1.35420221e-02 1.54833030e+02] [-2.63831695e-01 9.64561059e-01 -3.84718917e-03 -2.69523002e+01] [-1.40772254e-02 1.37668498e-04 9.99900901e-01 -2.97814096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.928623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:154.86, Y:-26.96, Z:-2.98 [[ 9.64237312e-01 2.64702270e-01 1.33833834e-02 1.54862655e+02] [-2.64674956e-01 9.64330178e-01 -3.80462360e-03 -2.69605502e+01] [-1.39130930e-02 1.26313608e-04 9.99903200e-01 -2.97873658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.958623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:154.89, Y:-26.97, Z:-2.98 [[ 9.63858766e-01 2.66087449e-01 1.31813539e-02 1.54894251e+02] [-2.66061047e-01 9.63948888e-01 -3.74980683e-03 -2.69671752e+01] [-1.37039280e-02 1.07239360e-04 9.99906091e-01 -2.98016994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.988623853 meters Centerline goodness [0,1] 0.9998930023539482 Centerline is valid? [True, True] Translation: X:154.93, Y:-26.98, Z:-2.98 [[ 9.63632747e-01 2.66939698e-01 1.24550010e-02 1.54925685e+02] [-2.66916195e-01 9.63713230e-01 -3.54333857e-03 -2.69754390e+01] [-1.29489070e-02 9.00355912e-05 9.99916155e-01 -2.97553899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.018623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:154.96, Y:-26.98, Z:-2.98 [[ 9.63488463e-01 2.67441279e-01 1.28508166e-02 1.54957146e+02] [-2.67416269e-01 9.63574156e-01 -3.65853128e-03 -2.69845660e+01] [-1.33611571e-02 8.84352448e-05 9.99910732e-01 -2.98245541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.048623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:154.99, Y:-26.99, Z:-2.98 [[ 9.63307331e-01 2.68102188e-01 1.26571090e-02 1.54989343e+02] [-2.68077950e-01 9.63390477e-01 -3.60589477e-03 -2.69933002e+01] [-1.31604865e-02 8.04930478e-05 9.99913394e-01 -2.98364182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.078623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:155.02, Y:-27.00, Z:-2.98 [[ 9.63238408e-01 2.68360109e-01 1.24346549e-02 1.55020971e+02] [-2.68336705e-01 9.63318663e-01 -3.54502063e-03 -2.70029885e+01] [-1.29298772e-02 7.80257099e-05 9.99916403e-01 -2.98460749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.108623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:155.05, Y:-27.01, Z:-2.99 [[ 9.63221597e-01 2.68424367e-01 1.23496380e-02 1.55052464e+02] [-2.68401255e-01 9.63300759e-01 -3.52328888e-03 -2.70126104e+01] [-1.28421522e-02 7.90496253e-05 9.99917533e-01 -2.98512832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.138623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:155.08, Y:-27.02, Z:-2.99 [[ 9.63294131e-01 2.68172994e-01 1.21516874e-02 1.55082898e+02] [-2.68150565e-01 9.63370769e-01 -3.46929553e-03 -2.70236243e+01] [-1.26369518e-02 8.34701710e-05 9.99920147e-01 -2.98648608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.168623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:155.11, Y:-27.03, Z:-2.99 [[ 9.63347636e-01 2.67973964e-01 1.22998436e-02 1.55114748e+02] [-2.67950936e-01 9.63426150e-01 -3.51421268e-03 -2.70335182e+01] [-1.27917085e-02 8.96538614e-05 9.99918179e-01 -2.98676292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.19862385300002 meters Centerline goodness [0,1] 0.9997861877271755 Centerline is valid? [True, True] Translation: X:155.15, Y:-27.04, Z:-2.98 [[ 9.63482341e-01 2.67519515e-01 1.16227362e-02 1.55146022e+02] [-2.67498891e-01 9.63552438e-01 -3.32307181e-03 -2.70430076e+01] [-1.20881024e-02 9.26519510e-05 9.99926932e-01 -2.97999513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.22862385300002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:155.18, Y:-27.05, Z:-2.99 [[ 9.63629777e-01 2.66950073e-01 1.24624336e-02 1.55177146e+02] [-2.66926284e-01 9.63710354e-01 -3.56544986e-03 -2.70535317e+01] [-1.29619734e-02 1.09222565e-04 9.99915984e-01 -2.98838288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.25862385300002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:155.21, Y:-27.06, Z:-2.99 [[ 9.63628876e-01 2.66951627e-01 1.24987487e-02 1.55208735e+02] [-2.66927666e-01 9.63709923e-01 -3.57836198e-03 -2.70625494e+01] [-1.30004177e-02 1.11951107e-04 9.99915485e-01 -2.98818642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.28862385300002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:155.24, Y:-27.07, Z:-2.99 [[ 9.63622350e-01 2.66968839e-01 1.26335285e-02 1.55238965e+02] [-2.66944325e-01 9.63705155e-01 -3.61964272e-03 -2.70724167e+01] [-1.31413284e-02 1.15519886e-04 9.99913642e-01 -2.98847611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.31862385300002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:155.27, Y:-27.08, Z:-2.99 [[ 9.63439337e-01 2.67632071e-01 1.25586142e-02 1.55269315e+02] [-2.67607872e-01 9.63521179e-01 -3.60056752e-03 -2.70810720e+01] [-1.30641182e-02 1.08144354e-04 9.99914655e-01 -2.98932850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.34862385300002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:155.30, Y:-27.09, Z:-2.99 [[ 9.63262975e-01 2.68266705e-01 1.25465141e-02 1.55300571e+02] [-2.68242575e-01 9.63344676e-01 -3.59955607e-03 -2.70887405e+01] [-1.30522586e-02 1.01809843e-04 9.99914810e-01 -2.99008619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.37862385300002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:155.33, Y:-27.10, Z:-2.99 [[ 9.63048316e-01 2.69038466e-01 1.24998045e-02 1.55331967e+02] [-2.69014552e-01 9.63129428e-01 -3.58830210e-03 -2.70961419e+01] [-1.30043208e-02 9.30789998e-05 9.99915436e-01 -2.99050489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.40862385300002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:155.36, Y:-27.10, Z:-2.99 [[ 9.62890781e-01 2.69609220e-01 1.23374536e-02 1.55361789e+02] [-2.69585933e-01 9.62969813e-01 -3.54453316e-03 -2.71031727e+01] [-1.28362342e-02 8.69943665e-05 9.99917608e-01 -2.99146608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.43862385300002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:155.39, Y:-27.11, Z:-2.99 [[ 9.62461135e-01 2.71154737e-01 1.19863551e-02 1.55391473e+02] [-2.71132873e-01 9.62535768e-01 -3.44398615e-03 -2.71073448e+01] [-1.24711486e-02 6.48079328e-05 9.99922230e-01 -2.99265918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.46862385300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:155.42, Y:-27.11, Z:-2.99 [[ 9.62315262e-01 2.71672740e-01 1.19690982e-02 1.55419466e+02] [-2.71650981e-01 9.62389692e-01 -3.43879646e-03 -2.71139393e+01] [-1.24531639e-02 5.77890613e-05 9.99922455e-01 -2.99367582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.498623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:155.45, Y:-27.12, Z:-2.99 [[ 9.62120286e-01 2.72369447e-01 1.18084266e-02 1.55451060e+02] [-2.72348339e-01 9.62192747e-01 -3.39110316e-03 -2.71212100e+01] [-1.22856153e-02 4.66437778e-05 9.99924528e-01 -2.99384427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.528623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:155.48, Y:-27.13, Z:-2.99 [[ 9.61930407e-01 2.73042448e-01 1.17351465e-02 1.55483060e+02] [-2.73021629e-01 9.62001985e-01 -3.37198130e-03 -2.71287549e+01] [-1.22099283e-02 3.96625248e-05 9.99925455e-01 -2.99434940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.558623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:155.51, Y:-27.14, Z:-2.99 [[ 9.61836303e-01 2.73352135e-01 1.22285093e-02 1.55514577e+02] [-2.73329517e-01 9.61914034e-01 -3.51657107e-03 -2.71359015e+01] [-1.27240369e-02 3.99531671e-05 9.99919045e-01 -2.99379228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.588623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:155.55, Y:-27.15, Z:-2.99 [[ 9.61851536e-01 2.73296018e-01 1.22844863e-02 1.55545232e+02] [-2.73273153e-01 9.61929979e-01 -3.53541380e-03 -2.71453867e+01] [-1.27830301e-02 4.35228986e-05 9.99918293e-01 -2.99462447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.618623853 meters Centerline goodness [0,1] 0.9999788332909999 Centerline is valid? [True, True] Translation: X:155.57, Y:-27.15, Z:-3.00 [[ 9.62012004e-01 2.72737429e-01 1.21325796e-02 1.55574628e+02] [-2.72715055e-01 9.62088505e-01 -3.49382838e-03 -2.71544869e+01] [-1.26255132e-02 5.23677255e-05 9.99920294e-01 -2.99558287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.648623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:155.60, Y:-27.16, Z:-3.00 [[ 9.62236676e-01 2.71941205e-01 1.21885234e-02 1.55603378e+02] [-2.71918557e-01 9.62313866e-01 -3.51015333e-03 -2.71638104e+01] [-1.26837404e-02 6.33125894e-05 9.99919556e-01 -2.99652886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.678623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:155.63, Y:-27.17, Z:-3.00 [[ 9.62429137e-01 2.71255527e-01 1.22717658e-02 1.55634100e+02] [-2.71232524e-01 9.62507368e-01 -3.53328289e-03 -2.71734596e+01] [-1.27700875e-02 7.20323988e-05 9.99918457e-01 -2.99641746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.708623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:155.66, Y:-27.18, Z:-3.00 [[ 9.62844348e-01 2.69790569e-01 1.19921168e-02 1.55664782e+02] [-2.69768463e-01 9.62919021e-01 -3.45485377e-03 -2.71844807e+01] [-1.24795243e-02 9.13915061e-05 9.99922124e-01 -2.99706979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.738623853 meters Centerline goodness [0,1] 0.9999784765717483 Centerline is valid? [True, True] Translation: X:155.69, Y:-27.20, Z:-3.00 [[ 9.63039760e-01 2.69095202e-01 1.19244940e-02 1.55694629e+02] [-2.69073265e-01 9.63113577e-01 -3.43746356e-03 -2.71952911e+01] [-1.24096471e-02 1.01851540e-04 9.99922992e-01 -2.99762715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.768623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:155.73, Y:-27.21, Z:-3.00 [[ 9.63278013e-01 2.68247440e-01 1.17805085e-02 1.55725028e+02] [-2.68225930e-01 9.63350039e-01 -3.39887149e-03 -2.72059137e+01] [-1.22604919e-02 1.14220321e-04 9.99924831e-01 -2.99850031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.798623853 meters Centerline goodness [0,1] 0.9999785633132543 Centerline is valid? [True, True] Translation: X:155.75, Y:-27.22, Z:-3.00 [[ 9.63743133e-01 2.66570465e-01 1.18051022e-02 1.55753666e+02] [-2.66548737e-01 9.63815422e-01 -3.40620383e-03 -2.72181712e+01] [-1.22859329e-02 1.36070479e-04 9.99924516e-01 -2.99906365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.828623853 meters Centerline goodness [0,1] 0.9999785633132543 Centerline is valid? [True, True] Translation: X:155.78, Y:-27.23, Z:-3.00 [[ 9.63692810e-01 2.66752354e-01 1.18046181e-02 1.55784822e+02] [-2.66730618e-01 9.63765098e-01 -3.40788054e-03 -2.72273670e+01] [-1.22859390e-02 1.35496904e-04 9.99924516e-01 -2.99963700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.858623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:155.81, Y:-27.24, Z:-3.00 [[ 9.63931602e-01 2.65892456e-01 1.17076572e-02 1.55813901e+02] [-2.65870982e-01 9.64002687e-01 -3.38246037e-03 -2.72378751e+01] [-1.21855837e-02 1.47734130e-04 9.99925742e-01 -3.00061971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.888623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:155.84, Y:-27.25, Z:-3.00 [[ 9.64129454e-01 2.65166628e-01 1.18766797e-02 1.55844736e+02] [-2.65144450e-01 9.64202590e-01 -3.43322124e-03 -2.72483162e+01] [-1.23619010e-02 1.61034019e-04 9.99923576e-01 -3.00037733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.918623853 meters Centerline goodness [0,1] 0.9999786489025536 Centerline is valid? [True, True] Translation: X:155.88, Y:-27.26, Z:-3.00 [[ 9.64238444e-01 2.64762735e-01 1.20381425e-02 1.55875919e+02] [-2.64739893e-01 9.64313572e-01 -3.48197886e-03 -2.72595125e+01] [-1.25304424e-02 1.70481320e-04 9.99921476e-01 -3.00075087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.94862385300002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:155.91, Y:-27.27, Z:-3.00 [[ 9.64334895e-01 2.64411178e-01 1.20390530e-02 1.55906633e+02] [-2.64388274e-01 9.64410026e-01 -3.48470791e-03 -2.72708534e+01] [-1.25319791e-02 1.77441014e-04 9.99921456e-01 -3.00149548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.97862385300002 meters Centerline goodness [0,1] 0.9999784026607922 Centerline is valid? [True, True] Translation: X:155.94, Y:-27.28, Z:-3.00 [[ 9.64445506e-01 2.64013361e-01 1.19084947e-02 1.55935704e+02] [-2.63990884e-01 9.64519005e-01 -3.44983454e-03 -2.72817967e+01] [-1.23967718e-02 1.83443384e-04 9.99923140e-01 -3.00226855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.00862385300002 meters Centerline goodness [0,1] 0.999978688943824 Centerline is valid? [True, True] Translation: X:155.97, Y:-27.29, Z:-3.00 [[ 9.64299210e-01 2.64540771e-01 1.20504675e-02 1.55965615e+02] [-2.64517785e-01 9.64374485e-01 -3.49184360e-03 -2.72908723e+01] [-1.25448984e-02 1.79619044e-04 9.99921294e-01 -3.00242524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.03862385300002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:156.00, Y:-27.30, Z:-3.00 [[ 9.64082468e-01 2.65318842e-01 1.22844353e-02 1.55995898e+02] [-2.65294993e-01 9.64160713e-01 -3.56164243e-03 -2.73001207e+01] [-1.27891407e-02 1.74717849e-04 9.99918200e-01 -3.00310156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.06862385300002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:156.03, Y:-27.31, Z:-3.00 [[ 9.63807747e-01 2.66319134e-01 1.21961537e-02 1.56025614e+02] [-2.66295678e-01 9.63884896e-01 -3.53822322e-03 -2.73090721e+01] [-1.26979849e-02 1.62383922e-04 9.99919364e-01 -3.00377555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.09862385300002 meters Centerline goodness [0,1] 0.9998923620080944 Centerline is valid? [True, True] Translation: X:156.06, Y:-27.31, Z:-3.00 [[ 9.63012144e-01 2.69181626e-01 1.22009680e-02 1.56057484e+02] [-2.69158358e-01 9.63089423e-01 -3.54146683e-03 -2.73131915e+01] [-1.27039210e-02 1.26483059e-04 9.99919294e-01 -3.00347645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.12862385300002 meters Centerline goodness [0,1] 0.9999356388912727 Centerline is valid? [True, True] Translation: X:156.09, Y:-27.32, Z:-3.00 [[ 9.62466105e-01 2.71125531e-01 1.22451419e-02 1.56087848e+02] [-2.71102222e-01 9.62543992e-01 -3.55655282e-03 -2.73218706e+01] [-1.27507600e-02 1.03376372e-04 9.99918700e-01 -3.00487359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.15862385300002 meters Centerline goodness [0,1] 0.9998495820529901 Centerline is valid? [True, True] Translation: X:156.12, Y:-27.33, Z:-3.00 [[ 9.61908971e-01 2.73105385e-01 1.20241353e-02 1.56119724e+02] [-2.73083038e-01 9.61984118e-01 -3.49452039e-03 -2.73275105e+01] [-1.25213995e-02 7.78231196e-05 9.99921601e-01 -2.99772824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.18862385300002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:156.15, Y:-27.33, Z:-3.00 [[ 9.61289939e-01 2.75252178e-01 1.25654804e-02 1.56151323e+02] [-2.75227926e-01 9.61372059e-01 -3.65420975e-03 -2.73347156e+01] [-1.30859310e-02 5.43839440e-05 9.99914374e-01 -3.00468092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.21862385300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:156.18, Y:-27.34, Z:-3.01 [[ 9.60160305e-01 2.79168745e-01 1.25299814e-02 1.56182181e+02] [-2.79144924e-01 9.60242059e-01 -3.64686031e-03 -2.73378726e+01] [-1.30499046e-02 3.88980314e-06 9.99914846e-01 -3.00532526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.248623853 meters Centerline goodness [0,1] 0.9997829248702976 Centerline is valid? [True, True] Translation: X:156.21, Y:-27.34, Z:-3.00 [[ 9.59641843e-01 2.80964085e-01 1.21126660e-02 1.56213035e+02] [-2.80941966e-01 9.59718283e-01 -3.52548303e-03 -2.73432565e+01] [-1.26152811e-02 -1.97551689e-05 9.99920424e-01 -2.99718011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.278623853 meters Centerline goodness [0,1] 0.99997854997855 Centerline is valid? [True, True] Translation: X:156.24, Y:-27.35, Z:-3.01 [[ 9.59090422e-01 2.82810603e-01 1.27955249e-02 1.56242912e+02] [-2.82786082e-01 9.59175771e-01 -3.72445074e-03 -2.73499483e+01] [-1.33264716e-02 -4.63113155e-05 9.99911198e-01 -3.00575767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.308623853 meters Centerline goodness [0,1] 0.9999577827500317 Centerline is valid? [True, True] Translation: X:156.27, Y:-27.36, Z:-3.01 [[ 9.58655133e-01 2.84286935e-01 1.26994021e-02 1.56271185e+02] [-2.84262894e-01 9.58739242e-01 -3.69764975e-03 -2.73554504e+01] [-1.32266087e-02 -6.51978976e-05 9.99912522e-01 -3.00624599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.338623853 meters Centerline goodness [0,1] 0.999956796923941 Centerline is valid? [True, True] Translation: X:156.30, Y:-27.36, Z:-3.01 [[ 9.57816588e-01 2.87091903e-01 1.28694518e-02 1.56300099e+02] [-2.87067474e-01 9.57903037e-01 -3.74671587e-03 -2.73585593e+01] [-1.34033388e-02 -1.05734406e-04 9.99910166e-01 -3.00736225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.368623853 meters Centerline goodness [0,1] 0.9999576154449319 Centerline is valid? [True, True] Translation: X:156.33, Y:-27.36, Z:-3.01 [[ 9.57441474e-01 2.88347953e-01 1.26996868e-02 1.56327380e+02] [-2.88324281e-01 9.57525688e-01 -3.69672411e-03 -2.73629272e+01] [-1.32262191e-02 -1.22231073e-04 9.99912522e-01 -3.00841384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.398623853 meters Centerline goodness [0,1] 0.9998712556862072 Centerline is valid? [True, True] Translation: X:156.36, Y:-27.37, Z:-3.01 [[ 9.57039292e-01 2.89677862e-01 1.27487316e-02 1.56355351e+02] [-2.89654135e-01 9.57124191e-01 -3.71021844e-03 -2.73677093e+01] [-1.32768876e-02 -1.41898006e-04 9.99911848e-01 -3.00892835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.428623853 meters Centerline goodness [0,1] 0.9999788279132791 Centerline is valid? [True, True] Translation: X:156.38, Y:-27.37, Z:-3.01 [[ 9.56614679e-01 2.91081174e-01 1.26532861e-02 1.56383280e+02] [-2.91057935e-01 9.56698346e-01 -3.68157370e-03 -2.73737376e+01] [-1.31770147e-02 -1.60991881e-04 9.99913166e-01 -3.00885147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.458623853 meters Centerline goodness [0,1] 0.9999139581406354 Centerline is valid? [True, True] Translation: X:156.41, Y:-27.38, Z:-3.01 [[ 9.55904780e-01 2.93390521e-01 1.29635509e-02 1.56411685e+02] [-2.93366350e-01 9.55992658e-01 -3.77124225e-03 -2.73775922e+01] [-1.34995063e-02 -1.98121125e-04 9.99908858e-01 -3.00827897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.488623853 meters Centerline goodness [0,1] 0.9997467820215236 Centerline is valid? [True, True] Translation: X:156.44, Y:-27.38, Z:-3.01 [[ 9.55577420e-01 2.94461278e-01 1.28199185e-02 1.56440333e+02] [-2.94437746e-01 9.55663388e-01 -3.72865907e-03 -2.73784792e+01] [-1.33494725e-02 -2.11645486e-04 9.99910869e-01 -3.00975792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.518623853 meters Centerline goodness [0,1] 0.999786484466745 Centerline is valid? [True, True] Translation: X:156.47, Y:-27.39, Z:-3.01 [[ 9.55251086e-01 2.95509466e-01 1.30199361e-02 1.56467858e+02] [-2.95485304e-01 9.55339784e-01 -3.78590849e-03 -2.73853119e+01] [-1.35572347e-02 -2.30706574e-04 9.99908070e-01 -3.00951697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.548623853 meters Centerline goodness [0,1] 0.9998499174546001 Centerline is valid? [True, True] Translation: X:156.50, Y:-27.39, Z:-3.01 [[ 9.55030457e-01 2.96214330e-01 1.31870265e-02 1.56496210e+02] [-2.96189622e-01 9.55121464e-01 -3.83362591e-03 -2.73918116e+01] [-1.37307870e-02 -2.44630900e-04 9.99905698e-01 -3.00930849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.578623853 meters Centerline goodness [0,1] 0.9998068628082147 Centerline is valid? [True, True] Translation: X:156.52, Y:-27.40, Z:-3.01 [[ 9.54839462e-01 2.96827144e-01 1.32381356e-02 1.56523979e+02] [-2.96802312e-01 9.54931192e-01 -3.84785073e-03 -2.73958499e+01] [-1.37836552e-02 -2.55029545e-04 9.99904968e-01 -3.00916814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.608623853 meters Centerline goodness [0,1] 0.9997456657199779 Centerline is valid? [True, True] Translation: X:156.55, Y:-27.40, Z:-3.01 [[ 9.54789750e-01 2.96972835e-01 1.35524488e-02 1.56552027e+02] [-2.96946837e-01 9.54885891e-01 -3.93832640e-03 -2.73974280e+01] [-1.41106181e-02 -2.64083134e-04 9.99900405e-01 -3.00986978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.638623853 meters Centerline goodness [0,1] 0.9993120646659214 Centerline is valid? [True, True] Translation: X:156.58, Y:-27.40, Z:-3.00 [[ 9.54995641e-01 2.96334502e-01 1.30072802e-02 1.56580441e+02] [-2.96310506e-01 9.55084186e-01 -3.77907479e-03 -2.74038478e+01] [-1.35429179e-02 -2.45193826e-04 9.99908260e-01 -3.00194119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.668623853 meters Centerline goodness [0,1] 0.9998305120654224 Centerline is valid? [True, True] Translation: X:156.61, Y:-27.41, Z:-3.01 [[ 9.55205812e-01 2.95640675e-01 1.33584576e-02 1.56606999e+02] [-2.95615307e-01 9.55299185e-01 -3.88045111e-03 -2.74106368e+01] [-1.39085429e-02 -2.42335088e-04 9.99903242e-01 -3.01088341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.69862385300002 meters Centerline goodness [0,1] 0.9998919899766698 Centerline is valid? [True, True] Translation: X:156.63, Y:-27.42, Z:-3.01 [[ 9.55603273e-01 2.94345466e-01 1.35325769e-02 1.56634236e+02] [-2.94319315e-01 9.55699061e-01 -3.93012419e-03 -2.74192269e+01] [-1.40898852e-02 -2.27259219e-04 9.99900707e-01 -3.01125826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.72862385300002 meters Centerline goodness [0,1] 0.9999139895927407 Centerline is valid? [True, True] Translation: X:156.66, Y:-27.43, Z:-3.01 [[ 9.56670510e-01 2.90860555e-01 1.34785921e-02 1.56660820e+02] [-2.90834275e-01 9.56765440e-01 -3.91381436e-03 -2.74271413e+01] [-1.40342253e-02 -1.75805787e-04 9.99901500e-01 -3.01221656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.75862385300002 meters Centerline goodness [0,1] 0.999956934605198 Centerline is valid? [True, True] Translation: X:156.69, Y:-27.44, Z:-3.01 [[ 9.57291144e-01 2.88821597e-01 1.32571166e-02 1.56688438e+02] [-2.88795992e-01 9.57382924e-01 -3.84853844e-03 -2.74370900e+01] [-1.38036781e-02 -1.44430370e-04 9.99904714e-01 -3.01271435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.78862385300002 meters Centerline goodness [0,1] 0.9999357931683931 Centerline is valid? [True, True] Translation: X:156.72, Y:-27.44, Z:-3.01 [[ 9.57948246e-01 2.86645260e-01 1.30251236e-02 1.56715713e+02] [-2.86620347e-01 9.58036786e-01 -3.78079386e-03 -2.74444054e+01] [-1.35622942e-02 -1.11460598e-04 9.99908022e-01 -3.01494691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.81862385300002 meters Centerline goodness [0,1] 0.9999784682298731 Centerline is valid? [True, True] Translation: X:156.74, Y:-27.46, Z:-3.01 [[ 9.59159055e-01 2.82568865e-01 1.29901667e-02 1.56742913e+02] [-2.82543724e-01 9.59247014e-01 -3.76971033e-03 -2.74557594e+01] [-1.35259814e-02 -5.45382707e-05 9.99908518e-01 -3.01494251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.84862385300002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:156.77, Y:-27.46, Z:-3.02 [[ 9.59692498e-01 2.80748685e-01 1.30569802e-02 1.56770755e+02] [-2.80723122e-01 9.59781316e-01 -3.78863455e-03 -2.74642399e+01] [-1.35954998e-02 -2.94720900e-05 9.99907576e-01 -3.01552208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.87862385300002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:156.80, Y:-27.47, Z:-3.02 [[ 9.60135090e-01 2.79247079e-01 1.27152333e-02 1.56797720e+02] [-2.79222713e-01 9.60219281e-01 -3.68888279e-03 -2.74716930e+01] [-1.32395219e-02 -8.55612481e-06 9.99912354e-01 -3.01705455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.90862385300002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:156.83, Y:-27.48, Z:-3.02 [[ 9.60503926e-01 2.77990065e-01 1.23988639e-02 1.56825124e+02] [-2.77966802e-01 9.60583949e-01 -3.59625757e-03 -2.74791909e+01] [-1.29098735e-02 7.74697289e-06 9.99916664e-01 -3.01796245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.93862385300002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:156.85, Y:-27.49, Z:-3.02 [[ 9.61060801e-01 2.76072489e-01 1.20878910e-02 1.56852126e+02] [-2.76050235e-01 9.61136816e-01 -3.50544494e-03 -2.74854739e+01] [-1.25858740e-02 3.20805797e-05 9.99920794e-01 -3.01968870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.96862385300003 meters Centerline goodness [0,1] 0.9998925493735629 Centerline is valid? [True, True] Translation: X:156.88, Y:-27.49, Z:-3.01 [[ 9.61275319e-01 2.75339494e-01 1.17440916e-02 1.56880365e+02] [-2.75318440e-01 9.61347056e-01 -3.40515313e-03 -2.74916993e+01] [-1.22277210e-02 3.99246930e-05 9.99925238e-01 -3.01455986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.998623853 meters Centerline goodness [0,1] 0.9999785908497292 Centerline is valid? [True, True] Translation: X:156.91, Y:-27.50, Z:-3.02 [[ 9.61519519e-01 2.74474986e-01 1.19873383e-02 1.56906603e+02] [-2.74452991e-01 9.61594239e-01 -3.47509882e-03 -2.74993417e+01] [-1.24807831e-02 5.14145174e-05 9.99922111e-01 -3.02106978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.028623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:156.93, Y:-27.51, Z:-3.02 [[ 9.61820390e-01 2.73417716e-01 1.20120964e-02 1.56934901e+02] [-2.73395559e-01 9.61895394e-01 -3.48143053e-03 -2.75068425e+01] [-1.25062650e-02 6.44570643e-05 9.99921792e-01 -3.02128133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.058623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:156.96, Y:-27.52, Z:-3.02 [[ 9.62644355e-01 2.70485448e-01 1.23882440e-02 1.56962414e+02] [-2.70461646e-01 9.62724058e-01 -3.58977708e-03 -2.75161976e+01] [-1.28974430e-02 1.05133778e-04 9.99916819e-01 -3.02127397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.088623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:156.99, Y:-27.53, Z:-3.02 [[ 9.63176849e-01 2.68573230e-01 1.26007164e-02 1.56989664e+02] [-2.68548450e-01 9.63259260e-01 -3.65068004e-03 -2.75254543e+01] [-1.31182316e-02 1.32347651e-04 9.99913944e-01 -3.02190704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.118623853 meters Centerline goodness [0,1] 0.9999574359410913 Centerline is valid? [True, True] Translation: X:157.02, Y:-27.54, Z:-3.02 [[ 9.63682493e-01 2.66747287e-01 1.27254721e-02 1.57015644e+02] [-2.66721862e-01 9.63766497e-01 -3.68626275e-03 -2.75352113e+01] [-1.32476842e-02 1.58225271e-04 9.99912233e-01 -3.02174151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.148623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:157.04, Y:-27.55, Z:-3.02 [[ 9.64247706e-01 2.64668674e-01 1.32986350e-02 1.57042717e+02] [-2.64640726e-01 9.64339388e-01 -3.85113984e-03 -2.75451508e+01] [-1.38436736e-02 1.94092345e-04 9.99904153e-01 -3.02195063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.178623853 meters Centerline goodness [0,1] 0.9998927590940289 Centerline is valid? [True, True] Translation: X:157.07, Y:-27.56, Z:-3.02 [[ 9.65210118e-01 2.61127969e-01 1.34763329e-02 1.57070300e+02] [-2.61098934e-01 9.65304161e-01 -3.90181720e-03 -2.75577116e+01] [-1.40276339e-02 2.47417271e-04 9.99901577e-01 -3.02209720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.208623853 meters Centerline goodness [0,1] 0.9999568332901666 Centerline is valid? [True, True] Translation: X:157.10, Y:-27.57, Z:-3.02 [[ 9.65687960e-01 2.59360327e-01 1.33785349e-02 1.57099459e+02] [-2.59331548e-01 9.65780590e-01 -3.87307692e-03 -2.75676032e+01] [-1.39252518e-02 2.70707581e-04 9.99903002e-01 -3.02219438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.238623853 meters Centerline goodness [0,1] 0.9998054937217695 Centerline is valid? [True, True] Translation: X:157.13, Y:-27.58, Z:-3.02 [[ 9.66070646e-01 2.57932763e-01 1.33490024e-02 1.57128924e+02] [-2.57903976e-01 9.66162825e-01 -3.86443327e-03 -2.75777714e+01] [-1.38940739e-02 2.90554739e-04 9.99903430e-01 -3.02260920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.268623853 meters Centerline goodness [0,1] 0.9996801910325566 Centerline is valid? [True, True] Translation: X:157.16, Y:-27.59, Z:-3.02 [[ 9.66446434e-01 2.56526672e-01 1.32422282e-02 1.57156872e+02] [-2.56498206e-01 9.66537103e-01 -3.83391519e-03 -2.75911348e+01] [-1.37826064e-02 3.08665886e-04 9.99904968e-01 -3.02380221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.298623853 meters Centerline goodness [0,1] 0.9997452824181189 Centerline is valid? [True, True] Translation: X:157.19, Y:-27.60, Z:-3.02 [[ 9.67013275e-01 2.54364160e-01 1.35720152e-02 1.57185161e+02] [-2.54334042e-01 9.67108449e-01 -3.92962121e-03 -2.76031090e+01] [-1.41251654e-02 3.48170377e-04 9.99900174e-01 -3.02437333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.328623853 meters Centerline goodness [0,1] 0.9996794734817728 Centerline is valid? [True, True] Translation: X:157.21, Y:-27.61, Z:-3.02 [[ 9.67240263e-01 2.53487455e-01 1.37979376e-02 1.57214893e+02] [-2.53456238e-01 9.67338604e-01 -3.99495563e-03 -2.76118711e+01] [-1.43599488e-02 3.66908590e-04 9.99896823e-01 -3.02446232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.358623853 meters Centerline goodness [0,1] 0.999741217571327 Centerline is valid? [True, True] Translation: X:157.25, Y:-27.62, Z:-3.02 [[ 9.67341175e-01 2.53097500e-01 1.38818648e-02 1.57245634e+02] [-2.53065864e-01 9.67440704e-01 -4.01913472e-03 -2.76204569e+01] [-1.44471140e-02 3.74848409e-04 9.99895565e-01 -3.02469291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.388623853 meters Centerline goodness [0,1] 0.9997207183982126 Centerline is valid? [True, True] Translation: X:157.28, Y:-27.63, Z:-3.03 [[ 9.67377585e-01 2.52960617e-01 1.38395777e-02 1.57275176e+02] [-2.52929123e-01 9.67476503e-01 -4.00940663e-03 -2.76305242e+01] [-1.44036883e-02 3.78177841e-04 9.99896190e-01 -3.02539384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.418623853 meters Centerline goodness [0,1] 0.9997408599131881 Centerline is valid? [True, True] Translation: X:157.31, Y:-27.64, Z:-3.03 [[ 9.67286075e-01 2.53282433e-01 1.43408088e-02 1.57307522e+02] [-2.53248617e-01 9.67392298e-01 -4.15698317e-03 -2.76363704e+01] [-1.49260788e-02 3.89201937e-04 9.99888524e-01 -3.02518931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.44862385300002 meters Centerline goodness [0,1] 0.9997839986175912 Centerline is valid? [True, True] Translation: X:157.34, Y:-27.65, Z:-3.03 [[ 9.66843707e-01 2.54981291e-01 1.40636635e-02 1.57336374e+02] [-2.54948904e-01 9.66945920e-01 -4.07967609e-03 -2.76495627e+01] [-1.46390431e-02 3.58893566e-04 9.99892779e-01 -3.02646151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.47862385300002 meters Centerline goodness [0,1] 0.9998494008304468 Centerline is valid? [True, True] Translation: X:157.37, Y:-27.65, Z:-3.03 [[ 9.66504650e-01 2.56256636e-01 1.41879309e-02 1.57368309e+02] [-2.56223776e-01 9.66608720e-01 -4.11816460e-03 -2.76536226e+01] [-1.47694847e-02 3.44940009e-04 9.99890866e-01 -3.02655088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.50862385300002 meters Centerline goodness [0,1] 0.9997874917653059 Centerline is valid? [True, True] Translation: X:157.40, Y:-27.66, Z:-3.03 [[ 9.66131668e-01 2.57680844e-01 1.37906859e-02 1.57397080e+02] [-2.57649901e-01 9.66230036e-01 -4.00582941e-03 -2.76634050e+01] [-1.43572004e-02 3.16989801e-04 9.99896880e-01 -3.02719577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.53862385300002 meters Centerline goodness [0,1] 0.9999353559731081 Centerline is valid? [True, True] Translation: X:157.43, Y:-27.67, Z:-3.03 [[ 9.65280462e-01 2.60839300e-01 1.40174638e-02 1.57429003e+02] [-2.60807661e-01 9.65382196e-01 -4.07184911e-03 -2.76656079e+01] [-1.45943083e-02 2.74614437e-04 9.99893460e-01 -3.02744059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.56862385300002 meters Centerline goodness [0,1] 0.999956708082601 Centerline is valid? [True, True] Translation: X:157.46, Y:-27.67, Z:-3.03 [[ 9.64789135e-01 2.62650609e-01 1.40208065e-02 1.57458772e+02] [-2.62619139e-01 9.64890976e-01 -4.07327057e-03 -2.76717704e+01] [-1.45983966e-02 2.47715068e-04 9.99893407e-01 -3.02809767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.59862385300002 meters Centerline goodness [0,1] 0.9999578139171887 Centerline is valid? [True, True] Translation: X:157.49, Y:-27.68, Z:-3.03 [[ 9.64262292e-01 2.64585636e-01 1.38806837e-02 1.57486666e+02] [-2.64554992e-01 9.64362170e-01 -4.03260311e-03 -2.76799764e+01] [-1.44529751e-02 2.16282944e-04 9.99895527e-01 -3.02938714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.62862385300002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:157.52, Y:-27.68, Z:-3.03 [[ 9.63781262e-01 2.66316204e-01 1.41900695e-02 1.57517081e+02] [-2.66284368e-01 9.63885699e-01 -4.12235953e-03 -2.76834771e+01] [-1.47754562e-02 1.94459187e-04 9.99890818e-01 -3.02899024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.65862385300002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:157.55, Y:-27.69, Z:-3.03 [[ 9.62864028e-01 2.69612015e-01 1.42205831e-02 1.57545771e+02] [-2.69580409e-01 9.62969024e-01 -4.13069061e-03 -2.76877162e+01] [-1.48076648e-02 1.43702791e-04 9.99890350e-01 -3.03023403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.68862385300002 meters Centerline goodness [0,1] 0.9999786406937503 Centerline is valid? [True, True] Translation: X:157.57, Y:-27.69, Z:-3.03 [[ 9.62424407e-01 2.71169629e-01 1.43629179e-02 1.57574174e+02] [-2.71137568e-01 9.62531567e-01 -4.17149643e-03 -2.76924845e+01] [-1.49559450e-02 1.20423351e-04 9.99888146e-01 -3.03051330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.71862385300003 meters Centerline goodness [0,1] 0.9999566461458423 Centerline is valid? [True, True] Translation: X:157.60, Y:-27.70, Z:-3.03 [[ 9.62089221e-01 2.72348944e-01 1.45045922e-02 1.57602415e+02] [-2.72316393e-01 9.62198546e-01 -4.21189717e-03 -2.76973736e+01] [-1.51034032e-02 1.02382655e-04 9.99885932e-01 -3.03044006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.748623853 meters Centerline goodness [0,1] 0.9999566461458423 Centerline is valid? [True, True] Translation: X:157.63, Y:-27.71, Z:-3.03 [[ 9.62102654e-01 2.72301475e-01 1.45047992e-02 1.57629647e+02] [-2.72268929e-01 9.62211981e-01 -4.21118420e-03 -2.77051887e+01] [-1.51034032e-02 1.02385357e-04 9.99885932e-01 -3.03093961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.778623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:157.66, Y:-27.71, Z:-3.03 [[ 9.61719052e-01 2.73656160e-01 1.44489116e-02 1.57657238e+02] [-2.73624028e-01 9.61827583e-01 -4.19422131e-03 -2.77109534e+01] [-1.50451362e-02 8.00931472e-05 9.99886812e-01 -3.03142548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.808623853 meters Centerline goodness [0,1] 0.999978470084182 Centerline is valid? [True, True] Translation: X:157.68, Y:-27.72, Z:-3.03 [[ 9.61385506e-01 2.74828436e-01 1.43958077e-02 1.57684048e+02] [-2.74796685e-01 9.61493280e-01 -4.17785151e-03 -2.77168542e+01] [-1.49896648e-02 6.06056445e-05 9.99887647e-01 -3.03224051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.838623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:157.71, Y:-27.72, Z:-3.03 [[ 9.60747464e-01 2.77090418e-01 1.36092008e-02 1.57713414e+02] [-2.77062282e-01 9.60843848e-01 -3.94868396e-03 -2.77206922e+01] [-1.41704594e-02 2.30918653e-05 9.99899594e-01 -3.03425267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.868623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:157.74, Y:-27.73, Z:-3.03 [[ 9.60549762e-01 2.77776109e-01 1.35863513e-02 1.57740646e+02] [-2.77748144e-01 9.60645842e-01 -3.94144461e-03 -2.77264466e+01] [-1.41465110e-02 1.23698244e-05 9.99899933e-01 -3.03453726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.898623853 meters Centerline goodness [0,1] 0.9999784557049294 Centerline is valid? [True, True] Translation: X:157.77, Y:-27.73, Z:-3.03 [[ 9.60462093e-01 2.78069807e-01 1.37749783e-02 1.57768206e+02] [-2.78041107e-01 9.60560869e-01 -3.99508208e-03 -2.77325538e+01] [-1.43426168e-02 7.11467678e-06 9.99897139e-01 -3.03496474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.928623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:157.80, Y:-27.74, Z:-3.04 [[ 9.60398003e-01 2.78282131e-01 1.39546217e-02 1.57795336e+02] [-2.78252716e-01 9.60499378e-01 -4.04603866e-03 -2.77388951e+01] [-1.45293457e-02 2.89606156e-06 9.99894443e-01 -3.03566488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.958623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:157.82, Y:-27.75, Z:-3.04 [[ 9.60537386e-01 2.77778443e-01 1.43897947e-02 1.57822252e+02] [-2.77747122e-01 9.60645167e-01 -4.17127517e-03 -2.77450261e+01] [-1.49821770e-02 9.94168725e-06 9.99887761e-01 -3.03512278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.988623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:157.85, Y:-27.75, Z:-3.04 [[ 9.60789098e-01 2.76911729e-01 1.42899793e-02 1.57848675e+02] [-2.76880761e-01 9.60895361e-01 -4.14126077e-03 -2.77529426e+01] [-1.48779384e-02 2.22578680e-05 9.99889317e-01 -3.03599222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.018623853 meters Centerline goodness [0,1] 0.9999786466229634 Centerline is valid? [True, True] Translation: X:157.88, Y:-27.76, Z:-3.04 [[ 9.61067596e-01 2.75954991e-01 1.40683948e-02 1.57876062e+02] [-2.75924890e-01 9.61170558e-01 -4.07592185e-03 -2.77618107e+01] [-1.46468978e-02 3.54161322e-05 9.99892728e-01 -3.03717383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.048623853 meters Centerline goodness [0,1] 0.9999786420623225 Centerline is valid? [True, True] Translation: X:157.90, Y:-27.77, Z:-3.04 [[ 9.61843366e-01 2.73262852e-01 1.35924124e-02 1.57901606e+02] [-2.73234494e-01 9.61939399e-01 -3.93739903e-03 -2.77733874e+01] [-1.41510219e-02 7.32452157e-05 9.99899867e-01 -3.03901778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.078623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:157.93, Y:-27.78, Z:-3.04 [[ 9.62287783e-01 2.71691898e-01 1.36284612e-02 1.57929281e+02] [-2.71663244e-01 9.62384280e-01 -3.94693763e-03 -2.77825390e+01] [-1.41881678e-02 9.57378657e-05 9.99899338e-01 -3.03928386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.108623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:157.95, Y:-27.79, Z:-3.04 [[ 9.62770446e-01 2.69975109e-01 1.36567837e-02 1.57954752e+02] [-2.69946173e-01 9.62867294e-01 -3.95449483e-03 -2.77935834e+01] [-1.42172855e-02 1.20674274e-04 9.99898922e-01 -3.04035020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.138623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:157.98, Y:-27.80, Z:-3.04 [[ 9.63333581e-01 2.67971077e-01 1.34131751e-02 1.57981618e+02] [-2.67942985e-01 9.63426946e-01 -3.88286229e-03 -2.78046888e+01] [-1.39631091e-02 1.46525473e-04 9.99902500e-01 -3.04107768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.168623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:158.01, Y:-27.82, Z:-3.04 [[ 9.64416977e-01 2.64036621e-01 1.35851995e-02 1.58008323e+02] [-2.64007423e-01 9.64512634e-01 -3.93187946e-03 -2.78193227e+01] [-1.41412567e-02 2.05377796e-04 9.99899986e-01 -3.04212732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.19862385300002 meters Centerline goodness [0,1] 0.9999570787818959 Centerline is valid? [True, True] Translation: X:158.03, Y:-27.83, Z:-3.04 [[ 9.64916451e-01 2.62200034e-01 1.36888298e-02 1.58034674e+02] [-2.62170207e-01 9.65013517e-01 -3.96168677e-03 -2.78299326e+01] [-1.42486602e-02 2.33893392e-04 9.99898455e-01 -3.04210500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.22862385300002 meters Centerline goodness [0,1] 0.9999149515223678 Centerline is valid? [True, True] Translation: X:158.06, Y:-27.84, Z:-3.04 [[ 9.65317372e-01 2.60719602e-01 1.36989383e-02 1.58062613e+02] [-2.60689599e-01 9.65414535e-01 -3.96342811e-03 -2.78400036e+01] [-1.42584975e-02 2.54795280e-04 9.99898310e-01 -3.04265314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.25862385300002 meters Centerline goodness [0,1] 0.9998920902125823 Centerline is valid? [True, True] Translation: X:158.09, Y:-27.85, Z:-3.04 [[ 9.65676527e-01 2.59385395e-01 1.37135621e-02 1.58090248e+02] [-2.59355198e-01 9.65773856e-01 -3.96731408e-03 -2.78502415e+01] [-1.42732631e-02 2.74458465e-04 9.99898094e-01 -3.04244204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.28862385300002 meters Centerline goodness [0,1] 0.999872 Centerline is valid? [True, True] Translation: X:158.12, Y:-27.86, Z:-3.04 [[ 9.66091160e-01 2.57825605e-01 1.39222358e-02 1.58116805e+02] [-2.57794325e-01 9.66191423e-01 -4.02732276e-03 -2.78629260e+01] [-1.44898917e-02 3.01687542e-04 9.99894970e-01 -3.04270567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.31862385300002 meters Centerline goodness [0,1] 0.99978507565337 Centerline is valid? [True, True] Translation: X:158.14, Y:-27.87, Z:-3.04 [[ 9.66193590e-01 2.57432462e-01 1.40881122e-02 1.58144046e+02] [-2.57400396e-01 9.66296244e-01 -4.07498261e-03 -2.78736162e+01] [-1.46623227e-02 3.10936418e-04 9.99892454e-01 -3.04308363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.34862385300002 meters Centerline goodness [0,1] 0.9999146630256224 Centerline is valid? [True, True] Translation: X:158.17, Y:-27.88, Z:-3.04 [[ 9.66181833e-01 2.57480079e-01 1.40240816e-02 1.58172664e+02] [-2.57448317e-01 9.66283558e-01 -4.05590212e-03 -2.78797373e+01] [-1.45955534e-02 3.08262751e-04 9.99893432e-01 -3.04334066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.37862385300002 meters Centerline goodness [0,1] 0.9998283924664293 Centerline is valid? [True, True] Translation: X:158.20, Y:-27.89, Z:-3.04 [[ 9.65917710e-01 2.58461993e-01 1.41553756e-02 1.58199574e+02] [-2.58429744e-01 9.66021382e-01 -4.09354685e-03 -2.78893699e+01] [-1.47324218e-02 2.95859321e-04 9.99891428e-01 -3.04424595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.40862385300002 meters Centerline goodness [0,1] 0.999914486061228 Centerline is valid? [True, True] Translation: X:158.23, Y:-27.90, Z:-3.05 [[ 9.65719920e-01 2.59216004e-01 1.38600237e-02 1.58227872e+02] [-2.59185170e-01 9.65819334e-01 -4.00766223e-03 -2.78961739e+01] [-1.44251290e-02 2.77966649e-04 9.99895914e-01 -3.04507622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.43862385300002 meters Centerline goodness [0,1] 0.9999133580262959 Centerline is valid? [True, True] Translation: X:158.25, Y:-27.90, Z:-3.05 [[ 9.65699074e-01 2.59304978e-01 1.36464941e-02 1.58254044e+02] [-2.59275105e-01 9.65795452e-01 -3.94531015e-03 -2.79040724e+01] [-1.42027605e-02 2.71786166e-04 9.99899099e-01 -3.04649199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.46862385300003 meters Centerline goodness [0,1] 0.9999132960506351 Centerline is valid? [True, True] Translation: X:158.28, Y:-27.91, Z:-3.05 [[ 9.65703348e-01 2.59311969e-01 1.32040044e-02 1.58281047e+02] [-2.59284013e-01 9.65793577e-01 -3.81662028e-03 -2.79122636e+01] [-1.37420380e-02 2.62135737e-04 9.99905539e-01 -3.04805942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.498623853 meters Centerline goodness [0,1] 0.9999361552703824 Centerline is valid? [True, True] Translation: X:158.31, Y:-27.92, Z:-3.05 [[ 9.65859702e-01 2.58769995e-01 1.23743979e-02 1.58307340e+02] [-2.58745406e-01 9.65938935e-01 -3.57614729e-03 -2.79226542e+01] [-1.28783123e-02 2.52237946e-04 9.99917039e-01 -3.05028366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.528623853 meters Centerline goodness [0,1] 0.9999350593124946 Centerline is valid? [True, True] Translation: X:158.34, Y:-27.93, Z:-3.05 [[ 9.65961396e-01 2.58370411e-01 1.27793524e-02 1.58338350e+02] [-2.58344166e-01 9.66045890e-01 -3.69202986e-03 -2.79271090e+01] [-1.32993522e-02 2.64887165e-04 9.99911525e-01 -3.04901768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.558623853 meters Centerline goodness [0,1] 0.9999141667739582 Centerline is valid? [True, True] Translation: X:158.37, Y:-27.94, Z:-3.05 [[ 9.66014971e-01 2.58153020e-01 1.31185009e-02 1.58366622e+02] [-2.58125338e-01 9.66104002e-01 -3.79042095e-03 -2.79387532e+01] [-1.36523448e-02 2.75385911e-04 9.99906764e-01 -3.04914397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.588623853 meters Centerline goodness [0,1] 0.999935683046051 Centerline is valid? [True, True] Translation: X:158.40, Y:-27.95, Z:-3.05 [[ 9.66102832e-01 2.57795216e-01 1.36727933e-02 1.58395905e+02] [-2.57765107e-01 9.66199535e-01 -3.95080843e-03 -2.79482220e+01] [-1.42291461e-02 2.92518177e-04 9.99898718e-01 -3.04856411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.618623853 meters Centerline goodness [0,1] 0.9998505327440053 Centerline is valid? [True, True] Translation: X:158.42, Y:-27.96, Z:-3.05 [[ 9.66187688e-01 2.57435946e-01 1.44252008e-02 1.58424132e+02] [-2.57402391e-01 9.66295315e-01 -4.16818729e-03 -2.79615230e+01] [-1.50120451e-02 3.14170070e-04 9.99887264e-01 -3.04784372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.648623853 meters Centerline goodness [0,1] 0.9998920645885502 Centerline is valid? [True, True] Translation: X:158.45, Y:-27.97, Z:-3.05 [[ 9.66234623e-01 2.57243877e-01 1.47051389e-02 1.58453788e+02] [-2.57208983e-01 9.66346461e-01 -4.24924036e-03 -2.79719393e+01] [-1.53033500e-02 3.23469325e-04 9.99882845e-01 -3.04821831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.678623853 meters Centerline goodness [0,1] 0.9998502321401828 Centerline is valid? [True, True] Translation: X:158.48, Y:-27.98, Z:-3.05 [[ 9.66307656e-01 2.56998083e-01 1.41950342e-02 1.58482426e+02] [-2.56965541e-01 9.66411861e-01 -4.10187123e-03 -2.79832174e+01] [-1.47724224e-02 3.16034941e-04 9.99890832e-01 -3.04934711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.708623853 meters Centerline goodness [0,1] 0.9998059424727241 Centerline is valid? [True, True] Translation: X:158.51, Y:-28.00, Z:-3.05 [[ 9.66325536e-01 2.56943435e-01 1.39652766e-02 1.58510838e+02] [-2.56911906e-01 9.66426393e-01 -4.03726395e-03 -2.80003655e+01] [-1.45337604e-02 3.13465408e-04 9.99894330e-01 -3.05139426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.738623853 meters Centerline goodness [0,1] 0.9998914176511466 Centerline is valid? [True, True] Translation: X:158.54, Y:-28.00, Z:-3.05 [[ 9.66367959e-01 2.56786884e-01 1.39091128e-02 1.58543596e+02] [-2.56755555e-01 9.66468000e-01 -4.02358456e-03 -2.80048840e+01] [-1.44759162e-02 3.17021218e-04 9.99895168e-01 -3.05112737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.768623853 meters Centerline goodness [0,1] 0.9998711865862299 Centerline is valid? [True, True] Translation: X:158.57, Y:-28.02, Z:-3.05 [[ 9.66323318e-01 2.56941008e-01 1.41620058e-02 1.58572617e+02] [-2.56908502e-01 9.66427035e-01 -4.09973765e-03 -2.80200175e+01] [-1.47399360e-02 3.23332390e-04 9.99891309e-01 -3.05208704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.798623853 meters Centerline goodness [0,1] 0.9998278718505927 Centerline is valid? [True, True] Translation: X:158.60, Y:-28.03, Z:-3.05 [[ 9.66209137e-01 2.57370683e-01 1.41504717e-02 1.58603074e+02] [-2.57338236e-01 9.66312698e-01 -4.09913063e-03 -2.80291247e+01] [-1.47287765e-02 3.19160054e-04 9.99891475e-01 -3.05235586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.828623853 meters Centerline goodness [0,1] 0.9998926416593306 Centerline is valid? [True, True] Translation: X:158.63, Y:-28.04, Z:-3.05 [[ 9.66086805e-01 2.57840129e-01 1.39553658e-02 1.58632148e+02] [-2.57808581e-01 9.66187545e-01 -4.04529264e-03 -2.80399539e+01] [-1.45265394e-02 3.10290796e-04 9.99894436e-01 -3.05354672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.858623853 meters Centerline goodness [0,1] 0.9999350171121605 Centerline is valid? [True, True] Translation: X:158.66, Y:-28.05, Z:-3.05 [[ 9.65889131e-01 2.58595140e-01 1.36652779e-02 1.58663254e+02] [-2.58564950e-01 9.65985749e-01 -3.96227003e-03 -2.80476503e+01] [-1.42250875e-02 2.93751676e-04 9.99898775e-01 -3.05436953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.888623853 meters Centerline goodness [0,1] 0.9998716220553309 Centerline is valid? [True, True] Translation: X:158.69, Y:-28.06, Z:-3.06 [[ 9.65340240e-01 2.60668645e-01 1.30414075e-02 1.58692329e+02] [-2.60641303e-01 9.65428295e-01 -3.78393286e-03 -2.80601750e+01] [-1.35768964e-02 2.53653218e-04 9.99907798e-01 -3.05707774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.918623853 meters Centerline goodness [0,1] 0.9999356043531458 Centerline is valid? [True, True] Translation: X:158.72, Y:-28.07, Z:-3.06 [[ 9.65100788e-01 2.61546207e-01 1.31928402e-02 1.58722627e+02] [-2.61518285e-01 9.65190925e-01 -3.82956091e-03 -2.80697106e+01] [-1.37352168e-02 2.45743305e-04 9.99905637e-01 -3.05759281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.94862385300002 meters Centerline goodness [0,1] 0.9998933992836432 Centerline is valid? [True, True] Translation: X:158.75, Y:-28.08, Z:-3.06 [[ 9.64823629e-01 2.62564929e-01 1.32296187e-02 1.58751702e+02] [-2.62536942e-01 9.64914299e-01 -3.84060686e-03 -2.80793612e+01] [-1.37738569e-02 2.32244622e-04 9.99905109e-01 -3.05787010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.97862385300002 meters Centerline goodness [0,1] 0.9999566893325826 Centerline is valid? [True, True] Translation: X:158.78, Y:-28.09, Z:-3.06 [[ 9.64288946e-01 2.64486731e-01 1.39139102e-02 1.58782772e+02] [-2.64455978e-01 9.64389300e-01 -4.03892757e-03 -2.80872403e+01] [-1.44866688e-02 2.15076481e-04 9.99895040e-01 -3.05689620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.00862385300002 meters Centerline goodness [0,1] 0.9999570382145082 Centerline is valid? [True, True] Translation: X:158.81, Y:-28.10, Z:-3.06 [[ 9.64002849e-01 2.65548253e-01 1.35141565e-02 1.58812222e+02] [-2.65519312e-01 9.64097551e-01 -3.92529961e-03 -2.80980716e+01] [-1.40713216e-02 1.95730468e-04 9.99900975e-01 -3.05823368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.03862385300002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:158.84, Y:-28.11, Z:-3.06 [[ 9.63784663e-01 2.66349087e-01 1.33149545e-02 1.58841426e+02] [-2.66321031e-01 9.63876616e-01 -3.87018764e-03 -2.81069422e+01] [-1.38647942e-02 1.83975090e-04 9.99903862e-01 -3.05945099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.06862385300002 meters Centerline goodness [0,1] 0.9999786429746065 Centerline is valid? [True, True] Translation: X:158.87, Y:-28.12, Z:-3.06 [[ 9.63559020e-01 2.67170782e-01 1.31828591e-02 1.58872892e+02] [-2.67143363e-01 9.63649181e-01 -3.83132884e-03 -2.81154080e+01] [-1.37272705e-02 1.69998158e-04 9.99905762e-01 -3.06048902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.09862385300002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:158.90, Y:-28.13, Z:-3.06 [[ 9.63380215e-01 2.67827271e-01 1.29272568e-02 1.58901861e+02] [-2.67800933e-01 9.63466931e-01 -3.75935198e-03 -2.81273010e+01] [-1.34618414e-02 1.59753875e-04 9.99909373e-01 -3.06211038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.12862385300002 meters Centerline goodness [0,1] 0.9999785743363401 Centerline is valid? [True, True] Translation: X:158.93, Y:-28.14, Z:-3.06 [[ 9.63291960e-01 2.68148712e-01 1.28400949e-02 1.58931864e+02] [-2.68122729e-01 9.63377519e-01 -3.73605001e-03 -2.81377103e+01] [-1.33716758e-02 1.56185644e-04 9.99910583e-01 -3.06248825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.15862385300002 meters Centerline goodness [0,1] 0.9999573424336141 Centerline is valid? [True, True] Translation: X:158.96, Y:-28.15, Z:-3.06 [[ 9.63167173e-01 2.68597888e-01 1.28129695e-02 1.58962254e+02] [-2.68572025e-01 9.63252382e-01 -3.73038014e-03 -2.81491535e+01] [-1.33440956e-02 1.51774528e-04 9.99910952e-01 -3.06334738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.18862385300002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:158.99, Y:-28.16, Z:-3.06 [[ 9.63132619e-01 2.68734493e-01 1.25431182e-02 1.58992511e+02] [-2.68709688e-01 9.63214281e-01 -3.65419445e-03 -2.81600029e+01] [-1.30637186e-02 1.49016495e-04 9.99914655e-01 -3.06426918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.21862385300003 meters Centerline goodness [0,1] 0.9999566245201588 Centerline is valid? [True, True] Translation: X:159.02, Y:-28.17, Z:-3.06 [[ 9.63008208e-01 2.69196292e-01 1.21880025e-02 1.59021439e+02] [-2.69172882e-01 9.63085322e-01 -3.55286362e-03 -2.81706214e+01] [-1.26945040e-02 1.40757055e-04 9.99919412e-01 -3.06039113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.248623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:159.05, Y:-28.18, Z:-3.07 [[ 9.62835003e-01 2.69789720e-01 1.27382980e-02 1.59050302e+02] [-2.69764171e-01 9.62919253e-01 -3.71549398e-03 -2.81814395e+01] [-1.32683545e-02 1.41071237e-04 9.99911962e-01 -3.06558327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.278623853 meters Centerline goodness [0,1] 0.9998705557473249 Centerline is valid? [True, True] Translation: X:159.08, Y:-28.19, Z:-3.06 [[ 9.62543116e-01 2.70843617e-01 1.24291893e-02 1.59081253e+02] [-2.70819356e-01 9.62623353e-01 -3.62720680e-03 -2.81909057e+01] [-1.29470337e-02 1.25277876e-04 9.99916176e-01 -3.05871076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.308623853 meters Centerline goodness [0,1] 0.9999572932459269 Centerline is valid? [True, True] Translation: X:159.11, Y:-28.20, Z:-3.07 [[ 9.62463286e-01 2.71111887e-01 1.27580405e-02 1.59110438e+02] [-2.71086319e-01 9.62547832e-01 -3.72546216e-03 -2.82036651e+01] [-1.32902413e-02 1.27090314e-04 9.99911673e-01 -3.06723850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.338623853 meters Centerline goodness [0,1] 0.9999136255668322 Centerline is valid? [True, True] Translation: X:159.14, Y:-28.21, Z:-3.06 [[ 9.62332042e-01 2.71599608e-01 1.22757540e-02 1.59142590e+02] [-2.71575949e-01 9.62410328e-01 -3.58675669e-03 -2.82128482e+01] [-1.27884741e-02 1.17851356e-04 9.99918217e-01 -3.06225378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.368623853 meters Centerline goodness [0,1] 0.9999787052810903 Centerline is valid? [True, True] Translation: X:159.17, Y:-28.22, Z:-3.07 [[ 9.62232078e-01 2.71942614e-01 1.25157316e-02 1.59171812e+02] [-2.71918016e-01 9.62313463e-01 -3.65951409e-03 -2.82249581e+01] [-1.30392349e-02 1.18048943e-04 9.99914979e-01 -3.06896126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.398623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:159.20, Y:-28.24, Z:-3.07 [[ 9.62010134e-01 2.72711238e-01 1.28484659e-02 1.59201837e+02] [-2.72685349e-01 9.62095924e-01 -3.75934504e-03 -2.82355918e+01] [-1.33866723e-02 1.12939629e-04 9.99910388e-01 -3.06903090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.428623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:159.23, Y:-28.25, Z:-3.07 [[ 9.61863687e-01 2.73243463e-01 1.25003053e-02 1.59232702e+02] [-2.73218977e-01 9.61944904e-01 -3.65949687e-03 -2.82465680e+01] [-1.30245386e-02 1.04616537e-04 9.99915172e-01 -3.06984218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.458623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:159.26, Y:-28.26, Z:-3.07 [[ 9.61726858e-01 2.73735506e-01 1.22606447e-02 1.59263642e+02] [-2.73711959e-01 9.61805003e-01 -3.59175022e-03 -2.82574034e+01] [-1.27755390e-02 9.83975709e-05 9.99918385e-01 -3.07121027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.488623853 meters Centerline goodness [0,1] 0.9998479516920804 Centerline is valid? [True, True] Translation: X:159.30, Y:-28.27, Z:-3.06 [[ 9.61572436e-01 2.74299775e-01 1.17509362e-02 1.59295505e+02] [-2.74278160e-01 9.61644230e-01 -3.44465781e-03 -2.82668593e+01] [-1.22450888e-02 8.92628595e-05 9.99925022e-01 -3.06440722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.518623853 meters Centerline goodness [0,1] 0.9999785623941518 Centerline is valid? [True, True] Translation: X:159.32, Y:-28.28, Z:-3.07 [[ 9.61482690e-01 2.74589749e-01 1.23088289e-02 1.59324764e+02] [-2.74566021e-01 9.61561470e-01 -3.61087143e-03 -2.82798601e+01] [-1.28272038e-02 9.22042062e-05 9.99917724e-01 -3.07227305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.548623853 meters Centerline goodness [0,1] 0.9999787252148753 Centerline is valid? [True, True] Translation: X:159.35, Y:-28.29, Z:-3.07 [[ 9.61435865e-01 2.74744019e-01 1.25220598e-02 1.59354863e+02] [-2.74719441e-01 9.61517403e-01 -3.67608840e-03 -2.82911834e+01] [-1.30501618e-02 9.42699575e-05 9.99914839e-01 -3.07304168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.578623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:159.39, Y:-28.30, Z:-3.07 [[ 9.61473428e-01 2.74607674e-01 1.26282872e-02 1.59385846e+02] [-2.74582648e-01 9.61556351e-01 -3.70853559e-03 -2.83033531e+01] [-1.31612021e-02 9.81498715e-05 9.99913383e-01 -3.07328812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.608623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:159.42, Y:-28.32, Z:-3.07 [[ 9.61447030e-01 2.74713013e-01 1.23437731e-02 1.59415998e+02] [-2.74689080e-01 9.61526261e-01 -3.62740525e-03 -2.83152454e+01] [-1.28653575e-02 9.68583243e-05 9.99917233e-01 -3.07418925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.638623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:159.45, Y:-28.32, Z:-3.07 [[ 9.61397469e-01 2.74886435e-01 1.23431745e-02 1.59447101e+02] [-2.74862491e-01 9.61476697e-01 -3.62944072e-03 -2.83246024e+01] [-1.28653587e-02 9.66594192e-05 9.99917233e-01 -3.07476262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.668623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:159.48, Y:-28.34, Z:-3.08 [[ 9.61217240e-01 2.75519352e-01 1.22679806e-02 1.59476597e+02] [-2.75495713e-01 9.61295521e-01 -3.61017969e-03 -2.83363459e+01] [-1.27878292e-02 9.03908986e-05 9.99918228e-01 -3.07533374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.69862385300002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:159.51, Y:-28.35, Z:-3.08 [[ 9.60997414e-01 2.76280458e-01 1.23724700e-02 1.59506702e+02] [-2.76256468e-01 9.61077053e-01 -3.64173927e-03 -2.83460746e+01] [-1.28970384e-02 8.17271676e-05 9.99916826e-01 -3.07582871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.72862385300002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:159.54, Y:-28.36, Z:-3.08 [[ 9.60757047e-01 2.77111041e-01 1.24646595e-02 1.59537838e+02] [-2.77086733e-01 9.60837898e-01 -3.67111346e-03 -2.83556708e+01] [-1.29938233e-02 7.32563460e-05 9.99915574e-01 -3.07660110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.75862385300002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:159.57, Y:-28.36, Z:-3.08 [[ 9.60120801e-01 2.79310477e-01 1.23977727e-02 1.59568154e+02] [-2.79286579e-01 9.60200841e-01 -3.65395534e-03 -2.83632327e+01] [-1.29249398e-02 4.57070039e-05 9.99916468e-01 -3.07736494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.78862385300002 meters Centerline goodness [0,1] 0.9999351771823682 Centerline is valid? [True, True] Translation: X:159.60, Y:-28.37, Z:-3.07 [[ 9.59754154e-01 2.80582741e-01 1.20535630e-02 1.59600261e+02] [-2.80560233e-01 9.59829841e-01 -3.55407633e-03 -2.83704381e+01] [-1.25665819e-02 2.92890927e-05 9.99921037e-01 -3.07110410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.81862385300002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:159.63, Y:-28.38, Z:-3.08 [[ 9.59456279e-01 2.81584626e-01 1.23995028e-02 1.59630813e+02] [-2.81560852e-01 9.59536397e-01 -3.65905955e-03 -2.83804440e+01] [-1.29281091e-02 1.94930936e-05 9.99916428e-01 -3.07821909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.84862385300002 meters Centerline goodness [0,1] 0.9999785089510219 Centerline is valid? [True, True] Translation: X:159.66, Y:-28.39, Z:-3.08 [[ 9.59143861e-01 2.82640591e-01 1.25439520e-02 1.59662439e+02] [-2.82616334e-01 9.59225884e-01 -3.70296540e-03 -2.83895490e+01] [-1.30790918e-02 6.55081653e-06 9.99914465e-01 -3.07749416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.87862385300002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:159.69, Y:-28.40, Z:-3.08 [[ 9.58845792e-01 2.83640713e-01 1.27551265e-02 1.59693981e+02] [-2.83615685e-01 9.58930626e-01 -3.76796566e-03 -2.83988505e+01] [-1.33000299e-02 -4.65592660e-06 9.99911551e-01 -3.07742556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.90862385300002 meters Centerline goodness [0,1] 0.9999784021943371 Centerline is valid? [True, True] Translation: X:159.73, Y:-28.41, Z:-3.08 [[ 9.58416528e-01 2.85084737e-01 1.28238441e-02 1.59725866e+02] [-2.85059532e-01 9.58502317e-01 -3.79093630e-03 -2.84078972e+01] [-1.33724224e-02 -2.22630012e-05 9.99910585e-01 -3.07833305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.93862385300002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:159.76, Y:-28.42, Z:-3.08 [[ 9.58169492e-01 2.85934612e-01 1.23540220e-02 1.59756732e+02] [-2.85911258e-01 9.58249131e-01 -3.65458445e-03 -2.84168654e+01] [-1.28832031e-02 -3.04426491e-05 9.99917008e-01 -3.07978924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.96862385300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:159.79, Y:-28.43, Z:-3.08 [[ 9.57982478e-01 2.86564209e-01 1.22688820e-02 1.59788818e+02] [-2.86541197e-01 9.58061038e-01 -3.63175882e-03 -2.84260976e+01] [-1.27950699e-02 -3.63788189e-05 9.99918139e-01 -3.08132706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.998623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:159.82, Y:-28.43, Z:-3.08 [[ 9.57723890e-01 2.87443853e-01 1.18736058e-02 1.59819535e+02] [-2.87422338e-01 9.57797489e-01 -3.51712713e-03 -2.84343464e+01] [-1.23834864e-02 -4.43028579e-05 9.99923321e-01 -3.08266179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.028623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:159.85, Y:-28.44, Z:-3.08 [[ 9.57098998e-01 2.89531400e-01 1.15358728e-02 1.59850443e+02] [-2.89511216e-01 9.57168514e-01 -3.41935037e-03 -2.84400711e+01] [-1.20317835e-02 -6.71077536e-05 9.99927613e-01 -3.08392417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.058623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:159.88, Y:-28.45, Z:-3.08 [[ 9.56779936e-01 2.90580987e-01 1.16122126e-02 1.59882694e+02] [-2.90560592e-01 9.56850398e-01 -3.44362668e-03 -2.84484612e+01] [-1.21118026e-02 -7.92584385e-05 9.99926646e-01 -3.08376042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.088623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:159.91, Y:-28.46, Z:-3.08 [[ 9.56452779e-01 2.91639380e-01 1.20230145e-02 1.59914589e+02] [-2.91617568e-01 9.56528339e-01 -3.56801532e-03 -2.84562474e+01] [-1.25409278e-02 -9.34840671e-05 9.99921355e-01 -3.08360582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.118623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:159.95, Y:-28.46, Z:-3.08 [[ 9.56137295e-01 2.92657609e-01 1.23692174e-02 1.59945753e+02] [-2.92634573e-01 9.56217294e-01 -3.67342293e-03 -2.84630313e+01] [-1.29027147e-02 -1.07363983e-04 9.99916751e-01 -3.08331526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.148623853 meters Centerline goodness [0,1] 0.9999350002166659 Centerline is valid? [True, True] Translation: X:159.98, Y:-28.47, Z:-3.08 [[ 9.55714197e-01 2.94017278e-01 1.28145979e-02 1.59977013e+02] [-2.93992642e-01 9.55800096e-01 -3.80824680e-03 -2.84699022e+01] [-1.33678843e-02 -1.27801962e-04 9.99910638e-01 -3.07687631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.178623853 meters Centerline goodness [0,1] 0.999936305732484 Centerline is valid? [True, True] Translation: X:160.01, Y:-28.48, Z:-3.08 [[ 9.55530955e-01 2.94586138e-01 1.34015301e-02 1.60008337e+02] [-2.94559214e-01 9.55624920e-01 -3.98521189e-03 -2.84768749e+01] [-1.39808243e-02 -1.39550852e-04 9.99902254e-01 -3.08264475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.208623853 meters Centerline goodness [0,1] 0.9999145426966052 Centerline is valid? [True, True] Translation: X:160.04, Y:-28.49, Z:-3.08 [[ 9.55404731e-01 2.94992132e-01 1.34700224e-02 1.60040093e+02] [-2.94964935e-01 9.55499671e-01 -4.00819261e-03 -2.84870953e+01] [-1.40529873e-02 -1.43738103e-04 9.99901242e-01 -3.08236170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.238623853 meters Centerline goodness [0,1] 0.9999569540699926 Centerline is valid? [True, True] Translation: X:160.07, Y:-28.50, Z:-3.08 [[ 9.55399338e-01 2.95012505e-01 1.34062307e-02 1.60072491e+02] [-2.94985529e-01 9.55493381e-01 -3.99193559e-03 -2.84953752e+01] [-1.39872356e-02 -1.40751438e-04 9.99902164e-01 -3.08336341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.268623853 meters Centerline goodness [0,1] 0.9999784529196294 Centerline is valid? [True, True] Translation: X:160.10, Y:-28.51, Z:-3.08 [[ 9.55448741e-01 2.94873604e-01 1.29329602e-02 1.60104270e+02] [-2.94848452e-01 9.55536258e-01 -3.85351004e-03 -2.85057686e+01] [-1.34942108e-02 -1.31431999e-04 9.99908940e-01 -3.08423527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.298623853 meters Centerline goodness [0,1] 0.9999785458368197 Centerline is valid? [True, True] Translation: X:160.13, Y:-28.51, Z:-3.09 [[ 9.55567420e-01 2.94497472e-01 1.27336163e-02 1.60134660e+02] [-2.94473022e-01 9.55652251e-01 -3.79679428e-03 -2.85148083e+01] [-1.32870554e-02 -1.21613552e-04 9.99911716e-01 -3.08517134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.328623853 meters Centerline goodness [0,1] 0.9999568909772816 Centerline is valid? [True, True] Translation: X:160.16, Y:-28.52, Z:-3.09 [[ 9.55800280e-01 2.93738426e-01 1.27891154e-02 1.60164857e+02] [-2.93713658e-01 9.55885833e-01 -3.81597934e-03 -2.85231787e+01] [-1.33458340e-02 -1.09023745e-04 9.99910934e-01 -3.08605899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.358623853 meters Centerline goodness [0,1] 0.9999785702040117 Centerline is valid? [True, True] Translation: X:160.20, Y:-28.53, Z:-3.09 [[ 9.56013027e-01 2.93046841e-01 1.27531254e-02 1.60195620e+02] [-2.93022123e-01 9.56098081e-01 -3.80730311e-03 -2.85331556e+01] [-1.33089569e-02 -9.71165231e-05 9.99911427e-01 -3.08633081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.388623853 meters Centerline goodness [0,1] 0.9999786520931623 Centerline is valid? [True, True] Translation: X:160.22, Y:-28.54, Z:-3.09 [[ 9.56707768e-01 2.90756015e-01 1.30838219e-02 1.60224400e+02] [-2.90729751e-01 9.56797228e-01 -3.90849303e-03 -2.85445125e+01] [-1.36549824e-02 -6.45706549e-05 9.99906764e-01 -3.08597458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.418623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:160.25, Y:-28.55, Z:-3.09 [[ 9.57076001e-01 2.89520807e-01 1.35362742e-02 1.60253579e+02] [-2.89492538e-01 9.57171719e-01 -4.04599947e-03 -2.85548558e+01] [-1.41279399e-02 -4.63213851e-05 9.99900195e-01 -3.08588541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.44862385300002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:160.28, Y:-28.57, Z:-3.09 [[ 9.57765239e-01 2.87240173e-01 1.33727147e-02 1.60283933e+02] [-2.87212332e-01 9.57858592e-01 -3.99916527e-03 -2.85658301e+01] [-1.39578906e-02 -1.05470902e-05 9.99902584e-01 -3.08722062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.47862385300002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:160.32, Y:-28.58, Z:-3.09 [[ 9.58105623e-01 2.86103502e-01 1.33567147e-02 1.60315497e+02] [-2.86075584e-01 9.58198720e-01 -3.99679969e-03 -2.85768411e+01] [-1.39418853e-02 8.32629517e-06 9.99902807e-01 -3.08750599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.50862385300002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:160.35, Y:-28.59, Z:-3.09 [[ 9.58384221e-01 2.85161460e-01 1.35139440e-02 1.60345740e+02] [-2.85132746e-01 9.58479494e-01 -4.04673359e-03 -2.85875083e+01] [-1.41068106e-02 2.50576770e-05 9.99900494e-01 -3.08820216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.53862385300002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:160.38, Y:-28.60, Z:-3.09 [[ 9.58673512e-01 2.84176777e-01 1.37352026e-02 1.60375885e+02] [-2.84146975e-01 9.58771901e-01 -4.11572530e-03 -2.85980885e+01] [-1.43385198e-02 4.28205607e-05 9.99897197e-01 -3.08858710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.56862385300002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:160.41, Y:-28.61, Z:-3.09 [[ 9.59060023e-01 2.82870911e-01 1.37084151e-02 1.60406909e+02] [-2.82841056e-01 9.59157987e-01 -4.11019283e-03 -2.86093057e+01] [-1.43111898e-02 6.46190333e-05 9.99897588e-01 -3.08868728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.59862385300002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:160.44, Y:-28.62, Z:-3.09 [[ 9.59254522e-01 2.82191028e-01 1.41062127e-02 1.60437445e+02] [-2.82159297e-01 9.59358232e-01 -4.23241393e-03 -2.86202782e+01] [-1.47272605e-02 7.97631381e-05 9.99891545e-01 -3.08881602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.62862385300002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:160.47, Y:-28.63, Z:-3.09 [[ 9.59318241e-01 2.81979021e-01 1.40123166e-02 1.60468561e+02] [-2.81947651e-01 9.59420567e-01 -4.20679522e-03 -2.86302550e+01] [-1.46299327e-02 8.49156426e-05 9.99892973e-01 -3.08918090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.65862385300002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:160.50, Y:-28.64, Z:-3.09 [[ 9.59390847e-01 2.81734366e-01 1.39624535e-02 1.60499999e+02] [-2.81703154e-01 9.59492438e-01 -4.19456027e-03 -2.86392181e+01] [-1.45786203e-02 9.09555507e-05 9.99893722e-01 -3.08943904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.68862385300002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:160.53, Y:-28.65, Z:-3.09 [[ 9.59461723e-01 2.81477848e-01 1.42626388e-02 1.60531088e+02] [-2.81445206e-01 9.59567721e-01 -4.28779122e-03 -2.86482928e+01] [-1.48928861e-02 9.98202351e-05 9.99889090e-01 -3.08986166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.71862385300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:160.56, Y:-28.66, Z:-3.09 [[ 9.59471944e-01 2.81450980e-01 1.41044355e-02 1.60561594e+02] [-2.81419016e-01 9.59575602e-01 -4.24289698e-03 -2.86578350e+01] [-1.47284397e-02 1.01684249e-04 9.99891525e-01 -3.09062069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.748623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:160.59, Y:-28.67, Z:-3.09 [[ 9.59486355e-01 2.81422388e-01 1.36884741e-02 1.60591848e+02] [-2.81392242e-01 9.59583988e-01 -4.12029004e-03 -2.86684232e+01] [-1.42947824e-02 1.01531665e-04 9.99897819e-01 -3.09255147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.778623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:160.62, Y:-28.68, Z:-3.09 [[ 9.59458271e-01 2.81553878e-01 1.29320975e-02 1.60623459e+02] [-2.81526953e-01 9.59545416e-01 -3.89485728e-03 -2.86760360e+01] [-1.35055470e-02 9.62190271e-05 9.99908791e-01 -3.09369958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.808623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:160.65, Y:-28.69, Z:-3.09 [[ 9.59311054e-01 2.82039401e-01 1.32694808e-02 1.60653938e+02] [-2.82011062e-01 9.59402818e-01 -3.99913608e-03 -2.86858901e+01] [-1.38586912e-02 9.42750838e-05 9.99903959e-01 -3.09397273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.838623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:160.69, Y:-28.69, Z:-3.09 [[ 9.59216662e-01 2.82346717e-01 1.35546069e-02 1.60685901e+02] [-2.82317142e-01 9.59312422e-01 -4.08768614e-03 -2.86942260e+01] [-1.41572475e-02 9.42787761e-05 9.99899777e-01 -3.09299259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.868623853 meters Centerline goodness [0,1] 0.9999786857642219 Centerline is valid? [True, True] Translation: X:160.72, Y:-28.70, Z:-3.09 [[ 9.59107957e-01 2.82708672e-01 1.37016175e-02 1.60716689e+02] [-2.82678442e-01 9.59205816e-01 -4.13522254e-03 -2.87034241e+01] [-1.43117345e-02 9.29729449e-05 9.99897578e-01 -3.09313581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.898623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:160.75, Y:-28.71, Z:-3.09 [[ 9.58615479e-01 2.84334011e-01 1.45097476e-02 1.60747663e+02] [-2.84300267e-01 9.58725281e-01 -4.38104569e-03 -2.87103881e+01] [-1.51565422e-02 7.46130903e-05 9.99885130e-01 -3.09214099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.928623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:160.78, Y:-28.72, Z:-3.09 [[ 9.58261204e-01 2.85522075e-01 1.45811609e-02 1.60778911e+02] [-2.85488095e-01 9.58372131e-01 -4.40526403e-03 -2.87180797e+01] [-1.52319784e-02 5.86457694e-05 9.99883985e-01 -3.09272697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.958623853 meters Centerline goodness [0,1] 0.9999785172613804 Centerline is valid? [True, True] Translation: X:160.81, Y:-28.73, Z:-3.09 [[ 9.57820878e-01 2.86992314e-01 1.46484811e-02 1.60810899e+02] [-2.86958148e-01 9.57932884e-01 -4.42841860e-03 -2.87251390e+01] [-1.53031838e-02 3.81307835e-05 9.99882899e-01 -3.09341941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.988623853 meters Centerline goodness [0,1] 0.9999568043886741 Centerline is valid? [True, True] Translation: X:160.84, Y:-28.73, Z:-3.09 [[ 9.57296565e-01 2.88759743e-01 1.41808762e-02 1.60842845e+02] [-2.88727874e-01 9.57401593e-01 -4.28997070e-03 -2.87310105e+01] [-1.48155643e-02 1.23599893e-05 9.99890243e-01 -3.08933478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.018623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:160.87, Y:-28.73, Z:-3.09 [[ 9.56113414e-01 2.92621767e-01 1.48202910e-02 1.60874352e+02] [-2.92587375e-01 9.56228267e-01 -4.48652095e-03 -2.87346173e+01] [-1.54844349e-02 -4.66071770e-05 9.99880108e-01 -3.09420982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.048623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:160.91, Y:-28.74, Z:-3.09 [[ 9.55456421e-01 2.94752210e-01 1.49720338e-02 1.60905608e+02] [-2.94717331e-01 9.55573717e-01 -4.53497936e-03 -2.87408387e+01] [-1.56435772e-02 -7.95426986e-05 9.99877629e-01 -3.09430087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.078623853 meters Centerline goodness [0,1] 0.9999577756196428 Centerline is valid? [True, True] Translation: X:160.94, Y:-28.74, Z:-3.10 [[ 9.54843417e-01 2.96738162e-01 1.48496413e-02 1.60936459e+02] [-2.96704045e-01 9.54958874e-01 -4.50090227e-03 -2.87449469e+01] [-1.55163862e-02 -1.08291722e-04 9.99879608e-01 -3.09509142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.108623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:160.97, Y:-28.75, Z:-3.10 [[ 9.54348242e-01 2.98336159e-01 1.46618206e-02 1.60966009e+02] [-2.98303084e-01 9.54460852e-01 -4.44424373e-03 -2.87506821e+01] [-1.53200124e-02 -1.32310121e-04 9.99882633e-01 -3.09591494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.138623853 meters Centerline goodness [0,1] 0.999978431076505 Centerline is valid? [True, True] Translation: X:161.00, Y:-28.75, Z:-3.10 [[ 9.53459068e-01 3.01197217e-01 1.40014881e-02 1.60997156e+02] [-3.01167368e-01 9.53561853e-01 -4.24367785e-03 -2.87536579e+01] [-1.46294689e-02 -1.70618192e-04 9.99892969e-01 -3.09797693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.168623853 meters Centerline goodness [0,1] 0.9999786912143876 Centerline is valid? [True, True] Translation: X:161.03, Y:-28.76, Z:-3.10 [[ 9.53119065e-01 3.02284472e-01 1.37166091e-02 1.61026012e+02] [-3.02255938e-01 9.53217742e-01 -4.15731912e-03 -2.87555266e+01] [-1.43316081e-02 -1.83506427e-04 9.99897280e-01 -3.09932117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.19862385300002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:161.05, Y:-28.77, Z:-3.10 [[ 9.52868281e-01 3.03067637e-01 1.38580835e-02 1.61054420e+02] [-3.03038592e-01 9.52969028e-01 -4.20035885e-03 -2.87651193e+01] [-1.44793172e-02 -1.97145396e-04 9.99895150e-01 -3.09853282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.22862385300002 meters Centerline goodness [0,1] 0.9999573851529873 Centerline is valid? [True, True] Translation: X:161.08, Y:-28.77, Z:-3.10 [[ 9.52687559e-01 3.03633333e-01 1.39001694e-02 1.61083106e+02] [-3.03604176e-01 9.52788936e-01 -4.21287046e-03 -2.87665354e+01] [-1.45230955e-02 -2.06600198e-04 9.99894513e-01 -3.09966646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.25862385300002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:161.11, Y:-28.77, Z:-3.10 [[ 9.52580710e-01 3.03942788e-01 1.44489577e-02 1.61110944e+02] [-3.03911333e-01 9.52690261e-01 -4.37816808e-03 -2.87742327e+01] [-1.50960939e-02 -2.20643545e-04 9.99886023e-01 -3.09868817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.28862385300002 meters Centerline goodness [0,1] 0.9999786525488856 Centerline is valid? [True, True] Translation: X:161.14, Y:-28.78, Z:-3.10 [[ 9.52536936e-01 3.04064408e-01 1.47723094e-02 1.61138906e+02] [-3.04031553e-01 9.52651449e-01 -4.47562616e-03 -2.87795715e+01] [-1.54337406e-02 -2.28048938e-04 9.99880867e-01 -3.09905082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.31862385300002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:161.17, Y:-28.79, Z:-3.10 [[ 9.52544916e-01 3.04034868e-01 1.48654682e-02 1.61167491e+02] [-3.04001608e-01 9.52660877e-01 -4.50287989e-03 -2.87861586e+01] [-1.55307824e-02 -2.29930875e-04 9.99879364e-01 -3.09901893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.34862385300002 meters Centerline goodness [0,1] 0.9999785481379784 Centerline is valid? [True, True] Translation: X:161.20, Y:-28.79, Z:-3.10 [[ 9.52597949e-01 3.03874773e-01 1.47400911e-02 1.61195680e+02] [-3.03842064e-01 9.52711956e-01 -4.46419403e-03 -2.87889090e+01] [-1.53996169e-02 -2.26077612e-04 9.99881393e-01 -3.10001545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.37862385300002 meters Centerline goodness [0,1] 0.9999358014123689 Centerline is valid? [True, True] Translation: X:161.22, Y:-28.80, Z:-3.10 [[ 9.52655559e-01 3.03696044e-01 1.47002708e-02 1.61223190e+02] [-3.03663504e-01 9.52768945e-01 -4.45124276e-03 -2.87952077e+01] [-1.53577863e-02 -2.23434590e-04 9.99882037e-01 -3.10072369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.40862385300002 meters Centerline goodness [0,1] 0.9998494720770703 Centerline is valid? [True, True] Translation: X:161.25, Y:-28.80, Z:-3.10 [[ 9.52647767e-01 3.03732319e-01 1.44537469e-02 1.61251307e+02] [-3.03700882e-01 9.52757382e-01 -4.37549095e-03 -2.88020514e+01] [-1.50998921e-02 -2.21314011e-04 9.99885966e-01 -3.10167152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.43862385300002 meters Centerline goodness [0,1] 0.999871915293314 Centerline is valid? [True, True] Translation: X:161.28, Y:-28.81, Z:-3.10 [[ 9.52735111e-01 3.03483262e-01 1.39182398e-02 1.61278964e+02] [-3.03454093e-01 9.52836747e-01 -4.21279438e-03 -2.88076497e+01] [-1.45403229e-02 -2.09869709e-04 9.99894262e-01 -3.10284932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.46862385300003 meters Centerline goodness [0,1] 0.9997852187546984 Centerline is valid? [True, True] Translation: X:161.31, Y:-28.81, Z:-3.10 [[ 9.52893359e-01 3.03016120e-01 1.32467670e-02 1.61308119e+02] [-3.02989667e-01 9.52985411e-01 -4.00854307e-03 -2.88099007e+01] [-1.38386288e-02 -1.93919444e-04 9.99904223e-01 -3.09905938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.49862385300003 meters Centerline goodness [0,1] 0.99991336928508 Centerline is valid? [True, True] Translation: X:161.33, Y:-28.82, Z:-3.10 [[ 9.53080798e-01 3.02418907e-01 1.34088622e-02 1.61334987e+02] [-3.02391752e-01 9.53175099e-01 -4.05696351e-03 -2.88164864e+01] [-1.40078960e-02 -1.88115318e-04 9.99901867e-01 -3.10482245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.528623853 meters Centerline goodness [0,1] 0.99991336928508 Centerline is valid? [True, True] Translation: X:161.36, Y:-28.82, Z:-3.11 [[ 9.53101223e-01 3.02354519e-01 1.34090789e-02 1.61361348e+02] [-3.02327367e-01 9.53195526e-01 -4.05624717e-03 -2.88243199e+01] [-1.40078987e-02 -1.87917383e-04 9.99901867e-01 -3.10530733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.558623853 meters Centerline goodness [0,1] 0.9997859084972918 Centerline is valid? [True, True] Translation: X:161.39, Y:-28.83, Z:-3.11 [[ 9.53322666e-01 3.01647753e-01 1.35840778e-02 1.61390056e+02] [-3.01619831e-01 9.53419425e-01 -4.10812506e-03 -2.88268108e+01] [-1.41905303e-02 -1.80858522e-04 9.99899293e-01 -3.10682316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.588623853 meters Centerline goodness [0,1] 0.9997224653615422 Centerline is valid? [True, True] Translation: X:161.42, Y:-28.84, Z:-3.10 [[ 9.53643202e-01 3.00637799e-01 1.34743054e-02 1.61417715e+02] [-3.00610236e-01 9.53738374e-01 -4.07422086e-03 -2.88371234e+01] [-1.40758269e-02 -1.65161091e-04 9.99900917e-01 -3.09936721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.618623853 meters Centerline goodness [0,1] 0.9999358165208275 Centerline is valid? [True, True] Translation: X:161.44, Y:-28.85, Z:-3.11 [[ 9.54474667e-01 2.97976535e-01 1.37147762e-02 1.61444300e+02] [-2.97947725e-01 9.54573186e-01 -4.14548511e-03 -2.88463584e+01] [-1.43270149e-02 -1.29525854e-04 9.99897355e-01 -3.10707961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.648623853 meters Centerline goodness [0,1] 0.9999356292243321 Centerline is valid? [True, True] Translation: X:161.47, Y:-28.86, Z:-3.11 [[ 9.55024541e-01 2.96213213e-01 1.36330012e-02 1.61471695e+02] [-2.96184576e-01 9.55121836e-01 -4.12011042e-03 -2.88552947e+01] [-1.42416083e-02 -1.03078124e-04 9.99898578e-01 -3.10764375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.678623853 meters Centerline goodness [0,1] 0.9999782877738455 Centerline is valid? [True, True] Translation: X:161.50, Y:-28.86, Z:-3.11 [[ 9.55577874e-01 2.94427456e-01 1.35425002e-02 1.61499378e+02] [-2.94399027e-01 9.55673829e-01 -4.09211346e-03 -2.88643389e+01] [-1.41470436e-02 -7.65658141e-05 9.99899923e-01 -3.10829818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.708623853 meters Centerline goodness [0,1] 0.9999568081200735 Centerline is valid? [True, True] Translation: X:161.53, Y:-28.87, Z:-3.11 [[ 9.56672685e-01 2.90856984e-01 1.34011005e-02 1.61525365e+02] [-2.90828804e-01 9.56766541e-01 -4.04879204e-03 -2.88740829e+01] [-1.39993440e-02 -2.40572715e-05 9.99902004e-01 -3.10933480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.738623853 meters Centerline goodness [0,1] 0.9999563642710652 Centerline is valid? [True, True] Translation: X:161.55, Y:-28.88, Z:-3.11 [[ 9.57248976e-01 2.88970106e-01 1.30643101e-02 1.61551428e+02] [-2.88943159e-01 9.57338121e-01 -3.94632537e-03 -2.88834074e+01] [-1.36473321e-02 2.77289084e-06 9.99906871e-01 -3.11051109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.768623853 meters Centerline goodness [0,1] 0.9999782797567333 Centerline is valid? [True, True] Translation: X:161.58, Y:-28.89, Z:-3.11 [[ 9.57817738e-01 2.87097788e-01 1.26507638e-02 1.61577276e+02] [-2.87072367e-01 9.57901279e-01 -3.82058993e-03 -2.88928848e+01] [-1.32150657e-02 2.77440976e-05 9.99912677e-01 -3.11186023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.798623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:161.60, Y:-28.90, Z:-3.11 [[ 9.58317203e-01 2.85441891e-01 1.22908463e-02 1.61604945e+02] [-2.85417775e-01 9.58396016e-01 -3.71071975e-03 -2.89025694e+01] [-1.28386930e-02 4.80205858e-05 9.99917579e-01 -3.11305760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.828623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:161.63, Y:-28.91, Z:-3.11 [[ 9.58785530e-01 2.83885733e-01 1.17982370e-02 1.61630800e+02] [-2.83863398e-01 9.58858116e-01 -3.56164738e-03 -2.89117962e+01] [-1.23239362e-02 6.57683233e-05 9.99924055e-01 -3.11486887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.858623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:161.66, Y:-28.92, Z:-3.12 [[ 9.59563594e-01 2.81236800e-01 1.19821566e-02 1.61658016e+02] [-2.81213571e-01 9.59638397e-01 -3.61596774e-03 -2.89225705e+01] [-1.25154808e-02 1.00205941e-04 9.99921673e-01 -3.11510846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.888623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:161.68, Y:-28.93, Z:-3.11 [[ 9.59887506e-01 2.80111899e-01 1.23814339e-02 1.61684776e+02] [-2.80087010e-01 9.59967348e-01 -3.73589990e-03 -2.89318860e+01] [-1.29322423e-02 1.18164837e-04 9.99916368e-01 -3.11460068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.918623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:161.71, Y:-28.94, Z:-3.11 [[ 9.60223516e-01 2.78940663e-01 1.27634290e-02 1.61711103e+02] [-2.78914121e-01 9.60308330e-01 -3.85037782e-03 -2.89408880e+01] [-1.33308542e-02 1.37322734e-04 9.99911131e-01 -3.11460148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.94862385300002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:161.74, Y:-28.95, Z:-3.11 [[ 9.60785408e-01 2.76972440e-01 1.33292291e-02 1.61737463e+02] [-2.76943314e-01 9.60877848e-01 -4.02023863e-03 -2.89505567e+01] [-1.39212562e-02 1.71145733e-04 9.99903080e-01 -3.11400201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.97862385300002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:161.76, Y:-28.96, Z:-3.11 [[ 9.61004834e-01 2.76210254e-01 1.33268636e-02 1.61764471e+02] [-2.76181077e-01 9.61097218e-01 -4.01870669e-03 -2.89595013e+01] [-1.39184195e-02 1.81369009e-04 9.99903118e-01 -3.11408038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.00862385300002 meters Centerline goodness [0,1] 0.9999783783783783 Centerline is valid? [True, True] Translation: X:161.79, Y:-28.97, Z:-3.11 [[ 9.61178832e-01 2.75601446e-01 1.33826962e-02 1.61791908e+02] [-2.75571974e-01 9.61271973e-01 -4.03492134e-03 -2.89684777e+01] [-1.39764409e-02 1.90384976e-04 9.99902307e-01 -3.11467919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.03862385300002 meters Centerline goodness [0,1] 0.9999787098147754 Centerline is valid? [True, True] Translation: X:161.82, Y:-28.98, Z:-3.12 [[ 9.61298367e-01 2.75235880e-01 1.22743950e-02 1.61818096e+02] [-2.75211063e-01 9.61376710e-01 -3.70031390e-03 -2.89769427e+01] [-1.28187766e-02 1.79056418e-04 9.99917820e-01 -3.11801661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.06862385300002 meters Centerline goodness [0,1] 0.9998497370398197 Centerline is valid? [True, True] Translation: X:161.85, Y:-28.98, Z:-3.11 [[ 9.61214556e-01 2.75584300e-01 1.09485699e-02 1.61846364e+02] [-2.75564584e-01 9.61276895e-01 -3.30002791e-03 -2.89835923e+01] [-1.14340432e-02 1.54996738e-04 9.99934617e-01 -3.11220111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.09862385300002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:161.88, Y:-28.99, Z:-3.12 [[ 9.61160030e-01 2.75773721e-01 1.09659483e-02 1.61875144e+02] [-2.75753960e-01 9.61222571e-01 -3.30480465e-03 -2.89870314e+01] [-1.14520953e-02 1.52542460e-04 9.99934411e-01 -3.11935321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.12862385300002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:161.90, Y:-29.00, Z:-3.12 [[ 9.61106955e-01 2.75964103e-01 1.08275307e-02 1.61900955e+02] [-2.75944856e-01 9.61167931e-01 -3.26261150e-03 -2.89993129e+01] [-1.13074389e-02 1.47917208e-04 9.99936058e-01 -3.12284541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.15862385300002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:161.93, Y:-29.01, Z:-3.12 [[ 9.60979585e-01 2.76407028e-01 1.08347266e-02 1.61929218e+02] [-2.76387792e-01 9.61040652e-01 -3.26396124e-03 -2.90064666e+01] [-1.13147946e-02 1.42013940e-04 9.99935976e-01 -3.12335415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.18862385300002 meters Centerline goodness [0,1] 0.9998485078018482 Centerline is valid? [True, True] Translation: X:161.96, Y:-29.01, Z:-3.11 [[ 9.60616128e-01 2.77662753e-01 1.09567087e-02 1.61958999e+02] [-2.77643170e-01 9.60678603e-01 -3.30022376e-03 -2.90082374e+01] [-1.14422248e-02 1.28192839e-04 9.99934527e-01 -3.11391311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.21862385300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:161.99, Y:-29.02, Z:-3.12 [[ 9.60451497e-01 2.78200955e-01 1.17111288e-02 1.61986478e+02] [-2.78178629e-01 9.60522885e-01 -3.52683738e-03 -2.90150122e+01] [-1.22299767e-02 1.29570504e-04 9.99925203e-01 -3.11982821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.24862385300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:162.01, Y:-29.02, Z:-3.12 [[ 9.59851687e-01 2.80218607e-01 1.27385570e-02 1.62013621e+02] [-2.80192378e-01 9.59936206e-01 -3.83557163e-03 -2.90200332e+01] [-1.33030006e-02 1.12333321e-04 9.99911505e-01 -3.11872102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.278623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:162.04, Y:-29.03, Z:-3.12 [[ 9.59480531e-01 2.81462019e-01 1.32756422e-02 1.62039857e+02] [-2.81433662e-01 9.59572364e-01 -3.99639206e-03 -2.90285264e+01] [-1.38637719e-02 9.82477766e-05 9.99903888e-01 -3.11906016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.308623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:162.07, Y:-29.03, Z:-3.12 [[ 9.59062497e-01 2.82861071e-01 1.37383335e-02 1.62068860e+02] [-2.82830861e-01 9.59160887e-01 -4.13473234e-03 -2.90316685e+01] [-1.43468270e-02 7.98420252e-05 9.99897076e-01 -3.11712279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.338623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:162.10, Y:-29.04, Z:-3.12 [[ 9.58538112e-01 2.84620545e-01 1.39940093e-02 1.62095777e+02] [-2.84589398e-01 9.58640257e-01 -4.21099430e-03 -2.90382374e+01] [-1.46137562e-02 5.38518513e-05 9.99893212e-01 -3.11807529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.368623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:162.13, Y:-29.04, Z:-3.12 [[ 9.57538386e-01 2.87980153e-01 1.36993120e-02 1.62125507e+02] [-2.87950660e-01 9.57636377e-01 -4.12143610e-03 -2.90384660e+01] [-1.43058514e-02 1.70732930e-06 9.99897666e-01 -3.11824668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.398623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:162.15, Y:-29.04, Z:-3.12 [[ 9.57081820e-01 2.89498391e-01 1.36040593e-02 1.62153069e+02] [-2.89469468e-01 9.57178500e-01 -4.09219569e-03 -2.90432466e+01] [-1.42061972e-02 -2.13937163e-05 9.99899087e-01 -3.11951496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.428623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:162.18, Y:-29.05, Z:-3.12 [[ 9.56723097e-01 2.90690269e-01 1.34194982e-02 1.62181138e+02] [-2.90662257e-01 9.56817206e-01 -4.03561452e-03 -2.90491543e+01] [-1.40131207e-02 -3.95760093e-05 9.99901811e-01 -3.12039269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.458623853 meters Centerline goodness [0,1] 0.9999359220812508 Centerline is valid? [True, True] Translation: X:162.21, Y:-29.06, Z:-3.12 [[ 9.56365105e-01 2.91873747e-01 1.32477108e-02 1.62208466e+02] [-2.91846570e-01 9.56456853e-01 -3.98335769e-03 -2.90555655e+01] [-1.38335013e-02 -5.67546655e-05 9.99904311e-01 -3.12211953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.488623853 meters Centerline goodness [0,1] 0.9999578076874394 Centerline is valid? [True, True] Translation: X:162.23, Y:-29.06, Z:-3.12 [[ 9.56405145e-01 2.91746675e-01 1.31558629e-02 1.62234198e+02] [-2.91719871e-01 9.56495622e-01 -3.95503209e-03 -2.90634125e+01] [-1.37373927e-02 -5.52136014e-05 9.99905636e-01 -3.12285016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.518623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:162.26, Y:-29.07, Z:-3.12 [[ 9.56508921e-01 2.91400022e-01 1.32932805e-02 1.62260891e+02] [-2.91372638e-01 9.56601288e-01 -3.99515528e-03 -2.90719896e+01] [-1.38805576e-02 -5.18965524e-05 9.99903659e-01 -3.12298735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.548623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:162.29, Y:-29.08, Z:-3.12 [[ 9.56541532e-01 2.91285358e-01 1.34587226e-02 1.62287274e+02] [-2.91257291e-01 9.56636210e-01 -4.04388335e-03 -2.90808097e+01] [-1.40530254e-02 -5.18087138e-05 9.99901250e-01 -3.12279115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.578623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:162.31, Y:-29.09, Z:-3.12 [[ 9.56562147e-01 2.91190464e-01 1.40346693e-02 1.62313347e+02] [-2.91159949e-01 9.56665098e-01 -4.21587814e-03 -2.90904029e+01] [-1.46541018e-02 -5.35841395e-05 9.99892621e-01 -3.12169585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.608623853 meters Centerline goodness [0,1] 0.9999785006342313 Centerline is valid? [True, True] Translation: X:162.34, Y:-29.10, Z:-3.12 [[ 9.56428291e-01 2.91624672e-01 1.41412555e-02 1.62340860e+02] [-2.91593755e-01 9.56532826e-01 -4.24678653e-03 -2.90975396e+01] [-1.47650428e-02 -6.17549999e-05 9.99890989e-01 -3.12191428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.638623853 meters Centerline goodness [0,1] 0.9999362217781368 Centerline is valid? [True, True] Translation: X:162.37, Y:-29.10, Z:-3.12 [[ 9.56188484e-01 2.92411107e-01 1.41183482e-02 1.62368523e+02] [-2.92380392e-01 9.56292706e-01 -4.23877707e-03 -2.91038210e+01] [-1.47407389e-02 -7.48583661e-05 9.99891347e-01 -3.12212971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.668623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:162.40, Y:-29.11, Z:-3.12 [[ 9.55919667e-01 2.93281172e-01 1.42738754e-02 1.62395270e+02] [-2.93249888e-01 9.56026227e-01 -4.28457669e-03 -2.91097703e+01] [-1.49027850e-02 -9.01012467e-05 9.99888943e-01 -3.12241927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.69862385300002 meters Centerline goodness [0,1] 0.9999785596363714 Centerline is valid? [True, True] Translation: X:162.42, Y:-29.11, Z:-3.12 [[ 9.55094042e-01 2.95952494e-01 1.44045818e-02 1.62423900e+02] [-2.95920955e-01 9.55202650e-01 -4.32263271e-03 -2.91132384e+01] [-1.50385886e-02 -1.34096852e-04 9.99886905e-01 -3.12268244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.72862385300002 meters Centerline goodness [0,1] 0.9999785734181826 Centerline is valid? [True, True] Translation: X:162.45, Y:-29.12, Z:-3.12 [[ 9.54587765e-01 2.97597960e-01 1.40589296e-02 1.62452131e+02] [-2.97568105e-01 9.54691274e-01 -4.21825363e-03 -2.91176733e+01] [-1.46772811e-02 -1.56795739e-04 9.99892271e-01 -3.12345069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.75862385300002 meters Centerline goodness [0,1] 0.9999571404080233 Centerline is valid? [True, True] Translation: X:162.48, Y:-29.12, Z:-3.12 [[ 9.54108851e-01 2.99148574e-01 1.36540001e-02 1.62480542e+02] [-2.99120584e-01 9.54206529e-01 -4.09588687e-03 -2.91220197e+01] [-1.42540148e-02 -1.76270578e-04 9.99898391e-01 -3.12495123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.78862385300002 meters Centerline goodness [0,1] 0.9998713771222775 Centerline is valid? [True, True] Translation: X:162.51, Y:-29.13, Z:-3.13 [[ 9.53562162e-01 3.00900493e-01 1.33453168e-02 1.62508923e+02] [-3.00873934e-01 9.53655522e-01 -4.00268249e-03 -2.91258731e+01] [-1.39312442e-02 -1.98451411e-04 9.99902936e-01 -3.12632395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.81862385300002 meters Centerline goodness [0,1] 0.9996371165709651 Centerline is valid? [True, True] Translation: X:162.54, Y:-29.12, Z:-3.13 [[ 9.52352561e-01 3.04694422e-01 1.36348641e-02 1.62539430e+02] [-3.04667100e-01 9.52450126e-01 -4.08857378e-03 -2.91248809e+01] [-1.42322936e-02 -2.60330795e-04 9.99898682e-01 -3.12608017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.84862385300002 meters Centerline goodness [0,1] 0.999548707368964 Centerline is valid? [True, True] Translation: X:162.57, Y:-29.13, Z:-3.13 [[ 9.51747268e-01 3.06561252e-01 1.40476664e-02 1.62567297e+02] [-3.06532461e-01 9.51850887e-01 -4.21188416e-03 -2.91277243e+01] [-1.46624842e-02 -2.97416525e-04 9.99892456e-01 -3.12566443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.87862385300002 meters Centerline goodness [0,1] 0.9994274202099459 Centerline is valid? [True, True] Translation: X:162.60, Y:-29.13, Z:-3.13 [[ 9.51262955e-01 3.08052125e-01 1.42365072e-02 1.62596125e+02] [-3.08022731e-01 9.51369425e-01 -4.26790862e-03 -2.91313969e+01] [-1.48589160e-02 -3.25264454e-04 9.99889547e-01 -3.12573914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.90862385300002 meters Centerline goodness [0,1] 0.9994656977986749 Centerline is valid? [True, True] Translation: X:162.63, Y:-29.14, Z:-3.13 [[ 9.50894616e-01 3.09185125e-01 1.42824405e-02 1.62625163e+02] [-3.09155704e-01 9.51001808e-01 -4.27923023e-03 -2.91354802e+01] [-1.49057011e-02 -3.46400980e-04 9.99888844e-01 -3.12629831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.93862385300002 meters Centerline goodness [0,1] 0.9995672400735692 Centerline is valid? [True, True] Translation: X:162.65, Y:-29.14, Z:-3.13 [[ 9.50683478e-01 3.09857889e-01 1.37482395e-02 1.62652981e+02] [-3.09830733e-01 9.50782819e-01 -4.11675091e-03 -2.91376450e+01] [-1.43471976e-02 -3.45900049e-04 9.99897014e-01 -3.12810870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.96862385300003 meters Centerline goodness [0,1] 0.9995697351719983 Centerline is valid? [True, True] Translation: X:162.68, Y:-29.14, Z:-3.13 [[ 9.50812648e-01 3.09480012e-01 1.33203417e-02 1.62680621e+02] [-3.09454498e-01 9.50905891e-01 -3.98757881e-03 -2.91442311e+01] [-1.39004673e-02 -3.30599272e-04 9.99903329e-01 -3.12922806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.99862385300003 meters Centerline goodness [0,1] 0.9996370468423075 Centerline is valid? [True, True] Translation: X:162.71, Y:-29.15, Z:-3.13 [[ 9.51120922e-01 3.08537292e-01 1.31807370e-02 1.62707415e+02] [-3.08512259e-01 9.51212195e-01 -3.94289613e-03 -2.91504444e+01] [-1.37542082e-02 -3.16247931e-04 9.99905356e-01 -3.13069678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.028623853 meters Centerline goodness [0,1] 0.9994652520801695 Centerline is valid? [True, True] Translation: X:162.74, Y:-29.16, Z:-3.13 [[ 9.51533148e-01 3.07270320e-01 1.30237912e-02 1.62735021e+02] [-3.07245772e-01 9.51622227e-01 -3.89511964e-03 -2.91582710e+01] [-1.35905838e-02 -2.95169327e-04 9.99907600e-01 -3.13157116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.058623853 meters Centerline goodness [0,1] 0.9997421739037019 Centerline is valid? [True, True] Translation: X:162.76, Y:-29.17, Z:-3.13 [[ 9.52113421e-01 3.05474053e-01 1.28699898e-02 1.62762729e+02] [-3.05449946e-01 9.52200363e-01 -3.84699694e-03 -2.91672877e+01] [-1.34299667e-02 -2.68360269e-04 9.99909778e-01 -3.13232458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.088623853 meters Centerline goodness [0,1] 0.9998287414638324 Centerline is valid? [True, True] Translation: X:162.79, Y:-29.18, Z:-3.13 [[ 9.53549701e-01 3.00955586e-01 1.29885780e-02 1.62789139e+02] [-3.00930650e-01 9.53638134e-01 -3.87974268e-03 -2.91789436e+01] [-1.35540336e-02 -2.09133763e-04 9.99908118e-01 -3.13326613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.118623853 meters Centerline goodness [0,1] 0.9999571926970742 Centerline is valid? [True, True] Translation: X:162.82, Y:-29.19, Z:-3.13 [[ 9.54308506e-01 2.98540121e-01 1.30027234e-02 1.62815932e+02] [-2.98514906e-01 9.54397069e-01 -3.88401157e-03 -2.91894153e+01] [-1.35692944e-02 -1.74961478e-04 9.99907918e-01 -3.13392101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.148623853 meters Centerline goodness [0,1] 0.9999784538481428 Centerline is valid? [True, True] Translation: X:162.84, Y:-29.21, Z:-3.13 [[ 9.55894756e-01 2.93443805e-01 1.24879216e-02 1.62840853e+02] [-2.93420143e-01 9.55976319e-01 -3.72778714e-03 -2.92055437e+01] [-1.30320534e-02 -1.00835580e-04 9.99915074e-01 -3.13393072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.178623853 meters Centerline goodness [0,1] 0.9999568295631152 Centerline is valid? [True, True] Translation: X:162.87, Y:-29.22, Z:-3.13 [[ 9.56657830e-01 2.90938649e-01 1.26688027e-02 1.62867239e+02] [-2.90914085e-01 9.56741709e-01 -3.78116983e-03 -2.92157741e+01] [-1.32208604e-02 -6.82474268e-05 9.99912598e-01 -3.13452953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.208623853 meters Centerline goodness [0,1] 0.9999571743645747 Centerline is valid? [True, True] Translation: X:162.89, Y:-29.23, Z:-3.13 [[ 9.57333740e-01 2.88693210e-01 1.29746288e-02 1.62894500e+02] [-2.88667252e-01 9.57421657e-01 -3.87153425e-03 -2.92263921e+01] [-1.35398763e-02 -3.90000962e-05 9.99908331e-01 -3.13458778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.238623853 meters Centerline goodness [0,1] 0.9999574531452763 Centerline is valid? [True, True] Translation: X:162.92, Y:-29.24, Z:-3.13 [[ 9.57923771e-01 2.86731351e-01 1.29298863e-02 1.62921573e+02] [-2.86705402e-01 9.58011029e-01 -3.85752289e-03 -2.92363678e+01] [-1.34930464e-02 -1.18553669e-05 9.99908965e-01 -3.13468973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.268623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:162.95, Y:-29.25, Z:-3.14 [[ 9.58516011e-01 2.84737689e-01 1.30960000e-02 1.62946551e+02] [-2.84710890e-01 9.58605470e-01 -3.90653545e-03 -2.92454006e+01] [-1.36662351e-02 1.59029631e-05 9.99906613e-01 -3.13565145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.298623853 meters Centerline goodness [0,1] 0.9998269185002489 Centerline is valid? [True, True] Translation: X:162.97, Y:-29.25, Z:-3.13 [[ 9.59182793e-01 2.82490224e-01 1.29476867e-02 1.62974827e+02] [-2.82463842e-01 9.59270176e-01 -3.86098601e-03 -2.92531428e+01] [-1.35110205e-02 4.61380239e-05 9.99908721e-01 -3.12766367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.328623853 meters Centerline goodness [0,1] 0.999978601844521 Centerline is valid? [True, True] Translation: X:163.00, Y:-29.26, Z:-3.13 [[ 9.59492549e-01 2.81414646e-01 1.34106443e-02 1.63001174e+02] [-2.81386247e-01 9.59586261e-01 -3.99835880e-03 -2.92623583e+01] [-1.39938667e-02 6.28246111e-05 9.99902079e-01 -3.13480044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.358623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:163.03, Y:-29.27, Z:-3.13 [[ 9.59750483e-01 2.80528354e-01 1.35222895e-02 1.63028765e+02] [-2.80499406e-01 9.59845736e-01 -4.03072646e-03 -2.92701483e+01] [-1.41100449e-02 7.54975136e-05 9.99900446e-01 -3.13485113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.388623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:163.06, Y:-29.28, Z:-3.14 [[ 9.59917274e-01 2.79955720e-01 1.35507460e-02 1.63057119e+02] [-2.79926602e-01 9.60012910e-01 -4.03849689e-03 -2.92776605e+01] [-1.41394914e-02 8.34086313e-05 9.99900029e-01 -3.13500432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.418623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:163.08, Y:-29.28, Z:-3.14 [[ 9.60052692e-01 2.79498195e-01 1.34010131e-02 1.63084222e+02] [-2.79469682e-01 9.60146213e-01 -3.99322636e-03 -2.92849142e+01] [-1.39830315e-02 8.85308635e-05 9.99902229e-01 -3.13632250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.44862385300002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:163.11, Y:-29.29, Z:-3.14 [[ 9.60072103e-01 2.79431500e-01 1.34012408e-02 1.63110612e+02] [-2.79402990e-01 9.60165626e-01 -3.99246193e-03 -2.92926344e+01] [-1.39830304e-02 8.87045689e-05 9.99902229e-01 -3.13680734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.47862385300002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:163.14, Y:-29.30, Z:-3.14 [[ 9.60344529e-01 2.78530442e-01 1.26166223e-02 1.63138478e+02] [-2.78505109e-01 9.60427396e-01 -3.75772421e-03 -2.92992319e+01] [-1.31639903e-02 9.49161056e-05 9.99913346e-01 -3.13919077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.50862385300002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:163.16, Y:-29.31, Z:-3.14 [[ 9.60467794e-01 2.78106130e-01 1.25935463e-02 1.63164402e+02] [-2.78080856e-01 9.60550348e-01 -3.75056864e-03 -2.93069421e+01] [-1.31397914e-02 1.00276255e-04 9.99913664e-01 -3.14024731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.53862385300002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:163.19, Y:-29.31, Z:-3.14 [[ 9.60536254e-01 2.77872834e-01 1.25217118e-02 1.63192698e+02] [-2.77847855e-01 9.60617863e-01 -3.72717388e-03 -2.93131306e+01] [-1.30642604e-02 1.00954876e-04 9.99914654e-01 -3.14000152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.56862385300002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:163.22, Y:-29.32, Z:-3.14 [[ 9.60592968e-01 2.77688066e-01 1.22673654e-02 1.63220473e+02] [-2.77664084e-01 9.60671290e-01 -3.65084423e-03 -2.93193156e+01] [-1.27987016e-02 1.00768527e-04 9.99918088e-01 -3.14020528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.59862385300002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:163.25, Y:-29.32, Z:-3.14 [[ 9.60534726e-01 2.77888196e-01 1.22959674e-02 1.63247172e+02] [-2.77864125e-01 9.60613419e-01 -3.65887439e-03 -2.93245730e+01] [-1.28284293e-02 9.78676912e-05 9.99917708e-01 -3.14096931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.62862385300002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:163.27, Y:-29.33, Z:-3.14 [[ 9.60577764e-01 2.77745906e-01 1.21478957e-02 1.63273208e+02] [-2.77722414e-01 9.60654570e-01 -3.61368751e-03 -2.93311914e+01] [-1.26736184e-02 9.74849642e-05 9.99919682e-01 -3.14172547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.65862385300002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:163.30, Y:-29.34, Z:-3.14 [[ 9.60632805e-01 2.77564452e-01 1.19410375e-02 1.63301417e+02] [-2.77541755e-01 9.60707013e-01 -3.55088575e-03 -2.93381580e+01] [-1.24574381e-02 9.69608443e-05 9.99922398e-01 -3.14268592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.68862385300002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:163.33, Y:-29.35, Z:-3.14 [[ 9.60754233e-01 2.77168077e-01 1.13649063e-02 1.63328594e+02] [-2.77147493e-01 9.60821444e-01 -3.37925673e-03 -2.93452944e+01] [-1.18562678e-02 9.68799269e-05 9.99929707e-01 -3.14490173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.71862385300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:163.36, Y:-29.35, Z:-3.15 [[ 9.60935140e-01 2.76535373e-01 1.14823398e-02 1.63356259e+02] [-2.76514333e-01 9.61003734e-01 -3.41279847e-03 -2.93533336e+01] [-1.19783309e-02 1.04446445e-04 9.99928252e-01 -3.14534282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.74862385300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:163.38, Y:-29.36, Z:-3.15 [[ 9.61191329e-01 2.75644498e-01 1.14603892e-02 1.63384112e+02] [-2.75623482e-01 9.61259641e-01 -3.40568542e-03 -2.93621493e+01] [-1.19551680e-02 1.14762920e-04 9.99928528e-01 -3.14611775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.778623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:163.41, Y:-29.37, Z:-3.15 [[ 9.61409427e-01 2.74886297e-01 1.13770868e-02 1.63410388e+02] [-2.74865538e-01 9.61476733e-01 -3.38041051e-03 -2.93711079e+01] [-1.18680328e-02 1.22789439e-04 9.99929565e-01 -3.14686576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.808623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:163.44, Y:-29.38, Z:-3.15 [[ 9.61697559e-01 2.73860851e-01 1.17490379e-02 1.63437638e+02] [-2.73838647e-01 9.61769315e-01 -3.49006083e-03 -2.93792865e+01] [-1.22556551e-02 1.39042352e-04 9.99924887e-01 -3.14623800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.838623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:163.46, Y:-29.39, Z:-3.15 [[ 9.62255224e-01 2.71868980e-01 1.23345544e-02 1.63463353e+02] [-2.71844352e-01 9.62334260e-01 -3.66336494e-03 -2.93895278e+01] [-1.28659196e-02 1.72013107e-04 9.99917216e-01 -3.14595721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.868623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:163.49, Y:-29.40, Z:-3.15 [[ 9.62564162e-01 2.70773095e-01 1.23355040e-02 1.63489467e+02] [-2.70748383e-01 9.62643182e-01 -3.66285115e-03 -2.93995835e+01] [-1.28664904e-02 1.85911485e-04 9.99917206e-01 -3.14664701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.898623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:163.52, Y:-29.41, Z:-3.15 [[ 9.62909005e-01 2.69534531e-01 1.25453450e-02 1.63516627e+02] [-2.69508878e-01 9.62990703e-01 -3.72428634e-03 -2.94094656e+01] [-1.30848744e-02 2.05066999e-04 9.99914368e-01 -3.14676983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.928623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:163.54, Y:-29.42, Z:-3.15 [[ 9.63183516e-01 2.68554697e-01 1.24855595e-02 1.63541738e+02] [-2.68529211e-01 9.63264412e-01 -3.70607615e-03 -2.94211532e+01] [-1.30221793e-02 2.16894019e-04 9.99915184e-01 -3.14814970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.958623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:163.57, Y:-29.43, Z:-3.15 [[ 9.63548790e-01 2.67233227e-01 1.26543509e-02 1.63569690e+02] [-2.67206951e-01 9.63631852e-01 -3.75487574e-03 -2.94281196e+01] [-1.31975632e-02 2.36675449e-04 9.99912880e-01 -3.14763776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.988623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:163.59, Y:-29.44, Z:-3.15 [[ 9.64145541e-01 2.65103349e-01 1.19829377e-02 1.63594936e+02] [-2.65079629e-01 9.64219970e-01 -3.55512606e-03 -2.94421754e+01] [-1.24966637e-02 2.51226259e-04 9.99921882e-01 -3.14956461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.018623853 meters Centerline goodness [0,1] 0.999957707760626 Centerline is valid? [True, True] Translation: X:163.62, Y:-29.46, Z:-3.15 [[ 9.64400871e-01 2.64198919e-01 1.13969447e-02 1.63619546e+02] [-2.64177407e-01 9.64468179e-01 -3.38064542e-03 -2.94551831e+01] [-1.18851534e-02 2.49482087e-04 9.99929338e-01 -3.15150943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.048623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:163.65, Y:-29.46, Z:-3.15 [[ 9.64705131e-01 2.63085889e-01 1.13941023e-02 1.63646720e+02] [-2.63064321e-01 9.64772381e-01 -3.37885357e-03 -2.94632786e+01] [-1.18816439e-02 2.62215588e-04 9.99929376e-01 -3.15171537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.078623853 meters Centerline goodness [0,1] 0.9999786507258753 Centerline is valid? [True, True] Translation: X:163.67, Y:-29.47, Z:-3.15 [[ 9.64973948e-01 2.62092463e-01 1.15248192e-02 1.63671835e+02] [-2.62070335e-01 9.65042727e-01 -3.41693062e-03 -2.94747864e+01] [-1.20174947e-02 2.76935796e-04 9.99927749e-01 -3.15182724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.108623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:163.70, Y:-29.48, Z:-3.15 [[ 9.65022746e-01 2.61902611e-01 1.17525459e-02 1.63698148e+02] [-2.61879597e-01 9.65094266e-01 -3.48352432e-03 -2.94837595e+01] [-1.22546588e-02 2.83928226e-04 9.99924869e-01 -3.15142156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.138623853 meters Centerline goodness [0,1] 0.9999783315276273 Centerline is valid? [True, True] Translation: X:163.73, Y:-29.49, Z:-3.15 [[ 9.64957173e-01 2.62131014e-01 1.20409776e-02 1.63725327e+02] [-2.62106888e-01 9.65032253e-01 -3.56793942e-03 -2.94921615e+01] [-1.25551993e-02 2.86885570e-04 9.99921139e-01 -3.15148243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.168623853 meters Centerline goodness [0,1] 0.9999788018823929 Centerline is valid? [True, True] Translation: X:163.75, Y:-29.50, Z:-3.15 [[ 9.64751617e-01 2.62883532e-01 1.21064556e-02 1.63751049e+02] [-2.62859209e-01 9.64827534e-01 -3.58678380e-03 -2.95018920e+01] [-1.26235481e-02 2.78062132e-04 9.99920281e-01 -3.15156772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.19862385300002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:163.78, Y:-29.51, Z:-3.15 [[ 9.64087367e-01 2.65306685e-01 1.21618802e-02 1.63779048e+02] [-2.65282343e-01 9.64164043e-01 -3.60228262e-03 -2.95086520e+01] [-1.26817573e-02 2.46583095e-04 9.99919553e-01 -3.15163794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.22862385300002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:163.81, Y:-29.51, Z:-3.15 [[ 9.63695855e-01 2.66726627e-01 1.21328442e-02 1.63807166e+02] [-2.66702522e-01 9.63772201e-01 -3.59306915e-03 -2.95146031e+01] [-1.26516651e-02 2.26765712e-04 9.99919939e-01 -3.15204454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.25862385300002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:163.83, Y:-29.52, Z:-3.15 [[ 9.63276580e-01 2.68235095e-01 1.21722950e-02 1.63833916e+02] [-2.68210961e-01 9.63353461e-01 -3.60411428e-03 -2.95221887e+01] [-1.26929725e-02 2.07015940e-04 9.99919420e-01 -3.15298162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.28862385300002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:163.86, Y:-29.53, Z:-3.15 [[ 9.62791815e-01 2.69974402e-01 1.20724466e-02 1.63861655e+02] [-2.69950807e-01 9.62867483e-01 -3.57393459e-03 -2.95289854e+01] [-1.25890372e-02 1.81988258e-04 9.99920738e-01 -3.15290506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.31862385300002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:163.89, Y:-29.54, Z:-3.15 [[ 9.62413917e-01 2.71320788e-01 1.20200525e-02 1.63889476e+02] [-2.71297510e-01 9.62488963e-01 -3.55780385e-03 -2.95362549e+01] [-1.25344740e-02 1.63069619e-04 9.99921427e-01 -3.15377213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.34862385300002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:163.92, Y:-29.54, Z:-3.15 [[ 9.62003777e-01 2.72782506e-01 1.17659650e-02 1.63916141e+02] [-2.72760317e-01 9.62075717e-01 -3.48207461e-03 -2.95432527e+01] [-1.22695982e-02 1.40480585e-04 9.99924716e-01 -3.15497670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.37862385300002 meters Centerline goodness [0,1] 0.9999784496692025 Centerline is valid? [True, True] Translation: X:163.94, Y:-29.55, Z:-3.15 [[ 9.61161248e-01 2.75726115e-01 1.20068503e-02 1.63944780e+02] [-2.75703249e-01 9.61236234e-01 -3.55250968e-03 -2.95491316e+01] [-1.25209392e-02 1.04207007e-04 9.99921605e-01 -3.15490328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.40862385300002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:163.97, Y:-29.56, Z:-3.15 [[ 9.60739340e-01 2.77189122e-01 1.20876597e-02 1.63972991e+02] [-2.77166070e-01 9.60815374e-01 -3.57579097e-03 -2.95558312e+01] [-1.26051797e-02 8.51139146e-05 9.99920548e-01 -3.15479984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.43862385300002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:164.00, Y:-29.56, Z:-3.15 [[ 9.60327421e-01 2.78612902e-01 1.20869724e-02 1.64001293e+02] [-2.78589974e-01 9.60403481e-01 -3.57496555e-03 -2.95619604e+01] [-1.26044019e-02 6.58281330e-05 9.99920559e-01 -3.15493321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.46862385300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:164.03, Y:-29.57, Z:-3.16 [[ 9.59353902e-01 2.81954461e-01 1.19068371e-02 1.64028767e+02] [-2.81932474e-01 9.59427789e-01 -3.52113366e-03 -2.95658884e+01] [-1.24165498e-02 2.10892675e-05 9.99922911e-01 -3.15626487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.49862385300003 meters Centerline goodness [0,1] 0.9999785761724189 Centerline is valid? [True, True] Translation: X:164.06, Y:-29.57, Z:-3.16 [[ 9.58818824e-01 2.83780242e-01 1.16291751e-02 1.64055376e+02] [-2.83759411e-01 9.58889344e-01 -3.43841969e-03 -2.95713431e+01] [-1.21268476e-02 -3.06634467e-06 9.99926467e-01 -3.15693362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.528623853 meters Centerline goodness [0,1] 0.9999787007454739 Centerline is valid? [True, True] Translation: X:164.08, Y:-29.58, Z:-3.16 [[ 9.58305784e-01 2.85513082e-01 1.15023584e-02 1.64083324e+02] [-2.85492842e-01 9.58374812e-01 -3.39967728e-03 -2.95771650e+01] [-1.19942229e-02 -2.59105747e-05 9.99928066e-01 -3.15752311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.558623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:164.11, Y:-29.58, Z:-3.16 [[ 9.57863097e-01 2.86980879e-01 1.18432455e-02 1.64110993e+02] [-2.86959541e-01 9.57936309e-01 -3.49985688e-03 -2.95827098e+01] [-1.23494669e-02 -4.61485323e-05 9.99923741e-01 -3.15823065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.588623853 meters Centerline goodness [0,1] 0.9999141999141999 Centerline is valid? [True, True] Translation: X:164.14, Y:-29.59, Z:-3.16 [[ 9.57201699e-01 2.89135806e-01 1.28605198e-02 1.64138298e+02] [-2.89110849e-01 9.57288086e-01 -3.79969825e-03 -2.95868949e+01] [-1.34098512e-02 -8.10381901e-05 9.99910081e-01 -3.15665710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.618623853 meters Centerline goodness [0,1] 0.999957207351777 Centerline is valid? [True, True] Translation: X:164.17, Y:-29.59, Z:-3.16 [[ 9.56996932e-01 2.89810545e-01 1.29120217e-02 1.64165636e+02] [-2.89785469e-01 9.57084029e-01 -3.81343975e-03 -2.95944449e+01] [-1.34630648e-02 -9.22661309e-05 9.99909365e-01 -3.15637825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.648623853 meters Centerline goodness [0,1] 0.9998702029161078 Centerline is valid? [True, True] Translation: X:164.19, Y:-29.60, Z:-3.15 [[ 9.56875986e-01 2.90212521e-01 1.28467574e-02 1.64193878e+02] [-2.90187743e-01 9.56962216e-01 -3.79351964e-03 -2.96016569e+01] [-1.33947883e-02 -9.80436892e-05 9.99910281e-01 -3.15057600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.678623853 meters Centerline goodness [0,1] 0.9999357161223965 Centerline is valid? [True, True] Translation: X:164.22, Y:-29.61, Z:-3.16 [[ 9.56946655e-01 2.89946138e-01 1.35770505e-02 1.64220428e+02] [-2.89918443e-01 9.57042960e-01 -4.00870570e-03 -2.96084394e+01] [-1.41561293e-02 -1.00119828e-04 9.99899792e-01 -3.15601895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.708623853 meters Centerline goodness [0,1] 0.9999569067677921 Centerline is valid? [True, True] Translation: X:164.25, Y:-29.62, Z:-3.16 [[ 9.57035993e-01 2.89622943e-01 1.41654332e-02 1.64248038e+02] [-2.89592795e-01 9.57140815e-01 -4.18001910e-03 -2.96174741e+01] [-1.47689437e-02 -1.01778663e-04 9.99890928e-01 -3.15600757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.738623853 meters Centerline goodness [0,1] 0.9998918591573666 Centerline is valid? [True, True] Translation: X:164.28, Y:-29.63, Z:-3.16 [[ 9.57258218e-01 2.88882286e-01 1.42733382e-02 1.64275106e+02] [-2.88851606e-01 9.57364620e-01 -4.21111201e-03 -2.96268292e+01] [-1.48813047e-02 -9.17550794e-05 9.99889263e-01 -3.15645405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.768623853 meters Centerline goodness [0,1] 0.9999572421165153 Centerline is valid? [True, True] Translation: X:164.30, Y:-29.64, Z:-3.16 [[ 9.57836051e-01 2.86976542e-01 1.39485870e-02 1.64301242e+02] [-2.86947049e-01 9.57937608e-01 -4.11463144e-03 -2.96373684e+01] [-1.45426787e-02 -6.13635419e-05 9.99894248e-01 -3.15773507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.798623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:164.33, Y:-29.65, Z:-3.16 [[ 9.58109544e-01 2.86073591e-01 1.37113820e-02 1.64328319e+02] [-2.86045013e-01 9.58207649e-01 -4.04374427e-03 -2.96465255e+01] [-1.42951595e-02 -4.77224608e-05 9.99897818e-01 -3.15835514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.828623853 meters Centerline goodness [0,1] 0.9999360382065113 Centerline is valid? [True, True] Translation: X:164.36, Y:-29.65, Z:-3.16 [[ 9.58324482e-01 2.85363114e-01 1.34936930e-02 1.64355055e+02] [-2.85335375e-01 9.58419476e-01 -3.97895033e-03 -2.96548182e+01] [-1.40680638e-02 -3.71024365e-05 9.99901039e-01 -3.15963426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.858623853 meters Centerline goodness [0,1] 0.9999784742552092 Centerline is valid? [True, True] Translation: X:164.38, Y:-29.66, Z:-3.16 [[ 9.58597589e-01 2.84464854e-01 1.30540687e-02 1.64380874e+02] [-2.84438822e-01 9.58686469e-01 -3.84839617e-03 -2.96628295e+01] [-1.36094925e-02 -2.40206371e-05 9.99907386e-01 -3.16048654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.888623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:164.41, Y:-29.67, Z:-3.16 [[ 9.58626593e-01 2.84371364e-01 1.29607805e-02 1.64408410e+02] [-2.84345711e-01 9.58714205e-01 -3.81969887e-03 -2.96699342e+01] [-1.35118973e-02 -2.36774224e-05 9.99908710e-01 -3.16055839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.918623853 meters Centerline goodness [0,1] 0.9999572311442807 Centerline is valid? [True, True] Translation: X:164.43, Y:-29.68, Z:-3.16 [[ 9.58616831e-01 2.84411618e-01 1.27985096e-02 1.64434824e+02] [-2.84386620e-01 9.58702264e-01 -3.77093675e-03 -2.96758228e+01] [-1.33424583e-02 -2.48414389e-05 9.99910985e-01 -3.16188635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.94862385300002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:164.46, Y:-29.68, Z:-3.16 [[ 9.58652671e-01 2.84295153e-01 1.27012704e-02 1.64461626e+02] [-2.84270538e-01 9.58736807e-01 -3.74112057e-03 -2.96820612e+01] [-1.32407578e-02 -2.41617278e-05 9.99912337e-01 -3.16308791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.97862385300002 meters Centerline goodness [0,1] 0.999957285949213 Centerline is valid? [True, True] Translation: X:164.49, Y:-29.69, Z:-3.16 [[ 9.58785184e-01 2.83828714e-01 1.31236982e-02 1.64489893e+02] [-2.83802408e-01 9.58874998e-01 -3.86420725e-03 -2.96890913e+01] [-1.36807590e-02 -1.95924911e-05 9.99906414e-01 -3.16276389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.00862385300002 meters Centerline goodness [0,1] 0.9999785577974569 Centerline is valid? [True, True] Translation: X:164.52, Y:-29.70, Z:-3.16 [[ 9.58976511e-01 2.83172630e-01 1.33158956e-02 1.64517159e+02] [-2.83145493e-01 9.59068956e-01 -3.92021016e-03 -2.96969207e+01] [-1.38809583e-02 -1.09463679e-05 9.99903655e-01 -3.16306217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.03862385300002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:164.54, Y:-29.71, Z:-3.16 [[ 9.59298297e-01 2.82085633e-01 1.32088519e-02 1.64544378e+02] [-2.82058842e-01 9.59389230e-01 -3.88768671e-03 -2.97053166e+01] [-1.37690909e-02 3.77775777e-06 9.99905202e-01 -3.16321083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.06862385300002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:164.57, Y:-29.71, Z:-3.17 [[ 9.59569802e-01 2.81165665e-01 1.31020901e-02 1.64570301e+02] [-2.81139233e-01 9.59659246e-01 -3.85529316e-03 -2.97135570e+01] [-1.36575179e-02 1.59113436e-05 9.99906732e-01 -3.16511393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.09862385300002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:164.60, Y:-29.72, Z:-3.17 [[ 9.59904764e-01 2.80024483e-01 1.30051131e-02 1.64598109e+02] [-2.79998354e-01 9.59992858e-01 -3.82542338e-03 -2.97229054e+01] [-1.35560279e-02 3.06318579e-05 9.99908112e-01 -3.16578638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.12862385300002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:164.63, Y:-29.73, Z:-3.17 [[ 9.60527539e-01 2.77881860e-01 1.29814505e-02 1.64625409e+02] [-2.77855639e-01 9.60615255e-01 -3.81780943e-03 -2.97326582e+01] [-1.35310794e-02 6.01418726e-05 9.99908449e-01 -3.16537880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.15862385300002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:164.65, Y:-29.74, Z:-3.17 [[ 9.60757873e-01 2.77081322e-01 1.30480374e-02 1.64652736e+02] [-2.77054766e-01 9.60846469e-01 -3.83671985e-03 -2.97409437e+01] [-1.36002440e-02 7.11378557e-05 9.99907510e-01 -3.16535512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.18862385300002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:164.68, Y:-29.75, Z:-3.17 [[ 9.60996175e-01 2.76248679e-01 1.31536405e-02 1.64680062e+02] [-2.76221623e-01 9.61086188e-01 -3.86709705e-03 -2.97486193e+01] [-1.37100627e-02 8.29455321e-05 9.99906009e-01 -3.16570503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.21862385300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:164.71, Y:-29.76, Z:-3.17 [[ 9.61230553e-01 2.75437134e-01 1.30464477e-02 1.64707799e+02] [-2.75410452e-01 9.61319081e-01 -3.83492079e-03 -2.97568081e+01] [-1.35980787e-02 9.31149800e-05 9.99907538e-01 -3.16649182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.24862385300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:164.73, Y:-29.77, Z:-3.17 [[ 9.61633086e-01 2.74037783e-01 1.28491694e-02 1.64734382e+02] [-2.74011784e-01 9.61718920e-01 -3.77633365e-03 -2.97657204e+01] [-1.33921475e-02 1.10623533e-04 9.99910315e-01 -3.16780843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.278623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:164.76, Y:-29.77, Z:-3.17 [[ 9.61924601e-01 2.73015245e-01 1.27960348e-02 1.64761938e+02] [-2.72989382e-01 9.62009699e-01 -3.75984590e-03 -2.97744381e+01] [-1.33364048e-02 1.23506638e-04 9.99911059e-01 -3.16772260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.308623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:164.79, Y:-29.78, Z:-3.17 [[ 9.62214475e-01 2.71987443e-01 1.28893395e-02 1.64788622e+02] [-2.71961116e-01 9.62300791e-01 -3.78676469e-03 -2.97837919e+01] [-1.34333740e-02 1.38280647e-04 9.99909759e-01 -3.16855326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.338623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:164.82, Y:-29.79, Z:-3.17 [[ 9.62233260e-01 2.71920961e-01 1.28896863e-02 1.64815043e+02] [-2.71894644e-01 9.62319579e-01 -3.78558377e-03 -2.97914101e+01] [-1.34333771e-02 1.37977949e-04 9.99909759e-01 -3.16903807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.368623853 meters Centerline goodness [0,1] 0.9998929634148952 Centerline is valid? [True, True] Translation: X:164.84, Y:-29.80, Z:-3.16 [[ 9.62547227e-01 2.70837477e-01 1.22432509e-02 1.64842805e+02] [-2.70813658e-01 9.62625078e-01 -3.59476415e-03 -2.97993051e+01] [-1.27592572e-02 1.44490700e-04 9.99918587e-01 -3.16324230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.398623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:164.87, Y:-29.81, Z:-3.17 [[ 9.63338775e-01 2.67998543e-01 1.24573445e-02 1.64869542e+02] [-2.67973655e-01 9.63419299e-01 -3.65698037e-03 -2.98108301e+01] [-1.29817115e-02 1.84670849e-04 9.99915717e-01 -3.17054633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.428623853 meters Centerline goodness [0,1] 0.999978557337679 Centerline is valid? [True, True] Translation: X:164.90, Y:-29.82, Z:-3.17 [[ 9.63751158e-01 2.66519995e-01 1.22799535e-02 1.64895213e+02] [-2.66495698e-01 9.63829369e-01 -3.60433301e-03 -2.98223441e+01] [-1.27964066e-02 2.01125334e-04 9.99918102e-01 -3.17122410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.458623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:164.92, Y:-29.83, Z:-3.17 [[ 9.64165297e-01 2.65024563e-01 1.21351306e-02 1.64920816e+02] [-2.65000727e-01 9.64241637e-01 -3.56103976e-03 -2.98326065e+01] [-1.26449612e-02 2.17612534e-04 9.99920026e-01 -3.17218993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.488623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:164.95, Y:-29.84, Z:-3.17 [[ 9.64767524e-01 2.62838088e-01 1.18221899e-02 1.64946709e+02] [-2.62815310e-01 9.64839926e-01 -3.46849346e-03 -2.98446599e+01] [-1.23181730e-02 2.39237342e-04 9.99924100e-01 -3.17323013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.518623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:164.97, Y:-29.85, Z:-3.17 [[ 9.65026648e-01 2.61886567e-01 1.17896065e-02 1.64974200e+02] [-2.61863853e-01 9.65098629e-01 -3.45815566e-03 -2.98525285e+01] [-1.22837776e-02 2.49940580e-04 9.99924520e-01 -3.17296155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.548623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:165.00, Y:-29.86, Z:-3.17 [[ 9.65245702e-01 2.61071286e-01 1.19381238e-02 1.65001766e+02] [-2.61047942e-01 9.65319488e-01 -3.50109294e-03 -2.98623719e+01] [-1.24381384e-02 2.62992270e-04 9.99922609e-01 -3.17324776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.578623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:165.03, Y:-29.87, Z:-3.17 [[ 9.65339520e-01 2.60722604e-01 1.19722766e-02 1.65027772e+02] [-2.60699106e-01 9.65413721e-01 -3.51054866e-03 -2.98713475e+01] [-1.24734795e-02 2.67709549e-04 9.99922167e-01 -3.17353189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.608623853 meters Centerline goodness [0,1] 0.9999566047561187 Centerline is valid? [True, True] Translation: X:165.05, Y:-29.88, Z:-3.17 [[ 9.65435701e-01 2.60354836e-01 1.22174363e-02 1.65054935e+02] [-2.60330348e-01 9.65512963e-01 -3.58156226e-03 -2.98802519e+01] [-1.27285701e-02 2.77198643e-04 9.99918950e-01 -3.17345611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.638623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:165.08, Y:-29.89, Z:-3.17 [[ 9.65467012e-01 2.60222608e-01 1.25555983e-02 1.65081290e+02] [-2.60196742e-01 9.65548607e-01 -3.68008290e-03 -2.98905472e+01] [-1.30806813e-02 2.86072857e-04 9.99914403e-01 -3.17310273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.668623853 meters Centerline goodness [0,1] 0.9999787034670755 Centerline is valid? [True, True] Translation: X:165.11, Y:-29.90, Z:-3.17 [[ 9.65417353e-01 2.60408599e-01 1.25178248e-02 1.65108535e+02] [-2.60382916e-01 9.65498463e-01 -3.66816428e-03 -2.98996844e+01] [-1.30411622e-02 2.81881720e-04 9.99914921e-01 -3.17364749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.69862385300002 meters Centerline goodness [0,1] 0.9999785172613804 Centerline is valid? [True, True] Translation: X:165.14, Y:-29.91, Z:-3.17 [[ 9.65402990e-01 2.60470373e-01 1.23390155e-02 1.65135330e+02] [-2.60445429e-01 9.65481801e-01 -3.61526838e-03 -2.99087331e+01] [-1.28547653e-02 2.76550701e-04 9.99917336e-01 -3.17426791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.72862385300002 meters Centerline goodness [0,1] 0.9998717866529906 Centerline is valid? [True, True] Translation: X:165.16, Y:-29.92, Z:-3.17 [[ 9.65298669e-01 2.60879205e-01 1.18541379e-02 1.65162212e+02] [-2.60856225e-01 9.65371417e-01 -3.47228920e-03 -2.99168109e+01] [-1.23494940e-02 2.59570473e-04 9.99923708e-01 -3.16899646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.75862385300002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:165.19, Y:-29.93, Z:-3.18 [[ 9.64964369e-01 2.62111929e-01 1.18786547e-02 1.65188470e+02] [-2.62088957e-01 9.65037449e-01 -3.47872185e-03 -2.99254523e+01] [-1.23751612e-02 2.43578399e-04 9.99923395e-01 -3.17551373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.78862385300002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:165.22, Y:-29.93, Z:-3.18 [[ 9.64748854e-01 2.62928848e-01 1.13168286e-02 1.65215828e+02] [-2.62908062e-01 9.64815201e-01 -3.31346076e-03 -2.99333194e+01] [-1.17898527e-02 2.21372003e-04 9.99930473e-01 -3.17732039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.81862385300002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:165.24, Y:-29.94, Z:-3.18 [[ 9.64407286e-01 2.64199903e-01 1.08165571e-02 1.65243869e+02] [-2.64180999e-01 9.64467922e-01 -3.16649054e-03 -2.99405654e+01] [-1.12688088e-02 1.96257690e-04 9.99936486e-01 -3.17873825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.84862385300002 meters Centerline goodness [0,1] 0.9999785697447656 Centerline is valid? [True, True] Translation: X:165.27, Y:-29.95, Z:-3.18 [[ 9.64018592e-01 2.65626036e-01 1.05338997e-02 1.65271010e+02] [-2.65608197e-01 9.64076127e-01 -3.08332405e-03 -2.99472164e+01] [-1.09744923e-02 1.74491614e-04 9.99939763e-01 -3.17979148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.87862385300002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:165.30, Y:-29.95, Z:-3.18 [[ 9.62994402e-01 2.69295108e-01 1.10420769e-02 1.65298903e+02] [-2.69275754e-01 9.63057696e-01 -3.23147053e-03 -2.99518143e+01] [-1.15043763e-02 1.38524445e-04 9.99933813e-01 -3.17938493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.90862385300002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:165.33, Y:-29.96, Z:-3.18 [[ 9.62411358e-01 2.71367534e-01 1.11372806e-02 1.65327189e+02] [-2.71347997e-01 9.62475791e-01 -3.25819309e-03 -2.99575903e+01] [-1.16035308e-02 1.13643260e-04 9.99932670e-01 -3.17866610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.93862385300002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:165.36, Y:-29.96, Z:-3.18 [[ 9.61714937e-01 2.73801212e-01 1.17165045e-02 1.65355782e+02] [-2.73779778e-01 9.61786301e-01 -3.42704323e-03 -2.99618652e+01] [-1.22071021e-02 8.80966646e-05 9.99925487e-01 -3.17756307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.96862385300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:165.38, Y:-29.97, Z:-3.18 [[ 9.61004892e-01 2.76273304e-01 1.19439869e-02 1.65383837e+02] [-2.76251228e-01 9.61079111e-01 -3.49296102e-03 -2.99669589e+01] [-1.24441282e-02 5.72115694e-05 9.99922567e-01 -3.17763685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.99862385300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:165.41, Y:-29.97, Z:-3.18 [[ 9.60280016e-01 2.78782930e-01 1.19318859e-02 1.65411526e+02] [-2.78761099e-01 9.60354142e-01 -3.48887433e-03 -2.99705657e+01] [-1.24314746e-02 2.41506832e-05 9.99922726e-01 -3.17804800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.028623853 meters Centerline goodness [0,1] 0.9999783788458628 Centerline is valid? [True, True] Translation: X:165.44, Y:-29.97, Z:-3.18 [[ 9.59535625e-01 2.81336104e-01 1.18903540e-02 1.65439435e+02] [-2.81314628e-01 9.59609294e-01 -3.47610759e-03 -2.99738192e+01] [-1.23880487e-02 -9.48143672e-06 9.99923265e-01 -3.17752534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.058623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:165.47, Y:-29.97, Z:-3.18 [[ 9.58021356e-01 2.86462134e-01 1.15986123e-02 1.65468287e+02] [-2.86442086e-01 9.58091561e-01 -3.38987418e-03 -2.99728297e+01] [-1.20836031e-02 -7.47588348e-05 9.99926988e-01 -3.17902903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.088623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:165.50, Y:-29.98, Z:-3.18 [[ 9.57297162e-01 2.88881424e-01 1.13871124e-02 1.65496638e+02] [-2.88862280e-01 9.57364879e-01 -3.32733867e-03 -2.99769288e+01] [-1.18628278e-02 -1.04055369e-04 9.99929629e-01 -3.17939662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.118623853 meters Centerline goodness [0,1] 0.9999784068579819 Centerline is valid? [True, True] Translation: X:165.53, Y:-29.98, Z:-3.18 [[ 9.56713473e-01 2.90817193e-01 1.11665085e-02 1.65525636e+02] [-2.90798916e-01 9.56778629e-01 -3.26284283e-03 -2.99815183e+01] [-1.16327675e-02 -1.25602865e-04 9.99932329e-01 -3.18042543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.148623853 meters Centerline goodness [0,1] 0.9999784315417134 Centerline is valid? [True, True] Translation: X:165.55, Y:-29.98, Z:-3.18 [[ 9.55632218e-01 2.94358125e-01 1.09708210e-02 1.65554749e+02] [-2.94340743e-01 9.55695174e-01 -3.20328658e-03 -2.99816457e+01] [-1.14276741e-02 -1.67995746e-04 9.99934688e-01 -3.18204042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.178623853 meters Centerline goodness [0,1] 0.999978501558637 Centerline is valid? [True, True] Translation: X:165.58, Y:-29.99, Z:-3.18 [[ 9.55192534e-01 2.95784770e-01 1.08900467e-02 1.65582163e+02] [-2.95767749e-01 9.55254592e-01 -3.17849792e-03 -2.99889448e+01] [-1.13429184e-02 -1.84847113e-04 9.99935650e-01 -3.18086266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.208623853 meters Centerline goodness [0,1] 0.9999352107809261 Centerline is valid? [True, True] Translation: X:165.61, Y:-29.99, Z:-3.18 [[ 9.54823793e-01 2.96973211e-01 1.08828417e-02 1.65610802e+02] [-2.96956298e-01 9.54885790e-01 -3.17568101e-03 -2.99896294e+01] [-1.13349631e-02 -1.99512583e-04 9.99935737e-01 -3.18304702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.238623853 meters Centerline goodness [0,1] 0.9998064890666323 Centerline is valid? [True, True] Translation: X:165.64, Y:-29.99, Z:-3.18 [[ 9.54452554e-01 2.98163211e-01 1.09097165e-02 1.65638961e+02] [-2.98146300e-01 9.54514879e-01 -3.18277787e-03 -2.99915872e+01] [-1.13624740e-02 -2.14881144e-04 9.99935422e-01 -3.18412528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.268623853 meters Centerline goodness [0,1] 0.9999141077947177 Centerline is valid? [True, True] Translation: X:165.67, Y:-30.00, Z:-3.18 [[ 9.54259392e-01 2.98773993e-01 1.10956606e-02 1.65665408e+02] [-2.98756542e-01 9.54323871e-01 -3.23705376e-03 -3.00030116e+01] [-1.15560012e-02 -2.25912233e-04 9.99933202e-01 -3.18230135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.298623853 meters Centerline goodness [0,1] 0.9998068918165043 Centerline is valid? [True, True] Translation: X:165.69, Y:-30.00, Z:-3.18 [[ 9.53969981e-01 2.99683803e-01 1.14408911e-02 1.65694850e+02] [-2.99665348e-01 9.54038551e-01 -3.33495755e-03 -3.00020426e+01] [-1.19144840e-02 -2.46989246e-04 9.99928990e-01 -3.18318026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.328623853 meters Centerline goodness [0,1] 0.9999784876841992 Centerline is valid? [True, True] Translation: X:165.72, Y:-30.01, Z:-3.18 [[ 9.54037929e-01 2.99463835e-01 1.15344133e-02 1.65720714e+02] [-2.99445061e-01 9.54107620e-01 -3.36221502e-03 -3.00119082e+01] [-1.20119334e-02 -2.46242446e-04 9.99927824e-01 -3.18218734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.358623853 meters Centerline goodness [0,1] 0.9998501680258567 Centerline is valid? [True, True] Translation: X:165.75, Y:-30.02, Z:-3.18 [[ 9.54141563e-01 2.99128494e-01 1.16628035e-02 1.65748679e+02] [-2.99109313e-01 9.54212808e-01 -3.39648563e-03 -3.00150461e+01] [-1.21447821e-02 -2.47725041e-04 9.99926219e-01 -3.18316285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.388623853 meters Centerline goodness [0,1] 0.9998935264054515 Centerline is valid? [True, True] Translation: X:165.78, Y:-30.02, Z:-3.18 [[ 9.54331828e-01 2.98526402e-01 1.15216890e-02 1.65775849e+02] [-2.98507640e-01 9.54401347e-01 -3.35527760e-03 -3.00237532e+01] [-1.19979544e-02 -2.37263977e-04 9.99927994e-01 -3.18313099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.418623853 meters Centerline goodness [0,1] 0.999978557337679 Centerline is valid? [True, True] Translation: X:165.80, Y:-30.03, Z:-3.19 [[ 9.54763077e-01 2.97148963e-01 1.14000451e-02 1.65804338e+02] [-2.97130528e-01 9.54831108e-01 -3.31725757e-03 -3.00254018e+01] [-1.18708374e-02 -2.20106386e-04 9.99929515e-01 -3.18597461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.44862385300002 meters Centerline goodness [0,1] 0.9999784334023465 Centerline is valid? [True, True] Translation: X:165.83, Y:-30.04, Z:-3.18 [[ 9.55099972e-01 2.96068951e-01 1.12791393e-02 1.65830203e+02] [-2.96050830e-01 9.55166548e-01 -3.28206209e-03 -3.00382371e+01] [-1.17451732e-02 -2.04501131e-04 9.99931002e-01 -3.18483851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.47862385300002 meters Centerline goodness [0,1] 0.999978488146969 Centerline is valid? [True, True] Translation: X:165.86, Y:-30.04, Z:-3.19 [[ 9.55411202e-01 2.95075208e-01 1.09570433e-02 1.65857642e+02] [-2.95058071e-01 9.55474011e-01 -3.18573100e-03 -3.00441014e+01] [-1.14092003e-02 -1.89280984e-04 9.99934895e-01 -3.18608258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.50862385300002 meters Centerline goodness [0,1] 0.9999569141946186 Centerline is valid? [True, True] Translation: X:165.89, Y:-30.05, Z:-3.19 [[ 9.55712171e-01 2.94097965e-01 1.09833415e-02 1.65885602e+02] [-2.94080687e-01 9.55775264e-01 -3.19283550e-03 -3.00478662e+01] [-1.14366126e-02 -1.78556875e-04 9.99934584e-01 -3.18883823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.53862385300002 meters Centerline goodness [0,1] 0.9999571220307006 Centerline is valid? [True, True] Translation: X:165.91, Y:-30.06, Z:-3.19 [[ 9.56380815e-01 2.91916367e-01 1.09805322e-02 1.65911984e+02] [-2.91898968e-01 9.56443836e-01 -3.19078371e-03 -3.00553527e+01] [-1.14337044e-02 -1.53601704e-04 9.99934621e-01 -3.18899236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.56862385300002 meters Centerline goodness [0,1] 0.9998927521932176 Centerline is valid? [True, True] Translation: X:165.94, Y:-30.07, Z:-3.18 [[ 9.56779980e-01 2.90613127e-01 1.07740497e-02 1.65939519e+02] [-2.90596293e-01 9.56840631e-01 -3.13083180e-03 -3.00661537e+01] [-1.12189093e-02 -1.35381721e-04 9.99937057e-01 -3.18167817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.59862385300002 meters Centerline goodness [0,1] 0.9999567492755503 Centerline is valid? [True, True] Translation: X:165.97, Y:-30.08, Z:-3.19 [[ 9.57182272e-01 2.89257613e-01 1.14948589e-02 1.65966828e+02] [-2.89238378e-01 9.57251282e-01 -3.33830642e-03 -3.00753350e+01] [-1.19690990e-02 -1.29386618e-04 9.99928359e-01 -3.18718362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.62862385300002 meters Centerline goodness [0,1] 0.9999572439446737 Centerline is valid? [True, True] Translation: X:165.99, Y:-30.08, Z:-3.19 [[ 9.57572118e-01 2.87966982e-01 1.14304502e-02 1.65994298e+02] [-2.87947902e-01 9.57640331e-01 -3.31693186e-03 -3.00796466e+01] [-1.19014270e-02 -1.15172682e-04 9.99929169e-01 -3.18923025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.65862385300002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:166.02, Y:-30.09, Z:-3.19 [[ 9.58499839e-01 2.84871845e-01 1.12290123e-02 1.66021008e+02] [-2.84853220e-01 9.58565609e-01 -3.25838390e-03 -3.00910466e+01] [-1.16919668e-02 -7.54598523e-05 9.99931644e-01 -3.18908018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.68862385300002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:166.05, Y:-30.10, Z:-3.19 [[ 9.58942081e-01 2.83374303e-01 1.13617253e-02 1.66047813e+02] [-2.83355160e-01 9.59009385e-01 -3.29433658e-03 -3.01001790e+01] [-1.18295315e-02 -6.03255221e-05 9.99930027e-01 -3.18942942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.71862385300003 meters Centerline goodness [0,1] 0.9999355559374463 Centerline is valid? [True, True] Translation: X:166.08, Y:-30.11, Z:-3.18 [[ 9.59599041e-01 2.81147494e-01 1.12146085e-02 1.66075046e+02] [-2.81128691e-01 9.59664569e-01 -3.25167753e-03 -3.01095111e+01] [-1.16764634e-02 -3.24415653e-05 9.99931827e-01 -3.18379576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.74862385300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:166.10, Y:-30.12, Z:-3.19 [[ 9.60076277e-01 2.79502532e-01 1.14838013e-02 1.66101929e+02] [-2.79482721e-01 9.60144955e-01 -3.32773786e-03 -3.01188113e+01] [-1.19562250e-02 -1.46418634e-05 9.99928522e-01 -3.18885545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.778623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:166.13, Y:-30.13, Z:-3.19 [[ 9.61256403e-01 2.75412639e-01 1.15761099e-02 1.66128453e+02] [-2.75392248e-01 9.61326103e-01 -3.35148447e-03 -3.01299829e+01] [-1.20514578e-02 3.36649739e-05 9.99927378e-01 -3.18869276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.808623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:166.15, Y:-30.14, Z:-3.19 [[ 9.61866971e-01 2.73283572e-01 1.13145299e-02 1.66154188e+02] [-2.73263949e-01 9.61933514e-01 -3.27542737e-03 -3.01409653e+01] [-1.17789460e-02 5.86722730e-05 9.99930624e-01 -3.19099481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.838623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:166.18, Y:-30.15, Z:-3.19 [[ 9.62423226e-01 2.71320256e-01 1.12628809e-02 1.66181772e+02] [-2.71300693e-01 9.62489123e-01 -3.25910690e-03 -3.01505185e+01] [-1.17246620e-02 8.10127916e-05 9.99931261e-01 -3.18990515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.868623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:166.21, Y:-30.16, Z:-3.19 [[ 9.63344094e-01 2.68025951e-01 1.14125230e-02 1.66206875e+02] [-2.68005640e-01 9.63411685e-01 -3.30187103e-03 -3.01640083e+01] [-1.18799451e-02 1.22217422e-04 9.99929423e-01 -3.19146347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.898623853 meters Centerline goodness [0,1] 0.9998490858916868 Centerline is valid? [True, True] Translation: X:166.23, Y:-30.17, Z:-3.19 [[ 9.63792826e-01 2.66423305e-01 1.10458886e-02 1.66234789e+02] [-2.66404182e-01 9.63856111e-01 -3.19502117e-03 -3.01731193e+01] [-1.14978753e-02 1.36667569e-04 9.99933888e-01 -3.18519786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.928623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:166.26, Y:-30.18, Z:-3.19 [[ 9.63960686e-01 2.65794046e-01 1.15465135e-02 1.66261907e+02] [-2.65773112e-01 9.64029825e-01 -3.33923518e-03 -3.01828598e+01] [-1.20187323e-02 1.50138602e-04 9.99927761e-01 -3.19163574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.958623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:166.29, Y:-30.19, Z:-3.19 [[ 9.64208552e-01 2.64885173e-01 1.17351202e-02 1.66289302e+02] [-2.64863489e-01 9.64279948e-01 -3.39320481e-03 -3.01909531e+01] [-1.22147507e-02 1.63552217e-04 9.99925384e-01 -3.19187238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.988623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:166.32, Y:-30.20, Z:-3.19 [[ 9.64524981e-01 2.63721513e-01 1.19383959e-02 1.66315084e+02] [-2.63698989e-01 9.64598844e-01 -3.45145315e-03 -3.02009918e+01] [-1.24259853e-02 1.80869854e-04 9.99922778e-01 -3.19190671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.018623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:166.34, Y:-30.21, Z:-3.19 [[ 9.64718435e-01 2.63009680e-01 1.20103855e-02 1.66342634e+02] [-2.62986837e-01 9.64793176e-01 -3.47148610e-03 -3.02107928e+01] [-1.25005724e-02 1.90433340e-04 9.99921847e-01 -3.19252973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.048623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:166.37, Y:-30.22, Z:-3.19 [[ 9.64853970e-01 2.62513243e-01 1.19839140e-02 1.66371000e+02] [-2.62490470e-01 9.64928370e-01 -3.46329194e-03 -3.02167708e+01] [-1.24727786e-02 1.95907748e-04 9.99922193e-01 -3.19135817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.078623853 meters Centerline goodness [0,1] 0.9999784343325426 Centerline is valid? [True, True] Translation: X:166.40, Y:-30.23, Z:-3.19 [[ 9.65096969e-01 2.61629136e-01 1.17488647e-02 1.66396606e+02] [-2.61607188e-01 9.65168459e-01 -3.39484219e-03 -3.02299202e+01] [-1.22278233e-02 2.02764447e-04 9.99925217e-01 -3.19351887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.108623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:166.43, Y:-30.23, Z:-3.19 [[ 9.65269656e-01 2.61006277e-01 1.14112016e-02 1.66425368e+02] [-2.60985538e-01 9.65337082e-01 -3.29651633e-03 -3.02333515e+01] [-1.18760675e-02 2.03868596e-04 9.99929456e-01 -3.19243266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.138623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:166.45, Y:-30.25, Z:-3.20 [[ 9.65523432e-01 2.60072206e-01 1.12671814e-02 1.66449791e+02] [-2.60051929e-01 9.65589148e-01 -3.25452015e-03 -3.02503443e+01] [-1.17258783e-02 2.12263221e-04 9.99931227e-01 -3.19592212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.168623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:166.48, Y:-30.26, Z:-3.20 [[ 9.65600164e-01 2.59792029e-01 1.11545824e-02 1.66477376e+02] [-2.59772150e-01 9.65664567e-01 -3.22076919e-03 -3.02595121e+01] [-1.16083152e-02 2.12325392e-04 9.99932599e-01 -3.19685280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.19862385300002 meters Centerline goodness [0,1] 0.9999783197831978 Centerline is valid? [True, True] Translation: X:166.50, Y:-30.27, Z:-3.20 [[ 9.65624188e-01 2.59702056e-01 1.11700406e-02 1.66503845e+02] [-2.59682121e-01 9.65688768e-01 -3.22484875e-03 -3.02681558e+01] [-1.16242826e-02 2.13332133e-04 9.99932413e-01 -3.19719482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.22862385300002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:166.53, Y:-30.27, Z:-3.20 [[ 9.65627752e-01 2.59688606e-01 1.11746021e-02 1.66531674e+02] [-2.59668662e-01 9.65692385e-01 -3.22543655e-03 -3.02718429e+01] [-1.16288373e-02 2.12877076e-04 9.99932360e-01 -3.19589465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.25862385300002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:166.56, Y:-30.28, Z:-3.20 [[ 9.65645750e-01 2.59621664e-01 1.11748257e-02 1.66558132e+02] [-2.59601724e-01 9.65710384e-01 -3.22466151e-03 -3.02793385e+01] [-1.16288372e-02 2.12876663e-04 9.99932360e-01 -3.19637955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.28862385300002 meters Centerline goodness [0,1] 0.9999786875812536 Centerline is valid? [True, True] Translation: X:166.58, Y:-30.29, Z:-3.20 [[ 9.65520347e-01 2.60070994e-01 1.15558160e-02 1.66583216e+02] [-2.60049714e-01 9.65589474e-01 -3.33377800e-03 -3.02938863e+01] [-1.20251932e-02 2.13743856e-04 9.99927672e-01 -3.19786798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.31862385300002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:166.61, Y:-30.30, Z:-3.20 [[ 9.65446570e-01 2.60342653e-01 1.16027082e-02 1.66612734e+02] [-2.60321236e-01 9.65516265e-01 -3.34595330e-03 -3.02974999e+01] [-1.20736979e-02 2.09907797e-04 9.99927088e-01 -3.19665576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.34862385300002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:166.64, Y:-30.31, Z:-3.20 [[ 9.65377725e-01 2.60600536e-01 1.15416421e-02 1.66638206e+02] [-2.60579366e-01 9.65446694e-01 -3.32804626e-03 -3.03107051e+01] [-1.20101309e-02 2.05307945e-04 9.99927855e-01 -3.19898353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.37862385300002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:166.67, Y:-30.31, Z:-3.20 [[ 9.65320422e-01 2.60819952e-01 1.13769914e-02 1.66667657e+02] [-2.60799405e-01 9.65387442e-01 -3.27982311e-03 -3.03128479e+01] [-1.18386479e-02 1.98967640e-04 9.99929901e-01 -3.19766273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.40862385300002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:166.70, Y:-30.32, Z:-3.20 [[ 9.65212828e-01 2.61248104e-01 1.06594498e-02 1.66695034e+02] [-2.61230099e-01 9.65271669e-01 -3.07247559e-03 -3.03223032e+01] [-1.10919434e-02 1.81023711e-04 9.99938466e-01 -3.19915090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.43862385300002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:166.72, Y:-30.33, Z:-3.20 [[ 9.65218511e-01 2.61230891e-01 1.05663147e-02 1.66720957e+02] [-2.61213201e-01 9.65276328e-01 -3.04533862e-03 -3.03314105e+01] [-1.09949500e-02 1.79356315e-04 9.99939538e-01 -3.20046646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.46862385300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:166.75, Y:-30.34, Z:-3.20 [[ 9.65238011e-01 2.61168521e-01 1.03240541e-02 1.66747744e+02] [-2.61151641e-01 9.65293206e-01 -2.97453808e-03 -3.03392164e+01] [-1.07425950e-02 1.74993560e-04 9.99942281e-01 -3.20093100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.49862385300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:166.77, Y:-30.35, Z:-3.20 [[ 9.65172620e-01 2.61413081e-01 1.02476201e-02 1.66773967e+02] [-2.61396472e-01 9.65227005e-01 -2.95164099e-03 -3.03487358e+01] [-1.06628773e-02 1.70151318e-04 9.99943135e-01 -3.20188400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.528623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:166.80, Y:-30.36, Z:-3.20 [[ 9.64866306e-01 2.62537282e-01 1.03531318e-02 1.66802357e+02] [-2.62520402e-01 9.64921837e-01 -2.98126036e-03 -3.03555050e+01] [-1.07726549e-02 1.58609345e-04 9.99941961e-01 -3.20146231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.558623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:166.83, Y:-30.36, Z:-3.20 [[ 9.64582017e-01 2.63570640e-01 1.05854063e-02 1.66829050e+02] [-2.63553062e-01 9.64640086e-01 -3.04766377e-03 -3.03626946e+01] [-1.10143820e-02 1.49905411e-04 9.99939329e-01 -3.20167088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.588623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:166.86, Y:-30.37, Z:-3.20 [[ 9.64352614e-01 2.64409051e-01 1.05778099e-02 1.66856178e+02] [-2.64391556e-01 9.64410615e-01 -3.04480636e-03 -3.03698777e+01] [-1.10064265e-02 1.39583344e-04 9.99939418e-01 -3.20231636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.618623853 meters Centerline goodness [0,1] 0.9999784705477093 Centerline is valid? [True, True] Translation: X:166.88, Y:-30.38, Z:-3.20 [[ 9.64018680e-01 2.65621272e-01 1.06454202e-02 1.66883931e+02] [-2.65603634e-01 9.64077447e-01 -3.06351115e-03 -3.03761565e+01] [-1.10767433e-02 1.25819679e-04 9.99938643e-01 -3.20253062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.648623853 meters Centerline goodness [0,1] 0.9999785329412018 Centerline is valid? [True, True] Translation: X:166.91, Y:-30.38, Z:-3.20 [[ 9.63515910e-01 2.67450787e-01 1.03521631e-02 1.66912065e+02] [-2.67434219e-01 9.63571516e-01 -2.97862460e-03 -3.03816124e+01] [-1.07716849e-02 1.01429553e-04 9.99941979e-01 -3.20319873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.678623853 meters Centerline goodness [0,1] 0.9999568323584641 Centerline is valid? [True, True] Translation: X:166.94, Y:-30.39, Z:-3.20 [[ 9.63287005e-01 2.68269086e-01 1.04806616e-02 1.66940492e+02] [-2.68252155e-01 9.63344014e-01 -3.01536258e-03 -3.03888449e+01] [-1.09054112e-02 9.31995295e-05 9.99940530e-01 -3.20341763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.708623853 meters Centerline goodness [0,1] 0.9999783235428001 Centerline is valid? [True, True] Translation: X:166.97, Y:-30.40, Z:-3.20 [[ 9.63172557e-01 2.68682647e-01 1.04048562e-02 1.66968647e+02] [-2.68665999e-01 9.63228752e-01 -2.99221838e-03 -3.03962766e+01] [-1.08262138e-02 8.65915480e-05 9.99941391e-01 -3.20429868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.738623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:166.99, Y:-30.40, Z:-3.21 [[ 9.63096403e-01 2.68962667e-01 1.02177937e-02 1.66994729e+02] [-2.68946630e-01 9.63150599e-01 -2.93816295e-03 -3.04047514e+01] [-1.06315303e-02 8.16929732e-05 9.99943480e-01 -3.20575528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.768623853 meters Centerline goodness [0,1] 0.9999359781472076 Centerline is valid? [True, True] Translation: X:167.02, Y:-30.41, Z:-3.21 [[ 9.63045198e-01 2.69147259e-01 1.01832915e-02 1.67021833e+02] [-2.69131351e-01 9.63099033e-01 -2.92722758e-03 -3.04115948e+01] [-1.05953735e-02 7.84094661e-05 9.99943864e-01 -3.20618309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.798623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:167.05, Y:-30.42, Z:-3.21 [[ 9.62889165e-01 2.69718033e-01 9.83043732e-03 1.67049422e+02] [-2.69703246e-01 9.62939343e-01 -2.82510663e-03 -3.04184472e+01] [-1.02280971e-02 6.89637076e-05 9.99947689e-01 -3.20589614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.828623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:167.08, Y:-30.43, Z:-3.21 [[ 9.62771064e-01 2.70131384e-01 1.00456009e-02 1.67076597e+02] [-2.70115975e-01 9.62823468e-01 -2.88593489e-03 -3.04264209e+01] [-1.04517219e-02 6.50173226e-05 9.99945377e-01 -3.20715719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.858623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:167.10, Y:-30.43, Z:-3.21 [[ 9.62660234e-01 2.70537525e-01 9.73247073e-03 1.67102862e+02] [-2.70523085e-01 9.62709429e-01 -2.79576443e-03 -3.04343735e+01] [-1.01259005e-02 5.85132370e-05 9.99948730e-01 -3.20864915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.888623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:167.13, Y:-30.44, Z:-3.21 [[ 9.62211584e-01 2.72144892e-01 9.27502176e-03 1.67130897e+02] [-2.72131863e-01 9.62256284e-01 -2.66330680e-03 -3.04399479e+01] [-9.64975332e-03 3.86357046e-05 9.99953439e-01 -3.20900488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.918623853 meters Centerline goodness [0,1] 0.9999785793848 Centerline is valid? [True, True] Translation: X:167.16, Y:-30.45, Z:-3.21 [[ 9.61957691e-01 2.73049559e-01 9.01879402e-03 1.67157338e+02] [-2.73037276e-01 9.61999968e-01 -2.58999102e-03 -3.04463377e+01] [-9.38327546e-03 2.89948283e-05 9.99955976e-01 -3.21106330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.94862385300002 meters Centerline goodness [0,1] 0.9999785968066436 Centerline is valid? [True, True] Translation: X:167.19, Y:-30.45, Z:-3.21 [[ 9.61718300e-01 2.73885547e-01 9.19882686e-03 1.67185547e+02] [-2.73872827e-01 9.61762292e-01 -2.63969008e-03 -3.04526048e+01] [-9.57005776e-03 1.93295405e-05 9.99954206e-01 -3.21122163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.97862385300002 meters Centerline goodness [0,1] 0.9998928739769465 Centerline is valid? [True, True] Translation: X:167.21, Y:-30.46, Z:-3.20 [[ 9.61294743e-01 2.75354727e-01 9.60159492e-03 1.67214832e+02] [-2.75340946e-01 9.61342694e-01 -2.75480379e-03 -3.04564491e+01] [-9.98897137e-03 4.46616910e-06 9.99950109e-01 -3.20379540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.00862385300002 meters Centerline goodness [0,1] 0.9999576217315761 Centerline is valid? [True, True] Translation: X:167.24, Y:-30.46, Z:-3.21 [[ 9.61154645e-01 2.75825872e-01 1.00914256e-02 1.67241750e+02] [-2.75810680e-01 9.61207620e-01 -2.89485951e-03 -3.04637711e+01] [-1.04984323e-02 -9.15291779e-07 9.99944890e-01 -3.21047729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.03862385300002 meters Centerline goodness [0,1] 0.9999785954322652 Centerline is valid? [True, True] Translation: X:167.27, Y:-30.47, Z:-3.21 [[ 9.61157692e-01 2.75832208e-01 9.61690754e-03 1.67269751e+02] [-2.75818418e-01 9.61205802e-01 -2.75806851e-03 -3.04710898e+01] [-1.00045914e-02 -1.58146592e-06 9.99949953e-01 -3.21050679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.06862385300002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:167.30, Y:-30.48, Z:-3.21 [[ 9.61219097e-01 2.75627764e-01 9.33720362e-03 1.67295973e+02] [-2.75614753e-01 9.61264446e-01 -2.67806818e-03 -3.04777505e+01] [-9.71367181e-03 7.39208016e-07 9.99952821e-01 -3.21230449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.09862385300002 meters Centerline goodness [0,1] 0.9999786356741514 Centerline is valid? [True, True] Translation: X:167.32, Y:-30.49, Z:-3.21 [[ 9.61293485e-01 2.75379829e-01 8.98806315e-03 1.67324144e+02] [-2.75367780e-01 9.61335503e-01 -2.57608254e-03 -3.04855648e+01] [-9.34994538e-03 1.34837013e-06 9.99956288e-01 -3.21282070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.12862385300002 meters Centerline goodness [0,1] 0.9999357147448947 Centerline is valid? [True, True] Translation: X:167.35, Y:-30.49, Z:-3.21 [[ 9.61549042e-01 2.74495413e-01 8.70105854e-03 1.67352227e+02] [-2.74484089e-01 9.61588409e-01 -2.49342427e-03 -3.04932868e+01] [-9.05127056e-03 9.24759374e-06 9.99959036e-01 -3.21377435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.15862385300002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:167.38, Y:-30.50, Z:-3.22 [[ 9.61721650e-01 2.73897737e-01 8.45560644e-03 1.67379064e+02] [-2.73887022e-01 9.61758821e-01 -2.42278011e-03 -3.05010751e+01] [-8.79584807e-03 1.41592119e-05 9.99961316e-01 -3.21557826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.18862385300002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:167.41, Y:-30.51, Z:-3.22 [[ 9.61905051e-01 2.73260461e-01 8.20937305e-03 1.67406609e+02] [-2.73250342e-01 9.61940081e-01 -2.35161978e-03 -3.05090330e+01] [-8.53952969e-03 1.88209467e-05 9.99963537e-01 -3.21561851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.21862385300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:167.43, Y:-30.52, Z:-3.22 [[ 9.62440565e-01 2.71368914e-01 8.18973896e-03 1.67432685e+02] [-2.71358778e-01 9.62475408e-01 -2.34567775e-03 -3.05178795e+01] [-8.51896637e-03 3.52178633e-05 9.99963712e-01 -3.21660714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.24862385300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:167.46, Y:-30.53, Z:-3.22 [[ 9.62786544e-01 2.70128024e-01 8.53938491e-03 1.67459421e+02] [-2.70116961e-01 9.62824412e-01 -2.44521748e-03 -3.05268257e+01] [-8.88245002e-03 4.75897922e-05 9.99960549e-01 -3.21783500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.278623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:167.49, Y:-30.53, Z:-3.22 [[ 9.63160327e-01 2.68787990e-01 8.67188437e-03 1.67487647e+02] [-2.68776533e-01 9.63199363e-01 -2.48248978e-03 -3.05343540e+01] [-9.02001694e-03 6.02366525e-05 9.99959317e-01 -3.21636335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.308623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:167.51, Y:-30.54, Z:-3.22 [[ 9.63563399e-01 2.67333255e-01 8.86044606e-03 1.67513447e+02] [-2.67321236e-01 9.63604133e-01 -2.53608955e-03 -3.05443297e+01] [-9.21594352e-03 7.50976741e-05 9.99957529e-01 -3.21816083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.338623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:167.54, Y:-30.56, Z:-3.21 [[ 9.64593646e-01 2.63545379e-01 1.01454961e-02 1.67540650e+02] [-2.63529420e-01 9.64646991e-01 -2.90298606e-03 -3.05557019e+01] [-1.05518908e-02 1.26565216e-04 9.99944319e-01 -3.21490859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.368623853 meters Centerline goodness [0,1] 0.999914511647788 Centerline is valid? [True, True] Translation: X:167.57, Y:-30.57, Z:-3.21 [[ 9.65132604e-01 2.61528714e-01 1.10357664e-02 1.67568008e+02] [-2.61509708e-01 9.65195683e-01 -3.15708672e-03 -3.05663385e+01] [-1.14773429e-02 1.61047287e-04 9.99934120e-01 -3.21380924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.398623853 meters Centerline goodness [0,1] 0.9998718195218869 Centerline is valid? [True, True] Translation: X:167.59, Y:-30.58, Z:-3.21 [[ 9.65674866e-01 2.59502305e-01 1.14283436e-02 1.67594873e+02] [-2.59481787e-01 9.65742469e-01 -3.26877915e-03 -3.05773680e+01] [-1.18850925e-02 1.91130845e-04 9.99929352e-01 -3.21360416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.428623853 meters Centerline goodness [0,1] 0.9997835919409639 Centerline is valid? [True, True] Translation: X:167.62, Y:-30.59, Z:-3.21 [[ 9.66274543e-01 2.57258509e-01 1.14702869e-02 1.67621387e+02] [-2.57237689e-01 9.66342595e-01 -3.28019113e-03 -3.05882433e+01] [-1.19280839e-02 2.18975088e-04 9.99928834e-01 -3.21408664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.458623853 meters Centerline goodness [0,1] 0.9998931715238014 Centerline is valid? [True, True] Translation: X:167.65, Y:-30.60, Z:-3.21 [[ 9.66769558e-01 2.55406264e-01 1.11472872e-02 1.67648605e+02] [-2.55386483e-01 9.66833794e-01 -3.18727476e-03 -3.05988675e+01] [-1.15916239e-02 2.34493732e-04 9.99932787e-01 -3.21489064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.488623853 meters Centerline goodness [0,1] 0.9995106695317321 Centerline is valid? [True, True] Translation: X:167.67, Y:-30.61, Z:-3.22 [[ 9.67580485e-01 2.52334180e-01 1.07455797e-02 1.67673999e+02] [-2.52315617e-01 9.67640116e-01 -3.07181444e-03 -3.06139743e+01] [-1.11729778e-02 2.60950136e-04 9.99937546e-01 -3.21710827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.518623853 meters Centerline goodness [0,1] 0.9995671370444117 Centerline is valid? [True, True] Translation: X:167.70, Y:-30.62, Z:-3.22 [[ 9.67878888e-01 2.51189327e-01 1.06949004e-02 1.67702637e+02] [-2.51170872e-01 9.67937936e-01 -3.05700740e-03 -3.06203034e+01] [-1.11198875e-02 2.72565453e-04 9.99938135e-01 -3.21675630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.548623853 meters Centerline goodness [0,1] 0.9995096994244298 Centerline is valid? [True, True] Translation: X:167.73, Y:-30.63, Z:-3.22 [[ 9.68081460e-01 2.50418734e-01 1.04280216e-02 1.67727599e+02] [-2.50401150e-01 9.68137585e-01 -2.98019361e-03 -3.06324406e+01] [-1.08420559e-02 2.73881588e-04 9.99941186e-01 -3.21854615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.578623853 meters Centerline goodness [0,1] 0.9995073258503985 Centerline is valid? [True, True] Translation: X:167.76, Y:-30.64, Z:-3.22 [[ 9.68191288e-01 2.50002010e-01 1.02286139e-02 1.67755343e+02] [-2.49985074e-01 9.68245279e-01 -2.92270953e-03 -3.06396832e+01] [-1.06344904e-02 2.72741098e-04 9.99943415e-01 -3.21868624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.608623853 meters Centerline goodness [0,1] 0.9995672400735692 Centerline is valid? [True, True] Translation: X:167.78, Y:-30.65, Z:-3.22 [[ 9.68147571e-01 2.50170158e-01 1.02553240e-02 1.67782911e+02] [-2.50153149e-01 9.68201848e-01 -2.92981782e-03 -3.06486058e+01] [-1.06621766e-02 2.71094421e-04 9.99943121e-01 -3.21866479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.638623853 meters Centerline goodness [0,1] 0.9995779076884115 Centerline is valid? [True, True] Translation: X:167.81, Y:-30.66, Z:-3.22 [[ 9.67996007e-01 2.50760885e-01 1.01345098e-02 1.67808906e+02] [-2.50744311e-01 9.68049023e-01 -2.89488085e-03 -3.06587091e+01] [-1.05366252e-02 2.61062441e-04 9.99944454e-01 -3.22015737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.668623853 meters Centerline goodness [0,1] 0.9996584043211854 Centerline is valid? [True, True] Translation: X:167.84, Y:-30.66, Z:-3.22 [[ 9.67817583e-01 2.51445857e-01 1.02032566e-02 1.67837754e+02] [-2.51429101e-01 9.67871332e-01 -2.91396411e-03 -3.06643669e+01] [-1.06081438e-02 2.54790061e-04 9.99943700e-01 -3.22005744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.69862385300002 meters Centerline goodness [0,1] 0.9996762007555315 Centerline is valid? [True, True] Translation: X:167.87, Y:-30.67, Z:-3.22 [[ 9.67329177e-01 2.53325478e-01 1.00232304e-02 1.67866036e+02] [-2.53309419e-01 9.67381078e-01 -2.86159215e-03 -3.06711702e+01] [-1.04211976e-02 2.29122912e-04 9.99945672e-01 -3.22163164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.72862385300002 meters Centerline goodness [0,1] 0.9998484290756339 Centerline is valid? [True, True] Translation: X:167.89, Y:-30.68, Z:-3.22 [[ 9.67006097e-01 2.54562482e-01 9.85647913e-03 1.67894701e+02] [-2.54547022e-01 9.67056305e-01 -2.81351986e-03 -3.06759266e+01] [-1.02479869e-02 2.11753450e-04 9.99947466e-01 -3.22173073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.75862385300002 meters Centerline goodness [0,1] 0.9997221925419383 Centerline is valid? [True, True] Translation: X:167.92, Y:-30.68, Z:-3.22 [[ 9.66623741e-01 2.56024925e-01 9.47527294e-03 1.67921155e+02] [-2.56010711e-01 9.66670162e-01 -2.70434170e-03 -3.06840168e+01] [-9.85184251e-03 1.88309525e-04 9.99951452e-01 -3.22310554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.78862385300002 meters Centerline goodness [0,1] 0.9999785490583036 Centerline is valid? [True, True] Translation: X:167.95, Y:-30.69, Z:-3.22 [[ 9.65854402e-01 2.58898967e-01 9.82850980e-03 1.67950160e+02] [-2.58883828e-01 9.65904394e-01 -2.80460897e-03 -3.06890731e+01] [-1.02195112e-02 1.64401679e-04 9.99947766e-01 -3.22319253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.81862385300002 meters Centerline goodness [0,1] 0.9998919012409737 Centerline is valid? [True, True] Translation: X:167.98, Y:-30.69, Z:-3.22 [[ 9.65424606e-01 2.60503109e-01 9.66751689e-03 1.67978921e+02] [-2.60488553e-01 9.65472998e-01 -2.75765802e-03 -3.06945534e+01] [-1.00521050e-02 1.44033425e-04 9.99949466e-01 -3.22356696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.84862385300002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:168.01, Y:-30.70, Z:-3.22 [[ 9.64971196e-01 2.62174632e-01 9.74957024e-03 1.68005981e+02] [-2.62159917e-01 9.65020438e-01 -2.78064644e-03 -3.07005141e+01] [-1.01375495e-02 1.27297197e-04 9.99948606e-01 -3.22420226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.87862385300002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:168.03, Y:-30.71, Z:-3.22 [[ 9.64513028e-01 2.63856565e-01 9.71249275e-03 1.68034674e+02] [-2.63842053e-01 9.64561922e-01 -2.76936153e-03 -3.07065113e+01] [-1.00990149e-02 1.08521240e-04 9.99948998e-01 -3.22486916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.90862385300002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:168.06, Y:-30.71, Z:-3.23 [[ 9.64092655e-01 2.65390926e-01 9.64414974e-03 1.68062084e+02] [-2.65376699e-01 9.64140886e-01 -2.74948225e-03 -3.07126915e+01] [-1.00280067e-02 9.14230213e-05 9.99949714e-01 -3.22517040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.93862385300002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:168.09, Y:-30.72, Z:-3.23 [[ 9.63323107e-01 2.68177125e-01 9.46686680e-03 1.68089819e+02] [-2.68163557e-01 9.63369621e-01 -2.69835270e-03 -3.07168665e+01] [-9.84372835e-03 6.07168381e-05 9.99951547e-01 -3.22696430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.96862385300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:168.12, Y:-30.72, Z:-3.23 [[ 9.63053029e-01 2.69152091e-01 9.27447093e-03 1.68118081e+02] [-2.69139120e-01 9.63097684e-01 -2.64286106e-03 -3.07233802e+01] [-9.64355305e-03 4.90924069e-05 9.99953499e-01 -3.22740985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.99862385300003 meters Centerline goodness [0,1] 0.9999785283318661 Centerline is valid? [True, True] Translation: X:168.15, Y:-30.73, Z:-3.23 [[ 9.62815831e-01 2.70005512e-01 9.09389185e-03 1.68145789e+02] [-2.69993084e-01 9.62858776e-01 -2.59096041e-03 -3.07306423e+01] [-9.45570716e-03 3.93297994e-05 9.99955293e-01 -3.22842411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.028623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:168.17, Y:-30.74, Z:-3.23 [[ 9.62667561e-01 2.70541549e-01 8.85647466e-03 1.68172859e+02] [-2.70529785e-01 9.62708299e-01 -2.52311332e-03 -3.07375726e+01] [-9.20880864e-03 3.29791624e-05 9.99957597e-01 -3.22929644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.058623853 meters Centerline goodness [0,1] 0.9998929152745653 Centerline is valid? [True, True] Translation: X:168.20, Y:-30.74, Z:-3.22 [[ 9.62441557e-01 2.71367085e-01 8.13357211e-03 1.68199515e+02] [-2.71357192e-01 9.62475924e-01 -2.31720627e-03 -3.07438925e+01] [-8.45718084e-03 2.30723215e-05 9.99964237e-01 -3.22467294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.088623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:168.23, Y:-30.75, Z:-3.23 [[ 9.62343245e-01 2.71692358e-01 8.87361889e-03 1.68226381e+02] [-2.71680618e-01 9.62384155e-01 -2.52583865e-03 -3.07527553e+01] [-9.22608128e-03 1.99335049e-05 9.99957439e-01 -3.23032524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.118623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:168.25, Y:-30.76, Z:-3.23 [[ 9.62332412e-01 2.71725106e-01 9.04411864e-03 1.68251882e+02] [-2.71712913e-01 9.62374910e-01 -2.57419215e-03 -3.07600637e+01] [-9.40330549e-03 1.98247244e-05 9.99955788e-01 -3.23102018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.148623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:168.28, Y:-30.77, Z:-3.23 [[ 9.62350935e-01 2.71659489e-01 9.04435999e-03 1.68278366e+02] [-2.71647302e-01 9.62393434e-01 -2.57334374e-03 -3.07674535e+01] [-9.40330592e-03 1.95837699e-05 9.99955788e-01 -3.23150499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.178623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:168.30, Y:-30.78, Z:-3.23 [[ 9.62397736e-01 2.71488488e-01 9.19772002e-03 1.68304771e+02] [-2.71475882e-01 9.62441687e-01 -2.61627851e-03 -3.07754277e+01] [-9.56255866e-03 2.09413619e-05 9.99954277e-01 -3.23206085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.208623853 meters Centerline goodness [0,1] 0.9999785679075848 Centerline is valid? [True, True] Translation: X:168.33, Y:-30.78, Z:-3.23 [[ 9.62385478e-01 2.71534906e-01 9.10975160e-03 1.68331214e+02] [-2.71522548e-01 9.62428592e-01 -2.59063264e-03 -3.07832759e+01] [-9.47093259e-03 1.96842705e-05 9.99955150e-01 -3.23140326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.238623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:168.36, Y:-30.79, Z:-3.23 [[ 9.62415706e-01 2.71421458e-01 9.29525673e-03 1.68357495e+02] [-2.71408594e-01 9.62460592e-01 -2.64263773e-03 -3.07919944e+01] [-9.66358689e-03 2.05034936e-05 9.99953306e-01 -3.23111680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.268623853 meters Centerline goodness [0,1] 0.9998073382711821 Centerline is valid? [True, True] Translation: X:168.38, Y:-30.80, Z:-3.22 [[ 9.62421679e-01 2.71413982e-01 8.88611138e-03 1.68384534e+02] [-2.71402232e-01 9.62462701e-01 -2.52557046e-03 -3.07980862e+01] [-9.23802589e-03 1.89533038e-05 9.99957328e-01 -3.22438567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.298623853 meters Centerline goodness [0,1] 0.9999787969382778 Centerline is valid? [True, True] Translation: X:168.41, Y:-30.81, Z:-3.23 [[ 9.62260982e-01 2.71950297e-01 9.84064599e-03 1.68411355e+02] [-2.71935923e-01 9.62311299e-01 -2.79610288e-03 -3.08065679e+01] [-1.02301658e-02 1.45555584e-05 9.99947670e-01 -3.23188823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.328623853 meters Centerline goodness [0,1] 0.9999788882555366 Centerline is valid? [True, True] Translation: X:168.44, Y:-30.81, Z:-3.23 [[ 9.62176057e-01 2.72234666e-01 1.02723830e-02 1.68438483e+02] [-2.72219027e-01 9.62230890e-01 -2.91805051e-03 -3.08135520e+01] [-1.06787987e-02 1.13402313e-05 9.99942980e-01 -3.23139812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.358623853 meters Centerline goodness [0,1] 0.9999143853941482 Centerline is valid? [True, True] Translation: X:168.47, Y:-30.82, Z:-3.23 [[ 9.62198597e-01 2.72143332e-01 1.05766903e-02 1.68465051e+02] [-2.72126753e-01 9.62256726e-01 -3.00390077e-03 -3.08207461e+01] [-1.09949829e-02 1.21487280e-05 9.99939553e-01 -3.23059347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.388623853 meters Centerline goodness [0,1] 0.9999786068800274 Centerline is valid? [True, True] Translation: X:168.49, Y:-30.83, Z:-3.23 [[ 9.62193886e-01 2.72154572e-01 1.07151447e-02 1.68492383e+02] [-2.72137567e-01 9.62253547e-01 -3.04240061e-03 -3.08283448e+01] [-1.11386892e-02 1.13858666e-05 9.99937963e-01 -3.23044322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.418623853 meters Centerline goodness [0,1] 0.999957263130903 Centerline is valid? [True, True] Translation: X:168.52, Y:-30.84, Z:-3.23 [[ 9.62241370e-01 2.71991615e-01 1.05880634e-02 1.68519011e+02] [-2.71975009e-01 9.62299621e-01 -3.00554076e-03 -3.08360629e+01] [-1.10063713e-02 1.23670083e-05 9.99939428e-01 -3.23063642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.44862385300002 meters Centerline goodness [0,1] 0.9999569892473118 Centerline is valid? [True, True] Translation: X:168.55, Y:-30.84, Z:-3.23 [[ 9.62237703e-01 2.72018920e-01 1.02132423e-02 1.68545590e+02] [-2.72003479e-01 9.62291903e-01 -2.89830062e-03 -3.08439269e+01] [-1.06165130e-02 1.08166851e-05 9.99943643e-01 -3.23230685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.47862385300002 meters Centerline goodness [0,1] 0.9999353587588882 Centerline is valid? [True, True] Translation: X:168.57, Y:-30.85, Z:-3.23 [[ 9.62299658e-01 2.71806549e-01 1.00284096e-02 1.68572492e+02] [-2.71791656e-01 9.62351911e-01 -2.84530116e-03 -3.08518305e+01] [-1.04242307e-02 1.23942618e-05 9.99945666e-01 -3.23284326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.50862385300002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:168.60, Y:-30.86, Z:-3.23 [[ 9.62329519e-01 2.71693063e-01 1.02359963e-02 1.68599589e+02] [-2.71677550e-01 9.62383956e-01 -2.90339277e-03 -3.08596562e+01] [-1.06397903e-02 1.31301784e-05 9.99943396e-01 -3.23312263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.53862385300002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:168.63, Y:-30.87, Z:-3.23 [[ 9.62319740e-01 2.71722624e-01 1.03698479e-02 1.68625989e+02] [-2.71706712e-01 9.62375610e-01 -2.94062234e-03 -3.08664848e+01] [-1.07787223e-02 1.22616519e-05 9.99941908e-01 -3.23372499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.56862385300002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:168.65, Y:-30.87, Z:-3.23 [[ 9.62367702e-01 2.71573009e-01 9.82385120e-03 1.68653468e+02] [-2.71558731e-01 9.62417841e-01 -2.78472033e-03 -3.08743733e+01] [-1.02109045e-02 1.21723337e-05 9.99947867e-01 -3.23484430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.59862385300002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:168.68, Y:-30.88, Z:-3.24 [[ 9.62419628e-01 2.71391758e-01 9.74540910e-03 1.68679034e+02] [-2.71377701e-01 9.62468967e-01 -2.76226229e-03 -3.08826032e+01] [-1.01293091e-02 1.37687283e-05 9.99948697e-01 -3.23593833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.62862385300002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:168.71, Y:-30.89, Z:-3.24 [[ 9.62456631e-01 2.71257680e-01 9.82363025e-03 1.68705950e+02] [-2.71243399e-01 9.62506764e-01 -2.78342742e-03 -3.08902720e+01] [-1.02103366e-02 1.43333178e-05 9.99947873e-01 -3.23659471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.65862385300002 meters Centerline goodness [0,1] 0.9999787582046434 Centerline is valid? [True, True] Translation: X:168.73, Y:-30.90, Z:-3.24 [[ 9.62482938e-01 2.71166224e-01 9.77100521e-03 1.68731682e+02] [-2.71152098e-01 9.62532534e-01 -2.76786157e-03 -3.08970198e+01] [-1.01554610e-02 1.45909791e-05 9.99948432e-01 -3.23651489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.68862385300002 meters Centerline goodness [0,1] 0.9999572421165153 Centerline is valid? [True, True] Translation: X:168.76, Y:-30.90, Z:-3.24 [[ 9.62445515e-01 2.71271424e-01 1.05093034e-02 1.68759825e+02] [-2.71255103e-01 9.62502890e-01 -2.97570696e-03 -3.09043840e+01] [-1.09224591e-02 1.32536434e-05 9.99940348e-01 -3.23661435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.71862385300003 meters Centerline goodness [0,1] 0.9999572795625428 Centerline is valid? [True, True] Translation: X:168.79, Y:-30.91, Z:-3.24 [[ 9.62515550e-01 2.71023176e-01 1.05001907e-02 1.68785512e+02] [-2.71006872e-01 9.62572822e-01 -2.97283489e-03 -3.09123973e+01] [-1.09129054e-02 1.57759691e-05 9.99940452e-01 -3.23714358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.74862385300003 meters Centerline goodness [0,1] 0.9998710703311343 Centerline is valid? [True, True] Translation: X:168.81, Y:-30.92, Z:-3.24 [[ 9.62559720e-01 2.70857022e-01 1.07358617e-02 1.68812103e+02] [-2.70839980e-01 9.62619589e-01 -3.03848366e-03 -3.09206325e+01] [-1.11575455e-02 1.70214103e-05 9.99937753e-01 -3.23706729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.778623853 meters Centerline goodness [0,1] 0.9999358439725412 Centerline is valid? [True, True] Translation: X:168.84, Y:-30.93, Z:-3.24 [[ 9.62603460e-01 2.70709176e-01 1.05413724e-02 1.68839167e+02] [-2.70692745e-01 9.62661177e-01 -2.98266072e-03 -3.09279453e+01] [-1.09552036e-02 1.76464917e-05 9.99939990e-01 -3.23742559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.808623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:168.87, Y:-30.93, Z:-3.24 [[ 9.62636094e-01 2.70596948e-01 1.04423420e-02 1.68866445e+02] [-2.70580826e-01 9.62692730e-01 -2.95385196e-03 -3.09349761e+01] [-1.08520701e-02 1.79869815e-05 9.99941114e-01 -3.23804815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.838623853 meters Centerline goodness [0,1] 0.9999785862652305 Centerline is valid? [True, True] Translation: X:168.89, Y:-30.94, Z:-3.24 [[ 9.62641208e-01 2.70590273e-01 1.01395232e-02 1.68892689e+02] [-2.70575078e-01 9.62694606e-01 -2.86754204e-03 -3.09425416e+01] [-1.05371932e-02 1.69118530e-05 9.99944482e-01 -3.23925832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.868623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:168.92, Y:-30.95, Z:-3.24 [[ 9.62704019e-01 2.70363283e-01 1.02306829e-02 1.68919792e+02] [-2.70347813e-01 9.62758378e-01 -2.89231933e-03 -3.09504507e+01] [-1.06316526e-02 1.86047027e-05 9.99943482e-01 -3.23972787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.898623853 meters Centerline goodness [0,1] 0.9999784867585999 Centerline is valid? [True, True] Translation: X:168.95, Y:-30.96, Z:-3.24 [[ 9.62664895e-01 2.70498657e-01 1.03332636e-02 1.68947054e+02] [-2.70482891e-01 9.62720352e-01 -2.92053268e-03 -3.09575411e+01] [-1.07380433e-02 1.65232675e-05 9.99942345e-01 -3.23987006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.928623853 meters Centerline goodness [0,1] 0.9999784830554062 Centerline is valid? [True, True] Translation: X:168.97, Y:-30.96, Z:-3.24 [[ 9.62570451e-01 2.70828824e-01 1.04820994e-02 1.68974670e+02] [-2.70812629e-01 9.62627523e-01 -2.96177754e-03 -3.09635012e+01] [-1.08924921e-02 1.22346459e-05 9.99940675e-01 -3.23965029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.958623853 meters Centerline goodness [0,1] 0.999978601844521 Centerline is valid? [True, True] Translation: X:169.00, Y:-30.97, Z:-3.24 [[ 9.62539387e-01 2.70928846e-01 1.07465842e-02 1.69002104e+02] [-2.70911839e-01 9.62599377e-01 -3.03566258e-03 -3.09704900e+01] [-1.11671038e-02 1.05679180e-05 9.99937646e-01 -3.23976169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.988623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:169.03, Y:-30.98, Z:-3.24 [[ 9.62497898e-01 2.71075462e-01 1.07652397e-02 1.69028435e+02] [-2.71058413e-01 9.62558099e-01 -3.04019057e-03 -3.09768284e+01] [-1.11862897e-02 8.16824867e-06 9.99937431e-01 -3.24083856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.018623853 meters Centerline goodness [0,1] 0.9999359234498815 Centerline is valid? [True, True] Translation: X:169.06, Y:-30.98, Z:-3.24 [[ 9.62487830e-01 2.71113993e-01 1.06948903e-02 1.69056445e+02] [-2.71097180e-01 9.62547247e-01 -3.01931048e-03 -3.09822375e+01] [-1.11129145e-02 6.69498935e-06 9.99938250e-01 -3.24197971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.048623853 meters Centerline goodness [0,1] 0.9999356209360716 Centerline is valid? [True, True] Translation: X:169.08, Y:-30.99, Z:-3.24 [[ 9.62621399e-01 2.70635105e-01 1.08019232e-02 1.69083954e+02] [-2.70617932e-01 9.62682004e-01 -3.04871571e-03 -3.09895282e+01] [-1.12239066e-02 1.15648509e-05 9.99937010e-01 -3.24240276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.078623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:169.11, Y:-31.00, Z:-3.24 [[ 9.62822783e-01 2.69925374e-01 1.06104142e-02 1.69109680e+02] [-2.69908766e-01 9.62881245e-01 -2.99428389e-03 -3.09972433e+01] [-1.10248020e-02 1.91209548e-05 9.99939225e-01 -3.24313641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.108623853 meters Centerline goodness [0,1] 0.9999572338878673 Centerline is valid? [True, True] Translation: X:169.14, Y:-31.01, Z:-3.24 [[ 9.63090724e-01 2.68969223e-01 1.05742498e-02 1.69137284e+02] [-2.68952693e-01 9.63148772e-01 -2.98209865e-03 -3.10061986e+01] [-1.09866684e-02 2.80586025e-05 9.99939644e-01 -3.24344850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.138623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:169.16, Y:-31.02, Z:-3.25 [[ 9.63780825e-01 2.66494221e-01 1.03610908e-02 1.69163242e+02] [-2.66478212e-01 9.63836515e-01 -2.92156580e-03 -3.10180206e+01] [-1.07649780e-02 5.47441399e-05 9.99942054e-01 -3.24510107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.168623853 meters Centerline goodness [0,1] 0.9999785047934311 Centerline is valid? [True, True] Translation: X:169.19, Y:-31.03, Z:-3.25 [[ 9.64158733e-01 2.65128819e-01 1.02297169e-02 1.69190671e+02] [-2.65113144e-01 9.64212998e-01 -2.88380578e-03 -3.10277306e+01] [-1.06282060e-02 6.84141306e-05 9.99943517e-01 -3.24557032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.19862385300002 meters Centerline goodness [0,1] 0.9999785770903404 Centerline is valid? [True, True] Translation: X:169.22, Y:-31.04, Z:-3.25 [[ 9.64504941e-01 2.63860559e-01 1.03837907e-02 1.69217831e+02] [-2.63844340e-01 9.64560832e-01 -2.92672580e-03 -3.10373461e+01] [-1.07880453e-02 8.31370862e-05 9.99941804e-01 -3.24569014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.22862385300002 meters Centerline goodness [0,1] 0.9999573269608262 Centerline is valid? [True, True] Translation: X:169.25, Y:-31.05, Z:-3.25 [[ 9.64896442e-01 2.62416347e-01 1.06074452e-02 1.69245344e+02] [-2.62399340e-01 9.64954740e-01 -2.98924493e-03 -3.10465531e+01] [-1.10201312e-02 1.00925184e-04 9.99939271e-01 -3.24500795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.25862385300002 meters Centerline goodness [0,1] 0.9999357587956915 Centerline is valid? [True, True] Translation: X:169.27, Y:-31.06, Z:-3.25 [[ 9.65721838e-01 2.59368454e-01 1.04564498e-02 1.69269836e+02] [-2.59351753e-01 9.65778436e-01 -2.94634609e-03 -3.10605614e+01] [-1.08628029e-02 1.33452184e-04 9.99940989e-01 -3.24693345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.28862385300002 meters Centerline goodness [0,1] 0.9999359972692168 Centerline is valid? [True, True] Translation: X:169.30, Y:-31.07, Z:-3.25 [[ 9.66144389e-01 2.57796413e-01 1.02970234e-02 1.69296373e+02] [-2.57780138e-01 9.66199248e-01 -2.90050216e-03 -3.10717189e+01] [-1.06967153e-02 1.47935778e-04 9.99942778e-01 -3.24788511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.31862385300002 meters Centerline goodness [0,1] 0.999978403593642 Centerline is valid? [True, True] Translation: X:169.32, Y:-31.08, Z:-3.25 [[ 9.66557671e-01 2.56236321e-01 1.04506392e-02 1.69324014e+02] [-2.56219471e-01 9.66614152e-01 -2.94329806e-03 -3.10789370e+01] [-1.08559156e-02 1.67210078e-04 9.99941059e-01 -3.24582888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.34862385300002 meters Centerline goodness [0,1] 0.9999353907781104 Centerline is valid? [True, True] Translation: X:169.35, Y:-31.09, Z:-3.25 [[ 9.66983115e-01 2.54624826e-01 1.04810849e-02 1.69351383e+02] [-2.54607789e-01 9.67039898e-01 -2.95133130e-03 -3.10888417e+01] [-1.08871094e-02 1.85321700e-04 9.99940716e-01 -3.24630153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.37862385300002 meters Centerline goodness [0,1] 0.9998934356351236 Centerline is valid? [True, True] Translation: X:169.38, Y:-31.11, Z:-3.25 [[ 9.67620680e-01 2.52178044e-01 1.07914055e-02 1.69375179e+02] [-2.52159835e-01 9.67680829e-01 -3.03827790e-03 -3.11051458e+01] [-1.12088232e-02 2.18741489e-04 9.99937155e-01 -3.24682008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.40862385300002 meters Centerline goodness [0,1] 0.9999135340783813 Centerline is valid? [True, True] Translation: X:169.40, Y:-31.11, Z:-3.25 [[ 9.67854983e-01 2.51275301e-01 1.08376683e-02 1.69403356e+02] [-2.51256891e-01 9.67915632e-01 -3.05028951e-03 -3.11131656e+01] [-1.12564109e-02 2.29199079e-04 9.99936618e-01 -3.24618564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.43862385300002 meters Centerline goodness [0,1] 0.9999138710649843 Centerline is valid? [True, True] Translation: X:169.43, Y:-31.12, Z:-3.25 [[ 9.68008849e-01 2.50677980e-01 1.09278976e-02 1.69428752e+02] [-2.50659228e-01 9.68070501e-01 -3.07525783e-03 -3.11238842e+01] [-1.13498748e-02 2.37698399e-04 9.99935560e-01 -3.24710412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.46862385300003 meters Centerline goodness [0,1] 0.9999142771419999 Centerline is valid? [True, True] Translation: X:169.45, Y:-31.13, Z:-3.25 [[ 9.68091254e-01 2.50352020e-01 1.10991517e-02 1.69454175e+02] [-2.50332666e-01 9.68154846e-01 -3.12248247e-03 -3.11345065e+01] [-1.15274173e-02 2.44367735e-04 9.99933527e-01 -3.24755580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.49862385300003 meters Centerline goodness [0,1] 0.9999134274088823 Centerline is valid? [True, True] Translation: X:169.48, Y:-31.14, Z:-3.25 [[ 9.68177940e-01 2.49986853e-01 1.17494171e-02 1.69482260e+02] [-2.49965149e-01 9.68249195e-01 -3.30454472e-03 -3.11422937e+01] [-1.22024564e-02 2.62442502e-04 9.99925513e-01 -3.24644116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.528623853 meters Centerline goodness [0,1] 0.9998928165662715 Centerline is valid? [True, True] Translation: X:169.51, Y:-31.15, Z:-3.25 [[ 9.68141321e-01 2.50119483e-01 1.19426345e-02 1.69509056e+02] [-2.50097077e-01 9.68214942e-01 -3.35825332e-03 -3.11539037e+01] [-1.24030017e-02 2.64445844e-04 9.99923045e-01 -3.24625685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.558623853 meters Centerline goodness [0,1] 0.9999140228699166 Centerline is valid? [True, True] Translation: X:169.53, Y:-31.16, Z:-3.25 [[ 9.68034249e-01 2.50537302e-01 1.18639481e-02 1.69534898e+02] [-2.50515229e-01 9.68106913e-01 -3.33558339e-03 -3.11640561e+01] [-1.23212582e-02 2.56859299e-04 9.99924057e-01 -3.24694652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.588623853 meters Centerline goodness [0,1] 0.999914368898784 Centerline is valid? [True, True] Translation: X:169.56, Y:-31.17, Z:-3.25 [[ 9.67902698e-01 2.51039019e-01 1.19907397e-02 1.69562311e+02] [-2.51016520e-01 9.67976935e-01 -3.37038232e-03 -3.11721894e+01] [-1.24528570e-02 2.52328380e-04 9.99922428e-01 -3.24699765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.618623853 meters Centerline goodness [0,1] 0.9998500492695257 Centerline is valid? [True, True] Translation: X:169.59, Y:-31.18, Z:-3.25 [[ 9.67389121e-01 2.53016274e-01 1.18765710e-02 1.69589566e+02] [-2.52994360e-01 9.67461997e-01 -3.33755447e-03 -3.11829975e+01] [-1.23345866e-02 2.24008424e-04 9.99923901e-01 -3.24780556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.648623853 meters Centerline goodness [0,1] 0.9998924893026856 Centerline is valid? [True, True] Translation: X:169.62, Y:-31.19, Z:-3.25 [[ 9.67039222e-01 2.54355654e-01 1.17619712e-02 1.69617237e+02] [-2.54334261e-01 9.67110728e-01 -3.30518295e-03 -3.11904442e+01] [-1.22158205e-02 2.04769308e-04 9.99925363e-01 -3.24832452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.678623853 meters Centerline goodness [0,1] 0.9999574105621806 Centerline is valid? [True, True] Translation: X:169.64, Y:-31.20, Z:-3.25 [[ 9.66620660e-01 2.55948235e-01 1.16190111e-02 1.69644454e+02] [-2.55927480e-01 9.66690472e-01 -3.26449575e-03 -3.11979071e+01] [-1.20675292e-02 1.81904801e-04 9.99927168e-01 -3.24940830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.708623853 meters Centerline goodness [0,1] 0.9999571266265086 Centerline is valid? [True, True] Translation: X:169.67, Y:-31.20, Z:-3.25 [[ 9.66110868e-01 2.57881073e-01 1.12757758e-02 1.69672869e+02] [-2.57861667e-01 9.66176655e-01 -3.16730423e-03 -3.12048226e+01] [-1.17111792e-02 1.52376688e-04 9.99931410e-01 -3.25019468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.738623853 meters Centerline goodness [0,1] 0.999913284772806 Centerline is valid? [True, True] Translation: X:169.70, Y:-31.21, Z:-3.25 [[ 9.65076035e-01 2.61736787e-01 1.10499375e-02 1.69700678e+02] [-2.61718409e-01 9.65139287e-01 -3.10333223e-03 -3.12109253e+01] [-1.14769850e-02 1.02979510e-04 9.99934132e-01 -3.25116614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.768623853 meters Centerline goodness [0,1] 0.9999357436600411 Centerline is valid? [True, True] Translation: X:169.73, Y:-31.22, Z:-3.25 [[ 9.64534648e-01 2.63737262e-01 1.07503396e-02 1.69727248e+02] [-2.63719996e-01 9.64594553e-01 -3.01874895e-03 -3.12177552e+01] [-1.11658756e-02 7.66084254e-05 9.99937657e-01 -3.25180823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.798623853 meters Centerline goodness [0,1] 0.9999785274097615 Centerline is valid? [True, True] Translation: X:169.76, Y:-31.22, Z:-3.25 [[ 9.63899919e-01 2.66027339e-01 1.12428070e-02 1.69756088e+02] [-2.66008619e-01 9.63965483e-01 -3.15637689e-03 -3.12237595e+01] [-1.16773604e-02 5.17478737e-05 9.99931816e-01 -3.25098711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.828623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:169.78, Y:-31.23, Z:-3.25 [[ 9.63200715e-01 2.68532594e-01 1.16029980e-02 1.69783785e+02] [-2.68512849e-01 9.63270598e-01 -3.25637387e-03 -3.12299283e+01] [-1.20512694e-02 2.09875705e-05 9.99927381e-01 -3.25095863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.858623853 meters Centerline goodness [0,1] 0.9999566705663157 Centerline is valid? [True, True] Translation: X:169.81, Y:-31.23, Z:-3.25 [[ 9.61877998e-01 2.73194768e-01 1.24633716e-02 1.69811796e+02] [-2.73172385e-01 9.61958740e-01 -3.49724923e-03 -3.12331958e+01] [-1.29446794e-02 -4.07218470e-05 9.99916213e-01 -3.24935089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.888623853 meters Centerline goodness [0,1] 0.9999140524280189 Centerline is valid? [True, True] Translation: X:169.84, Y:-31.24, Z:-3.25 [[ 9.61221832e-01 2.75488096e-01 1.26054913e-02 1.69840570e+02] [-2.75465411e-01 9.61304480e-01 -3.53604475e-03 -3.12389219e+01] [-1.30918535e-02 -7.34534302e-05 9.99914295e-01 -3.24945372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.918623853 meters Centerline goodness [0,1] 0.999956765170021 Centerline is valid? [True, True] Translation: X:169.87, Y:-31.25, Z:-3.25 [[ 9.60660450e-01 2.77440457e-01 1.25814133e-02 1.69869007e+02] [-2.77418034e-01 9.60742829e-01 -3.52866899e-03 -3.12457597e+01] [-1.30664982e-02 -1.00458213e-04 9.99914625e-01 -3.24979082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.94862385300002 meters Centerline goodness [0,1] 0.999956562343896 Centerline is valid? [True, True] Translation: X:169.90, Y:-31.25, Z:-3.25 [[ 9.59661138e-01 2.80919812e-01 1.15999897e-02 1.69896179e+02] [-2.80901010e-01 9.59731234e-01 -3.25301279e-03 -3.12499056e+01] [-1.20467082e-02 -1.36658855e-04 9.99927426e-01 -3.25232178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.97862385300002 meters Centerline goodness [0,1] 0.9998922344117076 Centerline is valid? [True, True] Translation: X:169.92, Y:-31.26, Z:-3.25 [[ 9.59178646e-01 2.82578085e-01 1.12227617e-02 1.69924461e+02] [-2.82560611e-01 9.59244287e-01 -3.14624737e-03 -3.12565865e+01] [-1.16544306e-02 -1.53297103e-04 9.99932073e-01 -3.25357149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.00862385300002 meters Centerline goodness [0,1] 0.9998716000770399 Centerline is valid? [True, True] Translation: X:169.95, Y:-31.26, Z:-3.25 [[ 9.58725741e-01 2.84125411e-01 1.08491507e-02 1.69951628e+02] [-2.84109184e-01 9.58787110e-01 -3.04113294e-03 -3.12610913e+01] [-1.12660890e-02 -1.66730913e-04 9.99936522e-01 -3.25492501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.03862385300002 meters Centerline goodness [0,1] 0.999826614651062 Centerline is valid? [True, True] Translation: X:169.98, Y:-31.27, Z:-3.25 [[ 9.58246618e-01 2.85731478e-01 1.09973245e-02 1.69979223e+02] [-2.85714922e-01 9.58309703e-01 -3.08165462e-03 -3.12685999e+01] [-1.14193685e-02 -1.89114604e-04 9.99934779e-01 -3.25476762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.06862385300002 meters Centerline goodness [0,1] 0.999826614651062 Centerline is valid? [True, True] Translation: X:170.01, Y:-31.28, Z:-3.26 [[ 9.58267535e-01 2.85661316e-01 1.09974334e-02 1.70005739e+02] [-2.85644759e-01 9.58330620e-01 -3.08126611e-03 -3.12758938e+01] [-1.14193757e-02 -1.88681928e-04 9.99934779e-01 -3.25525255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.09862385300002 meters Centerline goodness [0,1] 0.9998920622584893 Centerline is valid? [True, True] Translation: X:170.03, Y:-31.28, Z:-3.26 [[ 9.57899668e-01 2.86891297e-01 1.10276531e-02 1.70032992e+02] [-2.86874742e-01 9.57963121e-01 -3.08877821e-03 -3.12807852e+01] [-1.14502286e-02 -2.04815517e-04 9.99934423e-01 -3.25581939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.12862385300002 meters Centerline goodness [0,1] 0.9997869076031367 Centerline is valid? [True, True] Translation: X:170.06, Y:-31.28, Z:-3.26 [[ 9.57276615e-01 2.88965525e-01 1.09730630e-02 1.70060904e+02] [-2.88949278e-01 9.57339476e-01 -3.07284656e-03 -3.12826606e+01] [-1.13928931e-02 -2.29094481e-04 9.99935073e-01 -3.25687732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.15862385300002 meters Centerline goodness [0,1] 0.9998256890728837 Centerline is valid? [True, True] Translation: X:170.09, Y:-31.29, Z:-3.26 [[ 9.57124015e-01 2.89455488e-01 1.13639885e-02 1.70088147e+02] [-2.89438108e-01 9.57191444e-01 -3.18125731e-03 -3.12929386e+01] [-1.17983450e-02 -2.44313577e-04 9.99930367e-01 -3.25598441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.18862385300002 meters Centerline goodness [0,1] 0.9997848722140952 Centerline is valid? [True, True] Translation: X:170.12, Y:-31.30, Z:-3.26 [[ 9.56944718e-01 2.90049962e-01 1.13060115e-02 1.70116044e+02] [-2.90032807e-01 9.57011471e-01 -3.16450635e-03 -3.12966380e+01] [-1.17378477e-02 -2.50856636e-04 9.99931078e-01 -3.25744268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.21862385300003 meters Centerline goodness [0,1] 0.9998058461870348 Centerline is valid? [True, True] Translation: X:170.14, Y:-31.30, Z:-3.26 [[ 9.56824589e-01 2.90447611e-01 1.12646256e-02 1.70143270e+02] [-2.90430618e-01 9.56890861e-01 -3.15216313e-03 -3.13026089e+01] [-1.16945555e-02 -2.55524993e-04 9.99931584e-01 -3.25805146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.24862385300003 meters Centerline goodness [0,1] 0.9998068089125488 Centerline is valid? [True, True] Translation: X:170.17, Y:-31.31, Z:-3.26 [[ 9.56728052e-01 2.90773313e-01 1.10596126e-02 1.70171173e+02] [-2.90756964e-01 9.56791939e-01 -3.09403897e-03 -3.13076103e+01] [-1.14814121e-02 -2.55505498e-04 9.99934054e-01 -3.25907000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.278623853 meters Centerline goodness [0,1] 0.9997231745490939 Centerline is valid? [True, True] Translation: X:170.20, Y:-31.31, Z:-3.26 [[ 9.56745764e-01 2.90713403e-01 1.11023141e-02 1.70197925e+02] [-2.90696926e-01 9.56810144e-01 -3.10564781e-03 -3.13139809e+01] [-1.15256602e-02 -2.56093194e-04 9.99933545e-01 -3.25997483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.308623853 meters Centerline goodness [0,1] 0.9998290086778095 Centerline is valid? [True, True] Translation: X:170.23, Y:-31.32, Z:-3.26 [[ 9.56839763e-01 2.90406447e-01 1.10346753e-02 1.70225279e+02] [-2.90390164e-01 9.56903356e-01 -3.08556042e-03 -3.13229656e+01] [-1.14551844e-02 -2.51974255e-04 9.99934355e-01 -3.26007324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.338623853 meters Centerline goodness [0,1] 0.9999140099318529 Centerline is valid? [True, True] Translation: X:170.25, Y:-31.33, Z:-3.26 [[ 9.57033088e-01 2.89774452e-01 1.08828415e-02 1.70252529e+02] [-2.89758579e-01 9.57094932e-01 -3.04257933e-03 -3.13318452e+01] [-1.12975742e-02 -2.41547600e-04 9.99936151e-01 -3.26052107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.368623853 meters Centerline goodness [0,1] 0.9998286644393044 Centerline is valid? [True, True] Translation: X:170.28, Y:-31.34, Z:-3.26 [[ 9.57558782e-01 2.88053649e-01 1.03089109e-02 1.70279414e+02] [-2.88039310e-01 9.57614250e-01 -2.88172449e-03 -3.13381525e+01] [-1.07020512e-02 -2.09950977e-04 9.99942709e-01 -3.26324296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.398623853 meters Centerline goodness [0,1] 0.9998499399759904 Centerline is valid? [True, True] Translation: X:170.31, Y:-31.35, Z:-3.26 [[ 9.57904009e-01 2.86905540e-01 1.02528488e-02 1.70306406e+02] [-2.86891298e-01 9.57958857e-01 -2.86539789e-03 -3.13460976e+01] [-1.06439059e-02 -1.96676982e-04 9.99943333e-01 -3.26411739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.428623853 meters Centerline goodness [0,1] 0.9999352303640053 Centerline is valid? [True, True] Translation: X:170.33, Y:-31.36, Z:-3.26 [[ 9.58329597e-01 2.85479043e-01 1.03004801e-02 1.70333555e+02] [-2.85464594e-01 9.58384934e-01 -2.87799662e-03 -3.13571485e+01] [-1.06934327e-02 -1.82353041e-04 9.99942807e-01 -3.26356731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.458623853 meters Centerline goodness [0,1] 0.999957263130903 Centerline is valid? [True, True] Translation: X:170.36, Y:-31.36, Z:-3.26 [[ 9.58679692e-01 2.84304541e-01 1.02066719e-02 1.70360163e+02] [-2.84290292e-01 9.58734009e-01 -2.85135825e-03 -3.13638142e+01] [-1.05961376e-02 -1.68118489e-04 9.99943845e-01 -3.26459703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.488623853 meters Centerline goodness [0,1] 0.9999149840595112 Centerline is valid? [True, True] Translation: X:170.39, Y:-31.37, Z:-3.27 [[ 9.59467753e-01 2.81620564e-01 1.05588560e-02 1.70386376e+02] [-2.81605159e-01 9.59525840e-01 -2.94902528e-03 -3.13726864e+01] [-1.09620013e-02 -1.43933661e-04 9.99939905e-01 -3.26503299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.518623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:170.41, Y:-31.38, Z:-3.26 [[ 9.59856473e-01 2.80284458e-01 1.07783734e-02 1.70413519e+02] [-2.80268331e-01 9.59916978e-01 -3.00957928e-03 -3.13825984e+01] [-1.11898820e-02 -1.32072586e-04 9.99937383e-01 -3.26469648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.548623853 meters Centerline goodness [0,1] 0.9999357037227544 Centerline is valid? [True, True] Translation: X:170.44, Y:-31.39, Z:-3.27 [[ 9.60248360e-01 2.78934052e-01 1.09033089e-02 1.70440289e+02] [-2.78917465e-01 9.60310252e-01 -3.04415010e-03 -3.13910014e+01] [-1.13196764e-02 -1.17983124e-04 9.99935923e-01 -3.26543791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.578623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:170.47, Y:-31.40, Z:-3.27 [[ 9.60975817e-01 2.76429737e-01 1.05867586e-02 1.70467088e+02] [-2.76413960e-01 9.61034127e-01 -2.95458380e-03 -3.14015717e+01] [-1.09909711e-02 -8.70442946e-05 9.99939594e-01 -3.26639582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.608623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:170.49, Y:-31.41, Z:-3.27 [[ 9.61295795e-01 2.75305506e-01 1.08292661e-02 1.70493980e+02] [-2.75288931e-01 9.61356787e-01 -3.02192721e-03 -3.14102461e+01] [-1.12427417e-02 -7.62111704e-05 9.99936795e-01 -3.26630936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.638623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:170.52, Y:-31.42, Z:-3.27 [[ 9.61560830e-01 2.74368350e-01 1.10805171e-02 1.70521026e+02] [-2.74350949e-01 9.61624669e-01 -3.09083932e-03 -3.14196030e+01] [-1.15033270e-02 -6.79203469e-05 9.99933832e-01 -3.26567300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.668623853 meters Centerline goodness [0,1] 0.9999154262516915 Centerline is valid? [True, True] Translation: X:170.55, Y:-31.43, Z:-3.27 [[ 9.61819670e-01 2.73457482e-01 1.11322454e-02 1.70547898e+02] [-2.73439862e-01 9.61884090e-01 -3.10475957e-03 -3.14265411e+01] [-1.15569495e-02 -5.77808334e-05 9.99933215e-01 -3.26707933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.69862385300002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:170.58, Y:-31.43, Z:-3.27 [[ 9.62128856e-01 2.72367544e-01 1.11349167e-02 1.70575859e+02] [-2.72349852e-01 9.62193286e-01 -3.10469054e-03 -3.14348705e+01] [-1.15595590e-02 -4.54805603e-05 9.99933185e-01 -3.26820132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.72862385300002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:170.60, Y:-31.44, Z:-3.27 [[ 9.62208530e-01 2.72089809e-01 1.10399512e-02 1.70603216e+02] [-2.72072404e-01 9.62271861e-01 -3.07783128e-03 -3.14422925e+01] [-1.14608809e-02 -4.21505561e-05 9.99934321e-01 -3.26873257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.75862385300002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:170.63, Y:-31.45, Z:-3.27 [[ 9.62205372e-01 2.72092753e-01 1.12408249e-02 1.70630271e+02] [-2.72074718e-01 9.62271028e-01 -3.13300415e-03 -3.14497698e+01] [-1.16691879e-02 -4.37508477e-05 9.99931912e-01 -3.26809848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.78862385300002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:170.66, Y:-31.46, Z:-3.27 [[ 9.62134982e-01 2.72335266e-01 1.13920681e-02 1.70656982e+02] [-2.72316770e-01 9.62202422e-01 -3.17433626e-03 -3.14560012e+01] [-1.18259592e-02 -4.81112165e-05 9.99930070e-01 -3.26895043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.81862385300002 meters Centerline goodness [0,1] 0.999892380542402 Centerline is valid? [True, True] Translation: X:170.69, Y:-31.46, Z:-3.26 [[ 9.61672721e-01 2.73961880e-01 1.14221353e-02 1.70685919e+02] [-2.73943415e-01 9.61740549e-01 -3.18148795e-03 -3.14587481e+01] [-1.18567371e-02 -6.94685772e-05 9.99929704e-01 -3.26260747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.84862385300002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:170.71, Y:-31.46, Z:-3.27 [[ 9.61507845e-01 2.74523199e-01 1.18184861e-02 1.70712756e+02] [-2.74503479e-01 9.61580473e-01 -3.29137209e-03 -3.14645481e+01] [-1.22679835e-02 -7.95354618e-05 9.99924742e-01 -3.26853526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.87862385300002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:170.74, Y:-31.47, Z:-3.27 [[ 9.61273380e-01 2.75355594e-01 1.15232685e-02 1.70740546e+02] [-2.75336916e-01 9.61342441e-01 -3.20837050e-03 -3.14688984e+01] [-1.19612498e-02 -8.86600479e-05 9.99928458e-01 -3.27029087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.90862385300002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:170.77, Y:-31.47, Z:-3.27 [[ 9.61018456e-01 2.76247835e-01 1.14306866e-02 1.70768896e+02] [-2.76229534e-01 9.61086429e-01 -3.18134338e-03 -3.14740356e+01] [-1.18647169e-02 -1.00163523e-04 9.99929607e-01 -3.27099216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.93862385300002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:170.80, Y:-31.48, Z:-3.27 [[ 9.60666724e-01 2.77481835e-01 1.11029593e-02 1.70797396e+02] [-2.77464657e-01 9.60730877e-01 -3.08958956e-03 -3.14775721e+01] [-1.15242609e-02 -1.12612924e-04 9.99933587e-01 -3.27213496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.96862385300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:170.83, Y:-31.48, Z:-3.27 [[ 9.60525336e-01 2.77982030e-01 1.08199128e-02 1.70825121e+02] [-2.77965752e-01 9.60586268e-01 -3.01055422e-03 -3.14826153e+01] [-1.12303397e-02 -1.15851598e-04 9.99936931e-01 -3.27351317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.99862385300003 meters Centerline goodness [0,1] 0.9999788534331451 Centerline is valid? [True, True] Translation: X:170.85, Y:-31.49, Z:-3.28 [[ 9.60427834e-01 2.78329269e-01 1.05448036e-02 1.70852725e+02] [-2.78313839e-01 9.60485713e-01 -2.93300992e-03 -3.14872260e+01] [-1.09444757e-02 -1.17820410e-04 9.99940100e-01 -3.27500410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.028623853 meters Centerline goodness [0,1] 0.9999569836968211 Centerline is valid? [True, True] Translation: X:170.88, Y:-31.49, Z:-3.28 [[ 9.60266175e-01 2.78878110e-01 1.07644180e-02 1.70880873e+02] [-2.78862080e-01 9.60326498e-01 -2.99279197e-03 -3.14926676e+01] [-1.11719800e-02 -1.27911101e-04 9.99937583e-01 -3.27551050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.058623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:170.91, Y:-31.49, Z:-3.28 [[ 9.60035852e-01 2.79671345e-01 1.07285114e-02 1.70908687e+02] [-2.79655474e-01 9.60095787e-01 -2.98264633e-03 -3.14946561e+01] [-1.11345593e-02 -1.36839521e-04 9.99938000e-01 -3.27589309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.088623853 meters Centerline goodness [0,1] 0.9998492289135866 Centerline is valid? [True, True] Translation: X:170.94, Y:-31.50, Z:-3.27 [[ 9.59905702e-01 2.80118765e-01 1.07013950e-02 1.70937160e+02] [-2.80103019e-01 9.59965341e-01 -2.97356653e-03 -3.14997528e+01] [-1.11059201e-02 -1.43149572e-04 9.99938317e-01 -3.26980085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.118623853 meters Centerline goodness [0,1] 0.9999786871270248 Centerline is valid? [True, True] Translation: X:170.96, Y:-31.51, Z:-3.28 [[ 9.60048757e-01 2.79612212e-01 1.11083454e-02 1.70964138e+02] [-2.79595215e-01 9.60113009e-01 -3.08630797e-03 -3.15067834e+01] [-1.15282363e-02 -1.42834080e-04 9.99933537e-01 -3.27618686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.148623853 meters Centerline goodness [0,1] 0.9996998091643974 Centerline is valid? [True, True] Translation: X:170.99, Y:-31.51, Z:-3.27 [[ 9.60016234e-01 2.79728130e-01 1.10001550e-02 1.70991911e+02] [-2.79711484e-01 9.60079243e-01 -3.05504012e-03 -3.15131033e+01] [-1.14156011e-02 -1.43981566e-04 9.99934830e-01 -3.26959596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.178623853 meters Centerline goodness [0,1] 0.9999571431632631 Centerline is valid? [True, True] Translation: X:171.02, Y:-31.52, Z:-3.28 [[ 9.60679690e-01 2.77421341e-01 1.14862198e-02 1.71019153e+02] [-2.77403036e-01 9.60748346e-01 -3.18917807e-03 -3.15217535e+01] [-1.19201128e-02 -1.22533654e-04 9.99928945e-01 -3.27684407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.208623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:171.05, Y:-31.53, Z:-3.28 [[ 9.61101848e-01 2.75951437e-01 1.15776770e-02 1.71045433e+02] [-2.75932737e-01 9.61171573e-01 -3.21420069e-03 -3.15296674e+01] [-1.20150973e-02 -1.05485889e-04 9.99927811e-01 -3.27772638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.238623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:171.07, Y:-31.54, Z:-3.28 [[ 9.61602563e-01 2.74203346e-01 1.15341002e-02 1.71072312e+02] [-2.74184676e-01 9.61671731e-01 -3.20086650e-03 -3.15380880e+01] [-1.19697064e-02 -8.45120887e-05 9.99928357e-01 -3.27925870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.268623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:171.10, Y:-31.55, Z:-3.28 [[ 9.62214951e-01 2.72040482e-01 1.16774977e-02 1.71098427e+02] [-2.72021194e-01 9.62285806e-01 -3.23989815e-03 -3.15477290e+01] [-1.21184737e-02 -5.90484358e-05 9.99926567e-01 -3.27950547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.298623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:171.12, Y:-31.56, Z:-3.28 [[ 9.63419622e-01 2.67733153e-01 1.18992171e-02 1.71124674e+02] [-2.67712807e-01 9.63493103e-01 -3.30062448e-03 -3.15616092e+01] [-1.23485002e-02 -5.68642656e-06 9.99923754e-01 -3.27976474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.328623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:171.15, Y:-31.57, Z:-3.28 [[ 9.64044808e-01 2.65476173e-01 1.18325818e-02 1.71149596e+02] [-2.65455889e-01 9.64117421e-01 -3.28173831e-03 -3.15722243e+01] [-1.22792216e-02 2.27142460e-05 9.99924607e-01 -3.28033293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.358623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:171.18, Y:-31.58, Z:-3.28 [[ 9.64684902e-01 2.63134310e-01 1.19738980e-02 1.71176925e+02] [-2.63113374e-01 9.64759210e-01 -3.31966732e-03 -3.15832604e+01] [-1.24254468e-02 5.19402397e-05 9.99922800e-01 -3.28069381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.388623853 meters Centerline goodness [0,1] 0.9999142201539748 Centerline is valid? [True, True] Translation: X:171.20, Y:-31.60, Z:-3.28 [[ 9.65713193e-01 2.59351028e-01 1.16220634e-02 1.71201799e+02] [-2.59331036e-01 9.65783120e-01 -3.22160899e-03 -3.15988392e+01] [-1.20599203e-02 9.71885513e-05 9.99927272e-01 -3.28320730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.418623853 meters Centerline goodness [0,1] 0.9999352792699502 Centerline is valid? [True, True] Translation: X:171.23, Y:-31.61, Z:-3.28 [[ 9.66115361e-01 2.57860480e-01 1.13614220e-02 1.71228983e+02] [-2.57841281e-01 9.66182157e-01 -3.14864651e-03 -3.16069661e+01] [-1.17891147e-02 1.12512166e-04 9.99930500e-01 -3.28253539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.44862385300002 meters Centerline goodness [0,1] 0.9999785449162178 Centerline is valid? [True, True] Translation: X:171.26, Y:-31.62, Z:-3.28 [[ 9.66414902e-01 2.56742088e-01 1.12132792e-02 1.71255109e+02] [-2.56723318e-01 9.66479945e-01 -3.10691536e-03 -3.16176836e+01] [-1.16350854e-02 1.23859055e-04 9.99932302e-01 -3.28377999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.47862385300002 meters Centerline goodness [0,1] 0.9999569587018744 Centerline is valid? [True, True] Translation: X:171.28, Y:-31.63, Z:-3.28 [[ 9.66618046e-01 2.55965913e-01 1.14457334e-02 1.71282021e+02] [-2.55946314e-01 9.66685799e-01 -3.17034546e-03 -3.16270009e+01] [-1.18759283e-02 1.35019855e-04 9.99929470e-01 -3.28393607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.50862385300002 meters Centerline goodness [0,1] 0.9999356333676622 Centerline is valid? [True, True] Translation: X:171.31, Y:-31.64, Z:-3.29 [[ 9.66767592e-01 2.55394269e-01 1.15840995e-02 1.71307870e+02] [-2.55374158e-01 9.66836981e-01 -3.20813844e-03 -3.16388547e+01] [-1.20192759e-02 1.43244617e-04 9.99927756e-01 -3.28534258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.53862385300002 meters Centerline goodness [0,1] 0.9999354616642285 Centerline is valid? [True, True] Translation: X:171.34, Y:-31.64, Z:-3.28 [[ 9.66695169e-01 2.55641155e-01 1.21675924e-02 1.71336411e+02] [-2.55618998e-01 9.66771730e-01 -3.36884557e-03 -3.16443485e+01] [-1.26245000e-02 1.46378953e-04 9.99920297e-01 -3.28315097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.56862385300002 meters Centerline goodness [0,1] 0.9998279569892473 Centerline is valid? [True, True] Translation: X:171.36, Y:-31.65, Z:-3.28 [[ 9.66614947e-01 2.55940287e-01 1.22520880e-02 1.71364358e+02] [-2.55917854e-01 9.66692583e-01 -3.39160531e-03 -3.16519390e+01] [-1.27120510e-02 1.42848326e-04 9.99919188e-01 -3.28320227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.59862385300002 meters Centerline goodness [0,1] 0.9998909749024225 Centerline is valid? [True, True] Translation: X:171.39, Y:-31.66, Z:-3.28 [[ 9.66293055e-01 2.57147406e-01 1.23670063e-02 1.71391576e+02] [-2.57124656e-01 9.66372183e-01 -3.42283730e-03 -3.16589255e+01] [-1.28313046e-02 1.27601678e-04 9.99917667e-01 -3.28398641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.62862385300002 meters Centerline goodness [0,1] 0.9999787622647921 Centerline is valid? [True, True] Translation: X:171.42, Y:-31.67, Z:-3.28 [[ 9.66097980e-01 2.57891543e-01 1.21096829e-02 1.71418178e+02] [-2.57869798e-01 9.66173866e-01 -3.35087371e-03 -3.16658488e+01] [-1.25642211e-02 1.14550847e-04 9.99921060e-01 -3.28493360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.65862385300002 meters Centerline goodness [0,1] 0.9999572421165153 Centerline is valid? [True, True] Translation: X:171.45, Y:-31.67, Z:-3.29 [[ 9.65854584e-01 2.58799255e-01 1.21601517e-02 1.71446344e+02] [-2.58777410e-01 9.65931123e-01 -3.36400716e-03 -3.16728918e+01] [-1.26164715e-02 1.02369181e-04 9.99920404e-01 -3.28566112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.68862385300002 meters Centerline goodness [0,1] 0.9999575461685417 Centerline is valid? [True, True] Translation: X:171.47, Y:-31.68, Z:-3.29 [[ 9.65583636e-01 2.59807422e-01 1.21797565e-02 1.71472996e+02] [-2.59785594e-01 9.65660445e-01 -3.36887425e-03 -3.16797906e+01] [-1.26367676e-02 8.88045808e-05 9.99920149e-01 -3.28623503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.71862385300003 meters Centerline goodness [0,1] 0.9999157788352213 Centerline is valid? [True, True] Translation: X:171.50, Y:-31.68, Z:-3.29 [[ 9.64883687e-01 2.62376900e-01 1.25631866e-02 1.71502108e+02] [-2.62353906e-01 9.64965471e-01 -3.47399859e-03 -3.16846710e+01] [-1.30345382e-02 5.60035010e-05 9.99915045e-01 -3.28574810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.74862385300003 meters Centerline goodness [0,1] 0.9999137708027939 Centerline is valid? [True, True] Translation: X:171.53, Y:-31.69, Z:-3.29 [[ 9.64482364e-01 2.63841578e-01 1.27039531e-02 1.71530263e+02] [-2.63818199e-01 9.64566027e-01 -3.51249520e-03 -3.16904160e+01] [-1.31805439e-02 3.62056310e-05 9.99913132e-01 -3.28624409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.778623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:171.56, Y:-31.70, Z:-3.29 [[ 9.64083276e-01 2.65303294e-01 1.25538557e-02 1.71556443e+02] [-2.65280594e-01 9.64165008e-01 -3.47052793e-03 -3.16955032e+01] [-1.30247308e-02 1.55836580e-05 9.99915174e-01 -3.28660429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.808623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:171.58, Y:-31.70, Z:-3.29 [[ 9.63680686e-01 2.66763981e-01 1.25105833e-02 1.71583315e+02] [-2.66741575e-01 9.63761889e-01 -3.45744127e-03 -3.17004115e+01] [-1.29795442e-02 -5.22331845e-06 9.99915762e-01 -3.28728709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.838623853 meters Centerline goodness [0,1] 0.9999572886857728 Centerline is valid? [True, True] Translation: X:171.61, Y:-31.70, Z:-3.28 [[ 9.62660321e-01 2.70420692e-01 1.25600672e-02 1.71612695e+02] [-2.70398436e-01 9.62742253e-01 -3.46982779e-03 -3.17028166e+01] [-1.30304206e-02 -5.59569882e-05 9.99915099e-01 -3.28444201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.868623853 meters Centerline goodness [0,1] 0.9998499946426658 Centerline is valid? [True, True] Translation: X:171.64, Y:-31.71, Z:-3.28 [[ 9.62051626e-01 2.72586756e-01 1.23745250e-02 1.71640938e+02] [-2.72565338e-01 9.62131204e-01 -3.41801647e-03 -3.17060487e+01] [-1.28376226e-02 -8.45582742e-05 9.99917591e-01 -3.28222757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.898623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:171.67, Y:-31.71, Z:-3.29 [[ 9.61578357e-01 2.74232820e-01 1.27837422e-02 1.71669137e+02] [-2.74210119e-01 9.61663324e-01 -3.53016175e-03 -3.17116588e+01] [-1.32617422e-02 -1.10904342e-04 9.99912053e-01 -3.28816753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.928623853 meters Centerline goodness [0,1] 0.9999786443428864 Centerline is valid? [True, True] Translation: X:171.70, Y:-31.71, Z:-3.29 [[ 9.60581828e-01 2.77728119e-01 1.22329314e-02 1.71699252e+02] [-2.77707623e-01 9.60659705e-01 -3.37748279e-03 -3.17122557e+01] [-1.26897063e-02 -1.52829717e-04 9.99919471e-01 -3.28958573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.958623853 meters Centerline goodness [0,1] 0.999871523093724 Centerline is valid? [True, True] Translation: X:171.73, Y:-31.72, Z:-3.29 [[ 9.60203853e-01 2.79030215e-01 1.22759748e-02 1.71727657e+02] [-2.79009689e-01 9.60282307e-01 -3.38881228e-03 -3.17152204e+01] [-1.27339824e-02 -1.71165282e-04 9.99918905e-01 -3.29053784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.988623853 meters Centerline goodness [0,1] 0.999871523093724 Centerline is valid? [True, True] Translation: X:171.75, Y:-31.72, Z:-3.29 [[ 9.60222438e-01 2.78966244e-01 1.22761568e-02 1.71754199e+02] [-2.78945720e-01 9.60300893e-01 -3.38815258e-03 -3.17224011e+01] [-1.27339846e-02 -1.71001274e-04 9.99918905e-01 -3.29102271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.018623853 meters Centerline goodness [0,1] 0.9997237627759716 Centerline is valid? [True, True] Translation: X:171.78, Y:-31.73, Z:-3.29 [[ 9.59973858e-01 2.79817311e-01 1.23476567e-02 1.71782955e+02] [-2.79796624e-01 9.60053248e-01 -3.40744118e-03 -3.17278619e+01] [-1.28078690e-02 -1.83778210e-04 9.99917959e-01 -3.29142076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.048623853 meters Centerline goodness [0,1] 0.9998283261802575 Centerline is valid? [True, True] Translation: X:171.81, Y:-31.73, Z:-3.29 [[ 9.59795933e-01 2.80417679e-01 1.25575972e-02 1.71811639e+02] [-2.80396368e-01 9.59878058e-01 -3.46268888e-03 -3.17340301e+01] [-1.30247612e-02 -1.97629935e-04 9.99915155e-01 -3.29168464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.078623853 meters Centerline goodness [0,1] 0.9999573178539417 Centerline is valid? [True, True] Translation: X:171.84, Y:-31.74, Z:-3.29 [[ 9.59788583e-01 2.80451364e-01 1.23655891e-02 1.71839437e+02] [-2.80430710e-01 9.59868217e-01 -3.40921228e-03 -3.17388923e+01] [-1.28254542e-02 -1.95567918e-04 9.99917731e-01 -3.29294368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.108623853 meters Centerline goodness [0,1] 0.9999139136984827 Centerline is valid? [True, True] Translation: X:171.87, Y:-31.75, Z:-3.29 [[ 9.60053368e-01 2.79557226e-01 1.20535699e-02 1.71866758e+02] [-2.79537540e-01 9.60129015e-01 -3.32247968e-03 -3.17453889e+01] [-1.25018054e-02 -1.79667455e-04 9.99921833e-01 -3.29468084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.138623853 meters Centerline goodness [0,1] 0.9998285726530525 Centerline is valid? [True, True] Translation: X:171.89, Y:-31.76, Z:-3.29 [[ 9.60225529e-01 2.78986276e-01 1.15581858e-02 1.71893995e+02] [-2.78968142e-01 9.60295075e-01 -3.18524910e-03 -3.17560848e+01] [-1.19879096e-02 -1.65808102e-04 9.99928129e-01 -3.29011363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.168623853 meters Centerline goodness [0,1] 0.999744419833021 Centerline is valid? [True, True] Translation: X:171.92, Y:-31.76, Z:-3.30 [[ 9.60591825e-01 2.77701340e-01 1.20545365e-02 1.71921772e+02] [-2.77681521e-01 9.60667446e-01 -3.32138770e-03 -3.17615848e+01] [-1.25027546e-02 -1.56824171e-04 9.99921825e-01 -3.29563764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.19862385300002 meters Centerline goodness [0,1] 0.9999353587588882 Centerline is valid? [True, True] Translation: X:171.95, Y:-31.77, Z:-3.30 [[ 9.60943989e-01 2.76468458e-01 1.23224254e-02 1.71949650e+02] [-2.76447649e-01 9.61022981e-01 -3.39508440e-03 -3.17700410e+01] [-1.27807677e-02 -1.44019571e-04 9.99918312e-01 -3.29542806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.22862385300002 meters Centerline goodness [0,1] 0.9999570492859444 Centerline is valid? [True, True] Translation: X:171.98, Y:-31.78, Z:-3.30 [[ 9.61468145e-01 2.74619808e-01 1.27658386e-02 1.71976384e+02] [-2.74597345e-01 9.61552882e-01 -3.51464998e-03 -3.17788473e+01] [-1.32402214e-02 -1.26241387e-04 9.99912336e-01 -3.29576368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.25862385300002 meters Centerline goodness [0,1] 0.9997852510415325 Centerline is valid? [True, True] Translation: X:172.00, Y:-31.79, Z:-3.29 [[ 9.61687554e-01 2.73857230e-01 1.26200584e-02 1.72003809e+02] [-2.73835214e-01 9.61770349e-01 -3.47435373e-03 -3.17860049e+01] [-1.30890749e-02 -1.14573664e-04 9.99914328e-01 -3.29107129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.28862385300002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:172.03, Y:-31.80, Z:-3.29 [[ 9.61991785e-01 2.72755603e-01 1.32735437e-02 1.72031077e+02] [-2.72731186e-01 9.62083349e-01 -3.65111411e-03 -3.17971987e+01] [-1.37661172e-02 -1.07767528e-04 9.99905237e-01 -3.29412249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.31862385300002 meters Centerline goodness [0,1] 0.9999786548272108 Centerline is valid? [True, True] Translation: X:172.06, Y:-31.80, Z:-3.29 [[ 9.62244383e-01 2.71850528e-01 1.35291741e-02 1.72058455e+02] [-2.71825079e-01 9.62339483e-01 -3.72094733e-03 -3.18046919e+01] [-1.40311999e-02 -9.71081424e-05 9.99901553e-01 -3.29470878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.34862385300002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:172.09, Y:-31.81, Z:-3.30 [[ 9.62800552e-01 2.69921570e-01 1.25476513e-02 1.72085210e+02] [-2.69899520e-01 9.62882310e-01 -3.45061859e-03 -3.18127033e+01] [-1.30133079e-02 -6.43475927e-05 9.99915321e-01 -3.29751217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.37862385300002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:172.11, Y:-31.82, Z:-3.30 [[ 9.63097463e-01 2.68884038e-01 1.20270803e-02 1.72111607e+02] [-2.68863714e-01 9.63172555e-01 -3.30633086e-03 -3.18213716e+01] [-1.24731732e-02 -4.93266123e-05 9.99922206e-01 -3.29878403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.40862385300002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:172.14, Y:-31.83, Z:-3.30 [[ 9.63399142e-01 2.67813919e-01 1.17387407e-02 1.72137501e+02] [-2.67794488e-01 9.63470655e-01 -3.22626491e-03 -3.18293836e+01] [-1.21739708e-02 -3.53891969e-05 9.99925894e-01 -3.30044768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.43862385300002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:172.16, Y:-31.84, Z:-3.30 [[ 9.64102633e-01 2.65261410e-01 1.19372004e-02 1.72164028e+02] [-2.65241136e-01 9.64176532e-01 -3.27954671e-03 -3.18401381e+01] [-1.23795056e-02 -4.41696298e-06 9.99923371e-01 -3.29938009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.46862385300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:172.19, Y:-31.85, Z:-3.30 [[ 9.64494618e-01 2.63827034e-01 1.20593832e-02 1.72189436e+02] [-2.63806236e-01 9.64570006e-01 -3.31266250e-03 -3.18486358e+01] [-1.25060893e-02 1.37046553e-05 9.99921796e-01 -3.30178085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.49862385300003 meters Centerline goodness [0,1] 0.9999786771290886 Centerline is valid? [True, True] Translation: X:172.22, Y:-31.86, Z:-3.30 [[ 9.64809089e-01 2.62668190e-01 1.22001776e-02 1.72216308e+02] [-2.62646826e-01 9.64886222e-01 -3.35010532e-03 -3.18570297e+01] [-1.26517493e-02 2.78741412e-05 9.99919963e-01 -3.30035224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.528623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:172.24, Y:-31.87, Z:-3.30 [[ 9.65490822e-01 2.60137939e-01 1.24789922e-02 1.72241608e+02] [-2.60115390e-01 9.65571462e-01 -3.42567243e-03 -3.18692884e+01] [-1.29405061e-02 6.14773716e-05 9.99916266e-01 -3.30158355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.558623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:172.27, Y:-31.88, Z:-3.30 [[ 9.65739991e-01 2.59220718e-01 1.22836935e-02 1.72269133e+02] [-2.59198804e-01 9.65818106e-01 -3.37128781e-03 -3.18767903e+01] [-1.27377212e-02 7.18687979e-05 9.99918869e-01 -3.30042039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.588623853 meters Centerline goodness [0,1] 0.9999785862652305 Centerline is valid? [True, True] Translation: X:172.30, Y:-31.89, Z:-3.30 [[ 9.65951181e-01 2.58431062e-01 1.23167170e-02 1.72295336e+02] [-2.58408974e-01 9.66029699e-01 -3.37978618e-03 -3.18864627e+01] [-1.27717562e-02 8.19582512e-05 9.99918434e-01 -3.30165213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.618623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:172.32, Y:-31.89, Z:-3.30 [[ 9.66113957e-01 2.57820748e-01 1.23403249e-02 1.72323146e+02] [-2.57798536e-01 9.66192762e-01 -3.38543184e-03 -3.18938951e+01] [-1.27959672e-02 8.93952549e-05 9.99918124e-01 -3.30092407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.648623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:172.35, Y:-31.91, Z:-3.30 [[ 9.66102883e-01 2.57870720e-01 1.21618590e-02 1.72348632e+02] [-2.57849156e-01 9.66179427e-01 -3.33591814e-03 -3.19050533e+01] [-1.26107736e-02 8.69150408e-05 9.99920477e-01 -3.30426229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.678623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:172.38, Y:-31.91, Z:-3.30 [[ 9.65956005e-01 2.58441438e-01 1.17055447e-02 1.72376367e+02] [-2.58421512e-01 9.66026924e-01 -3.21011536e-03 -3.19083707e+01] [-1.21374982e-02 7.58656394e-05 9.99926335e-01 -3.30297073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.708623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:172.40, Y:-31.91, Z:-3.30 [[ 9.65822355e-01 2.58954910e-01 1.13812332e-02 1.72403339e+02] [-2.58936119e-01 9.65889409e-01 -3.12033588e-03 -3.19147544e+01] [-1.18010389e-02 6.66778026e-05 9.99930363e-01 -3.30407391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.738623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:172.43, Y:-31.92, Z:-3.31 [[ 9.65691286e-01 2.59449200e-01 1.12451090e-02 1.72429547e+02] [-2.59430897e-01 9.65756755e-01 -3.08223418e-03 -3.19212341e+01] [-1.16597231e-02 5.91579811e-05 9.99932021e-01 -3.30516908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.768623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:172.46, Y:-31.93, Z:-3.31 [[ 9.65431596e-01 2.60421609e-01 1.10643104e-02 1.72456690e+02] [-2.60403967e-01 9.65494994e-01 -3.03155235e-03 -3.19286645e+01] [-1.14720180e-02 4.55661057e-05 9.99934193e-01 -3.30692900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.798623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:172.48, Y:-31.94, Z:-3.31 [[ 9.65407550e-01 2.60519290e-01 1.08610323e-02 1.72483370e+02] [-2.60502304e-01 9.65468641e-01 -2.97526513e-03 -3.19360464e+01] [-1.12611000e-02 4.30194931e-05 9.99936591e-01 -3.30717616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.828623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:172.51, Y:-31.94, Z:-3.31 [[ 9.65409799e-01 2.60513140e-01 1.08085500e-02 1.72510659e+02] [-2.60496325e-01 9.65470301e-01 -2.96009043e-03 -3.19440273e+01] [-1.12064765e-02 4.21127463e-05 9.99937205e-01 -3.30729044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.858623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:172.54, Y:-31.95, Z:-3.31 [[ 9.65548930e-01 2.60000989e-01 1.07121163e-02 1.72537357e+02] [-2.59984452e-01 9.65608349e-01 -2.93270836e-03 -3.19546910e+01] [-1.11062160e-02 4.66897331e-05 9.99938323e-01 -3.30798096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.888623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:172.56, Y:-31.96, Z:-3.31 [[ 9.65603108e-01 2.59805451e-01 1.05719376e-02 1.72562848e+02] [-2.59789336e-01 9.65660978e-01 -2.89404686e-03 -3.19631245e+01] [-1.09607968e-02 4.80239830e-05 9.99939928e-01 -3.30945712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.918623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:172.59, Y:-31.97, Z:-3.31 [[ 9.65655693e-01 2.59612284e-01 1.05139965e-02 1.72589611e+02] [-2.59596345e-01 9.65712928e-01 -2.87717686e-03 -3.19711477e+01] [-1.09004528e-02 4.89671668e-05 9.99940587e-01 -3.30992252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.94862385300002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:172.62, Y:-31.98, Z:-3.31 [[ 9.65674920e-01 2.59545214e-01 1.04034284e-02 1.72616259e+02] [-2.59529613e-01 9.65730956e-01 -2.84614328e-03 -3.19796774e+01] [-1.07856158e-02 4.84514349e-05 9.99941832e-01 -3.31106759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.97862385300002 meters Centerline goodness [0,1] 0.9999785416934895 Centerline is valid? [True, True] Translation: X:172.64, Y:-31.99, Z:-3.31 [[ 9.65565589e-01 2.59945188e-01 1.05637802e-02 1.72642165e+02] [-2.59929136e-01 9.65623372e-01 -2.88910907e-03 -3.19888733e+01] [-1.09516431e-02 4.37900353e-05 9.99940028e-01 -3.31148229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.00862385300002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:172.67, Y:-32.00, Z:-3.31 [[ 9.65392936e-01 2.60591583e-01 1.04166671e-02 1.72669016e+02] [-2.60576018e-01 9.65449132e-01 -2.84832291e-03 -3.19957314e+01] [-1.07990112e-02 3.54171830e-05 9.99941688e-01 -3.31177796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.03862385300002 meters Centerline goodness [0,1] 0.9999786356741514 Centerline is valid? [True, True] Translation: X:172.70, Y:-32.00, Z:-3.31 [[ 9.65157303e-01 2.61467194e-01 1.03095666e-02 1.72695430e+02] [-2.61452005e-01 9.65212363e-01 -2.81835410e-03 -3.20022097e+01] [-1.06878283e-02 2.46981924e-05 9.99942883e-01 -3.31237102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.06862385300002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:172.72, Y:-32.01, Z:-3.31 [[ 9.64868656e-01 2.62530608e-01 1.03032371e-02 1.72722295e+02] [-2.62515509e-01 9.64923665e-01 -2.81566427e-03 -3.20083105e+01] [-1.06810354e-02 1.19866641e-05 9.99942956e-01 -3.31252098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.09862385300002 meters Centerline goodness [0,1] 0.999871553348176 Centerline is valid? [True, True] Translation: X:172.75, Y:-32.01, Z:-3.31 [[ 9.64052433e-01 2.65507553e-01 1.04233624e-02 1.72750358e+02] [-2.65492282e-01 9.64108780e-01 -2.84766660e-03 -3.20127264e+01] [-1.08053322e-02 -2.20223495e-05 9.99941620e-01 -3.30590546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.12862385300002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:172.78, Y:-32.02, Z:-3.31 [[ 9.63738883e-01 2.66604943e-01 1.13653010e-02 1.72776537e+02] [-2.66586875e-01 9.63805895e-01 -3.10406735e-03 -3.20187823e+01] [-1.17815038e-02 -3.83296699e-05 9.99930595e-01 -3.31145272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.15862385300002 meters Centerline goodness [0,1] 0.9999571917808219 Centerline is valid? [True, True] Translation: X:172.80, Y:-32.03, Z:-3.31 [[ 9.63345492e-01 2.67998836e-01 1.19200410e-02 1.72804443e+02] [-2.67979084e-01 9.63419234e-01 -3.25423077e-03 -3.20250035e+01] [-1.23561268e-02 -5.93731174e-05 9.99923658e-01 -3.31103070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.18862385300002 meters Centerline goodness [0,1] 0.9999789162977019 Centerline is valid? [True, True] Translation: X:172.83, Y:-32.03, Z:-3.31 [[ 9.62967960e-01 2.69335449e-01 1.22932521e-02 1.72831493e+02] [-2.69314558e-01 9.63046421e-01 -3.35551662e-03 -3.20308038e+01] [-1.27427320e-02 -7.94967655e-05 9.99918805e-01 -3.31108059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.21862385300003 meters Centerline goodness [0,1] 0.9999785462970909 Centerline is valid? [True, True] Translation: X:172.86, Y:-32.04, Z:-3.31 [[ 9.62478424e-01 2.71043520e-01 1.30649571e-02 1.72859070e+02] [-2.71020093e-01 9.62567088e-01 -3.56524770e-03 -3.20374108e+01] [-1.35422350e-02 -1.09391914e-04 9.99908294e-01 -3.30990046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.24862385300003 meters Centerline goodness [0,1] 0.999957312387945 Centerline is valid? [True, True] Translation: X:172.89, Y:-32.04, Z:-3.31 [[ 9.62284103e-01 2.71743145e-01 1.28440071e-02 1.72886484e+02] [-2.71720574e-01 9.62369809e-01 -3.50428153e-03 -3.20440692e+01] [-1.33129491e-02 -1.17866566e-04 9.99911372e-01 -3.31073625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.278623853 meters Centerline goodness [0,1] 0.9999785899329865 Centerline is valid? [True, True] Translation: X:172.91, Y:-32.05, Z:-3.31 [[ 9.62111739e-01 2.72360898e-01 1.26705589e-02 1.72914568e+02] [-2.72339004e-01 9.62195160e-01 -3.45561547e-03 -3.20513585e+01] [-1.31327250e-02 -1.25999177e-04 9.99913754e-01 -3.31189847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.308623853 meters Centerline goodness [0,1] 0.9999347741009696 Centerline is valid? [True, True] Translation: X:172.94, Y:-32.06, Z:-3.31 [[ 9.61957138e-01 2.72950754e-01 1.16769471e-02 1.72941533e+02] [-2.72932209e-01 9.62027999e-01 -3.18412768e-03 -3.20608736e+01] [-1.21026601e-02 -1.24020617e-04 9.99926752e-01 -3.31369989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.338623853 meters Centerline goodness [0,1] 0.9999146265980834 Centerline is valid? [True, True] Translation: X:172.97, Y:-32.07, Z:-3.32 [[ 9.61914775e-01 2.73127733e-01 1.10093978e-02 1.72969074e+02] [-2.73111263e-01 9.61977769e-01 -3.00176647e-03 -3.20671949e+01] [-1.14106616e-02 -1.19347025e-04 9.99934889e-01 -3.31605600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.368623853 meters Centerline goodness [0,1] 0.9999356071175599 Centerline is valid? [True, True] Translation: X:173.00, Y:-32.08, Z:-3.32 [[ 9.61899693e-01 2.73188586e-01 1.08155577e-02 1.72996356e+02] [-2.73172708e-01 9.61960489e-01 -2.94778670e-03 -3.20755916e+01] [-1.12094408e-02 -1.19040048e-04 9.99937165e-01 -3.31686314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.398623853 meters Centerline goodness [0,1] 0.9999786315654515 Centerline is valid? [True, True] Translation: X:173.02, Y:-32.08, Z:-3.32 [[ 9.61813753e-01 2.73472975e-01 1.12622188e-02 1.73022690e+02] [-2.73455782e-01 9.61879678e-01 -3.06913231e-03 -3.20813392e+01] [-1.16722242e-02 -1.27785190e-04 9.99931869e-01 -3.31751577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.428623853 meters Centerline goodness [0,1] 0.9999357890456112 Centerline is valid? [True, True] Translation: X:173.05, Y:-32.09, Z:-3.32 [[ 9.61750769e-01 2.73688469e-01 1.14052980e-02 1.73050287e+02] [-2.73670867e-01 9.61818384e-01 -3.10686389e-03 -3.20886874e+01] [-1.18201381e-02 -1.33269060e-04 9.99930131e-01 -3.31725203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.458623853 meters Centerline goodness [0,1] 0.9999143963875275 Centerline is valid? [True, True] Translation: X:173.08, Y:-32.10, Z:-3.32 [[ 9.61673395e-01 2.73949763e-01 1.16537064e-02 1.73077513e+02] [-2.73931411e-01 9.61743993e-01 -3.17400203e-03 -3.20954923e+01] [-1.20773993e-02 -1.39962944e-04 9.99927056e-01 -3.31745589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.488623853 meters Centerline goodness [0,1] 0.9998284071897388 Centerline is valid? [True, True] Translation: X:173.11, Y:-32.10, Z:-3.32 [[ 9.61554109e-01 2.74366752e-01 1.16867902e-02 1.73105334e+02] [-2.74348336e-01 9.61625116e-01 -3.18223504e-03 -3.21034540e+01] [-1.21114105e-02 -1.46360262e-04 9.99926643e-01 -3.31760243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.518623853 meters Centerline goodness [0,1] 0.9998500267809319 Centerline is valid? [True, True] Translation: X:173.13, Y:-32.11, Z:-3.32 [[ 9.61147675e-01 2.75789587e-01 1.16297300e-02 1.73133169e+02] [-2.75771461e-01 9.61218017e-01 -3.16618116e-03 -3.21070888e+01] [-1.20519058e-02 -1.63979964e-04 9.99927360e-01 -3.31830106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.548623853 meters Centerline goodness [0,1] 0.9998500621171229 Centerline is valid? [True, True] Translation: X:173.16, Y:-32.11, Z:-3.32 [[ 9.60948011e-01 2.76497326e-01 1.13202571e-02 1.73160955e+02] [-2.76480209e-01 9.61014672e-01 -3.08117391e-03 -3.21139208e+01] [-1.17308695e-02 -1.68979103e-04 9.99931177e-01 -3.31883248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.578623853 meters Centerline goodness [0,1] 0.9999140598143692 Centerline is valid? [True, True] Translation: X:173.19, Y:-32.12, Z:-3.32 [[ 9.60779190e-01 2.77084115e-01 1.13022778e-02 1.73189345e+02] [-2.77067100e-01 9.60845649e-01 -3.07571434e-03 -3.21198328e+01] [-1.17119761e-02 -1.76407006e-04 9.99931397e-01 -3.31953712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.608623853 meters Centerline goodness [0,1] 0.9998287047941246 Centerline is valid? [True, True] Translation: X:173.22, Y:-32.12, Z:-3.32 [[ 9.60412076e-01 2.78342244e-01 1.15861919e-02 1.73217758e+02] [-2.78324462e-01 9.60481939e-01 -3.15243360e-03 -3.21221160e+01] [-1.20057836e-02 -1.97085341e-04 9.99927909e-01 -3.32007468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.638623853 meters Centerline goodness [0,1] 0.9998509274442575 Centerline is valid? [True, True] Translation: X:173.25, Y:-32.13, Z:-3.32 [[ 9.60376454e-01 2.78463478e-01 1.16257527e-02 1.73245826e+02] [-2.78445592e-01 9.60446798e-01 -3.16239162e-03 -3.21288202e+01] [-1.20465276e-02 -2.00053151e-04 9.99927418e-01 -3.32003738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.668623853 meters Centerline goodness [0,1] 0.9999142183143899 Centerline is valid? [True, True] Translation: X:173.27, Y:-32.14, Z:-3.32 [[ 9.60489005e-01 2.78060347e-01 1.19713784e-02 1.73273164e+02] [-2.78041358e-01 9.60563586e-01 -3.25584354e-03 -3.21360413e+01] [-1.24045911e-02 -2.01336383e-04 9.99923040e-01 -3.32023747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.69862385300002 meters Centerline goodness [0,1] 0.9999139451830816 Centerline is valid? [True, True] Translation: X:173.30, Y:-32.14, Z:-3.32 [[ 9.60630196e-01 2.77555411e-01 1.23539587e-02 1.73301378e+02] [-2.77535158e-01 9.60709609e-01 -3.35903367e-03 -3.21438076e+01] [-1.28008848e-02 -2.01868698e-04 9.99918045e-01 -3.31994816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.72862385300002 meters Centerline goodness [0,1] 0.9997840545909994 Centerline is valid? [True, True] Translation: X:173.33, Y:-32.15, Z:-3.32 [[ 9.61097219e-01 2.75946276e-01 1.20742827e-02 1.73328326e+02] [-2.75926810e-01 9.61173044e-01 -3.28240859e-03 -3.21524891e+01] [-1.25112435e-02 -1.76904536e-04 9.99921716e-01 -3.32135036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.75862385300002 meters Centerline goodness [0,1] 0.9998498208577374 Centerline is valid? [True, True] Translation: X:173.36, Y:-32.16, Z:-3.32 [[ 9.61475805e-01 2.74634105e-01 1.18484002e-02 1.73355233e+02] [-2.74615265e-01 9.61548794e-01 -3.22063960e-03 -3.21608856e+01] [-1.22773124e-02 -1.57184519e-04 9.99924619e-01 -3.32246571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.78862385300002 meters Centerline goodness [0,1] 0.9998926647060087 Centerline is valid? [True, True] Translation: X:173.38, Y:-32.17, Z:-3.32 [[ 9.61811918e-01 2.73448937e-01 1.19797081e-02 1.73382217e+02] [-2.73429600e-01 9.61886510e-01 -3.25509576e-03 -3.21686920e+01] [-1.24132221e-02 -1.44816917e-04 9.99922943e-01 -3.32340593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.81862385300002 meters Centerline goodness [0,1] 0.9999144641176974 Centerline is valid? [True, True] Translation: X:173.41, Y:-32.18, Z:-3.32 [[ 9.62655576e-01 2.70469002e-01 1.18642602e-02 1.73409197e+02] [-2.70449820e-01 9.62728678e-01 -3.22289655e-03 -3.21808886e+01] [-1.22937572e-02 -1.06147704e-04 9.99924423e-01 -3.32379283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.84862385300002 meters Centerline goodness [0,1] 0.9999785324803572 Centerline is valid? [True, True] Translation: X:173.44, Y:-32.19, Z:-3.33 [[ 9.63188475e-01 2.68577596e-01 1.15773856e-02 1.73435274e+02] [-2.68559198e-01 9.63258049e-01 -3.14467397e-03 -3.21895146e+01] [-1.19965988e-02 -8.02996591e-05 9.99928035e-01 -3.32548018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.87862385300002 meters Centerline goodness [0,1] 0.9999785324803572 Centerline is valid? [True, True] Translation: X:173.46, Y:-32.20, Z:-3.33 [[ 9.63206763e-01 2.68511996e-01 1.15775625e-02 1.73461844e+02] [-2.68493601e-01 9.63276337e-01 -3.14402252e-03 -3.21965879e+01] [-1.19965997e-02 -8.01576847e-05 9.99928035e-01 -3.32596501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.90862385300002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:173.49, Y:-32.21, Z:-3.33 [[ 9.63743623e-01 2.66573425e-01 1.16978039e-02 1.73488504e+02] [-2.66554515e-01 9.63814612e-01 -3.17569051e-03 -3.22079068e+01] [-1.21210690e-02 -5.75509570e-05 9.99926535e-01 -3.32545697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.93862385300002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:173.52, Y:-32.22, Z:-3.33 [[ 9.64277269e-01 2.64631416e-01 1.18136537e-02 1.73515109e+02] [-2.64611989e-01 9.64349632e-01 -3.20669376e-03 -3.22174602e+01] [-1.22410845e-02 -3.38924896e-05 9.99925075e-01 -3.32678289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.96862385300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:173.54, Y:-32.23, Z:-3.33 [[ 9.65118854e-01 2.61539921e-01 1.19359992e-02 1.73541551e+02] [-2.61519867e-01 9.65192659e-01 -3.23873185e-03 -3.22294713e+01] [-1.23675965e-02 4.26024567e-06 9.99923518e-01 -3.32671989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.99862385300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:173.57, Y:-32.24, Z:-3.33 [[ 9.65429416e-01 2.60377357e-01 1.22341427e-02 1.73568643e+02] [-2.60356202e-01 9.65506930e-01 -3.31911787e-03 -3.22380241e+01] [-1.26763727e-02 1.91390927e-05 9.99919651e-01 -3.32663696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.028623853 meters Centerline goodness [0,1] 0.9999786238002608 Centerline is valid? [True, True] Translation: X:173.60, Y:-32.25, Z:-3.33 [[ 9.65615599e-01 2.59682747e-01 1.23039342e-02 1.73595932e+02] [-2.59661305e-01 9.65693984e-01 -3.33709567e-03 -3.22460349e+01] [-1.27484214e-02 2.74960329e-05 9.99918735e-01 -3.32686983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.058623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:173.62, Y:-32.25, Z:-3.33 [[ 9.65681865e-01 2.59424146e-01 1.25557685e-02 1.73622470e+02] [-2.59401810e-01 9.65763486e-01 -3.40433664e-03 -3.22536260e+01] [-1.30090699e-02 3.05170734e-05 9.99915378e-01 -3.32712005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.088623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:173.65, Y:-32.26, Z:-3.33 [[ 9.65590987e-01 2.59740700e-01 1.29928924e-02 1.73650556e+02] [-2.59716822e-01 9.65678398e-01 -3.52192774e-03 -3.22597717e+01] [-1.34617435e-02 2.62689600e-05 9.99909386e-01 -3.32700697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.118623853 meters Centerline goodness [0,1] 0.9999568155809384 Centerline is valid? [True, True] Translation: X:173.68, Y:-32.26, Z:-3.32 [[ 9.65412123e-01 2.60420497e-01 1.26726652e-02 1.73677893e+02] [-2.60397848e-01 9.65495295e-01 -3.43460458e-03 -3.22646418e+01] [-1.31298400e-02 1.58741636e-05 9.99913800e-01 -3.32143340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.148623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:173.70, Y:-32.27, Z:-3.33 [[ 9.65237773e-01 2.61035940e-01 1.32770253e-02 1.73704945e+02] [-2.61011153e-01 9.65329083e-01 -3.59724622e-03 -3.22708671e+01] [-1.37557092e-02 6.74625524e-06 9.99905386e-01 -3.32758507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.178623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:173.73, Y:-32.28, Z:-3.33 [[ 9.64910602e-01 2.62227377e-01 1.35769605e-02 1.73732486e+02] [-2.62201587e-01 9.65006115e-01 -3.67764428e-03 -3.22754148e+01] [-1.40662289e-02 -1.13026383e-05 9.99901066e-01 -3.32780417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.208623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:173.76, Y:-32.28, Z:-3.33 [[ 9.64804278e-01 2.62618184e-01 1.35792230e-02 1.73759655e+02] [-2.62592439e-01 9.64899834e-01 -3.67722152e-03 -3.22807394e+01] [-1.40682952e-02 -1.80022226e-05 9.99901036e-01 -3.32859805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.238623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:173.79, Y:-32.29, Z:-3.33 [[ 9.64734740e-01 2.62902924e-01 1.29974674e-02 1.73786619e+02] [-2.62879375e-01 9.64822291e-01 -3.51877041e-03 -3.22858752e+01] [-1.34653413e-02 -2.20860564e-05 9.99909338e-01 -3.33046581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.268623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:173.81, Y:-32.29, Z:-3.33 [[ 9.64769085e-01 2.62782865e-01 1.28755047e-02 1.73812908e+02] [-2.62759761e-01 9.64854997e-01 -3.48467918e-03 -3.22920040e+01] [-1.33387090e-02 -2.12537938e-05 9.99911035e-01 -3.33150036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.298623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:173.84, Y:-32.30, Z:-3.33 [[ 9.64933252e-01 2.62145586e-01 1.35466223e-02 1.73841187e+02] [-2.62119966e-01 9.65028337e-01 -3.66497135e-03 -3.22996134e+01] [-1.40336304e-02 -1.43874520e-05 9.99901524e-01 -3.33014168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.328623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:173.87, Y:-32.31, Z:-3.33 [[ 9.65114409e-01 2.61467554e-01 1.37439269e-02 1.73867112e+02] [-2.61441122e-01 9.65212266e-01 -3.71775177e-03 -3.23064335e+01] [-1.42378783e-02 -5.17187553e-06 9.99898636e-01 -3.33053692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.358623853 meters Centerline goodness [0,1] 0.9998718386876282 Centerline is valid? [True, True] Translation: X:173.89, Y:-32.31, Z:-3.33 [[ 9.65343632e-01 2.60632878e-01 1.34972028e-02 1.73892829e+02] [-2.60607320e-01 9.65437985e-01 -3.64991241e-03 -3.23133363e+01] [-1.39819994e-02 5.94985660e-06 9.99902247e-01 -3.32539580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.388623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:173.92, Y:-32.32, Z:-3.33 [[ 9.65612100e-01 2.59599275e-01 1.41946455e-02 1.73919039e+02] [-2.59570924e-01 9.65716426e-01 -3.83661368e-03 -3.23219108e+01] [-1.47039844e-02 2.01633607e-05 9.99891890e-01 -3.33071207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.418623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:173.95, Y:-32.33, Z:-3.33 [[ 9.66117100e-01 2.57718366e-01 1.41064924e-02 1.73945097e+02] [-2.57690181e-01 9.66220079e-01 -3.81170618e-03 -3.23321851e+01] [-1.46123229e-02 4.74499227e-05 9.99893233e-01 -3.33205499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.44862385300002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:173.97, Y:-32.34, Z:-3.33 [[ 9.66439921e-01 2.56506948e-01 1.40735766e-02 1.73972276e+02] [-2.56478779e-01 9.66542385e-01 -3.80190474e-03 -3.23408460e+01] [-1.45779232e-02 6.47387769e-05 9.99893734e-01 -3.33271297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.47862385300002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:174.00, Y:-32.35, Z:-3.33 [[ 9.66786549e-01 2.55191562e-01 1.41786632e-02 1.73999103e+02] [-2.55162839e-01 9.66890511e-01 -3.82962915e-03 -3.23501979e+01] [-1.46865040e-02 8.45659926e-05 9.99892144e-01 -3.33297601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.50862385300002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:174.03, Y:-32.36, Z:-3.34 [[ 9.67440153e-01 2.52752099e-01 1.32637283e-02 1.74025567e+02] [-2.52726745e-01 9.67531066e-01 -3.58170594e-03 -3.23610691e+01] [-1.37383529e-02 1.12987259e-04 9.99905618e-01 -3.33535608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.53862385300002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:174.05, Y:-32.37, Z:-3.34 [[ 9.67773734e-01 2.51471819e-01 1.32636188e-02 1.74051935e+02] [-2.51446354e-01 9.67864612e-01 -3.58103284e-03 -3.23707339e+01] [-1.37379161e-02 1.30540939e-04 9.99905622e-01 -3.33642905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.56862385300002 meters Centerline goodness [0,1] 0.9999568249033958 Centerline is valid? [True, True] Translation: X:174.08, Y:-32.38, Z:-3.34 [[ 9.68104659e-01 2.50204694e-01 1.30759461e-02 1.74077565e+02] [-2.50179841e-01 9.68192951e-01 -3.52953389e-03 -3.23808968e+01] [-1.35431448e-02 1.45620078e-04 9.99908277e-01 -3.33732202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.59862385300002 meters Centerline goodness [0,1] 0.9999152685985426 Centerline is valid? [True, True] Translation: X:174.10, Y:-32.39, Z:-3.34 [[ 9.68626254e-01 2.48195798e-01 1.27289027e-02 1.74102578e+02] [-2.48172083e-01 9.68709873e-01 -3.43507291e-03 -3.23938856e+01] [-1.31831844e-02 1.68343512e-04 9.99913084e-01 -3.33811140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.62862385300002 meters Centerline goodness [0,1] 0.9999565585699082 Centerline is valid? [True, True] Translation: X:174.13, Y:-32.40, Z:-3.34 [[ 9.68809167e-01 2.47473540e-01 1.28703368e-02 1.74129954e+02] [-2.47449243e-01 9.68894636e-01 -3.47236158e-03 -3.24016375e+01] [-1.33293179e-02 1.79300630e-04 9.99911145e-01 -3.33867128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.65862385300002 meters Centerline goodness [0,1] 0.9999570382145082 Centerline is valid? [True, True] Translation: X:174.16, Y:-32.41, Z:-3.34 [[ 9.68860145e-01 2.47290894e-01 1.25392686e-02 1.74157615e+02] [-2.47267823e-01 9.68941269e-01 -3.38242801e-03 -3.24096011e+01] [-1.29862584e-02 1.76542046e-04 9.99915659e-01 -3.33924410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.68862385300002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:174.19, Y:-32.42, Z:-3.34 [[ 9.68814053e-01 2.47476754e-01 1.24333112e-02 1.74185638e+02] [-2.47454095e-01 9.68893816e-01 -3.35322118e-03 -3.24171077e+01] [-1.28764026e-02 1.71974040e-04 9.99917081e-01 -3.34027792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.71862385300003 meters Centerline goodness [0,1] 0.9999565906279165 Centerline is valid? [True, True] Translation: X:174.21, Y:-32.42, Z:-3.34 [[ 9.68722044e-01 2.47833956e-01 1.24872887e-02 1.74213967e+02] [-2.47811138e-01 9.68802509e-01 -3.36714211e-03 -3.24246122e+01] [-1.29322088e-02 1.67335561e-04 9.99916361e-01 -3.34065222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.74862385300003 meters Centerline goodness [0,1] 0.9999348421006907 Centerline is valid? [True, True] Translation: X:174.24, Y:-32.43, Z:-3.34 [[ 9.68421345e-01 2.49034533e-01 1.19121790e-02 1.74241937e+02] [-2.49013866e-01 9.68494595e-01 -3.21151628e-03 -3.24302607e+01] [-1.23366594e-02 1.43803166e-04 9.99923890e-01 -3.33667354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.77862385300003 meters Centerline goodness [0,1] 0.9999785917663934 Centerline is valid? [True, True] Translation: X:174.27, Y:-32.44, Z:-3.34 [[ 9.68203990e-01 2.49887816e-01 1.17095075e-02 1.74268437e+02] [-2.49867915e-01 9.68274787e-01 -3.15634497e-03 -3.24392124e+01] [-1.21267530e-02 1.30155573e-04 9.99926460e-01 -3.34298317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.808623853 meters Centerline goodness [0,1] 0.9999784779614325 Centerline is valid? [True, True] Translation: X:174.30, Y:-32.45, Z:-3.34 [[ 9.67956020e-01 2.50825102e-01 1.21618698e-02 1.74296306e+02] [-2.50803719e-01 9.68032413e-01 -3.27735953e-03 -3.24452568e+01] [-1.25951282e-02 1.22097720e-04 9.99920671e-01 -3.34271409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.838623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:174.32, Y:-32.45, Z:-3.34 [[ 9.67468705e-01 2.52641587e-01 1.32865523e-02 1.74323735e+02] [-2.52616248e-01 9.67559929e-01 -3.57974617e-03 -3.24488823e+01] [-1.37599283e-02 1.06893413e-04 9.99905322e-01 -3.34114443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.868623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:174.35, Y:-32.45, Z:-3.34 [[ 9.67248655e-01 2.53465223e-01 1.36168714e-02 1.74352356e+02] [-2.53438702e-01 9.67344495e-01 -3.66783568e-03 -3.24547028e+01] [-1.41018743e-02 9.66669257e-05 9.99900559e-01 -3.34074909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.898623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:174.38, Y:-32.46, Z:-3.34 [[ 9.67070120e-01 2.54128208e-01 1.39369112e-02 1.74379149e+02] [-2.54100504e-01 9.67170536e-01 -3.75337384e-03 -3.24607004e+01] [-1.44332081e-02 8.83995222e-05 9.99895832e-01 -3.34084818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.928623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:174.41, Y:-32.47, Z:-3.34 [[ 9.66987263e-01 2.54422092e-01 1.43189681e-02 1.74407843e+02] [-2.54392892e-01 9.67093270e-01 -3.85543476e-03 -3.24670372e+01] [-1.48286854e-02 8.55126064e-05 9.99890045e-01 -3.34008277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.958623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:174.44, Y:-32.48, Z:-3.34 [[ 9.66941996e-01 2.54585442e-01 1.44716664e-02 1.74435923e+02] [-2.54555655e-01 9.67050281e-01 -3.89519240e-03 -3.24754736e+01] [-1.49864884e-02 8.25805792e-05 9.99887693e-01 -3.34041256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.988623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:174.46, Y:-32.48, Z:-3.34 [[ 9.66982080e-01 2.54436345e-01 1.44154049e-02 1.74462384e+02] [-2.54406784e-01 9.67089520e-01 -3.87933994e-03 -3.24831880e+01] [-1.49280320e-02 8.38754158e-05 9.99888567e-01 -3.34076302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.018623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:174.49, Y:-32.49, Z:-3.34 [[ 9.67051886e-01 2.54188057e-01 1.41095980e-02 1.74488701e+02] [-2.54159724e-01 9.67154809e-01 -3.79609919e-03 -3.24917491e+01] [-1.46110886e-02 8.49333601e-05 9.99893249e-01 -3.34250842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.048623853 meters Centerline goodness [0,1] 0.9999786875812536 Centerline is valid? [True, True] Translation: X:174.51, Y:-32.50, Z:-3.34 [[ 9.67024224e-01 2.54306723e-01 1.38650873e-02 1.74514835e+02] [-2.54279387e-01 9.67123614e-01 -3.72950688e-03 -3.24976202e+01] [-1.43576920e-02 8.09176032e-05 9.99896920e-01 -3.34312488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.078623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:174.54, Y:-32.50, Z:-3.34 [[ 9.67023567e-01 2.54299680e-01 1.40389835e-02 1.74542294e+02] [-2.54271671e-01 9.67125466e-01 -3.77506348e-03 -3.25036896e+01] [-1.45374559e-02 8.08595672e-05 9.99894322e-01 -3.34277138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.108623853 meters Centerline goodness [0,1] 0.9999783821176877 Centerline is valid? [True, True] Translation: X:174.57, Y:-32.51, Z:-3.34 [[ 9.67001863e-01 2.54371122e-01 1.42383079e-02 1.74570595e+02] [-2.54342337e-01 9.67106678e-01 -3.82752313e-03 -3.25101701e+01] [-1.47435740e-02 7.98174891e-05 9.99891304e-01 -3.34248983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.138623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:174.60, Y:-32.52, Z:-3.34 [[ 9.66975890e-01 2.54489826e-01 1.38764932e-02 1.74597005e+02] [-2.54462506e-01 9.67075448e-01 -3.72960209e-03 -3.25178182e+01] [-1.43687617e-02 7.53880530e-05 9.99896761e-01 -3.34376332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.168623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:174.62, Y:-32.53, Z:-3.35 [[ 9.67013818e-01 2.54353627e-01 1.37297978e-02 1.74623256e+02] [-2.54326881e-01 9.67111279e-01 -3.68929273e-03 -3.25261904e+01] [-1.42166273e-02 7.57404042e-05 9.99898936e-01 -3.34566485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.19862385300002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:174.65, Y:-32.53, Z:-3.34 [[ 9.67080327e-01 2.54101986e-01 1.37047879e-02 1.74651195e+02] [-2.54075324e-01 9.67177427e-01 -3.68173568e-03 -3.25314792e+01] [-1.41904979e-02 7.84857127e-05 9.99899307e-01 -3.34475652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.22862385300002 meters Centerline goodness [0,1] 0.999957122949941 Centerline is valid? [True, True] Translation: X:174.68, Y:-32.54, Z:-3.35 [[ 9.67300467e-01 2.53271967e-01 1.35320942e-02 1.74678002e+02] [-2.53245904e-01 9.67395112e-01 -3.63444983e-03 -3.25401034e+01] [-1.40113861e-02 8.86575866e-05 9.99901832e-01 -3.34630665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.25862385300002 meters Centerline goodness [0,1] 0.9999786511816571 Centerline is valid? [True, True] Translation: X:174.71, Y:-32.55, Z:-3.35 [[ 9.67435861e-01 2.52752227e-01 1.35708226e-02 1.74706027e+02] [-2.52725977e-01 9.67531034e-01 -3.64388437e-03 -3.25481965e+01] [-1.40511919e-02 9.55250170e-05 9.99901273e-01 -3.34668054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.28862385300002 meters Centerline goodness [0,1] 0.9999783807155983 Centerline is valid? [True, True] Translation: X:174.73, Y:-32.56, Z:-3.35 [[ 9.67579962e-01 2.52201036e-01 1.35519087e-02 1.74734039e+02] [-2.52174815e-01 9.67674856e-01 -3.63813626e-03 -3.25554288e+01] [-1.40313831e-02 1.02737675e-04 9.99901550e-01 -3.34665792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.31862385300002 meters Centerline goodness [0,1] 0.9999784923110012 Centerline is valid? [True, True] Translation: X:174.76, Y:-32.56, Z:-3.35 [[ 9.67654706e-01 2.51920738e-01 1.34280186e-02 1.74760780e+02] [-2.51894976e-01 9.67747865e-01 -3.60423502e-03 -3.25649261e+01] [-1.39029179e-02 1.05204558e-04 9.99903344e-01 -3.34813495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.34862385300002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:174.79, Y:-32.57, Z:-3.35 [[ 9.67730018e-01 2.51641135e-01 1.32420344e-02 1.74788754e+02] [-2.51616068e-01 9.67820607e-01 -3.55334422e-03 -3.25720041e+01] [-1.37100814e-02 1.06769228e-04 9.99906007e-01 -3.34831330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.37862385300002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:174.82, Y:-32.58, Z:-3.35 [[ 9.67826146e-01 2.51239278e-01 1.38338809e-02 1.74816264e+02] [-2.51211890e-01 9.67925003e-01 -3.71143717e-03 -3.25790067e+01] [-1.43226180e-02 1.16790573e-04 9.99897419e-01 -3.34743319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.40862385300002 meters Centerline goodness [0,1] 0.9998272623237536 Centerline is valid? [True, True] Translation: X:174.84, Y:-32.59, Z:-3.34 [[ 9.67937516e-01 2.50825683e-01 1.35440790e-02 1.74843286e+02] [-2.50799399e-01 9.68032263e-01 -3.63304658e-03 -3.25865025e+01] [-1.40223668e-02 1.19715218e-04 9.99901675e-01 -3.34056002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.43862385300002 meters Centerline goodness [0,1] 0.9999785637727759 Centerline is valid? [True, True] Translation: X:174.87, Y:-32.59, Z:-3.35 [[ 9.68032257e-01 2.50401007e-01 1.45905701e-02 1.74871108e+02] [-2.50370472e-01 9.68142199e-01 -3.91269577e-03 -3.25944972e+01] [-1.51054896e-02 1.34567777e-04 9.99885897e-01 -3.34675105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.46862385300003 meters Centerline goodness [0,1] 0.9999786511816571 Centerline is valid? [True, True] Translation: X:174.90, Y:-32.60, Z:-3.35 [[ 9.68270281e-01 2.49462466e-01 1.48708377e-02 1.74897628e+02] [-2.49430648e-01 9.68384456e-01 -3.98709417e-03 -3.26037056e+01] [-1.53953184e-02 1.51342119e-04 9.99881474e-01 -3.34684736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.49862385300003 meters Centerline goodness [0,1] 0.9999786575605591 Centerline is valid? [True, True] Translation: X:174.93, Y:-32.61, Z:-3.35 [[ 9.68485075e-01 2.48625831e-01 1.48948006e-02 1.74925462e+02] [-2.48593826e-01 9.68599592e-01 -3.99252257e-03 -3.26116607e+01] [-1.54197420e-02 1.63943051e-04 9.99881095e-01 -3.34717533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.52862385300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:174.95, Y:-32.62, Z:-3.35 [[ 9.68859692e-01 2.47157713e-01 1.49653471e-02 1.74951846e+02] [-2.47125241e-01 9.68975247e-01 -4.01070379e-03 -3.26210482e+01] [-1.54923273e-02 1.87494226e-04 9.99879969e-01 -3.34756480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.558623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:174.98, Y:-32.63, Z:-3.35 [[ 9.69595536e-01 2.44288956e-01 1.44015128e-02 1.74979174e+02] [-2.44258582e-01 9.69702457e-01 -3.85864711e-03 -3.26332145e+01] [-1.49078073e-02 2.23633908e-04 9.99888847e-01 -3.34940162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.588623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:175.01, Y:-32.64, Z:-3.35 [[ 9.69899171e-01 2.43096590e-01 1.41296105e-02 1.75006023e+02] [-2.43067230e-01 9.70002058e-01 -3.78548495e-03 -3.26441822e+01] [-1.46259898e-02 2.37093427e-04 9.99893006e-01 -3.35081138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.618623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:175.03, Y:-32.65, Z:-3.35 [[ 9.70145887e-01 2.42101656e-01 1.42739455e-02 1.75034278e+02] [-2.42071594e-01 9.70250856e-01 -3.82357828e-03 -3.26522262e+01] [-1.47750025e-02 2.54112015e-04 9.99890811e-01 -3.35066641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.648623853 meters Centerline goodness [0,1] 0.9999573978613726 Centerline is valid? [True, True] Translation: X:175.06, Y:-32.66, Z:-3.35 [[ 9.70344894e-01 2.41304152e-01 1.42510452e-02 1.75061398e+02] [-2.41274106e-01 9.70449502e-01 -3.81708562e-03 -3.26631586e+01] [-1.47509983e-02 2.65481362e-04 9.99891163e-01 -3.35138087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.678623853 meters Centerline goodness [0,1] 0.9998715423482059 Centerline is valid? [True, True] Translation: X:175.09, Y:-32.67, Z:-3.35 [[ 9.70512450e-01 2.40655090e-01 1.38098393e-02 1.75091710e+02] [-2.40626816e-01 9.70610662e-01 -3.69849740e-03 -3.26677573e+01] [-1.42940395e-02 2.66420109e-04 9.99897800e-01 -3.34505493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.708623853 meters Centerline goodness [0,1] 0.99995687796464 Centerline is valid? [True, True] Translation: X:175.12, Y:-32.68, Z:-3.35 [[ 9.70733641e-01 2.39684784e-01 1.50798978e-02 1.75120541e+02] [-2.39650952e-01 9.70850715e-01 -4.03863951e-03 -3.26781287e+01] [-1.56083300e-02 3.06531372e-04 9.99878136e-01 -3.35043022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.738623853 meters Centerline goodness [0,1] 0.9998931441272012 Centerline is valid? [True, True] Translation: X:175.15, Y:-32.69, Z:-3.35 [[ 9.70832048e-01 2.39272023e-01 1.52981725e-02 1.75148619e+02] [-2.39237155e-01 9.70952521e-01 -4.09707476e-03 -3.26914699e+01] [-1.58341145e-02 3.17680229e-04 9.99874582e-01 -3.35079200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.768623853 meters Centerline goodness [0,1] 0.9999359412367612 Centerline is valid? [True, True] Translation: X:175.18, Y:-32.70, Z:-3.35 [[ 9.71097027e-01 2.38181244e-01 1.55003324e-02 1.75178145e+02] [-2.38145305e-01 9.71220665e-01 -4.15143724e-03 -3.26992979e+01] [-1.60430377e-02 3.40116973e-04 9.99871244e-01 -3.35085697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.798623853 meters Centerline goodness [0,1] 0.9999359412367612 Centerline is valid? [True, True] Translation: X:175.21, Y:-32.71, Z:-3.35 [[ 9.71097027e-01 2.38181244e-01 1.55003324e-02 1.75207125e+02] [-2.38145305e-01 9.71220665e-01 -4.15143724e-03 -3.27070598e+01] [-1.60430377e-02 3.40116973e-04 9.99871244e-01 -3.35138608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.828623853 meters Centerline goodness [0,1] 0.999957152344838 Centerline is valid? [True, True] Translation: X:175.24, Y:-32.72, Z:-3.35 [[ 9.71242420e-01 2.37581976e-01 1.55873657e-02 1.75236647e+02] [-2.37545556e-01 9.71367428e-01 -4.17471168e-03 -3.27161754e+01] [-1.61328956e-02 3.51947630e-04 9.99869794e-01 -3.35208163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.858623853 meters Centerline goodness [0,1] 0.999913015113624 Centerline is valid? [True, True] Translation: X:175.27, Y:-32.72, Z:-3.35 [[ 9.71344187e-01 2.37183239e-01 1.53160739e-02 1.75268122e+02] [-2.37148024e-01 9.71464867e-01 -4.10215604e-03 -3.27236123e+01] [-1.58519903e-02 3.52428769e-04 9.99874287e-01 -3.35239751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.888623853 meters Centerline goodness [0,1] 0.9999359890754689 Centerline is valid? [True, True] Translation: X:175.30, Y:-32.73, Z:-3.35 [[ 9.71434134e-01 2.36827466e-01 1.51153639e-02 1.75297483e+02] [-2.36793083e-01 9.71551658e-01 -4.05110151e-03 -3.27347963e+01] [-1.56447689e-02 3.56164689e-04 9.99877550e-01 -3.35399660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.918623853 meters Centerline goodness [0,1] 0.9999358316221766 Centerline is valid? [True, True] Translation: X:175.33, Y:-32.74, Z:-3.35 [[ 9.71637121e-01 2.36008997e-01 1.48680081e-02 1.75327012e+02] [-2.35975592e-01 9.71750801e-01 -3.98753982e-03 -3.27447561e+01] [-1.53890941e-02 3.65954696e-04 9.99881514e-01 -3.35435412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.94862385300002 meters Centerline goodness [0,1] 0.9998713798795258 Centerline is valid? [True, True] Translation: X:175.36, Y:-32.75, Z:-3.35 [[ 9.71665347e-01 2.35883025e-01 1.50216959e-02 1.75357638e+02] [-2.35848907e-01 9.71781385e-01 -4.02906368e-03 -3.27543644e+01] [-1.55481921e-02 3.72051014e-04 9.99879050e-01 -3.35435745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.97862385300002 meters Centerline goodness [0,1] 0.9998506602948393 Centerline is valid? [True, True] Translation: X:175.39, Y:-32.76, Z:-3.35 [[ 9.71638078e-01 2.35983577e-01 1.52051419e-02 1.75387259e+02] [-2.35948620e-01 9.71756971e-01 -4.07905547e-03 -3.27637114e+01] [-1.57382927e-02 3.75733378e-04 9.99876075e-01 -3.35458779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.00862385300002 meters Centerline goodness [0,1] 0.9998298994280368 Centerline is valid? [True, True] Translation: X:175.42, Y:-32.77, Z:-3.35 [[ 9.71609011e-01 2.36084908e-01 1.54869583e-02 1.75416932e+02] [-2.36048614e-01 9.71732355e-01 -4.15725111e-03 -3.27746174e+01] [-1.60306427e-02 3.83547594e-04 9.99871427e-01 -3.35467424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.03862385300002 meters Centerline goodness [0,1] 0.9998710703311343 Centerline is valid? [True, True] Translation: X:175.45, Y:-32.78, Z:-3.35 [[ 9.71533120e-01 2.36387954e-01 1.56247412e-02 1.75448459e+02] [-2.36351009e-01 9.71658678e-01 -4.19676716e-03 -3.27822534e+01] [-1.61739806e-02 3.84374929e-04 9.99869119e-01 -3.35426541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.06862385300002 meters Centerline goodness [0,1] 0.9998703739710934 Centerline is valid? [True, True] Translation: X:175.48, Y:-32.79, Z:-3.36 [[ 9.71443731e-01 2.36755948e-01 1.56108526e-02 1.75480606e+02] [-2.36719073e-01 9.71569080e-01 -4.19575328e-03 -3.27914994e+01] [-1.61603913e-02 3.80551656e-04 9.99869340e-01 -3.35512001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.09862385300002 meters Centerline goodness [0,1] 0.9999145043389048 Centerline is valid? [True, True] Translation: X:175.51, Y:-32.80, Z:-3.36 [[ 9.71343267e-01 2.37161371e-01 1.57080103e-02 1.75509573e+02] [-2.37124034e-01 9.71470195e-01 -4.22520457e-03 -3.28021068e+01] [-1.62619191e-02 3.79377250e-04 9.99867694e-01 -3.35632354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.12862385300002 meters Centerline goodness [0,1] 0.9998502032955275 Centerline is valid? [True, True] Translation: X:175.54, Y:-32.81, Z:-3.36 [[ 9.71162337e-01 2.37925135e-01 1.53409894e-02 1.75540916e+02] [-2.37889596e-01 9.71283430e-01 -4.12785100e-03 -3.28102491e+01] [-1.58825683e-02 3.59351667e-04 9.99873799e-01 -3.35796350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.15862385300002 meters Centerline goodness [0,1] 0.9999566846425401 Centerline is valid? [True, True] Translation: X:175.57, Y:-32.82, Z:-3.36 [[ 9.71019386e-01 2.38527628e-01 1.50307185e-02 1.75572290e+02] [-2.38493544e-01 9.71135650e-01 -4.04693262e-03 -3.28174997e+01] [-1.55621719e-02 3.44920693e-04 9.99878843e-01 -3.35878415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.18862385300002 meters Centerline goodness [0,1] 0.9999359672152142 Centerline is valid? [True, True] Translation: X:175.60, Y:-32.83, Z:-3.36 [[ 9.70833091e-01 2.39298947e-01 1.48028321e-02 1.75601846e+02] [-2.39265938e-01 9.70945882e-01 -3.98822267e-03 -3.28280139e+01] [-1.53271263e-02 3.30085039e-04 9.99882478e-01 -3.35956708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.21862385300003 meters Centerline goodness [0,1] 0.9999572503419972 Centerline is valid? [True, True] Translation: X:175.63, Y:-32.84, Z:-3.36 [[ 9.70403680e-01 2.41086955e-01 1.39203952e-02 1.75632705e+02] [-2.41057918e-01 9.70503477e-01 -3.75258097e-03 -3.28360406e+01] [-1.44144902e-02 2.85896910e-04 9.99896065e-01 -3.36168300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.24862385300003 meters Centerline goodness [0,1] 0.9998704886893456 Centerline is valid? [True, True] Translation: X:175.66, Y:-32.84, Z:-3.36 [[ 9.70209886e-01 2.41901168e-01 1.32891546e-02 1.75662649e+02] [-2.41874743e-01 9.70300858e-01 -3.58514802e-03 -3.28443190e+01] [-1.37617296e-02 2.64035203e-04 9.99905268e-01 -3.35738110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.27862385300003 meters Centerline goodness [0,1] 0.9999572895978815 Centerline is valid? [True, True] Translation: X:175.69, Y:-32.85, Z:-3.36 [[ 9.69915902e-01 2.43066704e-01 1.34804018e-02 1.75691779e+02] [-2.43039618e-01 9.70009543e-01 -3.63730498e-03 -3.28543296e+01] [-1.39602261e-02 2.51608232e-04 9.99902520e-01 -3.36407389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.308623853 meters Centerline goodness [0,1] 0.9999785223367698 Centerline is valid? [True, True] Translation: X:175.72, Y:-32.86, Z:-3.36 [[ 9.69540020e-01 2.44551125e-01 1.36710544e-02 1.75721557e+02] [-2.44523409e-01 9.69636371e-01 -3.68918146e-03 -3.28605832e+01] [-1.41581451e-02 2.33916233e-04 9.99899741e-01 -3.36401334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.338623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:175.75, Y:-32.87, Z:-3.36 [[ 9.68780800e-01 2.47524803e-01 1.39725955e-02 1.75750935e+02] [-2.47496159e-01 9.68881538e-01 -3.77055337e-03 -3.28671016e+01] [-1.44710953e-02 1.94675984e-04 9.99895269e-01 -3.36360630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.368623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:175.78, Y:-32.87, Z:-3.36 [[ 9.68376556e-01 2.49069401e-01 1.45354343e-02 1.75780378e+02] [-2.49038576e-01 9.68485623e-01 -3.92246848e-03 -3.28736253e+01] [-1.50543260e-02 1.78542669e-04 9.99886661e-01 -3.36357187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.398623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:175.81, Y:-32.88, Z:-3.36 [[ 9.67856821e-01 2.51044218e-01 1.51649168e-02 1.75809362e+02] [-2.51010910e-01 9.67975608e-01 -4.09216204e-03 -3.28793538e+01] [-1.57065831e-02 1.54067379e-04 9.99876632e-01 -3.36282444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.428623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:175.84, Y:-32.89, Z:-3.36 [[ 9.67452033e-01 2.52586155e-01 1.53882597e-02 1.75838008e+02] [-2.52552060e-01 9.67574399e-01 -4.15203950e-03 -3.28855758e+01] [-1.59380338e-02 1.30562371e-04 9.99872973e-01 -3.36275413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.458623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:175.87, Y:-32.89, Z:-3.36 [[ 9.66477262e-01 2.56277442e-01 1.56068802e-02 1.75867946e+02] [-2.56242859e-01 9.66603263e-01 -4.21063569e-03 -3.28888167e+01] [-1.61647522e-02 7.03320702e-05 9.99869339e-01 -3.36262943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.488623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:175.90, Y:-32.89, Z:-3.36 [[ 9.65933544e-01 2.58339840e-01 1.52615895e-02 1.75896719e+02] [-2.58307033e-01 9.66054101e-01 -4.11711695e-03 -3.28937659e+01] [-1.58071364e-02 3.46854747e-05 9.99875059e-01 -3.36395599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.518623853 meters Centerline goodness [0,1] 0.999978557337679 Centerline is valid? [True, True] Translation: X:175.92, Y:-32.90, Z:-3.37 [[ 9.65483567e-01 2.60035407e-01 1.49354882e-02 1.75924095e+02] [-2.60004198e-01 9.65599082e-01 -4.02864935e-03 -3.28984736e+01] [-1.54692851e-02 6.30512272e-06 9.99880343e-01 -3.36586869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.548623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:175.95, Y:-32.90, Z:-3.37 [[ 9.64769280e-01 2.62718630e-01 1.41123214e-02 1.75952398e+02] [-2.62691068e-01 9.64872489e-01 -3.80561982e-03 -3.29029890e+01] [-1.46163979e-02 -3.56356937e-05 9.99893174e-01 -3.36777591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.578623853 meters Centerline goodness [0,1] 0.9999785522788204 Centerline is valid? [True, True] Translation: X:175.98, Y:-32.91, Z:-3.37 [[ 9.64487297e-01 2.63756198e-01 1.40329192e-02 1.75979718e+02] [-2.63729065e-01 9.64589377e-01 -3.78354060e-03 -3.29092764e+01] [-1.45339370e-02 -5.17118020e-05 9.99894375e-01 -3.36842052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.608623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:176.01, Y:-32.91, Z:-3.37 [[ 9.64200485e-01 2.64809177e-01 1.39113012e-02 1.76007266e+02] [-2.64782633e-01 9.64300832e-01 -3.74988289e-03 -3.29147715e+01] [-1.44076827e-02 -6.78320699e-05 9.99896202e-01 -3.36996201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.638623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:176.03, Y:-32.92, Z:-3.37 [[ 9.63980522e-01 2.65624785e-01 1.36024286e-02 1.76034848e+02] [-2.65599501e-01 9.64076484e-01 -3.66575299e-03 -3.29215443e+01] [-1.40874964e-02 -7.90837598e-05 9.99900763e-01 -3.37029636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.668623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:176.06, Y:-32.93, Z:-3.37 [[ 9.63513794e-01 2.67325160e-01 1.33576812e-02 1.76063379e+02] [-2.67300949e-01 9.63606376e-01 -3.59915502e-03 -3.29271849e+01] [-1.38336915e-02 -1.02685368e-04 9.99904305e-01 -3.37102480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.69862385300002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:176.09, Y:-32.93, Z:-3.37 [[ 9.63316849e-01 2.68031939e-01 1.33988126e-02 1.76091208e+02] [-2.68007657e-01 9.63410020e-01 -3.60961887e-03 -3.29314497e+01] [-1.38760434e-02 -1.13777679e-04 9.99903717e-01 -3.37219697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.72862385300002 meters Centerline goodness [0,1] 0.9999787762378759 Centerline is valid? [True, True] Translation: X:176.12, Y:-32.94, Z:-3.37 [[ 9.63115747e-01 2.68739933e-01 1.36713813e-02 1.76118917e+02] [-2.68714738e-01 9.63212766e-01 -3.68202848e-03 -3.29383247e+01] [-1.41579571e-02 -1.27482037e-04 9.99899763e-01 -3.37233162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.75862385300002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:176.15, Y:-32.94, Z:-3.37 [[ 9.63016825e-01 2.69081910e-01 1.39111806e-02 1.76146986e+02] [-2.69055870e-01 9.63117286e-01 -3.74591892e-03 -3.29449167e+01] [-1.44060575e-02 -1.35501845e-04 9.99896218e-01 -3.37209938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.78862385300002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:176.17, Y:-32.95, Z:-3.37 [[ 9.62981387e-01 2.69160203e-01 1.48200723e-02 1.76174433e+02] [-2.69130668e-01 9.63095407e-01 -3.98993547e-03 -3.29516228e+01] [-1.53470754e-02 -1.46302373e-04 9.99882216e-01 -3.37100384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.81862385300002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:176.20, Y:-32.96, Z:-3.37 [[ 9.63067495e-01 2.68853476e-01 1.47921854e-02 1.76201576e+02] [-2.68824033e-01 9.63181078e-01 -3.98134605e-03 -3.29593508e+01] [-1.53179518e-02 -1.42189965e-04 9.99882663e-01 -3.37161788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.84862385300002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:176.23, Y:-32.97, Z:-3.37 [[ 9.63408164e-01 2.67647788e-01 1.44696333e-02 1.76227785e+02] [-2.67619494e-01 9.63516812e-01 -3.89351014e-03 -3.29686796e+01] [-1.49838243e-02 -1.21316489e-04 9.99887729e-01 -3.37297523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.87862385300002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:176.26, Y:-32.98, Z:-3.37 [[ 9.63629513e-01 2.66847600e-01 1.45092723e-02 1.76255023e+02] [-2.66819074e-01 9.63738733e-01 -3.90329831e-03 -3.29763737e+01] [-1.50247335e-02 -1.10017153e-04 9.99887116e-01 -3.37378593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.90862385300002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:176.28, Y:-32.99, Z:-3.37 [[ 9.63825267e-01 2.66134280e-01 1.46082289e-02 1.76282342e+02] [-2.66105295e-01 9.63935960e-01 -3.92901731e-03 -3.29853207e+01] [-1.51270433e-02 -1.00440896e-04 9.99885575e-01 -3.37335756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.93862385300002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:176.31, Y:-32.99, Z:-3.37 [[ 9.63988955e-01 2.65538520e-01 1.46488399e-02 1.76309992e+02] [-2.65509315e-01 9.64100247e-01 -3.93924793e-03 -3.29935622e+01] [-1.51689722e-02 -9.20119347e-05 9.99884940e-01 -3.37405742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.96862385300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:176.34, Y:-33.00, Z:-3.37 [[ 9.64110878e-01 2.65090336e-01 1.47421097e-02 1.76337645e+02] [-2.65060716e-01 9.64223577e-01 -3.96363054e-03 -3.30018226e+01] [-1.52654099e-02 -8.61748157e-05 9.99883473e-01 -3.37463064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.99862385300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:176.36, Y:-33.01, Z:-3.37 [[ 9.64190181e-01 2.64803355e-01 1.47131737e-02 1.76364476e+02] [-2.64773829e-01 9.64302430e-01 -3.95516342e-03 -3.30118681e+01] [-1.52352897e-02 -8.21335835e-05 9.99883933e-01 -3.37379204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.02862385300003 meters Centerline goodness [0,1] 0.9999786957540638 Centerline is valid? [True, True] Translation: X:176.39, Y:-33.02, Z:-3.38 [[ 9.64168451e-01 2.64899938e-01 1.43952016e-02 1.76392305e+02] [-2.64871695e-01 9.64275902e-01 -3.86900863e-03 -3.30170831e+01] [-1.49058461e-02 -8.25053794e-05 9.99888898e-01 -3.37534472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.058623853 meters Centerline goodness [0,1] 0.9999788614792737 Centerline is valid? [True, True] Translation: X:176.42, Y:-33.02, Z:-3.38 [[ 9.64075161e-01 2.65243117e-01 1.43238818e-02 1.76419983e+02] [-2.65215205e-01 9.64181560e-01 -3.84889851e-03 -3.30239224e+01] [-1.48317165e-02 -8.82837874e-05 9.99890000e-01 -3.37603871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.088623853 meters Centerline goodness [0,1] 0.9999573096544216 Centerline is valid? [True, True] Translation: X:176.45, Y:-33.03, Z:-3.38 [[ 9.63942518e-01 2.65735730e-01 1.41189500e-02 1.76448325e+02] [-2.65708673e-01 9.64045908e-01 -3.79319044e-03 -3.30296140e+01] [-1.46193022e-02 -9.51099213e-05 9.99893128e-01 -3.37769885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.118623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:176.48, Y:-33.03, Z:-3.38 [[ 9.63857518e-01 2.66054811e-01 1.39112733e-02 1.76476166e+02] [-2.66028586e-01 9.63957897e-01 -3.73680020e-03 -3.30348631e+01] [-1.44040754e-02 -9.90534011e-05 9.99896251e-01 -3.37898368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.148623853 meters Centerline goodness [0,1] 0.9999786648460669 Centerline is valid? [True, True] Translation: X:176.50, Y:-33.04, Z:-3.38 [[ 9.63764956e-01 2.66388414e-01 1.39399220e-02 1.76503708e+02] [-2.66362128e-01 9.63865759e-01 -3.74367312e-03 -3.30433418e+01] [-1.44334847e-02 -1.05046335e-04 9.99895826e-01 -3.37801228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.178623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:176.53, Y:-33.05, Z:-3.38 [[ 9.63595269e-01 2.67012066e-01 1.37373282e-02 1.76531813e+02] [-2.66986612e-01 9.63693179e-01 -3.68858496e-03 -3.30452910e+01] [-1.42234662e-02 -1.13379680e-04 9.99898835e-01 -3.37976384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.208623853 meters Centerline goodness [0,1] 0.999978754594319 Centerline is valid? [True, True] Translation: X:176.56, Y:-33.05, Z:-3.38 [[ 9.63582626e-01 2.67049435e-01 1.38968416e-02 1.76558060e+02] [-2.67023399e-01 9.63682824e-01 -3.73078799e-03 -3.30542615e+01] [-1.43884524e-02 -1.15859405e-04 9.99896474e-01 -3.37928092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.238623853 meters Centerline goodness [0,1] 0.9999785903913676 Centerline is valid? [True, True] Translation: X:176.59, Y:-33.06, Z:-3.38 [[ 9.63631110e-01 2.66864198e-01 1.40919840e-02 1.76585530e+02] [-2.66837421e-01 9.63734137e-01 -3.78211296e-03 -3.30616644e+01] [-1.45902366e-02 -1.15706949e-04 9.99893550e-01 -3.37903380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.268623853 meters Centerline goodness [0,1] 0.9998701214364569 Centerline is valid? [True, True] Translation: X:176.61, Y:-33.07, Z:-3.37 [[ 9.63618392e-01 2.66901695e-01 1.42506279e-02 1.76613317e+02] [-2.66874333e-01 9.63723752e-01 -3.82355905e-03 -3.30682060e+01] [-1.47541830e-02 -1.18674997e-04 9.99891144e-01 -3.37316394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.298623853 meters Centerline goodness [0,1] 0.9999354366633668 Centerline is valid? [True, True] Translation: X:176.64, Y:-33.07, Z:-3.37 [[ 9.63610901e-01 2.66912426e-01 1.45529440e-02 1.76641177e+02] [-2.66883903e-01 9.63720780e-01 -3.90392361e-03 -3.30725823e+01] [-1.50669803e-02 -1.22083152e-04 9.99886479e-01 -3.37155016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.328623853 meters Centerline goodness [0,1] 0.9999150526673463 Centerline is valid? [True, True] Translation: X:176.67, Y:-33.08, Z:-3.38 [[ 9.63638248e-01 2.66785942e-01 1.50528668e-02 1.76668163e+02] [-2.66755425e-01 9.63755802e-01 -4.03704795e-03 -3.30764174e+01] [-1.55843154e-02 -1.25180083e-04 9.99878549e-01 -3.37879484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.358623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:176.70, Y:-33.09, Z:-3.38 [[ 9.63718585e-01 2.66477607e-01 1.53679308e-02 1.76695184e+02] [-2.66445782e-01 9.63841102e-01 -4.12015638e-03 -3.30881930e+01] [-1.59101727e-02 -1.24049056e-04 9.99873417e-01 -3.37803012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.388623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:176.72, Y:-33.09, Z:-3.38 [[ 9.63769000e-01 2.66329967e-01 1.47533872e-02 1.76722402e+02] [-2.66300630e-01 9.63881909e-01 -3.95469150e-03 -3.30937045e+01] [-1.52737759e-02 -1.17427243e-04 9.99883342e-01 -3.38030186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.418623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:176.75, Y:-33.10, Z:-3.38 [[ 9.63834219e-01 2.66106783e-01 1.45182112e-02 1.76750348e+02] [-2.66078363e-01 9.63943550e-01 -3.89069711e-03 -3.31012047e+01] [-1.50300770e-02 -1.12994862e-04 9.99887036e-01 -3.38136813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.44862385300002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:176.78, Y:-33.11, Z:-3.38 [[ 9.63929010e-01 2.65766343e-01 1.44608104e-02 1.76778523e+02] [-2.65738120e-01 9.64037468e-01 -3.87457346e-03 -3.31089770e+01] [-1.49704942e-02 -1.07974805e-04 9.99887930e-01 -3.38179811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.47862385300002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:176.81, Y:-33.12, Z:-3.38 [[ 9.64036844e-01 2.65378161e-01 1.44012113e-02 1.76805612e+02] [-2.65350137e-01 9.64144399e-01 -3.85789206e-03 -3.31160885e+01] [-1.49086475e-02 -1.02213295e-04 9.99888855e-01 -3.38237773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.50862385300002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:176.83, Y:-33.12, Z:-3.38 [[ 9.64087580e-01 2.65190850e-01 1.44551552e-02 1.76832729e+02] [-2.65162609e-01 9.64195936e-01 -3.87140838e-03 -3.31213328e+01] [-1.49642639e-02 -1.00589920e-04 9.99888024e-01 -3.38300386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.53862385300002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:176.86, Y:-33.13, Z:-3.38 [[ 9.64036874e-01 2.65376610e-01 1.44277622e-02 1.76861358e+02] [-2.65348511e-01 9.64144825e-01 -3.86307953e-03 -3.31277750e+01] [-1.49356232e-02 -1.04234117e-04 9.99888452e-01 -3.38303775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.56862385300002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:176.89, Y:-33.13, Z:-3.38 [[ 9.64006012e-01 2.65486029e-01 1.44767577e-02 1.76889099e+02] [-2.65457762e-01 9.64114701e-01 -3.87552174e-03 -3.31333367e+01] [-1.49861518e-02 -1.06941435e-04 9.99887696e-01 -3.38368215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.59862385300002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:176.92, Y:-33.14, Z:-3.38 [[ 9.63879539e-01 2.65943007e-01 1.45104149e-02 1.76917115e+02] [-2.65914677e-01 9.63988747e-01 -3.88340229e-03 -3.31388519e+01] [-1.50206403e-02 -1.15400270e-04 9.99887177e-01 -3.38458870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.62862385300002 meters Centerline goodness [0,1] 0.9999786013866302 Centerline is valid? [True, True] Translation: X:176.95, Y:-33.14, Z:-3.38 [[ 9.63600809e-01 2.66919060e-01 1.50896369e-02 1.76945129e+02] [-2.66888554e-01 9.63718941e-01 -4.03769390e-03 -3.31412030e+01] [-1.56199064e-02 -1.36526269e-04 9.99877992e-01 -3.38466143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.65862385300002 meters Centerline goodness [0,1] 0.9999571017974347 Centerline is valid? [True, True] Translation: X:176.97, Y:-33.15, Z:-3.38 [[ 9.63496641e-01 2.67277217e-01 1.53984728e-02 1.76972689e+02] [-2.67245516e-01 9.63619670e-01 -4.11899448e-03 -3.31482736e+01] [-1.59391847e-02 -1.46535478e-04 9.99872952e-01 -3.38412672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.68862385300002 meters Centerline goodness [0,1] 0.9999571017974347 Centerline is valid? [True, True] Translation: X:177.00, Y:-33.16, Z:-3.38 [[ 9.63515703e-01 2.67208479e-01 1.53986577e-02 1.76999287e+02] [-2.67176781e-01 9.63638733e-01 -4.11830325e-03 -3.31552504e+01] [-1.59391886e-02 -1.46113947e-04 9.99872952e-01 -3.38461159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.71862385300003 meters Centerline goodness [0,1] 0.9999142587670411 Centerline is valid? [True, True] Translation: X:177.03, Y:-33.16, Z:-3.38 [[ 9.63348404e-01 2.67798621e-01 1.56125321e-02 1.77026518e+02] [-2.67766134e-01 9.63474895e-01 -4.17427295e-03 -3.31596044e+01] [-1.61601473e-02 -1.59228184e-04 9.99869404e-01 -3.38467251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.74862385300003 meters Centerline goodness [0,1] 0.999870867768595 Centerline is valid? [True, True] Translation: X:177.06, Y:-33.16, Z:-3.39 [[ 9.63051146e-01 2.68864367e-01 1.56346585e-02 1.77055760e+02] [-2.68831944e-01 9.63178032e-01 -4.17917809e-03 -3.31628318e+01] [-1.61825917e-02 -1.78333391e-04 9.99869037e-01 -3.38556209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.77862385300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:177.08, Y:-33.17, Z:-3.39 [[ 9.62982217e-01 2.69134368e-01 1.52296027e-02 1.77084327e+02] [-2.69103649e-01 9.63102622e-01 -4.07016303e-03 -3.31680953e+01] [-1.57630911e-02 -1.78847049e-04 9.99875739e-01 -3.38675233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.808623853 meters Centerline goodness [0,1] 0.9999353336782204 Centerline is valid? [True, True] Translation: X:177.11, Y:-33.17, Z:-3.39 [[ 9.62995011e-01 2.69099199e-01 1.50409671e-02 1.77111435e+02] [-2.69069243e-01 9.63112449e-01 -4.01905488e-03 -3.31735652e+01] [-1.55676671e-02 -1.76731825e-04 9.99878801e-01 -3.38800974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.838623853 meters Centerline goodness [0,1] 0.999978531097705 Centerline is valid? [True, True] Translation: X:177.14, Y:-33.18, Z:-3.39 [[ 9.63078716e-01 2.68811708e-01 1.48206612e-02 1.77138798e+02] [-2.68782605e-01 9.63192731e-01 -3.95909111e-03 -3.31796469e+01] [-1.53394032e-02 -1.70619561e-04 9.99882330e-01 -3.38896500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.868623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:177.17, Y:-33.19, Z:-3.39 [[ 9.63302710e-01 2.68021524e-01 1.45722691e-02 1.77166864e+02] [-2.67993316e-01 9.63412912e-01 -3.89160096e-03 -3.31856869e+01] [-1.50821450e-02 -1.56480960e-04 9.99886246e-01 -3.38960870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.898623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:177.19, Y:-33.19, Z:-3.39 [[ 9.63545107e-01 2.67146923e-01 1.46064614e-02 1.77194282e+02] [-2.67118491e-01 9.63655800e-01 -3.90009082e-03 -3.31921432e+01] [-1.51174985e-02 -1.43742509e-04 9.99885714e-01 -3.39039857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.928623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:177.22, Y:-33.20, Z:-3.39 [[ 9.63704433e-01 2.66579865e-01 1.44548384e-02 1.77221711e+02] [-2.66551977e-01 9.63812823e-01 -3.85826467e-03 -3.32000272e+01] [-1.49602943e-02 -1.34738974e-04 9.99888079e-01 -3.39063168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.958623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:177.25, Y:-33.21, Z:-3.39 [[ 9.63905722e-01 2.65830467e-01 1.48297649e-02 1.77249281e+02] [-2.65801036e-01 9.64019785e-01 -3.95756147e-03 -3.32073053e+01] [-1.53482272e-02 -1.27050737e-04 9.99882201e-01 -3.39076498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.988623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:177.28, Y:-33.21, Z:-3.39 [[ 9.64202771e-01 2.64750331e-01 1.48417729e-02 1.77276536e+02] [-2.64720735e-01 9.64316986e-01 -3.96006226e-03 -3.32127080e+01] [-1.53606015e-02 -1.10622027e-04 9.99882013e-01 -3.39188214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.018623853 meters Centerline goodness [0,1] 0.9999785554983702 Centerline is valid? [True, True] Translation: X:177.30, Y:-33.22, Z:-3.39 [[ 9.64457848e-01 2.63826410e-01 1.47201929e-02 1.77304605e+02] [-2.63797210e-01 9.64570172e-01 -3.92631629e-03 -3.32206558e+01] [-1.52345250e-02 -9.63792620e-05 9.99883943e-01 -3.39229659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.048623853 meters Centerline goodness [0,1] 0.9999138116785176 Centerline is valid? [True, True] Translation: X:177.33, Y:-33.23, Z:-3.39 [[ 9.64694938e-01 2.62964342e-01 1.46092893e-02 1.77332234e+02] [-2.62935492e-01 9.64805549e-01 -3.89601312e-03 -3.32271242e+01] [-1.51196359e-02 -8.28365372e-05 9.99885688e-01 -3.38813104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.078623853 meters Centerline goodness [0,1] 0.999978453383896 Centerline is valid? [True, True] Translation: X:177.36, Y:-33.24, Z:-3.39 [[ 9.65140052e-01 2.61274195e-01 1.55072639e-02 1.77359722e+02] [-2.61241489e-01 9.65264622e-01 -4.13439762e-03 -3.32356202e+01] [-1.60488247e-02 -6.08679819e-05 9.99871207e-01 -3.39252005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.108623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:177.39, Y:-33.24, Z:-3.39 [[ 9.65308215e-01 2.60637987e-01 1.57445337e-02 1.77386506e+02] [-2.60604200e-01 9.65436605e-01 -4.19684045e-03 -3.32424262e+01] [-1.62942052e-02 -5.18470616e-05 9.99867239e-01 -3.39220616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.138623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:177.41, Y:-33.25, Z:-3.39 [[ 9.65518129e-01 2.59843914e-01 1.59963424e-02 1.77414003e+02] [-2.59808946e-01 9.65650630e-01 -4.26292315e-03 -3.32498445e+01] [-1.65545728e-02 -4.00632862e-05 9.99862963e-01 -3.39267934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.168623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:177.44, Y:-33.26, Z:-3.39 [[ 9.65909544e-01 2.58431510e-01 1.52285108e-02 1.77440589e+02] [-2.58399661e-01 9.66029583e-01 -4.05717481e-03 -3.32570395e+01] [-1.57596937e-02 -1.61781597e-05 9.99875808e-01 -3.39457400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.19862385300002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:177.47, Y:-33.26, Z:-3.40 [[ 9.66103002e-01 2.57723317e-01 1.49559872e-02 1.77467792e+02] [-2.57692527e-01 9.66218760e-01 -3.98366299e-03 -3.32642506e+01] [-1.54774382e-02 -5.41735265e-06 9.99880217e-01 -3.39633963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.22862385300002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:177.50, Y:-33.27, Z:-3.40 [[ 9.66246476e-01 2.57209677e-01 1.45234152e-02 1.77495027e+02] [-2.57180600e-01 9.66355619e-01 -3.86738088e-03 -3.32712212e+01] [-1.50295117e-02 1.70249867e-06 9.99887051e-01 -3.39746402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.25862385300002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:177.52, Y:-33.28, Z:-3.40 [[ 9.66370235e-01 2.56744602e-01 1.45181854e-02 1.77521675e+02] [-2.56715511e-01 9.66479285e-01 -3.86484839e-03 -3.32784719e+01] [-1.50238044e-02 7.83105188e-06 9.99887136e-01 -3.39816760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.28862385300002 meters Centerline goodness [0,1] 0.9998485143586747 Centerline is valid? [True, True] Translation: X:177.55, Y:-33.28, Z:-3.39 [[ 9.66510805e-01 2.56214555e-01 1.45246337e-02 1.77548873e+02] [-2.56185392e-01 9.66619937e-01 -3.86567499e-03 -3.32842262e+01] [-1.50302427e-02 1.52176787e-05 9.99887039e-01 -3.39012812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.31862385300002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:177.58, Y:-33.29, Z:-3.40 [[ 9.66565369e-01 2.55987135e-01 1.48988206e-02 1.77575724e+02] [-2.55956441e-01 9.66680188e-01 -3.96411860e-03 -3.32914680e+01] [-1.54171581e-02 1.81306614e-05 9.99881148e-01 -3.39830685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.34862385300002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:177.60, Y:-33.30, Z:-3.40 [[ 9.66619642e-01 2.55771186e-01 1.50853568e-02 1.77603308e+02] [-2.55739709e-01 9.66737348e-01 -4.01260989e-03 -3.32976906e+01] [-1.56098878e-02 2.07427719e-05 9.99878158e-01 -3.39859499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.37862385300002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:177.63, Y:-33.30, Z:-3.40 [[ 9.66636870e-01 2.55678676e-01 1.55427065e-02 1.77630270e+02] [-2.55645269e-01 9.66761819e-01 -4.13303959e-03 -3.33036998e+01] [-1.60828253e-02 2.17290594e-05 9.99870663e-01 -3.39862887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.40862385300002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:177.66, Y:-33.31, Z:-3.40 [[ 9.66662289e-01 2.55581973e-01 1.55523316e-02 1.77657681e+02] [-2.55548531e-01 9.66787389e-01 -4.13441726e-03 -3.33098122e+01] [-1.60924806e-02 2.22097541e-05 9.99870507e-01 -3.39930239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.43862385300002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:177.68, Y:-33.32, Z:-3.40 [[ 9.66708006e-01 2.55410299e-01 1.55309265e-02 1.77684809e+02] [-2.55376946e-01 9.66832756e-01 -4.12755545e-03 -3.33166586e+01] [-1.60700287e-02 2.39003186e-05 9.99870868e-01 -3.40012625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.46862385300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:177.71, Y:-33.32, Z:-3.40 [[ 9.66808903e-01 2.55049314e-01 1.51787021e-02 1.77711307e+02] [-2.55017430e-01 9.66928046e-01 -4.03285876e-03 -3.33235161e+01] [-1.57052906e-02 2.81701610e-05 9.99876664e-01 -3.40153339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.49862385300003 meters Centerline goodness [0,1] 0.9998503793951052 Centerline is valid? [True, True] Translation: X:177.74, Y:-33.33, Z:-3.39 [[ 9.66831054e-01 2.54985860e-01 1.48298068e-02 1.77739221e+02] [-2.54955437e-01 9.66944781e-01 -3.93886679e-03 -3.33294291e+01] [-1.53439596e-02 2.72788598e-05 9.99882274e-01 -3.39380870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.52862385300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:177.76, Y:-33.34, Z:-3.40 [[ 9.66829570e-01 2.54984043e-01 1.49573057e-02 1.77764829e+02] [-2.54953111e-01 9.66945261e-01 -3.97164054e-03 -3.33366493e+01] [-1.54756008e-02 2.64879050e-05 9.99880245e-01 -3.40295687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.558623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:177.79, Y:-33.34, Z:-3.40 [[ 9.66776287e-01 2.55210897e-01 1.45261635e-02 1.77791843e+02] [-2.55181768e-01 9.66885411e-01 -3.85592670e-03 -3.33422739e+01] [-1.50292101e-02 2.10064206e-05 9.99887055e-01 -3.40435594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.588623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:177.82, Y:-33.35, Z:-3.41 [[ 9.66675724e-01 2.55608290e-01 1.42284000e-02 1.77818528e+02] [-2.55580400e-01 9.66780431e-01 -3.77589104e-03 -3.33470005e+01] [-1.47208878e-02 1.35620259e-05 9.99891642e-01 -3.40580204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.618623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:177.85, Y:-33.35, Z:-3.41 [[ 9.66371377e-01 2.56777034e-01 1.38534055e-02 1.77845229e+02] [-2.56750730e-01 9.66470670e-01 -3.67525926e-03 -3.33496172e+01] [-1.43326322e-02 -5.20662277e-06 9.99897283e-01 -3.40698152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.648623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:177.87, Y:-33.36, Z:-3.41 [[ 9.66277896e-01 2.57127259e-01 1.38780427e-02 1.77872690e+02] [-2.57100919e-01 9.66377552e-01 -3.68036273e-03 -3.33552727e+01] [-1.43577505e-02 -1.18043703e-05 9.99896922e-01 -3.40762465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.678623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:177.90, Y:-33.36, Z:-3.41 [[ 9.66155161e-01 2.57586443e-01 1.39079200e-02 1.77900400e+02] [-2.57560051e-01 9.66255258e-01 -3.68727655e-03 -3.33612601e+01] [-1.43883933e-02 -1.96433117e-05 9.99896482e-01 -3.40797423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.708623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:177.93, Y:-33.37, Z:-3.41 [[ 9.66152859e-01 2.57572065e-01 1.43277770e-02 1.77928297e+02] [-2.57544070e-01 9.66259091e-01 -3.79752028e-03 -3.33672071e+01] [-1.48224799e-02 -2.10489260e-05 9.99890141e-01 -3.40723537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.738623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:177.96, Y:-33.37, Z:-3.41 [[ 9.66191472e-01 2.57415557e-01 1.45351343e-02 1.77955101e+02] [-2.57386745e-01 9.66300797e-01 -3.85137340e-03 -3.33738315e+01] [-1.50367153e-02 -1.99867574e-05 9.99886942e-01 -3.40755171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.768623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:177.98, Y:-33.38, Z:-3.41 [[ 9.66278389e-01 2.57074011e-01 1.47995824e-02 1.77981979e+02] [-2.57044118e-01 9.66391718e-01 -3.92031227e-03 -3.33809008e+01] [-1.53100043e-02 -1.60325866e-05 9.99882795e-01 -3.40747891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.798623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:178.01, Y:-33.39, Z:-3.41 [[ 9.66439156e-01 2.56450965e-01 1.51082626e-02 1.78008709e+02] [-2.56419754e-01 9.66557242e-01 -4.00091774e-03 -3.33885531e+01] [-1.56290398e-02 -7.41339622e-06 9.99877859e-01 -3.40729838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.828623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:178.03, Y:-33.40, Z:-3.41 [[ 9.66869293e-01 2.54826293e-01 1.50774790e-02 1.78034386e+02] [-2.54795029e-01 9.66986846e-01 -3.99164489e-03 -3.33977450e+01] [-1.55968999e-02 1.77321812e-05 9.99878361e-01 -3.40815193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.858623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:178.06, Y:-33.41, Z:-3.41 [[ 9.67106427e-01 2.53957824e-01 1.45114632e-02 1.78059970e+02] [-2.53928782e-01 9.67215293e-01 -3.84064715e-03 -3.34063057e+01] [-1.50110716e-02 2.94363484e-05 9.99887327e-01 -3.40958882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.888623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:178.09, Y:-33.41, Z:-3.41 [[ 9.67373382e-01 2.52961087e-01 1.41219228e-02 1.78087314e+02] [-2.52933504e-01 9.67476453e-01 -3.73573991e-03 -3.34147109e+01] [-1.46076246e-02 4.19479370e-05 9.99893302e-01 -3.41024044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.918623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:178.11, Y:-33.42, Z:-3.41 [[ 9.67766110e-01 2.51432436e-01 1.45081727e-02 1.78114566e+02] [-2.51403163e-01 9.67874850e-01 -3.83717356e-03 -3.34249216e+01] [-1.50068853e-02 6.60860278e-05 9.99887388e-01 -3.40981053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.94862385300002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:178.14, Y:-33.43, Z:-3.41 [[ 9.67929982e-01 2.50793421e-01 1.46359216e-02 1.78140497e+02] [-2.50763568e-01 9.68040626e-01 -3.87024663e-03 -3.34346020e+01] [-1.51387991e-02 7.59718369e-05 9.99885399e-01 -3.41071499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.97862385300002 meters Centerline goodness [0,1] 0.9999572996285068 Centerline is valid? [True, True] Translation: X:178.17, Y:-33.44, Z:-3.41 [[ 9.68071669e-01 2.50254081e-01 1.44961322e-02 1.78168526e+02] [-2.50224752e-01 9.68180194e-01 -3.83213649e-03 -3.34413516e+01] [-1.49938759e-02 8.24916847e-05 9.99887582e-01 -3.40561833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.00862385300002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:178.20, Y:-33.45, Z:-3.41 [[ 9.68228074e-01 2.49635785e-01 1.47095831e-02 1.78196133e+02] [-2.49605526e-01 9.68339799e-01 -3.88781664e-03 -3.34498044e+01] [-1.52144129e-02 9.26999732e-05 9.99884250e-01 -3.41101656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.03862385300002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:178.22, Y:-33.46, Z:-3.41 [[ 9.68325699e-01 2.49257335e-01 1.47010478e-02 1.78222544e+02] [-2.49227079e-01 9.68437283e-01 -3.88482595e-03 -3.34592142e+01] [-1.52053642e-02 9.78776006e-05 9.99884387e-01 -3.41193719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.06862385300002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:178.25, Y:-33.47, Z:-3.41 [[ 9.68473985e-01 2.48682840e-01 1.46623487e-02 1.78249741e+02] [-2.48652692e-01 9.68584965e-01 -3.87361447e-03 -3.34672197e+01] [-1.51650320e-02 1.05662357e-04 9.99884999e-01 -3.41298107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.09862385300002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:178.28, Y:-33.47, Z:-3.41 [[ 9.68575177e-01 2.48311368e-01 1.42685700e-02 1.78277486e+02] [-2.48282787e-01 9.68680264e-01 -3.76890579e-03 -3.34748269e+01] [-1.47575443e-02 1.07828267e-04 9.99891096e-01 -3.41440547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.12862385300002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:178.30, Y:-33.48, Z:-3.42 [[ 9.68732343e-01 2.47727680e-01 1.37348041e-02 1.78303957e+02] [-2.47701148e-01 9.68829698e-01 -3.62728245e-03 -3.34842566e+01] [-1.42052644e-02 1.11739077e-04 9.99899094e-01 -3.41600942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.15862385300002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:178.33, Y:-33.49, Z:-3.42 [[ 9.68876273e-01 2.47178786e-01 1.34690457e-02 1.78331458e+02] [-2.47153230e-01 9.68969883e-01 -3.55620386e-03 -3.34933298e+01] [-1.39301178e-02 1.16603388e-04 9.99902964e-01 -3.41699465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.18862385300002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:178.36, Y:-33.50, Z:-3.42 [[ 9.69226505e-01 2.45828167e-01 1.29805689e-02 1.78356780e+02] [-2.45804318e-01 9.69313414e-01 -3.42665329e-03 -3.35046508e+01] [-1.34246074e-02 1.30523313e-04 9.99909877e-01 -3.41814183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.21862385300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:178.38, Y:-33.51, Z:-3.42 [[ 9.69406511e-01 2.45125253e-01 1.28307076e-02 1.78384273e+02] [-2.45101901e-01 9.69491409e-01 -3.38623331e-03 -3.35133399e+01] [-1.32693121e-02 1.37805791e-04 9.99911949e-01 -3.41834291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.24862385300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:178.41, Y:-33.52, Z:-3.42 [[ 9.69560913e-01 2.44498267e-01 1.31237827e-02 1.78412237e+02] [-2.44473788e-01 9.69649718e-01 -3.46290594e-03 -3.35218004e+01] [-1.35721467e-02 1.49077361e-04 9.99907883e-01 -3.41845893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.27862385300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:178.44, Y:-33.53, Z:-3.42 [[ 9.69704920e-01 2.43908273e-01 1.34581536e-02 1.78438495e+02] [-2.43882483e-01 9.69798293e-01 -3.55047051e-03 -3.35316169e+01] [-1.39176835e-02 1.60700808e-04 9.99903131e-01 -3.41856755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.308623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:178.46, Y:-33.54, Z:-3.42 [[ 9.69682508e-01 2.43964245e-01 1.40456800e-02 1.78464713e+02] [-2.43936176e-01 9.69784213e-01 -3.70441926e-03 -3.35399864e+01] [-1.45250246e-02 1.65861099e-04 9.99894493e-01 -3.41770159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.338623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:178.49, Y:-33.55, Z:-3.42 [[ 9.69625022e-01 2.44166662e-01 1.44899417e-02 1.78492340e+02] [-2.44136825e-01 9.69733269e-01 -3.82061919e-03 -3.35469744e+01] [-1.49842464e-02 1.67039594e-04 9.99887716e-01 -3.41744550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.368623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:178.52, Y:-33.56, Z:-3.42 [[ 9.69554547e-01 2.44443270e-01 1.45419191e-02 1.78518736e+02] [-2.44413261e-01 9.69663582e-01 -3.83361049e-03 -3.35560348e+01] [-1.50378697e-02 1.62656612e-04 9.99886912e-01 -3.41807659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.398623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:178.55, Y:-33.56, Z:-3.42 [[ 9.69413355e-01 2.45005395e-01 1.44949657e-02 1.78546359e+02] [-2.44975657e-01 9.69521703e-01 -3.82027934e-03 -3.35643076e+01] [-1.49891729e-02 1.52516077e-04 9.99887644e-01 -3.41848428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.428623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:178.57, Y:-33.57, Z:-3.42 [[ 9.69230169e-01 2.45729093e-01 1.44945505e-02 1.78574094e+02] [-2.45699448e-01 9.69338534e-01 -3.81944026e-03 -3.35709081e+01] [-1.49886739e-02 1.40613688e-04 9.99887654e-01 -3.41883917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.458623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:178.60, Y:-33.58, Z:-3.42 [[ 9.69012212e-01 2.46588590e-01 1.44706713e-02 1.78600799e+02] [-2.46559149e-01 9.69120246e-01 -3.81244703e-03 -3.35783858e+01] [-1.49639264e-02 1.26431337e-04 9.99888026e-01 -3.41974726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.488623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:178.63, Y:-33.58, Z:-3.42 [[ 9.68789760e-01 2.47462435e-01 1.44479650e-02 1.78628903e+02] [-2.47433198e-01 9.68897482e-01 -3.80551954e-03 -3.35847985e+01] [-1.49403200e-02 1.11842183e-04 9.99888381e-01 -3.41998919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.518623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:178.66, Y:-33.59, Z:-3.42 [[ 9.68373836e-01 2.49117908e-01 1.38701656e-02 1.78656760e+02] [-2.49091142e-01 9.68473160e-01 -3.65266726e-03 -3.35920130e+01] [-1.43428279e-02 8.22120224e-05 9.99897133e-01 -3.42124553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.548623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:178.68, Y:-33.60, Z:-3.42 [[ 9.68125049e-01 2.50087872e-01 1.37820631e-02 1.78683711e+02] [-2.50061552e-01 9.68223142e-01 -3.62882011e-03 -3.35981331e+01] [-1.42516364e-02 6.67875507e-05 9.99898438e-01 -3.42211265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.578623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:178.71, Y:-33.60, Z:-3.42 [[ 9.67819386e-01 2.51248697e-01 1.41325191e-02 1.78712441e+02] [-2.51221159e-01 9.67922564e-01 -3.72014879e-03 -3.36041522e+01] [-1.46138667e-02 5.00442890e-05 9.99893210e-01 -3.42177293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.608623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:178.74, Y:-33.61, Z:-3.42 [[ 9.67831179e-01 2.51203258e-01 1.41326937e-02 1.78739861e+02] [-2.51175724e-01 9.67934358e-01 -3.71948528e-03 -3.36112753e+01] [-1.46138667e-02 5.00442344e-05 9.99893210e-01 -3.42227247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.638623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:178.77, Y:-33.62, Z:-3.42 [[ 9.67514117e-01 2.52424986e-01 1.40733814e-02 1.78766950e+02] [-2.52397822e-01 9.67616466e-01 -3.70320889e-03 -3.36170292e+01] [-1.45524180e-02 3.08160729e-05 9.99894107e-01 -3.42294506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.668623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:178.79, Y:-33.62, Z:-3.42 [[ 9.66824879e-01 2.55055437e-01 1.40134583e-02 1.78794488e+02] [-2.55028792e-01 9.66926432e-01 -3.68660656e-03 -3.36216443e+01] [-1.44902722e-02 -9.53238884e-06 9.99895010e-01 -3.42369504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.69862385300002 meters Centerline goodness [0,1] 0.9999788090697181 Centerline is valid? [True, True] Translation: X:178.82, Y:-33.63, Z:-3.42 [[ 9.66526894e-01 2.56200420e-01 1.36787510e-02 1.78821515e+02] [-2.56175162e-01 9.66623683e-01 -3.59752576e-03 -3.36271799e+01] [-1.41438922e-02 -2.70508508e-05 9.99899970e-01 -3.42496067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.72862385300002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:178.85, Y:-33.63, Z:-3.43 [[ 9.66236093e-01 2.57302947e-01 1.35279889e-02 1.78849505e+02] [-2.57278363e-01 9.66330788e-01 -3.55700842e-03 -3.36330841e+01] [-1.39877409e-02 -4.35489094e-05 9.99902166e-01 -3.42589979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.75862385300002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:178.88, Y:-33.64, Z:-3.43 [[ 9.65839366e-01 2.58811089e-01 1.30820072e-02 1.78876640e+02] [-2.58788245e-01 9.65927956e-01 -3.43924926e-03 -3.36384443e+01] [-1.35263923e-02 -6.37073616e-05 9.99908512e-01 -3.42850500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.78862385300002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:178.90, Y:-33.65, Z:-3.43 [[ 9.65740849e-01 2.59176663e-01 1.31175473e-02 1.78904846e+02] [-2.59153744e-01 9.65829929e-01 -3.44740286e-03 -3.36453763e+01] [-1.35628061e-02 -7.01637227e-05 9.99908018e-01 -3.42929885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.81862385300002 meters Centerline goodness [0,1] 0.9999786880354631 Centerline is valid? [True, True] Translation: X:178.93, Y:-33.65, Z:-3.43 [[ 9.65648711e-01 2.59525457e-01 1.30039621e-02 1.78931739e+02] [-2.59502973e-01 9.65736264e-01 -3.41698506e-03 -3.36521763e+01] [-1.34451924e-02 -7.49596063e-05 9.99909607e-01 -3.43006194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.84862385300002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:178.96, Y:-33.66, Z:-3.43 [[ 9.65566773e-01 2.59829192e-01 1.30230050e-02 1.78959737e+02] [-2.59806680e-01 9.65654589e-01 -3.42116545e-03 -3.36598025e+01] [-1.34646432e-02 -8.01000084e-05 9.99909344e-01 -3.43023986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.87862385300002 meters Centerline goodness [0,1] 0.9999784575613959 Centerline is valid? [True, True] Translation: X:178.99, Y:-33.67, Z:-3.43 [[ 9.65415154e-01 2.60367847e-01 1.34968621e-02 1.78987023e+02] [-2.60343729e-01 9.65509490e-01 -3.54499426e-03 -3.36690434e+01] [-1.39543510e-02 -9.14322196e-05 9.99902629e-01 -3.42897138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.90862385300002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:179.01, Y:-33.67, Z:-3.43 [[ 9.65276635e-01 2.60875287e-01 1.36052030e-02 1.79014769e+02] [-2.60850840e-01 9.65372506e-01 -3.57278606e-03 -3.36738969e+01] [-1.40661405e-02 -1.00201711e-04 9.99901062e-01 -3.43016922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.93862385300002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:179.04, Y:-33.68, Z:-3.43 [[ 9.65114915e-01 2.61468125e-01 1.36974636e-02 1.79042633e+02] [-2.61443419e-01 9.65212105e-01 -3.59607134e-03 -3.36797882e+01] [-1.41612157e-02 -1.10489637e-04 9.99899719e-01 -3.43050203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.96862385300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:179.07, Y:-33.69, Z:-3.43 [[ 9.64704524e-01 2.62967703e-01 1.38984946e-02 1.79070847e+02] [-2.62942430e-01 9.64804627e-01 -3.64819789e-03 -3.36865108e+01] [-1.43686901e-02 -1.35070943e-04 9.99896756e-01 -3.42903624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.99862385300003 meters Centerline goodness [0,1] 0.9999141041058237 Centerline is valid? [True, True] Translation: X:179.10, Y:-33.69, Z:-3.43 [[ 9.64476463e-01 2.63784025e-01 1.42527370e-02 1.79098736e+02] [-2.63757547e-01 9.64581757e-01 -3.74045174e-03 -3.36911006e+01] [-1.47346015e-02 -1.51689280e-04 9.99891428e-01 -3.42939459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.02862385300003 meters Centerline goodness [0,1] 0.9998716000770399 Centerline is valid? [True, True] Translation: X:179.13, Y:-33.70, Z:-3.43 [[ 9.64229300e-01 2.64681822e-01 1.43314203e-02 1.79126857e+02] [-2.64655165e-01 9.64335784e-01 -3.76012620e-03 -3.36973443e+01] [-1.48155385e-02 -1.67260545e-04 9.99890230e-01 -3.42881910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.058623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:179.15, Y:-33.70, Z:-3.43 [[ 9.63944207e-01 2.65701477e-01 1.46386621e-02 1.79154524e+02] [-2.65673793e-01 9.64055336e-01 -3.84001037e-03 -3.37010002e+01] [-1.51327767e-02 -1.87553123e-04 9.99885475e-01 -3.42910243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.088623853 meters Centerline goodness [0,1] 0.9997020198795309 Centerline is valid? [True, True] Translation: X:179.18, Y:-33.70, Z:-3.43 [[ 9.63366039e-01 2.67786872e-01 1.46992024e-02 1.79183465e+02] [-2.67759215e-01 9.63478148e-01 -3.85495970e-03 -3.37004476e+01] [-1.51946679e-02 -2.22109644e-04 9.99884530e-01 -3.42970045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.118623853 meters Centerline goodness [0,1] 0.999828646089918 Centerline is valid? [True, True] Translation: X:179.21, Y:-33.71, Z:-3.43 [[ 9.63114101e-01 2.68689171e-01 1.47430829e-02 1.79210918e+02] [-2.68661469e-01 9.63226906e-01 -3.86555674e-03 -3.37082012e+01] [-1.52395673e-02 -2.37926101e-04 9.99883843e-01 -3.42967043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.148623853 meters Centerline goodness [0,1] 0.9997459134411789 Centerline is valid? [True, True] Translation: X:179.24, Y:-33.71, Z:-3.43 [[ 9.62878626e-01 2.69529291e-01 1.47889347e-02 1.79239693e+02] [-2.69501526e-01 9.62992159e-01 -3.87685640e-03 -3.37130965e+01] [-1.52865545e-02 -2.52698312e-04 9.99883122e-01 -3.43024083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.178623853 meters Centerline goodness [0,1] 0.9996781530275072 Centerline is valid? [True, True] Translation: X:179.27, Y:-33.72, Z:-3.43 [[ 9.62646911e-01 2.70348432e-01 1.49214522e-02 1.79267930e+02] [-2.70320277e-01 9.62762511e-01 -3.91085579e-03 -3.37181695e+01] [-1.54231085e-02 -2.68797838e-04 9.99881021e-01 -3.43033756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.208623853 meters Centerline goodness [0,1] 0.9996349738040025 Centerline is valid? [True, True] Translation: X:179.30, Y:-33.72, Z:-3.43 [[ 9.62384336e-01 2.71242603e-01 1.56154157e-02 1.79297155e+02] [-2.71211899e-01 9.62510967e-01 -4.09191700e-03 -3.37218144e+01] [-1.61399111e-02 -2.97089714e-04 9.99869699e-01 -3.43012291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.238623853 meters Centerline goodness [0,1] 0.9995906407549446 Centerline is valid? [True, True] Translation: X:179.33, Y:-33.73, Z:-3.43 [[ 9.62335997e-01 2.71416584e-01 1.55713312e-02 1.79325415e+02] [-2.71386089e-01 9.62461920e-01 -4.07958281e-03 -3.37278215e+01] [-1.60940797e-02 -2.99913272e-04 9.99870437e-01 -3.43023110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.268623853 meters Centerline goodness [0,1] 0.9996563426264015 Centerline is valid? [True, True] Translation: X:179.35, Y:-33.73, Z:-3.43 [[ 9.62301720e-01 2.71545308e-01 1.54449068e-02 1.79353378e+02] [-2.71515335e-01 9.62425610e-01 -4.04568709e-03 -3.37333750e+01] [-1.59631612e-02 -3.00357400e-04 9.99872536e-01 -3.43101953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.298623853 meters Centerline goodness [0,1] 0.999633241284087 Centerline is valid? [True, True] Translation: X:179.38, Y:-33.74, Z:-3.43 [[ 9.62344098e-01 2.71423183e-01 1.49430024e-02 1.79381229e+02] [-2.71395122e-01 9.62460063e-01 -3.91354755e-03 -3.37381062e+01] [-1.54442705e-02 -2.89278559e-04 9.99880688e-01 -3.43258324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.328623853 meters Centerline goodness [0,1] 0.9997210539867822 Centerline is valid? [True, True] Translation: X:179.41, Y:-33.74, Z:-3.43 [[ 9.62434289e-01 2.71101316e-01 1.49772007e-02 1.79408692e+02] [-2.71073106e-01 9.62550775e-01 -3.92132315e-03 -3.37423887e+01] [-1.54793920e-02 -2.85900459e-04 9.99880146e-01 -3.43314188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.358623853 meters Centerline goodness [0,1] 0.9996135680549592 Centerline is valid? [True, True] Translation: X:179.44, Y:-33.75, Z:-3.43 [[ 9.62492165e-01 2.70892077e-01 1.50437650e-02 1.79435778e+02] [-2.70863604e-01 9.62609683e-01 -3.93783409e-03 -3.37459415e+01] [-1.55480019e-02 -2.84673947e-04 9.99879082e-01 -3.43342353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.388623853 meters Centerline goodness [0,1] 0.9993306415045452 Centerline is valid? [True, True] Translation: X:179.47, Y:-33.75, Z:-3.43 [[ 9.62679255e-01 2.70266740e-01 1.43017852e-02 1.79465170e+02] [-2.70240956e-01 9.62785449e-01 -3.74233129e-03 -3.37464365e+01] [-1.47809784e-02 -2.62263416e-04 9.99890721e-01 -3.42713314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.418623853 meters Centerline goodness [0,1] 0.9997193921602486 Centerline is valid? [True, True] Translation: X:179.49, Y:-33.75, Z:-3.44 [[ 9.62777829e-01 2.69908513e-01 1.44307316e-02 1.79492953e+02] [-2.69882233e-01 9.62885937e-01 -3.77534754e-03 -3.37528703e+01] [-1.49141470e-02 -2.59777173e-04 9.99888744e-01 -3.43640071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.44862385300002 meters Centerline goodness [0,1] 0.999763471380037 Centerline is valid? [True, True] Translation: X:179.52, Y:-33.76, Z:-3.44 [[ 9.62993496e-01 2.69152605e-01 1.41563307e-02 1.79520661e+02] [-2.69127243e-01 9.63097511e-01 -3.70288032e-03 -3.37611654e+01] [-1.46305668e-02 -2.44004588e-04 9.99892938e-01 -3.43761175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.47862385300002 meters Centerline goodness [0,1] 0.9997619511350603 Centerline is valid? [True, True] Translation: X:179.55, Y:-33.77, Z:-3.44 [[ 9.63249831e-01 2.68246472e-01 1.39137807e-02 1.79548777e+02] [-2.68221887e-01 9.63350289e-01 -3.63873245e-03 -3.37674108e+01] [-1.43799218e-02 -2.26972109e-04 9.99896578e-01 -3.43857637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.50862385300002 meters Centerline goodness [0,1] 0.99991299997825 Centerline is valid? [True, True] Translation: X:179.58, Y:-33.77, Z:-3.44 [[ 9.64079226e-01 2.65279600e-01 1.33409496e-02 1.79577122e+02] [-2.65256723e-01 9.64171511e-01 -3.48827791e-03 -3.37736521e+01] [-1.37883325e-02 -1.75800295e-04 9.99904921e-01 -3.44048717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.53862385300002 meters Centerline goodness [0,1] 0.9999147230631475 Centerline is valid? [True, True] Translation: X:179.60, Y:-33.78, Z:-3.44 [[ 9.64593343e-01 2.63431506e-01 1.27876620e-02 1.79604261e+02] [-2.63410332e-01 9.64678092e-01 -3.34303321e-03 -3.37796352e+01] [-1.32166377e-02 -1.43734725e-04 9.99912646e-01 -3.44273979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.56862385300002 meters Centerline goodness [0,1] 0.99991452260877 Centerline is valid? [True, True] Translation: X:179.63, Y:-33.79, Z:-3.44 [[ 9.65246520e-01 2.61041736e-01 1.25047331e-02 1.79631395e+02] [-2.61021299e-01 9.65327509e-01 -3.26821207e-03 -3.37878080e+01] [-1.29243026e-02 -1.09371347e-04 9.99916472e-01 -3.44440048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.59862385300002 meters Centerline goodness [0,1] 0.9999783671526846 Centerline is valid? [True, True] Translation: X:179.66, Y:-33.80, Z:-3.44 [[ 9.65957726e-01 2.58413669e-01 1.21675046e-02 1.79658875e+02] [-2.58394118e-01 9.66034353e-01 -3.17950184e-03 -3.37978801e+01] [-1.25758542e-02 -7.27472481e-05 9.99920918e-01 -3.44431923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.62862385300002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:179.68, Y:-33.81, Z:-3.45 [[ 9.67494329e-01 2.52622083e-01 1.16963978e-02 1.79684669e+02] [-2.52603600e-01 9.67565028e-01 -3.05588800e-03 -3.38087847e+01] [-1.20890103e-02 2.00211836e-06 9.99926925e-01 -3.44599086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.65862385300002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:179.71, Y:-33.82, Z:-3.45 [[ 9.68278272e-01 2.49598776e-01 1.17319266e-02 1.79711821e+02] [-2.49579968e-01 9.68349343e-01 -3.06432448e-03 -3.38191845e+01] [-1.21254551e-02 3.90649437e-05 9.99926483e-01 -3.44703135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.68862385300002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:179.74, Y:-33.83, Z:-3.45 [[ 9.69114443e-01 2.46332141e-01 1.17333894e-02 1.79738809e+02] [-2.46313096e-01 9.69185467e-01 -3.06411588e-03 -3.38300430e+01] [-1.21266207e-02 7.93914953e-05 9.99926467e-01 -3.44728274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.71862385300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:179.76, Y:-33.85, Z:-3.45 [[ 9.70696592e-01 2.40008100e-01 1.20099038e-02 1.79764192e+02] [-2.39987670e-01 9.70770872e-01 -3.13563562e-03 -3.38457423e+01] [-1.24114427e-02 1.61521982e-04 9.99922962e-01 -3.44753978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.74862385300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:179.79, Y:-33.86, Z:-3.45 [[ 9.71460219e-01 2.36862147e-01 1.27030031e-02 1.79791846e+02] [-2.36839028e-01 9.71543245e-01 -3.31614231e-03 -3.38550935e+01] [-1.31269854e-02 2.12933429e-04 9.99913815e-01 -3.44642026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.77862385300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:179.82, Y:-33.87, Z:-3.45 [[ 9.72166558e-01 2.33932388e-01 1.29545997e-02 1.79817854e+02] [-2.33908094e-01 9.72252833e-01 -3.38106842e-03 -3.38676056e+01] [-1.33860877e-02 2.56775920e-04 9.99910369e-01 -3.44675827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.808623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:179.85, Y:-33.88, Z:-3.45 [[ 9.72790377e-01 2.31327617e-01 1.29002185e-02 1.79845651e+02] [-2.31303303e-01 9.72875865e-01 -3.36643023e-03 -3.38771566e+01] [-1.33290595e-02 2.90967772e-04 9.99911122e-01 -3.44700244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.838623853 meters Centerline goodness [0,1] 0.9999366834807201 Centerline is valid? [True, True] Translation: X:179.87, Y:-33.89, Z:-3.45 [[ 9.73740696e-01 2.27314474e-01 1.25374226e-02 1.79870817e+02] [-2.27291181e-01 9.73821348e-01 -3.27135625e-03 -3.38929074e+01] [-1.29528364e-02 3.35807125e-04 9.99916052e-01 -3.44865466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.868623853 meters Centerline goodness [0,1] 0.999870301117572 Centerline is valid? [True, True] Translation: X:179.90, Y:-33.90, Z:-3.45 [[ 9.74064876e-01 2.25897440e-01 1.29600733e-02 1.79900455e+02] [-2.25872435e-01 9.74151022e-01 -3.38086540e-03 -3.38969765e+01] [-1.33887975e-02 3.65858914e-04 9.99910299e-01 -3.44766494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.898623853 meters Centerline goodness [0,1] 0.9998291291996839 Centerline is valid? [True, True] Translation: X:179.93, Y:-33.91, Z:-3.45 [[ 9.74236200e-01 2.25165801e-01 1.28136194e-02 1.79926550e+02] [-2.25141298e-01 9.74320391e-01 -3.34238715e-03 -3.39093407e+01] [-1.32371620e-02 3.71399647e-04 9.99912316e-01 -3.44883535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.928623853 meters Centerline goodness [0,1] 0.9997415631124416 Centerline is valid? [True, True] Translation: X:179.95, Y:-33.92, Z:-3.45 [[ 9.74316540e-01 2.24827156e-01 1.26502599e-02 1.79952980e+02] [-2.24803251e-01 9.74398590e-01 -3.29939644e-03 -3.39186391e+01] [-1.30681893e-02 3.70836981e-04 9.99914539e-01 -3.44907401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.958623853 meters Centerline goodness [0,1] 0.9995505329395146 Centerline is valid? [True, True] Translation: X:179.98, Y:-33.92, Z:-3.45 [[ 9.74054626e-01 2.25972790e-01 1.24050224e-02 1.79982007e+02] [-2.25949906e-01 9.74133552e-01 -3.23463684e-03 -3.39226444e+01] [-1.28150884e-02 3.47799333e-04 9.99917823e-01 -3.44926877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.988623853 meters Centerline goodness [0,1] 0.999462769958096 Centerline is valid? [True, True] Translation: X:180.01, Y:-33.93, Z:-3.45 [[ 9.73871894e-01 2.26761249e-01 1.23640940e-02 1.80010615e+02] [-2.26738587e-01 9.73950319e-01 -3.22335395e-03 -3.39278672e+01] [-1.27729450e-02 3.35716619e-04 9.99918366e-01 -3.44913364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.018623853 meters Centerline goodness [0,1] 0.9992914805908623 Centerline is valid? [True, True] Translation: X:180.04, Y:-33.94, Z:-3.45 [[ 9.73241485e-01 2.29432219e-01 1.27227399e-02 1.80038547e+02] [-2.29408461e-01 9.73324592e-01 -3.31612059e-03 -3.39353796e+01] [-1.31441806e-02 3.08681943e-04 9.99913564e-01 -3.44887500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.048623853 meters Centerline goodness [0,1] 0.9992261725635183 Centerline is valid? [True, True] Translation: X:180.07, Y:-33.94, Z:-3.45 [[ 9.72832370e-01 2.31162879e-01 1.26847923e-02 1.80067371e+02] [-2.31139415e-01 9.72915023e-01 -3.30579923e-03 -3.39392782e+01] [-1.31054030e-02 2.84033030e-04 9.99914080e-01 -3.44912355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.078623853 meters Centerline goodness [0,1] 0.9990339823540777 Centerline is valid? [True, True] Translation: X:180.10, Y:-33.94, Z:-3.45 [[ 9.72408162e-01 2.32937015e-01 1.27559272e-02 1.80096216e+02] [-2.32913448e-01 9.72491789e-01 -3.32363847e-03 -3.39445662e+01] [-1.31792329e-02 2.60906186e-04 9.99913116e-01 -3.44957511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.108623853 meters Centerline goodness [0,1] 0.9990750898023273 Centerline is valid? [True, True] Translation: X:180.12, Y:-33.95, Z:-3.45 [[ 9.71985296e-01 2.34701253e-01 1.26454217e-02 1.80123606e+02] [-2.34678248e-01 9.72067522e-01 -3.29442737e-03 -3.39517271e+01] [-1.30654100e-02 2.34529548e-04 9.99914616e-01 -3.45031523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.138623853 meters Centerline goodness [0,1] 0.9991473033468343 Centerline is valid? [True, True] Translation: X:180.15, Y:-33.96, Z:-3.45 [[ 9.71561098e-01 2.36459968e-01 1.24786762e-02 1.80152621e+02] [-2.36437719e-01 9.71641210e-01 -3.25030747e-03 -3.39566531e+01] [-1.28933636e-02 2.07442566e-04 9.99916856e-01 -3.45118879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.168623853 meters Centerline goodness [0,1] 0.9989734816082122 Centerline is valid? [True, True] Translation: X:180.18, Y:-33.96, Z:-3.45 [[ 9.70771086e-01 2.39719824e-01 1.17432584e-02 1.80181716e+02] [-2.39700362e-01 9.70842100e-01 -3.05842145e-03 -3.39602183e+01] [-1.21340139e-02 1.54163815e-04 9.99926368e-01 -3.45273173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.19862385300002 meters Centerline goodness [0,1] 0.9993123012120692 Centerline is valid? [True, True] Translation: X:180.21, Y:-33.97, Z:-3.45 [[ 9.70328228e-01 2.41498913e-01 1.18913856e-02 1.80208920e+02] [-2.41479097e-01 9.70401081e-01 -3.09654913e-03 -3.39664066e+01] [-1.22872267e-02 1.33147987e-04 9.99924500e-01 -3.45437230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.22862385300002 meters Centerline goodness [0,1] 0.9993523176234375 Centerline is valid? [True, True] Translation: X:180.24, Y:-33.97, Z:-3.45 [[ 9.69901699e-01 2.43216704e-01 1.16759702e-02 1.80237975e+02] [-2.43197736e-01 9.69971970e-01 -3.03941085e-03 -3.39704971e+01] [-1.20645993e-02 1.08360234e-04 9.99927214e-01 -3.45425307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.25862385300002 meters Centerline goodness [0,1] 0.999331910950195 Centerline is valid? [True, True] Translation: X:180.27, Y:-33.97, Z:-3.45 [[ 9.68864393e-01 2.47301680e-01 1.19861291e-02 1.80267379e+02] [-2.47282011e-01 9.68938530e-01 -3.11953146e-03 -3.39726669e+01] [-1.23852877e-02 5.84488476e-05 9.99923298e-01 -3.45388398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.28862385300002 meters Centerline goodness [0,1] 0.9995273492888755 Centerline is valid? [True, True] Translation: X:180.30, Y:-33.98, Z:-3.45 [[ 9.68296369e-01 2.49515271e-01 1.20112696e-02 1.80296135e+02] [-2.49495697e-01 9.68370863e-01 -3.12547002e-03 -3.39766314e+01] [-1.24112160e-02 2.96211962e-05 9.99922977e-01 -3.45359080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.31862385300002 meters Centerline goodness [0,1] 0.9996982368409708 Centerline is valid? [True, True] Translation: X:180.32, Y:-33.98, Z:-3.45 [[ 9.67699843e-01 2.51799082e-01 1.24191571e-02 1.80324828e+02] [-2.51778352e-01 9.67779532e-01 -3.23096023e-03 -3.39804354e+01] [-1.28325589e-02 -2.75199536e-07 9.99917659e-01 -3.45259650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.34862385300002 meters Centerline goodness [0,1] 0.9999138988742278 Centerline is valid? [True, True] Translation: X:180.35, Y:-33.98, Z:-3.45 [[ 9.66616355e-01 2.55888826e-01 1.31807298e-02 1.80353878e+02] [-2.55865863e-01 9.66706215e-01 -3.42851957e-03 -3.39804610e+01] [-1.36192133e-02 -5.84357198e-05 9.99907253e-01 -3.45185107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.37862385300002 meters Centerline goodness [0,1] 0.9998920622584893 Centerline is valid? [True, True] Translation: X:180.38, Y:-33.99, Z:-3.45 [[ 9.66110268e-01 2.57774218e-01 1.35426159e-02 1.80382201e+02] [-2.57750184e-01 9.66205177e-01 -3.52112937e-03 -3.39852500e+01] [-1.39926020e-02 -8.88125101e-05 9.99902095e-01 -3.45128422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.40862385300002 meters Centerline goodness [0,1] 0.999809140069982 Centerline is valid? [True, True] Translation: X:180.41, Y:-33.99, Z:-3.45 [[ 9.65729030e-01 2.59188705e-01 1.37351847e-02 1.80409510e+02] [-2.59164134e-01 9.65826694e-01 -3.57057054e-03 -3.39887446e+01] [-1.41912596e-02 -1.11463636e-04 9.99899293e-01 -3.45153804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.43862385300002 meters Centerline goodness [0,1] 0.9999574232554179 Centerline is valid? [True, True] Translation: X:180.44, Y:-34.00, Z:-3.45 [[ 9.65401843e-01 2.60378311e-01 1.42273013e-02 1.80438153e+02] [-2.60352094e-01 9.65506664e-01 -3.69730090e-03 -3.39951304e+01] [-1.46992512e-02 -1.34726585e-04 9.99891951e-01 -3.45050714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.46862385300003 meters Centerline goodness [0,1] 0.9997848074026253 Centerline is valid? [True, True] Translation: X:180.47, Y:-34.00, Z:-3.45 [[ 9.65143354e-01 2.61318607e-01 1.45221380e-02 1.80466375e+02] [-2.61291410e-01 9.65252590e-01 -3.77317007e-03 -3.40001981e+01] [-1.50035309e-02 -1.52859893e-04 9.99887429e-01 -3.45089023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.49862385300003 meters Centerline goodness [0,1] 0.9997848074026253 Centerline is valid? [True, True] Translation: X:180.49, Y:-34.01, Z:-3.45 [[ 9.65161929e-01 2.61249983e-01 1.45223006e-02 1.80493019e+02] [-2.61222788e-01 9.65271166e-01 -3.77254394e-03 -3.40069817e+01] [-1.50035351e-02 -1.52440070e-04 9.99887429e-01 -3.45137508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.52862385300003 meters Centerline goodness [0,1] 0.9997842083683994 Centerline is valid? [True, True] Translation: X:180.52, Y:-34.01, Z:-3.45 [[ 9.64866204e-01 2.62379208e-01 1.37971136e-02 1.80521249e+02] [-2.62354790e-01 9.64964831e-01 -3.58324231e-03 -3.40108073e+01] [-1.42538976e-02 -1.62389426e-04 9.99898395e-01 -3.45312736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.558623853 meters Centerline goodness [0,1] 0.999848887161885 Centerline is valid? [True, True] Translation: X:180.55, Y:-34.02, Z:-3.45 [[ 9.64891971e-01 2.62304323e-01 1.34137048e-02 1.80547215e+02] [-2.62281253e-01 9.64985190e-01 -3.48239821e-03 -3.40161928e+01] [-1.38574746e-02 -1.58025223e-04 9.99903968e-01 -3.45462313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.588623853 meters Centerline goodness [0,1] 0.9996550162789193 Centerline is valid? [True, True] Translation: X:180.57, Y:-34.02, Z:-3.45 [[ 9.64865013e-01 2.62427423e-01 1.29365457e-02 1.80574533e+02] [-2.62405991e-01 9.64951721e-01 -3.35743511e-03 -3.40209393e+01] [-1.33642251e-02 -1.55155434e-04 9.99910683e-01 -3.44818201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.618623853 meters Centerline goodness [0,1] 0.9998066636592124 Centerline is valid? [True, True] Translation: X:180.60, Y:-34.03, Z:-3.46 [[ 9.65132812e-01 2.61428398e-01 1.31851264e-02 1.80601808e+02] [-2.61406062e-01 9.65222861e-01 -3.42046073e-03 -3.40295318e+01] [-1.36207910e-02 -1.45473081e-04 9.99907222e-01 -3.45553729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.648623853 meters Centerline goodness [0,1] 0.9998293952060053 Centerline is valid? [True, True] Translation: X:180.63, Y:-34.04, Z:-3.46 [[ 9.65211878e-01 2.61128079e-01 1.33475460e-02 1.80627967e+02] [-2.61105168e-01 9.65304152e-01 -3.46203873e-03 -3.40355432e+01] [-1.37884771e-02 -1.43512333e-04 9.99904924e-01 -3.45544006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.678623853 meters Centerline goodness [0,1] 0.9997848305540613 Centerline is valid? [True, True] Translation: X:180.66, Y:-34.04, Z:-3.46 [[ 9.65282862e-01 2.60852547e-01 1.35994374e-02 1.80655502e+02] [-2.60828754e-01 9.65378645e-01 -3.52599340e-03 -3.40425487e+01] [-1.40483708e-02 -1.43543328e-04 9.99901306e-01 -3.45587264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.708623853 meters Centerline goodness [0,1] 0.9998497886311453 Centerline is valid? [True, True] Translation: X:180.68, Y:-34.05, Z:-3.46 [[ 9.65323646e-01 2.60696963e-01 1.36876676e-02 1.80681787e+02] [-2.60672853e-01 9.65420672e-01 -3.54829023e-03 -3.40471193e+01] [-1.41393857e-02 -1.42754899e-04 9.99900024e-01 -3.45642066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.738623853 meters Centerline goodness [0,1] 0.999871729091842 Centerline is valid? [True, True] Translation: X:180.71, Y:-34.05, Z:-3.46 [[ 9.65455081e-01 2.60197199e-01 1.39249105e-02 1.80710216e+02] [-2.60172215e-01 9.65555487e-01 -3.60839447e-03 -3.40534151e+01] [-1.43841678e-02 -1.39132022e-04 9.99896533e-01 -3.45601811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.768623853 meters Centerline goodness [0,1] 0.9998491639372522 Centerline is valid? [True, True] Translation: X:180.74, Y:-34.06, Z:-3.46 [[ 9.65503184e-01 2.59995959e-01 1.43423487e-02 1.80738156e+02] [-2.59969443e-01 9.65609694e-01 -3.71582609e-03 -3.40593384e+01] [-1.48152108e-02 -1.40930496e-04 9.99890239e-01 -3.45647094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.798623853 meters Centerline goodness [0,1] 0.9998699835312473 Centerline is valid? [True, True] Translation: X:180.77, Y:-34.07, Z:-3.46 [[ 9.65621123e-01 2.59575529e-01 1.40139689e-02 1.80765766e+02] [-2.59550179e-01 9.65722800e-01 -3.63007093e-03 -3.40658261e+01] [-1.44758869e-02 -1.32054975e-04 9.99895210e-01 -3.45719454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.828623853 meters Centerline goodness [0,1] 0.9998487009899278 Centerline is valid? [True, True] Translation: X:180.79, Y:-34.07, Z:-3.46 [[ 9.65886451e-01 2.58613630e-01 1.35038539e-02 1.80792703e+02] [-2.58590006e-01 9.65980837e-01 -3.49732797e-03 -3.40718509e+01] [-1.39489208e-02 -1.13939966e-04 9.99902703e-01 -3.45912250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.858623853 meters Centerline goodness [0,1] 0.9998059382883757 Centerline is valid? [True, True] Translation: X:180.82, Y:-34.08, Z:-3.46 [[ 9.66033237e-01 2.58081208e-01 1.31861591e-02 1.80820341e+02] [-2.58058645e-01 9.66123221e-01 -3.41420258e-03 -3.40793215e+01] [-1.36205961e-02 -1.04569185e-04 9.99907230e-01 -3.46000812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.888623853 meters Centerline goodness [0,1] 0.9998468572928745 Centerline is valid? [True, True] Translation: X:180.85, Y:-34.09, Z:-3.46 [[ 9.66146507e-01 2.57659326e-01 1.31376716e-02 1.80847261e+02] [-2.57636897e-01 9.66235821e-01 -3.40107738e-03 -3.40856295e+01] [-1.35704082e-02 -9.88099129e-05 9.99907913e-01 -3.46061279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.918623853 meters Centerline goodness [0,1] 0.9997638319342165 Centerline is valid? [True, True] Translation: X:180.87, Y:-34.09, Z:-3.46 [[ 9.66339644e-01 2.56964793e-01 1.25215031e-02 1.80873619e+02] [-2.56944371e-01 9.66420761e-01 -3.24070453e-03 -3.40898116e+01] [-1.29337875e-02 -8.57084762e-05 9.99916351e-01 -3.46233054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.94862385300002 meters Centerline goodness [0,1] 0.9998710398486867 Centerline is valid? [True, True] Translation: X:180.90, Y:-34.10, Z:-3.46 [[ 9.66420956e-01 2.56687989e-01 1.19084635e-02 1.80900906e+02] [-2.56669510e-01 9.66494320e-01 -3.08096582e-03 -3.40959385e+01] [-1.23003093e-02 -7.90295633e-05 9.99924345e-01 -3.46414727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.97862385300002 meters Centerline goodness [0,1] 0.9999784909231696 Centerline is valid? [True, True] Translation: X:180.93, Y:-34.10, Z:-3.47 [[ 9.66471872e-01 2.56525422e-01 1.12617977e-02 1.80927198e+02] [-2.56508890e-01 9.66537481e-01 -2.91323673e-03 -3.41002310e+01] [-1.16322689e-02 -7.31898800e-05 9.99932340e-01 -3.46665472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.00862385300002 meters Centerline goodness [0,1] 0.9998700961288647 Centerline is valid? [True, True] Translation: X:180.95, Y:-34.11, Z:-3.47 [[ 9.66513581e-01 2.56393981e-01 1.06594257e-02 1.80954979e+02] [-2.56379184e-01 9.66572357e-01 -2.75549015e-03 -3.41064061e+01] [-1.10095973e-02 -6.96362133e-05 9.99939390e-01 -3.46782595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.03862385300002 meters Centerline goodness [0,1] 0.9998707509370557 Centerline is valid? [True, True] Translation: X:180.98, Y:-34.11, Z:-3.47 [[ 9.66661293e-01 2.55862808e-01 1.00084352e-02 1.80982962e+02] [-2.55849737e-01 9.66713101e-01 -2.58696074e-03 -3.41114806e+01] [-1.03371925e-02 -5.99406902e-05 9.99946568e-01 -3.46909037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.06862385300002 meters Centerline goodness [0,1] 0.9997639333004271 Centerline is valid? [True, True] Translation: X:181.01, Y:-34.12, Z:-3.47 [[ 9.66806832e-01 2.55310719e-01 1.00492065e-02 1.81009552e+02] [-2.55297515e-01 9.66859056e-01 -2.59716803e-03 -3.41167020e+01] [-1.03792512e-02 -5.45776510e-05 9.99946133e-01 -3.46953638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.09862385300002 meters Centerline goodness [0,1] 0.9999142017545741 Centerline is valid? [True, True] Translation: X:181.04, Y:-34.12, Z:-3.47 [[ 9.67015986e-01 2.54506051e-01 1.03321532e-02 1.81036865e+02] [-2.54492065e-01 9.67071180e-01 -2.66850404e-03 -3.41226651e+01] [-1.06710780e-02 -4.89649446e-05 9.99943061e-01 -3.47052999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.12862385300002 meters Centerline goodness [0,1] 0.999871789392709 Centerline is valid? [True, True] Translation: X:181.06, Y:-34.13, Z:-3.47 [[ 9.67265689e-01 2.53533836e-01 1.08480705e-02 1.81064889e+02] [-2.53518373e-01 9.67326518e-01 -2.80038332e-03 -3.41306423e+01] [-1.12036182e-02 -4.14704898e-05 9.99937237e-01 -3.46888442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.15862385300002 meters Centerline goodness [0,1] 0.999740927049375 Centerline is valid? [True, True] Translation: X:181.09, Y:-34.14, Z:-3.47 [[ 9.67788965e-01 2.51480293e-01 1.19240051e-02 1.81092903e+02] [-2.51461463e-01 9.67862419e-01 -3.07745452e-03 -3.41388527e+01] [-1.23147155e-02 -2.01012260e-05 9.99924171e-01 -3.46708272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.18862385300002 meters Centerline goodness [0,1] 0.9996306916927354 Centerline is valid? [True, True] Translation: X:181.12, Y:-34.15, Z:-3.46 [[ 9.67960163e-01 2.50805843e-01 1.22290988e-02 1.81121027e+02] [-2.50785992e-01 9.68037411e-01 -3.15556526e-03 -3.41451413e+01] [-1.26296593e-02 -1.24251976e-05 9.99920243e-01 -3.46122688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.21862385300003 meters Centerline goodness [0,1] 0.9996124698587668 Centerline is valid? [True, True] Translation: X:181.15, Y:-34.15, Z:-3.46 [[ 9.68253446e-01 2.49669765e-01 1.22585613e-02 1.81148158e+02] [-2.49649732e-01 9.68331043e-01 -3.16267643e-03 -3.41526331e+01] [-1.26599701e-02 1.92581312e-06 9.99919859e-01 -3.46471673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.24862385300003 meters Centerline goodness [0,1] 0.9997643681854208 Centerline is valid? [True, True] Translation: X:181.18, Y:-34.16, Z:-3.47 [[ 9.68743192e-01 2.47814210e-01 1.11689556e-02 1.81175624e+02] [-2.47797468e-01 9.68807575e-01 -2.88069917e-03 -3.41615862e+01] [-1.15344470e-02 2.30187975e-05 9.99933476e-01 -3.47076418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.27862385300003 meters Centerline goodness [0,1] 0.9996783531682213 Centerline is valid? [True, True] Translation: X:181.20, Y:-34.17, Z:-3.47 [[ 9.68954514e-01 2.47004646e-01 1.07636158e-02 1.81202631e+02] [-2.46989051e-01 9.69014295e-01 -2.77573337e-03 -3.41693437e+01] [-1.11157166e-02 3.10641393e-05 9.99938218e-01 -3.47188249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.308623853 meters Centerline goodness [0,1] 0.9997644438733992 Centerline is valid? [True, True] Translation: X:181.23, Y:-34.18, Z:-3.47 [[ 9.69146197e-01 2.46261380e-01 1.05347689e-02 1.81229840e+02] [-2.46246405e-01 9.69203452e-01 -2.71609084e-03 -3.41769612e+01] [-1.08792026e-02 3.81401528e-05 9.99940819e-01 -3.47355835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.338623853 meters Centerline goodness [0,1] 0.9996528455813751 Centerline is valid? [True, True] Translation: X:181.26, Y:-34.18, Z:-3.47 [[ 9.69341102e-01 2.45512956e-01 1.00606279e-02 1.81256905e+02] [-2.45499263e-01 9.69393308e-01 -2.59328666e-03 -3.41843218e+01] [-1.03893908e-02 4.39026111e-05 9.99946028e-01 -3.47463151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.368623853 meters Centerline goodness [0,1] 0.9996146270446177 Centerline is valid? [True, True] Translation: X:181.28, Y:-34.19, Z:-3.48 [[ 9.69400144e-01 2.45280924e-01 1.00314037e-02 1.81283704e+02] [-2.45267304e-01 9.69452044e-01 -2.58523576e-03 -3.41908809e+01] [-1.03590739e-02 4.57525747e-05 9.99946342e-01 -3.47527805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.398623853 meters Centerline goodness [0,1] 0.999698859969886 Centerline is valid? [True, True] Translation: X:181.31, Y:-34.20, Z:-3.48 [[ 9.69469810e-01 2.45005470e-01 1.00303616e-02 1.81311026e+02] [-2.44991845e-01 9.69521695e-01 -2.58424976e-03 -3.41974496e+01] [-1.03578085e-02 4.79953160e-05 9.99946355e-01 -3.47521886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.428623853 meters Centerline goodness [0,1] 0.9996772319411271 Centerline is valid? [True, True] Translation: X:181.34, Y:-34.20, Z:-3.48 [[ 9.69608190e-01 2.44444846e-01 1.03283260e-02 1.81338230e+02] [-2.44430376e-01 9.69663196e-01 -2.66023817e-03 -3.42045092e+01] [-1.06652791e-02 5.48321072e-05 9.99943123e-01 -3.47521436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.458623853 meters Centerline goodness [0,1] 0.9997222874965286 Centerline is valid? [True, True] Translation: X:181.37, Y:-34.21, Z:-3.47 [[ 9.69857148e-01 2.43436770e-01 1.07541617e-02 1.81365345e+02] [-2.43421031e-01 9.69916767e-01 -2.76895596e-03 -3.42135100e+01] [-1.11047074e-02 6.77025988e-05 9.99938339e-01 -3.47473629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.488623853 meters Centerline goodness [0,1] 0.9995898454364908 Centerline is valid? [True, True] Translation: X:181.39, Y:-34.22, Z:-3.47 [[ 9.70012559e-01 2.42802330e-01 1.10753867e-02 1.81392405e+02] [-2.42785600e-01 9.70075782e-01 -2.85125509e-03 -3.42219903e+01] [-1.14362558e-02 7.68088375e-05 9.99934601e-01 -3.47454661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.518623853 meters Centerline goodness [0,1] 0.9996559805629018 Centerline is valid? [True, True] Translation: X:181.42, Y:-34.23, Z:-3.47 [[ 9.70151696e-01 2.42249540e-01 1.09930246e-02 1.81419014e+02] [-2.42233032e-01 9.70213973e-01 -2.82920438e-03 -3.42301293e+01] [-1.13509596e-02 8.18837410e-05 9.99935572e-01 -3.47493712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.548623853 meters Centerline goodness [0,1] 0.9996553209823352 Centerline is valid? [True, True] Translation: X:181.45, Y:-34.24, Z:-3.47 [[ 9.70248751e-01 2.41844820e-01 1.13332830e-02 1.81445533e+02] [-2.41827255e-01 9.70314936e-01 -2.91614104e-03 -3.42377508e+01] [-1.17021073e-02 8.86854975e-05 9.99931524e-01 -3.47440113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.578623853 meters Centerline goodness [0,1] 0.9997199422650208 Centerline is valid? [True, True] Translation: X:181.47, Y:-34.24, Z:-3.47 [[ 9.70310819e-01 2.41590547e-01 1.14421506e-02 1.81471347e+02] [-2.41572633e-01 9.70378276e-01 -2.94339954e-03 -3.42443512e+01] [-1.18143119e-02 9.19019644e-05 9.99930204e-01 -3.47499689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.608623853 meters Centerline goodness [0,1] 0.999739045340872 Centerline is valid? [True, True] Translation: X:181.50, Y:-34.25, Z:-3.47 [[ 9.70249731e-01 2.41848390e-01 1.11721303e-02 1.81498779e+02] [-2.41831340e-01 9.70314046e-01 -2.87303770e-03 -3.42483981e+01] [-1.15353145e-02 8.57928009e-05 9.99933462e-01 -3.47419505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.638623853 meters Centerline goodness [0,1] 0.9997216154867447 Centerline is valid? [True, True] Translation: X:181.52, Y:-34.26, Z:-3.48 [[ 9.70144479e-01 2.42288145e-01 1.07770431e-02 1.81524475e+02] [-2.42272314e-01 9.70204334e-01 -2.77072744e-03 -3.42552722e+01] [-1.11272483e-02 7.70267703e-05 9.99938087e-01 -3.47608239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.668623853 meters Centerline goodness [0,1] 0.9997411673353177 Centerline is valid? [True, True] Translation: X:181.55, Y:-34.26, Z:-3.48 [[ 9.70036646e-01 2.42736061e-01 1.03976044e-02 1.81552090e+02] [-2.42721362e-01 9.70092367e-01 -2.67218788e-03 -3.42617505e+01] [-1.07352730e-02 6.83994704e-05 9.99942373e-01 -3.47689382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.69862385300002 meters Centerline goodness [0,1] 0.9997865254888566 Centerline is valid? [True, True] Translation: X:181.58, Y:-34.27, Z:-3.48 [[ 9.69779621e-01 2.43773771e-01 1.00913198e-02 1.81578943e+02] [-2.43759990e-01 9.69832122e-01 -2.59267121e-03 -3.42685718e+01] [-1.04189113e-02 5.44597054e-05 9.99945720e-01 -3.48008814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.72862385300002 meters Centerline goodness [0,1] 0.9997636238610967 Centerline is valid? [True, True] Translation: X:181.61, Y:-34.27, Z:-3.48 [[ 9.69240894e-01 2.45905146e-01 1.01365076e-02 1.81607689e+02] [-2.45891365e-01 9.69293897e-01 -2.60356325e-03 -3.42713995e+01] [-1.04654846e-02 3.10002772e-05 9.99945235e-01 -3.47873192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.75862385300002 meters Centerline goodness [0,1] 0.9998297799906379 Centerline is valid? [True, True] Translation: X:181.64, Y:-34.28, Z:-3.48 [[ 9.68898952e-01 2.47238661e-01 1.03858369e-02 1.81635410e+02] [-2.47224275e-01 9.68954614e-01 -2.66715486e-03 -3.42767237e+01] [-1.07228283e-02 1.65725675e-05 9.99942509e-01 -3.48025533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.78862385300002 meters Centerline goodness [0,1] 0.9999138116785176 Centerline is valid? [True, True] Translation: X:181.66, Y:-34.28, Z:-3.48 [[ 9.68579206e-01 2.48473417e-01 1.07369977e-02 1.81664398e+02] [-2.48458126e-01 9.68638715e-01 -2.75656940e-03 -3.42813501e+01] [-1.10852059e-02 2.26147569e-06 9.99938557e-01 -3.47836354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.81862385300002 meters Centerline goodness [0,1] 0.9997436883250032 Centerline is valid? [True, True] Translation: X:181.69, Y:-34.28, Z:-3.48 [[ 9.67845027e-01 2.51304500e-01 1.10476858e-02 1.81693801e+02] [-2.51288502e-01 9.67908078e-01 -2.83576669e-03 -3.42832937e+01] [-1.14057852e-02 -3.15737226e-05 9.99934951e-01 -3.47771710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.84862385300002 meters Centerline goodness [0,1] 0.9997641509433962 Centerline is valid? [True, True] Translation: X:181.72, Y:-34.29, Z:-3.47 [[ 9.67534436e-01 2.52527820e-01 1.03351558e-02 1.81722147e+02] [-2.52513891e-01 9.67589633e-01 -2.65269925e-03 -3.42855460e+01] [-1.06700700e-02 -4.31925373e-05 9.99943072e-01 -3.47492135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.87862385300002 meters Centerline goodness [0,1] 0.9996975131257697 Centerline is valid? [True, True] Translation: X:181.75, Y:-34.29, Z:-3.48 [[ 9.67329672e-01 2.53295805e-01 1.07023844e-02 1.81748761e+02] [-2.53280928e-01 9.67388873e-01 -2.74578054e-03 -3.42933020e+01] [-1.10488623e-02 -5.46348695e-05 9.99938958e-01 -3.47963328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.90862385300002 meters Centerline goodness [0,1] 0.9998283077583432 Centerline is valid? [True, True] Translation: X:181.78, Y:-34.30, Z:-3.48 [[ 9.67155127e-01 2.53982944e-01 1.01796303e-02 1.81775916e+02] [-2.53969532e-01 9.67208695e-01 -2.61084005e-03 -3.42980534e+01] [-1.05089358e-02 -6.02286153e-05 9.99944778e-01 -3.48220137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.93862385300002 meters Centerline goodness [0,1] 0.9998710564772629 Centerline is valid? [True, True] Translation: X:181.80, Y:-34.30, Z:-3.48 [[ 9.67065463e-01 2.54331969e-01 9.98197968e-03 1.81803531e+02] [-2.54319098e-01 9.67116976e-01 -2.55949365e-03 -3.43040249e+01] [-1.03047031e-02 -6.34101510e-05 9.99946903e-01 -3.48390956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.96862385300003 meters Centerline goodness [0,1] 0.9998287707882965 Centerline is valid? [True, True] Translation: X:181.83, Y:-34.31, Z:-3.48 [[ 9.67108976e-01 2.54173173e-01 9.80950967e-03 1.81830255e+02] [-2.54160739e-01 9.67158722e-01 -2.51481138e-03 -3.43108043e+01] [-1.01265504e-02 -6.10955681e-05 9.99948723e-01 -3.48300196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.99862385300003 meters Centerline goodness [0,1] 0.999763486636995 Centerline is valid? [True, True] Translation: X:181.86, Y:-34.31, Z:-3.49 [[ 9.67240728e-01 2.53682375e-01 9.51979898e-03 1.81857480e+02] [-2.53670647e-01 9.67287573e-01 -2.43993563e-03 -3.43148514e+01] [-9.82735192e-03 -5.48884446e-05 9.99951709e-01 -3.48653180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.02862385300003 meters Centerline goodness [0,1] 0.9998278533310381 Centerline is valid? [True, True] Translation: X:181.88, Y:-34.32, Z:-3.48 [[ 9.67397282e-01 2.53082570e-01 9.57666785e-03 1.81884712e+02] [-2.53070683e-01 9.67444681e-01 -2.45334869e-03 -3.43239876e+01] [-9.88579617e-03 -5.02110175e-05 9.99951133e-01 -3.48433077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.058623853 meters Centerline goodness [0,1] 0.9998519771621908 Centerline is valid? [True, True] Translation: X:181.91, Y:-34.33, Z:-3.49 [[ 9.67935660e-01 2.50997581e-01 1.00385449e-02 1.81911352e+02] [-2.50984413e-01 9.67987713e-01 -2.57120027e-03 -3.43313446e+01] [-1.03625531e-02 -3.07618537e-05 9.99946307e-01 -3.48772015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.088623853 meters Centerline goodness [0,1] 0.9998493651818378 Centerline is valid? [True, True] Translation: X:181.94, Y:-34.34, Z:-3.48 [[ 9.68279207e-01 2.49651481e-01 1.04649008e-02 1.81938676e+02] [-2.49637101e-01 9.68335757e-01 -2.67960174e-03 -3.43409666e+01] [-1.08025042e-02 -1.78248463e-05 9.99941651e-01 -3.48400558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.118623853 meters Centerline goodness [0,1] 0.9998283961474935 Centerline is valid? [True, True] Translation: X:181.97, Y:-34.35, Z:-3.48 [[ 9.68645910e-01 2.48201459e-01 1.10062075e-02 1.81965103e+02] [-2.48185464e-01 9.68708437e-01 -2.81768409e-03 -3.43490410e+01] [-1.13611593e-02 -2.24253423e-06 9.99935460e-01 -3.48367847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.148623853 meters Centerline goodness [0,1] 0.9997428424481399 Centerline is valid? [True, True] Translation: X:181.99, Y:-34.36, Z:-3.48 [[ 9.69075079e-01 2.46504078e-01 1.13679444e-02 1.81991287e+02] [-2.46486906e-01 9.69141754e-01 -2.90961785e-03 -3.43578468e+01] [-1.17343822e-02 1.75887086e-05 9.99931150e-01 -3.48378046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.178623853 meters Centerline goodness [0,1] 0.9997832917975945 Centerline is valid? [True, True] Translation: X:182.02, Y:-34.37, Z:-3.48 [[ 9.70166683e-01 2.42143783e-01 1.19580736e-02 1.82017158e+02] [-2.42124464e-01 9.70240374e-01 -3.05956951e-03 -3.43716046e+01] [-1.23430615e-02 7.29502313e-05 9.99923819e-01 -3.48333462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.208623853 meters Centerline goodness [0,1] 0.999762121015527 Centerline is valid? [True, True] Translation: X:182.04, Y:-34.38, Z:-3.48 [[ 9.70812171e-01 2.39546098e-01 1.18909529e-02 1.82042830e+02] [-2.39526805e-01 9.70884986e-01 -3.04203006e-03 -3.43827486e+01] [-1.22734540e-02 1.05037856e-04 9.99924673e-01 -3.48388851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.238623853 meters Centerline goodness [0,1] 0.9996962398837033 Centerline is valid? [True, True] Translation: X:182.07, Y:-34.39, Z:-3.48 [[ 9.71544682e-01 2.36558811e-01 1.18684580e-02 1.82069742e+02] [-2.36539384e-01 9.71617162e-01 -3.03494933e-03 -3.43948412e+01] [-1.22495414e-02 1.41231153e-04 9.99924962e-01 -3.48461124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.268623853 meters Centerline goodness [0,1] 0.9995307067130271 Centerline is valid? [True, True] Translation: X:182.09, Y:-34.41, Z:-3.49 [[ 9.72928724e-01 2.30820141e-01 1.14786708e-02 1.82094703e+02] [-2.30801576e-01 9.72996413e-01 -2.93466304e-03 -3.44122786e+01] [-1.18460848e-02 2.05922660e-04 9.99929811e-01 -3.48629117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.298623853 meters Centerline goodness [0,1] 0.9992032387269046 Centerline is valid? [True, True] Translation: X:182.12, Y:-34.42, Z:-3.48 [[ 9.73522256e-01 2.28364527e-01 1.02010172e-02 1.82122635e+02] [-2.28349734e-01 9.73575677e-01 -2.60762866e-03 -3.44223544e+01] [-1.05269521e-02 2.09184958e-04 9.99944568e-01 -3.48037607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.328623853 meters Centerline goodness [0,1] 0.9991548929531074 Centerline is valid? [True, True] Translation: X:182.15, Y:-34.43, Z:-3.49 [[ 9.74149658e-01 2.25653314e-01 1.06313483e-02 1.82149069e+02] [-2.25637086e-01 9.74207637e-01 -2.71760260e-03 -3.44330237e+01] [-1.09703767e-02 2.48525198e-04 9.99939793e-01 -3.48835596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.358623853 meters Centerline goodness [0,1] 0.9991037075900665 Centerline is valid? [True, True] Translation: X:182.18, Y:-34.45, Z:-3.49 [[ 9.74911354e-01 2.22359158e-01 1.02106141e-02 1.82176304e+02] [-2.22344017e-01 9.74964784e-01 -2.60917670e-03 -3.44462958e+01] [-1.05351635e-02 2.73447047e-04 9.99944466e-01 -3.48902668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.388623853 meters Centerline goodness [0,1] 0.9991305481893666 Centerline is valid? [True, True] Translation: X:182.20, Y:-34.46, Z:-3.49 [[ 9.75084979e-01 2.21598657e-01 1.01645934e-02 1.82202172e+02] [-2.21583611e-01 9.75137917e-01 -2.59742161e-03 -3.44559638e+01] [-1.04874656e-02 2.80399475e-04 9.99944966e-01 -3.48952519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.418623853 meters Centerline goodness [0,1] 0.9991305481893666 Centerline is valid? [True, True] Translation: X:182.23, Y:-34.46, Z:-3.49 [[ 9.75095675e-01 2.21551579e-01 1.01647724e-02 1.82229649e+02] [-2.21536538e-01 9.75148614e-01 -2.59672087e-03 -3.44628950e+01] [-1.04874714e-02 2.80182789e-04 9.99944966e-01 -3.49002490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.44862385300002 meters Centerline goodness [0,1] 0.9992834343039542 Centerline is valid? [True, True] Translation: X:182.26, Y:-34.47, Z:-3.49 [[ 9.75188763e-01 2.21143922e-01 1.01114471e-02 1.82257627e+02] [-2.21129022e-01 9.75241142e-01 -2.58258735e-03 -3.44717803e+01] [-1.04322228e-02 2.82575750e-04 9.99945543e-01 -3.49015271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.47862385300002 meters Centerline goodness [0,1] 0.9987900786448881 Centerline is valid? [True, True] Translation: X:182.28, Y:-34.48, Z:-3.48 [[ 9.75122939e-01 2.21467247e-01 9.35481510e-03 1.82284054e+02] [-2.21454512e-01 9.75167776e-01 -2.38901117e-03 -3.44826361e+01] [-9.65160197e-03 2.57913581e-04 9.99953389e-01 -3.48114148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.50862385300002 meters Centerline goodness [0,1] 0.9991189048632153 Centerline is valid? [True, True] Translation: X:182.31, Y:-34.50, Z:-3.49 [[ 9.75084780e-01 2.21546822e-01 1.12551212e-02 1.82309596e+02] [-2.21528403e-01 9.75149686e-01 -2.87334321e-03 -3.44955474e+01] [-1.16120080e-02 3.08424201e-04 9.99932531e-01 -3.48918830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.53862385300002 meters Centerline goodness [0,1] 0.999182936269029 Centerline is valid? [True, True] Translation: X:182.34, Y:-34.51, Z:-3.49 [[ 9.74968407e-01 2.22045591e-01 1.15048606e-02 1.82335990e+02] [-2.22026389e-01 9.75036235e-01 -2.93634950e-03 -3.45052753e+01] [-1.18696594e-02 3.08465342e-04 9.99929506e-01 -3.48942228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.56862385300002 meters Centerline goodness [0,1] 0.9995115632100915 Centerline is valid? [True, True] Translation: X:182.36, Y:-34.51, Z:-3.49 [[ 9.74818115e-01 2.22702857e-01 1.15360840e-02 1.82363863e+02] [-2.22683606e-01 9.74886325e-01 -2.94353521e-03 -3.45114759e+01] [-1.19019042e-02 3.00514659e-04 9.99929125e-01 -3.48954230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.59862385300002 meters Centerline goodness [0,1] 0.9993732710926694 Centerline is valid? [True, True] Translation: X:182.39, Y:-34.52, Z:-3.49 [[ 9.74680449e-01 2.23290738e-01 1.18012469e-02 1.82391609e+02] [-2.23270642e-01 9.74751844e-01 -3.01059707e-03 -3.45190261e+01] [-1.21755256e-02 2.99498132e-04 9.99925831e-01 -3.48933492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.62862385300002 meters Centerline goodness [0,1] 0.9996133107048486 Centerline is valid? [True, True] Translation: X:182.42, Y:-34.53, Z:-3.49 [[ 9.74337058e-01 2.24760662e-01 1.22451173e-02 1.82419409e+02] [-2.24739150e-01 9.74413957e-01 -3.12320784e-03 -3.45258325e+01] [-1.26337874e-02 2.91099897e-04 9.99920148e-01 -3.48862755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.65862385300002 meters Centerline goodness [0,1] 0.9995537232233934 Centerline is valid? [True, True] Translation: X:182.44, Y:-34.54, Z:-3.49 [[ 9.74078062e-01 2.25883089e-01 1.21967075e-02 1.82444476e+02] [-2.25861842e-01 9.74154379e-01 -3.11030008e-03 -3.45387937e+01] [-1.25840402e-02 2.74904261e-04 9.99920780e-01 -3.49009403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.68862385300002 meters Centerline goodness [0,1] 0.9996387052897796 Centerline is valid? [True, True] Translation: X:182.47, Y:-34.54, Z:-3.49 [[ 9.73777006e-01 2.27183941e-01 1.20747400e-02 1.82473260e+02] [-2.27163228e-01 9.73851833e-01 -3.07830505e-03 -3.45443506e+01] [-1.24583491e-02 2.54645768e-04 9.99922359e-01 -3.49026308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.71862385300003 meters Centerline goodness [0,1] 0.9997626189602711 Centerline is valid? [True, True] Translation: X:182.50, Y:-34.55, Z:-3.49 [[ 9.73099881e-01 2.30056238e-01 1.22780011e-02 1.82502155e+02] [-2.30035055e-01 9.73177311e-01 -3.12967402e-03 -3.45492825e+01] [-1.26686731e-02 2.21114762e-04 9.99919725e-01 -3.48984848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.74862385300003 meters Centerline goodness [0,1] 0.9996552764252166 Centerline is valid? [True, True] Translation: X:182.53, Y:-34.56, Z:-3.49 [[ 9.72643673e-01 2.32000073e-01 1.18428153e-02 1.82528971e+02] [-2.31980513e-01 9.72715750e-01 -3.01844780e-03 -3.45572286e+01] [-1.22199731e-02 1.88571794e-04 9.99925316e-01 -3.49102031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.77862385300003 meters Centerline goodness [0,1] 0.9997405237096461 Centerline is valid? [True, True] Translation: X:182.56, Y:-34.56, Z:-3.49 [[ 9.72105378e-01 2.34255891e-01 1.16323489e-02 1.82557510e+02] [-2.34237191e-01 9.72174960e-01 -2.96401392e-03 -3.45621122e+01] [-1.20030161e-02 1.56605142e-04 9.99927949e-01 -3.49115191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.808623853 meters Centerline goodness [0,1] 0.9997651780377423 Centerline is valid? [True, True] Translation: X:182.58, Y:-34.57, Z:-3.49 [[ 9.71492545e-01 2.36794453e-01 1.14290488e-02 1.82584368e+02] [-2.36776582e-01 9.71559763e-01 -2.91171900e-03 -3.45690785e+01] [-1.17934829e-02 1.22582187e-04 9.99930447e-01 -3.49276939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.838623853 meters Centerline goodness [0,1] 0.9998269896193772 Centerline is valid? [True, True] Translation: X:182.61, Y:-34.57, Z:-3.49 [[ 9.70223254e-01 2.41932385e-01 1.16429821e-02 1.82613879e+02] [-2.41914219e-01 9.70293109e-01 -2.96535432e-03 -3.45697893e+01] [-1.20145206e-02 6.04527932e-05 9.99927821e-01 -3.49115588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.868623853 meters Centerline goodness [0,1] 0.9998918778652366 Centerline is valid? [True, True] Translation: X:182.64, Y:-34.57, Z:-3.49 [[ 9.69548129e-01 2.44613232e-01 1.18656252e-02 1.82642175e+02] [-2.44594573e-01 9.69620733e-01 -3.02142638e-03 -3.45742670e+01] [-1.22442371e-02 2.71507556e-05 9.99925036e-01 -3.49175185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.898623853 meters Centerline goodness [0,1] 0.9997397753393763 Centerline is valid? [True, True] Translation: X:182.67, Y:-34.58, Z:-3.49 [[ 9.68882001e-01 2.47238516e-01 1.18652523e-02 1.82669124e+02] [-2.47220060e-01 9.68954651e-01 -3.02091296e-03 -3.45784083e+01] [-1.22437774e-02 -6.42019131e-06 9.99925042e-01 -3.49277454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.928623853 meters Centerline goodness [0,1] 0.999807391871937 Centerline is valid? [True, True] Translation: X:182.70, Y:-34.58, Z:-3.50 [[ 9.67550966e-01 2.52420658e-01 1.13551479e-02 1.82697490e+02] [-2.52404124e-01 9.67617593e-01 -2.88992030e-03 -3.45797361e+01] [-1.17169165e-02 -6.99409842e-05 9.99931352e-01 -3.49515219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.958623853 meters Centerline goodness [0,1] 0.9997856101535031 Centerline is valid? [True, True] Translation: X:182.73, Y:-34.58, Z:-3.50 [[ 9.66977739e-01 2.54617287e-01 1.11395173e-02 1.82725885e+02] [-2.54601529e-01 9.67041896e-01 -2.83426409e-03 -3.45840017e+01] [-1.14940326e-02 -9.54678658e-05 9.99933937e-01 -3.49574839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.988623853 meters Centerline goodness [0,1] 0.9996792953048833 Centerline is valid? [True, True] Translation: X:182.75, Y:-34.59, Z:-3.50 [[ 9.66388064e-01 2.56854858e-01 1.09403896e-02 1.82754208e+02] [-2.56839808e-01 9.66449982e-01 -2.78314051e-03 -3.45875792e+01] [-1.12882025e-02 -1.20333796e-04 9.99936279e-01 -3.49678976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.018623853 meters Centerline goodness [0,1] 0.9997835497835498 Centerline is valid? [True, True] Translation: X:182.78, Y:-34.59, Z:-3.50 [[ 9.65937633e-01 2.58554470e-01 1.06805885e-02 1.82783060e+02] [-2.58540238e-01 9.65996670e-01 -2.71633261e-03 -3.45924457e+01] [-1.10197329e-02 -1.37553995e-04 9.99939271e-01 -3.49764422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.048623853 meters Centerline goodness [0,1] 0.9998253961325243 Centerline is valid? [True, True] Translation: X:182.81, Y:-34.60, Z:-3.50 [[ 9.65532020e-01 2.60064617e-01 1.06917147e-02 1.82811031e+02] [-2.60050453e-01 9.65591203e-01 -2.71863078e-03 -3.45981032e+01] [-1.10308453e-02 -1.55460190e-04 9.99939146e-01 -3.49819106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.078623853 meters Centerline goodness [0,1] 0.9997638268636208 Centerline is valid? [True, True] Translation: X:182.84, Y:-34.60, Z:-3.50 [[ 9.64833500e-01 2.62653178e-01 1.04701692e-02 1.82838307e+02] [-2.62639752e-01 9.64890292e-01 -2.66194986e-03 -3.46016439e+01] [-1.08017342e-02 -1.81544234e-04 9.99941643e-01 -3.49926045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.108623853 meters Centerline goodness [0,1] 0.9996747967479674 Centerline is valid? [True, True] Translation: X:182.87, Y:-34.61, Z:-3.50 [[ 9.64661156e-01 2.63296306e-01 1.01935604e-02 1.82865619e+02] [-2.63283624e-01 9.64714995e-01 -2.59079461e-03 -3.46068962e+01] [-1.05160272e-02 -1.84558578e-04 9.99944688e-01 -3.49968291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.138623853 meters Centerline goodness [0,1] 0.9997430956968529 Centerline is valid? [True, True] Translation: X:182.89, Y:-34.61, Z:-3.50 [[ 9.64322501e-01 2.64518204e-01 1.05940434e-02 1.82892809e+02] [-2.64504587e-01 9.64380670e-01 -2.69195630e-03 -3.46110886e+01] [-1.09287622e-02 -2.06259050e-04 9.99940258e-01 -3.50016942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.168623853 meters Centerline goodness [0,1] 0.9995283726713401 Centerline is valid? [True, True] Translation: X:182.92, Y:-34.62, Z:-3.50 [[ 9.64291172e-01 2.64614180e-01 1.10395849e-02 1.82919795e+02] [-2.64599409e-01 9.64354338e-01 -2.80429053e-03 -3.46167329e+01] [-1.13881266e-02 -2.16915032e-04 9.99935130e-01 -3.49963836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.19862385300002 meters Centerline goodness [0,1] 0.9996563721489626 Centerline is valid? [True, True] Translation: X:182.95, Y:-34.62, Z:-3.50 [[ 9.64305150e-01 2.64547783e-01 1.14038951e-02 1.82947646e+02] [-2.64532028e-01 9.64372553e-01 -2.89581048e-03 -3.46233431e+01] [-1.17636837e-02 -2.24250543e-04 9.99930780e-01 -3.49967466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.22862385300002 meters Centerline goodness [0,1] 0.9996348875668478 Centerline is valid? [True, True] Translation: X:182.97, Y:-34.63, Z:-3.50 [[ 9.64339167e-01 2.64419683e-01 1.14979541e-02 1.82974276e+02] [-2.64403663e-01 9.64407684e-01 -2.91926053e-03 -3.46303460e+01] [-1.18606252e-02 -2.24943920e-04 9.99929635e-01 -3.50019139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.25862385300002 meters Centerline goodness [0,1] 0.9995898897019145 Centerline is valid? [True, True] Translation: X:183.00, Y:-34.64, Z:-3.50 [[ 9.64605504e-01 2.63429676e-01 1.18755032e-02 1.83001829e+02] [-2.63412525e-01 9.64678577e-01 -3.01406885e-03 -3.46389161e+01] [-1.22500387e-02 -2.20768877e-04 9.99924941e-01 -3.50053014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.28862385300002 meters Centerline goodness [0,1] 0.9996766614213964 Centerline is valid? [True, True] Translation: X:183.03, Y:-34.65, Z:-3.50 [[ 9.64780620e-01 2.62786522e-01 1.18995718e-02 1.83028398e+02] [-2.62769259e-01 9.64853978e-01 -3.01964943e-03 -3.46460305e+01] [-1.22748723e-02 -2.13542416e-04 9.99924638e-01 -3.50053580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.31862385300002 meters Centerline goodness [0,1] 0.9996124031007751 Centerline is valid? [True, True] Translation: X:183.06, Y:-34.65, Z:-3.50 [[ 9.64949068e-01 2.62152437e-01 1.22227633e-02 1.83055431e+02] [-2.62134183e-01 9.65026453e-01 -3.10088011e-03 -3.46529015e+01] [-1.26081931e-02 -2.11812679e-04 9.99920491e-01 -3.50074953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.34862385300002 meters Centerline goodness [0,1] 0.999784812033311 Centerline is valid? [True, True] Translation: X:183.08, Y:-34.66, Z:-3.50 [[ 9.65190686e-01 2.61261190e-01 1.22282404e-02 1.83082131e+02] [-2.61242857e-01 9.65268124e-01 -3.10152292e-03 -3.46597747e+01] [-1.26138382e-02 -2.00979412e-04 9.99920422e-01 -3.50161964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.37862385300002 meters Centerline goodness [0,1] 0.9996982823646042 Centerline is valid? [True, True] Translation: X:183.11, Y:-34.67, Z:-3.50 [[ 9.65602733e-01 2.59726113e-01 1.23979022e-02 1.83109976e+02] [-2.59707152e-01 9.65682304e-01 -3.14372980e-03 -3.46689046e+01] [-1.27889435e-02 -1.84229779e-04 9.99918201e-01 -3.50162515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.40862385300002 meters Centerline goodness [0,1] 0.9996353105223641 Centerline is valid? [True, True] Translation: X:183.14, Y:-34.68, Z:-3.50 [[ 9.65778881e-01 2.59082377e-01 1.21439109e-02 1.83137134e+02] [-2.59064140e-01 9.65855213e-01 -3.07881630e-03 -3.46755744e+01] [-1.25269267e-02 -1.72596082e-04 9.99921520e-01 -3.50300120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.43862385300002 meters Centerline goodness [0,1] 0.9997848027717403 Centerline is valid? [True, True] Translation: X:183.16, Y:-34.68, Z:-3.50 [[ 9.66024707e-01 2.58191140e-01 1.15585901e-02 1.83164780e+02] [-2.58174564e-01 9.66093842e-01 -2.92971576e-03 -3.46843220e+01] [-1.19231093e-02 -1.53956142e-04 9.99928905e-01 -3.50420987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.46862385300003 meters Centerline goodness [0,1] 0.9998064516129033 Centerline is valid? [True, True] Translation: X:183.19, Y:-34.69, Z:-3.51 [[ 9.66378768e-01 2.56878568e-01 1.12016981e-02 1.83192751e+02] [-2.56862918e-01 9.66443678e-01 -2.83866763e-03 -3.46934076e+01] [-1.15550032e-02 -1.34072727e-04 9.99933230e-01 -3.50514800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.49862385300003 meters Centerline goodness [0,1] 0.9998706589924335 Centerline is valid? [True, True] Translation: X:183.22, Y:-34.70, Z:-3.51 [[ 9.66546496e-01 2.56240752e-01 1.13379218e-02 1.83220203e+02] [-2.56224679e-01 9.66612984e-01 -2.87289105e-03 -3.46998906e+01] [-1.16955342e-02 -1.28272606e-04 9.99931597e-01 -3.50598599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.52862385300003 meters Centerline goodness [0,1] 0.9998064307990107 Centerline is valid? [True, True] Translation: X:183.25, Y:-34.71, Z:-3.51 [[ 9.66737754e-01 2.55516808e-01 1.13699318e-02 1.83247156e+02] [-2.55500600e-01 9.66804606e-01 -2.88044491e-03 -3.47056622e+01] [-1.17285045e-02 -1.20389546e-04 9.99931211e-01 -3.50764378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.558623853 meters Centerline goodness [0,1] 0.999783427903149 Centerline is valid? [True, True] Translation: X:183.27, Y:-34.71, Z:-3.51 [[ 9.66912581e-01 2.54840407e-01 1.16802117e-02 1.83274202e+02] [-2.54823269e-01 9.66983120e-01 -2.95769138e-03 -3.47148722e+01] [-1.20483068e-02 -1.16560723e-04 9.99927410e-01 -3.50617569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.588623853 meters Centerline goodness [0,1] 0.9998265921012702 Centerline is valid? [True, True] Translation: X:183.30, Y:-34.72, Z:-3.51 [[ 9.67219089e-01 2.53675906e-01 1.16519749e-02 1.83301486e+02] [-2.53658773e-01 9.67289266e-01 -2.95001570e-03 -3.47195799e+01] [-1.20191782e-02 -1.02314174e-04 9.99927762e-01 -3.50910937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.618623853 meters Centerline goodness [0,1] 0.9998932262748783 Centerline is valid? [True, True] Translation: X:183.33, Y:-34.73, Z:-3.51 [[ 9.67403139e-01 2.52990209e-01 1.12748227e-02 1.83328672e+02] [-2.52974129e-01 9.67468835e-01 -2.85377129e-03 -3.47284565e+01] [-1.16300158e-02 -9.14911635e-05 9.99932365e-01 -3.50884684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.648623853 meters Centerline goodness [0,1] 0.9997862471410555 Centerline is valid? [True, True] Translation: X:183.36, Y:-34.73, Z:-3.51 [[ 9.67626423e-01 2.52140062e-01 1.11577270e-02 1.83355650e+02] [-2.52124263e-01 9.67690748e-01 -2.82365241e-03 -3.47337746e+01] [-1.15091851e-02 -8.08930218e-05 9.99933764e-01 -3.51119681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.678623853 meters Centerline goodness [0,1] 0.9997441746434435 Centerline is valid? [True, True] Translation: X:183.38, Y:-34.74, Z:-3.51 [[ 9.67858914e-01 2.51257248e-01 1.09049878e-02 1.83383530e+02] [-2.51242109e-01 9.67920343e-01 -2.75894646e-03 -3.47425031e+01] [-1.12483648e-02 -6.95212144e-05 9.99936733e-01 -3.51152040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.708623853 meters Centerline goodness [0,1] 0.9999784964734216 Centerline is valid? [True, True] Translation: X:183.41, Y:-34.75, Z:-3.51 [[ 9.68446901e-01 2.48996904e-01 1.05423961e-02 1.83411119e+02] [-2.48982627e-01 9.68504280e-01 -2.66672962e-03 -3.47518703e+01] [-1.08743632e-02 -4.22874469e-05 9.99940871e-01 -3.51252484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.738623853 meters Centerline goodness [0,1] 0.9998718277364779 Centerline is valid? [True, True] Translation: X:183.44, Y:-34.76, Z:-3.51 [[ 9.68722534e-01 2.47916763e-01 1.06738552e-02 1.83438025e+02] [-2.47902067e-01 9.68781336e-01 -2.69952410e-03 -3.47587996e+01] [-1.10098890e-02 -3.09809484e-05 9.99939389e-01 -3.51458205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.768623853 meters Centerline goodness [0,1] 0.9998915660037735 Centerline is valid? [True, True] Translation: X:183.47, Y:-34.77, Z:-3.51 [[ 9.69002211e-01 2.46793654e-01 1.12963745e-02 1.83465568e+02] [-2.46777128e-01 9.69068053e-01 -2.85614330e-03 -3.47674537e+01] [-1.16518337e-02 -2.00776862e-05 9.99932115e-01 -3.51245981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.798623853 meters Centerline goodness [0,1] 0.9999139007275388 Centerline is valid? [True, True] Translation: X:183.49, Y:-34.78, Z:-3.51 [[ 9.69273506e-01 2.45718331e-01 1.14617519e-02 1.83491826e+02] [-2.45701246e-01 9.69341272e-01 -2.89758331e-03 -3.47750287e+01] [-1.18223385e-02 -7.61598870e-06 9.99930114e-01 -3.51257196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.828623853 meters Centerline goodness [0,1] 0.9998498884885916 Centerline is valid? [True, True] Translation: X:183.52, Y:-34.78, Z:-3.51 [[ 9.69525659e-01 2.44725363e-01 1.13795063e-02 1.83518747e+02] [-2.44708467e-01 9.69592438e-01 -2.87574403e-03 -3.47825925e+01] [-1.17372507e-02 3.44609433e-06 9.99931116e-01 -3.51286364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.858623853 meters Centerline goodness [0,1] 0.9998710509348807 Centerline is valid? [True, True] Translation: X:183.54, Y:-34.79, Z:-3.51 [[ 9.70077913e-01 2.42513094e-01 1.16722498e-02 1.83543986e+02] [-2.42495166e-01 9.70148132e-01 -2.94890133e-03 -3.47908785e+01] [-1.20389586e-02 3.01998812e-05 9.99927529e-01 -3.51317452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.888623853 meters Centerline goodness [0,1] 0.9998699102380643 Centerline is valid? [True, True] Translation: X:183.57, Y:-34.80, Z:-3.51 [[ 9.70323605e-01 2.41515507e-01 1.19315286e-02 1.83570800e+02] [-2.41496712e-01 9.70396959e-01 -3.01329201e-03 -3.47985035e+01] [-1.23060758e-02 4.24434317e-05 9.99924276e-01 -3.51343687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.918623853 meters Centerline goodness [0,1] 0.9999131246877918 Centerline is valid? [True, True] Translation: X:183.60, Y:-34.81, Z:-3.51 [[ 9.70566613e-01 2.40519771e-01 1.22755779e-02 1.83598659e+02] [-2.40499810e-01 9.70644238e-01 -3.09914603e-03 -3.48058903e+01] [-1.26606248e-02 5.56535267e-05 9.99919850e-01 -3.51318804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.94862385300002 meters Centerline goodness [0,1] 0.9998931692412879 Centerline is valid? [True, True] Translation: X:183.62, Y:-34.81, Z:-3.51 [[ 9.70810430e-01 2.39541899e-01 1.21155832e-02 1.83624908e+02] [-2.39522385e-01 9.70886025e-01 -3.05821621e-03 -3.48147267e+01] [-1.24954214e-02 6.69947981e-05 9.99921927e-01 -3.51411050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.97862385300002 meters Centerline goodness [0,1] 0.9999355545530708 Centerline is valid? [True, True] Translation: X:183.65, Y:-34.83, Z:-3.52 [[ 9.71372477e-01 2.37230433e-01 1.25392475e-02 1.83650749e+02] [-2.37209348e-01 9.71453402e-01 -3.16443477e-03 -3.48260460e+01] [-1.29319948e-02 9.94181249e-05 9.99916373e-01 -3.51570236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.00862385300002 meters Centerline goodness [0,1] 0.9999566499046297 Centerline is valid? [True, True] Translation: X:183.68, Y:-34.83, Z:-3.51 [[ 9.71680420e-01 2.35958845e-01 1.26721878e-02 1.83678993e+02] [-2.35937218e-01 9.71763042e-01 -3.19675834e-03 -3.48305693e+01] [-1.30686671e-02 1.16386761e-04 9.99914595e-01 -3.51435626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.03862385300002 meters Centerline goodness [0,1] 0.9999353504008275 Centerline is valid? [True, True] Translation: X:183.71, Y:-34.84, Z:-3.52 [[ 9.72260410e-01 2.33600168e-01 1.18598999e-02 1.83705106e+02] [-2.33581056e-01 9.72332732e-01 -2.99135229e-03 -3.48420330e+01] [-1.22305493e-02 1.38125461e-04 9.99925194e-01 -3.51651274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.06862385300002 meters Centerline goodness [0,1] 0.9998921832884097 Centerline is valid? [True, True] Translation: X:183.73, Y:-34.85, Z:-3.52 [[ 9.72598438e-01 2.32197827e-01 1.16810409e-02 1.83731039e+02] [-2.32179194e-01 9.72668569e-01 -2.94549174e-03 -3.48516010e+01] [-1.20457181e-02 1.52686012e-04 9.99927436e-01 -3.51750695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.09862385300002 meters Centerline goodness [0,1] 0.9998923921231034 Centerline is valid? [True, True] Translation: X:183.76, Y:-34.86, Z:-3.52 [[ 9.72915278e-01 2.30879469e-01 1.14250784e-02 1.83757034e+02] [-2.30861561e-01 9.72982345e-01 -2.88024648e-03 -3.48606232e+01] [-1.17813893e-02 1.64624373e-04 9.99930583e-01 -3.51902344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.12862385300002 meters Centerline goodness [0,1] 0.9998922622767136 Centerline is valid? [True, True] Translation: X:183.78, Y:-34.87, Z:-3.52 [[ 9.73175075e-01 2.29776761e-01 1.15287955e-02 1.83784509e+02] [-2.29758459e-01 9.73243345e-01 -2.90559636e-03 -3.48703078e+01] [-1.18879620e-02 1.78815661e-04 9.99929320e-01 -3.51950657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.15862385300002 meters Centerline goodness [0,1] 0.9999131831401659 Centerline is valid? [True, True] Translation: X:183.81, Y:-34.88, Z:-3.52 [[ 9.73618134e-01 2.27876411e-01 1.18351129e-02 1.83809831e+02] [-2.27856989e-01 9.73690042e-01 -2.98225315e-03 -3.48823565e+01] [-1.22033168e-02 2.06862550e-04 9.99925515e-01 -3.51934311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.18862385300002 meters Centerline goodness [0,1] 0.9999348831151917 Centerline is valid? [True, True] Translation: X:183.84, Y:-34.89, Z:-3.52 [[ 9.73804052e-01 2.27059326e-01 1.22364859e-02 1.83837966e+02] [-2.27038510e-01 9.73880903e-01 -3.08255212e-03 -3.48885640e+01] [-1.26168021e-02 2.23648220e-04 9.99920380e-01 -3.51836195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.21862385300003 meters Centerline goodness [0,1] 0.9999354297152451 Centerline is valid? [True, True] Translation: X:183.86, Y:-34.90, Z:-3.52 [[ 9.73871780e-01 2.26754614e-01 1.24940386e-02 1.83864790e+02] [-2.26732896e-01 9.73951894e-01 -3.14683268e-03 -3.48973487e+01] [-1.28821514e-02 2.31801988e-04 9.99916995e-01 -3.51911587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.24862385300003 meters Centerline goodness [0,1] 0.9998931441272012 Centerline is valid? [True, True] Translation: X:183.89, Y:-34.91, Z:-3.52 [[ 9.73940313e-01 2.26469074e-01 1.23298408e-02 1.83890821e+02] [-2.26447910e-01 9.74018329e-01 -3.10470243e-03 -3.49064528e+01] [-1.27126100e-02 2.31728179e-04 9.99919165e-01 -3.51996510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.27862385300003 meters Centerline goodness [0,1] 0.9998913563078528 Centerline is valid? [True, True] Translation: X:183.92, Y:-34.92, Z:-3.52 [[ 9.74031216e-01 2.26091395e-01 1.20777160e-02 1.83916856e+02] [-2.26071068e-01 9.74106066e-01 -3.04047538e-03 -3.49169398e+01] [-1.24524017e-02 2.31095787e-04 9.99922439e-01 -3.52119745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.308623853 meters Centerline goodness [0,1] 0.9998913563078528 Centerline is valid? [True, True] Translation: X:183.94, Y:-34.92, Z:-3.52 [[ 9.74041682e-01 2.26046293e-01 1.20779075e-02 1.83944355e+02] [-2.26025972e-01 9.74116533e-01 -3.03971446e-03 -3.49237683e+01] [-1.24524055e-02 2.30887812e-04 9.99922439e-01 -3.52169705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.338623853 meters Centerline goodness [0,1] 0.9997864571099105 Centerline is valid? [True, True] Translation: X:183.97, Y:-34.93, Z:-3.52 [[ 9.74033447e-01 2.26112158e-01 1.14950729e-02 1.83972187e+02] [-2.26093762e-01 9.74101250e-01 -2.89250552e-03 -3.49316893e+01] [-1.18513956e-02 2.18432845e-04 9.99929746e-01 -3.52341355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.368623853 meters Centerline goodness [0,1] 0.9999353559731081 Centerline is valid? [True, True] Translation: X:184.00, Y:-34.94, Z:-3.52 [[ 9.74009504e-01 2.26225867e-01 1.12846670e-02 1.83999669e+02] [-2.26208152e-01 9.74074849e-01 -2.83902237e-03 -3.49393852e+01] [-1.16343706e-02 2.12551088e-04 9.99932296e-01 -3.52449651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.398623853 meters Centerline goodness [0,1] 0.9998721500106542 Centerline is valid? [True, True] Translation: X:184.03, Y:-34.95, Z:-3.53 [[ 9.73936592e-01 2.26547329e-01 1.11275212e-02 1.84025746e+02] [-2.26530130e-01 9.74000136e-01 -2.79901241e-03 -3.49497531e+01] [-1.14723159e-02 2.05341791e-04 9.99934170e-01 -3.52506261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.428623853 meters Centerline goodness [0,1] 0.9998712418721432 Centerline is valid? [True, True] Translation: X:184.05, Y:-34.96, Z:-3.53 [[ 9.73878951e-01 2.26789011e-01 1.12487537e-02 1.84052672e+02] [-2.26771460e-01 9.73943891e-01 -2.82878707e-03 -3.49583713e+01] [-1.15971927e-02 2.03999897e-04 9.99932729e-01 -3.52574066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.458623853 meters Centerline goodness [0,1] 0.9999570409829023 Centerline is valid? [True, True] Translation: X:184.08, Y:-34.97, Z:-3.53 [[ 9.73821392e-01 2.27036889e-01 1.12315652e-02 1.84081961e+02] [-2.27019419e-01 9.73886139e-01 -2.82356719e-03 -3.49655067e+01] [-1.15793196e-02 1.99866729e-04 9.99932937e-01 -3.52549991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.488623853 meters Centerline goodness [0,1] 0.9998924337929996 Centerline is valid? [True, True] Translation: X:184.11, Y:-34.97, Z:-3.53 [[ 9.73680413e-01 2.27639678e-01 1.12530247e-02 1.84110595e+02] [-2.27622184e-01 9.73745418e-01 -2.82867561e-03 -3.49743729e+01] [-1.16015000e-02 1.92787982e-04 9.99932682e-01 -3.52595793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.518623853 meters Centerline goodness [0,1] 0.9998930778607018 Centerline is valid? [True, True] Translation: X:184.14, Y:-34.98, Z:-3.53 [[ 9.73506295e-01 2.28368839e-01 1.15397560e-02 1.84138214e+02] [-2.28350496e-01 9.73574670e-01 -2.90059029e-03 -3.49817429e+01] [-1.18972186e-02 1.88633902e-04 9.99929208e-01 -3.52610401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.548623853 meters Centerline goodness [0,1] 0.9999784459532277 Centerline is valid? [True, True] Translation: X:184.17, Y:-34.99, Z:-3.53 [[ 9.72989767e-01 2.30531477e-01 1.20893435e-02 1.84165605e+02] [-2.30511520e-01 9.73064854e-01 -3.03807906e-03 -3.49892709e+01] [-1.24640881e-02 1.69286888e-04 9.99922306e-01 -3.52549703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.578623853 meters Centerline goodness [0,1] 0.9998501840595839 Centerline is valid? [True, True] Translation: X:184.19, Y:-35.00, Z:-3.53 [[ 9.72690960e-01 2.31774333e-01 1.23675226e-02 1.84193979e+02] [-2.31753555e-01 9.72769569e-01 -3.10734442e-03 -3.49954488e+01] [-1.27509523e-02 1.56268501e-04 9.99918691e-01 -3.52563625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.608623853 meters Centerline goodness [0,1] 0.9999573896925666 Centerline is valid? [True, True] Translation: X:184.22, Y:-35.00, Z:-3.53 [[ 9.72367854e-01 2.33132174e-01 1.22534140e-02 1.84220931e+02] [-2.33111892e-01 9.72445048e-01 -3.07813054e-03 -3.50019486e+01] [-1.26333830e-02 1.36658676e-04 9.99920186e-01 -3.52627747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.638623853 meters Centerline goodness [0,1] 0.9999570594297492 Centerline is valid? [True, True] Translation: X:184.25, Y:-35.01, Z:-3.53 [[ 9.71783037e-01 2.35539932e-01 1.25964337e-02 1.84248945e+02] [-2.35518713e-01 9.71864666e-01 -3.16342847e-03 -3.50089571e+01] [-1.29871425e-02 1.07470285e-04 9.99915658e-01 -3.52599483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.668623853 meters Centerline goodness [0,1] 0.999935258319306 Centerline is valid? [True, True] Translation: X:184.28, Y:-35.02, Z:-3.53 [[ 9.71548832e-01 2.36492400e-01 1.28145108e-02 1.84277202e+02] [-2.36470530e-01 9.71633334e-01 -3.21755731e-03 -3.50150763e+01] [-1.32119337e-02 9.57598668e-05 9.99912714e-01 -3.52549657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.69862385300002 meters Centerline goodness [0,1] 0.9998260037409196 Centerline is valid? [True, True] Translation: X:184.30, Y:-35.02, Z:-3.53 [[ 9.71372500e-01 2.37205171e-01 1.30066799e-02 1.84304356e+02] [-2.37182714e-01 9.71459572e-01 -3.26511892e-03 -3.50223219e+01] [-1.34099668e-02 8.66870946e-05 9.99910079e-01 -3.52629056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.72862385300002 meters Centerline goodness [0,1] 0.9998700708114078 Centerline is valid? [True, True] Translation: X:184.33, Y:-35.03, Z:-3.52 [[ 9.71137131e-01 2.38236342e-01 1.16669490e-02 1.84331863e+02] [-2.38218352e-01 9.71207208e-01 -2.92837156e-03 -3.50289923e+01] [-1.20286695e-02 6.45689826e-05 9.99927651e-01 -3.52170904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.75862385300002 meters Centerline goodness [0,1] 0.9999563509384548 Centerline is valid? [True, True] Translation: X:184.36, Y:-35.04, Z:-3.53 [[ 9.71065869e-01 2.38508942e-01 1.20234266e-02 1.84359605e+02] [-2.38489868e-01 9.71140299e-01 -3.01694602e-03 -3.50372121e+01] [-1.23960027e-02 6.21878974e-05 9.99923165e-01 -3.52904963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.78862385300002 meters Centerline goodness [0,1] 0.9999567043338962 Centerline is valid? [True, True] Translation: X:184.39, Y:-35.04, Z:-3.53 [[ 9.70945779e-01 2.39019045e-01 1.15840807e-02 1.84386081e+02] [-2.39001382e-01 9.71014878e-01 -2.90621383e-03 -3.50444058e+01] [-1.19429552e-02 5.31647441e-05 9.99928679e-01 -3.53006463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.81862385300002 meters Centerline goodness [0,1] 0.9999785140303382 Centerline is valid? [True, True] Translation: X:184.41, Y:-35.05, Z:-3.53 [[ 9.70807210e-01 2.39578580e-01 1.16389586e-02 1.84414557e+02] [-2.39560797e-01 9.70876976e-01 -2.91935274e-03 -3.50514084e+01] [-1.19994114e-02 4.58904783e-05 9.99928003e-01 -3.53075022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.84862385300002 meters Centerline goodness [0,1] 0.9999784617372762 Centerline is valid? [True, True] Translation: X:184.44, Y:-35.06, Z:-3.53 [[ 9.70670675e-01 2.40126729e-01 1.17301009e-02 1.84441376e+02] [-2.40108720e-01 9.70741548e-01 -2.94110068e-03 -3.50584780e+01] [-1.20931332e-02 3.83406684e-05 9.99926875e-01 -3.53175093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.87862385300002 meters Centerline goodness [0,1] 0.9998275416055876 Centerline is valid? [True, True] Translation: X:184.47, Y:-35.07, Z:-3.53 [[ 9.70397583e-01 2.41214573e-01 1.20025224e-02 1.84469275e+02] [-2.41195811e-01 9.70471808e-01 -3.00856628e-03 -3.50652922e+01] [-1.23738196e-02 2.45473200e-05 9.99923441e-01 -3.53060430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.90862385300002 meters Centerline goodness [0,1] 0.9999784584895093 Centerline is valid? [True, True] Translation: X:184.50, Y:-35.07, Z:-3.53 [[ 9.70281397e-01 2.41659678e-01 1.24342739e-02 1.84495864e+02] [-2.41639587e-01 9.70361067e-01 -3.11618130e-03 -3.50721113e+01] [-1.28187906e-02 1.89599428e-05 9.99917836e-01 -3.53105390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.93862385300002 meters Centerline goodness [0,1] 0.9998928418345477 Centerline is valid? [True, True] Translation: X:184.52, Y:-35.08, Z:-3.53 [[ 9.70181643e-01 2.42069451e-01 1.22458527e-02 1.84523624e+02] [-2.42050008e-01 9.70258925e-01 -3.06807650e-03 -3.50794258e+01] [-1.26243354e-02 1.24827628e-05 9.99920310e-01 -3.53122394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.96862385300003 meters Centerline goodness [0,1] 0.9999567464694306 Centerline is valid? [True, True] Translation: X:184.55, Y:-35.09, Z:-3.53 [[ 9.70092251e-01 2.42405942e-01 1.26642487e-02 1.84550908e+02] [-2.42385184e-01 9.70174912e-01 -3.17222809e-03 -3.50874530e+01] [-1.30555033e-02 7.72762424e-06 9.99914773e-01 -3.53148490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.99862385300003 meters Centerline goodness [0,1] 0.9999348944204518 Centerline is valid? [True, True] Translation: X:184.58, Y:-35.09, Z:-3.53 [[ 9.70059426e-01 2.42541817e-01 1.25768880e-02 1.84578526e+02] [-2.42521365e-01 9.70140952e-01 -3.14970065e-03 -3.50947483e+01] [-1.29652882e-02 5.23275386e-06 9.99915947e-01 -3.53172106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.02862385300003 meters Centerline goodness [0,1] 0.9999568500539374 Centerline is valid? [True, True] Translation: X:184.61, Y:-35.10, Z:-3.53 [[ 9.70045309e-01 2.42594263e-01 1.26538983e-02 1.84605460e+02] [-2.42573572e-01 9.70127839e-01 -3.16838603e-03 -3.51018742e+01] [-1.30445313e-02 3.97669576e-06 9.99914916e-01 -3.53278013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.058623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:184.63, Y:-35.11, Z:-3.53 [[ 9.70060553e-01 2.42550600e-01 1.23178532e-02 1.84632542e+02] [-2.42530999e-01 9.70138756e-01 -3.08348858e-03 -3.51093579e+01] [-1.26979288e-02 3.70937622e-06 9.99919378e-01 -3.53422509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.088623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:184.66, Y:-35.12, Z:-3.53 [[ 9.70217386e-01 2.41916757e-01 1.24300775e-02 1.84660282e+02] [-2.41896757e-01 9.70297007e-01 -3.11070518e-03 -3.51186936e+01] [-1.28133987e-02 1.12648122e-05 9.99917905e-01 -3.53452672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.118623853 meters Centerline goodness [0,1] 0.9999782570881892 Centerline is valid? [True, True] Translation: X:184.69, Y:-35.13, Z:-3.54 [[ 9.70336384e-01 2.41432171e-01 1.25621648e-02 1.84688310e+02] [-2.41411711e-01 9.70417697e-01 -3.14311411e-03 -3.51272203e+01] [-1.29493959e-02 1.72242738e-05 9.99916153e-01 -3.53518995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.148623853 meters Centerline goodness [0,1] 0.9999353907781104 Centerline is valid? [True, True] Translation: X:184.72, Y:-35.14, Z:-3.54 [[ 9.70445591e-01 2.41023733e-01 1.19547103e-02 1.84715360e+02] [-2.41005181e-01 9.70519222e-01 -2.99056340e-03 -3.51358642e+01] [-1.23230729e-02 2.10319392e-05 9.99924068e-01 -3.53615545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.178623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:184.74, Y:-35.14, Z:-3.54 [[ 9.70543187e-01 2.40635885e-01 1.18444892e-02 1.84743323e+02] [-2.40617651e-01 9.70615459e-01 -2.96239935e-03 -3.51442470e+01] [-1.22093039e-02 2.51433458e-05 9.99925463e-01 -3.53687475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.208623853 meters Centerline goodness [0,1] 0.9999784110535406 Centerline is valid? [True, True] Translation: X:184.77, Y:-35.15, Z:-3.54 [[ 9.70619764e-01 2.40301262e-01 1.23522445e-02 1.84770994e+02] [-2.40281413e-01 9.70698358e-01 -3.08873047e-03 -3.51528931e+01] [-1.27325292e-02 2.99680914e-05 9.99918938e-01 -3.53619803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.238623853 meters Centerline goodness [0,1] 0.9999783418522048 Centerline is valid? [True, True] Translation: X:184.80, Y:-35.16, Z:-3.54 [[ 9.70570542e-01 2.40501375e-01 1.23252286e-02 1.84800032e+02] [-2.40481638e-01 9.70648797e-01 -3.08124273e-03 -3.51602330e+01] [-1.27045114e-02 2.65722777e-05 9.99919294e-01 -3.53615093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.268623853 meters Centerline goodness [0,1] 0.9999785066414478 Centerline is valid? [True, True] Translation: X:184.83, Y:-35.17, Z:-3.54 [[ 9.70450231e-01 2.40978013e-01 1.24878445e-02 1.84827435e+02] [-2.40957794e-01 9.70530575e-01 -3.12162828e-03 -3.51670424e+01] [-1.28720787e-02 2.03414216e-05 9.99917151e-01 -3.53685093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.298623853 meters Centerline goodness [0,1] 0.9998277050310131 Centerline is valid? [True, True] Translation: X:184.86, Y:-35.17, Z:-3.53 [[ 9.70359711e-01 2.41345548e-01 1.24240404e-02 1.84856125e+02] [-2.41325571e-01 9.70439244e-01 -3.10525563e-03 -3.51727771e+01] [-1.28062160e-02 1.49763160e-05 9.99917997e-01 -3.52909932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.328623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:184.88, Y:-35.18, Z:-3.54 [[ 9.70079459e-01 2.42434221e-01 1.30955005e-02 1.84884521e+02] [-2.42412135e-01 9.70167845e-01 -3.27239209e-03 -3.51794149e+01] [-1.34981733e-02 -2.78819125e-08 9.99908896e-01 -3.53701899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.358623853 meters Centerline goodness [0,1] 0.9999356236990623 Centerline is valid? [True, True] Translation: X:184.91, Y:-35.19, Z:-3.54 [[ 9.70011538e-01 2.42710734e-01 1.30044721e-02 1.84912463e+02] [-2.42688987e-01 9.70098706e-01 -3.24901822e-03 -3.51856885e+01] [-1.34041932e-02 -4.45701084e-06 9.99910160e-01 -3.53812894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.388623853 meters Centerline goodness [0,1] 0.9999781602166506 Centerline is valid? [True, True] Translation: X:184.94, Y:-35.19, Z:-3.54 [[ 9.70014243e-01 2.42700658e-01 1.29907159e-02 1.84941522e+02] [-2.42678966e-01 9.70101227e-01 -3.24485231e-03 -3.51929868e+01] [-1.33898373e-02 -5.02054387e-06 9.99910352e-01 -3.53756090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.418623853 meters Centerline goodness [0,1] 0.9998277421299686 Centerline is valid? [True, True] Translation: X:184.97, Y:-35.20, Z:-3.53 [[ 9.69959870e-01 2.42935794e-01 1.26511263e-02 1.84970118e+02] [-2.42915245e-01 9.70042370e-01 -3.15972897e-03 -3.51988558e+01] [-1.30397398e-02 -8.34113845e-06 9.99914979e-01 -3.53231624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.44862385300002 meters Centerline goodness [0,1] 0.9999568230392263 Centerline is valid? [True, True] Translation: X:185.00, Y:-35.21, Z:-3.54 [[ 9.70066042e-01 2.42531944e-01 1.22527784e-02 1.84997592e+02] [-2.42512639e-01 9.70143420e-01 -3.05998075e-03 -3.52071754e+01] [-1.26290954e-02 -3.07021509e-06 9.99920250e-01 -3.54077260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.47862385300002 meters Centerline goodness [0,1] 0.9999785541186815 Centerline is valid? [True, True] Translation: X:185.02, Y:-35.21, Z:-3.54 [[ 9.70182233e-01 2.42081458e-01 1.19583702e-02 1.85024745e+02] [-2.42063042e-01 9.70255929e-01 -2.98600023e-03 -3.52149737e+01] [-1.23255349e-02 2.28489395e-06 9.99924038e-01 -3.54238703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.50862385300002 meters Centerline goodness [0,1] 0.9999786087105331 Centerline is valid? [True, True] Translation: X:185.05, Y:-35.22, Z:-3.54 [[ 9.70307731e-01 2.41584628e-01 1.18226438e-02 1.85052696e+02] [-2.41566601e-01 9.70379754e-01 -2.95120487e-03 -3.52231766e+01] [-1.21854199e-02 7.62103273e-06 9.99925755e-01 -3.54348803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.53862385300002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:185.08, Y:-35.23, Z:-3.54 [[ 9.70445932e-01 2.41041561e-01 1.15610976e-02 1.85079672e+02] [-2.41024291e-01 9.70514794e-01 -2.88539042e-03 -3.52323616e+01] [-1.19157153e-02 1.36100462e-05 9.99929005e-01 -3.54409958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.56862385300002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:185.11, Y:-35.24, Z:-3.55 [[ 9.70425770e-01 2.41121054e-01 1.15957618e-02 1.85106221e+02] [-2.41103692e-01 9.70495047e-01 -2.89353789e-03 -3.52391085e+01] [-1.19513223e-02 1.21827498e-05 9.99928580e-01 -3.54517107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.59862385300002 meters Centerline goodness [0,1] 0.9999571376524292 Centerline is valid? [True, True] Translation: X:185.13, Y:-35.24, Z:-3.54 [[ 9.70331960e-01 2.41487048e-01 1.18276294e-02 1.85134316e+02] [-2.41469022e-01 9.70404042e-01 -2.95057828e-03 -3.52446003e+01] [-1.21901059e-02 7.03429332e-06 9.99925698e-01 -3.53948622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.62862385300002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:185.16, Y:-35.25, Z:-3.54 [[ 9.70195197e-01 2.42020646e-01 1.21362144e-02 1.85162264e+02] [-2.42001716e-01 9.70271100e-01 -3.02697511e-03 -3.52507914e+01] [-1.25080086e-02 -2.28007066e-07 9.99921772e-01 -3.54439786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.65862385300002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:185.19, Y:-35.26, Z:-3.54 [[ 9.69896997e-01 2.43200896e-01 1.23749438e-02 1.85190359e+02] [-2.43181316e-01 9.69975940e-01 -3.08603624e-03 -3.52551035e+01] [-1.27539245e-02 -1.62178319e-05 9.99918665e-01 -3.54424620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.68862385300002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:185.22, Y:-35.26, Z:-3.54 [[ 9.69691134e-01 2.44000122e-01 1.27688935e-02 1.85217253e+02] [-2.43979358e-01 9.69775201e-01 -3.18330672e-03 -3.52603996e+01] [-1.31596835e-02 -2.85221338e-05 9.99913407e-01 -3.54445780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.71862385300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:185.25, Y:-35.27, Z:-3.54 [[ 9.69599707e-01 2.44347031e-01 1.30742449e-02 1.85245580e+02] [-2.44325304e-01 9.69687850e-01 -3.25862269e-03 -3.52673906e+01] [-1.34741712e-02 -3.48092611e-05 9.99909219e-01 -3.54363621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.74862385300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:185.27, Y:-35.27, Z:-3.54 [[ 9.69507133e-01 2.44703325e-01 1.32740745e-02 1.85272613e+02] [-2.44680971e-01 9.69598000e-01 -3.30781022e-03 -3.52736135e+01] [-1.36799483e-02 -4.09678341e-05 9.99906424e-01 -3.54383630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.77862385300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:185.30, Y:-35.28, Z:-3.54 [[ 9.69440340e-01 2.44960091e-01 1.34156684e-02 1.85301282e+02] [-2.44937294e-01 9.69533162e-01 -3.34221929e-03 -3.52793197e+01] [-1.38256457e-02 -4.59152925e-05 9.99904420e-01 -3.54436985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.808623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:185.33, Y:-35.29, Z:-3.55 [[ 9.69440814e-01 2.44984003e-01 1.29362383e-02 1.85329828e+02] [-2.44962816e-01 9.69527120e-01 -3.22218214e-03 -3.52855087e+01] [-1.33314169e-02 -4.51824657e-05 9.99911132e-01 -3.54599516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.838623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:185.36, Y:-35.29, Z:-3.55 [[ 9.69341341e-01 2.45407639e-01 1.23472956e-02 1.85357619e+02] [-2.45388378e-01 9.69419975e-01 -3.07498230e-03 -3.52908341e+01] [-1.27243391e-02 -4.91753806e-05 9.99919041e-01 -3.54805321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.868623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:185.39, Y:-35.30, Z:-3.55 [[ 9.69351806e-01 2.45376128e-01 1.21503827e-02 1.85385605e+02] [-2.45357484e-01 9.69427952e-01 -3.02515958e-03 -3.52973895e+01] [-1.25212225e-02 -4.87434279e-05 9.99921605e-01 -3.54884903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.898623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:185.41, Y:-35.30, Z:-3.55 [[ 9.69306958e-01 2.45546831e-01 1.22790527e-02 1.85412730e+02] [-2.45527810e-01 9.69384728e-01 -3.05665258e-03 -3.53020515e+01] [-1.26536775e-02 -5.20143133e-05 9.99919938e-01 -3.55069623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.928623853 meters Centerline goodness [0,1] 0.9999568062544544 Centerline is valid? [True, True] Translation: X:185.44, Y:-35.31, Z:-3.55 [[ 9.69330289e-01 2.45460341e-01 1.21660343e-02 1.85440526e+02] [-2.45441670e-01 9.69406632e-01 -3.02789800e-03 -3.53085738e+01] [-1.25370632e-02 -5.10185473e-05 9.99921407e-01 -3.54997669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.958623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:185.47, Y:-35.31, Z:-3.55 [[ 9.69339567e-01 2.45414437e-01 1.23514287e-02 1.85468438e+02] [-2.45395203e-01 9.69418254e-01 -3.07298932e-03 -3.53143343e+01] [-1.27278564e-02 -5.22112207e-05 9.99918996e-01 -3.55091688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.988623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:185.50, Y:-35.32, Z:-3.55 [[ 9.69314383e-01 2.45515056e-01 1.23281807e-02 1.85495965e+02] [-2.45495914e-01 9.69392776e-01 -3.06626673e-03 -3.53192093e+01] [-1.27036640e-02 -5.43415494e-05 9.99919304e-01 -3.55155379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.018623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:185.52, Y:-35.33, Z:-3.55 [[ 9.69310835e-01 2.45514594e-01 1.26130205e-02 1.85523056e+02] [-2.45494567e-01 9.69392893e-01 -3.13638697e-03 -3.53254068e+01] [-1.29970012e-02 -5.62941129e-05 9.99915534e-01 -3.55179331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.048623853 meters Centerline goodness [0,1] 0.99991440005136 Centerline is valid? [True, True] Translation: X:185.55, Y:-35.33, Z:-3.55 [[ 9.69345764e-01 2.45395484e-01 1.22411379e-02 1.85550873e+02] [-2.45376621e-01 9.69423052e-01 -3.04310825e-03 -3.53305624e+01] [-1.26136063e-02 -5.38649534e-05 9.99920444e-01 -3.54656660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.078623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:185.58, Y:-35.34, Z:-3.55 [[ 9.69369325e-01 2.45283218e-01 1.26195883e-02 1.85579170e+02] [-2.45263174e-01 9.69451463e-01 -3.13617609e-03 -3.53375327e+01] [-1.30033297e-02 -5.50073729e-05 9.99915452e-01 -3.55176853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.108623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:185.61, Y:-35.34, Z:-3.55 [[ 9.69377689e-01 2.45258237e-01 1.24616737e-02 1.85606949e+02] [-2.45238697e-01 9.69457784e-01 -3.09637971e-03 -3.53420687e+01] [-1.28404791e-02 -5.45231959e-05 9.99917556e-01 -3.55354210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.138623853 meters Centerline goodness [0,1] 0.9999786789475928 Centerline is valid? [True, True] Translation: X:185.63, Y:-35.35, Z:-3.56 [[ 9.69621177e-01 2.44317287e-01 1.19931902e-02 1.85633668e+02] [-2.44299123e-01 9.69695345e-01 -2.97947953e-03 -3.53478517e+01] [-1.23576791e-02 -4.09594034e-05 9.99923640e-01 -3.55542580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.168623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:185.66, Y:-35.36, Z:-3.55 [[ 9.69732757e-01 2.43853629e-01 1.24011357e-02 1.85661188e+02] [-2.43834189e-01 9.69812047e-01 -3.07925304e-03 -3.53557598e+01] [-1.27776578e-02 -3.77683292e-05 9.99918362e-01 -3.55375349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.19862385300002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:185.69, Y:-35.36, Z:-3.55 [[ 9.69900574e-01 2.43184371e-01 1.24193150e-02 1.85689076e+02] [-2.43164827e-01 9.69980083e-01 -3.08314662e-03 -3.53626196e+01] [-1.27962612e-02 -2.95948966e-05 9.99918124e-01 -3.55424197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.22862385300002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:185.72, Y:-35.37, Z:-3.55 [[ 9.69912123e-01 2.43138295e-01 1.24194610e-02 1.85716592e+02] [-2.43118755e-01 9.69991633e-01 -3.08255815e-03 -3.53693573e+01] [-1.27962612e-02 -2.95933799e-05 9.99918124e-01 -3.55474151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.25862385300002 meters Centerline goodness [0,1] 0.9999784770349963 Centerline is valid? [True, True] Translation: X:185.74, Y:-35.38, Z:-3.56 [[ 9.70088625e-01 2.42447099e-01 1.21434551e-02 1.85744211e+02] [-2.42428372e-01 9.70164627e-01 -3.01346097e-03 -3.53765331e+01] [-1.25117554e-02 -2.05938228e-05 9.99921725e-01 -3.55543490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.28862385300002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:185.77, Y:-35.38, Z:-3.56 [[ 9.70319890e-01 2.41505302e-01 1.24298308e-02 1.85771203e+02] [-2.41485611e-01 9.70399500e-01 -3.08393300e-03 -3.53826291e+01] [-1.28066878e-02 -9.22376297e-06 9.99917991e-01 -3.55669742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.31862385300002 meters Centerline goodness [0,1] 0.9998919105884387 Centerline is valid? [True, True] Translation: X:185.80, Y:-35.39, Z:-3.55 [[ 9.70464231e-01 2.40912990e-01 1.26533463e-02 1.85800020e+02] [-2.40892545e-01 9.70546718e-01 -3.13851153e-03 -3.53886297e+01] [-1.30367719e-02 -2.28361165e-06 9.99915018e-01 -3.54792561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.34862385300002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:185.83, Y:-35.40, Z:-3.55 [[ 9.70483486e-01 2.40822576e-01 1.28953649e-02 1.85828316e+02] [-2.40801343e-01 9.70569156e-01 -3.19788022e-03 -3.53953703e+01] [-1.32859652e-02 -1.73124385e-06 9.99911738e-01 -3.55490423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.37862385300002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:185.86, Y:-35.40, Z:-3.56 [[ 9.70361622e-01 2.41352315e-01 1.21400982e-02 1.85855469e+02] [-2.41333544e-01 9.70437561e-01 -3.01008661e-03 -3.53995480e+01] [-1.25076987e-02 -8.94040260e-06 9.99921776e-01 -3.55712194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.40862385300002 meters Centerline goodness [0,1] 0.9999570585077832 Centerline is valid? [True, True] Translation: X:185.88, Y:-35.40, Z:-3.56 [[ 9.70266346e-01 2.41738027e-01 1.20807503e-02 1.85884019e+02] [-2.41719479e-01 9.70341551e-01 -2.99456570e-03 -3.54048692e+01] [-1.24463544e-02 -1.46263551e-05 9.99922541e-01 -3.55765012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.43862385300002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:185.91, Y:-35.41, Z:-3.56 [[ 9.70080531e-01 2.42490037e-01 1.19308516e-02 1.85912672e+02] [-2.42472010e-01 9.70153896e-01 -2.95681598e-03 -3.54093602e+01] [-1.22917605e-02 -2.45479446e-05 9.99924453e-01 -3.55820359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.46862385300003 meters Centerline goodness [0,1] 0.9999139710942877 Centerline is valid? [True, True] Translation: X:185.94, Y:-35.41, Z:-3.55 [[ 9.69890923e-01 2.43252435e-01 1.18258174e-02 1.85940853e+02] [-2.43234787e-01 9.69963016e-01 -2.93031491e-03 -3.54115831e+01] [-1.21834117e-02 -3.43643357e-05 9.99925779e-01 -3.55448972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.49862385300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:185.97, Y:-35.42, Z:-3.56 [[ 9.69730880e-01 2.43859012e-01 1.24419446e-02 1.85968389e+02] [-2.43839540e-01 9.69810693e-01 -3.08197421e-03 -3.54161522e+01] [-1.28178981e-02 -4.51524850e-05 9.99917846e-01 -3.55981633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.52862385300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:186.00, Y:-35.42, Z:-3.56 [[ 9.69433352e-01 2.45002643e-01 1.31407833e-02 1.85997310e+02] [-2.44981041e-01 9.69522408e-01 -3.25408032e-03 -3.54195073e+01] [-1.35375422e-02 -6.46287878e-05 9.99908361e-01 -3.55715196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.558623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:186.03, Y:-35.42, Z:-3.56 [[ 9.69346591e-01 2.45331066e-01 1.34110094e-02 1.86025404e+02] [-2.45308606e-01 9.69439355e-01 -3.32040995e-03 -3.54238050e+01] [-1.38157600e-02 -7.12079571e-05 9.99904555e-01 -3.55680765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.588623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:186.05, Y:-35.43, Z:-3.56 [[ 9.69358361e-01 2.45255693e-01 1.39288440e-02 1.86052054e+02] [-2.45231471e-01 9.69458426e-01 -3.44764904e-03 -3.54282395e+01] [-1.43489908e-02 -7.37834913e-05 9.99897045e-01 -3.55642538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.618623853 meters Centerline goodness [0,1] 0.999978410587448 Centerline is valid? [True, True] Translation: X:186.08, Y:-35.43, Z:-3.56 [[ 9.69518587e-01 2.44610149e-01 1.41274416e-02 1.86079548e+02] [-2.44585187e-01 9.69621509e-01 -3.49510117e-03 -3.54324124e+01] [-1.45532085e-02 -6.67973997e-05 9.99894094e-01 -3.55652508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.648623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:186.11, Y:-35.44, Z:-3.56 [[ 9.69646677e-01 2.44118414e-01 1.38391488e-02 1.86106508e+02] [-2.44094421e-01 9.69745429e-01 -3.42303364e-03 -3.54377663e+01] [-1.42560768e-02 -5.89258055e-05 9.99898375e-01 -3.55755709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.678623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:186.13, Y:-35.44, Z:-3.56 [[ 9.69791574e-01 2.43544863e-01 1.37913932e-02 1.86134192e+02] [-2.43520994e-01 9.69889631e-01 -3.41001464e-03 -3.54433986e+01] [-1.42066208e-02 -5.14903220e-05 9.99899080e-01 -3.55821735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.708623853 meters Centerline goodness [0,1] 0.999978621515307 Centerline is valid? [True, True] Translation: X:186.16, Y:-35.45, Z:-3.56 [[ 9.69956772e-01 2.42910667e-01 1.33517028e-02 1.86160661e+02] [-2.42888249e-01 9.70048662e-01 -3.30041169e-03 -3.54484822e+01] [-1.37535067e-02 -4.17150513e-05 9.99905415e-01 -3.55995861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.738623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:186.19, Y:-35.45, Z:-3.56 [[ 9.70452529e-01 2.40947250e-01 1.28962206e-02 1.86188377e+02] [-2.40926175e-01 9.70538213e-01 -3.18674266e-03 -3.54541294e+01] [-1.32841118e-02 -1.44546360e-05 9.99911762e-01 -3.56085065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.768623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:186.21, Y:-35.46, Z:-3.56 [[ 9.70726157e-01 2.39828386e-01 1.31557296e-02 1.86214380e+02] [-2.39806365e-01 9.70815299e-01 -3.24990459e-03 -3.54603264e+01] [-1.35512029e-02 -6.02979004e-08 9.99908178e-01 -3.56184855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.798623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:186.24, Y:-35.47, Z:-3.56 [[ 9.71111360e-01 2.38272986e-01 1.29888621e-02 1.86241669e+02] [-2.38251397e-01 9.71198221e-01 -3.20752311e-03 -3.54675045e+01] [-1.33790259e-02 2.02475756e-05 9.99910497e-01 -3.56218521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.828623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:186.27, Y:-35.48, Z:-3.56 [[ 9.71907471e-01 2.35001327e-01 1.30477588e-02 1.86269293e+02] [-2.34979261e-01 9.71995047e-01 -3.22100371e-03 -3.54765798e+01] [-1.34392971e-02 6.45648397e-05 9.99909686e-01 -3.56324795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.858623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:186.30, Y:-35.48, Z:-3.56 [[ 9.72322862e-01 2.33278254e-01 1.30195020e-02 1.86296713e+02] [-2.33256137e-01 9.72410021e-01 -3.21339297e-03 -3.54844804e+01] [-1.34099089e-02 8.75767101e-05 9.99910079e-01 -3.56330430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.888623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:186.32, Y:-35.49, Z:-3.56 [[ 9.72651908e-01 2.31903434e-01 1.30023965e-02 1.86324954e+02] [-2.31881262e-01 9.72738807e-01 -3.20851897e-03 -3.54922121e+01] [-1.33920022e-02 1.05759992e-04 9.99910318e-01 -3.56375506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.918623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:186.35, Y:-35.50, Z:-3.57 [[ 9.72872360e-01 2.30991808e-01 1.27340128e-02 1.86351440e+02] [-2.30970470e-01 9.72955688e-01 -3.14172593e-03 -3.54996698e+01] [-1.31153431e-02 1.15317389e-04 9.99913984e-01 -3.56540378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.94862385300002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:186.38, Y:-35.50, Z:-3.57 [[ 9.73198579e-01 2.29630228e-01 1.24291279e-02 1.86380189e+02] [-2.29609800e-01 9.73277936e-01 -3.06568938e-03 -3.55035672e+01] [-1.28009709e-02 1.29674985e-04 9.99918056e-01 -3.56675999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.97862385300002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:186.41, Y:-35.51, Z:-3.57 [[ 9.73321890e-01 2.29104012e-01 1.24840021e-02 1.86408878e+02] [-2.29083367e-01 9.73401938e-01 -3.07862597e-03 -3.55082565e+01] [-1.28572774e-02 1.36616807e-04 9.99917332e-01 -3.56635551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.00862385300002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:186.44, Y:-35.52, Z:-3.57 [[ 9.73424808e-01 2.28665398e-01 1.25011685e-02 1.86435274e+02] [-2.28644666e-01 9.73505067e-01 -3.08235146e-03 -3.55153276e+01] [-1.28747780e-02 1.42111883e-04 9.99917107e-01 -3.56754899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.03862385300002 meters Centerline goodness [0,1] 0.9999783362218371 Centerline is valid? [True, True] Translation: X:186.46, Y:-35.52, Z:-3.57 [[ 9.73640112e-01 2.27754954e-01 1.23537044e-02 1.86463841e+02] [-2.27734648e-01 9.73718470e-01 -3.04498553e-03 -3.55194990e+01] [-1.27225407e-02 1.51353528e-04 9.99919054e-01 -3.56740423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.06862385300002 meters Centerline goodness [0,1] 0.9999569401683639 Centerline is valid? [True, True] Translation: X:186.49, Y:-35.53, Z:-3.57 [[ 9.73998932e-01 2.26243345e-01 1.18334246e-02 1.86490200e+02] [-2.26224608e-01 9.74070799e-01 -2.91623624e-03 -3.55305667e+01] [-1.21863724e-02 1.63399142e-04 9.99925730e-01 -3.56955361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.09862385300002 meters Centerline goodness [0,1] 0.9999784343325426 Centerline is valid? [True, True] Translation: X:186.52, Y:-35.54, Z:-3.57 [[ 9.74287925e-01 2.24990639e-01 1.19269200e-02 1.86519126e+02] [-2.24971522e-01 9.74360908e-01 -2.93843281e-03 -3.55356344e+01] [-1.22822444e-02 1.79662272e-04 9.99924554e-01 -3.56883617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.12862385300002 meters Centerline goodness [0,1] 0.9999572512557444 Centerline is valid? [True, True] Translation: X:186.55, Y:-35.55, Z:-3.57 [[ 9.74574045e-01 2.23757011e-01 1.17571246e-02 1.86545075e+02] [-2.23738350e-01 9.74644942e-01 -2.89608454e-03 -3.55470514e+01] [-1.21070412e-02 1.91929175e-04 9.99926689e-01 -3.57084294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.15862385300002 meters Centerline goodness [0,1] 0.9999782580336566 Centerline is valid? [True, True] Translation: X:186.57, Y:-35.55, Z:-3.57 [[ 9.74861736e-01 2.22487563e-01 1.19950189e-02 1.86574369e+02] [-2.22468054e-01 9.74935505e-01 -2.95384602e-03 -3.55502628e+01] [-1.23515639e-02 2.11082938e-04 9.99923694e-01 -3.56921550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.18862385300002 meters Centerline goodness [0,1] 0.9999571587695999 Centerline is valid? [True, True] Translation: X:186.60, Y:-35.56, Z:-3.57 [[ 9.75230400e-01 2.20839475e-01 1.24736767e-02 1.86600571e+02] [-2.20818251e-01 9.75310140e-01 -3.07110342e-03 -3.55586668e+01] [-1.28439242e-02 2.40617946e-04 9.99917484e-01 -3.56875603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.21862385300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:186.63, Y:-35.56, Z:-3.57 [[ 9.75386252e-01 2.20146936e-01 1.25294026e-02 1.86628394e+02] [-2.20125475e-01 9.75466690e-01 -3.08402584e-03 -3.55641871e+01] [-1.29009538e-02 2.50075696e-04 9.99916748e-01 -3.56882682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.24862385300003 meters Centerline goodness [0,1] 0.9999785186458154 Centerline is valid? [True, True] Translation: X:186.65, Y:-35.58, Z:-3.57 [[ 9.75525626e-01 2.19536457e-01 1.23894249e-02 1.86654017e+02] [-2.19515434e-01 9.75604264e-01 -3.04879016e-03 -3.55762539e+01] [-1.27564964e-02 2.54502935e-04 9.99918600e-01 -3.57062346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.27862385300003 meters Centerline goodness [0,1] 0.9999571981937638 Centerline is valid? [True, True] Translation: X:186.68, Y:-35.58, Z:-3.57 [[ 9.75628662e-01 2.19092991e-01 1.21233042e-02 1.86682149e+02] [-2.19072837e-01 9.75703949e-01 -2.98246980e-03 -3.55841284e+01] [-1.24821940e-02 2.53896370e-04 9.99922062e-01 -3.57138697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.308623853 meters Centerline goodness [0,1] 0.9999787161586923 Centerline is valid? [True, True] Translation: X:186.71, Y:-35.59, Z:-3.57 [[ 9.75735388e-01 2.18623386e-01 1.20111814e-02 1.86710629e+02] [-2.18603574e-01 9.75809279e-01 -2.95433567e-03 -3.55904247e+01] [-1.23665091e-02 2.56962673e-04 9.99923499e-01 -3.57201740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.338623853 meters Centerline goodness [0,1] 0.9999783507609707 Centerline is valid? [True, True] Translation: X:186.74, Y:-35.59, Z:-3.57 [[ 9.75772285e-01 2.18460099e-01 1.19846777e-02 1.86739401e+02] [-2.18440370e-01 9.75845848e-01 -2.94726043e-03 -3.55946162e+01] [-1.23390567e-02 2.57917627e-04 9.99923838e-01 -3.57270380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.368623853 meters Centerline goodness [0,1] 0.9999783296493737 Centerline is valid? [True, True] Translation: X:186.77, Y:-35.60, Z:-3.57 [[ 9.75698746e-01 2.18800585e-01 1.17584788e-02 1.86768365e+02] [-2.18781624e-01 9.75769564e-01 -2.89108283e-03 -3.55983385e+01] [-1.21061364e-02 2.48286801e-04 9.99926687e-01 -3.57287308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.398623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:186.80, Y:-35.61, Z:-3.57 [[ 9.75665878e-01 2.18964343e-01 1.14328574e-02 1.86795129e+02] [-2.18946435e-01 9.75732832e-01 -2.81052572e-03 -3.56064501e+01] [-1.17708193e-02 2.38950657e-04 9.99930693e-01 -3.57486732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.428623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:186.82, Y:-35.61, Z:-3.58 [[ 9.75481869e-01 2.19816894e-01 1.07543296e-02 1.86822609e+02] [-2.19801108e-01 9.75541125e-01 -2.64308053e-03 -3.56124239e+01] [-1.10722846e-02 2.14463564e-04 9.99938677e-01 -3.57644072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.458623853 meters Centerline goodness [0,1] 0.9999785702040117 Centerline is valid? [True, True] Translation: X:186.85, Y:-35.62, Z:-3.58 [[ 9.75444167e-01 2.19973667e-01 1.09664575e-02 1.86849437e+02] [-2.19957270e-01 9.75505786e-01 -2.69451801e-03 -3.56196158e+01] [-1.12905658e-02 2.16199823e-04 9.99936236e-01 -3.57733658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.488623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:186.88, Y:-35.63, Z:-3.58 [[ 9.75391844e-01 2.20210617e-01 1.08643880e-02 1.86877355e+02] [-2.20194546e-01 9.75452326e-01 -2.66869891e-03 -3.56253388e+01] [-1.11853683e-02 2.10748173e-04 9.99937420e-01 -3.57744801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.518623853 meters Centerline goodness [0,1] 0.9999351715792203 Centerline is valid? [True, True] Translation: X:186.91, Y:-35.63, Z:-3.58 [[ 9.75327882e-01 2.20493742e-01 1.08642392e-02 1.86905879e+02] [-2.20477695e-01 9.75388367e-01 -2.66814984e-03 -3.56293899e+01] [-1.11851629e-02 2.06998514e-04 9.99937423e-01 -3.57745198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.548623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:186.93, Y:-35.64, Z:-3.58 [[ 9.75366159e-01 2.20323845e-01 1.08746755e-02 1.86934027e+02] [-2.20307763e-01 9.75426758e-01 -2.67017153e-03 -3.56358884e+01] [-1.11957520e-02 2.08619518e-04 9.99937304e-01 -3.57768729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.578623853 meters Centerline goodness [0,1] 0.9999783254221124 Centerline is valid? [True, True] Translation: X:186.96, Y:-35.64, Z:-3.58 [[ 9.75409490e-01 2.20133567e-01 1.08415824e-02 1.86960704e+02] [-2.20117576e-01 9.75469717e-01 -2.66157135e-03 -3.56444632e+01] [-1.11615366e-02 2.09699104e-04 9.99937686e-01 -3.57841834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.608623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:186.99, Y:-35.65, Z:-3.58 [[ 9.75454387e-01 2.19937985e-01 1.07713092e-02 1.86987480e+02] [-2.19922196e-01 9.75513833e-01 -2.64362653e-03 -3.56526738e+01] [-1.10889950e-02 2.09887126e-04 9.99938493e-01 -3.57934549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.638623853 meters Centerline goodness [0,1] 0.9999783704280493 Centerline is valid? [True, True] Translation: X:187.01, Y:-35.66, Z:-3.58 [[ 9.75497900e-01 2.19759298e-01 1.04737084e-02 1.87014154e+02] [-2.19744366e-01 9.75554103e-01 -2.56995593e-03 -3.56606043e+01] [-1.07824410e-02 2.05448190e-04 9.99941847e-01 -3.58040067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.668623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:187.04, Y:-35.67, Z:-3.58 [[ 9.75379073e-01 2.20279468e-01 1.06122784e-02 1.87041962e+02] [-2.20264179e-01 9.75436782e-01 -2.60313521e-03 -3.56674038e+01] [-1.09250240e-02 2.01538816e-04 9.99940300e-01 -3.58029044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.69862385300002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:187.07, Y:-35.67, Z:-3.58 [[ 9.75307874e-01 2.20590195e-01 1.07012382e-02 1.87070283e+02] [-2.20574671e-01 9.75366560e-01 -2.62463678e-03 -3.56742553e+01] [-1.10165990e-02 1.99406823e-04 9.99939296e-01 -3.58004361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.72862385300002 meters Centerline goodness [0,1] 0.9999787129872065 Centerline is valid? [True, True] Translation: X:187.10, Y:-35.68, Z:-3.58 [[ 9.75126963e-01 2.21375549e-01 1.09668405e-02 1.87096750e+02] [-2.21359299e-01 9.75188612e-01 -2.68931431e-03 -3.56825242e+01] [-1.12900864e-02 1.94810760e-04 9.99936246e-01 -3.58090901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.75862385300002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:187.12, Y:-35.69, Z:-3.58 [[ 9.74960515e-01 2.22106771e-01 1.09807075e-02 1.87124913e+02] [-2.22090535e-01 9.75022332e-01 -2.69190019e-03 -3.56879941e+01] [-1.13043243e-02 1.85785186e-04 9.99936087e-01 -3.58092506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.78862385300002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:187.15, Y:-35.69, Z:-3.58 [[ 9.74640377e-01 2.23505994e-01 1.10093625e-02 1.87153333e+02] [-2.23489768e-01 9.74702540e-01 -2.69840635e-03 -3.56940666e+01] [-1.13339636e-02 1.69495912e-04 9.99935754e-01 -3.58189825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.81862385300002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:187.18, Y:-35.70, Z:-3.58 [[ 9.74497433e-01 2.24129405e-01 1.09892141e-02 1.87181615e+02] [-2.24113284e-01 9.74559379e-01 -2.69296778e-03 -3.56991850e+01] [-1.13132150e-02 1.61461314e-04 9.99935990e-01 -3.58160567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.84862385300002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:187.21, Y:-35.71, Z:-3.58 [[ 9.74383297e-01 2.24632488e-01 1.08368196e-02 1.87210111e+02] [-2.24616848e-01 9.74443545e-01 -2.65510925e-03 -3.57057432e+01] [-1.11562927e-02 1.52961840e-04 9.99937755e-01 -3.58183072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.87862385300002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:187.24, Y:-35.71, Z:-3.58 [[ 9.74289045e-01 2.25043243e-01 1.07887193e-02 1.87237711e+02] [-2.25027773e-01 9.74348766e-01 -2.64280220e-03 -3.57122483e+01] [-1.11067201e-02 1.47091762e-04 9.99938308e-01 -3.58278726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.90862385300002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:187.27, Y:-35.72, Z:-3.58 [[ 9.74174850e-01 2.25560762e-01 1.02812650e-02 1.87265204e+02] [-2.25546746e-01 9.74229093e-01 -2.51803139e-03 -3.57197464e+01] [-1.05842765e-02 1.34096984e-04 9.99943976e-01 -3.58444259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.93862385300002 meters Centerline goodness [0,1] 0.9998710426204139 Centerline is valid? [True, True] Translation: X:187.29, Y:-35.73, Z:-3.58 [[ 9.74171699e-01 2.25587778e-01 9.98276546e-03 1.87292566e+02] [-2.25574569e-01 9.74222838e-01 -2.44463730e-03 -3.57262411e+01] [-1.02769184e-02 1.29638456e-04 9.99947183e-01 -3.57672918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.96862385300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:187.32, Y:-35.73, Z:-3.58 [[ 9.74265631e-01 2.25165767e-01 1.03372293e-02 1.87320763e+02] [-2.25151590e-01 9.74320460e-01 -2.53047240e-03 -3.57337488e+01] [-1.06415497e-02 1.37908693e-04 9.99943368e-01 -3.58461316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.99862385300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:187.35, Y:-35.74, Z:-3.59 [[ 9.74305618e-01 2.25003395e-01 1.01012791e-02 1.87346883e+02] [-2.24989852e-01 9.74357970e-01 -2.47234237e-03 -3.57442927e+01] [-1.03985472e-02 1.36131771e-04 9.99945924e-01 -3.58683139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.02862385300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:187.37, Y:-35.75, Z:-3.59 [[ 9.74389324e-01 2.24640825e-01 1.00968342e-02 1.87374264e+02] [-2.24627283e-01 9.74441625e-01 -2.47042136e-03 -3.57520599e+01] [-1.03937330e-02 1.39127755e-04 9.99945974e-01 -3.58617160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.058623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:187.40, Y:-35.76, Z:-3.59 [[ 9.74438721e-01 2.24437033e-01 9.85888591e-03 1.87401131e+02] [-2.24424116e-01 9.74488583e-01 -2.41181591e-03 -3.57612288e+01] [-1.01486726e-02 1.37595057e-04 9.99948491e-01 -3.58715545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.088623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:187.43, Y:-35.77, Z:-3.59 [[ 9.74449187e-01 2.24391579e-01 9.85905065e-03 1.87428673e+02] [-2.24378667e-01 9.74499051e-01 -2.41114224e-03 -3.57678714e+01] [-1.01486755e-02 1.37374957e-04 9.99948491e-01 -3.58765503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.118623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:187.46, Y:-35.78, Z:-3.59 [[ 9.74481878e-01 2.24258507e-01 9.65357850e-03 1.87456071e+02] [-2.24246126e-01 9.74529683e-01 -2.36043441e-03 -3.57759058e+01] [-9.93704630e-03 1.35422984e-04 9.99950617e-01 -3.58805648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.148623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:187.48, Y:-35.78, Z:-3.59 [[ 9.74429591e-01 2.24468225e-01 1.00492773e-02 1.87484321e+02] [-2.24454824e-01 9.74481399e-01 -2.45666859e-03 -3.57834460e+01] [-1.03442778e-02 1.38241808e-04 9.99946487e-01 -3.58669862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.178623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:187.51, Y:-35.79, Z:-3.59 [[ 9.74353038e-01 2.24785688e-01 1.03707201e-02 1.87511034e+02] [-2.24771439e-01 9.74408218e-01 -2.53479223e-03 -3.57928254e+01] [-1.06750999e-02 1.38740829e-04 9.99943010e-01 -3.58726944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.208623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:187.54, Y:-35.80, Z:-3.59 [[ 9.74276682e-01 2.25094296e-01 1.08399313e-02 1.87538698e+02] [-2.25078757e-01 9.74336974e-01 -2.64857237e-03 -3.58001604e+01] [-1.11579244e-02 1.40604033e-04 9.99937739e-01 -3.58749446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.238623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:187.57, Y:-35.81, Z:-3.59 [[ 9.74173600e-01 2.25526184e-01 1.11237644e-02 1.87566643e+02] [-2.25509855e-01 9.74237097e-01 -2.71734829e-03 -3.58078609e+01] [-1.14500172e-02 1.38650461e-04 9.99934437e-01 -3.58745842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.268623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:187.59, Y:-35.81, Z:-3.59 [[ 9.74022434e-01 2.26175534e-01 1.11769904e-02 1.87594940e+02] [-2.26159098e-01 9.74086552e-01 -2.72979678e-03 -3.58143457e+01] [-1.15047693e-02 1.31105236e-04 9.99933809e-01 -3.58717178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.298623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:187.62, Y:-35.82, Z:-3.59 [[ 9.73879855e-01 2.26785472e-01 1.12418204e-02 1.87621291e+02] [-2.26768891e-01 9.73944729e-01 -2.74514598e-03 -3.58217578e+01] [-1.15714710e-02 1.24147207e-04 9.99933041e-01 -3.58796422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.328623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:187.65, Y:-35.83, Z:-3.59 [[ 9.73725771e-01 2.27454083e-01 1.10798171e-02 1.87649055e+02] [-2.27438029e-01 9.73788800e-01 -2.70474801e-03 -3.58285630e+01] [-1.14046078e-02 1.13711087e-04 9.99934959e-01 -3.58860089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.358623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:187.68, Y:-35.83, Z:-3.59 [[ 9.73198792e-01 2.29708692e-01 1.08640651e-02 1.87678111e+02] [-2.29693404e-01 9.73259426e-01 -2.65156532e-03 -3.58328506e+01] [-1.11826414e-02 8.50960774e-05 9.99937469e-01 -3.58863391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.388623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:187.71, Y:-35.84, Z:-3.59 [[ 9.72874109e-01 2.31080750e-01 1.08469074e-02 1.87706727e+02] [-2.31065601e-01 9.72934573e-01 -2.64682207e-03 -3.58381657e+01] [-1.11649608e-02 6.86774877e-05 9.99937668e-01 -3.58936671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.418623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:187.73, Y:-35.84, Z:-3.59 [[ 9.72577483e-01 2.32338411e-01 1.05784109e-02 1.87734477e+02] [-2.32324083e-01 9.72635009e-01 -2.58085813e-03 -3.58435741e+01] [-1.08885653e-02 5.24648928e-05 9.99940716e-01 -3.59024419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.44862385300002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:187.76, Y:-35.85, Z:-3.59 [[ 9.72290464e-01 2.33542850e-01 1.04398512e-02 1.87761570e+02] [-2.33528971e-01 9.72346510e-01 -2.54638440e-03 -3.58483388e+01] [-1.07458427e-02 3.78175712e-05 9.99942261e-01 -3.59143408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.47862385300002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:187.79, Y:-35.85, Z:-3.59 [[ 9.71691452e-01 2.36036006e-01 1.01354017e-02 1.87789792e+02] [-2.36023066e-01 9.71744310e-01 -2.47150446e-03 -3.58508353e+01] [-1.04323830e-02 9.35116459e-06 9.99945581e-01 -3.59293733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.50862385300002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:187.82, Y:-35.86, Z:-3.59 [[ 9.71473607e-01 2.36926086e-01 1.02498995e-02 1.87817104e+02] [-2.36912908e-01 9.71527678e-01 -2.49885871e-03 -3.58559820e+01] [-1.05501059e-02 -7.58216198e-07 9.99944346e-01 -3.59312185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.53862385300002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:187.84, Y:-35.86, Z:-3.59 [[ 9.71310322e-01 2.37591769e-01 1.03154890e-02 1.87844238e+02] [-2.37578469e-01 9.71365097e-01 -2.51396850e-03 -3.58612714e+01] [-1.06174042e-02 -8.89453597e-06 9.99943634e-01 -3.59413591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.56862385300002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:187.87, Y:-35.87, Z:-3.59 [[ 9.71242814e-01 2.37850759e-01 1.06964026e-02 1.87870656e+02] [-2.37836481e-01 9.71301712e-01 -2.60622595e-03 -3.58660668e+01] [-1.10093270e-02 -1.27165398e-05 9.99939395e-01 -3.59403909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.59862385300002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:187.90, Y:-35.87, Z:-3.59 [[ 9.71321178e-01 2.37518418e-01 1.09622603e-02 1.87898038e+02] [-2.37503411e-01 9.71383035e-01 -2.66997551e-03 -3.58726499e+01] [-1.12827221e-02 -1.01704631e-05 9.99936348e-01 -3.59337416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.62862385300002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:187.93, Y:-35.88, Z:-3.59 [[ 9.71393658e-01 2.37202866e-01 1.13648963e-02 1.87926482e+02] [-2.37186727e-01 9.71460138e-01 -2.76700252e-03 -3.58793324e+01] [-1.16968847e-02 -7.75385323e-06 9.99931589e-01 -3.59302061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.65862385300002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:187.95, Y:-35.89, Z:-3.59 [[ 9.71512252e-01 2.36706862e-01 1.15674803e-02 1.87953367e+02] [-2.36690113e-01 9.71581114e-01 -2.81587336e-03 -3.58857299e+01] [-1.19052820e-02 -2.25275183e-06 9.99929130e-01 -3.59307783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.68862385300002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:187.98, Y:-35.89, Z:-3.59 [[ 9.71836842e-01 2.35379246e-01 1.13913517e-02 1.87979969e+02] [-2.35362921e-01 9.71903601e-01 -2.77217905e-03 -3.58936929e+01] [-1.17238092e-02 1.30039231e-05 9.99931274e-01 -3.59461802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.71862385300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:188.01, Y:-35.90, Z:-3.60 [[ 9.72082961e-01 2.34367362e-01 1.12541706e-02 1.88006781e+02] [-2.34351371e-01 9.72148105e-01 -2.73789686e-03 -3.59020996e+01] [-1.15823943e-02 2.40325706e-05 9.99932922e-01 -3.59576264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.74862385300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:188.03, Y:-35.91, Z:-3.60 [[ 9.72360492e-01 2.33232174e-01 1.08548086e-02 1.88034016e+02] [-2.33217233e-01 9.72421077e-01 -2.64014903e-03 -3.59100460e+01] [-1.11712123e-02 3.56481989e-05 9.99937599e-01 -3.59624119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.77862385300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:188.06, Y:-35.92, Z:-3.60 [[ 9.72779439e-01 2.31492519e-01 1.05535427e-02 1.88060719e+02] [-2.31478302e-01 9.72836683e-01 -2.56614095e-03 -3.59180206e+01] [-1.08609159e-02 5.33730200e-05 9.99941017e-01 -3.59695263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.80862385300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:188.09, Y:-35.93, Z:-3.60 [[ 9.72981923e-01 2.30640759e-01 1.05365046e-02 1.88088820e+02] [-2.30626545e-01 9.73038970e-01 -2.56125915e-03 -3.59253729e+01] [-1.08431603e-02 6.20612105e-05 9.99941209e-01 -3.59802900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.838623853 meters Centerline goodness [0,1] 0.9999787491765306 Centerline is valid? [True, True] Translation: X:188.12, Y:-35.93, Z:-3.60 [[ 9.73148416e-01 2.29935605e-01 1.05724869e-02 1.88115895e+02] [-2.29921257e-01 9.73205843e-01 -2.56955972e-03 -3.59331022e+01] [-1.08800393e-02 6.97234913e-05 9.99940808e-01 -3.59902153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.868623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:188.14, Y:-35.94, Z:-3.60 [[ 9.73351479e-01 2.29080374e-01 1.04441715e-02 1.88144149e+02] [-2.29066331e-01 9.73407508e-01 -2.53766830e-03 -3.59402253e+01] [-1.07477649e-02 7.76351537e-05 9.99942238e-01 -3.59913192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.898623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:188.17, Y:-35.95, Z:-3.60 [[ 9.73503334e-01 2.28450508e-01 1.00808444e-02 1.88171368e+02] [-2.28437395e-01 9.73555524e-01 -2.44900407e-03 -3.59479427e+01] [-1.03737380e-02 8.12717922e-05 9.99946188e-01 -3.60033245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.928623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:188.20, Y:-35.96, Z:-3.60 [[ 9.73806341e-01 2.27146531e-01 1.02792577e-02 1.88198655e+02] [-2.27132832e-01 9.73860588e-01 -2.49645840e-03 -3.59568115e+01] [-1.05776258e-02 9.63101072e-05 9.99944051e-01 -3.60055877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.958623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:188.23, Y:-35.96, Z:-3.60 [[ 9.73925198e-01 2.26641190e-01 1.01725275e-02 1.88226779e+02] [-2.26627752e-01 9.73978316e-01 -2.47007057e-03 -3.59624661e+01] [-1.04676409e-02 1.00286932e-04 9.99945208e-01 -3.60045808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.988623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:188.25, Y:-35.97, Z:-3.60 [[ 9.74098922e-01 2.25902771e-01 9.96132433e-03 1.88253966e+02] [-2.25889851e-01 9.74149848e-01 -2.41828908e-03 -3.59699607e+01] [-1.02501208e-02 1.05490719e-04 9.99947461e-01 -3.60156423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.018623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:188.28, Y:-35.98, Z:-3.60 [[ 9.74155630e-01 2.25649905e-01 1.01454221e-02 1.88281205e+02] [-2.25636494e-01 9.74208452e-01 -2.46253243e-03 -3.59765936e+01] [-1.04394261e-02 1.09712364e-04 9.99945502e-01 -3.60201651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.048623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:188.31, Y:-35.99, Z:-3.60 [[ 9.74228852e-01 2.25339585e-01 1.00107329e-02 1.88307343e+02] [-2.25326518e-01 9.74280278e-01 -2.42921369e-03 -3.59855826e+01] [-1.03006577e-02 1.10926473e-04 9.99946941e-01 -3.60354523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.078623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:188.34, Y:-35.99, Z:-3.60 [[ 9.74344942e-01 2.24829375e-01 1.01826193e-02 1.88335247e+02] [-2.24815835e-01 9.74398142e-01 -2.47018018e-03 -3.59918279e+01] [-1.04772944e-02 1.17593501e-04 9.99945105e-01 -3.60337093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.108623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:188.36, Y:-36.00, Z:-3.60 [[ 9.74417330e-01 2.24524470e-01 9.98144148e-03 1.88361577e+02] [-2.24511449e-01 9.74468444e-01 -2.42098406e-03 -3.60001730e+01] [-1.02701699e-02 1.18100936e-04 9.99947253e-01 -3.60404327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.138623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:188.39, Y:-36.01, Z:-3.60 [[ 9.74406424e-01 2.24565205e-01 1.01286220e-02 1.88390041e+02] [-2.24551806e-01 9.74459057e-01 -2.45594737e-03 -3.60063471e+01] [-1.04214478e-02 1.18690526e-04 9.99945688e-01 -3.60377102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.168623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:188.42, Y:-36.01, Z:-3.60 [[ 9.74394181e-01 2.24608766e-01 1.03384310e-02 1.88416886e+02] [-2.24594813e-01 9.74449018e-01 -2.50639394e-03 -3.60126154e+01] [-1.06372320e-02 1.20257682e-04 9.99943416e-01 -3.60415201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.19862385300002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:188.45, Y:-36.02, Z:-3.60 [[ 9.74346637e-01 2.24805635e-01 1.05384231e-02 1.88445205e+02] [-2.24791157e-01 9.74403619e-01 -2.55409179e-03 -3.60183999e+01] [-1.08428518e-02 1.19626432e-04 9.99941207e-01 -3.60430219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.22862385300002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:188.47, Y:-36.03, Z:-3.60 [[ 9.74269052e-01 2.25126656e-01 1.08537177e-02 1.88472364e+02] [-2.25111324e-01 9.74329500e-01 -2.63001674e-03 -3.60252984e+01] [-1.11671842e-02 1.19049153e-04 9.99937638e-01 -3.60405618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.25862385300002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:188.50, Y:-36.03, Z:-3.60 [[ 9.74299893e-01 2.24970831e-01 1.13068102e-02 1.88498925e+02] [-2.24954191e-01 9.74365491e-01 -2.73906128e-03 -3.60322428e+01] [-1.16331746e-02 1.25152761e-04 9.99932325e-01 -3.60471735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.28862385300002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:188.53, Y:-36.04, Z:-3.60 [[ 9.74297797e-01 2.24972019e-01 1.14627387e-02 1.88527246e+02] [-2.24954926e-01 9.74365216e-01 -2.77604981e-03 -3.60391525e+01] [-1.17934274e-02 1.26099682e-04 9.99930447e-01 -3.60450636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.31862385300002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:188.55, Y:-36.05, Z:-3.61 [[ 9.74315637e-01 2.24906028e-01 1.12391647e-02 1.88553504e+02] [-2.24889596e-01 9.74380451e-01 -2.72144121e-03 -3.60472682e+01] [-1.15632909e-02 1.23971521e-04 9.99933135e-01 -3.60519477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.34862385300002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:188.58, Y:-36.05, Z:-3.61 [[ 9.74306982e-01 2.24930391e-01 1.14988883e-02 1.88581831e+02] [-2.24913203e-01 9.74374827e-01 -2.78352748e-03 -3.60542638e+01] [-1.18303273e-02 1.25758460e-04 9.99930011e-01 -3.60587248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.37862385300002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:188.61, Y:-36.06, Z:-3.61 [[ 9.74305800e-01 2.24936080e-01 1.14877297e-02 1.88609525e+02] [-2.24918931e-01 9.74373514e-01 -2.78026828e-03 -3.60610135e+01] [-1.18187222e-02 1.25023633e-04 9.99930149e-01 -3.60647095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.40862385300002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:188.64, Y:-36.07, Z:-3.61 [[ 9.74328732e-01 2.24851810e-01 1.11886072e-02 1.88636012e+02] [-2.24835543e-01 9.74392964e-01 -2.70742527e-03 -3.60678031e+01] [-1.15108696e-02 1.22325651e-04 9.99933740e-01 -3.60699573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.43862385300002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:188.66, Y:-36.08, Z:-3.61 [[ 9.74358509e-01 2.24710601e-01 1.14298257e-02 1.88662234e+02] [-2.24693623e-01 9.74425538e-01 -2.76507787e-03 -3.60757463e+01] [-1.17588564e-02 1.25968199e-04 9.99930854e-01 -3.60779832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.46862385300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:188.69, Y:-36.08, Z:-3.61 [[ 9.74427991e-01 2.24410576e-01 1.14010637e-02 1.88689687e+02] [-2.24393672e-01 9.74494678e-01 -2.75737064e-03 -3.60836202e+01] [-1.17290591e-02 1.28532574e-04 9.99931204e-01 -3.60823126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.49862385300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:188.72, Y:-36.09, Z:-3.61 [[ 9.74472047e-01 2.24236791e-01 1.10495036e-02 1.88716128e+02] [-2.24220908e-01 9.74534682e-01 -2.67191125e-03 -3.60914844e+01] [-1.13672653e-02 1.26173090e-04 9.99935383e-01 -3.60920582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.52862385300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:188.74, Y:-36.10, Z:-3.61 [[ 9.74599266e-01 2.23669256e-01 1.13284506e-02 1.88742649e+02] [-2.23652530e-01 9.74665094e-01 -2.73866412e-03 -3.61001624e+01] [-1.16540003e-02 1.35463401e-04 9.99932081e-01 -3.60990034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.55862385300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:188.77, Y:-36.11, Z:-3.61 [[ 9.74683592e-01 2.23316044e-01 1.10380915e-02 1.88771658e+02] [-2.23300151e-01 9.74746083e-01 -2.66764399e-03 -3.61058020e+01] [-1.13550641e-02 1.35301331e-04 9.99935520e-01 -3.60921331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.588623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:188.80, Y:-36.12, Z:-3.61 [[ 9.74778042e-01 2.22916250e-01 1.07756353e-02 1.88798868e+02] [-2.22901081e-01 9.74837590e-01 -2.60403133e-03 -3.61169111e+01] [-1.10849752e-02 1.36451805e-04 9.99938550e-01 -3.61229370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.618623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:188.83, Y:-36.12, Z:-3.61 [[ 9.74915034e-01 2.22331527e-01 1.04579652e-02 1.88826452e+02] [-2.22317210e-01 9.74971114e-01 -2.52694792e-03 -3.61248068e+01] [-1.07580341e-02 1.38573886e-04 9.99942121e-01 -3.61303746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.648623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:188.86, Y:-36.13, Z:-3.61 [[ 9.75099744e-01 2.21554480e-01 9.70065653e-03 1.88855238e+02] [-2.21542128e-01 9.75147986e-01 -2.34339104e-03 -3.61338688e+01] [-9.97876446e-03 1.35935915e-04 9.99950202e-01 -3.61432819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.678623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:188.88, Y:-36.14, Z:-3.62 [[ 9.75192786e-01 2.21172522e-01 9.04129587e-03 1.88882500e+02] [-2.21161779e-01 9.75234689e-01 -2.18380827e-03 -3.61444771e+01] [-9.30038375e-03 1.30044993e-04 9.99956742e-01 -3.61714784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.708623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:188.91, Y:-36.15, Z:-3.62 [[ 9.75241292e-01 2.20963049e-01 8.93043725e-03 1.88911434e+02] [-2.20952559e-01 9.75282172e-01 -2.15702071e-03 -3.61516126e+01] [-9.18631810e-03 1.30412708e-04 9.99957796e-01 -3.61700376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.738623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:188.94, Y:-36.16, Z:-3.62 [[ 9.75181566e-01 2.21194227e-01 9.69672487e-03 1.88939856e+02] [-2.21181873e-01 9.75229765e-01 -2.34183200e-03 -3.61609482e+01] [-9.97453444e-03 1.38971626e-04 9.99950243e-01 -3.61570805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.768623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:188.97, Y:-36.17, Z:-3.62 [[ 9.75085776e-01 2.21602022e-01 1.00136873e-02 1.88968769e+02] [-2.21588871e-01 9.75137183e-01 -2.41812247e-03 -3.61683586e+01] [-1.03005797e-02 1.38955153e-04 9.99946938e-01 -3.61512559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.798623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:189.00, Y:-36.18, Z:-3.62 [[ 9.74922212e-01 2.22298836e-01 1.04836735e-02 1.88997601e+02] [-2.22284466e-01 9.74978568e-01 -2.53133427e-03 -3.61757409e+01] [-1.07840697e-02 1.37496238e-04 9.99941841e-01 -3.61503181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.828623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:189.03, Y:-36.18, Z:-3.62 [[ 9.74688928e-01 2.23310161e-01 1.06801555e-02 1.89025499e+02] [-2.23295310e-01 9.74747432e-01 -2.57858133e-03 -3.61825004e+01] [-1.09862776e-02 1.28486041e-04 9.99939641e-01 -3.61503011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.858623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:189.05, Y:-36.19, Z:-3.61 [[ 9.74029668e-01 2.26155271e-01 1.09544260e-02 1.89053874e+02] [-2.26139832e-01 9.74091260e-01 -2.64444870e-03 -3.61875568e+01] [-1.12686667e-02 9.85394261e-05 9.99936502e-01 -3.61484604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.888623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:189.08, Y:-36.19, Z:-3.61 [[ 9.73589167e-01 2.28038809e-01 1.10650928e-02 1.89083558e+02] [-2.28023185e-01 9.73652040e-01 -2.67046871e-03 -3.61927494e+01] [-1.13825207e-02 7.68416995e-05 9.99935214e-01 -3.61480286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.918623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:189.11, Y:-36.20, Z:-3.61 [[ 9.73160771e-01 2.29865906e-01 1.09444102e-02 1.89113195e+02] [-2.29850739e-01 9.73222309e-01 -2.64107577e-03 -3.61975522e+01] [-1.12584374e-02 5.46105752e-05 9.99936620e-01 -3.61483559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.94862385300002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:189.14, Y:-36.20, Z:-3.62 [[ 9.72655026e-01 2.32005573e-01 1.07524586e-02 1.89141133e+02] [-2.31991064e-01 9.72714456e-01 -2.59472985e-03 -3.62013553e+01] [-1.10610637e-02 2.93027222e-05 9.99938824e-01 -3.61605213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.97862385300002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:189.17, Y:-36.20, Z:-3.62 [[ 9.71503560e-01 2.36795443e-01 1.04283653e-02 1.89170329e+02] [-2.36782079e-01 9.71559528e-01 -2.51592944e-03 -3.62008628e+01] [-1.07275383e-02 -2.50156132e-05 9.99942458e-01 -3.61774819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.00862385300002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:189.20, Y:-36.20, Z:-3.62 [[ 9.70987208e-01 2.38910316e-01 1.02812002e-02 1.89198641e+02] [-2.38897451e-01 9.71041636e-01 -2.47976250e-03 -3.62042225e+01] [-1.05759143e-02 -4.83348559e-05 9.99944072e-01 -3.61854830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.03862385300002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:189.23, Y:-36.21, Z:-3.62 [[ 9.70998336e-01 2.38865077e-01 1.02813905e-02 1.89226203e+02] [-2.38852218e-01 9.71052765e-01 -2.47897303e-03 -3.62107748e+01] [-1.05759128e-02 -4.86542521e-05 9.99944072e-01 -3.61904783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.06862385300002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:189.25, Y:-36.21, Z:-3.62 [[ 9.70453255e-01 2.41059301e-01 1.05305990e-02 1.89254746e+02] [-2.41045946e-01 9.70510385e-01 -2.53852151e-03 -3.62141933e+01] [-1.08319899e-02 -7.48417332e-05 9.99941329e-01 -3.61920914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.09862385300002 meters Centerline goodness [0,1] 0.9999786251709987 Centerline is valid? [True, True] Translation: X:189.28, Y:-36.22, Z:-3.62 [[ 9.70021906e-01 2.42789665e-01 1.05204522e-02 1.89282268e+02] [-2.42776442e-01 9.70078950e-01 -2.53563475e-03 -3.62175355e+01] [-1.08212951e-02 -9.44966970e-05 9.99941444e-01 -3.61930599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.12862385300002 meters Centerline goodness [0,1] 0.9999566677499729 Centerline is valid? [True, True] Translation: X:189.31, Y:-36.22, Z:-3.62 [[ 9.69589531e-01 2.44496636e-01 1.08414093e-02 1.89310495e+02] [-2.44482709e-01 9.69650133e-01 -2.61223859e-03 -3.62227158e+01] [-1.11510575e-02 -1.17737916e-04 9.99937818e-01 -3.61848390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.15862385300002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:189.34, Y:-36.22, Z:-3.62 [[ 9.69015501e-01 2.46769229e-01 1.06726776e-02 1.89338806e+02] [-2.46755875e-01 9.69074263e-01 -2.57112506e-03 -3.62237119e+01] [-1.09770917e-02 -1.42085864e-04 9.99939740e-01 -3.61980880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.18862385300002 meters Centerline goodness [0,1] 0.9999784250269688 Centerline is valid? [True, True] Translation: X:189.37, Y:-36.23, Z:-3.62 [[ 9.68836123e-01 2.47465995e-01 1.08235213e-02 1.89367506e+02] [-2.47452313e-01 9.68896567e-01 -2.60665614e-03 -3.62287230e+01] [-1.11319314e-02 -1.52882746e-04 9.99938026e-01 -3.62010065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.21862385300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:189.40, Y:-36.23, Z:-3.62 [[ 9.68717047e-01 2.47927599e-01 1.09173243e-02 1.89395741e+02] [-2.47913715e-01 9.68778551e-01 -2.62868577e-03 -3.62333636e+01] [-1.12281933e-02 -1.60101699e-04 9.99936949e-01 -3.62065352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.24862385300003 meters Centerline goodness [0,1] 0.9999348774610893 Centerline is valid? [True, True] Translation: X:189.42, Y:-36.24, Z:-3.62 [[ 9.68573586e-01 2.48462667e-01 1.14678587e-02 1.89423965e+02] [-2.48447391e-01 9.68641457e-01 -2.76069038e-03 -3.62352300e+01] [-1.17941719e-02 -1.75227800e-04 9.99930431e-01 -3.62109939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.27862385300003 meters Centerline goodness [0,1] 0.9999573806124405 Centerline is valid? [True, True] Translation: X:189.45, Y:-36.24, Z:-3.62 [[ 9.68658811e-01 2.48133734e-01 1.13911031e-02 1.89451473e+02] [-2.48118647e-01 9.68725772e-01 -2.74149759e-03 -3.62384538e+01] [-1.17151132e-02 -1.70769302e-04 9.99931361e-01 -3.62226067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.30862385300003 meters Centerline goodness [0,1] 0.9998282782750553 Centerline is valid? [True, True] Translation: X:189.48, Y:-36.25, Z:-3.62 [[ 9.68828421e-01 2.47475690e-01 1.12815543e-02 1.89479067e+02] [-2.47460857e-01 9.68894089e-01 -2.71438009e-03 -3.62463744e+01] [-1.16023744e-02 -1.61974516e-04 9.99932677e-01 -3.62221151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.338623853 meters Centerline goodness [0,1] 0.9998289574959377 Centerline is valid? [True, True] Translation: X:189.51, Y:-36.25, Z:-3.62 [[ 9.69137249e-01 2.46267335e-01 1.11978474e-02 1.89507107e+02] [-2.46252646e-01 9.69201929e-01 -2.69368563e-03 -3.62528799e+01] [-1.15163421e-02 -1.46948474e-04 9.99933674e-01 -3.62321381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.368623853 meters Centerline goodness [0,1] 0.9999355628584315 Centerline is valid? [True, True] Translation: X:189.53, Y:-36.26, Z:-3.62 [[ 9.69879914e-01 2.43338981e-01 1.09129914e-02 1.89534302e+02] [-2.43324850e-01 9.69941301e-01 -2.62471746e-03 -3.62599424e+01] [-1.12236572e-02 -1.09741262e-04 9.99937007e-01 -3.62477183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.398623853 meters Centerline goodness [0,1] 0.9999564886326553 Centerline is valid? [True, True] Translation: X:189.56, Y:-36.27, Z:-3.62 [[ 9.70332362e-01 2.41525459e-01 1.09800029e-02 1.89562309e+02] [-2.41511047e-01 9.70394479e-01 -2.64007978e-03 -3.62686849e+01] [-1.12925807e-02 -9.00371526e-05 9.99936233e-01 -3.62459801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.428623853 meters Centerline goodness [0,1] 0.9999784770349963 Centerline is valid? [True, True] Translation: X:189.59, Y:-36.28, Z:-3.62 [[ 9.70856022e-01 2.39411666e-01 1.09835704e-02 1.89589036e+02] [-2.39397114e-01 9.70918148e-01 -2.64045013e-03 -3.62763397e+01] [-1.12963024e-02 -6.59381470e-05 9.99936193e-01 -3.62496011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.458623853 meters Centerline goodness [0,1] 0.9999785195686729 Centerline is valid? [True, True] Translation: X:189.62, Y:-36.28, Z:-3.63 [[ 9.71348836e-01 2.37396758e-01 1.11453042e-02 1.89616435e+02] [-2.37381650e-01 9.71412774e-01 -2.67852991e-03 -3.62844393e+01] [-1.14625652e-02 -4.39038077e-05 9.99934302e-01 -3.62500503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.488623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:189.64, Y:-36.29, Z:-3.63 [[ 9.72374527e-01 2.33129205e-01 1.17708905e-02 1.89642545e+02] [-2.33112048e-01 9.72445769e-01 -2.82828566e-03 -3.62934442e+01] [-1.21059086e-02 6.21654504e-06 9.99926721e-01 -3.62517460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.518623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:189.67, Y:-36.30, Z:-3.63 [[ 9.72930595e-01 2.30778773e-01 1.21332558e-02 1.89670211e+02] [-2.30760372e-01 9.73006247e-01 -2.91447555e-03 -3.63021912e+01] [-1.24783328e-02 3.57078227e-05 9.99922142e-01 -3.62573703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.548623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:189.70, Y:-36.31, Z:-3.63 [[ 9.73542547e-01 2.28179134e-01 1.22144495e-02 1.89696625e+02] [-2.28160288e-01 9.73619165e-01 -2.93340577e-03 -3.63114726e+01] [-1.25615641e-02 6.89430185e-05 9.99921098e-01 -3.62637612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.578623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:189.72, Y:-36.32, Z:-3.63 [[ 9.74862480e-01 2.22493282e-01 1.18272465e-02 1.89723016e+02] [-2.22475203e-01 9.74934214e-01 -2.83955413e-03 -3.63248036e+01] [-1.21625690e-02 1.36905706e-04 9.99926024e-01 -3.62847506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.608623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:189.75, Y:-36.34, Z:-3.63 [[ 9.75525605e-01 2.19585135e-01 1.14962097e-02 1.89750065e+02] [-2.19567857e-01 9.75593327e-01 -2.75966182e-03 -3.63359760e+01] [-1.18216062e-02 1.67922642e-04 9.99930108e-01 -3.63020172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.638623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:189.78, Y:-36.35, Z:-3.63 [[ 9.76172526e-01 2.16716616e-01 1.10048589e-02 1.89778380e+02] [-2.16700608e-01 9.76234537e-01 -2.64117959e-03 -3.63468776e+01] [-1.13157108e-02 1.93487335e-04 9.99935957e-01 -3.63138061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.668623853 meters Centerline goodness [0,1] 0.9999571550985433 Centerline is valid? [True, True] Translation: X:189.81, Y:-36.36, Z:-3.63 [[ 9.76765165e-01 2.14030164e-01 1.09954979e-02 1.89807145e+02] [-2.14014015e-01 9.76827026e-01 -2.63872218e-03 -3.63573025e+01] [-1.13054657e-02 2.24221255e-04 9.99936066e-01 -3.63152244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.69862385300002 meters Centerline goodness [0,1] 0.9999783136710617 Centerline is valid? [True, True] Translation: X:189.83, Y:-36.37, Z:-3.63 [[ 9.77774681e-01 2.09341130e-01 1.15310267e-02 1.89834631e+02] [-2.09323043e-01 9.77842629e-01 -2.76716947e-03 -3.63720925e+01] [-1.18548119e-02 2.91958631e-04 9.99929687e-01 -3.63149822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.72862385300002 meters Centerline goodness [0,1] 0.9999350874156137 Centerline is valid? [True, True] Translation: X:189.86, Y:-36.38, Z:-3.63 [[ 9.78221326e-01 2.07239217e-01 1.16165535e-02 1.89864418e+02] [-2.07220713e-01 9.78290246e-01 -2.78777307e-03 -3.63829391e+01] [-1.19420969e-02 3.19868568e-04 9.99928639e-01 -3.63196891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.75862385300002 meters Centerline goodness [0,1] 0.9999141888702965 Centerline is valid? [True, True] Translation: X:189.89, Y:-36.39, Z:-3.63 [[ 9.78558043e-01 2.05629464e-01 1.18608298e-02 1.89894278e+02] [-2.05610060e-01 9.78629860e-01 -2.84598278e-03 -3.63941146e+01] [-1.21925802e-02 3.46253404e-04 9.99925608e-01 -3.63187471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.78862385300002 meters Centerline goodness [0,1] 0.999978245262906 Centerline is valid? [True, True] Translation: X:189.92, Y:-36.41, Z:-3.63 [[ 9.79090117e-01 2.03046742e-01 1.24323444e-02 1.89924106e+02] [-2.03025181e-01 9.79168965e-01 -2.98575279e-03 -3.64069620e+01] [-1.27796132e-02 3.99242080e-04 9.99918258e-01 -3.63095849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.81862385300002 meters Centerline goodness [0,1] 0.9997451796483479 Centerline is valid? [True, True] Translation: X:189.95, Y:-36.42, Z:-3.63 [[ 9.79205428e-01 2.02502946e-01 1.22182572e-02 1.89953224e+02] [-2.02482078e-01 9.79281572e-01 -2.93437533e-03 -3.64183756e+01] [-1.25593338e-02 3.99378134e-04 9.99921049e-01 -3.63174420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.84862385300002 meters Centerline goodness [0,1] 0.999640181179359 Centerline is valid? [True, True] Translation: X:189.98, Y:-36.43, Z:-3.63 [[ 9.79262658e-01 2.02232033e-01 1.21182179e-02 1.89983590e+02] [-2.02211457e-01 9.79337553e-01 -2.91262095e-03 -3.64275817e+01] [-1.24568512e-02 4.01778428e-04 9.99922330e-01 -3.63198065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.87862385300002 meters Centerline goodness [0,1] 0.9997201713412402 Centerline is valid? [True, True] Translation: X:190.02, Y:-36.44, Z:-3.63 [[ 9.79207969e-01 2.02468442e-01 1.25810940e-02 1.90015348e+02] [-2.02446274e-01 9.79288700e-01 -3.02462760e-03 -3.64356509e+01] [-1.29329148e-02 4.14743845e-04 9.99916280e-01 -3.63196599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.90862385300002 meters Centerline goodness [0,1] 0.9995892691151992 Centerline is valid? [True, True] Translation: X:190.05, Y:-36.44, Z:-3.63 [[ 9.79051129e-01 2.03196351e-01 1.30433627e-02 1.90046759e+02] [-2.03172550e-01 9.79137919e-01 -3.13853711e-03 -3.64448041e+01] [-1.34089903e-02 4.22735034e-04 9.99910006e-01 -3.62508988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.93862385300002 meters Centerline goodness [0,1] 0.9998056071536567 Centerline is valid? [True, True] Translation: X:190.08, Y:-36.45, Z:-3.63 [[ 9.78805862e-01 2.04341987e-01 1.35438810e-02 1.90077187e+02] [-2.04316401e-01 9.78899470e-01 -3.26141779e-03 -3.64530843e+01] [-1.39245425e-02 4.25057843e-04 9.99902959e-01 -3.63153901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.96862385300003 meters Centerline goodness [0,1] 0.9998712418721432 Centerline is valid? [True, True] Translation: X:190.11, Y:-36.46, Z:-3.63 [[ 9.78583801e-01 2.05409934e-01 1.34351750e-02 1.90108615e+02] [-2.05384826e-01 9.78675938e-01 -3.23751927e-03 -3.64598111e+01] [-1.38137011e-02 4.08802844e-04 9.99904503e-01 -3.63188894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.99862385300003 meters Centerline goodness [0,1] 0.9999782849449523 Centerline is valid? [True, True] Translation: X:190.14, Y:-36.46, Z:-3.63 [[ 9.78316834e-01 2.06671181e-01 1.35349263e-02 1.90140454e+02] [-2.06645787e-01 9.78410377e-01 -3.26387052e-03 -3.64639683e+01] [-1.39172603e-02 3.96163973e-04 9.99903072e-01 -3.63202358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.02862385300003 meters Centerline goodness [0,1] 0.9998937639434824 Centerline is valid? [True, True] Translation: X:190.17, Y:-36.48, Z:-3.63 [[ 9.77634547e-01 2.09908276e-01 1.30079947e-02 1.90169171e+02] [-2.09885069e-01 9.77721024e-01 -3.13965718e-03 -3.64767549e+01] [-1.33772299e-02 3.39253468e-04 9.99910463e-01 -3.63415619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.05862385300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:190.20, Y:-36.48, Z:-3.63 [[ 9.77186100e-01 2.11988988e-01 1.29612562e-02 1.90201015e+02] [-2.11966133e-01 9.77272006e-01 -3.12811326e-03 -3.64819879e+01] [-1.33297984e-02 3.09401441e-04 9.99911106e-01 -3.63499438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.088623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:190.23, Y:-36.48, Z:-3.63 [[ 9.76702575e-01 2.14228285e-01 1.25826097e-02 1.90233329e+02] [-2.14206906e-01 9.76783583e-01 -3.03870655e-03 -3.64835862e+01] [-1.29414635e-02 2.72630618e-04 9.99916219e-01 -3.63479394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.118623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:190.26, Y:-36.49, Z:-3.64 [[ 9.75855495e-01 2.18062506e-01 1.24417034e-02 1.90263020e+02] [-2.18041876e-01 9.75934780e-01 -3.00765843e-03 -3.64902467e+01] [-1.27981486e-02 2.22227652e-04 9.99918076e-01 -3.63612843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.148623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:190.29, Y:-36.50, Z:-3.64 [[ 9.75458486e-01 2.19836970e-01 1.23469788e-02 1.90293223e+02] [-2.19816799e-01 9.75536605e-01 -2.98450022e-03 -3.64978709e+01] [-1.27010332e-02 1.97182712e-04 9.99919319e-01 -3.63700741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.178623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:190.32, Y:-36.51, Z:-3.64 [[ 9.75168184e-01 2.21129329e-01 1.21996945e-02 1.90322105e+02] [-2.21109720e-01 9.75244476e-01 -2.95026459e-03 -3.65067272e+01] [-1.25500747e-02 1.79533121e-04 9.99921229e-01 -3.63841142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.208623853 meters Centerline goodness [0,1] 0.9998918498010037 Centerline is valid? [True, True] Translation: X:190.35, Y:-36.51, Z:-3.63 [[ 9.74721000e-01 2.23093978e-01 1.21675220e-02 1.90354220e+02] [-2.23074622e-01 9.74796929e-01 -2.94271655e-03 -3.65114321e+01] [-1.25173654e-02 1.54062256e-04 9.99921643e-01 -3.63099808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.238623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:190.38, Y:-36.52, Z:-3.64 [[ 9.74466356e-01 2.24184662e-01 1.25123047e-02 1.90383946e+02] [-2.24164249e-01 9.74546672e-01 -3.02879950e-03 -3.65218645e+01] [-1.28728353e-02 1.46651813e-04 9.99917131e-01 -3.63859249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.268623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:190.41, Y:-36.53, Z:-3.64 [[ 9.74355821e-01 2.24646494e-01 1.28329980e-02 1.90414513e+02] [-2.24625039e-01 9.74440317e-01 -3.10812817e-03 -3.65289443e+01] [-1.32032207e-02 1.45810098e-04 9.99912823e-01 -3.63850734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.298623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:190.44, Y:-36.54, Z:-3.64 [[ 9.74217654e-01 2.25252202e-01 1.27046262e-02 1.90444487e+02] [-2.25231221e-01 9.74300481e-01 -3.07735258e-03 -3.65373882e+01] [-1.30713038e-02 1.36532748e-04 9.99914558e-01 -3.63934054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.328623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:190.48, Y:-36.55, Z:-3.64 [[ 9.73928159e-01 2.26520556e-01 1.23441834e-02 1.90475395e+02] [-2.26500856e-01 9.74006378e-01 -2.98961285e-03 -3.65482578e+01] [-1.27005221e-02 1.15700037e-04 9.99919338e-01 -3.64062054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.358623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:190.50, Y:-36.56, Z:-3.64 [[ 9.73734534e-01 2.27370193e-01 1.19938544e-02 1.90504919e+02] [-2.27351634e-01 9.73808392e-01 -2.90686969e-03 -3.65582871e+01] [-1.23406516e-02 1.03697004e-04 9.99923846e-01 -3.64259793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.388623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:190.54, Y:-36.57, Z:-3.64 [[ 9.73550528e-01 2.28158876e-01 1.19539395e-02 1.90536276e+02] [-2.28140477e-01 9.73623910e-01 -2.89906019e-03 -3.65651906e+01] [-1.23000877e-02 9.52041130e-05 9.99924347e-01 -3.64235995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.418623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:190.57, Y:-36.57, Z:-3.64 [[ 9.73298132e-01 2.29246842e-01 1.16889511e-02 1.90565810e+02] [-2.29229303e-01 9.73368316e-01 -2.83692073e-03 -3.65739932e+01] [-1.20280098e-02 8.17195365e-05 9.99927658e-01 -3.64370746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.44862385300002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:190.60, Y:-36.58, Z:-3.64 [[ 9.72886958e-01 2.30992522e-01 1.15508727e-02 1.90595791e+02] [-2.30975485e-01 9.72955524e-01 -2.80611250e-03 -3.65821834e+01] [-1.18866764e-02 6.20618311e-05 9.99929349e-01 -3.64461851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.47862385300002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:190.63, Y:-36.59, Z:-3.65 [[ 9.72632625e-01 2.32067662e-01 1.14183123e-02 1.90625029e+02] [-2.32051084e-01 9.72699644e-01 -2.77426072e-03 -3.65894684e+01] [-1.17504045e-02 4.87047423e-05 9.99930960e-01 -3.64552598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.50862385300002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:190.66, Y:-36.60, Z:-3.65 [[ 9.72387908e-01 2.33086838e-01 1.15014144e-02 1.90655678e+02] [-2.33070088e-01 9.72455924e-01 -2.79452614e-03 -3.65971866e+01] [-1.18359858e-02 3.67277729e-05 9.99929952e-01 -3.64599158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.53862385300002 meters Centerline goodness [0,1] 0.9999568909772816 Centerline is valid? [True, True] Translation: X:190.69, Y:-36.61, Z:-3.65 [[ 9.71923589e-01 2.35017386e-01 1.14614668e-02 1.90685121e+02] [-2.35000881e-01 9.71991167e-01 -2.78524551e-03 -3.66052604e+01] [-1.17950256e-02 1.35910045e-05 9.99930436e-01 -3.64685424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.56862385300002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:190.72, Y:-36.61, Z:-3.65 [[ 9.71712012e-01 2.35890670e-01 1.14610965e-02 1.90715800e+02] [-2.35874239e-01 9.71779600e-01 -2.78415151e-03 -3.66132774e+01] [-1.17944152e-02 2.01604934e-06 9.99930443e-01 -3.64712036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.59862385300002 meters Centerline goodness [0,1] 0.9999570068144199 Centerline is valid? [True, True] Translation: X:190.75, Y:-36.62, Z:-3.65 [[ 9.71532422e-01 2.36623002e-01 1.15891166e-02 1.90745156e+02] [-2.36606221e-01 9.71601541e-01 -2.81798995e-03 -3.66210306e+01] [-1.19268048e-02 -4.28848968e-06 9.99928873e-01 -3.64806043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.62862385300002 meters Centerline goodness [0,1] 0.9998708955545036 Centerline is valid? [True, True] Translation: X:190.77, Y:-36.63, Z:-3.64 [[ 9.71467896e-01 2.36890408e-01 1.15352604e-02 1.90774917e+02] [-2.36873794e-01 9.71536378e-01 -2.80557818e-03 -3.66290048e+01] [-1.18715397e-02 -6.87177634e-06 9.99929531e-01 -3.64299705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.65862385300002 meters Centerline goodness [0,1] 0.9999788837975379 Centerline is valid? [True, True] Translation: X:190.80, Y:-36.64, Z:-3.65 [[ 9.71267459e-01 2.37675640e-01 1.22398330e-02 1.90804107e+02] [-2.37656983e-01 9.71344578e-01 -2.97798540e-03 -3.66394572e+01] [-1.25968900e-02 -1.64614768e-05 9.99920656e-01 -3.64882173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.68862385300002 meters Centerline goodness [0,1] 0.9999572238263288 Centerline is valid? [True, True] Translation: X:190.83, Y:-36.65, Z:-3.65 [[ 9.71263846e-01 2.37680442e-01 1.24317522e-02 1.90833991e+02] [-2.37661198e-01 9.71343403e-01 -3.02456452e-03 -3.66481079e+01] [-1.27943803e-02 -1.68949428e-05 9.99918148e-01 -3.64875701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.71862385300003 meters Centerline goodness [0,1] 0.9999784580254626 Centerline is valid? [True, True] Translation: X:190.86, Y:-36.66, Z:-3.65 [[ 9.71215964e-01 2.37858811e-01 1.27568598e-02 1.90864413e+02] [-2.37838567e-01 9.71299740e-01 -3.10332943e-03 -3.66573058e+01] [-1.31288888e-02 -2.00701624e-05 9.99913812e-01 -3.64841005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.74862385300003 meters Centerline goodness [0,1] 0.9998501199040767 Centerline is valid? [True, True] Translation: X:190.90, Y:-36.67, Z:-3.64 [[ 9.71124113e-01 2.38238925e-01 1.26558851e-02 1.90895696e+02] [-2.38219004e-01 9.71206576e-01 -3.08094755e-03 -3.66657368e+01] [-1.30254805e-02 -2.28898897e-05 9.99915165e-01 -3.64432087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.77862385300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:190.93, Y:-36.67, Z:-3.65 [[ 9.70840587e-01 2.39375609e-01 1.29565434e-02 1.90927291e+02] [-2.39354801e-01 9.70927040e-01 -3.15635246e-03 -3.66747507e+01] [-1.33354122e-02 -3.68958073e-05 9.99911079e-01 -3.64877143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.80862385300003 meters Centerline goodness [0,1] 0.9998474313986182 Centerline is valid? [True, True] Translation: X:190.96, Y:-36.68, Z:-3.65 [[ 9.70661433e-01 2.40104982e-01 1.28833678e-02 1.90958824e+02] [-2.40084438e-01 9.70746927e-01 -3.14113068e-03 -3.66825615e+01] [-1.32606908e-02 -4.41217043e-05 9.99912072e-01 -3.64988584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.838623853 meters Centerline goodness [0,1] 0.9996804703476483 Centerline is valid? [True, True] Translation: X:190.99, Y:-36.69, Z:-3.65 [[ 9.70284777e-01 2.41662802e-01 1.21054321e-02 1.90988961e+02] [-2.41644754e-01 9.70360287e-01 -2.95402843e-03 -3.66881724e+01] [-1.24605094e-02 -5.89653427e-05 9.99922363e-01 -3.65304512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.868623853 meters Centerline goodness [0,1] 0.999783984619705 Centerline is valid? [True, True] Translation: X:191.02, Y:-36.70, Z:-3.65 [[ 9.70128344e-01 2.42280688e-01 1.22907974e-02 1.91020302e+02] [-2.42262112e-01 9.70206197e-01 -3.00083813e-03 -3.66967857e+01] [-1.26516529e-02 -6.63964047e-05 9.99919962e-01 -3.65251513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.898623853 meters Centerline goodness [0,1] 0.999783984619705 Centerline is valid? [True, True] Translation: X:191.05, Y:-36.70, Z:-3.65 [[ 9.70088220e-01 2.42441320e-01 1.22903006e-02 1.91051020e+02] [-2.42422732e-01 9.70166069e-01 -3.00287087e-03 -3.67044381e+01] [-1.26516526e-02 -6.63986013e-05 9.99919962e-01 -3.65307380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.928623853 meters Centerline goodness [0,1] 0.9996992416593268 Centerline is valid? [True, True] Translation: X:191.08, Y:-36.71, Z:-3.66 [[ 9.69933202e-01 2.43079227e-01 1.19194419e-02 1.91081434e+02] [-2.43061766e-01 9.70006435e-01 -2.91432989e-03 -3.67116670e+01] [-1.22703484e-02 -7.04552746e-05 9.99924714e-01 -3.65500804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.958623853 meters Centerline goodness [0,1] 0.9997844874032887 Centerline is valid? [True, True] Translation: X:191.11, Y:-36.72, Z:-3.66 [[ 9.69979025e-01 2.42893727e-01 1.19720246e-02 1.91111894e+02] [-2.42876065e-01 9.70052902e-01 -2.92984784e-03 -3.67205294e+01] [-1.23251389e-02 -6.58272664e-05 9.99924040e-01 -3.65550028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.988623853 meters Centerline goodness [0,1] 0.9995660193121406 Centerline is valid? [True, True] Translation: X:191.14, Y:-36.73, Z:-3.65 [[ 9.70114433e-01 2.42354606e-01 1.19261294e-02 1.91141077e+02] [-2.42337034e-01 9.70187735e-01 -2.91897467e-03 -3.67283129e+01] [-1.22780114e-02 -5.84033748e-05 9.99924621e-01 -3.64932461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.018623853 meters Centerline goodness [0,1] 0.9995520764456199 Centerline is valid? [True, True] Translation: X:191.17, Y:-36.74, Z:-3.65 [[ 9.70336644e-01 2.41434144e-01 1.25040210e-02 1.91170389e+02] [-2.41414750e-01 9.70417205e-01 -3.06052445e-03 -3.67386589e+01] [-1.28730322e-02 -4.89160906e-05 9.99917138e-01 -3.64897364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.048623853 meters Centerline goodness [0,1] 0.9998712308187574 Centerline is valid? [True, True] Translation: X:191.20, Y:-36.75, Z:-3.66 [[ 9.70448932e-01 2.40957900e-01 1.29677106e-02 1.91200257e+02] [-2.40937001e-01 9.70535568e-01 -3.17379311e-03 -3.67483443e+01] [-1.33503749e-02 -4.43971681e-05 9.99910879e-01 -3.65654320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.078623853 meters Centerline goodness [0,1] 0.9999141077947177 Centerline is valid? [True, True] Translation: X:191.23, Y:-36.76, Z:-3.66 [[ 9.70603401e-01 2.40335365e-01 1.29595406e-02 1.91231286e+02] [-2.40314405e-01 9.70689915e-01 -3.17426465e-03 -3.67583592e+01] [-1.33425834e-02 -3.34122189e-05 9.99910983e-01 -3.65724359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.108623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:191.26, Y:-36.77, Z:-3.66 [[ 9.70917106e-01 2.39042054e-01 1.33741975e-02 1.91262698e+02] [-2.39019603e-01 9.71009215e-01 -3.27616631e-03 -3.67698338e+01] [-1.37696105e-02 -1.58094544e-05 9.99905194e-01 -3.65747408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.138623853 meters Centerline goodness [0,1] 0.9999129696916952 Centerline is valid? [True, True] Translation: X:191.29, Y:-36.78, Z:-3.66 [[ 9.71089172e-01 2.38324800e-01 1.36787841e-02 1.91293930e+02] [-2.38301205e-01 9.71185507e-01 -3.35348545e-03 -3.67796941e+01] [-1.40838556e-02 -3.13733357e-06 9.99900818e-01 -3.65705600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.168623853 meters Centerline goodness [0,1] 0.9999570621954099 Centerline is valid? [True, True] Translation: X:191.32, Y:-36.79, Z:-3.66 [[ 9.71257338e-01 2.37625421e-01 1.39047590e-02 1.91324003e+02] [-2.37600925e-01 9.71356865e-01 -3.41191172e-03 -3.67895585e+01] [-1.43172401e-02 1.00606873e-05 9.99897503e-01 -3.65759539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.19862385300002 meters Centerline goodness [0,1] 0.9999565491320689 Centerline is valid? [True, True] Translation: X:191.36, Y:-36.80, Z:-3.66 [[ 9.71395828e-01 2.37027804e-01 1.44210225e-02 1.91355590e+02] [-2.37001346e-01 9.71502866e-01 -3.54150721e-03 -3.68000131e+01] [-1.48495004e-02 2.24035781e-05 9.99889740e-01 -3.65752845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.22862385300002 meters Centerline goodness [0,1] 0.9999784635927035 Centerline is valid? [True, True] Translation: X:191.39, Y:-36.81, Z:-3.66 [[ 9.71738274e-01 2.35647184e-01 1.39689448e-02 1.91385620e+02] [-2.35622177e-01 9.71838671e-01 -3.43329184e-03 -3.68113290e+01] [-1.43846063e-02 4.48679085e-05 9.99896535e-01 -3.65881733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.25862385300002 meters Centerline goodness [0,1] 0.9999784608094427 Centerline is valid? [True, True] Translation: X:191.42, Y:-36.82, Z:-3.66 [[ 9.71845922e-01 2.35208737e-01 1.38691775e-02 1.91416420e+02] [-2.35184002e-01 9.71944879e-01 -3.41141124e-03 -3.68214382e+01] [-1.42824698e-02 5.35574280e-05 9.99897999e-01 -3.66088626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.28862385300002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:191.45, Y:-36.83, Z:-3.66 [[ 9.71929744e-01 2.34871181e-01 1.37150065e-02 1.91448554e+02] [-2.34846925e-01 9.72026504e-01 -3.37596362e-03 -3.68292804e+01] [-1.41242664e-02 6.02723545e-05 9.99900246e-01 -3.66054106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.31862385300002 meters Centerline goodness [0,1] 0.9999785038693035 Centerline is valid? [True, True] Translation: X:191.48, Y:-36.84, Z:-3.66 [[ 9.71991858e-01 2.34608406e-01 1.38103010e-02 1.91479398e+02] [-2.34583744e-01 9.72089961e-01 -3.40232449e-03 -3.68389550e+01] [-1.42230688e-02 6.73596030e-05 9.99898845e-01 -3.66116860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.34862385300002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:191.51, Y:-36.85, Z:-3.66 [[ 9.72169295e-01 2.33871585e-01 1.38182151e-02 1.91509547e+02] [-2.33846782e-01 9.72267492e-01 -3.40695464e-03 -3.68505666e+01] [-1.42317912e-02 8.07915682e-05 9.99898720e-01 -3.66236414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.37862385300002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:191.54, Y:-36.86, Z:-3.66 [[ 9.72208995e-01 2.33680534e-01 1.42505696e-02 1.91541379e+02] [-2.33654095e-01 9.72313427e-01 -3.51623953e-03 -3.68592546e+01] [-1.46776969e-02 8.88157605e-05 9.99892273e-01 -3.66198180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.40862385300002 meters Centerline goodness [0,1] 0.9999354227656277 Centerline is valid? [True, True] Translation: X:191.57, Y:-36.87, Z:-3.66 [[ 9.72234741e-01 2.33563698e-01 1.44085921e-02 1.91572065e+02] [-2.33536611e-01 9.72341499e-01 -3.55829472e-03 -3.68687273e+01] [-1.48411605e-02 9.45639784e-05 9.99889859e-01 -3.66202203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.43862385300002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:191.60, Y:-36.88, Z:-3.66 [[ 9.72250420e-01 2.33488523e-01 1.45681090e-02 1.91602866e+02] [-2.33460782e-01 9.72359553e-01 -3.60053783e-03 -3.68779806e+01] [-1.50061242e-02 9.95422968e-05 9.99887397e-01 -3.66241306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.46862385300003 meters Centerline goodness [0,1] 0.9999347386282059 Centerline is valid? [True, True] Translation: X:191.63, Y:-36.89, Z:-3.66 [[ 9.72196364e-01 2.33691869e-01 1.49110817e-02 1.91634279e+02] [-2.33662785e-01 9.72310701e-01 -3.68820560e-03 -3.68862905e+01] [-1.53601079e-02 1.01495201e-04 9.99882021e-01 -3.66269892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.49862385300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:191.66, Y:-36.89, Z:-3.66 [[ 9.72088909e-01 2.34146781e-01 1.47796635e-02 1.91664669e+02] [-2.34118214e-01 9.72201253e-01 -3.65873647e-03 -3.68948965e+01] [-1.52254888e-02 9.64287136e-05 9.99884081e-01 -3.66377667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.52862385300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:191.70, Y:-36.90, Z:-3.66 [[ 9.72001745e-01 2.34504455e-01 1.48414372e-02 1.91696124e+02] [-2.34475647e-01 9.72115040e-01 -3.67687015e-03 -3.69036473e+01] [-1.52898268e-02 9.39686122e-05 9.99883099e-01 -3.66449895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.55862385300003 meters Centerline goodness [0,1] 0.999893146410788 Centerline is valid? [True, True] Translation: X:191.73, Y:-36.91, Z:-3.66 [[ 9.71866474e-01 2.35082931e-01 1.45454975e-02 1.91728262e+02] [-2.35055282e-01 9.71975313e-01 -3.60642446e-03 -3.69113426e+01] [-1.49856733e-02 8.59670177e-05 9.99887705e-01 -3.65910367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.588623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:191.76, Y:-36.92, Z:-3.67 [[ 9.71508449e-01 2.36518007e-01 1.51844048e-02 1.91760034e+02] [-2.36488000e-01 9.71627103e-01 -3.76811320e-03 -3.69179446e+01] [-1.56448059e-02 6.98243013e-05 9.99877610e-01 -3.66532634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.618623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:191.79, Y:-36.93, Z:-3.67 [[ 9.71257864e-01 2.37561610e-01 1.49212451e-02 1.91791171e+02] [-2.37532716e-01 9.71372471e-01 -3.70548200e-03 -3.69255862e+01] [-1.53743670e-02 5.46946508e-05 9.99881806e-01 -3.66649266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.648623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:191.82, Y:-36.93, Z:-3.67 [[ 9.71043636e-01 2.38421496e-01 1.51475045e-02 1.91823702e+02] [-2.38391776e-01 9.71161772e-01 -3.76468942e-03 -3.69326595e+01] [-1.56082602e-02 4.46372008e-05 9.99878183e-01 -3.66722974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.678623853 meters Centerline goodness [0,1] 0.9999787211405469 Centerline is valid? [True, True] Translation: X:191.85, Y:-36.94, Z:-3.67 [[ 9.70745564e-01 2.39644773e-01 1.49476540e-02 1.91854786e+02] [-2.39615931e-01 9.70860640e-01 -3.71802636e-03 -3.69394429e+01] [-1.54030945e-02 2.75615621e-05 9.99881365e-01 -3.66851425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.708623853 meters Centerline goodness [0,1] 0.9999575317450206 Centerline is valid? [True, True] Translation: X:191.89, Y:-36.94, Z:-3.67 [[ 9.70280379e-01 2.41544617e-01 1.45665335e-02 1.91887079e+02] [-2.41517401e-01 9.70389714e-01 -3.62588304e-03 -3.69449196e+01] [-1.50110268e-02 5.18544785e-08 9.99887328e-01 -3.67008859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.738623853 meters Centerline goodness [0,1] 0.9999570843078772 Centerline is valid? [True, True] Translation: X:191.92, Y:-36.95, Z:-3.67 [[ 9.70069741e-01 2.42388187e-01 1.45830271e-02 1.91918847e+02] [-2.42360963e-01 9.70179348e-01 -3.63280744e-03 -3.69522870e+01] [-1.50287013e-02 -1.02799027e-05 9.99887063e-01 -3.67108838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.768623853 meters Centerline goodness [0,1] 0.9998928785671437 Centerline is valid? [True, True] Translation: X:191.95, Y:-36.96, Z:-3.67 [[ 9.69882805e-01 2.43149921e-01 1.43339122e-02 1.91950132e+02] [-2.43123660e-01 9.69988719e-01 -3.57358587e-03 -3.69597738e+01] [-1.47726502e-02 -1.89537077e-05 9.99890878e-01 -3.67205906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.798623853 meters Centerline goodness [0,1] 0.9998507303550486 Centerline is valid? [True, True] Translation: X:191.98, Y:-36.97, Z:-3.67 [[ 9.69700204e-01 2.43877753e-01 1.43232473e-02 1.91981943e+02] [-2.43851572e-01 9.69805981e-01 -3.57355502e-03 -3.69673153e+01] [-1.47622815e-02 -2.74693282e-05 9.99891031e-01 -3.67232198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.828623853 meters Centerline goodness [0,1] 0.9998714790617972 Centerline is valid? [True, True] Translation: X:192.01, Y:-36.97, Z:-3.67 [[ 9.69379009e-01 2.45128376e-01 1.47111092e-02 1.92014161e+02] [-2.45100855e-01 9.69490628e-01 -3.67337935e-03 -3.69730329e+01] [-1.51627320e-02 -4.48085979e-05 9.99885038e-01 -3.67230166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.858623853 meters Centerline goodness [0,1] 0.9998519364595893 Centerline is valid? [True, True] Translation: X:192.05, Y:-36.98, Z:-3.67 [[ 9.69141180e-01 2.46054498e-01 1.49183349e-02 1.92045951e+02] [-2.46026256e-01 9.69255993e-01 -3.72836295e-03 -3.69786209e+01] [-1.53770660e-02 -5.69920153e-05 9.99881764e-01 -3.67306699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.888623853 meters Centerline goodness [0,1] 0.9998928395379241 Centerline is valid? [True, True] Translation: X:192.08, Y:-36.99, Z:-3.67 [[ 9.68925306e-01 2.46889496e-01 1.51435831e-02 1.92078526e+02] [-2.46860468e-01 9.69043638e-01 -3.78643899e-03 -3.69862336e+01] [-1.56096248e-02 -6.95754553e-05 9.99878160e-01 -3.67300948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.918623853 meters Centerline goodness [0,1] 0.9999349141952141 Centerline is valid? [True, True] Translation: X:192.11, Y:-36.99, Z:-3.67 [[ 9.68522804e-01 2.48472681e-01 1.49968101e-02 1.92110180e+02] [-2.48444357e-01 9.68638900e-01 -3.75274820e-03 -3.69910699e+01] [-1.54589490e-02 -9.12506183e-05 9.99880499e-01 -3.67429215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.94862385300002 meters Centerline goodness [0,1] 0.9999144183658187 Centerline is valid? [True, True] Translation: X:192.14, Y:-37.00, Z:-3.68 [[ 9.68253913e-01 2.49537165e-01 1.46820872e-02 1.92141881e+02] [-2.49510099e-01 9.68365216e-01 -3.67667704e-03 -3.69967401e+01] [-1.51350902e-02 -1.03372109e-04 9.99885453e-01 -3.67538153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.97862385300002 meters Centerline goodness [0,1] 0.9997853340202645 Centerline is valid? [True, True] Translation: X:192.17, Y:-37.00, Z:-3.68 [[ 9.68081048e-01 2.50206213e-01 1.46947625e-02 1.92174542e+02] [-2.50179137e-01 9.68192563e-01 -3.68251755e-03 -3.70038461e+01] [-1.51487485e-02 -1.11347558e-04 9.99885245e-01 -3.67612472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.00862385300002 meters Centerline goodness [0,1] 0.99982960959298 Centerline is valid? [True, True] Translation: X:192.21, Y:-37.01, Z:-3.68 [[ 9.67894117e-01 2.50946448e-01 1.43825815e-02 1.92206071e+02] [-2.50920548e-01 9.68000964e-01 -3.60721330e-03 -3.70086165e+01] [-1.48275702e-02 -1.17484719e-04 9.99890059e-01 -3.67762975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.03862385300002 meters Centerline goodness [0,1] 0.999828979434777 Centerline is valid? [True, True] Translation: X:192.24, Y:-37.01, Z:-3.68 [[ 9.67780110e-01 2.51389281e-01 1.43208956e-02 1.92237458e+02] [-2.51363611e-01 9.67886055e-01 -3.59450678e-03 -3.70145993e+01] [-1.47646156e-02 -1.21059873e-04 9.99890990e-01 -3.67869801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.06862385300002 meters Centerline goodness [0,1] 0.999871382636656 Centerline is valid? [True, True] Translation: X:192.27, Y:-37.02, Z:-3.68 [[ 9.67583246e-01 2.52133942e-01 1.45305669e-02 1.92268870e+02] [-2.52107557e-01 9.67692336e-01 -3.64986284e-03 -3.70197536e+01] [-1.49813725e-02 -1.31719584e-04 9.99887764e-01 -3.67913437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.09862385300002 meters Centerline goodness [0,1] 0.9997851910725409 Centerline is valid? [True, True] Translation: X:192.30, Y:-37.03, Z:-3.68 [[ 9.67523390e-01 2.52351112e-01 1.47446831e-02 1.92300685e+02] [-2.52323931e-01 9.67635726e-01 -3.70617169e-03 -3.70270382e+01] [-1.52027387e-02 -1.34628588e-04 9.99884423e-01 -3.67960505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.12862385300002 meters Centerline goodness [0,1] 0.9997633696166588 Centerline is valid? [True, True] Translation: X:192.33, Y:-37.03, Z:-3.68 [[ 9.67427043e-01 2.52723337e-01 1.46911754e-02 1.92333088e+02] [-2.52696351e-01 9.67538576e-01 -3.69565243e-03 -3.70341398e+01] [-1.51482566e-02 -1.37132333e-04 9.99885249e-01 -3.68016243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.15862385300002 meters Centerline goodness [0,1] 0.9994228426070413 Centerline is valid? [True, True] Translation: X:192.37, Y:-37.04, Z:-3.67 [[ 9.67437115e-01 2.52727331e-01 1.39400631e-02 1.92365032e+02] [-2.52702996e-01 9.67537534e-01 -3.50941576e-03 -3.70401994e+01] [-1.43744595e-02 -1.27556646e-04 9.99896674e-01 -3.67348495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.18862385300002 meters Centerline goodness [0,1] 0.9998516414810419 Centerline is valid? [True, True] Translation: X:192.40, Y:-37.05, Z:-3.68 [[ 9.67707873e-01 2.51648673e-01 1.46430176e-02 1.92395077e+02] [-2.51621655e-01 9.67818646e-01 -3.68928450e-03 -3.70469890e+01] [-1.51001890e-02 -1.14350656e-04 9.99885979e-01 -3.68180820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.21862385300003 meters Centerline goodness [0,1] 0.999956759561542 Centerline is valid? [True, True] Translation: X:192.43, Y:-37.05, Z:-3.68 [[ 9.67905163e-01 2.50874557e-01 1.48846579e-02 1.92426208e+02] [-2.50846527e-01 9.68019600e-01 -3.75151551e-03 -3.70549795e+01] [-1.53498004e-02 -1.02653504e-04 9.99882180e-01 -3.68199055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.24862385300003 meters Centerline goodness [0,1] 0.9999565962803012 Centerline is valid? [True, True] Translation: X:192.46, Y:-37.06, Z:-3.68 [[ 9.68174501e-01 2.49801127e-01 1.54121132e-02 1.92457795e+02] [-2.49770894e-01 9.68297160e-01 -3.88724456e-03 -3.70630387e+01] [-1.58945436e-02 -8.59662426e-05 9.99873670e-01 -3.68174941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.27862385300003 meters Centerline goodness [0,1] 0.9999144952010431 Centerline is valid? [True, True] Translation: X:192.49, Y:-37.07, Z:-3.68 [[ 9.68441130e-01 2.48741972e-01 1.57863729e-02 1.92488100e+02] [-2.48710066e-01 9.68569784e-01 -3.98454641e-03 -3.70706032e+01] [-1.62813277e-02 -6.74312138e-05 9.99867448e-01 -3.68217050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.30862385300003 meters Centerline goodness [0,1] 0.9999122306578312 Centerline is valid? [True, True] Translation: X:192.52, Y:-37.08, Z:-3.68 [[ 9.69394807e-01 2.44930982e-01 1.68084042e-02 1.92518219e+02] [-2.44894185e-01 9.69540517e-01 -4.24545991e-03 -3.70824247e+01] [-1.73362736e-02 -7.53672914e-07 9.99849716e-01 -3.68130711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.338623853 meters Centerline goodness [0,1] 0.9999574459031043 Centerline is valid? [True, True] Translation: X:192.55, Y:-37.09, Z:-3.68 [[ 9.69754129e-01 2.43510614e-01 1.67185389e-02 1.92548398e+02] [-2.43473944e-01 9.69898232e-01 -4.22592985e-03 -3.70921486e+01] [-1.72443401e-02 2.75843267e-05 9.99851305e-01 -3.68264067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.368623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:192.58, Y:-37.10, Z:-3.68 [[ 9.70207703e-01 2.41725203e-01 1.63076151e-02 1.92580096e+02] [-2.41690007e-01 9.70344744e-01 -4.12529970e-03 -3.71023184e+01] [-1.68211975e-02 6.10099221e-05 9.99858512e-01 -3.68392308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.398623853 meters Centerline goodness [0,1] 0.9999784063917081 Centerline is valid? [True, True] Translation: X:192.61, Y:-37.11, Z:-3.68 [[ 9.70651510e-01 2.39947546e-01 1.61499644e-02 1.92610861e+02] [-2.39912727e-01 9.70785850e-01 -4.08865663e-03 -3.71115485e+01] [-1.66592200e-02 9.40787406e-05 9.99861221e-01 -3.68495432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.428623853 meters Centerline goodness [0,1] 0.9999781883220276 Centerline is valid? [True, True] Translation: X:192.64, Y:-37.12, Z:-3.69 [[ 9.71578028e-01 2.36210017e-01 1.55229710e-02 1.92641103e+02] [-2.36177328e-01 9.71702014e-01 -3.93264462e-03 -3.71229720e+01] [-1.60126322e-02 1.54697292e-04 9.99871778e-01 -3.68668266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.458623853 meters Centerline goodness [0,1] 0.9999565830891132 Centerline is valid? [True, True] Translation: X:192.67, Y:-37.13, Z:-3.69 [[ 9.72018182e-01 2.34405672e-01 1.53177962e-02 1.92670698e+02] [-2.34373573e-01 9.72138851e-01 -3.88349604e-03 -3.71341770e+01] [-1.58013383e-02 1.84742127e-04 9.99875134e-01 -3.68795494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.488623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:192.70, Y:-37.15, Z:-3.69 [[ 9.72795252e-01 2.31133184e-01 1.57114185e-02 1.92700347e+02] [-2.31098942e-01 9.72922089e-01 -3.98605171e-03 -3.71477410e+01] [-1.62072950e-02 2.46719984e-04 9.99868623e-01 -3.68734217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.518623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:192.73, Y:-37.16, Z:-3.69 [[ 9.73081688e-01 2.29917390e-01 1.58120698e-02 1.92729914e+02] [-2.29882499e-01 9.73210111e-01 -4.01457886e-03 -3.71584316e+01] [-1.63114877e-02 2.71595059e-04 9.99866922e-01 -3.68748872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.548623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:192.76, Y:-37.17, Z:-3.69 [[ 9.73435021e-01 2.28392453e-01 1.61600667e-02 1.92759478e+02] [-2.28355771e-01 9.73569101e-01 -4.10454400e-03 -3.71700288e+01] [-1.66703885e-02 3.05262371e-04 9.99860993e-01 -3.68769296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.578623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:192.79, Y:-37.18, Z:-3.69 [[ 9.73699394e-01 2.27243919e-01 1.64223093e-02 1.92789862e+02] [-2.27205848e-01 9.73837816e-01 -4.17267652e-03 -3.71789978e+01] [-1.69408811e-02 3.31687895e-04 9.99856438e-01 -3.68807626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.608623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:192.82, Y:-37.19, Z:-3.69 [[ 9.73919987e-01 2.26315028e-01 1.61668262e-02 1.92819258e+02] [-2.26277961e-01 9.74054100e-01 -4.11041278e-03 -3.71894891e+01] [-1.66776115e-02 3.45016713e-04 9.99860859e-01 -3.68896591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.638623853 meters Centerline goodness [0,1] 0.9999785430747774 Centerline is valid? [True, True] Translation: X:192.85, Y:-37.20, Z:-3.69 [[ 9.74148161e-01 2.25377807e-01 1.54985075e-02 1.92849227e+02] [-2.25343582e-01 9.74271380e-01 -3.94305192e-03 -3.71998218e+01] [-1.59884287e-02 3.48627595e-04 9.99872116e-01 -3.69090170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.668623853 meters Centerline goodness [0,1] 0.999957070490255 Centerline is valid? [True, True] Translation: X:192.88, Y:-37.21, Z:-3.69 [[ 9.74063071e-01 2.25753210e-01 1.53824925e-02 1.92879378e+02] [-2.25719521e-01 9.74184465e-01 -3.91484043e-03 -3.72115926e+01] [-1.58691730e-02 3.41172646e-04 9.99874019e-01 -3.69224520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.69862385300002 meters Centerline goodness [0,1] 0.9999570428283002 Centerline is valid? [True, True] Translation: X:192.91, Y:-37.22, Z:-3.69 [[ 9.73936005e-01 2.26302445e-01 1.53577602e-02 1.92910959e+02] [-2.26268886e-01 9.74057027e-01 -3.91148145e-03 -3.72181190e+01] [-1.58445120e-02 3.34549342e-04 9.99874412e-01 -3.69259856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.72862385300002 meters Centerline goodness [0,1] 0.9999786848555899 Centerline is valid? [True, True] Translation: X:192.94, Y:-37.23, Z:-3.69 [[ 9.73701034e-01 2.27294030e-01 1.56115555e-02 1.92942743e+02] [-2.27259436e-01 9.73826123e-01 -3.97885945e-03 -3.72250459e+01] [-1.61073115e-02 3.26346271e-04 9.99870216e-01 -3.69233461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.75862385300002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:192.97, Y:-37.23, Z:-3.69 [[ 9.73420307e-01 2.28487007e-01 1.57032813e-02 1.92974530e+02] [-2.28452116e-01 9.73546912e-01 -4.00499089e-03 -3.72310617e+01] [-1.62029694e-02 3.11091628e-04 9.99868675e-01 -3.69276784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.78862385300002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:193.01, Y:-37.24, Z:-3.69 [[ 9.72795730e-01 2.31152467e-01 1.53949926e-02 1.93005087e+02] [-2.31119223e-01 9.72917503e-01 -3.92906697e-03 -3.72393041e+01] [-1.58862713e-02 2.64100844e-04 9.99873770e-01 -3.69443274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.81862385300002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:193.04, Y:-37.25, Z:-3.69 [[ 9.72528656e-01 2.32260931e-01 1.55843681e-02 1.93037063e+02] [-2.32226960e-01 9.72653482e-01 -3.98023814e-03 -3.72456124e+01] [-1.60826438e-02 2.51785208e-04 9.99870634e-01 -3.69458772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.84862385300002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:193.07, Y:-37.25, Z:-3.70 [[ 9.72485388e-01 2.32442072e-01 1.55837266e-02 1.93068490e+02] [-2.32408085e-01 9.72610210e-01 -3.98274823e-03 -3.72538450e+01] [-1.60826499e-02 2.51380410e-04 9.99870634e-01 -3.69516112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.87862385300002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:193.10, Y:-37.26, Z:-3.70 [[ 9.72201043e-01 2.33612442e-01 1.58227626e-02 1.93099807e+02] [-2.33577506e-01 9.72329764e-01 -4.04705311e-03 -3.72595324e+01] [-1.63303849e-02 2.38707844e-04 9.99866622e-01 -3.69570956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.90862385300002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:193.13, Y:-37.27, Z:-3.70 [[ 9.71888445e-01 2.34929955e-01 1.55166914e-02 1.93131605e+02] [-2.34896482e-01 9.72012279e-01 -3.97150767e-03 -3.72664599e+01] [-1.60154407e-02 2.15046195e-04 9.99871721e-01 -3.69635376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.93862385300002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:193.16, Y:-37.27, Z:-3.70 [[ 9.71303533e-01 2.37368827e-01 1.50162246e-02 1.93161551e+02] [-2.37337726e-01 9.71419585e-01 -3.84621117e-03 -3.72740510e+01] [-1.55000253e-02 1.71921891e-04 9.99879853e-01 -3.69873358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.96862385300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:193.19, Y:-37.28, Z:-3.70 [[ 9.71081191e-01 2.38288008e-01 1.48373342e-02 1.93193785e+02] [-2.38257727e-01 9.71194523e-01 -3.80200197e-03 -3.72797804e+01] [-1.53159092e-02 1.56943089e-04 9.99882692e-01 -3.69956371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.99862385300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:193.22, Y:-37.29, Z:-3.70 [[ 9.70807479e-01 2.39408326e-01 1.47136841e-02 1.93223408e+02] [-2.39378665e-01 9.70918964e-01 -3.77101464e-03 -3.72878365e+01] [-1.51886072e-02 1.38787164e-04 9.99884637e-01 -3.70029405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.02862385300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:193.26, Y:-37.29, Z:-3.70 [[ 9.70546806e-01 2.40442365e-01 1.50454628e-02 1.93255082e+02] [-2.40411436e-01 9.70663409e-01 -3.85858458e-03 -3.72934120e+01] [-1.55318474e-02 1.27835644e-04 9.99879365e-01 -3.69954061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.05862385300003 meters Centerline goodness [0,1] 0.9999568528466335 Centerline is valid? [True, True] Translation: X:193.29, Y:-37.30, Z:-3.70 [[ 9.70036737e-01 2.42482345e-01 1.52000535e-02 1.93286087e+02] [-2.42450982e-01 9.70155813e-01 -3.90115011e-03 -3.72991834e+01] [-1.56923803e-02 9.89910263e-05 9.99876862e-01 -3.70023264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.088623853 meters Centerline goodness [0,1] 0.9999787505312367 Centerline is valid? [True, True] Translation: X:193.32, Y:-37.31, Z:-3.70 [[ 9.69788139e-01 2.43481792e-01 1.50858513e-02 1.93316689e+02] [-2.43450998e-01 9.69905465e-01 -3.87320678e-03 -3.73077465e+01] [-1.55749050e-02 8.35244395e-05 9.99878700e-01 -3.70106443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.118623853 meters Centerline goodness [0,1] 0.99991412439082 Centerline is valid? [True, True] Translation: X:193.35, Y:-37.32, Z:-3.70 [[ 9.69595599e-01 2.44258848e-01 1.48993271e-02 1.93348912e+02] [-2.44228860e-01 9.69710065e-01 -3.82808763e-03 -3.73150788e+01] [-1.53830717e-02 7.28512536e-05 9.99881671e-01 -3.70161412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.148623853 meters Centerline goodness [0,1] 0.9999573233185387 Centerline is valid? [True, True] Translation: X:193.38, Y:-37.32, Z:-3.70 [[ 9.69530984e-01 2.44533503e-01 1.45957770e-02 1.93380835e+02] [-2.44504712e-01 9.69640841e-01 -3.75298996e-03 -3.73226639e+01] [-1.50703932e-02 6.99038082e-05 9.99886433e-01 -3.70344366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.178623853 meters Centerline goodness [0,1] 0.9999785366272456 Centerline is valid? [True, True] Translation: X:193.41, Y:-37.33, Z:-3.70 [[ 9.69555700e-01 2.44436082e-01 1.45858371e-02 1.93412571e+02] [-2.44407275e-01 9.69665404e-01 -3.75336929e-03 -3.73314271e+01] [-1.50608405e-02 7.42158867e-05 9.99886576e-01 -3.70427979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.208623853 meters Centerline goodness [0,1] 0.9999357917941913 Centerline is valid? [True, True] Translation: X:193.44, Y:-37.34, Z:-3.70 [[ 9.69643702e-01 2.44066306e-01 1.49241575e-02 1.93442822e+02] [-2.44036055e-01 9.69758543e-01 -3.84353788e-03 -3.73412650e+01] [-1.54109073e-02 8.48297862e-05 9.99881241e-01 -3.70468011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.238623853 meters Centerline goodness [0,1] 0.9999570787818959 Centerline is valid? [True, True] Translation: X:193.47, Y:-37.35, Z:-3.71 [[ 9.70009116e-01 2.42622904e-01 1.47119593e-02 1.93473310e+02] [-2.42593300e-01 9.70120670e-01 -3.79162785e-03 -3.73534643e+01] [-1.51923116e-02 1.08890833e-04 9.99884584e-01 -3.70584796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.268623853 meters Centerline goodness [0,1] 0.999957263130903 Centerline is valid? [True, True] Translation: X:193.50, Y:-37.36, Z:-3.71 [[ 9.70202636e-01 2.41871853e-01 1.43126359e-02 1.93503864e+02] [-2.41843716e-01 9.70308195e-01 -3.69113103e-03 -3.73636486e+01] [-1.47804486e-02 1.19723999e-04 9.99890756e-01 -3.70721472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.298623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:193.53, Y:-37.38, Z:-3.71 [[ 9.70446522e-01 2.40918631e-01 1.38477771e-02 1.93533199e+02] [-2.40892161e-01 9.70545308e-01 -3.57363639e-03 -3.73752046e+01] [-1.43008507e-02 1.32202041e-04 9.99897729e-01 -3.70887137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.328623853 meters Centerline goodness [0,1] 0.9999783254221124 Centerline is valid? [True, True] Translation: X:193.56, Y:-37.39, Z:-3.71 [[ 9.70685623e-01 2.39960479e-01 1.37254874e-02 1.93564004e+02] [-2.39934349e-01 9.70782647e-01 -3.54422425e-03 -3.73851263e+01] [-1.41749388e-02 1.47111639e-04 9.99899520e-01 -3.70956995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.358623853 meters Centerline goodness [0,1] 0.9999784770349963 Centerline is valid? [True, True] Translation: X:193.59, Y:-37.40, Z:-3.71 [[ 9.70977970e-01 2.38787351e-01 1.35049036e-02 1.93592187e+02] [-2.38761906e-01 9.71071869e-01 -3.48971362e-03 -3.73993675e+01] [-1.39475315e-02 1.63978505e-04 9.99902715e-01 -3.71135383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.388623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:193.62, Y:-37.41, Z:-3.71 [[ 9.71061340e-01 2.38436989e-01 1.36995212e-02 1.93623967e+02] [-2.38410739e-01 9.71157954e-01 -3.54223545e-03 -3.74085737e+01] [-1.41489990e-02 1.73614922e-04 9.99899883e-01 -3.71116080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.418623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:193.65, Y:-37.42, Z:-3.71 [[ 9.71078681e-01 2.38330666e-01 1.43069271e-02 1.93654771e+02] [-2.38301980e-01 9.71184050e-01 -3.70232081e-03 -3.74192003e+01] [-1.47770360e-02 1.85875749e-04 9.99890796e-01 -3.71035282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.44862385300002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:193.69, Y:-37.43, Z:-3.71 [[ 9.71028264e-01 2.38506807e-01 1.47855996e-02 1.93686506e+02] [-2.38476147e-01 9.71140807e-01 -3.82902145e-03 -3.74291643e+01] [-1.52721468e-02 1.92075229e-04 9.99883356e-01 -3.70970456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.47862385300002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:193.72, Y:-37.44, Z:-3.71 [[ 9.70785971e-01 2.39469523e-01 1.51309827e-02 1.93717403e+02] [-2.39437482e-01 9.70903864e-01 -3.92153632e-03 -3.74376867e+01] [-1.56298180e-02 1.84048039e-04 9.99877830e-01 -3.70957528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.50862385300002 meters Centerline goodness [0,1] 0.9999570686472331 Centerline is valid? [True, True] Translation: X:193.75, Y:-37.45, Z:-3.71 [[ 9.70610593e-01 2.40166286e-01 1.53372815e-02 1.93747649e+02] [-2.40133408e-01 9.70731746e-01 -3.97782721e-03 -3.74467952e+01] [-1.58437260e-02 1.77927558e-04 9.99874464e-01 -3.70992523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.53862385300002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:193.78, Y:-37.45, Z:-3.71 [[ 9.70356388e-01 2.41171535e-01 1.56451380e-02 1.93777387e+02] [-2.41137431e-01 9.70482490e-01 -4.05914328e-03 -3.74546739e+01] [-1.61622823e-02 1.66187231e-04 9.99869368e-01 -3.70990982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.56862385300002 meters Centerline goodness [0,1] 0.9999785885577253 Centerline is valid? [True, True] Translation: X:193.81, Y:-37.46, Z:-3.71 [[ 9.70124865e-01 2.42091164e-01 1.57991614e-02 1.93808933e+02] [-2.42056466e-01 9.70253495e-01 -4.10158840e-03 -3.74623298e+01] [-1.63221499e-02 1.54763723e-04 9.99866773e-01 -3.71015729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.59862385300002 meters Centerline goodness [0,1] 0.999978653460274 Centerline is valid? [True, True] Translation: X:193.84, Y:-37.47, Z:-3.71 [[ 9.69607726e-01 2.44151392e-01 1.58416017e-02 1.93840861e+02] [-2.44116738e-01 9.69737120e-01 -4.11529840e-03 -3.74689996e+01] [-1.63669450e-02 1.23025000e-04 9.99866045e-01 -3.71069256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.62862385300002 meters Centerline goodness [0,1] 0.9999359713151492 Centerline is valid? [True, True] Translation: X:193.87, Y:-37.48, Z:-3.71 [[ 9.69393187e-01 2.44980438e-01 1.61689300e-02 1.93872786e+02] [-2.44944406e-01 9.69528015e-01 -4.20310381e-03 -3.74775540e+01] [-1.67059089e-02 1.13971239e-04 9.99860440e-01 -3.71085859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.65862385300002 meters Centerline goodness [0,1] 0.9999787573021773 Centerline is valid? [True, True] Translation: X:193.90, Y:-37.49, Z:-3.71 [[ 9.69189159e-01 2.45789908e-01 1.61150554e-02 1.93903573e+02] [-2.45754176e-01 9.69323120e-01 -4.19218670e-03 -3.74862829e+01] [-1.66510930e-02 1.02679734e-04 9.99861356e-01 -3.71133472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.68862385300002 meters Centerline goodness [0,1] 0.9999786921224777 Centerline is valid? [True, True] Translation: X:193.94, Y:-37.49, Z:-3.71 [[ 9.69009341e-01 2.46522454e-01 1.57345617e-02 1.93935705e+02] [-2.46488441e-01 9.69137076e-01 -4.09592754e-03 -3.74941745e+01] [-1.62586852e-02 9.06044584e-05 9.99867815e-01 -3.71299605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.71862385300003 meters Centerline goodness [0,1] 0.9999353754685278 Centerline is valid? [True, True] Translation: X:193.97, Y:-37.50, Z:-3.71 [[ 9.68919582e-01 2.46880121e-01 1.56540693e-02 1.93967284e+02] [-2.46846453e-01 9.69046025e-01 -4.07803657e-03 -3.75018361e+01] [-1.61762998e-02 8.71379935e-05 9.99869151e-01 -3.71401294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.74862385300003 meters Centerline goodness [0,1] 0.9999786602932076 Centerline is valid? [True, True] Translation: X:194.00, Y:-37.51, Z:-3.71 [[ 9.68818541e-01 2.47279775e-01 1.55996270e-02 1.93998379e+02] [-2.47246340e-01 9.68944119e-01 -4.06707933e-03 -3.75110833e+01] [-1.61208733e-02 8.33111600e-05 9.99870047e-01 -3.71425834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.77862385300003 meters Centerline goodness [0,1] 0.9999785352451275 Centerline is valid? [True, True] Translation: X:194.03, Y:-37.52, Z:-3.71 [[ 9.68597749e-01 2.48160869e-01 1.53161428e-02 1.94030272e+02] [-2.48128703e-01 9.68718833e-01 -3.99604077e-03 -3.75209241e+01] [-1.58286969e-02 7.01814436e-05 9.99874716e-01 -3.71478040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.80862385300003 meters Centerline goodness [0,1] 0.9999568751751946 Centerline is valid? [True, True] Translation: X:194.06, Y:-37.53, Z:-3.72 [[ 9.68448396e-01 2.48731417e-01 1.55043824e-02 1.94062326e+02] [-2.48698478e-01 9.68572495e-01 -4.04836830e-03 -3.75300639e+01] [-1.60240748e-02 6.47194756e-05 9.99871604e-01 -3.71537876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.838623853 meters Centerline goodness [0,1] 0.9999143267150721 Centerline is valid? [True, True] Translation: X:194.09, Y:-37.54, Z:-3.72 [[ 9.68308326e-01 2.49288019e-01 1.53124241e-02 1.94093021e+02] [-2.49255910e-01 9.68429388e-01 -4.00137782e-03 -3.75390650e+01] [-1.58264971e-02 5.78552477e-05 9.99874751e-01 -3.71649014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.868623853 meters Centerline goodness [0,1] 0.9999355517841414 Centerline is valid? [True, True] Translation: X:194.13, Y:-37.55, Z:-3.72 [[ 9.68183991e-01 2.49801729e-01 1.47938006e-02 1.94125057e+02] [-2.49771778e-01 9.68297007e-01 -3.86854544e-03 -3.75475187e+01] [-1.52911622e-02 5.03898921e-05 9.99883082e-01 -3.71734087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.898623853 meters Centerline goodness [0,1] 0.9999570557416474 Centerline is valid? [True, True] Translation: X:194.16, Y:-37.56, Z:-3.72 [[ 9.68059741e-01 2.50301545e-01 1.44732211e-02 1.94155380e+02] [-2.50272889e-01 9.68167927e-01 -3.78765950e-03 -3.75560932e+01] [-1.49605654e-02 4.44258229e-05 9.99888083e-01 -3.71891379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.928623853 meters Centerline goodness [0,1] 0.9999569781448976 Centerline is valid? [True, True] Translation: X:194.19, Y:-37.56, Z:-3.72 [[ 9.67957747e-01 2.50725160e-01 1.39532914e-02 1.94187634e+02] [-2.50698533e-01 9.68058311e-01 -3.65412291e-03 -3.75649555e+01] [-1.44237802e-02 3.89668893e-05 9.99895971e-01 -3.72056769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.958623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:194.22, Y:-37.58, Z:-3.72 [[ 9.68022024e-01 2.50472742e-01 1.40273725e-02 1.94218546e+02] [-2.50445764e-01 9.68123651e-01 -3.67636723e-03 -3.75752240e+01] [-1.45010608e-02 4.57084237e-05 9.99894853e-01 -3.72085509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.988623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:194.25, Y:-37.59, Z:-3.72 [[ 9.68183536e-01 2.49847884e-01 1.40241083e-02 1.94249109e+02] [-2.49820811e-01 9.68285098e-01 -3.67841080e-03 -3.75866045e+01] [-1.44983782e-02 5.78626811e-05 9.99894891e-01 -3.72198433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.018623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:194.28, Y:-37.60, Z:-3.72 [[ 9.68591587e-01 2.48255056e-01 1.41338061e-02 1.94277504e+02] [-2.48227348e-01 9.68694699e-01 -3.70997457e-03 -3.76003721e+01] [-1.46123629e-02 8.50529705e-05 9.99893230e-01 -3.72230948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.048623853 meters Centerline goodness [0,1] 0.9999574594801548 Centerline is valid? [True, True] Translation: X:194.31, Y:-37.61, Z:-3.72 [[ 9.68835898e-01 2.47286078e-01 1.43735525e-02 1.94307427e+02] [-2.47257281e-01 9.68942508e-01 -3.77523772e-03 -3.76114304e+01] [-1.48607097e-02 1.03620324e-04 9.99889568e-01 -3.72254568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.078623853 meters Centerline goodness [0,1] 0.9999354561101549 Centerline is valid? [True, True] Translation: X:194.34, Y:-37.62, Z:-3.72 [[ 9.68981517e-01 2.46724253e-01 1.42113603e-02 1.94338793e+02] [-2.46696004e-01 9.69085719e-01 -3.73516947e-03 -3.76208754e+01] [-1.46935832e-02 1.13424367e-04 9.99892037e-01 -3.71812594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.108623853 meters Centerline goodness [0,1] 0.9999568723853883 Centerline is valid? [True, True] Translation: X:194.37, Y:-37.63, Z:-3.72 [[ 9.69079265e-01 2.46320684e-01 1.45430302e-02 1.94369852e+02] [-2.46291010e-01 9.69188374e-01 -3.82537307e-03 -3.76321675e+01] [-1.50372043e-02 1.25272115e-04 9.99886927e-01 -3.72279162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.138623853 meters Centerline goodness [0,1] 0.9998910390516039 Centerline is valid? [True, True] Translation: X:194.40, Y:-37.64, Z:-3.71 [[ 9.69193219e-01 2.45894805e-01 1.41509342e-02 1.94400194e+02] [-2.45866622e-01 9.69296512e-01 -3.72511283e-03 -3.76430756e+01] [-1.46324371e-02 1.31111702e-04 9.99892932e-01 -3.71498278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.168623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:194.43, Y:-37.65, Z:-3.72 [[ 9.69127107e-01 2.46132258e-01 1.45451449e-02 1.94430142e+02] [-2.46102466e-01 9.69236243e-01 -3.83179882e-03 -3.76548955e+01] [-1.50408109e-02 1.33904078e-04 9.99886872e-01 -3.72414804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.19862385300002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:194.46, Y:-37.66, Z:-3.72 [[ 9.69041461e-01 2.46489000e-01 1.42063022e-02 1.94462486e+02] [-2.46460580e-01 9.69145581e-01 -3.74515217e-03 -3.76631321e+01] [-1.46911138e-02 1.27914250e-04 9.99892072e-01 -3.72487196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.22862385300002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:194.49, Y:-37.67, Z:-3.73 [[ 9.68892601e-01 2.47087065e-01 1.39681794e-02 1.94492727e+02] [-2.47059611e-01 9.68993276e-01 -3.68519451e-03 -3.76723267e+01] [-1.44456358e-02 1.19584720e-04 9.99895649e-01 -3.72607254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.25862385300002 meters Centerline goodness [0,1] 0.9999785421539386 Centerline is valid? [True, True] Translation: X:194.52, Y:-37.68, Z:-3.73 [[ 9.68684401e-01 2.47937811e-01 1.33181399e-02 1.94524484e+02] [-2.47912901e-01 9.68775945e-01 -3.51603440e-03 -3.76811317e+01] [-1.37740514e-02 1.04188988e-04 9.99905128e-01 -3.72761075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.28862385300002 meters Centerline goodness [0,1] 0.9999575127992693 Centerline is valid? [True, True] Translation: X:194.56, Y:-37.69, Z:-3.73 [[ 9.68516321e-01 2.48578383e-01 1.35986437e-02 1.94555084e+02] [-2.48552436e-01 9.68611779e-01 -3.59287882e-03 -3.76896733e+01] [-1.40649185e-02 9.97857567e-05 9.99901079e-01 -3.72811804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.31862385300002 meters Centerline goodness [0,1] 0.9999786004707897 Centerline is valid? [True, True] Translation: X:194.59, Y:-37.70, Z:-3.73 [[ 9.68375470e-01 2.49120789e-01 1.37033644e-02 1.94586546e+02] [-2.49094460e-01 9.68472418e-01 -3.62304789e-03 -3.76979935e+01] [-1.41739070e-02 9.50385434e-05 9.99899541e-01 -3.72797296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.34862385300002 meters Centerline goodness [0,1] 0.9998715588474547 Centerline is valid? [True, True] Translation: X:194.62, Y:-37.71, Z:-3.73 [[ 9.68238853e-01 2.49642307e-01 1.38651128e-02 1.94617958e+02] [-2.49615368e-01 9.68338118e-01 -3.66855246e-03 -3.77069001e+01] [-1.43419431e-02 9.10898023e-05 9.99897145e-01 -3.72808336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.37862385300002 meters Centerline goodness [0,1] 0.9999786557384047 Centerline is valid? [True, True] Translation: X:194.65, Y:-37.72, Z:-3.73 [[ 9.68014626e-01 2.50480143e-01 1.44007750e-02 1.94648032e+02] [-2.50451128e-01 9.68121734e-01 -3.81330083e-03 -3.77152904e+01] [-1.48968594e-02 8.46406212e-05 9.99889032e-01 -3.72771369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.40862385300002 meters Centerline goodness [0,1] 0.9999357656731758 Centerline is valid? [True, True] Translation: X:194.68, Y:-37.72, Z:-3.73 [[ 9.67856561e-01 2.51088949e-01 1.44227780e-02 1.94679958e+02] [-2.51059882e-01 9.67964015e-01 -3.82129388e-03 -3.77238985e+01] [-1.49202148e-02 7.74834127e-05 9.99888684e-01 -3.72814252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.43862385300002 meters Centerline goodness [0,1] 0.9999785232593101 Centerline is valid? [True, True] Translation: X:194.71, Y:-37.73, Z:-3.73 [[ 9.67747701e-01 2.51521265e-01 1.41929637e-02 1.94710217e+02] [-2.51493122e-01 9.67851770e-01 -3.76316688e-03 -3.77328245e+01] [-1.46832015e-02 7.23633519e-05 9.99892193e-01 -3.72944978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.46862385300003 meters Centerline goodness [0,1] 0.9999785637727759 Centerline is valid? [True, True] Translation: X:194.74, Y:-37.74, Z:-3.73 [[ 9.67548113e-01 2.52307788e-01 1.38357539e-02 1.94741992e+02] [-2.52281090e-01 9.67647031e-01 -3.67085871e-03 -3.77410718e+01] [-1.43143124e-02 6.12333524e-05 9.99897543e-01 -3.73027686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.49862385300003 meters Centerline goodness [0,1] 0.9999573360638252 Centerline is valid? [True, True] Translation: X:194.77, Y:-37.75, Z:-3.73 [[ 9.67128791e-01 2.53970880e-01 1.26765020e-02 1.94772894e+02] [-2.53948582e-01 9.67211864e-01 -3.36555248e-03 -3.77477512e+01] [-1.31156154e-02 3.57430007e-05 9.99913986e-01 -3.73326291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.52862385300003 meters Centerline goodness [0,1] 0.9999354269355776 Centerline is valid? [True, True] Translation: X:194.81, Y:-37.76, Z:-3.73 [[ 9.66880936e-01 2.54924405e-01 1.24419818e-02 1.94805050e+02] [-2.54902975e-01 9.66960985e-01 -3.30544474e-03 -3.77553952e+01] [-1.28735495e-02 2.44733212e-05 9.99917132e-01 -3.73422896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.55862385300003 meters Centerline goodness [0,1] 0.9998708205050918 Centerline is valid? [True, True] Translation: X:194.84, Y:-37.76, Z:-3.74 [[ 9.66609718e-01 2.55960390e-01 1.22446696e-02 1.94837058e+02] [-2.55939689e-01 9.66687270e-01 -3.25533495e-03 -3.77627175e+01] [-1.26700031e-02 1.27414668e-05 9.99919732e-01 -3.73518885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.588623853 meters Centerline goodness [0,1] 0.9997642520360052 Centerline is valid? [True, True] Translation: X:194.87, Y:-37.77, Z:-3.74 [[ 9.66100743e-01 2.57867174e-01 1.24046471e-02 1.94869532e+02] [-2.57846054e-01 9.66180377e-01 -3.30028714e-03 -3.77681428e+01] [-1.28361623e-02 -1.00794388e-05 9.99917613e-01 -3.73570849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.618623853 meters Centerline goodness [0,1] 0.999786475348579 Centerline is valid? [True, True] Translation: X:194.90, Y:-37.78, Z:-3.74 [[ 9.65887307e-01 2.58663568e-01 1.24446271e-02 1.94901418e+02] [-2.58642346e-01 9.65967473e-01 -3.31336945e-03 -3.77758492e+01] [-1.28781529e-02 -1.83660512e-05 9.99917073e-01 -3.73626877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.648623853 meters Centerline goodness [0,1] 0.9998928395379241 Centerline is valid? [True, True] Translation: X:194.93, Y:-37.78, Z:-3.74 [[ 9.65695260e-01 2.59392169e-01 1.21805954e-02 1.94932635e+02] [-2.59371866e-01 9.65772076e-01 -3.24543092e-03 -3.77838935e+01] [-1.26055182e-02 -2.52064910e-05 9.99920547e-01 -3.73739559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.678623853 meters Centerline goodness [0,1] 0.9998084658111472 Centerline is valid? [True, True] Translation: X:194.96, Y:-37.79, Z:-3.74 [[ 9.65491782e-01 2.60152428e-01 1.20968592e-02 1.94964250e+02] [-2.60132437e-01 9.65567560e-01 -3.22523023e-03 -3.77922670e+01] [-1.25193863e-02 -3.28521712e-05 9.99921629e-01 -3.73773888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.708623853 meters Centerline goodness [0,1] 0.9997020008514261 Centerline is valid? [True, True] Translation: X:195.00, Y:-37.80, Z:-3.74 [[ 9.65313658e-01 2.60835960e-01 1.15820675e-02 1.94996057e+02] [-2.60817658e-01 9.65383137e-01 -3.09017135e-03 -3.77985877e+01] [-1.19871605e-02 -3.78231188e-05 9.99928151e-01 -3.73998309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.738623853 meters Centerline goodness [0,1] 0.9997020008514261 Centerline is valid? [True, True] Translation: X:195.03, Y:-37.81, Z:-3.74 [[ 9.65268014e-01 2.61004845e-01 1.15815497e-02 1.95027385e+02] [-2.60986531e-01 9.65337490e-01 -3.09211056e-03 -3.78071603e+01] [-1.19871600e-02 -3.79130646e-05 9.99928151e-01 -3.74055647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.768623853 meters Centerline goodness [0,1] 0.9997843061127648 Centerline is valid? [True, True] Translation: X:195.06, Y:-37.82, Z:-3.74 [[ 9.65207539e-01 2.61237012e-01 1.13855593e-02 1.95059099e+02] [-2.61219305e-01 9.65274687e-01 -3.04180612e-03 -3.78155580e+01] [-1.17848246e-02 -3.81536967e-05 9.99930556e-01 -3.74078460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.798623853 meters Centerline goodness [0,1] 0.9998704830980443 Centerline is valid? [True, True] Translation: X:195.09, Y:-37.82, Z:-3.74 [[ 9.65162001e-01 2.61398688e-01 1.15341636e-02 1.95090690e+02] [-2.61380500e-01 9.65230918e-01 -3.08381812e-03 -3.78240345e+01] [-1.19392374e-02 -3.84213842e-05 9.99928724e-01 -3.74079775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.828623853 meters Centerline goodness [0,1] 0.9998272138228942 Centerline is valid? [True, True] Translation: X:195.12, Y:-37.83, Z:-3.74 [[ 9.65112399e-01 2.61565554e-01 1.18961326e-02 1.95122070e+02] [-2.61546187e-01 9.65185713e-01 -3.18315082e-03 -3.78318759e+01] [-1.23145798e-02 -3.92897958e-05 9.99924172e-01 -3.74179970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.858623853 meters Centerline goodness [0,1] 0.9998490468386095 Centerline is valid? [True, True] Translation: X:195.15, Y:-37.84, Z:-3.74 [[ 9.65041611e-01 2.61817590e-01 1.20929162e-02 1.95154526e+02] [-2.61797561e-01 9.65117375e-01 -3.23862590e-03 -3.78402344e+01] [-1.25190127e-02 -4.04872057e-05 9.99921633e-01 -3.74092804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.888623853 meters Centerline goodness [0,1] 0.999763882628201 Centerline is valid? [True, True] Translation: X:195.19, Y:-37.85, Z:-3.74 [[ 9.65008601e-01 2.61913285e-01 1.26424516e-02 1.95185522e+02] [-2.61891394e-01 9.65091410e-01 -3.38652737e-03 -3.78479522e+01] [-1.30880979e-02 -4.29212331e-05 9.99914346e-01 -3.74069677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.918623853 meters Centerline goodness [0,1] 0.9997634662939469 Centerline is valid? [True, True] Translation: X:195.22, Y:-37.86, Z:-3.74 [[ 9.65135860e-01 2.61424112e-01 1.30462499e-02 1.95215944e+02] [-2.61400722e-01 9.65224032e-01 -3.49717054e-03 -3.78562279e+01] [-1.35067986e-02 -3.50544286e-05 9.99908778e-01 -3.74048101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.94862385300002 meters Centerline goodness [0,1] 0.999805059781667 Centerline is valid? [True, True] Translation: X:195.25, Y:-37.87, Z:-3.74 [[ 9.65216854e-01 2.61125097e-01 1.30425709e-02 1.95248061e+02] [-2.61101662e-01 9.65304969e-01 -3.49847814e-03 -3.78650154e+01] [-1.35035990e-02 -2.86468860e-05 9.99908822e-01 -3.74106731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.97862385300002 meters Centerline goodness [0,1] 0.999783061437001 Centerline is valid? [True, True] Translation: X:195.28, Y:-37.87, Z:-3.74 [[ 9.65309972e-01 2.60778222e-01 1.30910639e-02 1.95279432e+02] [-2.60754545e-01 9.65398735e-01 -3.51409457e-03 -3.78730717e+01] [-1.35544958e-02 -2.13638704e-05 9.99908133e-01 -3.74177347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.00862385300002 meters Centerline goodness [0,1] 0.999806101344364 Centerline is valid? [True, True] Translation: X:195.31, Y:-37.88, Z:-3.74 [[ 9.65326512e-01 2.60704727e-01 1.33330943e-02 1.95311353e+02] [-2.60680125e-01 9.65418585e-01 -3.58151263e-03 -3.78817620e+01] [-1.38057343e-02 -1.83435900e-05 9.99904696e-01 -3.74255393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.03862385300002 meters Centerline goodness [0,1] 0.9997848490716238 Centerline is valid? [True, True] Translation: X:195.34, Y:-37.89, Z:-3.74 [[ 9.65373966e-01 2.60531607e-01 1.32811368e-02 1.95342432e+02] [-2.60507144e-01 9.65465319e-01 -3.57014044e-03 -3.78904132e+01] [-1.37526114e-02 -1.33103899e-05 9.99905428e-01 -3.74303484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.06862385300002 meters Centerline goodness [0,1] 0.9996980285578707 Centerline is valid? [True, True] Translation: X:195.37, Y:-37.90, Z:-3.74 [[ 9.65464628e-01 2.60187979e-01 1.34264082e-02 1.95374367e+02] [-2.60162913e-01 9.65557981e-01 -3.61153899e-03 -3.78993268e+01] [-1.39036546e-02 -6.24032076e-06 9.99903340e-01 -3.74239804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.09862385300002 meters Centerline goodness [0,1] 0.9998093543467209 Centerline is valid? [True, True] Translation: X:195.41, Y:-37.91, Z:-3.74 [[ 9.65445145e-01 2.60245973e-01 1.37005456e-02 1.95405594e+02] [-2.60219836e-01 9.65542352e-01 -3.68821909e-03 -3.79072947e+01] [-1.41883012e-02 -4.38052766e-06 9.99899341e-01 -3.74410941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.12862385300002 meters Centerline goodness [0,1] 0.9997865892697084 Centerline is valid? [True, True] Translation: X:195.44, Y:-37.92, Z:-3.74 [[ 9.65492843e-01 2.60067244e-01 1.37331024e-02 1.95437824e+02] [-2.60040928e-01 9.65590508e-01 -3.69962706e-03 -3.79160692e+01] [-1.42227052e-02 7.94757958e-07 9.99898852e-01 -3.74375237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.15862385300002 meters Centerline goodness [0,1] 0.9997416632580569 Centerline is valid? [True, True] Translation: X:195.47, Y:-37.92, Z:-3.74 [[ 9.65678193e-01 2.59416615e-01 1.29864629e-02 1.95470153e+02] [-2.59392993e-01 9.65765510e-01 -3.50080501e-03 -3.79245641e+01] [-1.34500450e-02 1.20535662e-05 9.99909544e-01 -3.74493874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.18862385300002 meters Centerline goodness [0,1] 0.9998064765836666 Centerline is valid? [True, True] Translation: X:195.50, Y:-37.93, Z:-3.75 [[ 9.65788733e-01 2.59016179e-01 1.27570247e-02 1.95501267e+02] [-2.58993315e-01 9.65872983e-01 -3.44153723e-03 -3.79334934e+01] [-1.32130793e-02 1.98137720e-05 9.99912703e-01 -3.74703889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.21862385300003 meters Centerline goodness [0,1] 0.9999784844442532 Centerline is valid? [True, True] Translation: X:195.53, Y:-37.94, Z:-3.75 [[ 9.65955190e-01 2.58411271e-01 1.24171489e-02 1.95533125e+02] [-2.58389529e-01 9.66034996e-01 -3.35212355e-03 -3.79427411e+01] [-1.28616269e-02 2.95398877e-05 9.99917285e-01 -3.74859819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.24862385300003 meters Centerline goodness [0,1] 0.99991391184573 Centerline is valid? [True, True] Translation: X:195.56, Y:-37.95, Z:-3.75 [[ 9.66387146e-01 2.56787800e-01 1.24863947e-02 1.95564527e+02] [-2.56765650e-01 9.66467808e-01 -3.37313065e-03 -3.79524540e+01] [-1.29338773e-02 5.36728541e-05 9.99916352e-01 -3.74879244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.27862385300003 meters Centerline goodness [0,1] 0.9999355960584788 Centerline is valid? [True, True] Translation: X:195.60, Y:-37.96, Z:-3.75 [[ 9.66629456e-01 2.55861454e-01 1.27440834e-02 1.95596612e+02] [-2.55838268e-01 9.66713459e-01 -3.44521760e-03 -3.79617263e+01] [-1.32013754e-02 6.98245839e-05 9.99912856e-01 -3.74813055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.30862385300003 meters Centerline goodness [0,1] 0.9999788449333615 Centerline is valid? [True, True] Translation: X:195.63, Y:-37.97, Z:-3.75 [[ 9.66877087e-01 2.54898283e-01 1.32500224e-02 1.95626642e+02] [-2.54873089e-01 9.66967868e-01 -3.58486427e-03 -3.79731743e+01] [-1.37261217e-02 8.90489741e-05 9.99905788e-01 -3.74940858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.338623853 meters Centerline goodness [0,1] 0.9997193497549708 Centerline is valid? [True, True] Translation: X:195.66, Y:-37.98, Z:-3.74 [[ 9.67133024e-01 2.53936837e-01 1.30306021e-02 1.95658379e+02] [-2.53912349e-01 9.67220798e-01 -3.52795920e-03 -3.79798491e+01] [-1.34993482e-02 1.03375063e-04 9.99908874e-01 -3.74118587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.368623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:195.69, Y:-37.99, Z:-3.75 [[ 9.67300413e-01 2.53260116e-01 1.37559048e-02 1.95688297e+02] [-2.53232721e-01 9.67398211e-01 -3.72690073e-03 -3.79910352e+01] [-1.42513130e-02 1.21587403e-04 9.99898437e-01 -3.74818354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.398623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:195.72, Y:-38.00, Z:-3.75 [[ 9.67642659e-01 2.51973188e-01 1.33115174e-02 1.95718879e+02] [-2.51947379e-01 9.67734206e-01 -3.60897439e-03 -3.80005302e+01] [-1.37913755e-02 1.38395640e-04 9.99904885e-01 -3.74973809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.428623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:195.75, Y:-38.01, Z:-3.75 [[ 9.67757650e-01 2.51553907e-01 1.28749270e-02 1.95749031e+02] [-2.51529696e-01 9.67843279e-01 -3.49285749e-03 -3.80096994e+01] [-1.33395535e-02 1.41813064e-04 9.99911014e-01 -3.75144495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.458623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:195.78, Y:-38.02, Z:-3.75 [[ 9.67809161e-01 2.51366281e-01 1.26656982e-02 1.95780836e+02] [-2.51342810e-01 9.67892025e-01 -3.43796030e-03 -3.80179040e+01] [-1.31232156e-02 1.43857294e-04 9.99913877e-01 -3.75241284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.488623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:195.81, Y:-38.03, Z:-3.75 [[ 9.68100632e-01 2.50284074e-01 1.17918496e-02 1.95810783e+02] [-2.50263621e-01 9.68172433e-01 -3.20314589e-03 -3.80276227e+01] [-1.22182401e-02 1.49896576e-04 9.99925343e-01 -3.75442915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.518623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:195.84, Y:-38.04, Z:-3.76 [[ 9.68214840e-01 2.49849980e-01 1.16194513e-02 1.95840362e+02] [-2.49830067e-01 9.68284547e-01 -3.15821420e-03 -3.80379265e+01] [-1.20400149e-02 1.54941556e-04 9.99927504e-01 -3.75584215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.548623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:195.87, Y:-38.05, Z:-3.76 [[ 9.68328812e-01 2.49421753e-01 1.13181816e-02 1.95870533e+02] [-2.49402808e-01 9.68394942e-01 -3.07815535e-03 -3.80476899e+01] [-1.17282287e-02 1.57880236e-04 9.99931209e-01 -3.75659882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.578623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:195.90, Y:-38.06, Z:-3.76 [[ 9.68504678e-01 2.48711410e-01 1.18879423e-02 1.95899572e+02] [-2.48690432e-01 9.68577619e-01 -3.23514751e-03 -3.80581898e+01] [-1.23190129e-02 1.76837994e-04 9.99924102e-01 -3.75577258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.608623853 meters Centerline goodness [0,1] 0.9999573214971619 Centerline is valid? [True, True] Translation: X:195.93, Y:-38.07, Z:-3.76 [[ 9.68532111e-01 2.48579064e-01 1.24096004e-02 1.95929902e+02] [-2.48556167e-01 9.68611591e-01 -3.37909894e-03 -3.80680615e+01] [-1.28600561e-02 1.88283108e-04 9.99917288e-01 -3.75574781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.638623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:195.96, Y:-38.07, Z:-3.75 [[ 9.68672967e-01 2.48013393e-01 1.27295185e-02 1.95961185e+02] [-2.47989220e-01 9.68756582e-01 -3.46863149e-03 -3.80746992e+01] [-1.31920719e-02 2.03186200e-04 9.99912960e-01 -3.75476075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.668623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:195.99, Y:-38.08, Z:-3.75 [[ 9.68734747e-01 2.47765158e-01 1.28614064e-02 1.95992969e+02] [-2.47740429e-01 9.68820098e-01 -3.50681140e-03 -3.80842905e+01] [-1.33292546e-02 2.10879730e-04 9.99911139e-01 -3.75463657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.69862385300002 meters Centerline goodness [0,1] 0.9998939689541098 Centerline is valid? [True, True] Translation: X:196.02, Y:-38.10, Z:-3.76 [[ 9.68880955e-01 2.47194671e-01 1.28253222e-02 1.96021702e+02] [-2.47169990e-01 9.68965812e-01 -3.50007598e-03 -3.80971375e+01] [-1.32924989e-02 2.21122196e-04 9.99911626e-01 -3.75626629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.72862385300002 meters Centerline goodness [0,1] 0.9999785232593101 Centerline is valid? [True, True] Translation: X:196.05, Y:-38.11, Z:-3.76 [[ 9.69129702e-01 2.46217392e-01 1.28302821e-02 1.96052874e+02] [-2.46192593e-01 9.69214600e-01 -3.50237684e-03 -3.81066327e+01] [-1.32976428e-02 2.35537016e-04 9.99911555e-01 -3.75648956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.75862385300002 meters Centerline goodness [0,1] 0.9999785674482404 Centerline is valid? [True, True] Translation: X:196.08, Y:-38.12, Z:-3.76 [[ 9.69130445e-01 2.46208253e-01 1.29490403e-02 1.96084589e+02] [-2.46182963e-01 9.69216920e-01 -3.53698642e-03 -3.81159784e+01] [-1.34212642e-02 2.39968130e-04 9.99909902e-01 -3.75717539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.78862385300002 meters Centerline goodness [0,1] 0.9999573315128112 Centerline is valid? [True, True] Translation: X:196.11, Y:-38.13, Z:-3.76 [[ 9.69068432e-01 2.46473380e-01 1.25398392e-02 1.96114788e+02] [-2.46449652e-01 9.69149534e-01 -3.42775496e-03 -3.81285035e+01] [-1.29978297e-02 2.31290113e-04 9.99915498e-01 -3.75892199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.81862385300002 meters Centerline goodness [0,1] 0.9999351785830038 Centerline is valid? [True, True] Translation: X:196.15, Y:-38.14, Z:-3.76 [[ 9.68933297e-01 2.47015278e-01 1.23173794e-02 1.96145887e+02] [-2.46992398e-01 9.69011560e-01 -3.36934507e-03 -3.81366135e+01] [-1.27679627e-02 2.22371565e-04 9.99918462e-01 -3.76008011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.84862385300002 meters Centerline goodness [0,1] 0.9999785761724189 Centerline is valid? [True, True] Translation: X:196.18, Y:-38.15, Z:-3.76 [[ 9.68629539e-01 2.48215431e-01 1.20795633e-02 1.96175002e+02] [-2.48193492e-01 9.68704835e-01 -3.30641659e-03 -3.81468265e+01] [-1.25222350e-02 2.04623775e-04 9.99921573e-01 -3.76236240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.87862385300002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:196.21, Y:-38.15, Z:-3.76 [[ 9.68292991e-01 2.49529027e-01 1.19978650e-02 1.96207554e+02] [-2.49507462e-01 9.68367301e-01 -3.28588040e-03 -3.81499164e+01] [-1.24382626e-02 1.88138127e-04 9.99922624e-01 -3.76214052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.90862385300002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:196.24, Y:-38.16, Z:-3.76 [[ 9.67372265e-01 2.53108693e-01 1.12645609e-02 1.96238113e+02] [-2.53089904e-01 9.67437838e-01 -3.08695925e-03 -3.81558041e+01] [-1.16790987e-02 1.35292114e-04 9.99931788e-01 -3.76483858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.93862385300002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:196.27, Y:-38.16, Z:-3.76 [[ 9.66877797e-01 2.54990399e-01 1.12793255e-02 1.96270184e+02] [-2.54971667e-01 9.66943578e-01 -3.09280356e-03 -3.81606764e+01] [-1.16951066e-02 1.14454665e-04 9.99931603e-01 -3.76469894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.96862385300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:196.30, Y:-38.17, Z:-3.76 [[ 9.66320439e-01 2.57088103e-01 1.14243349e-02 1.96302581e+02] [-2.57069001e-01 9.66387965e-01 -3.13528441e-03 -3.81660947e+01] [-1.18463841e-02 9.28470467e-05 9.99929825e-01 -3.76477769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.99862385300003 meters Centerline goodness [0,1] 0.9999785656106658 Centerline is valid? [True, True] Translation: X:196.33, Y:-38.17, Z:-3.77 [[ 9.65728999e-01 2.59299875e-01 1.14488526e-02 1.96333509e+02] [-2.59280844e-01 9.65796858e-01 -3.14218714e-03 -3.81715293e+01] [-1.18720346e-02 6.60330811e-05 9.99929523e-01 -3.76551476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.02862385300003 meters Centerline goodness [0,1] 0.999913359902963 Centerline is valid? [True, True] Translation: X:196.37, Y:-38.18, Z:-3.77 [[ 9.64872876e-01 2.62481689e-01 1.11218526e-02 1.96365910e+02] [-2.62463921e-01 9.64936973e-01 -3.05412707e-03 -3.81755958e+01] [-1.15335393e-02 2.77593161e-05 9.99933486e-01 -3.76596680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.05862385300003 meters Centerline goodness [0,1] 0.999913520992779 Centerline is valid? [True, True] Translation: X:196.40, Y:-38.18, Z:-3.77 [[ 9.64495779e-01 2.63865897e-01 1.10761578e-02 1.96398430e+02] [-2.63848346e-01 9.64559375e-01 -3.04338412e-03 -3.81822875e+01] [-1.14866571e-02 1.29052258e-05 9.99934026e-01 -3.76627772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.088623853 meters Centerline goodness [0,1] 0.9998934538015684 Centerline is valid? [True, True] Translation: X:196.43, Y:-38.19, Z:-3.77 [[ 9.64132206e-01 2.65195335e-01 1.09783395e-02 1.96429769e+02] [-2.65178152e-01 9.64194708e-01 -3.01881533e-03 -3.81884594e+01] [-1.13858326e-02 -6.78702489e-07 9.99935179e-01 -3.76780411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.118623853 meters Centerline goodness [0,1] 0.9998914789252072 Centerline is valid? [True, True] Translation: X:196.46, Y:-38.19, Z:-3.77 [[ 9.63580991e-01 2.67193535e-01 1.09219399e-02 1.96463033e+02] [-2.67176634e-01 9.63642888e-01 -3.00530257e-03 -3.81930558e+01] [-1.13278471e-02 -2.22347148e-05 9.99935838e-01 -3.76788369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.148623853 meters Centerline goodness [0,1] 0.9999134330296275 Centerline is valid? [True, True] Translation: X:196.49, Y:-38.20, Z:-3.77 [[ 9.63333632e-01 2.68070981e-01 1.12366987e-02 1.96494508e+02] [-2.68053122e-01 9.63399164e-01 -3.09440332e-03 -3.82003168e+01] [-1.16549459e-02 -3.10893819e-05 9.99932078e-01 -3.76823075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.178623853 meters Centerline goodness [0,1] 0.9999139932914768 Centerline is valid? [True, True] Translation: X:196.53, Y:-38.21, Z:-3.77 [[ 9.63143953e-01 2.68746651e-01 1.13561726e-02 1.96526294e+02] [-2.68728432e-01 9.63210899e-01 -3.12945520e-03 -3.82078638e+01] [-1.17794199e-02 -3.76106159e-05 9.99930620e-01 -3.76831233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.208623853 meters Centerline goodness [0,1] 0.9998286681087101 Centerline is valid? [True, True] Translation: X:196.56, Y:-38.21, Z:-3.77 [[ 9.62954090e-01 2.69417212e-01 1.15666271e-02 1.96558385e+02] [-2.69398330e-01 9.63023553e-01 -3.18994740e-03 -3.82136375e+01] [-1.19983611e-02 -4.42571282e-05 9.99928016e-01 -3.76881621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.238623853 meters Centerline goodness [0,1] 0.9998068959598344 Centerline is valid? [True, True] Translation: X:196.59, Y:-38.22, Z:-3.77 [[ 9.62850941e-01 2.69776586e-01 1.17753399e-02 1.96590691e+02] [-2.69757017e-01 9.62922941e-01 -3.24975294e-03 -3.82211136e+01] [-1.22154522e-02 -4.74528967e-05 9.99925387e-01 -3.76866389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.268623853 meters Centerline goodness [0,1] 0.9996783945455715 Centerline is valid? [True, True] Translation: X:196.62, Y:-38.23, Z:-3.77 [[ 9.62801165e-01 2.69969007e-01 1.14303001e-02 1.96622955e+02] [-2.69950555e-01 9.62869011e-01 -3.15672083e-03 -3.82285210e+01] [-1.18580986e-02 -4.63213651e-05 9.99929689e-01 -3.76984680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.298623853 meters Centerline goodness [0,1] 0.9997853201949293 Centerline is valid? [True, True] Translation: X:196.65, Y:-38.24, Z:-3.77 [[ 9.62772093e-01 2.70080165e-01 1.12517387e-02 1.96654030e+02] [-2.70062265e-01 9.62837838e-01 -3.10970770e-03 -3.82355366e+01] [-1.16734701e-02 -4.47302311e-05 9.99931862e-01 -3.77090094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.328623853 meters Centerline goodness [0,1] 0.9997623214710141 Centerline is valid? [True, True] Translation: X:196.69, Y:-38.24, Z:-3.77 [[ 9.62869913e-01 2.69732850e-01 1.12124851e-02 1.96686743e+02] [-2.69715028e-01 9.62935194e-01 -3.10088630e-03 -3.82422155e+01] [-1.16333074e-02 -3.84255997e-05 9.99932330e-01 -3.77193476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.358623853 meters Centerline goodness [0,1] 0.99985005890543 Centerline is valid? [True, True] Translation: X:196.72, Y:-38.25, Z:-3.77 [[ 9.62936376e-01 2.69491094e-01 1.13175011e-02 1.96718790e+02] [-2.69472893e-01 9.63002881e-01 -3.13222969e-03 -3.82497950e+01] [-1.17428942e-02 -3.36218616e-05 9.99931049e-01 -3.77277228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.388623853 meters Centerline goodness [0,1] 0.9998705110497238 Centerline is valid? [True, True] Translation: X:196.75, Y:-38.26, Z:-3.77 [[ 9.63002285e-01 2.69247182e-01 1.15132168e-02 1.96749780e+02] [-2.69228296e-01 9.63071105e-01 -3.18917761e-03 -3.82572307e+01] [-1.19467235e-02 -2.84984138e-05 9.99928635e-01 -3.77316444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.418623853 meters Centerline goodness [0,1] 0.9998492581346771 Centerline is valid? [True, True] Translation: X:196.78, Y:-38.27, Z:-3.77 [[ 9.63120815e-01 2.68819085e-01 1.16015157e-02 1.96781427e+02] [-2.68799864e-01 9.63190687e-01 -3.21466479e-03 -3.82656509e+01] [-1.20386351e-02 -2.23752547e-05 9.99927533e-01 -3.77291095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.44862385300002 meters Centerline goodness [0,1] 0.9999357367778421 Centerline is valid? [True, True] Translation: X:196.81, Y:-38.27, Z:-3.77 [[ 9.63650783e-01 2.66929523e-01 1.12159669e-02 1.96812508e+02] [-2.66911404e-01 9.63716052e-01 -3.11011781e-03 -3.82743919e+01] [-1.16391896e-02 3.39799688e-06 9.99932262e-01 -3.77418177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.47862385300002 meters Centerline goodness [0,1] 0.9999355891446239 Centerline is valid? [True, True] Translation: X:196.84, Y:-38.28, Z:-3.77 [[ 9.63893998e-01 2.66060403e-01 1.09645703e-02 1.96844428e+02] [-2.66043009e-01 9.63956359e-01 -3.04237101e-03 -3.82832170e+01] [-1.13788217e-02 1.54758775e-05 9.99935259e-01 -3.77453467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.50862385300002 meters Centerline goodness [0,1] 0.999763710179795 Centerline is valid? [True, True] Translation: X:196.88, Y:-38.29, Z:-3.77 [[ 9.64164107e-01 2.65090853e-01 1.06964820e-02 1.96875942e+02] [-2.65074214e-01 9.64223438e-01 -2.97016685e-03 -3.82906136e+01] [-1.11011627e-02 2.83666961e-05 9.99938380e-01 -3.76877738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.53862385300002 meters Centerline goodness [0,1] 0.9999569531434966 Centerline is valid? [True, True] Translation: X:196.91, Y:-38.30, Z:-3.77 [[ 9.64794374e-01 2.62735208e-01 1.19174685e-02 1.96907311e+02] [-2.62714343e-01 9.64867973e-01 -3.31177733e-03 -3.83017562e+01] [-1.23689042e-02 6.42942368e-05 9.99923500e-01 -3.77411000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.56862385300002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:196.94, Y:-38.31, Z:-3.77 [[ 9.65130229e-01 2.61487675e-01 1.21588054e-02 1.96938333e+02] [-2.61465824e-01 9.65206811e-01 -3.38138972e-03 -3.83117883e+01] [-1.26199535e-02 8.43693686e-05 9.99920362e-01 -3.77413225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.59862385300002 meters Centerline goodness [0,1] 0.9999783451352346 Centerline is valid? [True, True] Translation: X:196.97, Y:-38.32, Z:-3.77 [[ 9.65486403e-01 2.60143820e-01 1.26964085e-02 1.96968195e+02] [-2.60119840e-01 9.65569874e-01 -3.53380647e-03 -3.83216001e+01] [-1.31785675e-02 1.09254343e-04 9.99913153e-01 -3.77352257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.62862385300002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:197.00, Y:-38.33, Z:-3.77 [[ 9.65730147e-01 2.59227982e-01 1.28893989e-02 1.96998742e+02] [-2.59203158e-01 9.65816151e-01 -3.58962653e-03 -3.83303735e+01] [-1.33793213e-02 1.25637656e-04 9.99910485e-01 -3.77374716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.65862385300002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:197.03, Y:-38.34, Z:-3.77 [[ 9.65681290e-01 2.59409953e-01 1.28888367e-02 1.97029980e+02] [-2.59385118e-01 9.65767291e-01 -3.59164379e-03 -3.83392796e+01] [-1.33793251e-02 1.25210774e-04 9.99910485e-01 -3.77432051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.68862385300002 meters Centerline goodness [0,1] 0.9999782320033087 Centerline is valid? [True, True] Translation: X:197.06, Y:-38.35, Z:-3.77 [[ 9.66160898e-01 2.57622286e-01 1.28014270e-02 1.97061544e+02] [-2.57597595e-01 9.66245691e-01 -3.56994236e-03 -3.83472300e+01] [-1.32890204e-02 1.51521898e-04 9.99911686e-01 -3.77450012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.71862385300003 meters Centerline goodness [0,1] 0.999957282299921 Centerline is valid? [True, True] Translation: X:197.09, Y:-38.36, Z:-3.78 [[ 9.66275786e-01 2.57176271e-01 1.30946979e-02 1.97091764e+02] [-2.57150361e-01 9.66364496e-01 -3.65415851e-03 -3.83576468e+01] [-1.35940140e-02 1.63618588e-04 9.99907584e-01 -3.77548640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.74862385300003 meters Centerline goodness [0,1] 0.9999786648460669 Centerline is valid? [True, True] Translation: X:197.12, Y:-38.37, Z:-3.78 [[ 9.66411938e-01 2.56668613e-01 1.30072606e-02 1.97122799e+02] [-2.56642966e-01 9.66499454e-01 -3.63238392e-03 -3.83667032e+01] [-1.35038292e-02 1.72157253e-04 9.99908804e-01 -3.77594000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.77862385300003 meters Centerline goodness [0,1] 0.9999141980737467 Centerline is valid? [True, True] Translation: X:197.15, Y:-38.37, Z:-3.78 [[ 9.66627645e-01 2.55858560e-01 1.29380709e-02 1.97154552e+02] [-2.55833084e-01 9.66714210e-01 -3.61526744e-03 -3.83742700e+01] [-1.34324141e-02 1.84630872e-04 9.99909764e-01 -3.77632603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.80862385300003 meters Centerline goodness [0,1] 0.9999357216318135 Centerline is valid? [True, True] Translation: X:197.18, Y:-38.38, Z:-3.78 [[ 9.66648388e-01 2.55795081e-01 1.26399962e-02 1.97184845e+02] [-2.55770728e-01 9.66731008e-01 -3.53440030e-03 -3.83845275e+01] [-1.31235585e-02 1.83581317e-04 9.99913866e-01 -3.77739442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.838623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:197.22, Y:-38.39, Z:-3.78 [[ 9.66652226e-01 2.55777266e-01 1.27068996e-02 1.97215503e+02] [-2.55752634e-01 9.66735722e-01 -3.55450620e-03 -3.83934143e+01] [-1.31933756e-02 1.86148301e-04 9.99912946e-01 -3.77795319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.868623853 meters Centerline goodness [0,1] 0.9999786251709987 Centerline is valid? [True, True] Translation: X:197.25, Y:-38.40, Z:-3.78 [[ 9.66648597e-01 2.55779762e-01 1.29306781e-02 1.97247907e+02] [-2.55754224e-01 9.66735060e-01 -3.61945231e-03 -3.83993536e+01] [-1.34263225e-02 1.91662962e-04 9.99909844e-01 -3.77758503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.898623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:197.28, Y:-38.41, Z:-3.78 [[ 9.66684388e-01 2.55635868e-01 1.30995060e-02 1.97278707e+02] [-2.55609607e-01 9.66773119e-01 -3.66947628e-03 -3.84087769e+01] [-1.36023001e-02 1.98865837e-04 9.99907465e-01 -3.77842207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.928623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:197.31, Y:-38.42, Z:-3.78 [[ 9.66733844e-01 2.55447310e-01 1.31281127e-02 1.97311442e+02] [-2.55420884e-01 9.66822957e-01 -3.67991508e-03 -3.84156694e+01] [-1.36325851e-02 2.04304302e-04 9.99907051e-01 -3.77820340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.958623853 meters Centerline goodness [0,1] 0.9997422901812559 Centerline is valid? [True, True] Translation: X:197.34, Y:-38.43, Z:-3.77 [[ 9.66774017e-01 2.55335378e-01 1.23225235e-02 1.97342454e+02] [-2.55312055e-01 9.66852526e-01 -3.45654565e-03 -3.84255903e+01] [-1.27966414e-02 1.95609708e-04 9.99918100e-01 -3.77215231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.988623853 meters Centerline goodness [0,1] 0.99995699202202 Centerline is valid? [True, True] Translation: X:197.37, Y:-38.44, Z:-3.78 [[ 9.66935001e-01 2.54731801e-01 1.21824806e-02 1.97372483e+02] [-2.54708927e-01 9.67011721e-01 -3.41968328e-03 -3.84354327e+01] [-1.26517036e-02 2.03624894e-04 9.99919943e-01 -3.78095702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.018623853 meters Centerline goodness [0,1] 0.9998708288482239 Centerline is valid? [True, True] Translation: X:197.40, Y:-38.44, Z:-3.78 [[ 9.67007292e-01 2.54472548e-01 1.18583225e-02 1.97402317e+02] [-2.54450830e-01 9.67079976e-01 -3.33084085e-03 -3.84442483e+01] [-1.23155538e-02 2.03587389e-04 9.99924140e-01 -3.77701631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.048623853 meters Centerline goodness [0,1] 0.999915011154786 Centerline is valid? [True, True] Translation: X:197.43, Y:-38.46, Z:-3.78 [[ 9.67006055e-01 2.54457008e-01 1.22849757e-02 1.97432527e+02] [-2.54433671e-01 9.67084063e-01 -3.45275375e-03 -3.84559543e+01] [-1.27591816e-02 2.13122316e-04 9.99918576e-01 -3.78277939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.078623853 meters Centerline goodness [0,1] 0.9996990735765106 Centerline is valid? [True, True] Translation: X:197.47, Y:-38.46, Z:-3.77 [[ 9.66921427e-01 2.54799517e-01 1.18389135e-02 1.97466017e+02] [-2.54777845e-01 9.66993880e-01 -3.32943844e-03 -3.84609437e+01] [-1.22964962e-02 2.03012514e-04 9.99924375e-01 -3.77413942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.108623853 meters Centerline goodness [0,1] 0.9999355614743535 Centerline is valid? [True, True] Translation: X:197.50, Y:-38.47, Z:-3.78 [[ 9.66814564e-01 2.55161140e-01 1.27432942e-02 1.97495213e+02] [-2.55136020e-01 9.66898519e-01 -3.58684842e-03 -3.84728302e+01] [-1.32366966e-02 2.16543931e-04 9.99912368e-01 -3.78272178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.138623853 meters Centerline goodness [0,1] 0.9999147830162551 Centerline is valid? [True, True] Translation: X:197.53, Y:-38.48, Z:-3.78 [[ 9.66651274e-01 2.55768486e-01 1.29536281e-02 1.97526977e+02] [-2.55742555e-01 9.66738039e-01 -3.64822142e-03 -3.84798112e+01] [-1.34558651e-02 2.13763948e-04 9.99909443e-01 -3.78243681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.168623853 meters Centerline goodness [0,1] 0.9998919853100021 Centerline is valid? [True, True] Translation: X:197.56, Y:-38.49, Z:-3.78 [[ 9.66468814e-01 2.56450224e-01 1.30887177e-02 1.97558675e+02] [-2.56423781e-01 9.66557416e-01 -3.68855387e-03 -3.84856932e+01] [-1.35969277e-02 2.08613795e-04 9.99907536e-01 -3.78244102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.19862385300002 meters Centerline goodness [0,1] 0.9999569753683984 Centerline is valid? [True, True] Translation: X:197.59, Y:-38.50, Z:-3.78 [[ 9.66371138e-01 2.56823586e-01 1.29795886e-02 1.97588859e+02] [-2.56797584e-01 9.66458278e-01 -3.66015077e-03 -3.84956327e+01] [-1.34842439e-02 2.03937060e-04 9.99909063e-01 -3.78303204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.22862385300002 meters Centerline goodness [0,1] 0.9999350677459851 Centerline is valid? [True, True] Translation: X:197.62, Y:-38.51, Z:-3.78 [[ 9.66355113e-01 2.56893976e-01 1.27781024e-02 1.97618718e+02] [-2.56868748e-01 9.66439571e-01 -3.60586220e-03 -3.85058968e+01] [-1.32755881e-02 2.02248211e-04 9.99911855e-01 -3.78394696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.25862385300002 meters Centerline goodness [0,1] 0.9998923249203204 Centerline is valid? [True, True] Translation: X:197.65, Y:-38.52, Z:-3.79 [[ 9.66334409e-01 2.56988807e-01 1.24323269e-02 1.97650515e+02] [-2.56964904e-01 9.66414359e-01 -3.51058046e-03 -3.85156108e+01] [-1.29169591e-02 1.97723004e-04 9.99916553e-01 -3.78562374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.28862385300002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:197.68, Y:-38.53, Z:-3.79 [[ 9.66340818e-01 2.56981335e-01 1.20837694e-02 1.97681001e+02] [-2.56958722e-01 9.66416347e-01 -3.41462488e-03 -3.85252252e+01] [-1.25554471e-02 1.94661461e-04 9.99921158e-01 -3.78661817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.31862385300002 meters Centerline goodness [0,1] 0.9997863521770713 Centerline is valid? [True, True] Translation: X:197.71, Y:-38.53, Z:-3.78 [[ 9.66378930e-01 2.56876485e-01 1.12354573e-02 1.97712305e+02] [-2.56856904e-01 9.66444224e-01 -3.17693377e-03 -3.85331597e+01] [-1.16745224e-02 1.84217087e-04 9.99931833e-01 -3.78025964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.34862385300002 meters Centerline goodness [0,1] 0.9999356098817368 Centerline is valid? [True, True] Translation: X:197.74, Y:-38.54, Z:-3.79 [[ 9.66350769e-01 2.56977139e-01 1.13551998e-02 1.97743410e+02] [-2.56957123e-01 9.66417464e-01 -3.21269390e-03 -3.85447189e+01] [-1.17994523e-02 1.86789731e-04 9.99930367e-01 -3.78960586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.37862385300002 meters Centerline goodness [0,1] 0.9999785467573423 Centerline is valid? [True, True] Translation: X:197.77, Y:-38.56, Z:-3.79 [[ 9.66566996e-01 2.56169932e-01 1.11896462e-02 1.97772324e+02] [-2.56150409e-01 9.66631743e-01 -3.16869403e-03 -3.85570789e+01] [-1.16279913e-02 1.96522633e-04 9.99932373e-01 -3.79076215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.40862385300002 meters Centerline goodness [0,1] 0.9999783732347153 Centerline is valid? [True, True] Translation: X:197.80, Y:-38.57, Z:-3.79 [[ 9.66592004e-01 2.56066361e-01 1.13980767e-02 1.97804078e+02] [-2.56046091e-01 9.66659184e-01 -3.22821943e-03 -3.85665826e+01] [-1.18446939e-02 2.01938094e-04 9.99929829e-01 -3.79007779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.43862385300002 meters Centerline goodness [0,1] 0.9999140745832618 Centerline is valid? [True, True] Translation: X:197.83, Y:-38.58, Z:-3.79 [[ 9.66623995e-01 2.55936023e-01 1.16105219e-02 1.97834359e+02] [-2.55914950e-01 9.66693699e-01 -3.29096044e-03 -3.85780576e+01] [-1.20660937e-02 2.09815187e-04 9.99927180e-01 -3.79081550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.46862385300003 meters Centerline goodness [0,1] 0.9998932878027958 Centerline is valid? [True, True] Translation: X:197.86, Y:-38.59, Z:-3.79 [[ 9.66544320e-01 2.56183748e-01 1.27265625e-02 1.97864970e+02] [-2.56158412e-01 9.66628075e-01 -3.61015827e-03 -3.85884357e+01] [-1.32267165e-02 2.29361927e-04 9.99912497e-01 -3.78877950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.49862385300003 meters Centerline goodness [0,1] 0.999871443263627 Centerline is valid? [True, True] Translation: X:197.89, Y:-38.60, Z:-3.79 [[ 9.66441920e-01 2.56554560e-01 1.30297231e-02 1.97894571e+02] [-2.56527999e-01 9.66529722e-01 -3.69889112e-03 -3.85992345e+01] [-1.35425820e-02 2.32274639e-04 9.99908268e-01 -3.78891904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.52862385300003 meters Centerline goodness [0,1] 0.9997635120608849 Centerline is valid? [True, True] Translation: X:197.93, Y:-38.61, Z:-3.79 [[ 9.66288462e-01 2.57140799e-01 1.28537112e-02 1.97925150e+02] [-2.57114989e-01 9.66373924e-01 -3.64990198e-03 -3.86085090e+01] [-1.33600301e-02 2.21976336e-04 9.99910726e-01 -3.78981528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.55862385300003 meters Centerline goodness [0,1] 0.9999140561213528 Centerline is valid? [True, True] Translation: X:197.96, Y:-38.62, Z:-3.79 [[ 9.66116144e-01 2.57785582e-01 1.28915150e-02 1.97956781e+02] [-2.57759642e-01 9.66202125e-01 -3.66333657e-03 -3.86166416e+01] [-1.34001646e-02 2.16296308e-04 9.99910190e-01 -3.79009400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.588623853 meters Centerline goodness [0,1] 0.9999358686590136 Centerline is valid? [True, True] Translation: X:197.99, Y:-38.63, Z:-3.79 [[ 9.65765262e-01 2.59095613e-01 1.29198006e-02 1.97985825e+02] [-2.59069667e-01 9.65851657e-01 -3.67204559e-03 -3.86276069e+01] [-1.34300218e-02 1.99205626e-04 9.99909793e-01 -3.79105671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.618623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:198.02, Y:-38.64, Z:-3.79 [[ 9.65584174e-01 2.59778973e-01 1.27313855e-02 1.98017271e+02] [-2.59753825e-01 9.65668085e-01 -3.61944440e-03 -3.86350637e+01] [-1.32345482e-02 1.87852143e-04 9.99912402e-01 -3.79133371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.648623853 meters Centerline goodness [0,1] 0.999956955922865 Centerline is valid? [True, True] Translation: X:198.05, Y:-38.64, Z:-3.79 [[ 9.65425098e-01 2.60369022e-01 1.27417309e-02 1.98048210e+02] [-2.60343855e-01 9.65509160e-01 -3.62466095e-03 -3.86443247e+01] [-1.32460073e-02 1.82107320e-04 9.99912251e-01 -3.79210790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.678623853 meters Centerline goodness [0,1] 0.9999786146575137 Centerline is valid? [True, True] Translation: X:198.08, Y:-38.66, Z:-3.79 [[ 9.65225411e-01 2.61131832e-01 1.22503798e-02 1.98077067e+02] [-2.61108602e-01 9.65303133e-01 -3.48702081e-03 -3.86553495e+01] [-1.27359022e-02 1.67081538e-04 9.99918881e-01 -3.79335988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.708623853 meters Centerline goodness [0,1] 0.9999784821294084 Centerline is valid? [True, True] Translation: X:198.11, Y:-38.66, Z:-3.79 [[ 9.65008549e-01 2.61941974e-01 1.20375782e-02 1.98107778e+02] [-2.61919584e-01 9.65083612e-01 -3.42830883e-03 -3.86632552e+01] [-1.25152875e-02 1.55469839e-04 9.99921669e-01 -3.79371723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.738623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:198.14, Y:-38.67, Z:-3.79 [[ 9.64805087e-01 2.62701387e-01 1.17951286e-02 1.98137483e+02] [-2.62679921e-01 9.64877174e-01 -3.36142775e-03 -3.86725434e+01] [-1.22639021e-02 1.44779149e-04 9.99924785e-01 -3.79426665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.768623853 meters Centerline goodness [0,1] 0.9999786315654515 Centerline is valid? [True, True] Translation: X:198.17, Y:-38.68, Z:-3.80 [[ 9.64530644e-01 2.63692485e-01 1.21206650e-02 1.98167488e+02] [-2.63669868e-01 9.64606787e-01 -3.45633103e-03 -3.86814181e+01] [-1.26030843e-02 1.37883041e-04 9.99920568e-01 -3.79502907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.798623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:198.20, Y:-38.69, Z:-3.79 [[ 9.64198719e-01 2.64890687e-01 1.23998006e-02 1.98199289e+02] [-2.64867089e-01 9.64278439e-01 -3.53798151e-03 -3.86884800e+01] [-1.28940387e-02 1.27018152e-04 9.99916860e-01 -3.79432192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.828623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:198.23, Y:-38.70, Z:-3.79 [[ 9.63511560e-01 2.67373848e-01 1.25179750e-02 1.98229484e+02] [-2.67349977e-01 9.63592868e-01 -3.57408381e-03 -3.86959231e+01] [-1.30178480e-02 9.69907467e-05 9.99915260e-01 -3.79449074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.858623853 meters Centerline goodness [0,1] 0.999978462201163 Centerline is valid? [True, True] Translation: X:198.26, Y:-38.70, Z:-3.80 [[ 9.63138128e-01 2.68717941e-01 1.24745601e-02 1.98259699e+02] [-2.68694320e-01 9.63218906e-01 -3.56379832e-03 -3.87039407e+01] [-1.29733887e-02 8.05866058e-05 9.99915839e-01 -3.79528882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.888623853 meters Centerline goodness [0,1] 0.9999784431654056 Centerline is valid? [True, True] Translation: X:198.29, Y:-38.71, Z:-3.80 [[ 9.62820156e-01 2.69869954e-01 1.21472503e-02 1.98291508e+02] [-2.69847626e-01 9.62896777e-01 -3.47202339e-03 -3.87117913e+01] [-1.26335430e-02 6.50274460e-05 9.99920191e-01 -3.79588042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.918623853 meters Centerline goodness [0,1] 0.9999785024829633 Centerline is valid? [True, True] Translation: X:198.32, Y:-38.72, Z:-3.80 [[ 9.62536524e-01 2.70893033e-01 1.18492227e-02 1.98322425e+02] [-2.70871835e-01 9.62609455e-01 -3.38927583e-03 -3.87207029e+01] [-1.23243050e-02 5.26810735e-05 9.99924051e-01 -3.79768064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.94862385300002 meters Centerline goodness [0,1] 0.9999567819867321 Centerline is valid? [True, True] Translation: X:198.35, Y:-38.73, Z:-3.80 [[ 9.62117724e-01 2.72381928e-01 1.17290271e-02 1.98354135e+02] [-2.72361242e-01 9.62189214e-01 -3.35704799e-03 -3.87293068e+01] [-1.21999426e-02 3.53429782e-05 9.99925577e-01 -3.79797542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.97862385300002 meters Centerline goodness [0,1] 0.9999569633327595 Centerline is valid? [True, True] Translation: X:198.38, Y:-38.74, Z:-3.80 [[ 9.61882532e-01 2.73214143e-01 1.16630503e-02 1.98384935e+02] [-2.73193721e-01 9.61953238e-01 -3.34063756e-03 -3.87383242e+01] [-1.21320184e-02 2.70288019e-05 9.99926404e-01 -3.79880326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.00862385300002 meters Centerline goodness [0,1] 0.9999153815235556 Centerline is valid? [True, True] Translation: X:198.42, Y:-38.75, Z:-3.80 [[ 9.61677800e-01 2.73925253e-01 1.18644487e-02 1.98415571e+02] [-2.73904144e-01 9.61750984e-01 -3.40067764e-03 -3.87474647e+01] [-1.23421767e-02 2.06345374e-05 9.99923832e-01 -3.79996981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.03862385300002 meters Centerline goodness [0,1] 0.9999362922064132 Centerline is valid? [True, True] Translation: X:198.45, Y:-38.76, Z:-3.80 [[ 9.61444946e-01 2.74720293e-01 1.23440572e-02 1.98445897e+02] [-2.74697475e-01 9.61524186e-01 -3.54068907e-03 -3.87562745e+01] [-1.28418087e-02 1.32962575e-05 9.99917540e-01 -3.79999787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.06862385300002 meters Centerline goodness [0,1] 0.9999572558238939 Centerline is valid? [True, True] Translation: X:198.48, Y:-38.77, Z:-3.80 [[ 9.60918112e-01 2.76551045e-01 1.24860594e-02 1.98477914e+02] [-2.76527826e-01 9.60999230e-01 -3.58362679e-03 -3.87650569e+01] [-1.29901492e-02 -9.17096938e-06 9.99915624e-01 -3.79937105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.09862385300002 meters Centerline goodness [0,1] 0.99989304126468 Centerline is valid? [True, True] Translation: X:198.51, Y:-38.77, Z:-3.80 [[ 9.60569705e-01 2.77752595e-01 1.26229177e-02 1.98508586e+02] [-2.77728932e-01 9.60652641e-01 -3.62557430e-03 -3.87731196e+01] [-1.31332519e-02 -2.31326036e-05 9.99913755e-01 -3.80019262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.12862385300002 meters Centerline goodness [0,1] 0.9999143523970623 Centerline is valid? [True, True] Translation: X:198.54, Y:-38.78, Z:-3.80 [[ 9.60218273e-01 2.78973297e-01 1.24405606e-02 1.98540092e+02] [-2.78950387e-01 9.60298859e-01 -3.57544200e-03 -3.87811446e+01] [-1.29441090e-02 -3.70944390e-05 9.99916221e-01 -3.80056464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.15862385300002 meters Centerline goodness [0,1] 0.999912965904393 Centerline is valid? [True, True] Translation: X:198.57, Y:-38.79, Z:-3.80 [[ 9.59541129e-01 2.81328090e-01 1.16330296e-02 1.98571564e+02] [-2.81308203e-01 9.59611641e-01 -3.34559678e-03 -3.87878468e+01] [-1.21044010e-02 -6.22289499e-05 9.99926737e-01 -3.80195295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.18862385300002 meters Centerline goodness [0,1] 0.999936294912087 Centerline is valid? [True, True] Translation: X:198.60, Y:-38.79, Z:-3.80 [[ 9.59267748e-01 2.82273057e-01 1.12831357e-02 1.98602897e+02] [-2.82254391e-01 9.59334101e-01 -3.24687087e-03 -3.87945438e+01] [-1.17408010e-02 -7.00960964e-05 9.99931072e-01 -3.80400982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.21862385300003 meters Centerline goodness [0,1] 0.9997448871125473 Centerline is valid? [True, True] Translation: X:198.63, Y:-38.80, Z:-3.80 [[ 9.58960807e-01 2.83298054e-01 1.16783524e-02 1.98633802e+02] [-2.83278104e-01 9.59031911e-01 -3.36307523e-03 -3.88028250e+01] [-1.21526653e-02 -8.31641945e-05 9.99926150e-01 -3.80375621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.24862385300003 meters Centerline goodness [0,1] 0.9998724598248449 Centerline is valid? [True, True] Translation: X:198.66, Y:-38.81, Z:-3.80 [[ 9.58698083e-01 2.84192326e-01 1.15198731e-02 1.98664295e+02] [-2.84172949e-01 9.58767288e-01 -3.31986002e-03 -3.88094544e+01] [-1.19883563e-02 -9.08928889e-05 9.99928133e-01 -3.80479140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.27862385300003 meters Centerline goodness [0,1] 0.9998290123324856 Centerline is valid? [True, True] Translation: X:198.69, Y:-38.81, Z:-3.81 [[ 9.58217783e-01 2.85818542e-01 1.12446388e-02 1.98692211e+02] [-2.85800170e-01 9.58283752e-01 -3.24242460e-03 -3.88141146e+01] [-1.17022998e-02 -1.06770774e-04 9.99931520e-01 -3.80601902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.30862385300003 meters Centerline goodness [0,1] 0.9996827947893757 Centerline is valid? [True, True] Translation: X:198.72, Y:-38.82, Z:-3.81 [[ 9.58039335e-01 2.86420600e-01 1.11297610e-02 1.98721504e+02] [-2.86402650e-01 9.58103975e-01 -3.20862879e-03 -3.88209534e+01] [-1.15824856e-02 -1.13600437e-04 9.99932914e-01 -3.80647260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.338623853 meters Centerline goodness [0,1] 0.9997203037931108 Centerline is valid? [True, True] Translation: X:198.75, Y:-38.83, Z:-3.81 [[ 9.57739022e-01 2.87423002e-01 1.11348243e-02 1.98751953e+02] [-2.87405121e-01 9.57803739e-01 -3.20860912e-03 -3.88301447e+01] [-1.15872044e-02 -1.27195347e-04 9.99932858e-01 -3.80608915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.368623853 meters Centerline goodness [0,1] 0.9996368064605722 Centerline is valid? [True, True] Translation: X:198.78, Y:-38.83, Z:-3.81 [[ 9.57517489e-01 2.88166305e-01 1.09744370e-02 1.98782756e+02] [-2.88148960e-01 9.57580369e-01 -3.16444842e-03 -3.88347886e+01] [-1.14207928e-02 -1.32257905e-04 9.99934772e-01 -3.80815531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.398623853 meters Centerline goodness [0,1] 0.9996550609033092 Centerline is valid? [True, True] Translation: X:198.81, Y:-38.84, Z:-3.81 [[ 9.57324503e-01 2.88805763e-01 1.10012836e-02 1.98813243e+02] [-2.88788344e-01 9.57387702e-01 -3.17492307e-03 -3.88429986e+01] [-1.14494297e-02 -1.37610836e-04 9.99934444e-01 -3.80713614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.428623853 meters Centerline goodness [0,1] 0.9997189553787617 Centerline is valid? [True, True] Translation: X:198.84, Y:-38.85, Z:-3.81 [[ 9.57355499e-01 2.88688851e-01 1.13664619e-02 1.98843145e+02] [-2.88670247e-01 9.57422962e-01 -3.28041434e-03 -3.88498904e+01] [-1.18295307e-02 -1.40636660e-04 9.99930019e-01 -3.80737398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.458623853 meters Centerline goodness [0,1] 0.9996816232966846 Centerline is valid? [True, True] Translation: X:198.87, Y:-38.86, Z:-3.81 [[ 9.57508883e-01 2.88172367e-01 1.15509964e-02 1.98871404e+02] [-2.88153103e-01 9.57578544e-01 -3.33482239e-03 -3.88567005e+01] [-1.20219899e-02 -1.35333377e-04 9.99927724e-01 -3.80806488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.488623853 meters Centerline goodness [0,1] 0.9994823681656422 Centerline is valid? [True, True] Translation: X:198.90, Y:-38.87, Z:-3.80 [[ 9.57861038e-01 2.87002308e-01 1.14850769e-02 1.98900942e+02] [-2.86983181e-01 9.57929883e-01 -3.31558014e-03 -3.88657340e+01] [-1.19534775e-02 -1.20158871e-04 9.99928547e-01 -3.80388025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.518623853 meters Centerline goodness [0,1] 0.9997430846964117 Centerline is valid? [True, True] Translation: X:198.93, Y:-38.88, Z:-3.81 [[ 9.58135559e-01 2.86074417e-01 1.17336461e-02 1.98930817e+02] [-2.86054385e-01 9.58207397e-01 -3.38720596e-03 -3.88761565e+01] [-1.22122595e-02 -1.11058464e-04 9.99925421e-01 -3.80754843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.548623853 meters Centerline goodness [0,1] 0.9997430846964117 Centerline is valid? [True, True] Translation: X:198.96, Y:-38.88, Z:-3.81 [[ 9.58128826e-01 2.86096971e-01 1.17335665e-02 1.98960424e+02] [-2.86076938e-01 9.58200663e-01 -3.38748164e-03 -3.88847493e+01] [-1.22122595e-02 -1.11058979e-04 9.99925421e-01 -3.80809218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.578623853 meters Centerline goodness [0,1] 0.9997851956867294 Centerline is valid? [True, True] Translation: X:198.99, Y:-38.89, Z:-3.81 [[ 9.58397159e-01 2.85188471e-01 1.19340910e-02 1.98989079e+02] [-2.85167672e-01 9.58471453e-01 -3.44574892e-03 -3.88932328e+01] [-1.24211734e-02 -1.00820972e-04 9.99922849e-01 -3.80798288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.608623853 meters Centerline goodness [0,1] 0.999786893979755 Centerline is valid? [True, True] Translation: X:199.02, Y:-38.90, Z:-3.81 [[ 9.58701977e-01 2.84159829e-01 1.19879238e-02 1.99018500e+02] [-2.84138759e-01 9.58776921e-01 -3.46144573e-03 -3.89017907e+01] [-1.24773485e-02 -8.77389223e-05 9.99922151e-01 -3.80853868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.638623853 meters Centerline goodness [0,1] 0.999978583054913 Centerline is valid? [True, True] Translation: X:199.05, Y:-38.91, Z:-3.81 [[ 9.59380933e-01 2.81861711e-01 1.19247870e-02 1.99048703e+02] [-2.81840694e-01 9.59455039e-01 -3.44253857e-03 -3.89134157e+01] [-1.24116168e-02 -5.81843689e-05 9.99922971e-01 -3.80903257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.668623853 meters Centerline goodness [0,1] 0.9999569929468433 Centerline is valid? [True, True] Translation: X:199.08, Y:-38.92, Z:-3.81 [[ 9.59764323e-01 2.80545290e-01 1.21154650e-02 1.99078212e+02] [-2.80523461e-01 9.59840788e-01 -3.49984238e-03 -3.89244179e+01] [-1.26107818e-02 -3.96483308e-05 9.99920480e-01 -3.80938353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.69862385300002 meters Centerline goodness [0,1] 0.9999785131070047 Centerline is valid? [True, True] Translation: X:199.11, Y:-38.94, Z:-3.81 [[ 9.60190402e-01 2.79077306e-01 1.22575955e-02 1.99109670e+02] [-2.79054819e-01 9.60268638e-01 -3.54276009e-03 -3.89361248e+01] [-1.27592885e-02 -1.88168571e-05 9.99918597e-01 -3.80940389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.72862385300002 meters Centerline goodness [0,1] 0.9999786142001711 Centerline is valid? [True, True] Translation: X:199.14, Y:-38.95, Z:-3.81 [[ 9.61084950e-01 2.75988634e-01 1.20827161e-02 1.99139418e+02] [-2.75966509e-01 9.61160899e-01 -3.49469663e-03 -3.89494026e+01] [-1.25779308e-02 2.42753613e-05 9.99920894e-01 -3.81078392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.75862385300002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:199.17, Y:-38.96, Z:-3.81 [[ 9.61576543e-01 2.74263025e-01 1.22615064e-02 1.99170705e+02] [-2.74240070e-01 9.61654715e-01 -3.54873667e-03 -3.89616340e+01] [-1.27646227e-02 4.97855789e-05 9.99918528e-01 -3.81112699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.78862385300002 meters Centerline goodness [0,1] 0.9999788158034106 Centerline is valid? [True, True] Translation: X:199.20, Y:-38.97, Z:-3.81 [[ 9.62099109e-01 2.72407065e-01 1.26371070e-02 1.99199351e+02] [-2.72382484e-01 9.62182095e-01 -3.66027178e-03 -3.89740887e+01] [-1.31562820e-02 7.94176228e-05 9.99913449e-01 -3.81130435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.81862385300002 meters Centerline goodness [0,1] 0.9999570326766494 Centerline is valid? [True, True] Translation: X:199.23, Y:-38.99, Z:-3.81 [[ 9.62605064e-01 2.70595963e-01 1.30121535e-02 1.99229036e+02] [-2.70569707e-01 9.62693000e-01 -3.77108303e-03 -3.89867843e+01] [-1.35471490e-02 1.09369058e-04 9.99908227e-01 -3.81067602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.84862385300002 meters Centerline goodness [0,1] 0.9999570197494252 Centerline is valid? [True, True] Translation: X:199.26, Y:-39.00, Z:-3.81 [[ 9.63556785e-01 2.67180327e-01 1.31527747e-02 1.99257590e+02] [-2.67153150e-01 9.63646536e-01 -3.81414174e-03 -3.90030553e+01] [-1.36936894e-02 1.61336975e-04 9.99906224e-01 -3.81001763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.87862385300002 meters Centerline goodness [0,1] 0.999978467302599 Centerline is valid? [True, True] Translation: X:199.29, Y:-39.02, Z:-3.81 [[ 9.63996284e-01 2.65595749e-01 1.30408024e-02 1.99286830e+02] [-2.65568856e-01 9.64084469e-01 -3.78398036e-03 -3.90159727e+01] [-1.35774442e-02 1.84512014e-04 9.99907805e-01 -3.81076754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.90862385300002 meters Centerline goodness [0,1] 0.9999352401511064 Centerline is valid? [True, True] Translation: X:199.32, Y:-39.03, Z:-3.81 [[ 9.64378248e-01 2.64211648e-01 1.29150919e-02 1.99316064e+02] [-2.64185120e-01 9.64464703e-01 -3.74952532e-03 -3.90290058e+01] [-1.34468186e-02 2.03985555e-04 9.99909567e-01 -3.81240135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.93862385300002 meters Centerline goodness [0,1] 0.9999356968319972 Centerline is valid? [True, True] Translation: X:199.34, Y:-39.04, Z:-3.82 [[ 9.64919501e-01 2.62279992e-01 1.18136649e-02 1.99344053e+02] [-2.62257623e-01 9.64991793e-01 -3.43200961e-03 -3.90438950e+01] [-1.23002371e-02 2.13389319e-04 9.99924326e-01 -3.81506882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.96862385300003 meters Centerline goodness [0,1] 0.9999355060624301 Centerline is valid? [True, True] Translation: X:199.37, Y:-39.06, Z:-3.82 [[ 9.65044025e-01 2.61838214e-01 1.14358443e-02 1.99373694e+02] [-2.61817216e-01 9.65111758e-01 -3.32276990e-03 -3.90556442e+01] [-1.19068959e-02 2.12518316e-04 9.99929088e-01 -3.81638608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.99862385300003 meters Centerline goodness [0,1] 0.9999783390373869 Centerline is valid? [True, True] Translation: X:199.40, Y:-39.07, Z:-3.82 [[ 9.65177517e-01 2.61351619e-01 1.13000553e-02 1.99403777e+02] [-2.61331061e-01 9.65243640e-01 -3.28523611e-03 -3.90673703e+01] [-1.17659083e-02 2.17780592e-04 9.99930756e-01 -3.81695620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.02862385300003 meters Centerline goodness [0,1] 0.9999141907111445 Centerline is valid? [True, True] Translation: X:199.43, Y:-39.08, Z:-3.82 [[ 9.65161890e-01 2.61406389e-01 1.13677521e-02 1.99434306e+02] [-2.61385565e-01 9.65228808e-01 -3.30677470e-03 -3.90795305e+01] [-1.18368938e-02 2.20206611e-04 9.99929917e-01 -3.81780046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.05862385300003 meters Centerline goodness [0,1] 0.9999138840448664 Centerline is valid? [True, True] Translation: X:199.46, Y:-39.09, Z:-3.82 [[ 9.65154877e-01 2.61441866e-01 1.11451373e-02 1.99463598e+02] [-2.61421828e-01 9.65219200e-01 -3.24421487e-03 -3.90936136e+01] [-1.16056741e-02 2.17587636e-04 9.99932628e-01 -3.81840953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.088623853 meters Centerline goodness [0,1] 0.9999570999570999 Centerline is valid? [True, True] Translation: X:199.49, Y:-39.10, Z:-3.82 [[ 9.65070546e-01 2.61754191e-01 1.11168793e-02 1.99493401e+02] [-2.61734251e-01 9.65134549e-01 -3.23803054e-03 -3.91047254e+01] [-1.15768524e-02 2.15259816e-04 9.99932963e-01 -3.81862002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.118623853 meters Centerline goodness [0,1] 0.9997416521345992 Centerline is valid? [True, True] Translation: X:199.52, Y:-39.11, Z:-3.81 [[ 9.64799545e-01 2.62761988e-01 1.08616492e-02 1.99523900e+02] [-2.62742994e-01 9.64860662e-01 -3.16567028e-03 -3.91142867e+01] [-1.13117959e-02 2.00415002e-04 9.99936000e-01 -3.80993402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.148623853 meters Centerline goodness [0,1] 0.999935469993547 Centerline is valid? [True, True] Translation: X:199.55, Y:-39.13, Z:-3.82 [[ 9.64747622e-01 2.62944638e-01 1.10518386e-02 1.99554479e+02] [-2.62924965e-01 9.64810902e-01 -3.22288063e-03 -3.91274239e+01] [-1.15103736e-02 2.03462135e-04 9.99933733e-01 -3.81907902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.178623853 meters Centerline goodness [0,1] 0.9999785121835919 Centerline is valid? [True, True] Translation: X:199.58, Y:-39.14, Z:-3.82 [[ 9.64313742e-01 2.64551823e-01 1.05517573e-02 1.99583660e+02] [-2.64533959e-01 9.64371454e-01 -3.07955141e-03 -3.91392529e+01] [-1.09905145e-02 1.78355612e-04 9.99939587e-01 -3.82059270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.208623853 meters Centerline goodness [0,1] 0.9999356444139351 Centerline is valid? [True, True] Translation: X:199.61, Y:-39.15, Z:-3.82 [[ 9.63997644e-01 2.65704029e-01 1.04838742e-02 1.99613753e+02] [-2.65686455e-01 9.64054636e-01 -3.06036447e-03 -3.91488886e+01] [-1.09201787e-02 1.64760768e-04 9.99940359e-01 -3.82106435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.238623853 meters Centerline goodness [0,1] 0.9999786023023922 Centerline is valid? [True, True] Translation: X:199.64, Y:-39.16, Z:-3.82 [[ 9.63445409e-01 2.67679406e-01 1.09854034e-02 1.99642967e+02] [-2.67660218e-01 9.63508024e-01 -3.20858601e-03 -3.91591026e+01] [-1.14433967e-02 1.50941997e-04 9.99934511e-01 -3.82019118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.268623853 meters Centerline goodness [0,1] 0.9999149316262946 Centerline is valid? [True, True] Translation: X:199.67, Y:-39.17, Z:-3.82 [[ 9.63146823e-01 2.68745768e-01 1.11314406e-02 1.99673686e+02] [-2.68726118e-01 9.63211136e-01 -3.25291696e-03 -3.91691305e+01] [-1.15961352e-02 1.41727818e-04 9.99932753e-01 -3.82087115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.298623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:199.70, Y:-39.18, Z:-3.82 [[ 9.62797967e-01 2.69995012e-01 1.10801173e-02 1.99704588e+02] [-2.69975606e-01 9.62861712e-01 -3.23965459e-03 -3.91770531e+01] [-1.15433113e-02 1.27771474e-04 9.99933366e-01 -3.82048935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.328623853 meters Centerline goodness [0,1] 0.9999783825850105 Centerline is valid? [True, True] Translation: X:199.74, Y:-39.19, Z:-3.82 [[ 9.62509293e-01 2.71021293e-01 1.11049254e-02 1.99735492e+02] [-2.71001845e-01 9.62573345e-01 -3.24885856e-03 -3.91875201e+01] [-1.15698150e-02 1.17601301e-04 9.99933061e-01 -3.82063326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.358623853 meters Centerline goodness [0,1] 0.9999785789259473 Centerline is valid? [True, True] Translation: X:199.76, Y:-39.20, Z:-3.82 [[ 9.62174375e-01 2.72212156e-01 1.10006416e-02 1.99764509e+02] [-2.72193127e-01 9.62237253e-01 -3.22032605e-03 -3.91992321e+01] [-1.14618390e-02 1.04216178e-04 9.99934306e-01 -3.82250281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.388623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:199.79, Y:-39.21, Z:-3.82 [[ 9.61586799e-01 2.74287007e-01 1.08381616e-02 1.99794138e+02] [-2.74268643e-01 9.61647873e-01 -3.17488824e-03 -3.92088502e+01] [-1.12933256e-02 8.03627571e-05 9.99936225e-01 -3.82318413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.418623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:199.83, Y:-39.22, Z:-3.82 [[ 9.61252706e-01 2.75457428e-01 1.07907855e-02 1.99825451e+02] [-2.75439293e-01 9.61313269e-01 -3.16151702e-03 -3.92171259e+01] [-1.12441887e-02 6.68104543e-05 9.99936780e-01 -3.82244518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.44862385300002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:199.86, Y:-39.23, Z:-3.82 [[ 9.60939065e-01 2.76552888e-01 1.07057831e-02 1.99856463e+02] [-2.76535086e-01 9.60998698e-01 -3.13826909e-03 -3.92272419e+01] [-1.11561410e-02 5.51607301e-05 9.99937767e-01 -3.82329240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.47862385300002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:199.89, Y:-39.24, Z:-3.83 [[ 9.60631120e-01 2.77622642e-01 1.06545787e-02 1.99886736e+02] [-2.77605053e-01 9.60690203e-01 -3.12540107e-03 -3.92383408e+01] [-1.11034315e-02 4.45926408e-05 9.99938354e-01 -3.82572274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.50862385300002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:199.92, Y:-39.25, Z:-3.83 [[ 9.60079491e-01 2.79535921e-01 1.03460330e-02 1.99916779e+02] [-2.79519426e-01 9.60135234e-01 -3.03677072e-03 -3.92496027e+01] [-1.07824773e-02 2.36240714e-05 9.99941867e-01 -3.82681821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.53862385300002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:199.95, Y:-39.26, Z:-3.83 [[ 9.59779911e-01 2.80584387e-01 9.74289628e-03 1.99948034e+02] [-2.80569800e-01 9.59829361e-01 -2.86105793e-03 -3.92596677e+01] [-1.01542861e-02 1.24234682e-05 9.99948444e-01 -3.82645812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.56862385300002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:199.98, Y:-39.27, Z:-3.83 [[ 9.59518598e-01 2.81486270e-01 9.46257601e-03 1.99978715e+02] [-2.81472532e-01 9.59565256e-01 -2.78100596e-03 -3.92695577e+01] [-9.86277416e-03 4.97171161e-06 9.99951362e-01 -3.82998025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.59862385300002 meters Centerline goodness [0,1] 0.9999784320069017 Centerline is valid? [True, True] Translation: X:200.01, Y:-39.28, Z:-3.83 [[ 9.59188549e-01 2.82622472e-01 9.04800085e-03 2.00010591e+02] [-2.82609957e-01 9.59231223e-01 -2.65960006e-03 -3.92787212e+01] [-9.43078766e-03 -5.99721288e-06 9.99955529e-01 -3.82929974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.62862385300002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:200.04, Y:-39.29, Z:-3.83 [[ 9.58518851e-01 2.84872722e-01 9.44167095e-03 2.00041388e+02] [-2.84859184e-01 9.58565351e-01 -2.77735333e-03 -3.92872767e+01] [-9.84165083e-03 -2.74011567e-05 9.99951569e-01 -3.83058517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.65862385300002 meters Centerline goodness [0,1] 0.9999357849222997 Centerline is valid? [True, True] Translation: X:200.07, Y:-39.30, Z:-3.83 [[ 9.58151167e-01 2.86090324e-01 9.93318573e-03 2.00072804e+02] [-2.86075386e-01 9.58202653e-01 -2.92376918e-03 -3.92974437e+01] [-1.03544670e-02 -4.02270910e-05 9.99946390e-01 -3.82863473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.68862385300002 meters Centerline goodness [0,1] 0.9999781205557379 Centerline is valid? [True, True] Translation: X:200.10, Y:-39.31, Z:-3.83 [[ 9.57880923e-01 2.86986296e-01 1.01490488e-02 2.00104154e+02] [-2.86970733e-01 9.57934687e-01 -2.98909887e-03 -3.93091793e+01] [-1.05799563e-02 -4.92791752e-05 9.99944029e-01 -3.82583056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.71862385300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:200.13, Y:-39.32, Z:-3.83 [[ 9.57523796e-01 2.88171331e-01 1.02695729e-02 2.00134946e+02] [-2.88155440e-01 9.57578864e-01 -3.02694534e-03 -3.93188364e+01] [-1.07062048e-02 -6.08611042e-05 9.99942685e-01 -3.82685378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.74862385300003 meters Centerline goodness [0,1] 0.9998067881754363 Centerline is valid? [True, True] Translation: X:200.16, Y:-39.33, Z:-3.83 [[ 9.57007658e-01 2.89867814e-01 1.06298432e-02 2.00164945e+02] [-2.89850866e-01 9.57066687e-01 -3.13546404e-03 -3.93287856e+01] [-1.10823389e-02 -8.04061714e-05 9.99938586e-01 -3.82721289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.77862385300003 meters Centerline goodness [0,1] 0.9999568453986406 Centerline is valid? [True, True] Translation: X:200.20, Y:-39.34, Z:-3.83 [[ 9.56750304e-01 2.90724393e-01 1.04010965e-02 2.00196250e+02] [-2.90708198e-01 9.56806835e-01 -3.06981815e-03 -3.93388861e+01] [-1.08443112e-02 -8.66345760e-05 9.99941195e-01 -3.82762327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.80862385300003 meters Centerline goodness [0,1] 0.999935369899608 Centerline is valid? [True, True] Translation: X:200.23, Y:-39.35, Z:-3.83 [[ 9.56506738e-01 2.91534181e-01 1.01332007e-02 2.00228057e+02] [-2.91518835e-01 9.56560407e-01 -2.99268350e-03 -3.93489857e+01] [-1.05654882e-02 -9.14969405e-05 9.99944179e-01 -3.82906146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.838623853 meters Centerline goodness [0,1] 0.9999566075806556 Centerline is valid? [True, True] Translation: X:200.26, Y:-39.36, Z:-3.83 [[ 9.56237142e-01 2.92437067e-01 9.54409921e-03 2.00258220e+02] [-2.92423479e-01 9.56284766e-01 -2.82066073e-03 -3.93588382e+01] [-9.95174243e-03 -9.36981414e-05 9.99950476e-01 -3.83018158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.868623853 meters Centerline goodness [0,1] 0.9999573060091792 Centerline is valid? [True, True] Translation: X:200.29, Y:-39.37, Z:-3.83 [[ 9.56029754e-01 2.93116551e-01 9.47610237e-03 2.00289096e+02] [-2.93103173e-01 9.56076711e-01 -2.80217431e-03 -3.93682801e+01] [-9.88124445e-03 -9.85136602e-05 9.99951174e-01 -3.83115466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.898623853 meters Centerline goodness [0,1] 0.9998919619706137 Centerline is valid? [True, True] Translation: X:200.32, Y:-39.38, Z:-3.83 [[ 9.55857506e-01 2.93686524e-01 9.20078190e-03 2.00319337e+02] [-2.93673915e-01 9.55901782e-01 -2.72318020e-03 -3.93776990e+01] [-9.59480513e-03 -9.90574058e-05 9.99953964e-01 -3.83180794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.928623853 meters Centerline goodness [0,1] 0.9998708927764508 Centerline is valid? [True, True] Translation: X:200.35, Y:-39.38, Z:-3.83 [[ 9.55379297e-01 2.95244083e-01 9.01838283e-03 2.00349717e+02] [-2.95232035e-01 9.55421854e-01 -2.66953393e-03 -3.93846528e+01] [-9.40452414e-03 -1.12098071e-04 9.99955770e-01 -3.83325838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.958623853 meters Centerline goodness [0,1] 0.9998492321609339 Centerline is valid? [True, True] Translation: X:200.38, Y:-39.39, Z:-3.83 [[ 9.55036818e-01 2.96347928e-01 9.08745885e-03 2.00380702e+02] [-2.96335731e-01 9.55080044e-01 -2.69143141e-03 -3.93935576e+01] [-9.47685072e-03 -1.22522676e-04 9.99955086e-01 -3.83269912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.988623853 meters Centerline goodness [0,1] 0.9995885753881466 Centerline is valid? [True, True] Translation: X:200.41, Y:-39.40, Z:-3.82 [[ 9.54649612e-01 2.97603177e-01 8.74452502e-03 2.00412276e+02] [-2.97591923e-01 9.54689652e-01 -2.59131225e-03 -3.93996563e+01] [-9.11949031e-03 -1.28504788e-04 9.99958408e-01 -3.82457502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.018623853 meters Centerline goodness [0,1] 0.999935093033319 Centerline is valid? [True, True] Translation: X:200.44, Y:-39.41, Z:-3.83 [[ 9.54243110e-01 2.98893535e-01 9.09620486e-03 2.00443304e+02] [-2.98881400e-01 9.54286453e-01 -2.69727372e-03 -3.94075480e+01] [-9.48658275e-03 -1.44831576e-04 9.99954991e-01 -3.83419540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.048623853 meters Centerline goodness [0,1] 0.9997414127483515 Centerline is valid? [True, True] Translation: X:200.48, Y:-39.41, Z:-3.84 [[ 9.53836175e-01 3.00193822e-01 8.95660901e-03 2.00475008e+02] [-3.00182099e-01 9.53878213e-01 -2.65741285e-03 -3.94143425e+01] [-9.34125312e-03 -1.53877187e-04 9.99956358e-01 -3.83522115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.078623853 meters Centerline goodness [0,1] 0.9997209222446438 Centerline is valid? [True, True] Translation: X:200.51, Y:-39.42, Z:-3.84 [[ 9.53753269e-01 3.00452666e-01 9.10477770e-03 2.00506197e+02] [-3.00440549e-01 9.53796714e-01 -2.70292982e-03 -3.94231289e+01] [-9.49620952e-03 -1.57516258e-04 9.99954898e-01 -3.83619013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.108623853 meters Centerline goodness [0,1] 0.9996132857818072 Centerline is valid? [True, True] Translation: X:200.54, Y:-39.43, Z:-3.84 [[ 9.53736103e-01 3.00499041e-01 9.36864329e-03 2.00537416e+02] [-3.00486196e-01 9.53782103e-01 -2.78313219e-03 -3.94319929e+01] [-9.77197285e-03 -1.60774330e-04 9.99952240e-01 -3.83657223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.138623853 meters Centerline goodness [0,1] 0.9998283224961909 Centerline is valid? [True, True] Translation: X:200.57, Y:-39.44, Z:-3.84 [[ 9.53826271e-01 3.00213922e-01 9.32987832e-03 2.00568348e+02] [-3.00201151e-01 9.53871887e-01 -2.77343031e-03 -3.94415348e+01] [-9.73213103e-03 -1.55469525e-04 9.99952630e-01 -3.83694511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.168623853 meters Centerline goodness [0,1] 0.9998500845951214 Centerline is valid? [True, True] Translation: X:200.60, Y:-39.45, Z:-3.84 [[ 9.54109635e-01 2.99309480e-01 9.41483315e-03 2.00598132e+02] [-2.99296415e-01 9.54156074e-01 -2.80043551e-03 -3.94511520e+01] [-9.82141713e-03 -1.45903310e-04 9.99951758e-01 -3.83770723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.19862385300002 meters Centerline goodness [0,1] 0.9997044730120532 Centerline is valid? [True, True] Translation: X:200.63, Y:-39.46, Z:-3.84 [[ 9.54276486e-01 2.98782861e-01 9.22982386e-03 2.00628905e+02] [-2.98770266e-01 9.54321111e-01 -2.74674721e-03 -3.94610153e+01] [-9.62889675e-03 -1.36440649e-04 9.99953632e-01 -3.83869715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.22862385300002 meters Centerline goodness [0,1] 0.9996981132075472 Centerline is valid? [True, True] Translation: X:200.66, Y:-39.47, Z:-3.84 [[ 9.54403182e-01 2.98389058e-01 8.86209278e-03 2.00660000e+02] [-2.98377419e-01 9.54444317e-01 -2.63851144e-03 -3.94706455e+01] [-9.24567704e-03 -1.26044657e-04 9.99957250e-01 -3.83961570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.25862385300002 meters Centerline goodness [0,1] 0.9998272287491361 Centerline is valid? [True, True] Translation: X:200.69, Y:-39.48, Z:-3.84 [[ 9.54666630e-01 2.97546064e-01 8.82973698e-03 2.00690722e+02] [-2.97534456e-01 9.54707456e-01 -2.63078063e-03 -3.94805048e+01] [-9.21259415e-03 -1.15632518e-04 9.99957556e-01 -3.84067783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.28862385300002 meters Centerline goodness [0,1] 0.9998918755271068 Centerline is valid? [True, True] Translation: X:200.72, Y:-39.49, Z:-3.84 [[ 9.54673879e-01 2.97517197e-01 9.01675420e-03 2.00722479e+02] [-2.97505077e-01 9.54716452e-01 -2.68789912e-03 -3.94900563e+01] [-9.40813979e-03 -1.16463074e-04 9.99955736e-01 -3.84105364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.31862385300002 meters Centerline goodness [0,1] 0.9999782315294528 Centerline is valid? [True, True] Translation: X:200.75, Y:-39.50, Z:-3.84 [[ 9.54799622e-01 2.97109835e-01 9.13391772e-03 2.00753677e+02] [-2.97097361e-01 9.54843303e-01 -2.72483248e-03 -3.94993821e+01] [-9.53103469e-03 -1.11993823e-04 9.99954572e-01 -3.84065987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.34862385300002 meters Centerline goodness [0,1] 0.9998936984437452 Centerline is valid? [True, True] Translation: X:200.78, Y:-39.51, Z:-3.84 [[ 9.54750322e-01 2.97263321e-01 9.29196199e-03 2.00784647e+02] [-2.97250404e-01 9.54795531e-01 -2.77350949e-03 -3.95078298e+01] [-9.69638642e-03 -1.14030374e-04 9.99952982e-01 -3.84103287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.37862385300002 meters Centerline goodness [0,1] 0.999935746412508 Centerline is valid? [True, True] Translation: X:200.81, Y:-39.52, Z:-3.84 [[ 9.55014812e-01 2.96418197e-01 9.10828628e-03 2.00814734e+02] [-2.96405730e-01 9.55058240e-01 -2.72047123e-03 -3.95169305e+01] [-9.50534104e-03 -1.01657917e-04 9.99954818e-01 -3.84198682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.40862385300002 meters Centerline goodness [0,1] 0.9999564535795158 Centerline is valid? [True, True] Translation: X:200.84, Y:-39.53, Z:-3.84 [[ 9.55149312e-01 2.95984802e-01 9.09880442e-03 2.00844626e+02] [-2.95972330e-01 9.55192644e-01 -2.71882266e-03 -3.95294315e+01] [-9.49584124e-03 -9.61127492e-05 9.99954909e-01 -3.84043307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.43862385300002 meters Centerline goodness [0,1] 0.9999348845285639 Centerline is valid? [True, True] Translation: X:200.87, Y:-39.54, Z:-3.84 [[ 9.55332984e-01 2.95396147e-01 8.94460147e-03 2.00874452e+02] [-2.95384053e-01 9.55374852e-01 -2.67443741e-03 -3.95386015e+01] [-9.33546581e-03 -8.71143645e-05 9.99956420e-01 -3.84149807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.46862385300003 meters Centerline goodness [0,1] 0.9999348845285639 Centerline is valid? [True, True] Translation: X:200.91, Y:-39.55, Z:-3.84 [[ 9.55276764e-01 2.95577915e-01 8.94427041e-03 2.00905510e+02] [-2.95565818e-01 9.55318632e-01 -2.67554399e-03 -3.95480789e+01] [-9.33545988e-03 -8.77356014e-05 9.99956420e-01 -3.84207136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.49862385300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:200.94, Y:-39.56, Z:-3.84 [[ 9.55373824e-01 2.95257168e-01 9.16849839e-03 2.00935116e+02] [-2.95244420e-01 9.55417813e-01 -2.74491534e-03 -3.95566619e+01] [-9.57020261e-03 -8.45277275e-05 9.99954201e-01 -3.84310825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.52862385300003 meters Centerline goodness [0,1] 0.9999351645739232 Centerline is valid? [True, True] Translation: X:200.97, Y:-39.57, Z:-3.84 [[ 9.55661526e-01 2.94306895e-01 9.72111668e-03 2.00965154e+02] [-2.94292496e-01 9.55710963e-01 -2.91221996e-03 -3.95656146e+01] [-1.01476642e-02 -7.77551294e-05 9.99948508e-01 -3.84184316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.55862385300003 meters Centerline goodness [0,1] 0.9998494202680319 Centerline is valid? [True, True] Translation: X:201.00, Y:-39.58, Z:-3.84 [[ 9.55692681e-01 2.94206150e-01 9.70777057e-03 2.00996954e+02] [-2.94191773e-01 9.55741982e-01 -2.90943462e-03 -3.95757560e+01] [-1.01340974e-02 -7.54208712e-05 9.99948646e-01 -3.84127336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.588623853 meters Centerline goodness [0,1] 0.999912802737994 Centerline is valid? [True, True] Translation: X:201.03, Y:-39.59, Z:-3.84 [[ 9.55800286e-01 2.93852325e-01 9.82978658e-03 2.01028336e+02] [-2.93837545e-01 9.55850828e-01 -2.94803569e-03 -3.95855408e+01] [-1.02620968e-02 -7.06269951e-05 9.99947341e-01 -3.84183730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.618623853 meters Centerline goodness [0,1] 0.9998924152770307 Centerline is valid? [True, True] Translation: X:201.06, Y:-39.59, Z:-3.84 [[ 9.55890180e-01 2.93562116e-01 9.75951779e-03 2.01058452e+02] [-2.93547510e-01 9.55939998e-01 -2.92906475e-03 -3.95947465e+01] [-1.01893759e-02 -6.50179174e-05 9.99948085e-01 -3.84289124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.648623853 meters Centerline goodness [0,1] 0.9995528013799272 Centerline is valid? [True, True] Translation: X:201.09, Y:-39.60, Z:-3.84 [[ 9.56040472e-01 2.93078632e-01 9.56723047e-03 2.01088808e+02] [-2.93064550e-01 9.56088339e-01 -2.87362962e-03 -3.96038826e+01] [-9.98931693e-03 -5.65098726e-05 9.99950104e-01 -3.84389071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.678623853 meters Centerline goodness [0,1] 0.9993696063300219 Centerline is valid? [True, True] Translation: X:201.12, Y:-39.61, Z:-3.84 [[ 9.56025211e-01 2.93134077e-01 9.39191062e-03 2.01120817e+02] [-2.93120503e-01 9.56071341e-01 -2.82152568e-03 -3.96134245e+01] [-9.80642191e-03 -5.55118794e-05 9.99951914e-01 -3.84339247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.708623853 meters Centerline goodness [0,1] 0.9992901393908106 Centerline is valid? [True, True] Translation: X:201.15, Y:-39.62, Z:-3.85 [[ 9.55987937e-01 2.93258313e-01 9.30730857e-03 2.01152219e+02] [-2.93244968e-01 9.56033242e-01 -2.79811411e-03 -3.96216067e+01] [-9.71866660e-03 -5.43580688e-05 9.99952771e-01 -3.84542635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.738623853 meters Centerline goodness [0,1] 0.9989384288747346 Centerline is valid? [True, True] Translation: X:201.18, Y:-39.63, Z:-3.85 [[ 9.55905356e-01 2.93531473e-01 9.17737569e-03 2.01183688e+02] [-2.93518496e-01 9.55949408e-01 -2.76071902e-03 -3.96300962e+01] [-9.58346478e-03 -5.47434088e-05 9.99954076e-01 -3.84583318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.768623853 meters Centerline goodness [0,1] 0.9989101632618173 Centerline is valid? [True, True] Translation: X:201.21, Y:-39.64, Z:-3.85 [[ 9.55767604e-01 2.93983596e-01 9.05171004e-03 2.01214937e+02] [-2.93970973e-01 9.55810464e-01 -2.72483399e-03 -3.96371913e+01] [-9.45277566e-03 -5.66319546e-05 9.99955320e-01 -3.84736514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.798623853 meters Centerline goodness [0,1] 0.9985157140706004 Centerline is valid? [True, True] Translation: X:201.25, Y:-39.64, Z:-3.85 [[ 9.55673762e-01 2.94290034e-01 9.00202335e-03 2.01245828e+02] [-2.94277546e-01 9.55716157e-01 -2.71163124e-03 -3.96444505e+01] [-9.40138521e-03 -5.76585194e-05 9.99955804e-01 -3.84824516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.828623853 meters Centerline goodness [0,1] 0.9983442640576282 Centerline is valid? [True, True] Translation: X:201.28, Y:-39.65, Z:-3.85 [[ 9.55563629e-01 2.94649556e-01 8.93258447e-03 2.01277241e+02] [-2.94637262e-01 9.55605377e-01 -2.69217855e-03 -3.96530187e+01] [-9.32927496e-03 -5.93243368e-05 9.99956480e-01 -3.84738806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.858623853 meters Centerline goodness [0,1] 0.9982396255984199 Centerline is valid? [True, True] Translation: X:201.31, Y:-39.66, Z:-3.85 [[ 9.55506896e-01 2.94845085e-01 8.54094392e-03 2.01309094e+02] [-2.94833839e-01 9.55545066e-01 -2.57585707e-03 -3.96599165e+01] [-8.92073562e-03 -5.69100920e-05 9.99960208e-01 -3.84514407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.888623853 meters Centerline goodness [0,1] 0.9984079516361524 Centerline is valid? [True, True] Translation: X:201.34, Y:-39.67, Z:-3.85 [[ 9.55472514e-01 2.94959427e-01 8.43872025e-03 2.01340403e+02] [-2.94948439e-01 9.55509777e-01 -2.54647370e-03 -3.96693655e+01] [-8.81438613e-03 -5.59017463e-05 9.99961151e-01 -3.85006515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.918623853 meters Centerline goodness [0,1] 0.9980307292793767 Centerline is valid? [True, True] Translation: X:201.37, Y:-39.68, Z:-3.85 [[ 9.55465678e-01 2.94999116e-01 7.80122708e-03 2.01372284e+02] [-2.94989717e-01 9.55497524e-01 -2.35541220e-03 -3.96771128e+01] [-8.14889768e-03 -5.07662534e-05 9.99966796e-01 -3.84652187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.94862385300002 meters Centerline goodness [0,1] 0.9983193277310924 Centerline is valid? [True, True] Translation: X:201.40, Y:-39.68, Z:-3.85 [[ 9.55401400e-01 2.95208343e-01 7.75884257e-03 2.01403209e+02] [-2.95199038e-01 9.55432903e-01 -2.34433494e-03 -3.96847573e+01] [-8.10512071e-03 -5.06219781e-05 9.99967152e-01 -3.85316696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.97862385300002 meters Centerline goodness [0,1] 0.998189717595945 Centerline is valid? [True, True] Translation: X:201.44, Y:-39.69, Z:-3.85 [[ 9.55263817e-01 2.95654840e-01 7.69771221e-03 2.01435200e+02] [-2.95645685e-01 9.55294830e-01 -2.32727536e-03 -3.96915284e+01] [-8.04165491e-03 -5.26334552e-05 9.99967664e-01 -3.85380774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.00862385300002 meters Centerline goodness [0,1] 0.9983228691837963 Centerline is valid? [True, True] Translation: X:201.47, Y:-39.70, Z:-3.86 [[ 9.55195171e-01 2.95869263e-01 7.97269257e-03 2.01466597e+02] [-2.95859429e-01 9.55228442e-01 -2.41278600e-03 -3.96983153e+01] [-8.32961192e-03 -5.41147415e-05 9.99965307e-01 -3.85505928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.03862385300002 meters Centerline goodness [0,1] 0.9982664470832973 Centerline is valid? [True, True] Translation: X:201.50, Y:-39.70, Z:-3.85 [[ 9.54882607e-01 2.96869552e-01 8.22649404e-03 2.01499034e+02] [-2.96859116e-01 9.54918041e-01 -2.49003879e-03 -3.97037904e+01] [-8.59484428e-03 -6.44150153e-05 9.99963062e-01 -3.85413980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.06862385300002 meters Centerline goodness [0,1] 0.998097420707846 Centerline is valid? [True, True] Translation: X:201.53, Y:-39.71, Z:-3.85 [[ 9.54657285e-01 2.97586529e-01 8.46911864e-03 2.01531668e+02] [-2.97575481e-01 9.54694848e-01 -2.56519754e-03 -3.97114634e+01] [-8.84879217e-03 -7.13175369e-05 9.99960846e-01 -3.85328649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.09862385300002 meters Centerline goodness [0,1] 0.9979120027552953 Centerline is valid? [True, True] Translation: X:201.56, Y:-39.72, Z:-3.85 [[ 9.54438218e-01 2.98280912e-01 8.72848683e-03 2.01562842e+02] [-2.98269188e-01 9.54478125e-01 -2.64575693e-03 -3.97172548e+01] [-9.12032854e-03 -7.82271493e-05 9.99958406e-01 -3.85355060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.12862385300002 meters Centerline goodness [0,1] 0.9979482254332737 Centerline is valid? [True, True] Translation: X:201.60, Y:-39.73, Z:-3.85 [[ 9.54331539e-01 2.98614765e-01 8.97415883e-03 2.01595136e+02] [-2.98602372e-01 9.54373729e-01 -2.72181617e-03 -3.97257587e+01] [-9.37747593e-03 -8.21900977e-05 9.99956027e-01 -3.85229683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.15862385300002 meters Centerline goodness [0,1] 0.9979042812540097 Centerline is valid? [True, True] Translation: X:201.63, Y:-39.73, Z:-3.85 [[ 9.54227200e-01 2.98959944e-01 8.56756497e-03 2.01626911e+02] [-2.98948646e-01 9.54265658e-01 -2.60029531e-03 -3.97318782e+01] [-8.95311716e-03 -7.99894330e-05 9.99959917e-01 -3.85431985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.18862385300002 meters Centerline goodness [0,1] 0.9980132593344418 Centerline is valid? [True, True] Translation: X:201.66, Y:-39.74, Z:-3.86 [[ 9.54317353e-01 2.98673055e-01 8.53204592e-03 2.01659022e+02] [-2.98661824e-01 9.54355490e-01 -2.59128059e-03 -3.97371203e+01] [-8.91655055e-03 -7.52923642e-05 9.99960244e-01 -3.85551173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.21862385300003 meters Centerline goodness [0,1] 0.9978052066582641 Centerline is valid? [True, True] Translation: X:201.69, Y:-39.75, Z:-3.85 [[ 9.54486615e-01 2.98128702e-01 8.63584121e-03 2.01690367e+02] [-2.98117158e-01 9.54525679e-01 -2.62455553e-03 -3.97461291e+01] [-9.02558754e-03 -6.93893104e-05 9.99959266e-01 -3.85479109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.24862385300003 meters Centerline goodness [0,1] 0.9979701722148626 Centerline is valid? [True, True] Translation: X:201.72, Y:-39.75, Z:-3.86 [[ 9.54630194e-01 2.97674696e-01 8.42428147e-03 2.01721408e+02] [-2.97663680e-01 9.54667362e-01 -2.56163995e-03 -3.97534825e+01] [-8.80492196e-03 -6.21837882e-05 9.99961234e-01 -3.85690178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.27862385300003 meters Centerline goodness [0,1] 0.9981378026070763 Centerline is valid? [True, True] Translation: X:201.75, Y:-39.76, Z:-3.86 [[ 9.55097844e-01 2.96160473e-01 8.77970720e-03 2.01752923e+02] [-2.96148425e-01 9.55138195e-01 -2.67173172e-03 -3.97605691e+01] [-9.17709502e-03 -4.83312549e-05 9.99957888e-01 -3.85639904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.30862385300003 meters Centerline goodness [0,1] 0.9977736468960747 Centerline is valid? [True, True] Translation: X:201.79, Y:-39.77, Z:-3.85 [[ 9.55336970e-01 2.95394599e-01 8.56176307e-03 2.01785622e+02] [-2.95383101e-01 9.55375334e-01 -2.60663298e-03 -3.97683768e+01] [-8.94968256e-03 -3.87872670e-05 9.99959950e-01 -3.84947818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.338623853 meters Centerline goodness [0,1] 0.998327831827658 Centerline is valid? [True, True] Translation: X:201.82, Y:-39.78, Z:-3.86 [[ 9.55678698e-01 2.94264879e-01 9.29555233e-03 2.01815463e+02] [-2.94251248e-01 9.55723904e-01 -2.83248886e-03 -3.97777472e+01] [-9.71748355e-03 -2.82786007e-05 9.99952784e-01 -3.85723347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.368623853 meters Centerline goodness [0,1] 0.998282377189969 Centerline is valid? [True, True] Translation: X:201.85, Y:-39.79, Z:-3.86 [[ 9.56111447e-01 2.92854419e-01 9.33755708e-03 2.01846467e+02] [-2.92840582e-01 9.56157042e-01 -2.84678766e-03 -3.97876659e+01] [-9.76186530e-03 -1.25693859e-05 9.99952352e-01 -3.85770553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.398623853 meters Centerline goodness [0,1] 0.9986858829358668 Centerline is valid? [True, True] Translation: X:201.88, Y:-39.80, Z:-3.86 [[ 9.57282680e-01 2.89008942e-01 9.14892120e-03 2.01876153e+02] [-2.88995464e-01 9.57326397e-01 -2.79122326e-03 -3.98002748e+01] [-9.56519226e-03 2.79929578e-05 9.99954252e-01 -3.85914474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.428623853 meters Centerline goodness [0,1] 0.998960453935115 Centerline is valid? [True, True] Translation: X:201.91, Y:-39.81, Z:-3.86 [[ 9.57949917e-01 2.86795491e-01 8.96114190e-03 2.01905849e+02] [-2.86782447e-01 9.57991829e-01 -2.73570203e-03 -3.98116205e+01] [-9.36928772e-03 5.07673267e-05 9.99956106e-01 -3.86010568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.458623853 meters Centerline goodness [0,1] 0.999065156423245 Centerline is valid? [True, True] Translation: X:201.93, Y:-39.82, Z:-3.86 [[ 9.58592216e-01 2.84639176e-01 9.02791149e-03 2.01934754e+02] [-2.84625825e-01 9.58634724e-01 -2.75783375e-03 -3.98226129e+01] [-9.43945697e-03 7.40612136e-05 9.99955445e-01 -3.86059178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.488623853 meters Centerline goodness [0,1] 0.9993288881191549 Centerline is valid? [True, True] Translation: X:201.97, Y:-39.83, Z:-3.86 [[ 9.59188590e-01 2.82626935e-01 8.90299849e-03 2.01965420e+02] [-2.82613853e-01 9.59229903e-01 -2.72098337e-03 -3.98333428e+01] [-9.30904557e-03 9.38254957e-05 9.99956665e-01 -3.86062405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.518623853 meters Centerline goodness [0,1] 0.9995918367346939 Centerline is valid? [True, True] Translation: X:201.99, Y:-39.85, Z:-3.86 [[ 9.60428216e-01 2.78366838e-01 9.46285691e-03 2.01993186e+02] [-2.78351825e-01 9.60474821e-01 -2.89472145e-03 -3.98475234e+01] [-9.89463025e-03 1.46168666e-04 9.99951036e-01 -3.86123334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.548623853 meters Centerline goodness [0,1] 0.9996995708154507 Centerline is valid? [True, True] Translation: X:202.02, Y:-39.86, Z:-3.86 [[ 9.60926974e-01 2.76623886e-01 9.92855043e-03 2.02023229e+02] [-2.76607262e-01 9.60978250e-01 -3.03750949e-03 -3.98582463e+01] [-1.03813687e-02 1.72515650e-04 9.99946097e-01 -3.86055447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.578623853 meters Centerline goodness [0,1] 0.9997860779531939 Centerline is valid? [True, True] Translation: X:202.05, Y:-39.87, Z:-3.86 [[ 9.61742810e-01 2.73755224e-01 1.04328969e-02 2.02052987e+02] [-2.73736668e-01 9.61799371e-01 -3.19466858e-03 -3.98699622e+01] [-1.09089109e-02 2.16583099e-04 9.99940473e-01 -3.86021563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.608623853 meters Centerline goodness [0,1] 0.9998931829349057 Centerline is valid? [True, True] Translation: X:202.08, Y:-39.88, Z:-3.86 [[ 9.62058475e-01 2.72651272e-01 1.02359314e-02 2.02083286e+02] [-2.72633351e-01 9.62112901e-01 -3.13401333e-03 -3.98811362e+01] [-1.07026144e-02 2.24447800e-04 9.99942700e-01 -3.86083695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.638623853 meters Centerline goodness [0,1] 0.9997645195127695 Centerline is valid? [True, True] Translation: X:202.11, Y:-39.90, Z:-3.86 [[ 9.62385146e-01 2.71494940e-01 1.02629668e-02 2.02111886e+02] [-2.71476838e-01 9.62439837e-01 -3.14424621e-03 -3.98953468e+01] [-1.07311350e-02 2.39818072e-04 9.99942391e-01 -3.86228255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.668623853 meters Centerline goodness [0,1] 0.9998491801865856 Centerline is valid? [True, True] Translation: X:202.14, Y:-39.90, Z:-3.86 [[ 9.62641546e-01 2.70588872e-01 1.01447396e-02 2.02142562e+02] [-2.70571117e-01 9.62694968e-01 -3.10968510e-03 -3.99031946e+01] [-1.06077359e-02 2.48638559e-04 9.99943705e-01 -3.86208232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.69862385300002 meters Centerline goodness [0,1] 0.9997623830816754 Centerline is valid? [True, True] Translation: X:202.17, Y:-39.92, Z:-3.86 [[ 9.63122735e-01 2.68884801e-01 9.77557727e-03 2.02169739e+02] [-2.68868205e-01 9.63172309e-01 -2.99864049e-03 -3.99188766e+01] [-1.02218542e-02 2.59716922e-04 9.99947722e-01 -3.86435363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.72862385300002 meters Centerline goodness [0,1] 0.9998720736855571 Centerline is valid? [True, True] Translation: X:202.20, Y:-39.93, Z:-3.87 [[ 9.63155518e-01 2.68789940e-01 9.13328467e-03 2.02200557e+02] [-2.68775448e-01 9.63198790e-01 -2.80173082e-03 -3.99287821e+01] [-9.55024580e-03 2.43699814e-04 9.99954366e-01 -3.86575807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.75862385300002 meters Centerline goodness [0,1] 0.9996533495103562 Centerline is valid? [True, True] Translation: X:202.23, Y:-39.93, Z:-3.86 [[ 9.63116960e-01 2.68946106e-01 8.58562340e-03 2.02233244e+02] [-2.68933297e-01 9.63155200e-01 -2.63474796e-03 -3.99348582e+01] [-8.97789303e-03 2.28610445e-04 9.99959672e-01 -3.85719791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.78862385300002 meters Centerline goodness [0,1] 0.9998494397006001 Centerline is valid? [True, True] Translation: X:202.26, Y:-39.95, Z:-3.87 [[ 9.63021156e-01 2.69291189e-01 8.51525161e-03 2.02262807e+02] [-2.69278586e-01 9.63058775e-01 -2.61498260e-03 -3.99459081e+01] [-8.90487956e-03 2.25308650e-04 9.99960325e-01 -3.86722105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.81862385300002 meters Centerline goodness [0,1] 0.9999152650086853 Centerline is valid? [True, True] Translation: X:202.29, Y:-39.95, Z:-3.87 [[ 9.62606270e-01 2.70769427e-01 8.54903981e-03 2.02293026e+02] [-2.70756766e-01 9.62644208e-01 -2.62724168e-03 -3.99547640e+01] [-8.94106039e-03 2.14288944e-04 9.99960005e-01 -3.86783128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.84862385300002 meters Centerline goodness [0,1] 0.9999140431932954 Centerline is valid? [True, True] Translation: X:202.32, Y:-39.96, Z:-3.87 [[ 9.62252129e-01 2.72013456e-01 8.91742559e-03 2.02323160e+02] [-2.71999718e-01 9.62293424e-01 -2.74205275e-03 -3.99630186e+01] [-9.32705525e-03 2.13008848e-04 9.99956479e-01 -3.86762340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.87862385300002 meters Centerline goodness [0,1] 0.9999569262577532 Centerline is valid? [True, True] Translation: X:202.35, Y:-39.97, Z:-3.87 [[ 9.61823739e-01 2.73525443e-01 8.88404607e-03 2.02354286e+02] [-2.73511860e-01 9.61864748e-01 -2.73311249e-03 -3.99701872e+01] [-9.29282653e-03 1.98880509e-04 9.99956801e-01 -3.86820100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.90862385300002 meters Centerline goodness [0,1] 0.9998500171408982 Centerline is valid? [True, True] Translation: X:202.39, Y:-39.97, Z:-3.87 [[ 9.60863927e-01 2.76869191e-01 9.16322598e-03 2.02386580e+02] [-2.76854868e-01 9.60907603e-01 -2.82159842e-03 -3.99737341e+01] [-9.58622718e-03 1.74288422e-04 9.99954036e-01 -3.86688224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.93862385300002 meters Centerline goodness [0,1] 0.9998277013202387 Centerline is valid? [True, True] Translation: X:202.42, Y:-39.98, Z:-3.87 [[ 9.60362484e-01 2.78608346e-01 9.01600443e-03 2.02415713e+02] [-2.78594560e-01 9.60404793e-01 -2.77589118e-03 -3.99836042e+01] [-9.43240032e-03 1.54051964e-04 9.99955502e-01 -3.86773163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.96862385300003 meters Centerline goodness [0,1] 0.9998517231883751 Centerline is valid? [True, True] Translation: X:202.45, Y:-39.99, Z:-3.87 [[ 9.59857578e-01 2.80353390e-01 8.68366657e-03 2.02446160e+02] [-2.80340659e-01 9.59896848e-01 -2.67500225e-03 -3.99913175e+01] [-9.08537012e-03 1.33236365e-04 9.99958718e-01 -3.86944602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.99862385300003 meters Centerline goodness [0,1] 0.9996319071539927 Centerline is valid? [True, True] Translation: X:202.48, Y:-40.00, Z:-3.87 [[ 9.59422877e-01 2.81837899e-01 8.66842066e-03 2.02478506e+02] [-2.81825263e-01 9.59462029e-01 -2.67147554e-03 -3.99958988e+01] [-9.06994352e-03 1.20094819e-04 9.99958860e-01 -3.86835486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.02862385300003 meters Centerline goodness [0,1] 0.9994152173442205 Centerline is valid? [True, True] Translation: X:202.51, Y:-40.00, Z:-3.87 [[ 9.58537655e-01 2.84824363e-01 8.98031949e-03 2.02509004e+02] [-2.84810915e-01 9.58579716e-01 -2.76948733e-03 -4.00020772e+01] [-9.39716957e-03 9.69648809e-05 9.99955841e-01 -3.86870209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.05862385300003 meters Centerline goodness [0,1] 0.9993946207731558 Centerline is valid? [True, True] Translation: X:202.54, Y:-40.01, Z:-3.87 [[ 9.58049249e-01 2.86447740e-01 9.45139550e-03 2.02540567e+02] [-2.86432906e-01 9.58095864e-01 -2.91643568e-03 -4.00092042e+01] [-9.89074935e-03 8.68983358e-05 9.99951082e-01 -3.86785429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.08862385300003 meters Centerline goodness [0,1] 0.9992370572207084 Centerline is valid? [True, True] Translation: X:202.57, Y:-40.02, Z:-3.87 [[ 9.57628049e-01 2.87835241e-01 9.96966658e-03 2.02570412e+02] [-2.87818784e-01 9.57679940e-01 -3.07892659e-03 -4.00168199e+01] [-1.04339733e-02 7.90091574e-05 9.99945561e-01 -3.86809802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.118623853 meters Centerline goodness [0,1] 0.9990492858840561 Centerline is valid? [True, True] Translation: X:202.60, Y:-40.02, Z:-3.87 [[ 9.57046474e-01 2.89752344e-01 1.02774610e-02 2.02600798e+02] [-2.89734958e-01 9.57101654e-01 -3.17471889e-03 -4.00237819e+01] [-1.07564571e-02 6.06137941e-05 9.99942146e-01 -3.86789009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.148623853 meters Centerline goodness [0,1] 0.9988639342829677 Centerline is valid? [True, True] Translation: X:202.63, Y:-40.03, Z:-3.87 [[ 9.55987629e-01 2.93216690e-01 1.05653210e-02 2.02632802e+02] [-2.93198508e-01 9.56046009e-01 -3.26533725e-03 -4.00278057e+01] [-1.10583844e-02 2.38856517e-05 9.99938854e-01 -3.86711288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.178623853 meters Centerline goodness [0,1] 0.9985292209196696 Centerline is valid? [True, True] Translation: X:202.66, Y:-40.03, Z:-3.87 [[ 9.55362937e-01 2.95257608e-01 1.02276082e-02 2.02664383e+02] [-2.95240664e-01 9.55417681e-01 -3.16313201e-03 -4.00346056e+01] [-1.07055765e-02 2.33325709e-06 9.99942694e-01 -3.86900207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.208623853 meters Centerline goodness [0,1] 0.9986555350753551 Centerline is valid? [True, True] Translation: X:202.70, Y:-40.04, Z:-3.87 [[ 9.54660700e-01 2.97523492e-01 1.01350632e-02 2.02696786e+02] [-2.97506972e-01 9.54714497e-01 -3.13529953e-03 -4.00408123e+01] [-1.06089170e-02 -2.21047322e-05 9.99943724e-01 -3.86926014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.238623853 meters Centerline goodness [0,1] 0.9983793595228835 Centerline is valid? [True, True] Translation: X:202.73, Y:-40.05, Z:-3.87 [[ 9.53965168e-01 2.99757310e-01 9.79860957e-03 2.02728004e+02] [-2.99741964e-01 9.54015489e-01 -3.03347001e-03 -4.00463306e+01] [-1.02573301e-02 -4.32297509e-05 9.99947391e-01 -3.87009417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.268623853 meters Centerline goodness [0,1] 0.9984440506547954 Centerline is valid? [True, True] Translation: X:202.76, Y:-40.05, Z:-3.87 [[ 9.52900781e-01 3.03139353e-01 9.30770674e-03 2.02757705e+02] [-3.03125637e-01 9.52946235e-01 -2.88453586e-03 -4.00479761e+01] [-9.74416043e-03 -7.27280646e-05 9.99952522e-01 -3.87274234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.298623853 meters Centerline goodness [0,1] 0.9984682099631076 Centerline is valid? [True, True] Translation: X:202.79, Y:-40.05, Z:-3.87 [[ 9.52496049e-01 3.04419975e-01 8.93060559e-03 2.02786902e+02] [-3.04407408e-01 9.52537911e-01 -2.76724399e-03 -4.00541495e+01] [-9.34914474e-03 -8.27535400e-05 9.99956292e-01 -3.87374373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.328623853 meters Centerline goodness [0,1] 0.9982433214079136 Centerline is valid? [True, True] Translation: X:202.82, Y:-40.06, Z:-3.87 [[ 9.51705708e-01 3.06883757e-01 8.86599554e-03 2.02816353e+02] [-3.06871479e-01 9.51746998e-01 -2.74709952e-03 -4.00576901e+01] [-9.28122486e-03 -1.06290874e-04 9.99956923e-01 -3.87427050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.358623853 meters Centerline goodness [0,1] 0.9982433214079136 Centerline is valid? [True, True] Translation: X:202.84, Y:-40.07, Z:-3.87 [[ 9.51720207e-01 3.06838785e-01 8.86606354e-03 2.02843445e+02] [-3.06826508e-01 9.51761498e-01 -2.74688005e-03 -4.00659919e+01] [-9.28122725e-03 -1.06082065e-04 9.99956923e-01 -3.87477012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.388623853 meters Centerline goodness [0,1] 0.998042210795809 Centerline is valid? [True, True] Translation: X:202.87, Y:-40.07, Z:-3.87 [[ 9.51539028e-01 3.07397940e-01 8.94344006e-03 2.02870965e+02] [-3.07385475e-01 9.51581049e-01 -2.77054943e-03 -4.00710586e+01] [-9.36206926e-03 -1.12797668e-04 9.99956169e-01 -3.86878832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.418623853 meters Centerline goodness [0,1] 0.9983344365911468 Centerline is valid? [True, True] Translation: X:202.90, Y:-40.08, Z:-3.88 [[ 9.51383542e-01 3.07869939e-01 9.24427043e-03 2.02897612e+02] [-3.07856652e-01 9.51428445e-01 -2.86295592e-03 -4.00772244e+01] [-9.67667990e-03 -1.22140996e-04 9.99953172e-01 -3.87568850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.44862385300002 meters Centerline goodness [0,1] 0.9982718022941824 Centerline is valid? [True, True] Translation: X:202.93, Y:-40.08, Z:-3.88 [[ 9.51339166e-01 3.08000648e-01 9.45478397e-03 2.02925141e+02] [-3.07986761e-01 9.51386139e-01 -2.92743282e-03 -4.00849384e+01] [-9.89680162e-03 -1.26966796e-04 9.99951017e-01 -3.87517154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.47862385300002 meters Centerline goodness [0,1] 0.998394898379715 Centerline is valid? [True, True] Translation: X:202.95, Y:-40.09, Z:-3.88 [[ 9.51520677e-01 3.07452936e-01 9.00514076e-03 2.02953460e+02] [-3.07440320e-01 9.51563282e-01 -2.78759745e-03 -4.00938350e+01] [-9.42601631e-03 -1.16086745e-04 9.99955567e-01 -3.87661217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.50862385300002 meters Centerline goodness [0,1] 0.9984623714131023 Centerline is valid? [True, True] Translation: X:202.98, Y:-40.10, Z:-3.88 [[ 9.51840196e-01 3.06472904e-01 8.63715063e-03 2.02979651e+02] [-3.06461257e-01 9.51879377e-01 -2.67379615e-03 -4.01021386e+01] [-9.04097164e-03 -1.01925385e-04 9.99959124e-01 -3.87721696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.53862385300002 meters Centerline goodness [0,1] 0.9984715734182937 Centerline is valid? [True, True] Translation: X:203.01, Y:-40.11, Z:-3.88 [[ 9.52145583e-01 3.05523525e-01 8.61186743e-03 2.03007548e+02] [-3.05511914e-01 9.52184524e-01 -2.66530054e-03 -4.01110365e+01] [-9.01439890e-03 -9.32739559e-05 9.99959365e-01 -3.87788318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.56862385300002 meters Centerline goodness [0,1] 0.9986079283832694 Centerline is valid? [True, True] Translation: X:203.03, Y:-40.12, Z:-3.88 [[ 9.52477383e-01 3.04490614e-01 8.50301392e-03 2.03034328e+02] [-3.04479255e-01 9.52515333e-01 -2.63133032e-03 -4.01178938e+01] [-8.90046652e-03 -8.27087309e-05 9.99960387e-01 -3.87914836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.59862385300002 meters Centerline goodness [0,1] 0.9986807387862797 Centerline is valid? [True, True] Translation: X:203.06, Y:-40.13, Z:-3.88 [[ 9.53088254e-01 3.02575993e-01 8.39938529e-03 2.03061161e+02] [-3.02564841e-01 9.53125262e-01 -2.59852555e-03 -4.01276604e+01] [-8.79191775e-03 -6.47345013e-05 9.99961348e-01 -3.87984083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.62862385300002 meters Centerline goodness [0,1] 0.9988186270298136 Centerline is valid? [True, True] Translation: X:203.09, Y:-40.14, Z:-3.88 [[ 9.53383354e-01 3.01647205e-01 8.31526421e-03 2.03088755e+02] [-3.01636244e-01 9.53419614e-01 -2.57207811e-03 -4.01365536e+01] [-8.70379616e-03 -5.60086088e-05 9.99962120e-01 -3.88024606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.65862385300002 meters Centerline goodness [0,1] 0.9986706689536878 Centerline is valid? [True, True] Translation: X:203.12, Y:-40.14, Z:-3.88 [[ 9.53732021e-01 3.00538975e-01 8.45912572e-03 2.03115185e+02] [-3.00527591e-01 9.53769533e-01 -2.61623147e-03 -4.01445311e+01] [-8.85433592e-03 -4.70169503e-05 9.99960798e-01 -3.88130362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.68862385300002 meters Centerline goodness [0,1] 0.9984866828087167 Centerline is valid? [True, True] Translation: X:203.14, Y:-40.15, Z:-3.87 [[ 9.54484709e-01 2.98132067e-01 8.72994967e-03 2.03143185e+02] [-2.98119850e-01 9.54524630e-01 -2.69908472e-03 -4.01543273e+01] [-9.13763569e-03 -2.63361917e-05 9.99958251e-01 -3.87083207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.71862385300003 meters Centerline goodness [0,1] 0.9990546782683425 Centerline is valid? [True, True] Translation: X:203.17, Y:-40.16, Z:-3.88 [[ 9.54918055e-01 2.96729378e-01 9.12057055e-03 2.03169998e+02] [-2.96715981e-01 9.54961610e-01 -2.81969658e-03 -4.01649918e+01] [-9.54648155e-03 -1.36398609e-05 9.99954431e-01 -3.88056840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.74862385300003 meters Centerline goodness [0,1] 0.9990009773048105 Centerline is valid? [True, True] Translation: X:203.20, Y:-40.17, Z:-3.88 [[ 9.55346181e-01 2.95346510e-01 9.17134882e-03 2.03195896e+02] [-2.95332902e-01 9.55390202e-01 -2.83520665e-03 -4.01747976e+01] [-9.59958519e-03 2.78881216e-09 9.99953923e-01 -3.88175131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.77862385300003 meters Centerline goodness [0,1] 0.9990963077717532 Centerline is valid? [True, True] Translation: X:203.22, Y:-40.19, Z:-3.88 [[ 9.55713716e-01 2.94153560e-01 9.21826256e-03 2.03223926e+02] [-2.94139764e-01 9.55758172e-01 -2.84885460e-03 -4.01852536e+01] [-9.64843049e-03 1.12318434e-05 9.99953453e-01 -3.88014633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.80862385300003 meters Centerline goodness [0,1] 0.9991900417767926 Centerline is valid? [True, True] Translation: X:203.25, Y:-40.20, Z:-3.88 [[ 9.56500366e-01 2.91565917e-01 9.81664519e-03 2.03251042e+02] [-2.91550140e-01 9.56550738e-01 -3.03340440e-03 -4.01970331e+01] [-1.02745565e-02 3.94081357e-05 9.99947215e-01 -3.88056245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.83862385300003 meters Centerline goodness [0,1] 0.9992041812746004 Centerline is valid? [True, True] Translation: X:203.28, Y:-40.21, Z:-3.88 [[ 9.56944792e-01 2.90098476e-01 9.97696778e-03 2.03278654e+02] [-2.90082100e-01 9.56996798e-01 -3.08289747e-03 -4.02071533e+01] [-1.04422701e-02 5.60229085e-05 9.99945476e-01 -3.88030757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.868623853 meters Centerline goodness [0,1] 0.9993156836747786 Centerline is valid? [True, True] Translation: X:203.31, Y:-40.22, Z:-3.88 [[ 9.57343676e-01 2.88783407e-01 9.86048113e-03 2.03306967e+02] [-2.88767346e-01 9.57394453e-01 -3.04648023e-03 -4.02177841e+01] [-1.03201429e-02 6.91436243e-05 9.99946744e-01 -3.88085599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.898623853 meters Centerline goodness [0,1] 0.9996144041472976 Centerline is valid? [True, True] Translation: X:203.33, Y:-40.23, Z:-3.88 [[ 9.58193791e-01 2.85971935e-01 9.20381755e-03 2.03334733e+02] [-2.85957819e-01 9.58237989e-01 -2.84291631e-03 -4.02317358e+01] [-9.63244190e-03 9.21611699e-05 9.99953603e-01 -3.88288643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.928623853 meters Centerline goodness [0,1] 0.9995450705140703 Centerline is valid? [True, True] Translation: X:203.37, Y:-40.24, Z:-3.88 [[ 9.58633683e-01 2.84489182e-01 9.34707413e-03 2.03365029e+02] [-2.84474551e-01 9.58679244e-01 -2.88728381e-03 -4.02421952e+01] [-9.78224697e-03 1.08842790e-04 9.99952147e-01 -3.88213267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.958623853 meters Centerline goodness [0,1] 0.9996982108212977 Centerline is valid? [True, True] Translation: X:203.39, Y:-40.25, Z:-3.88 [[ 9.58976664e-01 2.83321421e-01 9.62967545e-03 2.03393923e+02] [-2.83305812e-01 9.59025003e-01 -2.97658944e-03 -4.02546772e+01] [-1.00784311e-02 1.26336785e-04 9.99949203e-01 -3.88285603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.988623853 meters Centerline goodness [0,1] 0.9999134798408029 Centerline is valid? [True, True] Translation: X:203.42, Y:-40.27, Z:-3.88 [[ 9.59771266e-01 2.80606776e-01 9.94752942e-03 2.03422680e+02] [-2.80589955e-01 9.59822802e-01 -3.07666110e-03 -4.02688037e+01] [-1.04111975e-02 1.61714086e-04 9.99945789e-01 -3.88240214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.018623853 meters Centerline goodness [0,1] 0.9999130094384759 Centerline is valid? [True, True] Translation: X:203.45, Y:-40.28, Z:-3.88 [[ 9.60138583e-01 2.79350319e-01 9.86415846e-03 2.03451679e+02] [-2.79333690e-01 9.60189236e-01 -3.05306973e-03 -4.02815464e+01] [-1.03243348e-02 1.75978264e-04 9.99946687e-01 -3.88325525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.048623853 meters Centerline goodness [0,1] 0.9998925147254826 Centerline is valid? [True, True] Translation: X:203.48, Y:-40.29, Z:-3.88 [[ 9.60520606e-01 2.78027202e-01 1.00518578e-02 2.03480530e+02] [-2.78009856e-01 9.60573181e-01 -3.11172976e-03 -4.02944221e+01] [-1.05206905e-02 1.94365019e-04 9.99944637e-01 -3.88413756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.078623853 meters Centerline goodness [0,1] 0.9999569540699926 Centerline is valid? [True, True] Translation: X:203.51, Y:-40.31, Z:-3.89 [[ 9.61046006e-01 2.76225739e-01 9.48242043e-03 2.03508754e+02] [-2.76210200e-01 9.61092763e-01 -2.93689930e-03 -4.03101940e+01] [-9.92473283e-03 2.03354095e-04 9.99950728e-01 -3.88575980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.108623853 meters Centerline goodness [0,1] 0.9999571431632631 Centerline is valid? [True, True] Translation: X:203.54, Y:-40.32, Z:-3.89 [[ 9.61094022e-01 2.76074808e-01 8.99893619e-03 2.03537225e+02] [-2.76060788e-01 9.61136131e-01 -2.78913521e-03 -4.03217738e+01] [-9.41921268e-03 1.96367760e-04 9.99955619e-01 -3.88758087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.138623853 meters Centerline goodness [0,1] 0.9999131737176843 Centerline is valid? [True, True] Translation: X:203.57, Y:-40.33, Z:-3.89 [[ 9.61037234e-01 2.76288712e-01 8.48422305e-03 2.03568225e+02] [-2.76276261e-01 9.61074666e-01 -2.62930504e-03 -4.03323685e+01] [-8.88041914e-03 1.82870620e-04 9.99960552e-01 -3.88883744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.168623853 meters Centerline goodness [0,1] 0.9999573451629414 Centerline is valid? [True, True] Translation: X:203.60, Y:-40.34, Z:-3.89 [[ 9.60820988e-01 2.77054912e-01 7.97520379e-03 2.03597782e+02] [-2.77043922e-01 9.60854072e-01 -2.47335352e-03 -4.03437108e+01] [-8.34826178e-03 1.66968239e-04 9.99965139e-01 -3.89088848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.19862385300002 meters Centerline goodness [0,1] 0.9999147721219611 Centerline is valid? [True, True] Translation: X:203.63, Y:-40.35, Z:-3.89 [[ 9.60043461e-01 2.79730607e-01 8.20616540e-03 2.03629273e+02] [-2.79719057e-01 9.60078520e-01 -2.54636289e-03 -4.03504923e+01] [-8.59085877e-03 1.49198192e-04 9.99963087e-01 -3.89072863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.22862385300002 meters Centerline goodness [0,1] 0.9999567033966186 Centerline is valid? [True, True] Translation: X:203.66, Y:-40.36, Z:-3.89 [[ 9.59479076e-01 2.81647474e-01 8.63726523e-03 2.03659451e+02] [-2.81634740e-01 9.59517942e-01 -2.68193446e-03 -4.03585628e+01] [-9.04297102e-03 1.40706052e-04 9.99959102e-01 -3.89116154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.25862385300002 meters Centerline goodness [0,1] 0.9998927360878705 Centerline is valid? [True, True] Translation: X:203.69, Y:-40.37, Z:-3.89 [[ 9.58871517e-01 2.83704795e-01 8.77514220e-03 2.03690384e+02] [-2.83691724e-01 9.58911661e-01 -2.72613260e-03 -4.03663747e+01] [-9.18800307e-03 1.24575685e-04 9.99957782e-01 -3.89093997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.28862385300002 meters Centerline goodness [0,1] 0.9998278162799707 Centerline is valid? [True, True] Translation: X:203.72, Y:-40.37, Z:-3.89 [[ 9.58245241e-01 2.85808865e-01 8.90785825e-03 2.03720514e+02] [-2.85795471e-01 9.58286638e-01 -2.76908563e-03 -4.03745128e+01] [-9.32771076e-03 1.07637590e-04 9.99956490e-01 -3.89154712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.31862385300002 meters Centerline goodness [0,1] 0.9997446754186259 Centerline is valid? [True, True] Translation: X:203.75, Y:-40.38, Z:-3.89 [[ 9.57199722e-01 2.89297003e-01 8.71415112e-03 2.03749609e+02] [-2.89284304e-01 9.57239384e-01 -2.71164802e-03 -4.03801335e+01] [-9.12600029e-03 7.47215893e-05 9.99958354e-01 -3.89212640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.34862385300002 meters Centerline goodness [0,1] 0.9996338653055071 Centerline is valid? [True, True] Translation: X:203.78, Y:-40.39, Z:-3.89 [[ 9.56753270e-01 2.90775601e-01 8.52826079e-03 2.03781036e+02] [-2.90763511e-01 9.56791276e-01 -2.65210343e-03 -4.03873237e+01] [-8.93093250e-03 5.77015679e-05 9.99960117e-01 -3.89214233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.37862385300002 meters Centerline goodness [0,1] 0.9991381724947752 Centerline is valid? [True, True] Translation: X:203.81, Y:-40.39, Z:-3.88 [[ 9.56221214e-01 2.92532492e-01 8.10750263e-03 2.03810855e+02] [-2.92521606e-01 9.56255583e-01 -2.52402552e-03 -4.03941257e+01] [-8.49120412e-03 4.19070594e-05 9.99963948e-01 -3.88486657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.40862385300002 meters Centerline goodness [0,1] 0.9995274812603363 Centerline is valid? [True, True] Translation: X:203.84, Y:-40.40, Z:-3.89 [[ 9.55914516e-01 2.93524122e-01 8.42783715e-03 2.03839207e+02] [-2.93512394e-01 9.55951666e-01 -2.62418396e-03 -4.04025925e+01] [-8.82686626e-03 3.48208846e-05 9.99961042e-01 -3.89477224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.43862385300002 meters Centerline goodness [0,1] 0.9993976940285665 Centerline is valid? [True, True] Translation: X:203.87, Y:-40.41, Z:-3.89 [[ 9.55075382e-01 2.96237544e-01 8.62160370e-03 2.03868524e+02] [-2.96225382e-01 9.55114296e-01 -2.68429660e-03 -4.04086832e+01] [-9.02980638e-03 9.76774736e-06 9.99959230e-01 -3.89468340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.46862385300003 meters Centerline goodness [0,1] 0.9994591905163649 Centerline is valid? [True, True] Translation: X:203.90, Y:-40.42, Z:-3.89 [[ 9.54644050e-01 2.97618962e-01 8.81428942e-03 2.03897353e+02] [-2.97606312e-01 9.54684740e-01 -2.74405766e-03 -4.04161277e+01] [-9.23155120e-03 -3.58984474e-06 9.99957388e-01 -3.89493096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.49862385300003 meters Centerline goodness [0,1] 0.9992987824313125 Centerline is valid? [True, True] Translation: X:203.93, Y:-40.42, Z:-3.89 [[ 9.54177431e-01 2.99115283e-01 8.68774782e-03 2.03926949e+02] [-2.99103059e-01 9.54216981e-01 -2.70424691e-03 -4.04239449e+01] [-9.09887808e-03 -1.82005802e-05 9.99958604e-01 -3.89476121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.52862385300003 meters Centerline goodness [0,1] 0.9993712600815193 Centerline is valid? [True, True] Translation: X:203.96, Y:-40.43, Z:-3.90 [[ 9.53718976e-01 3.00577856e-01 8.54799564e-03 2.03956852e+02] [-3.00566082e-01 9.53757281e-01 -2.66053040e-03 -4.04317330e+01] [-8.95240960e-03 -3.18392320e-05 9.99959926e-01 -3.89535863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.55862385300003 meters Centerline goodness [0,1] 0.999179637745299 Centerline is valid? [True, True] Translation: X:203.99, Y:-40.44, Z:-3.90 [[ 9.52855928e-01 3.03306996e-01 8.39320243e-03 2.03987430e+02] [-3.03295748e-01 9.52892892e-01 -2.61278178e-03 -4.04372408e+01] [-8.79029793e-03 -5.60180026e-05 9.99961363e-01 -3.89596116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.58862385300003 meters Centerline goodness [0,1] 0.9990959187187877 Centerline is valid? [True, True] Translation: X:204.02, Y:-40.44, Z:-3.90 [[ 9.52578925e-01 3.04181285e-01 8.19374017e-03 2.04016198e+02] [-3.04170595e-01 9.52614162e-01 -2.55091280e-03 -4.04445632e+01] [-8.58141286e-03 -6.23490487e-05 9.99963177e-01 -3.89700363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.618623853 meters Centerline goodness [0,1] 0.9990763612930942 Centerline is valid? [True, True] Translation: X:204.04, Y:-40.45, Z:-3.90 [[ 9.52387958e-01 3.04781720e-01 8.07959335e-03 2.04043659e+02] [-3.04771349e-01 9.52422227e-01 -2.51528395e-03 -4.04513842e+01] [-8.46179686e-03 -6.69024194e-05 9.99964196e-01 -3.89814520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.648623853 meters Centerline goodness [0,1] 0.9991376336667817 Centerline is valid? [True, True] Translation: X:204.07, Y:-40.46, Z:-3.90 [[ 9.52360185e-01 3.04847892e-01 8.82276876e-03 2.04071850e+02] [-3.04835532e-01 9.52401048e-01 -2.74614160e-03 -4.04596841e+01] [-9.23996970e-03 -7.41774874e-05 9.99957308e-01 -3.89721617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.678623853 meters Centerline goodness [0,1] 0.99931717309662 Centerline is valid? [True, True] Translation: X:204.10, Y:-40.47, Z:-3.90 [[ 9.52475738e-01 3.04465811e-01 9.51517234e-03 2.04099330e+02] [-3.04451419e-01 9.52523262e-01 -2.96138015e-03 -4.04695411e+01] [-9.96506200e-03 -7.62649725e-05 9.99950345e-01 -3.89708108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.708623853 meters Centerline goodness [0,1] 0.9991811933030231 Centerline is valid? [True, True] Translation: X:204.13, Y:-40.48, Z:-3.90 [[ 9.52734848e-01 3.03640754e-01 9.92982789e-03 2.04126171e+02] [-3.03625036e-01 9.52786591e-01 -3.09024749e-03 -4.04800735e+01] [-1.03993319e-02 -7.07578856e-05 9.99945923e-01 -3.89669475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.738623853 meters Centerline goodness [0,1] 0.9992460146488582 Centerline is valid? [True, True] Translation: X:204.15, Y:-40.49, Z:-3.90 [[ 9.53063145e-01 3.02605731e-01 1.00206454e-02 2.04153839e+02] [-3.02589673e-01 9.53115821e-01 -3.11804038e-03 -4.04909524e+01] [-1.04943725e-02 -6.04544414e-05 9.99944931e-01 -3.89736496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.768623853 meters Centerline goodness [0,1] 0.9993099432859638 Centerline is valid? [True, True] Translation: X:204.18, Y:-40.51, Z:-3.90 [[ 9.53758986e-01 3.00423557e-01 9.45958797e-03 2.04182732e+02] [-3.00409156e-01 9.53805895e-01 -2.94174180e-03 -4.05050506e+01] [-9.90637930e-03 -3.60341634e-05 9.99950930e-01 -3.89873952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.798623853 meters Centerline goodness [0,1] 0.9991783961427861 Centerline is valid? [True, True] Translation: X:204.21, Y:-40.52, Z:-3.90 [[ 9.54110485e-01 2.99306624e-01 9.41947712e-03 2.04213702e+02] [-2.99292277e-01 9.54156981e-01 -2.93071144e-03 -4.05179967e+01] [-9.86484120e-03 -2.29542405e-05 9.99951341e-01 -3.89894267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.828623853 meters Centerline goodness [0,1] 0.9991446777573451 Centerline is valid? [True, True] Translation: X:204.24, Y:-40.53, Z:-3.90 [[ 9.54396889e-01 2.98394707e-01 9.33681988e-03 2.04243081e+02] [-2.98380546e-01 9.54442559e-01 -2.90704053e-03 -4.05298422e+01] [-9.77890377e-03 -1.14549811e-05 9.99952185e-01 -3.90104066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.858623853 meters Centerline goodness [0,1] 0.9993109536831679 Centerline is valid? [True, True] Translation: X:204.27, Y:-40.54, Z:-3.90 [[ 9.54694734e-01 2.97439695e-01 9.35905947e-03 2.04273576e+02] [-2.97425404e-01 9.54740608e-01 -2.91575290e-03 -4.05417684e+01] [-9.80273478e-03 3.18969189e-08 9.99951952e-01 -3.90077312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.888623853 meters Centerline goodness [0,1] 0.999140358040876 Centerline is valid? [True, True] Translation: X:204.30, Y:-40.56, Z:-3.90 [[ 9.55285533e-01 2.95519176e-01 9.89781304e-03 2.04304329e+02] [-2.95503065e-01 9.55336808e-01 -3.08580643e-03 -4.05554301e+01] [-1.03676601e-02 2.29921414e-05 9.99946254e-01 -3.90026293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.918623853 meters Centerline goodness [0,1] 0.9987644687215502 Centerline is valid? [True, True] Translation: X:204.34, Y:-40.57, Z:-3.89 [[ 9.55520412e-01 2.94765713e-01 9.69106273e-03 2.04335297e+02] [-2.94750210e-01 9.55569554e-01 -3.02330334e-03 -4.05664631e+01] [-1.01516507e-02 3.23852798e-05 9.99948470e-01 -3.89034964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.94862385300002 meters Centerline goodness [0,1] 0.9992698221802251 Centerline is valid? [True, True] Translation: X:204.36, Y:-40.58, Z:-3.90 [[ 9.55815896e-01 2.93784398e-01 1.03295934e-02 2.04364013e+02] [-2.93766696e-01 9.55871709e-01 -3.22538832e-03 -4.05805618e+01] [-1.08213348e-02 4.83869088e-05 9.99941446e-01 -3.89974633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.97862385300002 meters Centerline goodness [0,1] 0.9991832172642077 Centerline is valid? [True, True] Translation: X:204.40, Y:-40.59, Z:-3.90 [[ 9.55880961e-01 2.93574817e-01 1.02671853e-02 2.04395395e+02] [-2.93557308e-01 9.55936098e-01 -3.20672096e-03 -4.05916126e+01] [-1.07561856e-02 5.12362276e-05 9.99942149e-01 -3.90023993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.00862385300002 meters Centerline goodness [0,1] 0.9992932559484291 Centerline is valid? [True, True] Translation: X:204.43, Y:-40.60, Z:-3.90 [[ 9.55928790e-01 2.93416828e-01 1.03302044e-02 2.04425819e+02] [-2.93399069e-01 9.55984603e-01 -3.22863115e-03 -4.06024863e+01] [-1.08228511e-02 5.54690960e-05 9.99941430e-01 -3.90087864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.03862385300002 meters Centerline goodness [0,1] 0.9994871466119623 Centerline is valid? [True, True] Translation: X:204.46, Y:-40.61, Z:-3.90 [[ 9.55961567e-01 2.93299653e-01 1.06205538e-02 2.04457177e+02] [-2.93280852e-01 9.56020559e-01 -3.32143684e-03 -4.06136466e+01] [-1.11276441e-02 6.03608800e-05 9.99938084e-01 -3.90101807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.06862385300002 meters Centerline goodness [0,1] 0.9995727043541426 Centerline is valid? [True, True] Translation: X:204.49, Y:-40.63, Z:-3.90 [[ 9.56229172e-01 2.92434400e-01 1.03870983e-02 2.04487253e+02] [-2.92416342e-01 9.56285583e-01 -3.25062351e-03 -4.06260321e+01] [-1.08836265e-02 7.09837472e-05 9.99940769e-01 -3.90192843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.09862385300002 meters Centerline goodness [0,1] 0.999366687777074 Centerline is valid? [True, True] Translation: X:204.52, Y:-40.64, Z:-3.90 [[ 9.56416708e-01 2.91820483e-01 1.03868498e-02 2.04518469e+02] [-2.91802372e-01 9.56473104e-01 -3.25211465e-03 -4.06361988e+01] [-1.08837761e-02 7.94693906e-05 9.99940767e-01 -3.90062561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.12862385300002 meters Centerline goodness [0,1] 0.9996164908916587 Centerline is valid? [True, True] Translation: X:204.55, Y:-40.65, Z:-3.90 [[ 9.56620378e-01 2.91152226e-01 1.03843280e-02 2.04546977e+02] [-2.91134051e-01 9.56676734e-01 -3.25436861e-03 -4.06496340e+01] [-1.08819617e-02 8.99638525e-05 9.99940786e-01 -3.90287727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.15862385300002 meters Centerline goodness [0,1] 0.9996346129046125 Centerline is valid? [True, True] Translation: X:204.58, Y:-40.66, Z:-3.90 [[ 9.56840461e-01 2.90437659e-01 1.01142955e-02 2.04577558e+02] [-2.90420372e-01 9.56893911e-01 -3.17028461e-03 -4.06607742e+01] [-1.05990778e-02 9.60591169e-05 9.99943824e-01 -3.90371651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.18862385300002 meters Centerline goodness [0,1] 0.9998277532565399 Centerline is valid? [True, True] Translation: X:204.61, Y:-40.67, Z:-3.91 [[ 9.57286503e-01 2.88991171e-01 9.30880370e-03 2.04607242e+02] [-2.88976446e-01 9.57331756e-01 -2.91922452e-03 -4.06736158e+01] [-9.75524351e-03 1.04509228e-04 9.99952411e-01 -3.90550159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.21862385300003 meters Centerline goodness [0,1] 0.9998926785292666 Centerline is valid? [True, True] Translation: X:204.64, Y:-40.69, Z:-3.91 [[ 9.57472944e-01 2.88360942e-01 9.67106333e-03 2.04636034e+02] [-2.88344997e-01 9.57521777e-01 -3.03463037e-03 -4.06871653e+01] [-1.01353226e-02 1.16973740e-04 9.99948629e-01 -3.90645475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.24862385300003 meters Centerline goodness [0,1] 0.9997417522112467 Centerline is valid? [True, True] Translation: X:204.67, Y:-40.70, Z:-3.91 [[ 9.57610781e-01 2.87897625e-01 9.82596117e-03 2.04667095e+02] [-2.87881121e-01 9.57661183e-01 -3.08512559e-03 -4.06979217e+01] [-1.02981419e-02 1.25640811e-04 9.99946965e-01 -3.90502875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.27862385300003 meters Centerline goodness [0,1] 0.9997417522112467 Centerline is valid? [True, True] Translation: X:204.70, Y:-40.71, Z:-3.91 [[ 9.57556059e-01 2.88079599e-01 9.82537386e-03 2.04698020e+02] [-2.88063086e-01 9.57606458e-01 -3.08699445e-03 -4.07078370e+01] [-1.02981416e-02 1.25642732e-04 9.99946965e-01 -3.90560219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.30862385300003 meters Centerline goodness [0,1] 0.9998923527385464 Centerline is valid? [True, True] Translation: X:204.73, Y:-40.72, Z:-3.91 [[ 9.57782384e-01 2.87329537e-01 9.72836398e-03 2.04726663e+02] [-2.87313282e-01 9.57831780e-01 -3.05928652e-03 -4.07206695e+01] [-1.01971596e-02 1.35042552e-04 9.99947998e-01 -3.90628862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.33862385300003 meters Centerline goodness [0,1] 0.9999350114813049 Centerline is valid? [True, True] Translation: X:204.76, Y:-40.73, Z:-3.91 [[ 9.57802454e-01 2.87258234e-01 9.85729628e-03 2.04758140e+02] [-2.87241539e-01 9.57853166e-01 -3.10005551e-03 -4.07314408e+01] [-1.03323589e-02 1.37815817e-04 9.99946610e-01 -3.90640758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.368623853 meters Centerline goodness [0,1] 0.9999356899397629 Centerline is valid? [True, True] Translation: X:204.79, Y:-40.74, Z:-3.91 [[ 9.57851448e-01 2.87086014e-01 1.01106155e-02 2.04788083e+02] [-2.87068410e-01 9.57904797e-01 -3.18249465e-03 -4.07433688e+01] [-1.05986568e-02 1.45918795e-04 9.99943822e-01 -3.90660340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.398623853 meters Centerline goodness [0,1] 0.9998924129620863 Centerline is valid? [True, True] Translation: X:204.82, Y:-40.75, Z:-3.91 [[ 9.57901686e-01 2.86914054e-01 1.02315498e-02 2.04819419e+02] [-2.86896009e-01 9.57956316e-01 -3.22137465e-03 -4.07535428e+01] [-1.07256354e-02 1.50369418e-04 9.99942467e-01 -3.90620203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.428623853 meters Centerline goodness [0,1] 0.9998701635938717 Centerline is valid? [True, True] Translation: X:204.85, Y:-40.77, Z:-3.91 [[ 9.58121967e-01 2.86168357e-01 1.04865471e-02 2.04849086e+02] [-2.86149329e-01 9.58179338e-01 -3.30417142e-03 -4.07669226e+01] [-1.09935421e-02 1.65080800e-04 9.99939556e-01 -3.90610017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.458623853 meters Centerline goodness [0,1] 0.9998924476757943 Centerline is valid? [True, True] Translation: X:204.88, Y:-40.78, Z:-3.91 [[ 9.58211418e-01 2.85856684e-01 1.08090482e-02 2.04877322e+02] [-2.85836424e-01 9.58272365e-01 -3.40787998e-03 -4.07822034e+01] [-1.13321774e-02 1.75849829e-04 9.99935773e-01 -3.90733860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.488623853 meters Centerline goodness [0,1] 0.9998285946907205 Centerline is valid? [True, True] Translation: X:204.91, Y:-40.79, Z:-3.91 [[ 9.58289505e-01 2.85588283e-01 1.09798378e-02 2.04907970e+02] [-2.85567333e-01 9.58352387e-01 -3.46404201e-03 -4.07946211e+01] [-1.15118435e-02 1.84072111e-04 9.99933720e-01 -3.90758034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.518623853 meters Centerline goodness [0,1] 0.9998721091335394 Centerline is valid? [True, True] Translation: X:204.94, Y:-40.81, Z:-3.91 [[ 9.58305296e-01 2.85532373e-01 1.10554653e-02 2.04938744e+02] [-2.85511104e-01 9.58369046e-01 -3.49012898e-03 -4.08057701e+01] [-1.15917606e-02 1.88150974e-04 9.99932796e-01 -3.90783100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.548623853 meters Centerline goodness [0,1] 0.9999147085163547 Centerline is valid? [True, True] Translation: X:204.97, Y:-40.82, Z:-3.91 [[ 9.58301903e-01 2.85565147e-01 1.04885391e-02 2.04968314e+02] [-2.85545983e-01 9.58359283e-01 -3.31317096e-03 -4.08201290e+01] [-1.09979150e-02 1.80057816e-04 9.99939505e-01 -3.90927619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.578623853 meters Centerline goodness [0,1] 0.9999144970287718 Centerline is valid? [True, True] Translation: X:205.00, Y:-40.83, Z:-3.91 [[ 9.58128264e-01 2.86166839e-01 9.93826688e-03 2.04999420e+02] [-2.86149646e-01 9.58179791e-01 -3.14122618e-03 -4.08310053e+01] [-1.04215613e-02 1.65866033e-04 9.99945680e-01 -3.91024293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.608623853 meters Centerline goodness [0,1] 0.999978483518375 Centerline is valid? [True, True] Translation: X:205.03, Y:-40.84, Z:-3.91 [[ 9.57911567e-01 2.86907114e-01 9.47297027e-03 2.05030770e+02] [-2.86891512e-01 9.57958394e-01 -2.99598821e-03 -4.08421939e+01] [-9.93428172e-03 1.52177000e-04 9.99950642e-01 -3.91161735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.638623853 meters Centerline goodness [0,1] 0.9999133880432194 Centerline is valid? [True, True] Translation: X:205.06, Y:-40.85, Z:-3.91 [[ 9.57125090e-01 2.89523452e-01 9.36663454e-03 2.05062047e+02] [-2.89508302e-01 9.57170912e-01 -2.96447280e-03 -4.08510825e+01] [-9.82375452e-03 1.25652835e-04 9.99951738e-01 -3.91202411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.668623853 meters Centerline goodness [0,1] 0.999914050581233 Centerline is valid? [True, True] Translation: X:205.09, Y:-40.86, Z:-3.91 [[ 9.56474484e-01 2.91656734e-01 9.63902805e-03 2.05092500e+02] [-2.91640779e-01 9.56523046e-01 -3.05257394e-03 -4.08595037e+01] [-1.01102562e-02 1.08575435e-04 9.99948884e-01 -3.91245071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.69862385300002 meters Centerline goodness [0,1] 0.9995275522913714 Centerline is valid? [True, True] Translation: X:205.12, Y:-40.87, Z:-3.91 [[ 9.55679443e-01 2.94243747e-01 9.87009445e-03 2.05123830e+02] [-2.94227137e-01 9.55730407e-01 -3.12764212e-03 -4.08672726e+01] [-1.03534385e-02 8.49736546e-05 9.99946398e-01 -3.91233223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.72862385300002 meters Centerline goodness [0,1] 0.9991259672983862 Centerline is valid? [True, True] Translation: X:205.16, Y:-40.87, Z:-3.91 [[ 9.53881295e-01 3.00019445e-01 9.94020437e-03 2.05156093e+02] [-3.00002892e-01 9.53933086e-01 -3.15168184e-03 -4.08706503e+01] [-1.04278557e-02 2.42402968e-05 9.99945628e-01 -3.91254640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.75862385300002 meters Centerline goodness [0,1] 0.9989961983682885 Centerline is valid? [True, True] Translation: X:205.19, Y:-40.88, Z:-3.91 [[ 9.52867999e-01 3.03234478e-01 9.56173778e-03 2.05187832e+02] [-3.03219307e-01 9.52915973e-01 -3.03323916e-03 -4.08764574e+01] [-1.00313154e-02 -9.02697848e-06 9.99949685e-01 -3.91428011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.78862385300002 meters Centerline goodness [0,1] 0.9988877719076851 Centerline is valid? [True, True] Translation: X:205.22, Y:-40.88, Z:-3.91 [[ 9.51779166e-01 3.06631727e-01 9.66450825e-03 2.05220928e+02] [-3.06616385e-01 9.51828231e-01 -3.06766823e-03 -4.08822934e+01] [-1.01395962e-02 -4.35538751e-05 9.99948592e-01 -3.91423831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.81862385300002 meters Centerline goodness [0,1] 0.998631773265284 Centerline is valid? [True, True] Translation: X:205.25, Y:-40.89, Z:-3.91 [[ 9.50808448e-01 3.09635271e-01 9.44959512e-03 2.05252548e+02] [-3.09620732e-01 9.50855401e-01 -3.00148925e-03 -4.08882374e+01] [-9.91456550e-03 -7.19492205e-05 9.99950847e-01 -3.91472697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.84862385300002 meters Centerline goodness [0,1] 0.9986103873545249 Centerline is valid? [True, True] Translation: X:205.29, Y:-40.89, Z:-3.92 [[ 9.49186000e-01 3.14599434e-01 8.55182381e-03 2.05285257e+02] [-3.14587715e-01 9.49224517e-01 -2.71769226e-03 -4.08902634e+01] [-8.97258528e-03 -1.10703264e-04 9.99959739e-01 -3.91690128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.87862385300002 meters Centerline goodness [0,1] 0.9984269953456301 Centerline is valid? [True, True] Translation: X:205.32, Y:-40.89, Z:-3.92 [[ 9.48457435e-01 3.16798927e-01 8.18127757e-03 2.05316375e+02] [-3.16788272e-01 9.48492712e-01 -2.60126322e-03 -4.08938326e+01] [-8.58395955e-03 -1.24545340e-04 9.99963149e-01 -3.91992618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.90862385300002 meters Centerline goodness [0,1] 0.9984468030028475 Centerline is valid? [True, True] Translation: X:205.35, Y:-40.90, Z:-3.92 [[ 9.47887080e-01 3.18498297e-01 8.30167764e-03 2.05347770e+02] [-3.18487379e-01 9.47923423e-01 -2.64097090e-03 -4.09015276e+01] [-8.71049941e-03 -1.40637352e-04 9.99962053e-01 -3.91940787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.93862385300002 meters Centerline goodness [0,1] 0.9985274973857744 Centerline is valid? [True, True] Translation: X:205.38, Y:-40.91, Z:-3.92 [[ 9.47447636e-01 3.19798648e-01 8.47356527e-03 2.05378554e+02] [-3.19787309e-01 9.47485515e-01 -2.69737586e-03 -4.09070052e+01] [-8.89119751e-03 -1.54116246e-04 9.99960461e-01 -3.92070472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.96862385300003 meters Centerline goodness [0,1] 0.9984724612736661 Centerline is valid? [True, True] Translation: X:205.41, Y:-40.91, Z:-3.92 [[ 9.47100034e-01 3.20813121e-01 8.97031778e-03 2.05409839e+02] [-3.20800445e-01 9.47142498e-01 -2.85706353e-03 -4.09148920e+01] [-9.41275266e-03 -1.71756967e-04 9.99955684e-01 -3.91921834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.99862385300003 meters Centerline goodness [0,1] 0.9985101053722577 Centerline is valid? [True, True] Translation: X:205.44, Y:-40.92, Z:-3.92 [[ 9.47069394e-01 3.20905370e-01 8.90538355e-03 2.05441316e+02] [-3.20892867e-01 9.47111247e-01 -2.83777146e-03 -4.09236966e+01] [-9.34504502e-03 -1.70107563e-04 9.99956320e-01 -3.92000227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.02862385300003 meters Centerline goodness [0,1] 0.9985251367989056 Centerline is valid? [True, True] Translation: X:205.47, Y:-40.93, Z:-3.92 [[ 9.47510305e-01 3.19602602e-01 8.85431413e-03 2.05472459e+02] [-3.19590166e-01 9.47551662e-01 -2.82365479e-03 -4.09293471e+01] [-9.29236749e-03 -1.54309708e-04 9.99956813e-01 -3.92227745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.05862385300003 meters Centerline goodness [0,1] 0.9985365328742064 Centerline is valid? [True, True] Translation: X:205.50, Y:-40.94, Z:-3.92 [[ 9.47904305e-01 3.18431799e-01 8.86666967e-03 2.05501831e+02] [-3.18419263e-01 9.47945763e-01 -2.82900774e-03 -4.09420170e+01] [-9.30596797e-03 -1.41689808e-04 9.99956689e-01 -3.92137808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.08862385300003 meters Centerline goodness [0,1] 0.9986610517222763 Centerline is valid? [True, True] Translation: X:205.53, Y:-40.95, Z:-3.92 [[ 9.48372561e-01 3.17031518e-01 8.97226145e-03 2.05531463e+02] [-3.17018603e-01 9.48414994e-01 -2.86446987e-03 -4.09517214e+01] [-9.41755452e-03 -1.27789165e-04 9.99955646e-01 -3.92241470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.118623853 meters Centerline goodness [0,1] 0.9988162369247987 Centerline is valid? [True, True] Translation: X:205.56, Y:-40.96, Z:-3.92 [[ 9.48874617e-01 3.15515728e-01 9.31596084e-03 2.05561981e+02] [-3.15501716e-01 9.48920340e-01 -2.97576023e-03 -4.09632672e+01] [-9.77900388e-03 -1.15578283e-04 9.99952178e-01 -3.92193257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.148623853 meters Centerline goodness [0,1] 0.9989796804445988 Centerline is valid? [True, True] Translation: X:205.59, Y:-40.97, Z:-3.92 [[ 9.49452131e-01 3.13760540e-01 9.74544357e-03 2.05591759e+02] [-3.13745095e-01 9.49502140e-01 -3.11481963e-03 -4.09749236e+01] [-1.02306270e-02 -1.00212983e-04 9.99947661e-01 -3.92093394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.178623853 meters Centerline goodness [0,1] 0.9992223446309377 Centerline is valid? [True, True] Translation: X:205.62, Y:-40.99, Z:-3.92 [[ 9.50649780e-01 3.10109928e-01 9.84016408e-03 2.05620921e+02] [-3.10093965e-01 9.50700704e-01 -3.14706372e-03 -4.09869154e+01] [-1.03309866e-02 -5.96200647e-05 9.99946632e-01 -3.92161880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.208623853 meters Centerline goodness [0,1] 0.9994371075990474 Centerline is valid? [True, True] Translation: X:205.65, Y:-41.00, Z:-3.92 [[ 9.51321462e-01 3.08041038e-01 9.90933718e-03 2.05651116e+02] [-3.08024720e-01 9.51373070e-01 -3.17082123e-03 -4.09989592e+01] [-1.04042196e-02 -3.58505226e-05 9.99945874e-01 -3.92230502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.238623853 meters Centerline goodness [0,1] 0.9996324403796675 Centerline is valid? [True, True] Translation: X:205.68, Y:-41.01, Z:-3.92 [[ 9.51995611e-01 3.05948366e-01 9.99774135e-03 2.05680267e+02] [-3.05931615e-01 9.52048107e-01 -3.20156490e-03 -4.10102809e+01] [-1.04978443e-02 -1.07494266e-05 9.99944896e-01 -3.92405033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.268623853 meters Centerline goodness [0,1] 0.9997853155860884 Centerline is valid? [True, True] Translation: X:205.71, Y:-41.02, Z:-3.93 [[ 9.53489578e-01 3.01262297e-01 9.93239212e-03 2.05707914e+02] [-3.01245502e-01 9.53541308e-01 -3.18126674e-03 -4.10247871e+01] [-1.04293419e-02 4.12162266e-05 9.99945612e-01 -3.92546588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.298623853 meters Centerline goodness [0,1] 0.9999131925606024 Centerline is valid? [True, True] Translation: X:205.74, Y:-41.04, Z:-3.93 [[ 9.54171757e-01 2.99097420e-01 9.84846450e-03 2.05737472e+02] [-2.99080777e-01 9.54222578e-01 -3.15595196e-03 -4.10362937e+01] [-1.03415643e-02 6.58338177e-05 9.99946522e-01 -3.92521955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.328623853 meters Centerline goodness [0,1] 0.9998701720220707 Centerline is valid? [True, True] Translation: X:205.77, Y:-41.05, Z:-3.93 [[ 9.54871606e-01 2.96848102e-01 1.00707533e-02 2.05767538e+02] [-2.96830556e-01 9.54924707e-01 -3.22886675e-03 -4.10487099e+01] [-1.05752941e-02 9.38458909e-05 9.99944076e-01 -3.92563775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.358623853 meters Centerline goodness [0,1] 0.9999564943116312 Centerline is valid? [True, True] Translation: X:205.80, Y:-41.06, Z:-3.93 [[ 9.56290753e-01 2.92241769e-01 1.01362841e-02 2.05796505e+02] [-2.92223705e-01 9.56344460e-01 -3.25263117e-03 -4.10638420e+01] [-1.06443338e-02 1.48398616e-04 9.99943336e-01 -3.92518409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.388623853 meters Centerline goodness [0,1] 0.9999784203711696 Centerline is valid? [True, True] Translation: X:205.83, Y:-41.08, Z:-3.93 [[ 9.56841462e-01 2.90431792e-01 1.01877956e-02 2.05826716e+02] [-2.90413445e-01 9.56895682e-01 -3.26883409e-03 -4.10761765e+01] [-1.06980310e-02 1.69083167e-04 9.99942760e-01 -3.92543257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.418623853 meters Centerline goodness [0,1] 0.9999343616672136 Centerline is valid? [True, True] Translation: X:205.86, Y:-41.09, Z:-3.93 [[ 9.57380260e-01 2.88634613e-01 1.06347057e-02 2.05856234e+02] [-2.88614481e-01 9.57439304e-01 -3.41487790e-03 -4.10878093e+01] [-1.11677371e-02 2.00006631e-04 9.99937619e-01 -3.92576032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.44862385300002 meters Centerline goodness [0,1] 0.9998505550811272 Centerline is valid? [True, True] Translation: X:205.88, Y:-41.10, Z:-3.93 [[ 9.57810009e-01 2.87209789e-01 1.05130596e-02 2.05884362e+02] [-2.87190018e-01 9.57867679e-01 -3.37682874e-03 -4.11025302e+01] [-1.10399783e-02 2.15114578e-04 9.99939034e-01 -3.92796763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.47862385300002 meters Centerline goodness [0,1] 0.9998269896193772 Centerline is valid? [True, True] Translation: X:205.91, Y:-41.11, Z:-3.93 [[ 9.58785612e-01 2.83937073e-01 1.04827769e-02 2.05914535e+02] [-2.83917205e-01 9.58842883e-01 -3.36839521e-03 -4.11133062e+01] [-1.10077483e-02 2.53328135e-04 9.99939381e-01 -3.92700096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.50862385300002 meters Centerline goodness [0,1] 0.9997855917667239 Centerline is valid? [True, True] Translation: X:205.94, Y:-41.12, Z:-3.92 [[ 9.59015234e-01 2.83171310e-01 1.01877780e-02 2.05943680e+02] [-2.83152505e-01 9.59069312e-01 -3.27334100e-03 -4.11249135e+01] [-1.06977015e-02 2.54489022e-04 9.99942746e-01 -3.92447819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.53862385300002 meters Centerline goodness [0,1] 0.999870611575951 Centerline is valid? [True, True] Translation: X:205.97, Y:-41.14, Z:-3.93 [[ 9.59363743e-01 2.81988961e-01 1.01702178e-02 2.05973632e+02] [-2.81970137e-01 9.59417612e-01 -3.26933912e-03 -4.11361425e+01] [-1.06794037e-02 2.68787702e-04 9.99942937e-01 -3.92900334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.56862385300002 meters Centerline goodness [0,1] 0.9997629463612266 Centerline is valid? [True, True] Translation: X:206.00, Y:-41.15, Z:-3.93 [[ 9.59715764e-01 2.80791680e-01 1.00839036e-02 2.06001985e+02] [-2.80773087e-01 9.59768698e-01 -3.24352733e-03 -4.11505547e+01] [-1.05889705e-02 2.81575567e-04 9.99943896e-01 -3.93053177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.59862385300002 meters Centerline goodness [0,1] 0.999892890040916 Centerline is valid? [True, True] Translation: X:206.03, Y:-41.16, Z:-3.93 [[ 9.59809444e-01 2.80476181e-01 9.94700981e-03 2.06032910e+02] [-2.80458056e-01 9.59860944e-01 -3.20105432e-03 -4.11590147e+01] [-1.04455657e-02 2.82683135e-04 9.99945404e-01 -3.93098303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.62862385300002 meters Centerline goodness [0,1] 0.9997654384169226 Centerline is valid? [True, True] Translation: X:206.06, Y:-41.17, Z:-3.93 [[ 9.59788627e-01 2.80550036e-01 9.87262348e-03 2.06062372e+02] [-2.80532168e-01 9.59839360e-01 -3.17884390e-03 -4.11717165e+01] [-1.03679574e-02 2.81429756e-04 9.99946212e-01 -3.93206931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.65862385300002 meters Centerline goodness [0,1] 0.999914030261348 Centerline is valid? [True, True] Translation: X:206.09, Y:-41.18, Z:-3.93 [[ 9.59606723e-01 2.81171695e-01 9.86991565e-03 2.06092676e+02] [-2.81153848e-01 9.59657440e-01 -3.18002789e-03 -4.11819175e+01] [-1.03658718e-02 2.76611377e-04 9.99946235e-01 -3.93274563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.68862385300002 meters Centerline goodness [0,1] 0.999525360833639 Centerline is valid? [True, True] Translation: X:206.12, Y:-41.19, Z:-3.93 [[ 9.59256839e-01 2.82378812e-01 9.40873444e-03 2.06121819e+02] [-2.82362635e-01 9.59302946e-01 -3.03310661e-03 -4.11927332e+01] [-9.88231171e-03 2.52853213e-04 9.99951137e-01 -3.92578203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.71862385300003 meters Centerline goodness [0,1] 0.9998713302309622 Centerline is valid? [True, True] Translation: X:206.15, Y:-41.20, Z:-3.93 [[ 9.59089966e-01 2.82939910e-01 9.56266334e-03 2.06153403e+02] [-2.82923203e-01 9.59137604e-01 -3.08512584e-03 -4.12005817e+01] [-1.00448152e-02 2.53413889e-04 9.99949517e-01 -3.93420210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.74862385300003 meters Centerline goodness [0,1] 0.999956942949408 Centerline is valid? [True, True] Translation: X:206.18, Y:-41.21, Z:-3.94 [[ 9.58711182e-01 2.84217881e-01 9.64709091e-03 2.06183768e+02] [-2.84200945e-01 9.58759687e-01 -3.11217894e-03 -4.12095052e+01] [-1.01337788e-02 2.41968403e-04 9.99948623e-01 -3.93515377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.77862385300003 meters Centerline goodness [0,1] 0.9998710370768404 Centerline is valid? [True, True] Translation: X:206.21, Y:-41.22, Z:-3.94 [[ 9.57803257e-01 2.87272317e-01 9.35611401e-03 2.06214019e+02] [-2.87256505e-01 9.57848930e-01 -3.02105589e-03 -4.12157034e+01] [-9.82960953e-03 2.05972560e-04 9.99951667e-01 -3.93670544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.80862385300003 meters Centerline goodness [0,1] 0.9999783197831978 Centerline is valid? [True, True] Translation: X:206.25, Y:-41.22, Z:-3.94 [[ 9.57209770e-01 2.89246888e-01 9.25714915e-03 2.06245697e+02] [-2.89231510e-01 9.57254514e-01 -2.98818630e-03 -4.12230850e+01] [-9.72577140e-03 1.82861891e-04 9.99952687e-01 -3.93746041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.83862385300003 meters Centerline goodness [0,1] 0.9999567931906068 Centerline is valid? [True, True] Translation: X:206.28, Y:-41.23, Z:-3.94 [[ 9.56617110e-01 2.91194720e-01 9.45200389e-03 2.06276207e+02] [-2.91178764e-01 9.56663790e-01 -3.05293481e-03 -4.12304940e+01] [-9.93138836e-03 1.68266855e-04 9.99950668e-01 -3.93801530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.868623853 meters Centerline goodness [0,1] 0.9998924962373683 Centerline is valid? [True, True] Translation: X:206.31, Y:-41.24, Z:-3.94 [[ 9.56004293e-01 2.93204105e-01 9.33514672e-03 2.06307834e+02] [-2.93188624e-01 9.56049858e-01 -3.01661035e-03 -4.12378390e+01] [-9.80934823e-03 1.46933632e-04 9.99951876e-01 -3.93827012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.898623853 meters Centerline goodness [0,1] 0.9998266785103018 Centerline is valid? [True, True] Translation: X:206.34, Y:-41.24, Z:-3.94 [[ 9.54811152e-01 2.97055881e-01 9.66790508e-03 2.06338782e+02] [-2.97039453e-01 9.54860090e-01 -3.12605510e-03 -4.12433190e+01] [-1.01601098e-02 1.13043032e-04 9.99948378e-01 -3.93823885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.928623853 meters Centerline goodness [0,1] 0.9999356333676622 Centerline is valid? [True, True] Translation: X:206.37, Y:-41.25, Z:-3.94 [[ 9.54263319e-01 2.98816391e-01 9.50176568e-03 2.06370250e+02] [-2.98800596e-01 9.54310618e-01 -3.07373879e-03 -4.12510218e+01] [-9.98611941e-03 9.40229246e-05 9.99950133e-01 -3.93913918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.958623853 meters Centerline goodness [0,1] 0.9998507080702952 Centerline is valid? [True, True] Translation: X:206.40, Y:-41.26, Z:-3.94 [[ 9.53703414e-01 3.00600373e-01 9.44533987e-03 2.06400591e+02] [-3.00584835e-01 9.53750182e-01 -3.05721644e-03 -4.12585839e+01] [-9.92749502e-03 7.65518203e-05 9.99950718e-01 -3.93969286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.988623853 meters Centerline goodness [0,1] 0.9994156476571799 Centerline is valid? [True, True] Translation: X:206.43, Y:-41.27, Z:-3.93 [[ 9.53119715e-01 3.02449006e-01 9.34922086e-03 2.06432329e+02] [-3.02433859e-01 9.53165566e-01 -3.02749237e-03 -4.12663545e+01] [-9.82701744e-03 5.80417245e-05 9.99951712e-01 -3.93381134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.018623853 meters Centerline goodness [0,1] 0.999784450240338 Centerline is valid? [True, True] Translation: X:206.46, Y:-41.28, Z:-3.94 [[ 9.52725073e-01 3.03663918e-01 1.01567552e-02 2.06462127e+02] [-3.03646084e-01 9.52779209e-01 -3.29148908e-03 -4.12755841e+01] [-1.06766517e-02 5.18252255e-05 9.99943002e-01 -3.93994506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.048623853 meters Centerline goodness [0,1] 0.999783984619705 Centerline is valid? [True, True] Translation: X:206.49, Y:-41.29, Z:-3.94 [[ 9.52583607e-01 3.04119971e-01 9.77313014e-03 2.06491266e+02] [-3.04103477e-01 9.52633739e-01 -3.16764396e-03 -4.12854589e+01] [-1.02735573e-02 4.54028474e-05 9.99947225e-01 -3.94093913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.078623853 meters Centerline goodness [0,1] 0.9998714267346677 Centerline is valid? [True, True] Translation: X:206.52, Y:-41.30, Z:-3.94 [[ 9.52621645e-01 3.03999648e-01 9.80892728e-03 2.06519294e+02] [-3.03983000e-01 9.52672143e-01 -3.18182378e-03 -4.12958588e+01] [-1.03119651e-02 4.93270635e-05 9.99946829e-01 -3.94214017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.108623853 meters Centerline goodness [0,1] 0.999956960554348 Centerline is valid? [True, True] Translation: X:206.55, Y:-41.31, Z:-3.94 [[ 9.52708256e-01 3.03722610e-01 9.97776713e-03 2.06548976e+02] [-3.03705369e-01 9.52760502e-01 -3.23663479e-03 -4.13071647e+01] [-1.04894616e-02 5.32672351e-05 9.99944983e-01 -3.94254402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.138623853 meters Centerline goodness [0,1] 0.9998475842097241 Centerline is valid? [True, True] Translation: X:206.58, Y:-41.32, Z:-3.94 [[ 9.52968166e-01 3.02899455e-01 1.01780950e-02 2.06577154e+02] [-3.02881474e-01 9.53022516e-01 -3.30100269e-03 -4.13206407e+01] [-1.06998256e-02 6.29940698e-05 9.99942753e-01 -3.94298775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.168623853 meters Centerline goodness [0,1] 0.9998475842097241 Centerline is valid? [True, True] Translation: X:206.61, Y:-41.33, Z:-3.94 [[ 9.52922347e-01 3.03043589e-01 1.01776521e-02 2.06607205e+02] [-3.03025602e-01 9.52976694e-01 -3.30236739e-03 -4.13305606e+01] [-1.06998265e-02 6.28105328e-05 9.99942753e-01 -3.94354638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.19862385300002 meters Centerline goodness [0,1] 0.9998073217726396 Centerline is valid? [True, True] Translation: X:206.64, Y:-41.34, Z:-3.94 [[ 9.53051975e-01 3.02644181e-01 9.92130040e-03 2.06637478e+02] [-3.02627050e-01 9.53103612e-01 -3.22078101e-03 -4.13427767e+01] [-1.04307779e-02 6.71178307e-05 9.99945596e-01 -3.94454140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.22862385300002 meters Centerline goodness [0,1] 0.999805430646835 Centerline is valid? [True, True] Translation: X:206.67, Y:-41.36, Z:-3.94 [[ 9.53183370e-01 3.02226578e-01 1.00279242e-02 2.06667577e+02] [-3.02209036e-01 9.53236115e-01 -3.25709591e-03 -4.13551483e+01] [-1.05433604e-02 7.40803630e-05 9.99944414e-01 -3.94479489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.25862385300002 meters Centerline goodness [0,1] 0.9998915613003969 Centerline is valid? [True, True] Translation: X:206.70, Y:-41.37, Z:-3.94 [[ 9.53498783e-01 3.01210721e-01 1.05911841e-02 2.06695799e+02] [-3.01191069e-01 9.53557598e-01 -3.44189339e-03 -4.13711866e+01] [-1.11360392e-02 9.18711064e-05 9.99937988e-01 -3.94393126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.28862385300002 meters Centerline goodness [0,1] 0.9998490403277982 Centerline is valid? [True, True] Translation: X:206.73, Y:-41.38, Z:-3.94 [[ 9.53628919e-01 3.00791627e-01 1.07834434e-02 2.06726068e+02] [-3.00771207e-01 9.53689880e-01 -3.50627034e-03 -4.13844114e+01] [-1.13387176e-02 1.00331491e-04 9.99935710e-01 -3.94370464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.31862385300002 meters Centerline goodness [0,1] 0.9999137856711785 Centerline is valid? [True, True] Translation: X:206.76, Y:-41.40, Z:-3.94 [[ 9.53691371e-01 3.00586061e-01 1.09903896e-02 2.06755845e+02] [-3.00564811e-01 9.53754690e-01 -3.57578299e-03 -4.13969680e+01] [-1.15569661e-02 1.06869016e-04 9.99933210e-01 -3.94391039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.34862385300002 meters Centerline goodness [0,1] 0.9997428920360808 Centerline is valid? [True, True] Translation: X:206.79, Y:-41.41, Z:-3.95 [[ 9.53785043e-01 3.00291497e-01 1.09137163e-02 2.06786108e+02] [-3.00270502e-01 9.53847474e-01 -3.55268373e-03 -4.14102913e+01] [-1.14768614e-02 1.11429538e-04 9.99934132e-01 -3.94506546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.37862385300002 meters Centerline goodness [0,1] 0.9996354981882116 Centerline is valid? [True, True] Translation: X:206.82, Y:-41.42, Z:-3.95 [[ 9.53754791e-01 3.00393003e-01 1.07630371e-02 2.06816267e+02] [-3.00372566e-01 9.53815512e-01 -3.50567838e-03 -4.14218938e+01] [-1.13190330e-02 1.10636486e-04 9.99935932e-01 -3.94660204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.40862385300002 meters Centerline goodness [0,1] 0.9997855457859747 Centerline is valid? [True, True] Translation: X:206.85, Y:-41.43, Z:-3.95 [[ 9.53749687e-01 3.00422688e-01 1.03799530e-02 2.06846723e+02] [-3.00403664e-01 9.53806163e-01 -3.38256444e-03 -4.14338145e+01] [-1.09166622e-02 1.07943865e-04 9.99940406e-01 -3.94845080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.43862385300002 meters Centerline goodness [0,1] 0.9998929977743537 Centerline is valid? [True, True] Translation: X:206.88, Y:-41.45, Z:-3.95 [[ 9.53801284e-01 3.00288943e-01 9.46900925e-03 2.06876032e+02] [-3.00273088e-01 9.53848280e-01 -3.08735447e-03 -4.14481229e+01] [-9.95909659e-03 1.01434003e-04 9.99950402e-01 -3.95143871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.46862385300003 meters Centerline goodness [0,1] 0.9997407535430349 Centerline is valid? [True, True] Translation: X:206.91, Y:-41.46, Z:-3.95 [[ 9.53841823e-01 3.00172783e-01 9.05959230e-03 2.06906167e+02] [-3.00158254e-01 9.53884841e-01 -2.95503148e-03 -4.14608152e+01] [-9.52882779e-03 9.93212091e-05 9.99954595e-01 -3.95244402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.49862385300003 meters Centerline goodness [0,1] 0.9998712169993561 Centerline is valid? [True, True] Translation: X:206.94, Y:-41.47, Z:-3.95 [[ 9.53850535e-01 3.00153470e-01 8.77787218e-03 2.06936328e+02] [-3.00139816e-01 9.53890919e-01 -2.86466065e-03 -4.14736257e+01] [-9.23297040e-03 9.78691490e-05 9.99957370e-01 -3.95360175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.52862385300003 meters Centerline goodness [0,1] 0.999720074933787 Centerline is valid? [True, True] Translation: X:206.97, Y:-41.48, Z:-3.95 [[ 9.53752549e-01 3.00456037e-01 9.06890645e-03 2.06967533e+02] [-3.00441460e-01 9.53795659e-01 -2.96126979e-03 -4.14848708e+01] [-9.53961499e-03 9.96431124e-05 9.99954492e-01 -3.95078947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.55862385300003 meters Centerline goodness [0,1] 0.9992846458997203 Centerline is valid? [True, True] Translation: X:207.00, Y:-41.50, Z:-3.94 [[ 9.53514915e-01 3.01226636e-01 8.47465109e-03 2.06998748e+02] [-3.01213924e-01 9.53552571e-01 -2.76870751e-03 -4.14956099e+01] [-8.91503379e-03 8.73209986e-05 9.99960256e-01 -3.94134548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.58862385300003 meters Centerline goodness [0,1] 0.999677349967735 Centerline is valid? [True, True] Translation: X:207.03, Y:-41.51, Z:-3.95 [[ 9.53412912e-01 3.01522818e-01 9.37069390e-03 2.07029074e+02] [-3.01507266e-01 9.53458956e-01 -3.06389029e-03 -4.15069880e+01] [-9.85840486e-03 9.58202710e-05 9.99951400e-01 -3.95137773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.618623853 meters Centerline goodness [0,1] 0.9998708093792391 Centerline is valid? [True, True] Translation: X:207.06, Y:-41.52, Z:-3.95 [[ 9.52935787e-01 3.03029150e-01 9.31241626e-03 2.07058720e+02] [-3.03013846e-01 9.52981284e-01 -3.04654410e-03 -4.15164869e+01] [-9.79775007e-03 8.13698352e-05 9.99951998e-01 -3.95287946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.648623853 meters Centerline goodness [0,1] 0.999935015704538 Centerline is valid? [True, True] Translation: X:207.09, Y:-41.53, Z:-3.95 [[ 9.52608454e-01 3.04054040e-01 9.39541504e-03 2.07089135e+02] [-3.04038498e-01 9.52654783e-01 -3.07515317e-03 -4.15262659e+01] [-9.88559982e-03 7.28490277e-05 9.99951134e-01 -3.95320481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.678623853 meters Centerline goodness [0,1] 0.9998920832254166 Centerline is valid? [True, True] Translation: X:207.12, Y:-41.54, Z:-3.95 [[ 9.52180077e-01 3.05393534e-01 9.37500807e-03 2.07120345e+02] [-3.05378108e-01 9.52226226e-01 -3.07003621e-03 -4.15352642e+01] [-9.86469777e-03 6.03050895e-05 9.99951341e-01 -3.95322981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.708623853 meters Centerline goodness [0,1] 0.9999569049106855 Centerline is valid? [True, True] Translation: X:207.15, Y:-41.55, Z:-3.96 [[ 9.51759038e-01 3.06716494e-01 8.92891859e-03 2.07150821e+02] [-3.06702547e-01 9.51800920e-01 -2.92531628e-03 -4.15455234e+01] [-9.39579567e-03 4.56741395e-05 9.99955857e-01 -3.95503108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.738623853 meters Centerline goodness [0,1] 0.9997638471446973 Centerline is valid? [True, True] Translation: X:207.18, Y:-41.55, Z:-3.96 [[ 9.50748937e-01 3.09832858e-01 8.94761486e-03 2.07182041e+02] [-3.09818973e-01 9.50791039e-01 -2.93333013e-03 -4.15527053e+01] [-9.41615409e-03 1.67196594e-05 9.99955667e-01 -3.95566937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.768623853 meters Centerline goodness [0,1] 0.9998060344827586 Centerline is valid? [True, True] Translation: X:207.21, Y:-41.56, Z:-3.95 [[ 9.50203889e-01 3.11494209e-01 9.16120455e-03 2.07213611e+02] [-3.11479717e-01 9.50248051e-01 -3.00469171e-03 -4.15608636e+01] [-9.64136084e-03 1.54034427e-06 9.99953521e-01 -3.95460765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.798623853 meters Centerline goodness [0,1] 0.9996535521728774 Centerline is valid? [True, True] Translation: X:207.25, Y:-41.57, Z:-3.95 [[ 9.49133171e-01 3.14740986e-01 9.18337289e-03 2.07246428e+02] [-3.14726557e-01 9.49177597e-01 -3.01389357e-03 -4.15676797e+01] [-9.66524765e-03 -2.96649708e-05 9.99953290e-01 -3.95481680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.828623853 meters Centerline goodness [0,1] 0.9992009329647547 Centerline is valid? [True, True] Translation: X:207.28, Y:-41.57, Z:-3.95 [[ 9.48431555e-01 3.16860832e-01 8.76347731e-03 2.07277315e+02] [-3.16847764e-01 9.48472040e-01 -2.87808896e-03 -4.15735294e+01] [-9.22386686e-03 -4.70178056e-05 9.99957458e-01 -3.95032995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.858623853 meters Centerline goodness [0,1] 0.999503893358642 Centerline is valid? [True, True] Translation: X:207.31, Y:-41.58, Z:-3.96 [[ 9.47898535e-01 3.18428214e-01 9.58328105e-03 2.07309144e+02] [-3.18412650e-01 9.47946976e-01 -3.14894156e-03 -4.15831263e+01] [-1.00871541e-02 -6.65608217e-05 9.99949121e-01 -3.95545238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.888623853 meters Centerline goodness [0,1] 0.9994158752136383 Centerline is valid? [True, True] Translation: X:207.34, Y:-41.59, Z:-3.95 [[ 9.47358546e-01 3.20016497e-01 1.00611163e-02 2.07341214e+02] [-3.19999409e-01 9.47411966e-01 -3.30813586e-03 -4.15924785e+01] [-1.05906800e-02 -8.55604935e-05 9.99943914e-01 -3.95458040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.918623853 meters Centerline goodness [0,1] 0.9991641125661744 Centerline is valid? [True, True] Translation: X:207.37, Y:-41.60, Z:-3.96 [[ 9.46857134e-01 3.21490118e-01 1.02796245e-02 2.07372172e+02] [-3.21472340e-01 9.46912928e-01 -3.38251709e-03 -4.15971472e+01] [-1.08213552e-02 -1.01854498e-04 9.99941442e-01 -3.95695878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.94862385300002 meters Centerline goodness [0,1] 0.9990365263563568 Centerline is valid? [True, True] Translation: X:207.40, Y:-41.61, Z:-3.96 [[ 9.46184115e-01 3.23458940e-01 1.04849376e-02 2.07403196e+02] [-3.23440545e-01 9.46242199e-01 -3.45189654e-03 -4.16057638e+01] [-1.10378372e-02 -1.25124235e-04 9.99939073e-01 -3.95538644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.97862385300002 meters Centerline goodness [0,1] 0.9990029261948629 Centerline is valid? [True, True] Translation: X:207.44, Y:-41.62, Z:-3.96 [[ 9.45916732e-01 3.24234878e-01 1.06433469e-02 2.07435124e+02] [-3.24215952e-01 9.45976599e-01 -3.50580226e-03 -4.16155287e+01] [-1.12050605e-02 -1.34545839e-04 9.99937212e-01 -3.95531340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.00862385300002 meters Centerline goodness [0,1] 0.99907163521741 Centerline is valid? [True, True] Translation: X:207.47, Y:-41.62, Z:-3.96 [[ 9.45614999e-01 3.25127061e-01 1.02307760e-02 2.07465426e+02] [-3.25109602e-01 9.45670331e-01 -3.37218298e-03 -4.16223112e+01] [-1.07713292e-02 -1.37336697e-04 9.99941978e-01 -3.95672755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.03862385300002 meters Centerline goodness [0,1] 0.9990553885787892 Centerline is valid? [True, True] Translation: X:207.50, Y:-41.63, Z:-3.96 [[ 9.45547809e-01 3.25330390e-01 9.97388553e-03 2.07496016e+02] [-3.25313793e-01 9.45600401e-01 -3.28896928e-03 -4.16304829e+01] [-1.05013118e-02 -1.34764831e-04 9.99944851e-01 -3.95871998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.06862385300002 meters Centerline goodness [0,1] 0.9990138067061144 Centerline is valid? [True, True] Translation: X:207.53, Y:-41.64, Z:-3.96 [[ 9.45506751e-01 3.25454716e-01 9.80875958e-03 2.07526867e+02] [-3.25438652e-01 9.45557619e-01 -3.23627855e-03 -4.16410639e+01] [-1.03280095e-02 -1.32226279e-04 9.99946656e-01 -3.95956603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.09862385300002 meters Centerline goodness [0,1] 0.9988984167440655 Centerline is valid? [True, True] Translation: X:207.56, Y:-41.65, Z:-3.96 [[ 9.45567704e-01 3.25286814e-01 9.49768459e-03 2.07557585e+02] [-3.25271724e-01 9.45615394e-01 -3.13558299e-03 -4.16511773e+01] [-1.00011206e-02 -1.24422230e-04 9.99949980e-01 -3.96058971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.12862385300002 meters Centerline goodness [0,1] 0.9991109376355278 Centerline is valid? [True, True] Translation: X:207.59, Y:-41.66, Z:-3.96 [[ 9.45843879e-01 3.24499862e-01 8.89917472e-03 2.07587551e+02] [-3.24486564e-01 9.45885737e-01 -2.93971419e-03 -4.16604232e+01] [-9.37153929e-03 -1.07151959e-04 9.99956080e-01 -3.96220060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.15862385300002 meters Centerline goodness [0,1] 0.9992420140768814 Centerline is valid? [True, True] Translation: X:207.62, Y:-41.67, Z:-3.96 [[ 9.46015689e-01 3.23997159e-01 8.95300795e-03 2.07618311e+02] [-3.23983664e-01 9.46058048e-01 -2.95889333e-03 -4.16703634e+01] [-9.42873826e-03 -1.01468804e-04 9.99955543e-01 -3.96293452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.18862385300002 meters Centerline goodness [0,1] 0.9992469393463433 Centerline is valid? [True, True] Translation: X:207.65, Y:-41.68, Z:-3.96 [[ 9.46211064e-01 3.23423098e-01 9.06217397e-03 2.07648227e+02] [-3.23409229e-01 9.46254454e-01 -2.99659924e-03 -4.16808942e+01] [-9.54429189e-03 -9.53753485e-05 9.99954448e-01 -3.96239454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.21862385300003 meters Centerline goodness [0,1] 0.9993115318416523 Centerline is valid? [True, True] Translation: X:207.68, Y:-41.69, Z:-3.96 [[ 9.46707831e-01 3.21949575e-01 9.63083903e-03 2.07677011e+02] [-3.21933810e-01 9.46756814e-01 -3.18713383e-03 -4.16920889e+01] [-1.01441589e-02 -8.32081432e-05 9.99948543e-01 -3.96281331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.24862385300003 meters Centerline goodness [0,1] 0.9990624733657206 Centerline is valid? [True, True] Translation: X:207.71, Y:-41.70, Z:-3.96 [[ 9.46951675e-01 3.21220560e-01 9.99380707e-03 2.07706605e+02] [-3.21203537e-01 9.47004406e-01 -3.30786992e-03 -4.17035669e+01] [-1.05267352e-02 -7.76532200e-05 9.99944589e-01 -3.96233969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.27862385300003 meters Centerline goodness [0,1] 0.9992265217111058 Centerline is valid? [True, True] Translation: X:207.74, Y:-41.71, Z:-3.96 [[ 9.47202725e-01 3.20468811e-01 1.03314943e-02 2.07736300e+02] [-3.20450552e-01 9.47259065e-01 -3.42155921e-03 -4.17145665e+01] [-1.08831046e-02 -6.98228529e-05 9.99940775e-01 -3.96197281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.30862385300003 meters Centerline goodness [0,1] 0.9994623655913979 Centerline is valid? [True, True] Translation: X:207.77, Y:-41.73, Z:-3.96 [[ 9.47716888e-01 3.18931365e-01 1.07463750e-02 2.07766714e+02] [-3.18911489e-01 9.47777813e-01 -3.56095524e-03 -4.17262354e+01] [-1.13208761e-02 -5.23650373e-05 9.99935915e-01 -3.96192713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.33862385300003 meters Centerline goodness [0,1] 0.999438444924406 Centerline is valid? [True, True] Translation: X:207.80, Y:-41.74, Z:-3.96 [[ 9.47902084e-01 3.18377131e-01 1.08463241e-02 2.07797193e+02] [-3.18356826e-01 9.47964135e-01 -3.59592055e-03 -4.17364406e+01] [-1.14267851e-02 -4.44207413e-05 9.99934711e-01 -3.96238236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.368623853 meters Centerline goodness [0,1] 0.9994587104317325 Centerline is valid? [True, True] Translation: X:207.83, Y:-41.75, Z:-3.96 [[ 9.48049473e-01 3.17932017e-01 1.10194939e-02 2.07828215e+02] [-3.17911006e-01 9.48113512e-01 -3.65529643e-03 -4.17473718e+01] [-1.16098668e-02 -3.78165266e-05 9.99932603e-01 -3.96182926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.398623853 meters Centerline goodness [0,1] 0.9996356310013718 Centerline is valid? [True, True] Translation: X:207.86, Y:-41.76, Z:-3.96 [[ 9.48160063e-01 3.17606921e-01 1.08783654e-02 2.07858684e+02] [-3.17586393e-01 9.48222465e-01 -3.61118709e-03 -4.17577968e+01] [-1.14620485e-02 -3.08374517e-05 9.99934308e-01 -3.96306453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.428623853 meters Centerline goodness [0,1] 0.9994362899204301 Centerline is valid? [True, True] Translation: X:207.89, Y:-41.77, Z:-3.96 [[ 9.48107213e-01 3.17789901e-01 1.01139083e-02 2.07890069e+02] [-3.17772160e-01 9.48161156e-01 -3.35808136e-03 -4.17684891e+01] [-1.06567793e-02 -3.00973213e-05 9.99943214e-01 -3.95770511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.458623853 meters Centerline goodness [0,1] 0.9998278014550777 Centerline is valid? [True, True] Translation: X:207.92, Y:-41.78, Z:-3.96 [[ 9.48184816e-01 3.17545633e-01 1.05035955e-02 2.07920323e+02] [-3.17526457e-01 9.48242991e-01 -3.48986065e-03 -4.17787702e+01] [-1.10681508e-02 -2.61365890e-05 9.99938746e-01 -3.96462034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.488623853 meters Centerline goodness [0,1] 0.9997012122246884 Centerline is valid? [True, True] Translation: X:207.95, Y:-41.79, Z:-3.97 [[ 9.48180967e-01 3.17561567e-01 1.03684795e-02 2.07950935e+02] [-3.17542860e-01 9.48237655e-01 -3.44695051e-03 -4.17884169e+01] [-1.09264017e-02 -2.41037665e-05 9.99940305e-01 -3.96620932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.518623853 meters Centerline goodness [0,1] 0.9998489556361125 Centerline is valid? [True, True] Translation: X:207.98, Y:-41.80, Z:-3.97 [[ 9.48333191e-01 3.17139127e-01 9.32376890e-03 2.07982463e+02] [-3.17123967e-01 9.48379024e-01 -3.10097594e-03 -4.17982118e+01] [-9.82590765e-03 -1.60321707e-05 9.99951724e-01 -3.96739055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.548623853 meters Centerline goodness [0,1] 0.9998483699772555 Centerline is valid? [True, True] Translation: X:208.01, Y:-41.81, Z:-3.97 [[ 9.48455871e-01 3.16779823e-01 9.05559966e-03 2.08013477e+02] [-3.16765488e-01 9.48499101e-01 -3.01357635e-03 -4.18083230e+01] [-9.54386832e-03 -1.02572645e-05 9.99954456e-01 -3.96865726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.578623853 meters Centerline goodness [0,1] 0.9998050175484207 Centerline is valid? [True, True] Translation: X:208.04, Y:-41.82, Z:-3.97 [[ 9.48620030e-01 3.16293766e-01 8.84829625e-03 2.08044783e+02] [-3.16280042e-01 9.48661296e-01 -2.94639508e-03 -4.18188274e+01] [-9.32596258e-03 -3.53011743e-06 9.99956512e-01 -3.97009880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.608623853 meters Centerline goodness [0,1] 0.9998279125795905 Centerline is valid? [True, True] Translation: X:208.07, Y:-41.83, Z:-3.97 [[ 9.48929396e-01 3.15364073e-01 8.86022339e-03 2.08074899e+02] [-3.15350253e-01 9.48970759e-01 -2.95236941e-03 -4.18300287e+01] [-9.33916416e-03 7.51643937e-06 9.99956389e-01 -3.97111822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.638623853 meters Centerline goodness [0,1] 0.9998464676595091 Centerline is valid? [True, True] Translation: X:208.11, Y:-41.84, Z:-3.97 [[ 9.49047896e-01 3.14998598e-01 9.16375238e-03 2.08106088e+02] [-3.14983781e-01 9.49092136e-01 -3.05527808e-03 -4.18407726e+01] [-9.65965363e-03 1.31718585e-05 9.99953344e-01 -3.97083377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.668623853 meters Centerline goodness [0,1] 0.9998490696220272 Centerline is valid? [True, True] Translation: X:208.14, Y:-41.85, Z:-3.97 [[ 9.49212393e-01 3.14507599e-01 8.98909893e-03 2.08136461e+02] [-3.14493300e-01 9.49254955e-01 -2.99904575e-03 -4.18516946e+01] [-9.47616938e-03 1.97200066e-05 9.99955100e-01 -3.97183138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.69862385300002 meters Centerline goodness [0,1] 0.9997396285367124 Centerline is valid? [True, True] Translation: X:208.17, Y:-41.86, Z:-3.97 [[ 9.49371697e-01 3.14023349e-01 9.09489320e-03 2.08167576e+02] [-3.14008672e-01 9.49415260e-01 -3.03615082e-03 -4.18625252e+01] [-9.58825264e-03 2.65603200e-05 9.99954031e-01 -3.97183568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.72862385300002 meters Centerline goodness [0,1] 0.9999359398688903 Centerline is valid? [True, True] Translation: X:208.20, Y:-41.87, Z:-3.97 [[ 9.49750134e-01 3.12887397e-01 8.72693957e-03 2.08196572e+02] [-3.12873817e-01 9.49790227e-01 -2.91537711e-03 -4.18735796e+01] [-9.20094667e-03 3.84489107e-05 9.99957670e-01 -3.97419401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.75862385300002 meters Centerline goodness [0,1] 0.9999785913080711 Centerline is valid? [True, True] Translation: X:208.23, Y:-41.88, Z:-3.98 [[ 9.49837450e-01 3.12633559e-01 8.31119192e-03 2.08226538e+02] [-3.12621215e-01 9.49873811e-01 -2.77843923e-03 -4.18836683e+01] [-8.76321689e-03 4.08107146e-05 9.99961601e-01 -3.97596889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.78862385300002 meters Centerline goodness [0,1] 0.9999781940295253 Centerline is valid? [True, True] Translation: X:208.26, Y:-41.89, Z:-3.98 [[ 9.49857595e-01 3.12580092e-01 8.01462784e-03 2.08257746e+02] [-3.12568614e-01 9.49891407e-01 -2.67901277e-03 -4.18933967e+01] [-8.45043217e-03 3.95595126e-05 9.99964294e-01 -3.97652324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.81862385300002 meters Centerline goodness [0,1] 0.9998924962373683 Centerline is valid? [True, True] Translation: X:208.29, Y:-41.90, Z:-3.98 [[ 9.49795821e-01 3.12771623e-01 7.86197513e-03 2.08288949e+02] [-3.12760571e-01 9.49828359e-01 -2.62959758e-03 -4.19036442e+01] [-8.28999043e-03 3.86649618e-05 9.99965637e-01 -3.97716150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.84862385300002 meters Centerline goodness [0,1] 0.9998913279721799 Centerline is valid? [True, True] Translation: X:208.32, Y:-41.91, Z:-3.98 [[ 9.49495108e-01 3.13677045e-01 8.10875206e-03 2.08319546e+02] [-3.13665303e-01 9.49529731e-01 -2.71431272e-03 -4.19115774e+01] [-8.55091876e-03 3.37924795e-05 9.99963440e-01 -3.97692427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.87862385300002 meters Centerline goodness [0,1] 0.9997844641779464 Centerline is valid? [True, True] Translation: X:208.35, Y:-41.92, Z:-3.98 [[ 9.49335259e-01 3.14159231e-01 8.15742558e-03 2.08351003e+02] [-3.14147346e-01 9.49370305e-01 -2.73292972e-03 -4.19204642e+01] [-8.60299272e-03 3.18329471e-05 9.99962993e-01 -3.97744769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.90862385300002 meters Centerline goodness [0,1] 0.9998488936859148 Centerline is valid? [True, True] Translation: X:208.38, Y:-41.93, Z:-3.98 [[ 9.49019937e-01 3.15107793e-01 8.26066633e-03 2.08383303e+02] [-3.15095646e-01 9.49055888e-01 -2.76685324e-03 -4.19291092e+01] [-8.71169104e-03 2.28988937e-05 9.99962052e-01 -3.97839761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.93862385300002 meters Centerline goodness [0,1] 0.9996995321286003 Centerline is valid? [True, True] Translation: X:208.41, Y:-41.93, Z:-3.98 [[ 9.48530728e-01 3.16568716e-01 8.58526531e-03 2.08413823e+02] [-3.16555630e-01 9.48569580e-01 -2.87838335e-03 -4.19349948e+01] [-9.05492763e-03 1.25209882e-05 9.99959003e-01 -3.97795304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.96862385300003 meters Centerline goodness [0,1] 0.9999355129941316 Centerline is valid? [True, True] Translation: X:208.45, Y:-41.94, Z:-3.98 [[ 9.48293293e-01 3.17271261e-01 8.87560093e-03 2.08445445e+02] [-3.17257305e-01 9.48334828e-01 -2.97588598e-03 -4.19437878e+01] [-9.36120458e-03 6.16348381e-06 9.99956183e-01 -3.97834542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.99862385300003 meters Centerline goodness [0,1] 0.9998485602405729 Centerline is valid? [True, True] Translation: X:208.48, Y:-41.95, Z:-3.98 [[ 9.48119762e-01 3.17776174e-01 9.33918389e-03 2.08476922e+02] [-3.17760725e-01 9.48165757e-01 -3.13342280e-03 -4.19529386e+01] [-9.85082148e-03 3.23423943e-06 9.99951479e-01 -3.97830561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.02862385300003 meters Centerline goodness [0,1] 0.9998491899345053 Centerline is valid? [True, True] Translation: X:208.51, Y:-41.96, Z:-3.98 [[ 9.48004638e-01 3.18105846e-01 9.79169848e-03 2.08506878e+02] [-3.18088851e-01 9.48055205e-01 -3.28816090e-03 -4.19611850e+01] [-1.03290539e-02 2.56166352e-06 9.99946654e-01 -3.97808227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.05862385300003 meters Centerline goodness [0,1] 0.999914967794052 Centerline is valid? [True, True] Translation: X:208.54, Y:-41.97, Z:-3.98 [[ 9.48057436e-01 3.17947131e-01 9.83458756e-03 2.08537407e+02] [-3.17929975e-01 9.48108444e-01 -3.30294034e-03 -4.19716713e+01] [-1.03744159e-02 4.66697227e-06 9.99946184e-01 -3.97878104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.08862385300003 meters Centerline goodness [0,1] 0.999914967794052 Centerline is valid? [True, True] Translation: X:208.57, Y:-41.98, Z:-3.98 [[ 9.48006877e-01 3.18097867e-01 9.83398921e-03 2.08567356e+02] [-3.18080700e-01 9.48057882e-01 -3.30472049e-03 -4.19818924e+01] [-1.03744155e-02 4.89558129e-06 9.99946184e-01 -3.97933975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.118623853 meters Centerline goodness [0,1] 0.9997631862217438 Centerline is valid? [True, True] Translation: X:208.60, Y:-41.99, Z:-3.98 [[ 9.48178481e-01 3.17577447e-01 1.01060899e-02 2.08597986e+02] [-3.17559268e-01 9.48232337e-01 -3.39802840e-03 -4.19929648e+01] [-1.06620584e-02 1.26548984e-05 9.99943159e-01 -3.97955743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.148623853 meters Centerline goodness [0,1] 0.9997846776624607 Centerline is valid? [True, True] Translation: X:208.63, Y:-42.00, Z:-3.98 [[ 9.48579717e-01 3.16362999e-01 1.05343874e-02 2.08629290e+02] [-3.16343151e-01 9.48638209e-01 -3.54380725e-03 -4.20039680e+01] [-1.11144519e-02 2.91023683e-05 9.99938232e-01 -3.97823911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.178623853 meters Centerline goodness [0,1] 0.9998512505578104 Centerline is valid? [True, True] Translation: X:208.66, Y:-42.01, Z:-3.98 [[ 9.48736842e-01 3.15891603e-01 1.05308612e-02 2.08658864e+02] [-3.15871714e-01 9.48795285e-01 -3.54495463e-03 -4.20149733e+01] [-1.11114528e-02 3.68278913e-05 9.99938265e-01 -3.98041840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.208623853 meters Centerline goodness [0,1] 0.9997623111994641 Centerline is valid? [True, True] Translation: X:208.69, Y:-42.03, Z:-3.98 [[ 9.48891565e-01 3.15422853e-01 1.06405395e-02 2.08689687e+02] [-3.15402494e-01 9.48951222e-01 -3.58395888e-03 -4.20256249e+01] [-1.12278155e-02 4.47356543e-05 9.99936965e-01 -3.98030596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.238623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:208.72, Y:-42.04, Z:-3.98 [[ 9.49346575e-01 3.14067381e-01 1.01371378e-02 2.08718328e+02] [-3.14048802e-01 9.49400693e-01 -3.41664562e-03 -4.20394733e+01] [-1.06972626e-02 6.00248547e-05 9.99942781e-01 -3.98286612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.268623853 meters Centerline goodness [0,1] 0.9999354366633668 Centerline is valid? [True, True] Translation: X:208.75, Y:-42.05, Z:-3.98 [[ 9.49504368e-01 3.13586576e-01 1.02427623e-02 2.08749635e+02] [-3.13567563e-01 9.49559611e-01 -3.45378606e-03 -4.20509195e+01] [-1.08091744e-02 6.75869246e-05 9.99941577e-01 -3.98253680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.298623853 meters Centerline goodness [0,1] 0.9999137298882802 Centerline is valid? [True, True] Translation: X:208.78, Y:-42.06, Z:-3.98 [[ 9.49764127e-01 3.12802749e-01 1.01263312e-02 2.08778637e+02] [-3.12784091e-01 9.49818106e-01 -3.41730726e-03 -4.20635415e+01] [-1.06871158e-02 7.82805396e-05 9.99942888e-01 -3.98436835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.328623853 meters Centerline goodness [0,1] 0.9999143762308417 Centerline is valid? [True, True] Translation: X:208.81, Y:-42.08, Z:-3.98 [[ 9.49935957e-01 3.12276259e-01 1.02575024e-02 2.08809345e+02] [-3.12257081e-01 9.49991332e-01 -3.46193561e-03 -4.20753082e+01] [-1.08256186e-02 8.56393766e-05 9.99941398e-01 -3.98396635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.358623853 meters Centerline goodness [0,1] 0.9998708093792391 Centerline is valid? [True, True] Translation: X:208.84, Y:-42.09, Z:-3.98 [[ 9.49942980e-01 3.12252884e-01 1.03184647e-02 2.08839656e+02] [-3.12233451e-01 9.49999015e-01 -3.48475532e-03 -4.20859544e+01] [-1.08906562e-02 8.85490259e-05 9.99940691e-01 -3.98450910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.388623853 meters Centerline goodness [0,1] 0.9999353434341257 Centerline is valid? [True, True] Translation: X:208.87, Y:-42.10, Z:-3.99 [[ 9.49934396e-01 3.12277536e-01 1.03626591e-02 2.08870402e+02] [-3.12257916e-01 9.49990912e-01 -3.50163165e-03 -4.20968788e+01] [-1.09379129e-02 9.04980010e-05 9.99940175e-01 -3.98538118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.418623853 meters Centerline goodness [0,1] 0.9998720900486058 Centerline is valid? [True, True] Translation: X:208.90, Y:-42.11, Z:-3.99 [[ 9.49971349e-01 3.12175853e-01 1.00335760e-02 2.08901265e+02] [-3.12157433e-01 9.50024331e-01 -3.39238158e-03 -4.21078925e+01] [-1.05911609e-02 9.06099812e-05 9.99943908e-01 -3.98626061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.44862385300002 meters Centerline goodness [0,1] 0.9998714460180405 Centerline is valid? [True, True] Translation: X:208.93, Y:-42.12, Z:-3.99 [[ 9.49910977e-01 3.12361326e-01 9.97689564e-03 2.08932285e+02] [-3.12343103e-01 9.49963365e-01 -3.37518565e-03 -4.21185828e+01] [-1.05319628e-02 8.99113533e-05 9.99944533e-01 -3.98686898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.47862385300002 meters Centerline goodness [0,1] 0.9999137112779359 Centerline is valid? [True, True] Translation: X:208.96, Y:-42.13, Z:-3.99 [[ 9.49945784e-01 3.12257724e-01 9.90567211e-03 2.08962779e+02] [-3.12239733e-01 9.49997424e-01 -3.35314109e-03 -4.21302340e+01] [-1.04574072e-02 9.23578196e-05 9.99945316e-01 -3.98728225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.50862385300002 meters Centerline goodness [0,1] 0.9999139951407254 Centerline is valid? [True, True] Translation: X:208.99, Y:-42.14, Z:-3.99 [[ 9.49912772e-01 3.12365236e-01 9.67914604e-03 2.08992640e+02] [-3.12348043e-01 9.49962079e-01 -3.27855947e-03 -4.21425199e+01] [-1.02189297e-02 9.10831879e-05 9.99947781e-01 -3.98893161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.53862385300002 meters Centerline goodness [0,1] 0.999893800046728 Centerline is valid? [True, True] Translation: X:209.02, Y:-42.16, Z:-3.99 [[ 9.49764707e-01 3.12808199e-01 9.90111092e-03 2.09021911e+02] [-3.12790211e-01 9.49816310e-01 -3.35585879e-03 -4.21557416e+01] [-1.04539768e-02 9.03056672e-05 9.99945352e-01 -3.99089356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.56862385300002 meters Centerline goodness [0,1] 0.9999140561213528 Centerline is valid? [True, True] Translation: X:209.05, Y:-42.16, Z:-3.99 [[ 9.49614041e-01 3.13253792e-01 1.02583923e-02 2.09054455e+02] [-3.13234486e-01 9.49669444e-01 -3.47900516e-03 -4.21640621e+01] [-1.08318933e-02 9.04298996e-05 9.99941329e-01 -3.98907585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.59862385300002 meters Centerline goodness [0,1] 0.9999574377527134 Centerline is valid? [True, True] Translation: X:209.09, Y:-42.17, Z:-3.99 [[ 9.49332935e-01 3.14106214e-01 1.02110293e-02 2.09085820e+02] [-3.14087112e-01 9.49387844e-01 -3.46506232e-03 -4.21743319e+01] [-1.07826247e-02 8.23450608e-05 9.99941862e-01 -3.98918730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.62862385300002 meters Centerline goodness [0,1] 0.9999568844719425 Centerline is valid? [True, True] Translation: X:209.12, Y:-42.18, Z:-3.99 [[ 9.48999404e-01 3.15108020e-01 1.03473204e-02 2.09116783e+02] [-3.15088439e-01 9.49055810e-01 -3.51364613e-03 -4.21836431e+01] [-1.09273627e-02 7.41270363e-05 9.99940292e-01 -3.98582395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.65862385300002 meters Centerline goodness [0,1] 0.9998921437508089 Centerline is valid? [True, True] Translation: X:209.15, Y:-42.19, Z:-3.99 [[ 9.48178265e-01 3.17580668e-01 1.00248243e-02 2.09147173e+02] [-3.17562402e-01 9.48231257e-01 -3.40641398e-03 -4.21905083e+01] [-1.05876630e-02 4.63804089e-05 9.99943948e-01 -3.99093903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.68862385300002 meters Centerline goodness [0,1] 0.9999135695764909 Centerline is valid? [True, True] Translation: X:209.18, Y:-42.20, Z:-3.99 [[ 9.47561131e-01 3.19420377e-01 9.92598884e-03 2.09178115e+02] [-3.19402565e-01 9.47613118e-01 -3.37332325e-03 -4.21987898e+01] [-1.04835054e-02 2.60436922e-05 9.99945046e-01 -3.99165450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.71862385300003 meters Centerline goodness [0,1] 0.9998693806465658 Centerline is valid? [True, True] Translation: X:209.21, Y:-42.21, Z:-3.99 [[ 9.46954393e-01 3.21200150e-01 1.03846357e-02 2.09209046e+02] [-3.21180738e-01 9.47011332e-01 -3.53122509e-03 -4.22066985e+01] [-1.09685978e-02 8.56413762e-06 9.99939843e-01 -3.99146755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.74862385300003 meters Centerline goodness [0,1] 0.9998050344439149 Centerline is valid? [True, True] Translation: X:209.24, Y:-42.21, Z:-3.99 [[ 9.45874453e-01 3.24360195e-01 1.05821677e-02 2.09240667e+02] [-3.24340208e-01 9.45933646e-01 -3.60086562e-03 -4.22111887e+01] [-1.11780059e-02 -2.62556676e-05 9.99937524e-01 -3.99168650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.77862385300003 meters Centerline goodness [0,1] 0.9998046535856919 Centerline is valid? [True, True] Translation: X:209.27, Y:-42.22, Z:-3.99 [[ 9.45483186e-01 3.25496263e-01 1.06642892e-02 2.09270169e+02] [-3.25476018e-01 9.45543326e-01 -3.63043024e-03 -4.22184262e+01] [-1.12652389e-02 -3.84596165e-05 9.99936544e-01 -3.99242436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.80862385300003 meters Centerline goodness [0,1] 0.999784375875973 Centerline is valid? [True, True] Translation: X:209.30, Y:-42.23, Z:-3.99 [[ 9.45185137e-01 3.26357462e-01 1.07639819e-02 2.09299524e+02] [-3.26336891e-01 9.45246425e-01 -3.66458298e-03 -4.22261422e+01] [-1.13705794e-02 -4.89750046e-05 9.99935352e-01 -3.99295606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.83862385300003 meters Centerline goodness [0,1] 0.9997621518768379 Centerline is valid? [True, True] Translation: X:209.33, Y:-42.23, Z:-3.99 [[ 9.44793485e-01 3.27493383e-01 1.06468013e-02 2.09328306e+02] [-3.27473328e-01 9.44853470e-01 -3.62476533e-03 -4.22332833e+01] [-1.12467538e-02 -6.18887745e-05 9.99936751e-01 -3.99428421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.868623853 meters Centerline goodness [0,1] 0.9998491509352642 Centerline is valid? [True, True] Translation: X:209.36, Y:-42.24, Z:-4.00 [[ 9.44735248e-01 3.27666719e-01 1.04800852e-02 2.09356499e+02] [-3.27647298e-01 9.44793373e-01 -3.56795388e-03 -4.22420822e+01] [-1.10706148e-02 -6.29997985e-05 9.99938717e-01 -3.99525726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.898623853 meters Centerline goodness [0,1] 0.9998290707860608 Centerline is valid? [True, True] Translation: X:209.38, Y:-42.25, Z:-4.00 [[ 9.44760772e-01 3.27591068e-01 1.05440177e-02 2.09383770e+02] [-3.27571407e-01 9.44819606e-01 -3.58952914e-03 -4.22506154e+01] [-1.11380923e-02 -6.26723837e-05 9.99937968e-01 -3.99579154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.928623853 meters Centerline goodness [0,1] 0.9997845616907598 Centerline is valid? [True, True] Translation: X:209.41, Y:-42.26, Z:-4.00 [[ 9.44836137e-01 3.27363284e-01 1.08606668e-02 2.09412021e+02] [-3.27342416e-01 9.44898553e-01 -3.69683002e-03 -4.22600431e+01] [-1.14724347e-02 -6.22582993e-05 9.99934188e-01 -3.99561312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.958623853 meters Centerline goodness [0,1] 0.9998283188119662 Centerline is valid? [True, True] Translation: X:209.44, Y:-42.27, Z:-4.00 [[ 9.45124454e-01 3.26523942e-01 1.10400390e-02 2.09439750e+02] [-3.26502323e-01 9.45188930e-01 -3.75767314e-03 -4.22690176e+01] [-1.16618929e-02 -5.31296064e-05 9.99931996e-01 -3.99589486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.988623853 meters Centerline goodness [0,1] 0.999849907800506 Centerline is valid? [True, True] Translation: X:209.47, Y:-42.28, Z:-4.00 [[ 9.45417862e-01 3.25673615e-01 1.10346276e-02 2.09465721e+02] [-3.25651963e-01 9.45482255e-01 -3.75555655e-03 -4.22783967e+01] [-1.16561302e-02 -4.28778770e-05 9.99932064e-01 -3.99684650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.018623853 meters Centerline goodness [0,1] 0.9999141041058237 Centerline is valid? [True, True] Translation: X:209.49, Y:-42.29, Z:-4.00 [[ 9.45770038e-01 3.24652392e-01 1.09480897e-02 2.09492982e+02] [-3.24631018e-01 9.45833402e-01 -3.72537054e-03 -4.22890461e+01] [-1.15645194e-02 -3.07456564e-05 9.99933128e-01 -3.99754670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.048623853 meters Centerline goodness [0,1] 0.9998281602405756 Centerline is valid? [True, True] Translation: X:209.52, Y:-42.30, Z:-4.00 [[ 9.46265024e-01 3.23212455e-01 1.07802225e-02 2.09519713e+02] [-3.23191644e-01 9.46326428e-01 -3.66773431e-03 -4.23005650e+01] [-1.13870669e-02 -1.34291471e-05 9.99935165e-01 -3.99880075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.078623853 meters Centerline goodness [0,1] 0.9998467500054732 Centerline is valid? [True, True] Translation: X:209.55, Y:-42.32, Z:-4.00 [[ 9.47370259e-01 3.19926676e-01 1.16839393e-02 2.09546422e+02] [-3.19901990e-01 9.47442305e-01 -3.97432279e-03 -4.23157826e+01] [-1.23413502e-02 2.74397870e-05 9.99923842e-01 -3.99794175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.108623853 meters Centerline goodness [0,1] 0.9998475045204017 Centerline is valid? [True, True] Translation: X:209.57, Y:-42.33, Z:-4.00 [[ 9.47950272e-01 3.18188019e-01 1.21105819e-02 2.09574107e+02] [-3.18161356e-01 9.48027627e-01 -4.11944640e-03 -4.23286454e+01] [-1.27919247e-02 5.19111803e-05 9.99918179e-01 -3.99722917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.138623853 meters Centerline goodness [0,1] 0.9996994031004423 Centerline is valid? [True, True] Translation: X:209.60, Y:-42.34, Z:-4.00 [[ 9.48418751e-01 3.16780025e-01 1.23405079e-02 2.09602514e+02] [-3.16752222e-01 9.48499030e-01 -4.19755123e-03 -4.23414919e+01] [-1.30346601e-02 7.21530005e-05 9.99915043e-01 -3.99701409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.168623853 meters Centerline goodness [0,1] 0.9998943699165522 Centerline is valid? [True, True] Translation: X:209.63, Y:-42.36, Z:-4.00 [[ 9.49140507e-01 3.14628600e-01 1.18802892e-02 2.09630571e+02] [-3.14602664e-01 9.49214852e-01 -4.04096008e-03 -4.23561188e+01] [-1.25483485e-02 9.78682820e-05 9.99921262e-01 -3.99908554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.19862385300002 meters Centerline goodness [0,1] 0.9998928808620948 Centerline is valid? [True, True] Translation: X:209.66, Y:-42.37, Z:-4.00 [[ 9.49492824e-01 3.13592608e-01 1.10929619e-02 2.09658366e+02] [-3.13569909e-01 9.49557616e-01 -3.77451202e-03 -4.23678624e+01] [-1.17170655e-02 1.05453025e-04 9.99931347e-01 -3.99680921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.22862385300002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:209.69, Y:-42.38, Z:-4.00 [[ 9.49579348e-01 3.13334907e-01 1.09680215e-02 2.09688219e+02] [-3.13312709e-01 9.49642683e-01 -3.73122797e-03 -4.23793091e+01] [-1.15848253e-02 1.06676497e-04 9.99932888e-01 -4.00191836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.25862385300002 meters Centerline goodness [0,1] 0.999826535701121 Centerline is valid? [True, True] Translation: X:209.72, Y:-42.39, Z:-4.00 [[ 9.49692972e-01 3.12972842e-01 1.14568869e-02 2.09717783e+02] [-3.12948569e-01 9.49762068e-01 -3.89960303e-03 -4.23914432e+01] [-1.21017865e-02 1.18009222e-04 9.99926764e-01 -4.00165742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.28862385300002 meters Centerline goodness [0,1] 0.9998508575689784 Centerline is valid? [True, True] Translation: X:209.75, Y:-42.40, Z:-4.00 [[ 9.49501451e-01 3.13558173e-01 1.13255105e-02 2.09746476e+02] [-3.13534462e-01 9.49568986e-01 -3.85760454e-03 -4.24007849e+01] [-1.19639370e-02 1.11863266e-04 9.99928423e-01 -4.00190481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.31862385300002 meters Centerline goodness [0,1] 0.9998928349443813 Centerline is valid? [True, True] Translation: X:209.78, Y:-42.41, Z:-4.00 [[ 9.49259387e-01 3.14288352e-01 1.13775391e-02 2.09776127e+02] [-3.14264473e-01 9.49327563e-01 -3.87552719e-03 -4.24096044e+01] [-1.20190445e-02 1.03324243e-04 9.99927763e-01 -4.00203988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.34862385300002 meters Centerline goodness [0,1] 0.999914030261348 Centerline is valid? [True, True] Translation: X:209.81, Y:-42.41, Z:-4.00 [[ 9.48481983e-01 3.16619357e-01 1.15806498e-02 2.09805153e+02] [-3.16594790e-01 9.48552675e-01 -3.94483462e-03 -4.24149745e+01] [-1.22338674e-02 7.52311655e-05 9.99925161e-01 -4.00282088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.37862385300002 meters Centerline goodness [0,1] 0.9999136833473597 Centerline is valid? [True, True] Translation: X:209.83, Y:-42.42, Z:-4.00 [[ 9.47956141e-01 3.18183458e-01 1.17660947e-02 2.09833984e+02] [-3.18158222e-01 9.48029158e-01 -4.00771697e-03 -4.24212553e+01] [-1.24297901e-02 5.56601609e-05 9.99922746e-01 -4.00311385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.40862385300002 meters Centerline goodness [0,1] 0.9997642116093629 Centerline is valid? [True, True] Translation: X:209.86, Y:-42.43, Z:-4.00 [[ 9.47338853e-01 3.20022882e-01 1.15954025e-02 2.09861068e+02] [-3.19998512e-01 9.47409813e-01 -3.94948600e-03 -4.24265534e+01] [-1.22495240e-02 3.09899937e-05 9.99924971e-01 -4.00384162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.43862385300002 meters Centerline goodness [0,1] 0.9996320107366279 Centerline is valid? [True, True] Translation: X:209.89, Y:-42.43, Z:-4.00 [[ 9.46016421e-01 3.23894980e-01 1.20404849e-02 2.09890870e+02] [-3.23869027e-01 9.46093041e-01 -4.10028275e-03 -4.24278806e+01] [-1.27194800e-02 -2.06053156e-05 9.99919104e-01 -4.00311146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.46862385300003 meters Centerline goodness [0,1] 0.9994213831086728 Centerline is valid? [True, True] Translation: X:209.92, Y:-42.43, Z:-4.00 [[ 9.45311277e-01 3.25949212e-01 1.19875739e-02 2.09918694e+02] [-3.25923657e-01 9.45387280e-01 -4.08177352e-03 -4.24321014e+01] [-1.26633508e-02 -4.84873874e-05 9.99919815e-01 -4.00340133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.49862385300003 meters Centerline goodness [0,1] 0.9992443542467291 Centerline is valid? [True, True] Translation: X:209.95, Y:-42.44, Z:-4.00 [[ 9.44683618e-01 3.27747154e-01 1.24364471e-02 2.09947829e+02] [-3.27719816e-01 9.44765472e-01 -4.23375445e-03 -4.24370129e+01] [-1.31371268e-02 -7.61116893e-05 9.99913701e-01 -4.00353110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.52862385300003 meters Centerline goodness [0,1] 0.9991883983682536 Centerline is valid? [True, True] Translation: X:209.98, Y:-42.44, Z:-4.00 [[ 9.43333296e-01 3.31625740e-01 1.21103699e-02 2.09977759e+02] [-3.31600142e-01 9.43411020e-01 -4.12226016e-03 -4.24365464e+01] [-1.27921040e-02 -1.27135132e-04 9.99918170e-01 -4.00435161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.55862385300003 meters Centerline goodness [0,1] 0.9990451181666269 Centerline is valid? [True, True] Translation: X:210.01, Y:-42.44, Z:-4.01 [[ 9.42810707e-01 3.33107269e-01 1.21456808e-02 2.10006818e+02] [-3.33081655e-01 9.42888925e-01 -4.13352556e-03 -4.24419287e+01] [-1.28289353e-02 -1.48371286e-04 9.99917695e-01 -4.00563430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.58862385300003 meters Centerline goodness [0,1] 0.9990112842557765 Centerline is valid? [True, True] Translation: X:210.04, Y:-42.45, Z:-4.01 [[ 9.42255984e-01 3.34696352e-01 1.14896595e-02 2.10035702e+02] [-3.34673554e-01 9.42326019e-01 -3.90977658e-03 -4.24469005e+01] [-1.21355930e-02 -1.61274792e-04 9.99926348e-01 -4.00730315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.618623853 meters Centerline goodness [0,1] 0.9991855106633801 Centerline is valid? [True, True] Translation: X:210.07, Y:-42.45, Z:-4.01 [[ 9.41498416e-01 3.36845967e-01 1.07483726e-02 2.10066059e+02] [-3.36826160e-01 9.41559750e-01 -3.65708127e-03 -4.24476316e+01] [-1.13521081e-02 -1.77196851e-04 9.99935547e-01 -4.00969913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.648623853 meters Centerline goodness [0,1] 0.9990484017474804 Centerline is valid? [True, True] Translation: X:210.09, Y:-42.45, Z:-4.01 [[ 9.41292583e-01 3.37413948e-01 1.09590244e-02 2.10094821e+02] [-3.37393402e-01 9.41356358e-01 -3.72824035e-03 -4.24535783e+01] [-1.15743076e-02 -1.88137543e-04 9.99932998e-01 -4.01057759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.678623853 meters Centerline goodness [0,1] 0.9986453360856664 Centerline is valid? [True, True] Translation: X:210.12, Y:-42.46, Z:-4.00 [[ 9.41197750e-01 3.37699044e-01 1.03029819e-02 2.10122680e+02] [-3.37680899e-01 9.41254123e-01 -3.50536423e-03 -4.24607359e+01] [-1.08814824e-02 -1.79879272e-04 9.99940779e-01 -4.00366799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.708623853 meters Centerline goodness [0,1] 0.9989128812909002 Centerline is valid? [True, True] Translation: X:210.15, Y:-42.47, Z:-4.01 [[ 9.41176507e-01 3.37740556e-01 1.08673706e-02 2.10148059e+02] [-3.37720398e-01 9.41239226e-01 -3.69499664e-03 -4.24738962e+01] [-1.14767457e-02 -1.92488696e-04 9.99934121e-01 -4.00872807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.738623853 meters Centerline goodness [0,1] 0.998691689008043 Centerline is valid? [True, True] Translation: X:210.18, Y:-42.48, Z:-4.01 [[ 9.41241002e-01 3.37551148e-01 1.11624153e-02 2.10177061e+02] [-3.37529878e-01 9.41307168e-01 -3.79437141e-03 -4.24753768e+01] [-1.17880560e-02 -1.96230730e-04 9.99930499e-01 -4.01108964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.768623853 meters Centerline goodness [0,1] 0.9990515197240785 Centerline is valid? [True, True] Translation: X:210.20, Y:-42.49, Z:-4.01 [[ 9.41402002e-01 3.37077080e-01 1.18875265e-02 2.10202666e+02] [-3.37052930e-01 9.41477032e-01 -4.04000092e-03 -4.24901846e+01] [-1.25536249e-02 -2.03460682e-04 9.99921179e-01 -4.00749865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.798623853 meters Centerline goodness [0,1] 0.9989280048025385 Centerline is valid? [True, True] Translation: X:210.23, Y:-42.49, Z:-4.01 [[ 9.41597155e-01 3.36524526e-01 1.20847270e-02 2.10232037e+02] [-3.36499530e-01 9.41674680e-01 -4.10642784e-03 -4.24904249e+01] [-1.27617951e-02 -1.99904195e-04 9.99918545e-01 -4.01027405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.828623853 meters Centerline goodness [0,1] 0.9991001028453891 Centerline is valid? [True, True] Translation: X:210.26, Y:-42.50, Z:-4.01 [[ 9.42087985e-01 3.35153635e-01 1.19276981e-02 2.10260327e+02] [-3.35129180e-01 9.42163472e-01 -4.05270173e-03 -4.24984127e+01] [-1.25961191e-02 -1.79318062e-04 9.99920650e-01 -4.01134283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.858623853 meters Centerline goodness [0,1] 0.9990149682006039 Centerline is valid? [True, True] Translation: X:210.29, Y:-42.51, Z:-4.01 [[ 9.42485006e-01 3.34041529e-01 1.17588677e-02 2.10285206e+02] [-3.34017701e-01 9.42558343e-01 -3.99314457e-03 -4.25134763e+01] [-1.24172949e-02 -1.64191058e-04 9.99922889e-01 -4.00999293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.888623853 meters Centerline goodness [0,1] 0.9991332986652799 Centerline is valid? [True, True] Translation: X:210.31, Y:-42.52, Z:-4.01 [[ 9.43001382e-01 3.32586217e-01 1.16104095e-02 2.10311450e+02] [-3.32562884e-01 9.43072843e-01 -3.94216371e-03 -4.25247260e+01] [-1.22605712e-02 -1.43725451e-04 9.99924826e-01 -4.01011493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.918623853 meters Centerline goodness [0,1] 0.9990495939174011 Centerline is valid? [True, True] Translation: X:210.34, Y:-42.53, Z:-4.01 [[ 9.43541388e-01 3.31057118e-01 1.14383073e-02 2.10338528e+02] [-3.31034366e-01 9.43610709e-01 -3.88312491e-03 -4.25347325e+01] [-1.20788454e-02 -1.22583732e-04 9.99927041e-01 -4.01089464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.94862385300002 meters Centerline goodness [0,1] 0.9991817751173506 Centerline is valid? [True, True] Translation: X:210.36, Y:-42.55, Z:-4.01 [[ 9.44663484e-01 3.27855463e-01 1.10317026e-02 2.10364787e+02] [-3.27834089e-01 9.44727892e-01 -3.74445154e-03 -4.25460647e+01] [-1.16495960e-02 -7.93215329e-05 9.99932138e-01 -4.01236352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.97862385300002 meters Centerline goodness [0,1] 0.9991817751173506 Centerline is valid? [True, True] Translation: X:210.39, Y:-42.56, Z:-4.01 [[ 9.44679115e-01 3.27810416e-01 1.10318148e-02 2.10391645e+02] [-3.27789043e-01 9.44743523e-01 -3.74412086e-03 -4.25550897e+01] [-1.16495974e-02 -7.91152476e-05 9.99932138e-01 -4.01286310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.00862385300002 meters Centerline goodness [0,1] 0.9993366713741602 Centerline is valid? [True, True] Translation: X:210.42, Y:-42.56, Z:-4.01 [[ 9.45247884e-01 3.26166766e-01 1.10307637e-02 2.10417494e+02] [-3.26145291e-01 9.45312243e-01 -3.74327764e-03 -4.25645302e+01] [-1.16484488e-02 -5.93063704e-05 9.99932153e-01 -4.01382556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.03862385300002 meters Centerline goodness [0,1] 0.9991587575496117 Centerline is valid? [True, True] Translation: X:210.44, Y:-42.57, Z:-4.01 [[ 9.45797005e-01 3.24582993e-01 1.06726767e-02 2.10444812e+02] [-3.24562798e-01 9.45857219e-01 -3.62093200e-03 -4.25741057e+01] [-1.12701213e-02 -3.92871753e-05 9.99936489e-01 -4.00696068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.06862385300002 meters Centerline goodness [0,1] 0.999595202079383 Centerline is valid? [True, True] Translation: X:210.47, Y:-42.58, Z:-4.02 [[ 9.46106901e-01 3.23661095e-01 1.11905529e-02 2.10471004e+02] [-3.23638834e-01 9.46173079e-01 -3.79610397e-03 -4.25823172e+01] [-1.18168511e-02 -3.01773284e-05 9.99930178e-01 -4.01531704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.09862385300002 meters Centerline goodness [0,1] 0.9995287767472744 Centerline is valid? [True, True] Translation: X:210.50, Y:-42.59, Z:-4.01 [[ 9.46552041e-01 3.22345750e-01 1.15087687e-02 2.10498812e+02] [-3.22322119e-01 9.46622003e-01 -3.90311853e-03 -4.25912141e+01] [-1.21526074e-02 -1.50259179e-05 9.99926154e-01 -4.01441720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.12862385300002 meters Centerline goodness [0,1] 0.9995440036479708 Centerline is valid? [True, True] Translation: X:210.53, Y:-42.60, Z:-4.02 [[ 9.46663118e-01 3.22009011e-01 1.17957006e-02 2.10525387e+02] [-3.21984167e-01 9.46736604e-01 -3.99987997e-03 -4.25991637e+01] [-1.24554189e-02 -1.14899809e-05 9.99922428e-01 -4.01500261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.15862385300002 meters Centerline goodness [0,1] 0.999486762756084 Centerline is valid? [True, True] Translation: X:210.55, Y:-42.61, Z:-4.01 [[ 9.46603833e-01 3.22190015e-01 1.16093743e-02 2.10553299e+02] [-3.22165975e-01 9.46675020e-01 -3.93578422e-03 -4.26072715e+01] [-1.22583751e-02 -1.45169635e-05 9.99924863e-01 -4.01472215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.18862385300002 meters Centerline goodness [0,1] 0.9995462010545423 Centerline is valid? [True, True] Translation: X:210.58, Y:-42.61, Z:-4.02 [[ 9.46421114e-01 3.22723813e-01 1.16797042e-02 2.10581158e+02] [-3.22699528e-01 9.46493180e-01 -3.95906542e-03 -4.26117071e+01] [-1.23324451e-02 -2.20919431e-05 9.99923952e-01 -4.01588410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.21862385300003 meters Centerline goodness [0,1] 0.9994637379609173 Centerline is valid? [True, True] Translation: X:210.61, Y:-42.62, Z:-4.02 [[ 9.46209078e-01 3.23343894e-01 1.17092368e-02 2.10609646e+02] [-3.23319545e-01 9.46281525e-01 -3.96823047e-03 -4.26179891e+01] [-1.23633376e-02 -3.10494221e-05 9.99923571e-01 -4.01617429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.24862385300003 meters Centerline goodness [0,1] 0.9996543455248548 Centerline is valid? [True, True] Translation: X:210.64, Y:-42.62, Z:-4.02 [[ 9.46047673e-01 3.23815585e-01 1.17161353e-02 2.10638195e+02] [-3.23791250e-01 9.46120217e-01 -3.96996755e-03 -4.26242461e+01] [-1.23704098e-02 -3.78035208e-05 9.99923483e-01 -4.01663543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.27862385300003 meters Centerline goodness [0,1] 0.9993827423268485 Centerline is valid? [True, True] Translation: X:210.67, Y:-42.63, Z:-4.02 [[ 9.45865789e-01 3.24350745e-01 1.15975380e-02 2.10665488e+02] [-3.24326947e-01 9.45936886e-01 -3.92924051e-03 -4.26297361e+01] [-1.22449910e-02 -4.48599004e-05 9.99925026e-01 -4.01751634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.30862385300003 meters Centerline goodness [0,1] 0.9995700496592643 Centerline is valid? [True, True] Translation: X:210.69, Y:-42.63, Z:-4.02 [[ 9.45642425e-01 3.25006752e-01 1.14461364e-02 2.10694000e+02] [-3.24983630e-01 9.45711694e-01 -3.87712739e-03 -4.26347169e+01] [-1.20848377e-02 -5.34308219e-05 9.99926974e-01 -4.01782433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.33862385300003 meters Centerline goodness [0,1] 0.9995015171218032 Centerline is valid? [True, True] Translation: X:210.72, Y:-42.64, Z:-4.02 [[ 9.45577663e-01 3.25188207e-01 1.16410105e-02 2.10720702e+02] [-3.25164310e-01 9.45649315e-01 -3.94270818e-03 -4.26413223e+01] [-1.22904358e-02 -5.71043516e-05 9.99924468e-01 -4.01831467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.368623853 meters Centerline goodness [0,1] 0.9991643812135755 Centerline is valid? [True, True] Translation: X:210.75, Y:-42.65, Z:-4.01 [[ 9.45580181e-01 3.25206417e-01 1.09045127e-02 2.10748318e+02] [-3.25185461e-01 9.45643053e-01 -3.69220357e-03 -4.26478259e+01] [-1.15125050e-02 -5.47144675e-05 9.99933727e-01 -4.01107889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.398623853 meters Centerline goodness [0,1] 0.9995243346089814 Centerline is valid? [True, True] Translation: X:210.78, Y:-42.65, Z:-4.02 [[ 9.45540106e-01 3.25295682e-01 1.16887445e-02 2.10776790e+02] [-3.25271622e-01 9.45612350e-01 -3.95684215e-03 -4.26546984e+01] [-1.23401648e-02 -6.06639314e-05 9.99923855e-01 -4.01944275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.428623853 meters Centerline goodness [0,1] 0.9995060773955247 Centerline is valid? [True, True] Translation: X:210.81, Y:-42.66, Z:-4.02 [[ 9.45561701e-01 3.25244325e-01 1.13665471e-02 2.10805733e+02] [-3.25221576e-01 9.45630015e-01 -3.84721797e-03 -4.26592676e+01] [-1.19998340e-02 -5.88644038e-05 9.99927998e-01 -4.02118561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.458623853 meters Centerline goodness [0,1] 0.9994638989556751 Centerline is valid? [True, True] Translation: X:210.83, Y:-42.67, Z:-4.02 [[ 9.45593657e-01 3.25153014e-01 1.13205036e-02 2.10831928e+02] [-3.25130447e-01 9.45661416e-01 -3.83126725e-03 -4.26651921e+01] [-1.19511115e-02 -5.78183830e-05 9.99928581e-01 -4.02228898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.488623853 meters Centerline goodness [0,1] 0.9996551352516435 Centerline is valid? [True, True] Translation: X:210.86, Y:-42.67, Z:-4.02 [[ 9.45730590e-01 3.24765329e-01 1.10059932e-02 2.10858796e+02] [-3.24743983e-01 9.45794628e-01 -3.72386148e-03 -4.26730585e+01] [-1.16187904e-02 -5.23603591e-05 9.99932498e-01 -4.02138282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.518623853 meters Centerline goodness [0,1] 0.9995472576750604 Centerline is valid? [True, True] Translation: X:210.89, Y:-42.68, Z:-4.02 [[ 9.46087162e-01 3.23726956e-01 1.09517053e-02 2.10885949e+02] [-3.23705762e-01 9.46150546e-01 -3.70452608e-03 -4.26790763e+01] [-1.15612169e-02 -4.03255553e-05 9.99933166e-01 -4.02417357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.548623853 meters Centerline goodness [0,1] 0.9994824128189091 Centerline is valid? [True, True] Translation: X:210.91, Y:-42.69, Z:-4.02 [[ 9.46474492e-01 3.22585909e-01 1.11520263e-02 2.10912957e+02] [-3.22563864e-01 9.46540189e-01 -3.77142877e-03 -4.26884601e+01] [-1.17724509e-02 -2.76795631e-05 9.99930702e-01 -4.02352332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.578623853 meters Centerline goodness [0,1] 0.9995907553794129 Centerline is valid? [True, True] Translation: X:210.94, Y:-42.70, Z:-4.02 [[ 9.46866358e-01 3.21419544e-01 1.15575913e-02 2.10940807e+02] [-3.21395786e-01 9.46936892e-01 -3.90795602e-03 -4.26974184e+01] [-1.22004030e-02 -1.42490416e-05 9.99925572e-01 -4.02203807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.608623853 meters Centerline goodness [0,1] 0.9996554620039191 Centerline is valid? [True, True] Translation: X:210.97, Y:-42.71, Z:-4.02 [[ 9.47826357e-01 3.18542051e-01 1.24963376e-02 2.10967785e+02] [-3.18514035e-01 9.47908731e-01 -4.22467232e-03 -4.27052572e+01] [-1.31911233e-02 2.39968663e-05 9.99912993e-01 -4.02183681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.638623853 meters Centerline goodness [0,1] 0.99976365433372 Centerline is valid? [True, True] Translation: X:210.99, Y:-42.71, Z:-4.02 [[ 9.48361098e-01 3.16959932e-01 1.21502420e-02 2.10994266e+02] [-3.16933326e-01 9.48438928e-01 -4.10696838e-03 -4.27146690e+01] [-1.28255069e-02 4.40724404e-05 9.99917749e-01 -4.02352836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.668623853 meters Centerline goodness [0,1] 0.9994191674733786 Centerline is valid? [True, True] Translation: X:211.02, Y:-42.72, Z:-4.02 [[ 9.48947300e-01 3.15224388e-01 1.15155417e-02 2.11021893e+02] [-3.15200375e-01 9.49017166e-01 -3.89131769e-03 -4.27244626e+01] [-1.21550850e-02 6.29523502e-05 9.99926122e-01 -4.01716761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.69862385300002 meters Centerline goodness [0,1] 0.9998732572877059 Centerline is valid? [True, True] Translation: X:211.05, Y:-42.74, Z:-4.03 [[ 9.50054795e-01 3.11871861e-01 1.14816494e-02 2.11046679e+02] [-3.11847751e-01 9.50124166e-01 -3.87931741e-03 -4.27373040e+01] [-1.21188425e-02 1.05037559e-04 9.99926559e-01 -4.02746822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.72862385300002 meters Centerline goodness [0,1] 0.9999358069071768 Centerline is valid? [True, True] Translation: X:211.07, Y:-42.75, Z:-4.03 [[ 9.50660481e-01 3.10035642e-01 1.10702536e-02 2.11073551e+02] [-3.10013113e-01 9.50724926e-01 -3.73951819e-03 -4.27486402e+01] [-1.16841499e-02 1.23088389e-04 9.99931730e-01 -4.02908965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.75862385300002 meters Centerline goodness [0,1] 0.9998926347433971 Centerline is valid? [True, True] Translation: X:211.10, Y:-42.76, Z:-4.03 [[ 9.51242479e-01 3.08257277e-01 1.07330448e-02 2.11098750e+02] [-3.08235991e-01 9.51303018e-01 -3.62517270e-03 -4.27601714e+01] [-1.13278637e-02 1.40107564e-04 9.99935828e-01 -4.03045722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.78862385300002 meters Centerline goodness [0,1] 0.9998709233284571 Centerline is valid? [True, True] Translation: X:211.13, Y:-42.77, Z:-4.03 [[ 9.52279555e-01 3.05038791e-01 1.07231576e-02 2.11125785e+02] [-3.05017348e-01 9.52339910e-01 -3.62112459e-03 -4.27701087e+01] [-1.13166744e-02 1.77573817e-04 9.99935949e-01 -4.02879388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.81862385300002 meters Centerline goodness [0,1] 0.9997195435031174 Centerline is valid? [True, True] Translation: X:211.15, Y:-42.78, Z:-4.03 [[ 9.52762708e-01 3.03514639e-01 1.10492896e-02 2.11151779e+02] [-3.03491776e-01 9.52826754e-01 -3.73070629e-03 -4.27808589e+01] [-1.16603827e-02 2.01109288e-04 9.99931995e-01 -4.02922360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.84862385300002 meters Centerline goodness [0,1] 0.9997426163052571 Centerline is valid? [True, True] Translation: X:211.18, Y:-42.79, Z:-4.03 [[ 9.53096485e-01 3.02457141e-01 1.12590912e-02 2.11178501e+02] [-3.02433338e-01 9.53162961e-01 -3.80076411e-03 -4.27903331e+01] [-1.18813170e-02 2.17370389e-04 9.99929391e-01 -4.02906582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.87862385300002 meters Centerline goodness [0,1] 0.9997409214560214 Centerline is valid? [True, True] Translation: X:211.21, Y:-42.80, Z:-4.03 [[ 9.53472899e-01 3.01229960e-01 1.22450573e-02 2.11206064e+02] [-3.01201716e-01 9.53551492e-01 -4.13263586e-03 -4.27994761e+01] [-1.29211664e-02 2.52124028e-04 9.99916486e-01 -4.02847559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.90862385300002 meters Centerline goodness [0,1] 0.9995023583885067 Centerline is valid? [True, True] Translation: X:211.23, Y:-42.81, Z:-4.02 [[ 9.53564627e-01 3.00958065e-01 1.17790382e-02 2.11233285e+02] [-3.00931917e-01 9.53637343e-01 -3.97475991e-03 -4.28087163e+01] [-1.24291668e-02 2.45501883e-04 9.99922725e-01 -4.02186206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.93862385300002 meters Centerline goodness [0,1] 0.9997844595322772 Centerline is valid? [True, True] Translation: X:211.26, Y:-42.82, Z:-4.03 [[ 9.53596581e-01 3.00846830e-01 1.20310282e-02 2.11259466e+02] [-3.00819549e-01 9.53672439e-01 -4.05919472e-03 -4.28185621e+01] [-1.26948559e-02 2.51665721e-04 9.99919385e-01 -4.02944456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.96862385300003 meters Centerline goodness [0,1] 0.9998299211259222 Centerline is valid? [True, True] Translation: X:211.29, Y:-42.83, Z:-4.03 [[ 9.53440755e-01 3.01343374e-01 1.19539783e-02 2.11287673e+02] [-3.01316490e-01 9.53515659e-01 -4.03248489e-03 -4.28267290e+01] [-1.26134681e-02 2.42804663e-04 9.99920418e-01 -4.03047051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.99862385300003 meters Centerline goodness [0,1] 0.9998699299789721 Centerline is valid? [True, True] Translation: X:211.32, Y:-42.83, Z:-4.03 [[ 9.53054898e-01 3.02580156e-01 1.14722007e-02 2.11315971e+02] [-3.02555497e-01 9.53123918e-01 -3.86894706e-03 -4.28329371e+01] [-1.21050955e-02 2.16341561e-04 9.99926707e-01 -4.03271793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.02862385300003 meters Centerline goodness [0,1] 0.9999350635295137 Centerline is valid? [True, True] Translation: X:211.34, Y:-42.84, Z:-4.03 [[ 9.52733146e-01 3.03609887e-01 1.09813421e-02 2.11344403e+02] [-3.03587367e-01 9.52796410e-01 -3.70288315e-03 -4.28390898e+01] [-1.15872153e-02 1.94062772e-04 9.99932847e-01 -4.03367629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.05862385300003 meters Centerline goodness [0,1] 0.9998706924419732 Centerline is valid? [True, True] Translation: X:211.37, Y:-42.84, Z:-4.04 [[ 9.52168822e-01 3.05391061e-01 1.05277754e-02 2.11372341e+02] [-3.05370477e-01 9.52227007e-01 -3.54950749e-03 -4.28436621e+01] [-1.11088199e-02 1.64858577e-04 9.99938282e-01 -4.03511980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.08862385300003 meters Centerline goodness [0,1] 0.9998930801471217 Centerline is valid? [True, True] Translation: X:211.40, Y:-42.85, Z:-4.04 [[ 9.52029702e-01 3.05828403e-01 1.04131613e-02 2.11398818e+02] [-3.05808296e-01 9.52086636e-01 -3.51036332e-03 -4.28517228e+01] [-1.09878005e-02 1.57539032e-04 9.99939620e-01 -4.03576010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.118623853 meters Centerline goodness [0,1] 0.9998701467341904 Centerline is valid? [True, True] Translation: X:211.43, Y:-42.86, Z:-4.04 [[ 9.52068108e-01 3.05704601e-01 1.05363618e-02 2.11425885e+02] [-3.05684020e-01 9.52126395e-01 -3.55083919e-03 -4.28604805e+01] [-1.11174561e-02 1.59843315e-04 9.99938186e-01 -4.03601673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.148623853 meters Centerline goodness [0,1] 0.9997829342942108 Centerline is valid? [True, True] Translation: X:211.45, Y:-42.87, Z:-4.04 [[ 9.52154177e-01 3.05428884e-01 1.07526696e-02 2.11452459e+02] [-3.05407441e-01 9.52214876e-01 -3.62288575e-03 -4.28699712e+01] [-1.13453859e-02 1.65600499e-04 9.99935625e-01 -4.03600807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.178623853 meters Centerline goodness [0,1] 0.9997418910780349 Centerline is valid? [True, True] Translation: X:211.48, Y:-42.88, Z:-4.04 [[ 9.52482518e-01 3.04386073e-01 1.12326249e-02 2.11478063e+02] [-3.04362613e-01 9.52548731e-01 -3.78360825e-03 -4.28804777e+01] [-1.18513003e-02 1.85029644e-04 9.99929754e-01 -4.03570955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.208623853 meters Centerline goodness [0,1] 0.9995352079944225 Centerline is valid? [True, True] Translation: X:211.50, Y:-42.89, Z:-4.04 [[ 9.52703883e-01 3.03689221e-01 1.13211229e-02 2.11503434e+02] [-3.03665349e-01 9.52771126e-01 -3.81268756e-03 -4.28913572e+01] [-1.19443111e-02 1.94529516e-04 9.99928645e-01 -4.03672592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.238623853 meters Centerline goodness [0,1] 0.9996765986805226 Centerline is valid? [True, True] Translation: X:211.53, Y:-42.90, Z:-4.04 [[ 9.52996499e-01 3.02774401e-01 1.11953204e-02 2.11530663e+02] [-3.02751002e-01 9.53062234e-01 -3.76955188e-03 -4.29014814e+01] [-1.18111609e-02 2.02975265e-04 9.99930225e-01 -4.03679125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.268623853 meters Centerline goodness [0,1] 0.9996338574197717 Centerline is valid? [True, True] Translation: X:211.56, Y:-42.91, Z:-4.04 [[ 9.53337541e-01 3.01715377e-01 1.07407652e-02 2.11555992e+02] [-3.01693777e-01 9.53398022e-01 -3.61606635e-03 -4.29134256e+01] [-1.13312471e-02 2.06909774e-04 9.99935778e-01 -4.03813426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.298623853 meters Centerline goodness [0,1] 0.9995474723096152 Centerline is valid? [True, True] Translation: X:211.58, Y:-42.92, Z:-4.04 [[ 9.53462065e-01 3.01321739e-01 1.07377954e-02 2.11583071e+02] [-3.01300136e-01 9.53522504e-01 -3.61432640e-03 -4.29233827e+01] [-1.13278047e-02 2.10823904e-04 9.99935816e-01 -4.03862233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.328623853 meters Centerline goodness [0,1] 0.9995501478085772 Centerline is valid? [True, True] Translation: X:211.61, Y:-42.93, Z:-4.04 [[ 9.53535971e-01 3.01081347e-01 1.09167136e-02 2.11610441e+02] [-3.01059008e-01 9.53598435e-01 -3.67398745e-03 -4.29332321e+01] [-1.15163301e-02 2.16704237e-04 9.99933661e-01 -4.03857842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.358623853 meters Centerline goodness [0,1] 0.9996141065494694 Centerline is valid? [True, True] Translation: X:211.64, Y:-42.94, Z:-4.04 [[ 9.53544662e-01 3.01039210e-01 1.13124966e-02 2.11638443e+02] [-3.01015226e-01 9.53611736e-01 -3.80660171e-03 -4.29410550e+01] [-1.19336659e-02 2.24531029e-04 9.99928766e-01 -4.03731010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.388623853 meters Centerline goodness [0,1] 0.999568416736799 Centerline is valid? [True, True] Translation: X:211.66, Y:-42.95, Z:-4.04 [[ 9.53531248e-01 3.01076309e-01 1.14549320e-02 2.11663497e+02] [-3.01051726e-01 9.53600024e-01 -3.85398392e-03 -4.29539339e+01] [-1.20837667e-02 2.26367039e-04 9.99926963e-01 -4.03850157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.418623853 meters Centerline goodness [0,1] 0.9995887712919075 Centerline is valid? [True, True] Translation: X:211.69, Y:-42.96, Z:-4.04 [[ 9.53461198e-01 3.01283943e-01 1.18206901e-02 2.11691119e+02] [-3.01257792e-01 9.53534442e-01 -3.97616184e-03 -4.29615401e+01] [-1.24693889e-02 2.30041034e-04 9.99922228e-01 -4.03835011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.44862385300002 meters Centerline goodness [0,1] 0.9994854312729143 Centerline is valid? [True, True] Translation: X:211.72, Y:-42.97, Z:-4.04 [[ 9.53517975e-01 3.01089579e-01 1.21875846e-02 2.11716100e+02] [-3.01061771e-01 9.53595831e-01 -4.09898880e-03 -4.29743747e+01] [-1.28561927e-02 2.39243690e-04 9.99917327e-01 -4.03837366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.47862385300002 meters Centerline goodness [0,1] 0.9994647024816393 Centerline is valid? [True, True] Translation: X:211.74, Y:-42.98, Z:-4.04 [[ 9.53534999e-01 3.01046419e-01 1.19188686e-02 2.11741887e+02] [-3.01019829e-01 9.53609458e-01 -4.00793047e-03 -4.29841769e+01] [-1.25725190e-02 2.33886184e-04 9.99920935e-01 -4.03925261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.50862385300002 meters Centerline goodness [0,1] 0.9994396672485507 Centerline is valid? [True, True] Translation: X:211.77, Y:-42.99, Z:-4.04 [[ 9.53541883e-01 3.01024794e-01 1.19142784e-02 2.11768143e+02] [-3.00998234e-01 9.53616285e-01 -4.00552603e-03 -4.29940350e+01] [-1.25674126e-02 2.33260062e-04 9.99921000e-01 -4.03978233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.53862385300002 meters Centerline goodness [0,1] 0.9993101515510812 Centerline is valid? [True, True] Translation: X:211.79, Y:-43.00, Z:-4.04 [[ 9.53566724e-01 3.00940884e-01 1.20451706e-02 2.11793340e+02] [-3.00913741e-01 9.53642768e-01 -4.04869727e-03 -4.30044134e+01] [-1.27052084e-02 2.36145639e-04 9.99919258e-01 -4.04058360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.56862385300002 meters Centerline goodness [0,1] 0.9992018637559861 Centerline is valid? [True, True] Translation: X:211.82, Y:-43.01, Z:-4.03 [[ 9.53246961e-01 3.01981356e-01 1.12912101e-02 2.11821944e+02] [-3.01957589e-01 9.53313809e-01 -3.79424012e-03 -4.30093079e+01] [-1.19098562e-02 2.07381292e-04 9.99929054e-01 -4.03155283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.59862385300002 meters Centerline goodness [0,1] 0.9995872167546547 Centerline is valid? [True, True] Translation: X:211.85, Y:-43.02, Z:-4.04 [[ 9.53103740e-01 3.02425185e-01 1.15008217e-02 2.11849366e+02] [-3.02400568e-01 9.53173104e-01 -3.86406059e-03 -4.30172470e+01] [-1.21308632e-02 2.04995578e-04 9.99926397e-01 -4.04036813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.62862385300002 meters Centerline goodness [0,1] 0.999462735321929 Centerline is valid? [True, True] Translation: X:211.88, Y:-43.03, Z:-4.04 [[ 9.52701025e-01 3.03694289e-01 1.14252772e-02 2.11875446e+02] [-3.03670092e-01 9.52769513e-01 -3.83813417e-03 -4.30265928e+01] [-1.20512752e-02 1.87079390e-04 9.99927363e-01 -4.03721822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.65862385300002 meters Centerline goodness [0,1] 0.9997012186012763 Centerline is valid? [True, True] Translation: X:211.90, Y:-43.03, Z:-4.04 [[ 9.51877244e-01 3.06261314e-01 1.15636982e-02 2.11904103e+02] [-3.06236728e-01 9.51947469e-01 -3.88368821e-03 -4.30333967e+01] [-1.21974567e-02 1.55565325e-04 9.99925596e-01 -4.04132876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.68862385300002 meters Centerline goodness [0,1] 0.9997202797202798 Centerline is valid? [True, True] Translation: X:211.93, Y:-43.04, Z:-4.04 [[ 9.51304657e-01 3.08038491e-01 1.14777325e-02 2.11932299e+02] [-3.08014403e-01 9.51373886e-01 -3.85443911e-03 -4.30403513e+01] [-1.21069306e-02 1.31438958e-04 9.99926700e-01 -4.04202704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.71862385300003 meters Centerline goodness [0,1] 0.9997219786565154 Centerline is valid? [True, True] Translation: X:211.96, Y:-43.05, Z:-4.04 [[ 9.50628833e-01 3.10123983e-01 1.13109679e-02 2.11960652e+02] [-3.10100744e-01 9.50696116e-01 -3.79785864e-03 -4.30465637e+01] [-1.19311003e-02 1.02814371e-04 9.99928817e-01 -4.04253074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.74862385300003 meters Centerline goodness [0,1] 0.9996996868162512 Centerline is valid? [True, True] Translation: X:211.99, Y:-43.05, Z:-4.04 [[ 9.49277200e-01 3.14235914e-01 1.13396476e-02 2.11990648e+02] [-3.14212855e-01 9.49344925e-01 -3.80713810e-03 -4.30492043e+01] [-1.19615765e-02 5.09663361e-05 9.99928456e-01 -4.04260718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.77862385300003 meters Centerline goodness [0,1] 0.999570889117748 Centerline is valid? [True, True] Translation: X:212.02, Y:-43.06, Z:-4.04 [[ 9.48670294e-01 3.16058942e-01 1.14638093e-02 2.12017612e+02] [-3.16035522e-01 9.48739556e-01 -3.84765575e-03 -4.30552994e+01] [-1.20922553e-02 2.71857537e-05 9.99926886e-01 -4.04358073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.80862385300003 meters Centerline goodness [0,1] 0.9998076183147364 Centerline is valid? [True, True] Translation: X:212.04, Y:-43.06, Z:-4.04 [[ 9.48157120e-01 3.17597978e-01 1.13842058e-02 2.12044882e+02] [-3.17575006e-01 9.48225461e-01 -3.81979939e-03 -4.30615915e+01] [-1.20079543e-02 6.43076636e-06 9.99927902e-01 -4.04444852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.83862385300003 meters Centerline goodness [0,1] 0.9995659628030122 Centerline is valid? [True, True] Translation: X:212.07, Y:-43.07, Z:-4.04 [[ 9.47709487e-01 3.18941394e-01 1.10957371e-02 2.12073289e+02] [-3.18919675e-01 9.47774439e-01 -3.72203675e-03 -4.30686571e+01] [-1.17033676e-02 -1.12393177e-05 9.99931513e-01 -4.04495282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.868623853 meters Centerline goodness [0,1] 0.9995659628030122 Centerline is valid? [True, True] Translation: X:212.10, Y:-43.08, Z:-4.05 [[ 9.47732166e-01 3.18873993e-01 1.10958691e-02 2.12099403e+02] [-3.18852275e-01 9.47797118e-01 -3.72164295e-03 -4.30772752e+01] [-1.17033679e-02 -1.08223831e-05 9.99931513e-01 -4.04543769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.898623853 meters Centerline goodness [0,1] 0.9996776204087773 Centerline is valid? [True, True] Translation: X:212.13, Y:-43.08, Z:-4.05 [[ 9.46874963e-01 3.21423656e-01 1.07068936e-02 2.12128626e+02] [-3.21403607e-01 9.46935495e-01 -3.59021742e-03 -4.30808842e+01] [-1.12927184e-02 -4.17472419e-05 9.99936234e-01 -4.04678906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.928623853 meters Centerline goodness [0,1] 0.9996769191005428 Centerline is valid? [True, True] Translation: X:212.16, Y:-43.09, Z:-4.05 [[ 9.46572736e-01 3.22313187e-01 1.06894945e-02 2.12156834e+02] [-3.22293267e-01 9.46633090e-01 -3.58382376e-03 -4.30876845e+01] [-1.12741429e-02 -5.28022499e-05 9.99936443e-01 -4.04785051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.958623853 meters Centerline goodness [0,1] 0.9995526870726564 Centerline is valid? [True, True] Translation: X:212.18, Y:-43.09, Z:-4.05 [[ 9.46325007e-01 3.23053621e-01 1.02635031e-02 2.12184493e+02] [-3.23035304e-01 9.46380661e-01 -3.44057868e-03 -4.30930115e+01] [-1.08246722e-02 -5.95681943e-05 9.99941410e-01 -4.05097401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.988623853 meters Centerline goodness [0,1] 0.9994828923554253 Centerline is valid? [True, True] Translation: X:212.21, Y:-43.10, Z:-4.05 [[ 9.46035657e-01 3.23902406e-01 1.01865978e-02 2.12212772e+02] [-3.23884420e-01 9.46090496e-01 -3.41404846e-03 -4.31009250e+01] [-1.07432619e-02 -6.94687499e-05 9.99942287e-01 -4.04987273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.018623853 meters Centerline goodness [0,1] 0.9995891625402729 Centerline is valid? [True, True] Translation: X:212.24, Y:-43.11, Z:-4.05 [[ 9.46065546e-01 3.23809395e-01 1.03662193e-02 2.12239556e+02] [-3.23790769e-01 9.46122334e-01 -3.47385973e-03 -4.31089981e+01] [-1.09325800e-02 -6.99871026e-05 9.99940235e-01 -4.05039578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.048623853 meters Centerline goodness [0,1] 0.9997646152529316 Centerline is valid? [True, True] Translation: X:212.27, Y:-43.12, Z:-4.05 [[ 9.46148914e-01 3.23573456e-01 1.01218125e-02 2.12266193e+02] [-3.23555691e-01 9.46203051e-01 -3.39119369e-03 -4.31178587e+01] [-1.06745901e-02 -6.63958072e-05 9.99943023e-01 -4.05145835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.078623853 meters Centerline goodness [0,1] 0.999808069606756 Centerline is valid? [True, True] Translation: X:212.29, Y:-43.13, Z:-4.05 [[ 9.46663713e-01 3.22048977e-01 1.05957877e-02 2.12292644e+02] [-3.22029426e-01 9.46723008e-01 -3.54894130e-03 -4.31267675e+01] [-1.11742089e-02 -5.25014853e-05 9.99937565e-01 -4.05137285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.108623853 meters Centerline goodness [0,1] 0.9996368530109158 Centerline is valid? [True, True] Translation: X:212.32, Y:-43.14, Z:-4.05 [[ 9.47028701e-01 3.20964537e-01 1.08814366e-02 2.12319683e+02] [-3.20943853e-01 9.47091212e-01 -3.64403107e-03 -4.31366305e+01] [-1.14753177e-02 -4.13281742e-05 9.99934156e-01 -4.05144070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.138623853 meters Centerline goodness [0,1] 0.9998072020736488 Centerline is valid? [True, True] Translation: X:212.35, Y:-43.15, Z:-4.05 [[ 9.47478062e-01 3.19626944e-01 1.11328048e-02 2.12346368e+02] [-3.19605208e-01 9.47543464e-01 -3.72761382e-03 -4.31471570e+01] [-1.17402623e-02 -2.62700841e-05 9.99931080e-01 -4.05148570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.168623853 meters Centerline goodness [0,1] 0.9993232623122599 Centerline is valid? [True, True] Translation: X:212.37, Y:-43.16, Z:-4.04 [[ 9.48419039e-01 3.16850090e-01 1.03608676e-02 2.12372262e+02] [-3.16831103e-01 9.48475630e-01 -3.46869747e-03 -4.31597796e+01] [-1.09260876e-02 7.13360197e-06 9.99940308e-01 -4.04291537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.19862385300002 meters Centerline goodness [0,1] 0.9997636746444377 Centerline is valid? [True, True] Translation: X:212.40, Y:-43.17, Z:-4.05 [[ 9.48987316e-01 3.15130937e-01 1.07501708e-02 2.12396488e+02] [-3.15110390e-01 9.49048203e-01 -3.59865186e-03 -4.31708024e+01] [-1.13364769e-02 2.75844419e-05 9.99935740e-01 -4.05358856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.22862385300002 meters Centerline goodness [0,1] 0.9998058252427184 Centerline is valid? [True, True] Translation: X:212.42, Y:-43.18, Z:-4.05 [[ 9.49612143e-01 3.13256892e-01 1.03391410e-02 2.12422483e+02] [-3.13237788e-01 9.49668425e-01 -3.45985955e-03 -4.31825788e+01] [-1.09025806e-02 4.69149867e-05 9.99940564e-01 -4.05408649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.25862385300002 meters Centerline goodness [0,1] 0.9997407759440076 Centerline is valid? [True, True] Translation: X:212.45, Y:-43.20, Z:-4.06 [[ 9.50132150e-01 3.11672949e-01 1.04340703e-02 2.12447570e+02] [-3.11653402e-01 9.50189438e-01 -3.49114588e-03 -4.31950054e+01] [-1.10024391e-02 6.52364330e-05 9.99939469e-01 -4.05553955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.28862385300002 meters Centerline goodness [0,1] 0.9998060929891843 Centerline is valid? [True, True] Translation: X:212.47, Y:-43.21, Z:-4.05 [[ 9.51034302e-01 3.08910341e-01 1.03998775e-02 2.12474135e+02] [-3.08890765e-01 9.51091159e-01 -3.47894215e-03 -4.32066338e+01] [-1.09659128e-02 9.61671882e-05 9.99939868e-01 -4.05428622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.31862385300002 meters Centerline goodness [0,1] 0.9998709677419355 Centerline is valid? [True, True] Translation: X:212.50, Y:-43.22, Z:-4.06 [[ 9.51356253e-01 3.07922872e-01 1.02364601e-02 2.12500073e+02] [-3.07903855e-01 9.51411317e-01 -3.42382251e-03 -4.32173430e+01] [-1.07933572e-02 1.05429444e-04 9.99941744e-01 -4.05598476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.34862385300002 meters Centerline goodness [0,1] 0.999784375875973 Centerline is valid? [True, True] Translation: X:212.53, Y:-43.23, Z:-4.05 [[ 9.51698926e-01 3.06828463e-01 1.12004206e-02 2.12527679e+02] [-3.06805630e-01 9.51764823e-01 -3.74530563e-03 -4.32266315e+01] [-1.18093327e-02 1.28051228e-04 9.99930259e-01 -4.05476770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.37862385300002 meters Centerline goodness [0,1] 0.9998077662437524 Centerline is valid? [True, True] Translation: X:212.55, Y:-43.24, Z:-4.05 [[ 9.51709149e-01 3.06796246e-01 1.12142787e-02 2.12552941e+02] [-3.06773359e-01 9.51775208e-01 -3.74955937e-03 -4.32350781e+01] [-1.18238232e-02 1.28248004e-04 9.99930088e-01 -4.05435565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.40862385300002 meters Centerline goodness [0,1] 0.9998064640990904 Centerline is valid? [True, True] Translation: X:212.58, Y:-43.24, Z:-4.06 [[ 9.51686864e-01 3.06857295e-01 1.14330019e-02 2.12578107e+02] [-3.06833524e-01 9.51755527e-01 -3.82160342e-03 -4.32433946e+01] [-1.20541096e-02 1.28941519e-04 9.99927338e-01 -4.05532536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.43862385300002 meters Centerline goodness [0,1] 0.999914675767918 Centerline is valid? [True, True] Translation: X:212.61, Y:-43.25, Z:-4.06 [[ 9.51541649e-01 3.07320173e-01 1.10815724e-02 2.12605651e+02] [-3.07297887e-01 9.51606167e-01 -3.70295230e-03 -4.32507204e+01] [-1.16832846e-02 1.18169541e-04 9.99931741e-01 -4.05593456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.46862385300003 meters Centerline goodness [0,1] 0.9998264303226226 Centerline is valid? [True, True] Translation: X:212.63, Y:-43.26, Z:-4.06 [[ 9.51192879e-01 3.08407394e-01 1.08160002e-02 2.12634040e+02] [-3.08386239e-01 9.51254366e-01 -3.61367053e-03 -4.32574737e+01] [-1.14032501e-02 1.01792051e-04 9.99934976e-01 -4.05673284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.49862385300003 meters Centerline goodness [0,1] 0.9997835825740689 Centerline is valid? [True, True] Translation: X:212.66, Y:-43.27, Z:-4.06 [[ 9.51013366e-01 3.08967652e-01 1.06098401e-02 2.12660594e+02] [-3.08947334e-01 9.51072543e-01 -3.54444367e-03 -4.32657697e+01] [-1.11858461e-02 9.29314743e-05 9.99937432e-01 -4.05790401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.52862385300003 meters Centerline goodness [0,1] 0.9997871842346081 Centerline is valid? [True, True] Translation: X:212.69, Y:-43.27, Z:-4.06 [[ 9.50629756e-01 3.10146840e-01 1.05832338e-02 2.12688286e+02] [-3.10126710e-01 9.50688662e-01 -3.53446055e-03 -4.32711125e+01] [-1.11575622e-02 7.78198780e-05 9.99937749e-01 -4.05894463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.55862385300003 meters Centerline goodness [0,1] 0.9999138079641441 Centerline is valid? [True, True] Translation: X:212.72, Y:-43.28, Z:-4.06 [[ 9.50551086e-01 3.10381711e-01 1.07622416e-02 2.12715720e+02] [-3.10360918e-01 9.50612007e-01 -3.59345404e-03 -4.32788164e+01] [-1.13460585e-02 7.55824399e-05 9.99935629e-01 -4.05924544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.58862385300003 meters Centerline goodness [0,1] 0.9999362624288264 Centerline is valid? [True, True] Translation: X:212.74, Y:-43.29, Z:-4.06 [[ 9.50439150e-01 3.10725499e-01 1.07278052e-02 2.12741868e+02] [-3.10704865e-01 9.50499689e-01 -3.58162833e-03 -4.32864645e+01] [-1.13096788e-02 7.09385195e-05 9.99936041e-01 -4.05974636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.618623853 meters Centerline goodness [0,1] 0.9998511145142079 Centerline is valid? [True, True] Translation: X:212.77, Y:-43.29, Z:-4.06 [[ 9.50440097e-01 3.10723507e-01 1.07015835e-02 2.12767688e+02] [-3.10702984e-01 9.50500341e-01 -3.57189036e-03 -4.32939584e+01] [-1.12817291e-02 6.98538983e-05 9.99936357e-01 -4.06089741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.648623853 meters Centerline goodness [0,1] 0.9998082127559828 Centerline is valid? [True, True] Translation: X:212.79, Y:-43.30, Z:-4.06 [[ 9.50511110e-01 3.10515375e-01 1.04322846e-02 2.12793695e+02] [-3.10495871e-01 9.50568355e-01 -3.48093174e-03 -4.33026828e+01] [-1.09974824e-02 6.94830079e-05 9.99939523e-01 -4.06202828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.678623853 meters Centerline goodness [0,1] 0.9997193436960277 Centerline is valid? [True, True] Translation: X:212.82, Y:-43.31, Z:-4.06 [[ 9.50678418e-01 3.10007015e-01 1.03051834e-02 2.12820798e+02] [-3.09987962e-01 9.50734266e-01 -3.43780242e-03 -4.33115522e+01] [-1.08632338e-02 7.37617672e-05 9.99940991e-01 -4.06251577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.708623853 meters Centerline goodness [0,1] 0.9998067300878304 Centerline is valid? [True, True] Translation: X:212.85, Y:-43.32, Z:-4.06 [[ 9.50858819e-01 3.09458356e-01 1.01504768e-02 2.12846961e+02] [-3.09439844e-01 9.50912993e-01 -3.38575938e-03 -4.33216121e+01] [-1.06999718e-02 7.84172048e-05 9.99942751e-01 -4.06385712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.738623853 meters Centerline goodness [0,1] 0.9997830426104313 Centerline is valid? [True, True] Translation: X:212.87, Y:-43.33, Z:-4.06 [[ 9.51237847e-01 3.08266242e-01 1.08849778e-02 2.12874607e+02] [-3.08244885e-01 9.51300118e-01 -3.62988669e-03 -4.33314045e+01] [-1.14738522e-02 9.76468694e-05 9.99934168e-01 -4.06257914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.768623853 meters Centerline goodness [0,1] 0.9998268772992859 Centerline is valid? [True, True] Translation: X:212.90, Y:-43.34, Z:-4.06 [[ 9.51446701e-01 3.07605470e-01 1.13159061e-02 2.12901472e+02] [-3.07582349e-01 9.51513985e-01 -3.77296983e-03 -4.33409910e+01] [-1.19278290e-02 1.09206720e-04 9.99928855e-01 -4.06193266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.798623853 meters Centerline goodness [0,1] 0.9998505423178752 Centerline is valid? [True, True] Translation: X:212.93, Y:-43.35, Z:-4.06 [[ 9.51680408e-01 3.06876085e-01 1.14659795e-02 2.12928912e+02] [-3.06852302e-01 9.51749470e-01 -3.82239978e-03 -4.33513324e+01] [-1.20857430e-02 1.19340778e-04 9.99926958e-01 -4.06194362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.828623853 meters Centerline goodness [0,1] 0.9997604686105002 Centerline is valid? [True, True] Translation: X:212.95, Y:-43.36, Z:-4.06 [[ 9.52307259e-01 3.04907153e-01 1.19378324e-02 2.12954906e+02] [-3.04881224e-01 9.52382069e-01 -3.97911204e-03 -4.33630721e+01] [-1.25826373e-02 1.49716310e-04 9.99920824e-01 -4.06056390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.858623853 meters Centerline goodness [0,1] 0.9997190282700786 Centerline is valid? [True, True] Translation: X:212.98, Y:-43.37, Z:-4.06 [[ 9.52606942e-01 3.03959800e-01 1.21841770e-02 2.12980632e+02] [-3.03932724e-01 9.52684844e-01 -4.06037873e-03 -4.33734796e+01] [-1.28418727e-02 1.64774860e-04 9.99917526e-01 -4.06076135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.888623853 meters Centerline goodness [0,1] 0.9997200869883514 Centerline is valid? [True, True] Translation: X:213.01, Y:-43.38, Z:-4.06 [[ 9.52849388e-01 3.03185507e-01 1.25136891e-02 2.13007799e+02] [-3.03156892e-01 9.52931538e-01 -4.16926367e-03 -4.33839872e+01] [-1.31887493e-02 1.79069252e-04 9.99913009e-01 -4.06108508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.918623853 meters Centerline goodness [0,1] 0.9998268847918289 Centerline is valid? [True, True] Translation: X:213.03, Y:-43.40, Z:-4.06 [[ 9.53163320e-01 3.02197054e-01 1.25150180e-02 2.13033796e+02] [-3.02168355e-01 9.53245458e-01 -4.16909178e-03 -4.33954737e+01] [-1.31897714e-02 1.92182951e-04 9.99912993e-01 -4.06132196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.94862385300002 meters Centerline goodness [0,1] 0.9997408599131881 Centerline is valid? [True, True] Translation: X:213.06, Y:-43.41, Z:-4.06 [[ 9.53780403e-01 3.00249626e-01 1.23735829e-02 2.13057929e+02] [-3.00221418e-01 9.53860637e-01 -4.12122552e-03 -4.34093631e+01] [-1.30400701e-02 2.15929533e-04 9.99914951e-01 -4.06212078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.97862385300002 meters Centerline goodness [0,1] 0.9997191496716211 Centerline is valid? [True, True] Translation: X:213.08, Y:-43.42, Z:-4.06 [[ 9.54057493e-01 2.99375990e-01 1.21785210e-02 2.13084569e+02] [-2.99348607e-01 9.54135193e-01 -4.05519374e-03 -4.34208955e+01] [-1.28339831e-02 2.23264691e-04 9.99917616e-01 -4.06327046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.00862385300002 meters Centerline goodness [0,1] 0.9996539942044029 Centerline is valid? [True, True] Translation: X:213.11, Y:-43.43, Z:-4.06 [[ 9.54331215e-01 2.98509265e-01 1.20062732e-02 2.13111179e+02] [-2.98482590e-01 9.54406709e-01 -3.99722910e-03 -4.34325794e+01] [-1.26520776e-02 2.31017001e-04 9.99919933e-01 -4.06468835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.03862385300002 meters Centerline goodness [0,1] 0.9996765010351967 Centerline is valid? [True, True] Translation: X:213.14, Y:-43.45, Z:-4.07 [[ 9.54744111e-01 2.97189896e-01 1.19100043e-02 2.13135261e+02] [-2.97163552e-01 9.54818362e-01 -3.96462896e-03 -4.34470648e+01] [-1.25501385e-02 2.45986961e-04 9.99921214e-01 -4.06559519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.06862385300002 meters Centerline goodness [0,1] 0.9996548972240795 Centerline is valid? [True, True] Translation: X:213.16, Y:-43.46, Z:-4.07 [[ 9.54879325e-01 2.96771089e-01 1.15063190e-02 2.13162083e+02] [-2.96746480e-01 9.54948617e-01 -3.82948254e-03 -4.34572824e+01] [-1.21244231e-02 2.42234060e-04 9.99926467e-01 -4.06569988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.09862385300002 meters Centerline goodness [0,1] 0.9996767520041375 Centerline is valid? [True, True] Translation: X:213.19, Y:-43.47, Z:-4.07 [[ 9.54944543e-01 2.96558127e-01 1.15843049e-02 2.13187381e+02] [-2.96533174e-01 9.55014773e-01 -3.85488914e-03 -4.34692216e+01] [-1.22063810e-02 2.46074665e-04 9.99925469e-01 -4.06641995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.12862385300002 meters Centerline goodness [0,1] 0.9995107007616049 Centerline is valid? [True, True] Translation: X:213.21, Y:-43.48, Z:-4.07 [[ 9.54833522e-01 2.96904309e-01 1.18649687e-02 2.13214706e+02] [-2.96878169e-01 9.54907205e-01 -3.94741674e-03 -4.34786907e+01] [-1.25019492e-02 2.46675631e-04 9.99921817e-01 -4.06580477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.15862385300002 meters Centerline goodness [0,1] 0.9996133190118153 Centerline is valid? [True, True] Translation: X:213.24, Y:-43.49, Z:-4.07 [[ 9.54423063e-01 2.98205614e-01 1.22486311e-02 2.13241941e+02] [-2.98177872e-01 9.54501627e-01 -4.07439617e-03 -4.34884465e+01] [-1.29063461e-02 2.36426929e-04 9.99916682e-01 -4.06585587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.18862385300002 meters Centerline goodness [0,1] 0.9996976176591287 Centerline is valid? [True, True] Translation: X:213.27, Y:-43.50, Z:-4.07 [[ 9.54203178e-01 2.98914833e-01 1.20920970e-02 2.13267568e+02] [-2.98887859e-01 9.54279767e-01 -4.02177017e-03 -4.34983374e+01] [-1.27414102e-02 2.23404897e-04 9.99918800e-01 -4.06687594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.21862385300003 meters Centerline goodness [0,1] 0.999654718487667 Centerline is valid? [True, True] Translation: X:213.29, Y:-43.51, Z:-4.07 [[ 9.53916640e-01 2.99835364e-01 1.19079459e-02 2.13294374e+02] [-2.99809288e-01 9.53990939e-01 -3.95970470e-03 -4.35075519e+01] [-1.25473320e-02 2.07115409e-04 9.99921258e-01 -4.06819357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.24862385300003 meters Centerline goodness [0,1] 0.9997440054612168 Centerline is valid? [True, True] Translation: X:213.32, Y:-43.52, Z:-4.07 [[ 9.53248056e-01 3.01970602e-01 1.14846942e-02 2.13321017e+02] [-3.01946509e-01 9.53317222e-01 -3.81841114e-03 -4.35171240e+01] [-1.21016047e-02 1.72129671e-04 9.99926758e-01 -4.07018460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.27862385300003 meters Centerline goodness [0,1] 0.999761672624851 Centerline is valid? [True, True] Translation: X:213.35, Y:-43.52, Z:-4.07 [[ 9.52936721e-01 3.02953490e-01 1.14362604e-02 2.13349192e+02] [-3.02929677e-01 9.53005329e-01 -3.80176011e-03 -4.35241828e+01] [-1.20505736e-02 1.58454140e-04 9.99927377e-01 -4.06983205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.30862385300003 meters Centerline goodness [0,1] 0.9998051737200996 Centerline is valid? [True, True] Translation: X:213.37, Y:-43.53, Z:-4.07 [[ 9.52560795e-01 3.04144051e-01 1.11502616e-02 2.13374928e+02] [-3.04121501e-01 9.52626043e-01 -3.70618349e-03 -4.35337778e+01] [-1.17492433e-02 1.39330795e-04 9.99930966e-01 -4.07135817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.33862385300003 meters Centerline goodness [0,1] 0.9998471815919312 Centerline is valid? [True, True] Translation: X:213.40, Y:-43.54, Z:-4.07 [[ 9.51632242e-01 3.07043652e-01 1.09668070e-02 2.13403023e+02] [-3.07022040e-01 9.51695427e-01 -3.64440976e-03 -4.35407901e+01] [-1.15560530e-02 1.01086382e-04 9.99933221e-01 -4.07274542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.368623853 meters Centerline goodness [0,1] 0.9998714487723358 Centerline is valid? [True, True] Translation: X:213.43, Y:-43.55, Z:-4.07 [[ 9.51095331e-01 3.08717034e-01 1.05576790e-02 2.13431377e+02] [-3.08697112e-01 9.51153924e-01 -3.50793745e-03 -4.35479493e+01] [-1.11249378e-02 7.72579164e-05 9.99938113e-01 -4.07366439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.398623853 meters Centerline goodness [0,1] 0.9998921716627129 Centerline is valid? [True, True] Translation: X:213.46, Y:-43.56, Z:-4.07 [[ 9.50589435e-01 3.10271626e-01 1.05472540e-02 2.13458051e+02] [-3.10251845e-01 9.50647945e-01 -3.50400143e-03 -4.35552437e+01] [-1.11139175e-02 5.85617373e-05 9.99938237e-01 -4.07458405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.428623853 meters Centerline goodness [0,1] 0.9999565896857093 Centerline is valid? [True, True] Translation: X:213.49, Y:-43.56, Z:-4.07 [[ 9.49320514e-01 3.14130574e-01 1.06086781e-02 2.13486462e+02] [-3.14110812e-01 9.49379788e-01 -3.52364501e-03 -4.35602377e+01] [-1.11785492e-02 1.27680055e-05 9.99937518e-01 -4.07455619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.458623853 meters Centerline goodness [0,1] 0.9998275676258217 Centerline is valid? [True, True] Translation: X:213.51, Y:-43.57, Z:-4.07 [[ 9.48614221e-01 3.16275656e-01 1.00384149e-02 2.13513882e+02] [-3.16258085e-01 9.48667333e-01 -3.33383519e-03 -4.35663142e+01] [-1.05775272e-02 -1.22064060e-05 9.99944056e-01 -4.06844177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.488623853 meters Centerline goodness [0,1] 0.9999784329372183 Centerline is valid? [True, True] Translation: X:213.54, Y:-43.57, Z:-4.08 [[ 9.47949386e-01 3.18247087e-01 1.05239230e-02 2.13540986e+02] [-3.18227904e-01 9.48007801e-01 -3.49439020e-03 -4.35723669e+01] [-1.10888406e-02 -3.65009133e-05 9.99938516e-01 -4.07569751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.518623853 meters Centerline goodness [0,1] 0.9999131001520747 Centerline is valid? [True, True] Translation: X:213.57, Y:-43.58, Z:-4.08 [[ 9.46740572e-01 3.21826175e-01 1.04977705e-02 2.13570248e+02] [-3.21807317e-01 9.46798768e-01 -3.48477119e-03 -4.35764561e+01] [-1.10607667e-02 -7.90850793e-05 9.99938825e-01 -4.07608245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.548623853 meters Centerline goodness [0,1] 0.9999785444558874 Centerline is valid? [True, True] Translation: X:213.60, Y:-43.58, Z:-4.08 [[ 9.46312479e-01 3.23080798e-01 1.05589078e-02 2.13597444e+02] [-3.23061803e-01 9.46371380e-01 -3.50458124e-03 -4.35829223e+01] [-1.11249110e-02 -9.47508270e-05 9.99938112e-01 -4.07650880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.578623853 meters Centerline goodness [0,1] 0.999978369492332 Centerline is valid? [True, True] Translation: X:213.63, Y:-43.59, Z:-4.08 [[ 9.45982725e-01 3.24028347e-01 1.10595787e-02 2.13625253e+02] [-3.24007582e-01 9.46047366e-01 -3.66997055e-03 -4.35881497e+01] [-1.16520597e-02 -1.11658597e-04 9.99932106e-01 -4.07751819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.608623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:213.65, Y:-43.60, Z:-4.08 [[ 9.45623191e-01 3.25067407e-01 1.13119885e-02 2.13652833e+02] [-3.25045768e-01 9.45690840e-01 -3.75289941e-03 -4.35963354e+01] [-1.19175892e-02 -1.28085256e-04 9.99928975e-01 -4.07680770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.638623853 meters Centerline goodness [0,1] 0.999956568946797 Centerline is valid? [True, True] Translation: X:213.68, Y:-43.61, Z:-4.08 [[ 9.45625240e-01 3.25054886e-01 1.14989980e-02 2.13678956e+02] [-3.25032531e-01 9.45695143e-01 -3.81448462e-03 -4.36060472e+01] [-1.21144634e-02 -1.30475492e-04 9.99926609e-01 -4.07672679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.668623853 meters Centerline goodness [0,1] 0.9998914671471054 Centerline is valid? [True, True] Translation: X:213.70, Y:-43.61, Z:-4.08 [[ 9.45706668e-01 3.24820454e-01 1.14267667e-02 2.13704516e+02] [-3.24798371e-01 9.45775690e-01 -3.78966943e-03 -4.36132441e+01] [-1.20381204e-02 -1.27479572e-04 9.99927531e-01 -4.07799733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.69862385300002 meters Centerline goodness [0,1] 0.9998709177746224 Centerline is valid? [True, True] Translation: X:213.73, Y:-43.62, Z:-4.08 [[ 9.45885589e-01 3.24294404e-01 1.15582037e-02 2.13732365e+02] [-3.24271787e-01 9.45956196e-01 -3.83193440e-03 -4.36222039e+01] [-1.21762292e-02 -1.23427825e-04 9.99925859e-01 -4.07811977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.72862385300002 meters Centerline goodness [0,1] 0.9998934946534316 Centerline is valid? [True, True] Translation: X:213.76, Y:-43.63, Z:-4.08 [[ 9.45844112e-01 3.24402872e-01 1.19035149e-02 2.13758868e+02] [-3.24378895e-01 9.45919003e-01 -3.94617463e-03 -4.36289097e+01] [-1.25399113e-02 -1.28782971e-04 9.99921364e-01 -4.07858450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.75862385300002 meters Centerline goodness [0,1] 0.999978494623656 Centerline is valid? [True, True] Translation: X:213.79, Y:-43.64, Z:-4.08 [[ 9.45802025e-01 3.24510371e-01 1.23104747e-02 2.13785580e+02] [-3.24484762e-01 9.45882128e-01 -4.07909628e-03 -4.36378201e+01] [-1.29679670e-02 -1.36543920e-04 9.99915903e-01 -4.07799341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.78862385300002 meters Centerline goodness [0,1] 0.999978494623656 Centerline is valid? [True, True] Translation: X:213.81, Y:-43.65, Z:-4.08 [[ 9.45825053e-01 3.24443239e-01 1.23107628e-02 2.13811726e+02] [-3.24417635e-01 9.45905157e-01 -4.07822642e-03 -4.36463439e+01] [-1.29679670e-02 -1.36539843e-04 9.99915903e-01 -4.07847825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.81862385300002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:213.84, Y:-43.65, Z:-4.08 [[ 9.45627411e-01 3.24999953e-01 1.27996221e-02 2.13839359e+02] [-3.24972342e-01 9.45714020e-01 -4.23900942e-03 -4.36543531e+01] [-1.34824599e-02 -1.50999666e-04 9.99909096e-01 -4.07797853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.84862385300002 meters Centerline goodness [0,1] 0.9999137577887497 Centerline is valid? [True, True] Translation: X:213.87, Y:-43.66, Z:-4.08 [[ 9.45204487e-01 3.26220065e-01 1.29979708e-02 2.13868087e+02] [-3.26191716e-01 9.45293838e-01 -4.30400238e-03 -4.36596825e+01] [-1.36909536e-02 -1.71668027e-04 9.99906260e-01 -4.07799493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.87862385300002 meters Centerline goodness [0,1] 0.9998057833405265 Centerline is valid? [True, True] Translation: X:213.90, Y:-43.66, Z:-4.08 [[ 9.44973720e-01 3.26908293e-01 1.24754168e-02 2.13895984e+02] [-3.26882245e-01 9.45056050e-01 -4.13039636e-03 -4.36646300e+01] [-1.31402289e-02 -1.74876237e-04 9.99913648e-01 -4.07962550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.90862385300002 meters Centerline goodness [0,1] 0.9998281860744813 Centerline is valid? [True, True] Translation: X:213.92, Y:-43.67, Z:-4.08 [[ 9.44854420e-01 3.27273079e-01 1.19355296e-02 2.13924000e+02] [-3.27249276e-01 9.44929787e-01 -3.95083440e-03 -4.36704787e+01] [-1.25712392e-02 -1.72930075e-04 9.99920964e-01 -4.08153348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.93862385300002 meters Centerline goodness [0,1] 0.9998066138077741 Centerline is valid? [True, True] Translation: X:213.95, Y:-43.67, Z:-4.08 [[ 9.44871435e-01 3.27225918e-01 1.18815198e-02 2.13950937e+02] [-3.27202333e-01 9.44946120e-01 -3.93253398e-03 -4.36734774e+01] [-1.25142231e-02 -1.71921983e-04 9.99921679e-01 -4.08318646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.96862385300003 meters Centerline goodness [0,1] 0.9997650626855471 Centerline is valid? [True, True] Translation: X:213.98, Y:-43.68, Z:-4.08 [[ 9.44966335e-01 3.26945622e-01 1.20492794e-02 2.13978070e+02] [-3.26921359e-01 9.45043137e-01 -3.98677706e-03 -4.36825249e+01] [-1.26905481e-02 -1.71796674e-04 9.99919457e-01 -4.08299182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.99862385300003 meters Centerline goodness [0,1] 0.9999136330267305 Centerline is valid? [True, True] Translation: X:214.00, Y:-43.69, Z:-4.08 [[ 9.45482307e-01 3.25443088e-01 1.22475796e-02 2.14004919e+02] [-3.25417901e-01 9.45561618e-01 -4.05174436e-03 -4.36918119e+01] [-1.28994533e-02 -1.54729029e-04 9.99916787e-01 -4.08303418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.02862385300003 meters Centerline goodness [0,1] 0.9999150039310681 Centerline is valid? [True, True] Translation: X:214.03, Y:-43.70, Z:-4.08 [[ 9.45784808e-01 3.24567332e-01 1.21302723e-02 2.14032173e+02] [-3.24542562e-01 9.45862583e-01 -4.01236626e-03 -4.36989317e+01] [-1.27758537e-02 -1.41954583e-04 9.99918375e-01 -4.08404273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.05862385300003 meters Centerline goodness [0,1] 0.9999356236990623 Centerline is valid? [True, True] Translation: X:214.06, Y:-43.71, Z:-4.08 [[ 9.46187651e-01 3.23390408e-01 1.21479565e-02 2.14059179e+02] [-3.23365479e-01 9.46265622e-01 -4.01735912e-03 -4.37098429e+01] [-1.27943690e-02 -1.27054176e-04 9.99918141e-01 -4.08373954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.08862385300003 meters Centerline goodness [0,1] 0.999935746412508 Centerline is valid? [True, True] Translation: X:214.09, Y:-43.72, Z:-4.08 [[ 9.46990525e-01 3.21037894e-01 1.19839749e-02 2.14086409e+02] [-3.21013453e-01 9.47066345e-01 -3.96252009e-03 -4.37182703e+01] [-1.26217384e-02 -9.45481704e-05 9.99920338e-01 -4.08450227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.118623853 meters Centerline goodness [0,1] 0.9999572950697158 Centerline is valid? [True, True] Translation: X:214.11, Y:-43.73, Z:-4.08 [[ 9.47358196e-01 3.19949689e-01 1.20268356e-02 2.14114249e+02] [-3.19924993e-01 9.47434531e-01 -3.97607291e-03 -4.37269726e+01] [-1.26667827e-02 -8.09200445e-05 9.99919770e-01 -4.08496865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.148623853 meters Centerline goodness [0,1] 0.9999785435351671 Centerline is valid? [True, True] Translation: X:214.14, Y:-43.74, Z:-4.09 [[ 9.47737886e-01 3.18806779e-01 1.24553663e-02 2.14141340e+02] [-3.18780202e-01 9.47819726e-01 -4.11707251e-03 -4.37358868e+01] [-1.31179925e-02 -6.86185743e-05 9.99913953e-01 -4.08515655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.178623853 meters Centerline goodness [0,1] 0.9999785995548708 Centerline is valid? [True, True] Translation: X:214.17, Y:-43.75, Z:-4.09 [[ 9.48147701e-01 3.17586934e-01 1.24288913e-02 2.14168794e+02] [-3.17560372e-01 9.48229158e-01 -4.10768507e-03 -4.37452171e+01] [-1.30899842e-02 -5.22311873e-05 9.99914321e-01 -4.08540930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.208623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:214.20, Y:-43.76, Z:-4.09 [[ 9.48945500e-01 3.15183898e-01 1.27102001e-02 2.14196051e+02] [-3.15155914e-01 9.49030616e-01 -4.19999884e-03 -4.37553768e+01] [-1.33861410e-02 -2.01247242e-05 9.99910401e-01 -4.08525681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.238623853 meters Centerline goodness [0,1] 0.9999570566637322 Centerline is valid? [True, True] Translation: X:214.22, Y:-43.76, Z:-4.09 [[ 9.49343933e-01 3.13991784e-01 1.24602036e-02 2.14221849e+02] [-3.13964793e-01 9.49425700e-01 -4.11690513e-03 -4.37642649e+01] [-1.31227119e-02 -3.70633403e-06 9.99913894e-01 -4.08698688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.268623853 meters Centerline goodness [0,1] 0.9999568928355893 Centerline is valid? [True, True] Translation: X:214.25, Y:-43.77, Z:-4.09 [[ 9.49746987e-01 3.12777228e-01 1.22909089e-02 2.14248128e+02] [-3.12750880e-01 9.49826513e-01 -4.05974775e-03 -4.37740912e+01] [-1.29440278e-02 1.17406071e-05 9.99916222e-01 -4.08786528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.298623853 meters Centerline goodness [0,1] 0.999935647174911 Centerline is valid? [True, True] Translation: X:214.27, Y:-43.78, Z:-4.09 [[ 9.50210611e-01 3.11381303e-01 1.18944637e-02 2.14273732e+02] [-3.11356529e-01 9.50285054e-01 -3.92786536e-03 -4.37842232e+01] [-1.25261949e-02 2.88804170e-05 9.99921544e-01 -4.08972823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.328623853 meters Centerline goodness [0,1] 0.9997413625880983 Centerline is valid? [True, True] Translation: X:214.30, Y:-43.80, Z:-4.09 [[ 9.50986742e-01 3.09004306e-01 1.18556278e-02 2.14300891e+02] [-3.08979519e-01 9.51060637e-01 -3.91422112e-03 -4.37952749e+01] [-1.24849321e-02 5.92262086e-05 9.99922058e-01 -4.08999056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.358623853 meters Centerline goodness [0,1] 0.9996574022525802 Centerline is valid? [True, True] Translation: X:214.33, Y:-43.81, Z:-4.09 [[ 9.51385965e-01 3.07769299e-01 1.19500310e-02 2.14328193e+02] [-3.07744027e-01 9.51461010e-01 -3.94478567e-03 -4.38056489e+01] [-1.25840725e-02 7.54630533e-05 9.99920815e-01 -4.09066726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.388623853 meters Centerline goodness [0,1] 0.99970138429708 Centerline is valid? [True, True] Translation: X:214.36, Y:-43.82, Z:-4.09 [[ 9.51689065e-01 3.06836641e-01 1.17983161e-02 2.14355423e+02] [-3.06811941e-01 9.51762191e-01 -3.89412733e-03 -4.38159026e+01] [-1.24240522e-02 8.61341233e-05 9.99922815e-01 -4.09100330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.418623853 meters Centerline goodness [0,1] 0.9999146921452793 Centerline is valid? [True, True] Translation: X:214.38, Y:-43.83, Z:-4.09 [[ 9.52021325e-01 3.05816535e-01 1.14736507e-02 2.14383120e+02] [-3.05793108e-01 9.52090457e-01 -3.78643689e-03 -4.38250226e+01] [-1.20819084e-02 9.62053368e-05 9.99927006e-01 -4.09161044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.44862385300002 meters Centerline goodness [0,1] 0.9998922831660132 Centerline is valid? [True, True] Translation: X:214.41, Y:-43.83, Z:-4.09 [[ 9.52097968e-01 3.05583264e-01 1.13282101e-02 2.14409284e+02] [-3.05560417e-01 9.52165353e-01 -3.73793491e-03 -4.38335164e+01] [-1.19285795e-02 9.74276223e-05 9.99928847e-01 -4.09236456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.47862385300002 meters Centerline goodness [0,1] 0.9998496014438262 Centerline is valid? [True, True] Translation: X:214.44, Y:-43.84, Z:-4.09 [[ 9.52109223e-01 3.05549084e-01 1.13041732e-02 2.14436025e+02] [-3.05526339e-01 9.52176322e-01 -3.72934699e-03 -4.38415535e+01] [-1.19030646e-02 9.70230021e-05 9.99929151e-01 -4.09293918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.50862385300002 meters Centerline goodness [0,1] 0.9998707509370557 Centerline is valid? [True, True] Translation: X:214.46, Y:-43.85, Z:-4.09 [[ 9.51840129e-01 3.06384291e-01 1.13593762e-02 2.14464983e+02] [-3.06361395e-01 9.51907905e-01 -3.74656094e-03 -4.38467446e+01] [-1.19609674e-02 8.60526998e-05 9.99928461e-01 -4.09327428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.53862385300002 meters Centerline goodness [0,1] 0.9998916717219863 Centerline is valid? [True, True] Translation: X:214.49, Y:-43.85, Z:-4.09 [[ 9.51663798e-01 3.06932072e-01 1.13454647e-02 2.14492025e+02] [-3.06909277e-01 9.51731421e-01 -3.74146830e-03 -4.38533452e+01] [-1.19462119e-02 7.85915627e-05 9.99928638e-01 -4.09426695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.56862385300002 meters Centerline goodness [0,1] 0.9998502609737315 Centerline is valid? [True, True] Translation: X:214.52, Y:-43.86, Z:-4.09 [[ 9.51454148e-01 3.07585406e-01 1.12348867e-02 2.14520166e+02] [-3.07563108e-01 9.51520474e-01 -3.70424254e-03 -4.38599082e+01] [-1.18295957e-02 6.89802570e-05 9.99930026e-01 -4.09457849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.59862385300002 meters Centerline goodness [0,1] 0.9999140043857764 Centerline is valid? [True, True] Translation: X:214.55, Y:-43.87, Z:-4.10 [[ 9.51204381e-01 3.08344885e-01 1.15610569e-02 2.14547275e+02] [-3.08321336e-01 9.51274634e-01 -3.81124283e-03 -4.38672423e+01] [-1.21729174e-02 6.07503748e-05 9.99925905e-01 -4.09506732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.62862385300002 meters Centerline goodness [0,1] 0.9999354533327596 Centerline is valid? [True, True] Translation: X:214.58, Y:-43.87, Z:-4.09 [[ 9.50674157e-01 3.09978354e-01 1.14920838e-02 2.14576209e+02] [-3.09955213e-01 9.50743614e-01 -3.78773887e-03 -4.38711700e+01] [-1.21001424e-02 3.88741722e-05 9.99926790e-01 -4.09454536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.65862385300002 meters Centerline goodness [0,1] 0.9999783881913077 Centerline is valid? [True, True] Translation: X:214.60, Y:-43.88, Z:-4.10 [[ 9.50429071e-01 3.10736003e-01 1.13011943e-02 2.14603466e+02] [-3.10713684e-01 9.50496258e-01 -3.72439486e-03 -4.38770490e+01] [-1.18990464e-02 2.83374450e-05 9.99929203e-01 -4.09525034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.68862385300002 meters Centerline goodness [0,1] 0.9997625933439807 Centerline is valid? [True, True] Translation: X:214.63, Y:-43.88, Z:-4.09 [[ 9.50258264e-01 3.11281176e-01 1.06424316e-02 2.14630698e+02] [-3.11261427e-01 9.50317857e-01 -3.50643839e-03 -4.38830977e+01] [-1.12051810e-02 1.94436271e-05 9.99937220e-01 -4.08867197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.71862385300003 meters Centerline goodness [0,1] 0.9998918264030116 Centerline is valid? [True, True] Translation: X:214.66, Y:-43.89, Z:-4.10 [[ 9.50247832e-01 3.11308358e-01 1.07779840e-02 2.14656917e+02] [-3.11288111e-01 9.50308953e-01 -3.55044883e-03 -4.38910098e+01] [-1.13476991e-02 1.87480100e-05 9.99935613e-01 -4.09787303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.74862385300003 meters Centerline goodness [0,1] 0.9999571670271775 Centerline is valid? [True, True] Translation: X:214.68, Y:-43.90, Z:-4.10 [[ 9.50529443e-01 3.10482951e-01 9.70126121e-03 2.14683561e+02] [-3.10466512e-01 9.50578948e-01 -3.19503363e-03 -4.38997770e+01] [-1.02138181e-02 2.50568066e-05 9.99947837e-01 -4.10090540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.77862385300003 meters Centerline goodness [0,1] 0.9999140025369252 Centerline is valid? [True, True] Translation: X:214.71, Y:-43.91, Z:-4.10 [[ 9.50819655e-01 3.09600797e-01 9.45148574e-03 2.14710598e+02] [-3.09585157e-01 9.50866629e-01 -3.11208709e-03 -4.39090630e+01] [-9.95060702e-03 3.29938758e-05 9.99950491e-01 -4.10203130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.80862385300003 meters Centerline goodness [0,1] 0.9999141943926035 Centerline is valid? [True, True] Translation: X:214.74, Y:-43.92, Z:-4.10 [[ 9.51092273e-01 3.08758191e-01 9.58471775e-03 2.14737980e+02] [-3.08742070e-01 9.51140567e-01 -3.15544415e-03 -4.39189012e+01] [-1.00906831e-02 4.19129572e-05 9.99949087e-01 -4.10262042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.83862385300003 meters Centerline goodness [0,1] 0.9997419798744303 Centerline is valid? [True, True] Translation: X:214.76, Y:-43.93, Z:-4.09 [[ 9.51578149e-01 3.07256750e-01 9.60807062e-03 2.14763878e+02] [-3.07240478e-01 9.51626653e-01 -3.16272069e-03 -4.39295073e+01] [-1.01150634e-02 5.75876955e-05 9.99948840e-01 -4.09482978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.868623853 meters Centerline goodness [0,1] 0.9999783835195953 Centerline is valid? [True, True] Translation: X:214.79, Y:-43.94, Z:-4.10 [[ 9.51818561e-01 3.06485599e-01 1.03925617e-02 2.14789936e+02] [-3.06466522e-01 9.51875293e-01 -3.42027454e-03 -4.39389248e+01] [-1.09406876e-02 7.05085482e-05 9.99940146e-01 -4.10173331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.898623853 meters Centerline goodness [0,1] 0.9997200689061154 Centerline is valid? [True, True] Translation: X:214.82, Y:-43.95, Z:-4.10 [[ 9.52348029e-01 3.04808217e-01 1.11884601e-02 2.14815802e+02] [-3.04786003e-01 9.52413745e-01 -3.68117962e-03 -4.39492586e+01] [-1.17780970e-02 9.56781340e-05 9.99930631e-01 -4.10086216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.928623853 meters Centerline goodness [0,1] 0.9999133448873484 Centerline is valid? [True, True] Translation: X:214.84, Y:-43.96, Z:-4.10 [[ 9.52631149e-01 3.03913142e-01 1.14322137e-02 2.14841604e+02] [-3.03889893e-01 9.52699738e-01 -3.76062445e-03 -4.39588915e+01] [-1.20343702e-02 1.08353782e-04 9.99927578e-01 -4.10048517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.958623853 meters Centerline goodness [0,1] 0.9997632219041264 Centerline is valid? [True, True] Translation: X:214.87, Y:-43.97, Z:-4.10 [[ 9.52873551e-01 3.03139320e-01 1.17706596e-02 2.14868864e+02] [-3.03114626e-01 9.52946241e-01 -3.87111577e-03 -4.39690151e+01] [-1.23902932e-02 1.20824746e-04 9.99923230e-01 -4.10095668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.988623853 meters Centerline goodness [0,1] 0.9998269222448185 Centerline is valid? [True, True] Translation: X:214.89, Y:-43.98, Z:-4.10 [[ 9.53395326e-01 3.01499728e-01 1.16303871e-02 2.14894471e+02] [-3.01475503e-01 9.53466252e-01 -3.82446819e-03 -4.39803235e+01] [-1.22422577e-02 1.39953300e-04 9.99925051e-01 -4.10159626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.018623853 meters Centerline goodness [0,1] 0.9998292386176866 Centerline is valid? [True, True] Translation: X:214.92, Y:-43.99, Z:-4.10 [[ 9.53599264e-01 3.00843261e-01 1.19070096e-02 2.14921508e+02] [-3.00817829e-01 9.53673586e-01 -3.91460034e-03 -4.39902378e+01] [-1.25330817e-02 1.51119207e-04 9.99921446e-01 -4.10172660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.048623853 meters Centerline goodness [0,1] 0.999678297981856 Centerline is valid? [True, True] Translation: X:214.95, Y:-44.00, Z:-4.10 [[ 9.53771165e-01 3.00298934e-01 1.18792101e-02 2.14948237e+02] [-3.00273586e-01 9.53845127e-01 -3.90487166e-03 -4.40002473e+01] [-1.25035554e-02 1.57340982e-04 9.99921815e-01 -4.10212034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.078623853 meters Centerline goodness [0,1] 0.999871211470765 Centerline is valid? [True, True] Translation: X:214.98, Y:-44.01, Z:-4.10 [[ 9.53909879e-01 2.99867022e-01 1.16495106e-02 2.14975408e+02] [-2.99842620e-01 9.53980998e-01 -3.82880747e-03 -4.40097679e+01] [-1.22615448e-02 1.59317505e-04 9.99924812e-01 -4.10308446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.108623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:215.00, Y:-44.02, Z:-4.10 [[ 9.54037886e-01 2.99461154e-01 1.16073432e-02 2.15001591e+02] [-2.99436904e-01 9.54108480e-01 -3.81443706e-03 -4.40187139e+01] [-1.22169403e-02 1.63450571e-04 9.99925357e-01 -4.10457339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.138623853 meters Centerline goodness [0,1] 0.999849510910459 Centerline is valid? [True, True] Translation: X:215.03, Y:-44.03, Z:-4.10 [[ 9.54034476e-01 2.99473980e-01 1.15565418e-02 2.15028181e+02] [-2.99449951e-01 9.54104454e-01 -3.79709646e-03 -4.40274281e+01] [-1.21632796e-02 1.61955058e-04 9.99926011e-01 -4.10493346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.168623853 meters Centerline goodness [0,1] 0.9999354074712025 Centerline is valid? [True, True] Translation: X:215.06, Y:-44.04, Z:-4.11 [[ 9.53947276e-01 2.99757011e-01 1.14161672e-02 2.15055691e+02] [-2.99733594e-01 9.54015571e-01 -3.75001904e-03 -4.40361442e+01] [-1.20152958e-02 1.55511624e-04 9.99927802e-01 -4.10533949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.19862385300002 meters Centerline goodness [0,1] 0.9998928326474623 Centerline is valid? [True, True] Translation: X:215.08, Y:-44.04, Z:-4.11 [[ 9.53804336e-01 3.00215853e-01 1.13018165e-02 2.15082604e+02] [-3.00192940e-01 9.53871281e-01 -3.71197742e-03 -4.40441210e+01] [-1.18948726e-02 1.47774633e-04 9.99929243e-01 -4.10598279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.22862385300002 meters Centerline goodness [0,1] 0.9997662657770601 Centerline is valid? [True, True] Translation: X:215.11, Y:-44.05, Z:-4.11 [[ 9.53648367e-01 3.00711275e-01 1.12925443e-02 2.15110192e+02] [-3.00688441e-01 9.53715214e-01 -3.70842549e-03 -4.40524409e+01] [-1.18850366e-02 1.40996377e-04 9.99929361e-01 -4.10694304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.25862385300002 meters Centerline goodness [0,1] 0.9997418133310383 Centerline is valid? [True, True] Translation: X:215.14, Y:-44.06, Z:-4.11 [[ 9.53530240e-01 3.01085350e-01 1.13001487e-02 2.15137865e+02] [-3.01062527e-01 9.53597186e-01 -3.70963324e-03 -4.40608276e+01] [-1.18927062e-02 1.35196146e-04 9.99929270e-01 -4.10719785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.28862385300002 meters Centerline goodness [0,1] 0.9998922204737988 Centerline is valid? [True, True] Translation: X:215.17, Y:-44.07, Z:-4.11 [[ 9.53144562e-01 3.02305559e-01 1.12602686e-02 2.15165184e+02] [-3.02282987e-01 9.53211065e-01 -3.69606572e-03 -4.40680785e+01] [-1.18507538e-02 1.19097319e-04 9.99929770e-01 -4.10755053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.31862385300002 meters Centerline goodness [0,1] 0.9999136963838785 Centerline is valid? [True, True] Translation: X:215.19, Y:-44.08, Z:-4.11 [[ 9.52921664e-01 3.03006629e-01 1.12820678e-02 2.15192920e+02] [-3.02984027e-01 9.52988442e-01 -3.70247953e-03 -4.40756877e+01] [-1.18735560e-02 1.09886635e-04 9.99929501e-01 -4.10826323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.34862385300002 meters Centerline goodness [0,1] 0.9998063266623628 Centerline is valid? [True, True] Translation: X:215.22, Y:-44.08, Z:-4.11 [[ 9.52568949e-01 3.04111813e-01 1.13314878e-02 2.15221514e+02] [-3.04089097e-01 9.52636340e-01 -3.71815776e-03 -4.40823755e+01] [-1.19255228e-02 9.60197278e-05 9.99928884e-01 -4.10874263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.37862385300002 meters Centerline goodness [0,1] 0.9996996739316972 Centerline is valid? [True, True] Translation: X:215.25, Y:-44.09, Z:-4.10 [[ 9.52170657e-01 3.05377430e-01 1.07547837e-02 2.15250614e+02] [-3.05357054e-01 9.52231390e-01 -3.52848511e-03 -4.40867352e+01] [-1.13185623e-02 7.56709302e-05 9.99935940e-01 -4.09973677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.40862385300002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:215.28, Y:-44.09, Z:-4.11 [[ 9.51603619e-01 3.07145535e-01 1.05911861e-02 2.15277842e+02] [-3.07125889e-01 9.51662555e-01 -3.47427053e-03 -4.40940240e+01] [-1.11463419e-02 5.33009582e-05 9.99937876e-01 -4.11142327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.43862385300002 meters Centerline goodness [0,1] 0.9999137205841117 Centerline is valid? [True, True] Translation: X:215.31, Y:-44.10, Z:-4.11 [[ 9.51374343e-01 3.07864944e-01 1.02973446e-02 2.15305195e+02] [-3.07846419e-01 9.51430068e-01 -3.37753370e-03 -4.40998193e+01] [-1.08370275e-02 4.32982458e-05 9.99941277e-01 -4.10536794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.46862385300003 meters Centerline goodness [0,1] 0.9999785352451275 Centerline is valid? [True, True] Translation: X:215.33, Y:-44.11, Z:-4.11 [[ 9.51302552e-01 3.08092587e-01 1.01199160e-02 2.15330925e+02] [-3.08074711e-01 9.51356377e-01 -3.31899713e-03 -4.41086709e+01] [-1.06502050e-02 3.96802354e-05 9.99943284e-01 -4.11158475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.49862385300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:215.36, Y:-44.12, Z:-4.11 [[ 9.51152023e-01 3.08565097e-01 9.86970394e-03 2.15356509e+02] [-3.08548138e-01 9.51203228e-01 -3.23523240e-03 -4.41179002e+01] [-1.03863740e-02 3.19190755e-05 9.99946060e-01 -4.11428598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.52862385300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:215.38, Y:-44.12, Z:-4.11 [[ 9.51063972e-01 3.08822270e-01 1.03017314e-02 2.15384399e+02] [-3.08803822e-01 9.51119763e-01 -3.37562401e-03 -4.41248927e+01] [-1.08406482e-02 2.92203366e-05 9.99941238e-01 -4.11196294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.55862385300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:215.41, Y:-44.13, Z:-4.11 [[ 9.50873187e-01 3.09403079e-01 1.04840909e-02 2.15411917e+02] [-3.09384013e-01 9.50930983e-01 -3.43482742e-03 -4.41319497e+01] [-1.10323931e-02 2.24751665e-05 9.99939141e-01 -4.11171753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.58862385300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:215.44, Y:-44.14, Z:-4.11 [[ 9.50274976e-01 3.11221002e-01 1.09067494e-02 2.15440366e+02] [-3.11200494e-01 9.50337565e-01 -3.57278502e-03 -4.41356687e+01] [-1.14770194e-02 9.42399722e-07 9.99934137e-01 -4.11354190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.618623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:215.47, Y:-44.14, Z:-4.11 [[ 9.49927982e-01 3.12270911e-01 1.11223683e-02 2.15468332e+02] [-3.12249655e-01 9.49993094e-01 -3.64347477e-03 -4.41417585e+01] [-1.17039242e-02 -1.19170159e-05 9.99931507e-01 -4.11154252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.648623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:215.50, Y:-44.15, Z:-4.11 [[ 9.49547885e-01 3.13422103e-01 1.11981669e-02 2.15496774e+02] [-3.13400673e-01 9.49613913e-01 -3.66520116e-03 -4.41490902e+01] [-1.17826902e-02 -2.92290380e-05 9.99930581e-01 -4.11071907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.678623853 meters Centerline goodness [0,1] 0.9999787582046434 Centerline is valid? [True, True] Translation: X:215.52, Y:-44.16, Z:-4.11 [[ 9.49260746e-01 3.14294351e-01 1.10949189e-02 2.15523941e+02] [-3.14273380e-01 9.49325581e-01 -3.63089589e-03 -4.41551412e+01] [-1.16738604e-02 -4.01707312e-05 9.99931857e-01 -4.11266709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.708623853 meters Centerline goodness [0,1] 0.9999787582046434 Centerline is valid? [True, True] Translation: X:215.55, Y:-44.16, Z:-4.11 [[ 9.49316935e-01 3.14124593e-01 1.10949184e-02 2.15550134e+02] [-3.14103610e-01 9.49381767e-01 -3.63089781e-03 -4.41634980e+01] [-1.16738675e-02 -3.80811375e-05 9.99931857e-01 -4.11315187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.738623853 meters Centerline goodness [0,1] 0.9999574513349644 Centerline is valid? [True, True] Translation: X:215.58, Y:-44.17, Z:-4.12 [[ 9.48948494e-01 3.15265815e-01 1.02089231e-02 2.15578273e+02] [-3.15248137e-01 9.49003405e-01 -3.33902531e-03 -4.41692878e+01] [-1.07409833e-02 -4.97809367e-05 9.99942313e-01 -4.11559274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.768623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:215.60, Y:-44.18, Z:-4.12 [[ 9.48915966e-01 3.15363889e-01 1.02032773e-02 2.15604727e+02] [-3.15346261e-01 9.48970819e-01 -3.33480445e-03 -4.41781894e+01] [-1.07342893e-02 -5.31161593e-05 9.99942384e-01 -4.11500647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.798623853 meters Centerline goodness [0,1] 0.9999571981937638 Centerline is valid? [True, True] Translation: X:215.63, Y:-44.19, Z:-4.12 [[ 9.49039496e-01 3.14996575e-01 1.00595024e-02 2.15630908e+02] [-3.14979427e-01 9.49092807e-01 -3.28712940e-03 -4.41855325e+01] [-1.05828359e-02 -4.89206813e-05 9.99943999e-01 -4.11691442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.828623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:215.66, Y:-44.20, Z:-4.12 [[ 9.49506042e-01 3.13588230e-01 1.00348980e-02 2.15657198e+02] [-3.13571099e-01 9.49559067e-01 -3.27792654e-03 -4.41966581e+01] [-1.05566476e-02 -3.42429507e-05 9.99944276e-01 -4.11547917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.858623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:215.68, Y:-44.21, Z:-4.12 [[ 9.49748098e-01 3.12849128e-01 1.01967326e-02 2.15682976e+02] [-3.12831403e-01 9.49802833e-01 -3.33031974e-03 -4.42063425e+01] [-1.07267732e-02 -2.68933448e-05 9.99942466e-01 -4.11597121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.888623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:215.71, Y:-44.22, Z:-4.12 [[ 9.49887311e-01 3.12419151e-01 1.04101003e-02 2.15709628e+02] [-3.12400657e-01 9.49944353e-01 -3.39937160e-03 -4.42164176e+01] [-1.09510448e-02 -2.31022183e-05 9.99940035e-01 -4.11593938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.918623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:215.74, Y:-44.22, Z:-4.12 [[ 9.49712076e-01 3.12958925e-01 1.01824937e-02 2.15736054e+02] [-3.12941266e-01 9.49766661e-01 -3.32470247e-03 -4.42232158e+01] [-1.07114884e-02 -2.90123930e-05 9.99942630e-01 -4.11616856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.94862385300002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:215.76, Y:-44.23, Z:-4.12 [[ 9.49433547e-01 3.13811993e-01 9.89814195e-03 2.15764604e+02] [-3.13795374e-01 9.49485140e-01 -3.22987631e-03 -4.42300843e+01] [-1.04117126e-02 -3.94382353e-05 9.99945796e-01 -4.11686077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.97862385300002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:215.79, Y:-44.24, Z:-4.12 [[ 9.49148128e-01 3.14672898e-01 9.93975108e-03 2.15792144e+02] [-3.14656180e-01 9.49200171e-01 -3.24399767e-03 -4.42365006e+01] [-1.04556116e-02 -4.85697923e-05 9.99945337e-01 -4.11752265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.00862385300002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:215.82, Y:-44.24, Z:-4.12 [[ 9.48585869e-01 3.16400904e-01 8.67860038e-03 2.15819556e+02] [-3.16388254e-01 9.48625566e-01 -2.82987918e-03 -4.42415848e+01] [-9.12811852e-03 -6.14238253e-05 9.99958336e-01 -4.12000140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.03862385300002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:215.85, Y:-44.25, Z:-4.12 [[ 9.48405221e-01 3.16950262e-01 8.37062898e-03 2.15847647e+02] [-3.16938512e-01 9.48442158e-01 -2.72996041e-03 -4.42491229e+01] [-8.80431908e-03 -6.38659879e-05 9.99961239e-01 -4.12027278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.06862385300002 meters Centerline goodness [0,1] 0.9999783718314733 Centerline is valid? [True, True] Translation: X:215.88, Y:-44.26, Z:-4.12 [[ 9.48267608e-01 3.17363752e-01 8.29416194e-03 2.15875140e+02] [-3.17352251e-01 9.48303877e-01 -2.70279981e-03 -4.42555891e+01] [-8.72315662e-03 -6.91934478e-05 9.99961950e-01 -4.12121602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.09862385300002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:215.90, Y:-44.26, Z:-4.12 [[ 9.48170353e-01 3.17640772e-01 8.79326841e-03 2.15901530e+02] [-3.17627862e-01 9.48211123e-01 -2.86480272e-03 -4.42615662e+01] [-9.24785306e-03 -7.66660433e-05 9.99957235e-01 -4.12080306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.12862385300002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:215.93, Y:-44.27, Z:-4.12 [[ 9.48206157e-01 3.17518288e-01 9.33921251e-03 2.15927785e+02] [-3.17503728e-01 9.48252145e-01 -3.04175898e-03 -4.42703553e+01] [-9.82174239e-03 -8.10201976e-05 9.99951762e-01 -4.11885187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.15862385300002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:215.95, Y:-44.28, Z:-4.12 [[ 9.48235283e-01 3.17408242e-01 1.00923623e-02 2.15954871e+02] [-3.17391269e-01 9.48288985e-01 -3.28365384e-03 -4.42783434e+01] [-1.06127348e-02 -8.95512600e-05 9.99943679e-01 -4.11825859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.18862385300002 meters Centerline goodness [0,1] 0.9999786374997329 Centerline is valid? [True, True] Translation: X:215.98, Y:-44.29, Z:-4.12 [[ 9.48251659e-01 3.17345910e-01 1.05054602e-02 2.15980421e+02] [-3.17327522e-01 9.48309846e-01 -3.41747452e-03 -4.42860208e+01] [-1.10469529e-02 -9.30457615e-05 9.99938976e-01 -4.11798918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.21862385300003 meters Centerline goodness [0,1] 0.9999785357058533 Centerline is valid? [True, True] Translation: X:216.01, Y:-44.29, Z:-4.12 [[ 9.48222070e-01 3.17429737e-01 1.06427185e-02 2.16006472e+02] [-3.17410873e-01 9.48281790e-01 -3.46188449e-03 -4.42949459e+01] [-1.11912012e-02 -9.54792873e-05 9.99937372e-01 -4.11677562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.24862385300003 meters Centerline goodness [0,1] 0.9999785605557104 Centerline is valid? [True, True] Translation: X:216.03, Y:-44.30, Z:-4.12 [[ 9.48090303e-01 3.17828765e-01 1.04715829e-02 2.16033897e+02] [-3.17810561e-01 9.48148125e-01 -3.40314633e-03 -4.43004693e+01] [-1.10102295e-02 -1.01489605e-04 9.99939380e-01 -4.11916258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.27862385300003 meters Centerline goodness [0,1] 0.9999569633327595 Centerline is valid? [True, True] Translation: X:216.06, Y:-44.31, Z:-4.12 [[ 9.47938356e-01 3.18288523e-01 1.02610397e-02 2.16061249e+02] [-3.18271069e-01 9.47993885e-01 -3.33484200e-03 -4.43095378e+01] [-1.07888449e-02 -1.04567445e-04 9.99941793e-01 -4.11857407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.30862385300003 meters Centerline goodness [0,1] 0.9999573751625072 Centerline is valid? [True, True] Translation: X:216.09, Y:-44.31, Z:-4.12 [[ 9.47483124e-01 3.19653362e-01 9.87204704e-03 2.16089915e+02] [-3.19637307e-01 9.47534545e-01 -3.20590459e-03 -4.43116801e+01] [-1.03788838e-02 -1.17934027e-04 9.99946131e-01 -4.12148158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.33862385300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:216.12, Y:-44.32, Z:-4.12 [[ 9.47317446e-01 3.20156299e-01 9.46573732e-03 2.16117536e+02] [-3.20141560e-01 9.47364729e-01 -3.07426227e-03 -4.43211338e+01] [-9.95175010e-03 -1.18073633e-04 9.99950473e-01 -4.12063250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.36862385300003 meters Centerline goodness [0,1] 0.999914089347079 Centerline is valid? [True, True] Translation: X:216.14, Y:-44.33, Z:-4.12 [[ 9.47086525e-01 3.20851560e-01 9.02170747e-03 2.16144633e+02] [-3.20838225e-01 9.47129485e-01 -2.92770166e-03 -4.43262261e+01] [-9.48408280e-03 -1.21721821e-04 9.99955018e-01 -4.12131128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.398623853 meters Centerline goodness [0,1] 0.9999349537087228 Centerline is valid? [True, True] Translation: X:216.17, Y:-44.33, Z:-4.12 [[ 9.47002571e-01 3.21098564e-01 9.04673278e-03 2.16172315e+02] [-3.21085166e-01 9.47045773e-01 -2.93591009e-03 -4.43333965e+01] [-9.51038656e-03 -1.24457292e-04 9.99954768e-01 -4.12208928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.428623853 meters Centerline goodness [0,1] 0.9999573387939678 Centerline is valid? [True, True] Translation: X:216.20, Y:-44.34, Z:-4.12 [[ 9.46976595e-01 3.21167672e-01 9.30883990e-03 2.16198110e+02] [-3.21153514e-01 9.47022338e-01 -3.01849025e-03 -4.43401198e+01] [-9.78512082e-03 -1.31127026e-04 9.99952116e-01 -4.12193997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.458623853 meters Centerline goodness [0,1] 0.9999571339777525 Centerline is valid? [True, True] Translation: X:216.23, Y:-44.35, Z:-4.12 [[ 9.47078744e-01 3.20864715e-01 9.36412433e-03 2.16225178e+02] [-3.20850374e-01 9.47125028e-01 -3.03641876e-03 -4.43476160e+01] [-9.84327616e-03 -1.28755125e-04 9.99951545e-01 -4.12210999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.488623853 meters Centerline goodness [0,1] 0.999935347614327 Centerline is valid? [True, True] Translation: X:216.25, Y:-44.35, Z:-4.12 [[ 9.47081357e-01 3.20848611e-01 9.64741719e-03 2.16252215e+02] [-3.20833417e-01 9.47130482e-01 -3.12532788e-03 -4.43532477e+01] [-1.01401200e-02 -1.35274054e-04 9.99948579e-01 -4.12201036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.518623853 meters Centerline goodness [0,1] 0.9999569577755778 Centerline is valid? [True, True] Translation: X:216.28, Y:-44.36, Z:-4.12 [[ 9.47166514e-01 3.20597630e-01 9.63091308e-03 2.16278973e+02] [-3.20582476e-01 9.47215468e-01 -3.11994779e-03 -4.43602587e+01] [-1.01227977e-02 -1.32391892e-04 9.99948754e-01 -4.12271459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.548623853 meters Centerline goodness [0,1] 0.9999785006342313 Centerline is valid? [True, True] Translation: X:216.31, Y:-44.37, Z:-4.12 [[ 9.47100610e-01 3.20788347e-01 9.76066745e-03 2.16307042e+02] [-3.20772823e-01 9.47150895e-01 -3.15891114e-03 -4.43652321e+01] [-1.02581668e-02 -1.39150184e-04 9.99947374e-01 -4.12321828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.578623853 meters Centerline goodness [0,1] 0.9999568826129137 Centerline is valid? [True, True] Translation: X:216.33, Y:-44.37, Z:-4.12 [[ 9.47115496e-01 3.20751600e-01 9.52088997e-03 2.16333864e+02] [-3.20736834e-01 9.47163340e-01 -3.08072068e-03 -4.43721577e+01] [-1.00059840e-02 -1.35901813e-04 9.99949930e-01 -4.12384909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.608623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:216.36, Y:-44.38, Z:-4.12 [[ 9.47156634e-01 3.20629454e-01 9.54270082e-03 2.16361164e+02] [-3.20614610e-01 9.47204695e-01 -3.08817371e-03 -4.43783471e+01] [-1.00290505e-02 -1.34545081e-04 9.99949699e-01 -4.12463320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.638623853 meters Centerline goodness [0,1] 0.9999572713483026 Centerline is valid? [True, True] Translation: X:216.39, Y:-44.38, Z:-4.13 [[ 9.47172282e-01 3.20584748e-01 9.49141913e-03 2.16388181e+02] [-3.20570080e-01 9.47219827e-01 -3.06966979e-03 -4.43841562e+01] [-9.97454971e-03 -1.35158844e-04 9.99950244e-01 -4.12520996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.668623853 meters Centerline goodness [0,1] 0.9999786329351937 Centerline is valid? [True, True] Translation: X:216.41, Y:-44.39, Z:-4.12 [[ 9.47212465e-01 3.20456522e-01 9.80632022e-03 2.16414988e+02] [-3.20440888e-01 9.47263214e-01 -3.16861826e-03 -4.43877445e+01] [-1.03045708e-02 -1.40991246e-04 9.99946897e-01 -4.12457483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.69862385300002 meters Centerline goodness [0,1] 0.9999147485080989 Centerline is valid? [True, True] Translation: X:216.44, Y:-44.39, Z:-4.13 [[ 9.47379086e-01 3.19950088e-01 1.02376452e-02 2.16442812e+02] [-3.19933030e-01 9.47434389e-01 -3.30685728e-03 -4.43924448e+01] [-1.07575264e-02 -1.42513411e-04 9.99942126e-01 -4.12603429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.72862385300002 meters Centerline goodness [0,1] 0.9999354172048567 Centerline is valid? [True, True] Translation: X:216.47, Y:-44.40, Z:-4.13 [[ 9.47797905e-01 3.18718634e-01 9.87745377e-03 2.16470678e+02] [-3.18702687e-01 9.47849364e-01 -3.19069929e-03 -4.44001246e+01] [-1.03792736e-02 -1.23832955e-04 9.99946126e-01 -4.12589462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.75862385300002 meters Centerline goodness [0,1] 0.9999357505407663 Centerline is valid? [True, True] Translation: X:216.50, Y:-44.41, Z:-4.13 [[ 9.48088529e-01 3.17858277e-01 9.70855004e-03 2.16498837e+02] [-3.17842842e-01 9.48138230e-01 -3.13450770e-03 -4.44080594e+01] [-1.02013767e-02 -1.14002337e-04 9.99947958e-01 -4.12714320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.78862385300002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:216.53, Y:-44.42, Z:-4.13 [[ 9.48389521e-01 3.16967351e-01 9.43481394e-03 2.16526040e+02] [-3.16952744e-01 9.48436444e-01 -3.04476091e-03 -4.44157881e+01] [-9.91341118e-03 -1.02770823e-04 9.99950856e-01 -4.12853560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.81862385300002 meters Centerline goodness [0,1] 0.9999573533488283 Centerline is valid? [True, True] Translation: X:216.55, Y:-44.42, Z:-4.13 [[ 9.48721727e-01 3.15978387e-01 9.20563689e-03 2.16553868e+02] [-3.15964453e-01 9.48766383e-01 -2.96888022e-03 -4.44237190e+01] [-9.67210080e-03 -9.20128499e-05 9.99953220e-01 -4.12936329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.84862385300002 meters Centerline goodness [0,1] 0.9999142826529519 Centerline is valid? [True, True] Translation: X:216.58, Y:-44.43, Z:-4.13 [[ 9.49249666e-01 3.14396901e-01 8.92526053e-03 2.16580987e+02] [-3.14383754e-01 9.49291622e-01 -2.87612452e-03 -4.44295869e+01] [-9.37691967e-03 -7.57966742e-05 9.99956033e-01 -4.13068985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.87862385300002 meters Centerline goodness [0,1] 0.9999783413831193 Centerline is valid? [True, True] Translation: X:216.61, Y:-44.44, Z:-4.13 [[ 9.49536676e-01 3.13533778e-01 8.75616161e-03 2.16608176e+02] [-3.13521083e-01 9.49577046e-01 -2.82219779e-03 -4.44362610e+01] [-9.19950441e-03 -6.54609616e-05 9.99957682e-01 -4.13114838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.90862385300002 meters Centerline goodness [0,1] 0.9999786452549757 Centerline is valid? [True, True] Translation: X:216.64, Y:-44.44, Z:-4.13 [[ 9.49767226e-01 3.12826784e-01 9.03439402e-03 2.16635136e+02] [-3.12813265e-01 9.49810191e-01 -2.90895234e-03 -4.44430723e+01] [-9.49095772e-03 -6.32506915e-05 9.99954958e-01 -4.13165247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.93862385300002 meters Centerline goodness [0,1] 0.9999783291797595 Centerline is valid? [True, True] Translation: X:216.66, Y:-44.45, Z:-4.13 [[ 9.50294604e-01 3.11223859e-01 8.93728786e-03 2.16663346e+02] [-3.11210554e-01 9.50336629e-01 -2.87811875e-03 -4.44494074e+01] [-9.38917123e-03 -4.63175901e-05 9.99955920e-01 -4.12985371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.96862385300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:216.69, Y:-44.45, Z:-4.13 [[ 9.50581221e-01 3.10343060e-01 9.08446676e-03 2.16689953e+02] [-3.10329292e-01 9.50624628e-01 -2.92348405e-03 -4.44544766e+01] [-9.54320082e-03 -4.01671026e-05 9.99954462e-01 -4.13229948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.99862385300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:216.72, Y:-44.46, Z:-4.13 [[ 9.50880715e-01 3.09415838e-01 9.36506668e-03 2.16717383e+02] [-3.09401172e-01 9.50926831e-01 -3.01271928e-03 -4.44615453e+01] [-9.83767624e-03 -3.28259372e-05 9.99951608e-01 -4.13249854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.02862385300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:216.74, Y:-44.47, Z:-4.13 [[ 9.51113476e-01 3.08701160e-01 9.31396629e-03 2.16744779e+02] [-3.08686637e-01 9.51159079e-01 -2.99450021e-03 -4.44687352e+01] [-9.78346928e-03 -2.69874259e-05 9.99952140e-01 -4.13284391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.05862385300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:216.77, Y:-44.47, Z:-4.13 [[ 9.51569620e-01 3.07285293e-01 9.53980746e-03 2.16772188e+02] [-3.07270004e-01 9.51617438e-01 -3.06521943e-03 -4.44742256e+01] [-1.00201440e-02 -1.45269955e-05 9.99949797e-01 -4.13246572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.08862385300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:216.80, Y:-44.48, Z:-4.13 [[ 9.51847239e-01 3.06425490e-01 9.50011481e-03 2.16799653e+02] [-3.06410302e-01 9.51894647e-01 -3.05083950e-03 -4.44808127e+01] [-9.97796343e-03 -6.99988826e-06 9.99950219e-01 -4.13034578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.11862385300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:216.83, Y:-44.49, Z:-4.13 [[ 9.52184262e-01 3.05378292e-01 9.44619711e-03 2.16825405e+02] [-3.05363249e-01 9.52231116e-01 -3.03105363e-03 -4.44870770e+01] [-9.92058080e-03 1.60011659e-06 9.99950790e-01 -4.13390279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.148623853 meters Centerline goodness [0,1] 0.9999786013866302 Centerline is valid? [True, True] Translation: X:216.85, Y:-44.49, Z:-4.13 [[ 9.52598836e-01 3.04083517e-01 9.41659106e-03 2.16850929e+02] [-3.04068523e-01 9.52645377e-01 -3.01974022e-03 -4.44946433e+01] [-9.88892517e-03 1.33120761e-05 9.99951103e-01 -4.13478139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.178623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:216.88, Y:-44.50, Z:-4.14 [[ 9.53503434e-01 3.01240223e-01 9.24822094e-03 2.16877236e+02] [-3.01225634e-01 9.53548282e-01 -2.96505136e-03 -4.45026519e+01] [-9.71181793e-03 4.13854438e-05 9.99952838e-01 -4.13545471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.208623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:216.90, Y:-44.51, Z:-4.14 [[ 9.54033950e-01 2.99552612e-01 9.35176490e-03 2.16904547e+02] [-2.99537616e-01 9.54079781e-01 -2.99788558e-03 -4.45118616e+01] [-9.82035427e-03 5.88792562e-05 9.99951777e-01 -4.13597656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.238623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:216.93, Y:-44.52, Z:-4.13 [[ 9.55288036e-01 2.95502127e-01 1.01617474e-02 2.16930940e+02] [-2.95484217e-01 9.55342076e-01 -3.25518916e-03 -4.45224606e+01] [-1.06698601e-02 1.07007305e-04 9.99943070e-01 -4.13416193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.268623853 meters Centerline goodness [0,1] 0.9999348180336773 Centerline is valid? [True, True] Translation: X:216.96, Y:-44.53, Z:-4.13 [[ 9.55948262e-01 2.93356157e-01 1.02511778e-02 2.16959205e+02] [-2.93337804e-01 9.56003215e-01 -3.28403983e-03 -4.45287881e+01] [-1.07635522e-02 1.32314187e-04 9.99942063e-01 -4.13169908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.298623853 meters Centerline goodness [0,1] 0.9999567745142536 Centerline is valid? [True, True] Translation: X:216.99, Y:-44.54, Z:-4.13 [[ 9.56774331e-01 2.90652686e-01 1.01928742e-02 2.16986656e+02] [-2.90634407e-01 9.56828611e-01 -3.26356790e-03 -4.45386919e+01] [-1.07013985e-02 1.60098033e-04 9.99942726e-01 -4.13195136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.328623853 meters Centerline goodness [0,1] 0.9997619511350603 Centerline is valid? [True, True] Translation: X:217.01, Y:-44.56, Z:-4.13 [[ 9.57635058e-01 2.87820168e-01 9.72862248e-03 2.17009889e+02] [-2.87803395e-01 9.57684457e-01 -3.11251775e-03 -4.45563017e+01] [-1.02127959e-02 1.80725545e-04 9.99947832e-01 -4.12850639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.358623853 meters Centerline goodness [0,1] 0.9999351365375884 Centerline is valid? [True, True] Translation: X:217.04, Y:-44.56, Z:-4.13 [[ 9.59016169e-01 2.83185586e-01 9.69083991e-03 2.17038660e+02] [-2.83168717e-01 9.59065103e-01 -3.09929477e-03 -4.45635335e+01] [-1.01718220e-02 2.28131091e-04 9.99948240e-01 -4.13413496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.388623853 meters Centerline goodness [0,1] 0.9998485209149337 Centerline is valid? [True, True] Translation: X:217.06, Y:-44.58, Z:-4.14 [[ 9.59726582e-01 2.80775259e-01 9.49430197e-03 2.17064600e+02] [-2.80758950e-01 9.59773511e-01 -3.03639523e-03 -4.45762418e+01] [-9.96492419e-03 2.48498969e-04 9.99950318e-01 -4.13509501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.418623853 meters Centerline goodness [0,1] 0.9995479107015995 Centerline is valid? [True, True] Translation: X:217.09, Y:-44.59, Z:-4.13 [[ 9.60990211e-01 2.76437414e-01 8.95377704e-03 2.17092136e+02] [-2.76422727e-01 9.61031883e-01 -2.86282161e-03 -4.45893782e+01] [-9.39625621e-03 2.76116074e-04 9.99955816e-01 -4.12677465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.44862385300002 meters Centerline goodness [0,1] 0.9997409661960885 Centerline is valid? [True, True] Translation: X:217.12, Y:-44.60, Z:-4.14 [[ 9.61507811e-01 2.74614374e-01 9.46968228e-03 2.17118218e+02] [-2.74597847e-01 9.61554392e-01 -3.02878872e-03 -4.46010356e+01] [-9.93736351e-03 3.11849643e-04 9.99950575e-01 -4.13670952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.47862385300002 meters Centerline goodness [0,1] 0.9995511381853158 Centerline is valid? [True, True] Translation: X:217.14, Y:-44.61, Z:-4.14 [[ 9.62028210e-01 2.72794076e-01 9.22584367e-03 2.17144126e+02] [-2.72778332e-01 9.62072393e-01 -2.94818108e-03 -4.46135128e+01] [-9.68017583e-03 3.19623118e-04 9.99953095e-01 -4.13747596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.50862385300002 meters Centerline goodness [0,1] 0.9983195064879813 Centerline is valid? [True, True] Translation: X:217.17, Y:-44.63, Z:-4.14 [[ 9.62904901e-01 2.69653658e-01 1.00527027e-02 2.17168737e+02] [-2.69634800e-01 9.62957298e-01 -3.21188446e-03 -4.46311498e+01] [-1.05464198e-02 3.82180809e-04 9.99944312e-01 -4.13661652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.53862385300002 meters Centerline goodness [0,1] 0.9987798090508199 Centerline is valid? [True, True] Translation: X:217.20, Y:-44.64, Z:-4.14 [[ 9.63275560e-01 2.68322134e-01 1.01699838e-02 2.17195651e+02] [-2.68302759e-01 9.63329161e-01 -3.24934773e-03 -4.46405437e+01] [-1.06689139e-02 4.01382546e-04 9.99943005e-01 -4.13609667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.56862385300002 meters Centerline goodness [0,1] 0.9954002034933017 Centerline is valid? [True, True] Translation: X:217.22, Y:-44.66, Z:-4.14 [[ 9.63567340e-01 2.67284351e-01 9.85180088e-03 2.17219844e+02] [-2.67266121e-01 9.63617619e-01 -3.14710146e-03 -4.46559674e+01] [-1.03345399e-02 3.99391570e-04 9.99946517e-01 -4.13774920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.59862385300002 meters Centerline goodness [0,1] 0.9954002034933017 Centerline is valid? [True, True] Translation: X:217.25, Y:-44.66, Z:-4.14 [[ 9.63584701e-01 2.67221750e-01 9.85195895e-03 2.17246095e+02] [-2.67203522e-01 9.63634981e-01 -3.14660653e-03 -4.46642102e+01] [-1.03345340e-02 3.99543788e-04 9.99946517e-01 -4.13823438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.62862385300002 meters Centerline goodness [0,1] 0.997633594355047 Centerline is valid? [True, True] Translation: X:217.27, Y:-44.67, Z:-4.14 [[ 9.63758848e-01 2.66605808e-01 9.49870648e-03 2.17274120e+02] [-2.66588842e-01 9.63805577e-01 -3.03298525e-03 -4.46701876e+01] [-9.96351776e-03 3.90817220e-04 9.99950287e-01 -4.13829949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.65862385300002 meters Centerline goodness [0,1] 0.9971525335979464 Centerline is valid? [True, True] Translation: X:217.30, Y:-44.68, Z:-4.14 [[ 9.63644462e-01 2.67021729e-01 9.42053979e-03 2.17298822e+02] [-2.67005064e-01 9.63690432e-01 -3.00765416e-03 -4.46839221e+01] [-9.88159308e-03 3.82977447e-04 9.99951103e-01 -4.13937146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.68862385300002 meters Centerline goodness [0,1] 0.9974635938251629 Centerline is valid? [True, True] Translation: X:217.33, Y:-44.69, Z:-4.13 [[ 9.63463763e-01 2.67705770e-01 8.43795871e-03 2.17326746e+02] [-2.67692428e-01 9.63500653e-01 -2.69378481e-03 -4.46922026e+01] [-8.85112046e-03 3.36586396e-04 9.99960771e-01 -4.13083754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.71862385300003 meters Centerline goodness [0,1] 0.9982255691162468 Centerline is valid? [True, True] Translation: X:217.35, Y:-44.70, Z:-4.14 [[ 9.63055940e-01 2.69151875e-01 8.97349987e-03 2.17353969e+02] [-2.69136861e-01 9.63097685e-01 -2.86350190e-03 -4.47007053e+01] [-9.41307386e-03 3.42612935e-04 9.99955637e-01 -4.14066952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.74862385300003 meters Centerline goodness [0,1] 0.9994455225949542 Centerline is valid? [True, True] Translation: X:217.38, Y:-44.71, Z:-4.14 [[ 9.61931979e-01 2.73158321e-01 8.44980204e-03 2.17382063e+02] [-2.73145167e-01 9.61969048e-01 -2.69581094e-03 -4.47073975e+01] [-8.86483122e-03 2.85164160e-04 9.99960666e-01 -4.14255747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.77862385300003 meters Centerline goodness [0,1] 0.9994791779692281 Centerline is valid? [True, True] Translation: X:217.41, Y:-44.71, Z:-4.14 [[ 9.61310577e-01 2.75361234e-01 7.62657486e-03 2.17409189e+02] [-2.75350586e-01 9.61340800e-01 -2.43336062e-03 -4.47137466e+01] [-8.00179075e-03 2.39233443e-04 9.99967957e-01 -4.13686400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.80862385300003 meters Centerline goodness [0,1] 0.9999134442689287 Centerline is valid? [True, True] Translation: X:217.44, Y:-44.71, Z:-4.14 [[ 9.59714994e-01 2.80859528e-01 8.06575778e-03 2.17441389e+02] [-2.80847820e-01 9.59748865e-01 -2.57253185e-03 -4.47131099e+01] [-8.46362196e-03 2.03646894e-04 9.99964162e-01 -4.14180560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.83862385300003 meters Centerline goodness [0,1] 0.9999783066143133 Centerline is valid? [True, True] Translation: X:217.47, Y:-44.72, Z:-4.14 [[ 9.58894170e-01 2.83642499e-01 8.30085189e-03 2.17469981e+02] [-2.83630201e-01 9.58930080e-01 -2.64771443e-03 -4.47186079e+01] [-8.71094091e-03 1.84505641e-04 9.99962042e-01 -4.14201103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.86862385300003 meters Centerline goodness [0,1] 0.9999785508987173 Centerline is valid? [True, True] Translation: X:217.50, Y:-44.73, Z:-4.14 [[ 9.58073493e-01 2.86403423e-01 8.26207431e-03 2.17497532e+02] [-2.86391346e-01 9.58109104e-01 -2.63491215e-03 -4.47257599e+01] [-8.67061647e-03 1.58252909e-04 9.99962397e-01 -4.14286194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.898623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:217.53, Y:-44.73, Z:-4.14 [[ 9.57366501e-01 2.88758447e-01 8.24275152e-03 2.17525023e+02] [-2.88746507e-01 9.57401974e-01 -2.62940766e-03 -4.47323458e+01] [-8.65089025e-03 1.37241095e-04 9.99962571e-01 -4.14331341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.928623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:217.55, Y:-44.74, Z:-4.14 [[ 9.55888458e-01 2.93610153e-01 8.38655790e-03 2.17554014e+02] [-2.93598003e-01 9.55925243e-01 -2.67264523e-03 -4.47366756e+01] [-8.80163817e-03 9.24740793e-05 9.99961261e-01 -4.14360893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.958623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:217.58, Y:-44.74, Z:-4.14 [[ 9.55263405e-01 2.95639846e-01 8.30113835e-03 2.17580915e+02] [-2.95628022e-01 9.55299469e-01 -2.64511063e-03 -4.47435124e+01] [-8.71207316e-03 7.27282822e-05 9.99962047e-01 -4.14406454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.988623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:217.61, Y:-44.75, Z:-4.15 [[ 9.54074446e-01 2.99459488e-01 8.12204520e-03 2.17608468e+02] [-2.99448311e-01 9.54109016e-01 -2.58752853e-03 -4.47491278e+01] [-8.52417652e-03 3.65621279e-05 9.99963668e-01 -4.14700275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.018623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:217.64, Y:-44.75, Z:-4.15 [[ 9.53505027e-01 3.01268046e-01 8.10726698e-03 2.17636642e+02] [-3.01256969e-01 9.53539493e-01 -2.58351487e-03 -4.47542435e+01] [-8.50892972e-03 2.10237387e-05 9.99963798e-01 -4.14574017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.048623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:217.66, Y:-44.76, Z:-4.15 [[ 9.53003585e-01 3.02845310e-01 8.29968913e-03 2.17664318e+02] [-3.02833776e-01 9.53039725e-01 -2.64309240e-03 -4.47601629e+01] [-8.71038158e-03 5.45034009e-06 9.99962064e-01 -4.14553800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.078623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:217.69, Y:-44.77, Z:-4.15 [[ 9.52478760e-01 3.04494223e-01 8.21455968e-03 2.17691929e+02] [-3.04483000e-01 9.52514182e-01 -2.61431699e-03 -4.47660731e+01] [-8.62052902e-03 -1.11123740e-05 9.99962842e-01 -4.14591750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.108623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:217.72, Y:-44.77, Z:-4.14 [[ 9.51481673e-01 3.07573230e-01 9.01853506e-03 2.17719658e+02] [-3.07559872e-01 9.51524412e-01 -2.86690616e-03 -4.47695128e+01] [-9.46313986e-03 -4.59308171e-05 9.99955222e-01 -4.14491656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.138623853 meters Centerline goodness [0,1] 0.9999786875812536 Centerline is valid? [True, True] Translation: X:217.75, Y:-44.78, Z:-4.15 [[ 9.51073924e-01 3.08828176e-01 9.14055810e-03 2.17746999e+02] [-3.08814517e-01 9.51117845e-01 -2.90509508e-03 -4.47752580e+01] [-9.59092313e-03 -5.97768617e-05 9.99954004e-01 -4.14529064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.168623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:217.77, Y:-44.78, Z:-4.15 [[ 9.50913028e-01 3.09319496e-01 9.26625612e-03 2.17774088e+02] [-3.09305478e-01 9.50958172e-01 -2.94548476e-03 -4.47820144e+01] [-9.72291784e-03 -6.52039517e-05 9.99952729e-01 -4.14558771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.19862385300002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:217.80, Y:-44.79, Z:-4.15 [[ 9.50767761e-01 3.09775624e-01 8.92904315e-03 2.17801142e+02] [-3.09762654e-01 9.50809685e-01 -2.83552454e-03 -4.47888324e+01] [-9.36819709e-03 -6.99587838e-05 9.99956115e-01 -4.14661353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.22862385300002 meters Centerline goodness [0,1] 0.999978728382719 Centerline is valid? [True, True] Translation: X:217.83, Y:-44.80, Z:-4.15 [[ 9.50885763e-01 3.09432695e-01 8.22632823e-03 2.17827723e+02] [-3.09421667e-01 9.50921345e-01 -2.61311220e-03 -4.47961972e+01] [-8.63117345e-03 -6.06330111e-05 9.99962749e-01 -4.14839709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.25862385300002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:217.85, Y:-44.80, Z:-4.15 [[ 9.51110193e-01 3.08744245e-01 8.14814532e-03 2.17854254e+02] [-3.08733414e-01 9.51145093e-01 -2.58668237e-03 -4.48049045e+01] [-8.54869173e-03 -5.53847512e-05 9.99963458e-01 -4.14915121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.28862385300002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:217.88, Y:-44.81, Z:-4.15 [[ 9.51383465e-01 3.07890648e-01 8.53531073e-03 2.17881744e+02] [-3.07878748e-01 9.51421750e-01 -2.70751383e-03 -4.48140358e+01] [-8.95429846e-03 -5.19568929e-05 9.99959908e-01 -4.14882559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.31862385300002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:217.91, Y:-44.82, Z:-4.15 [[ 9.51933185e-01 3.06182012e-01 8.70556071e-03 2.17908064e+02] [-3.06169583e-01 9.51972990e-01 -2.75904393e-03 -4.48243778e+01] [-9.13222828e-03 -3.89524188e-05 9.99958300e-01 -4.14899347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.34862385300002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:217.93, Y:-44.83, Z:-4.15 [[ 9.52294191e-01 3.05058845e-01 8.65304063e-03 2.17934639e+02] [-3.05046515e-01 9.52333503e-01 -2.74296699e-03 -4.48339131e+01] [-9.07734683e-03 -2.74683556e-05 9.99958800e-01 -4.14972557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.37862385300002 meters Centerline goodness [0,1] 0.9999357491647392 Centerline is valid? [True, True] Translation: X:217.96, Y:-44.84, Z:-4.14 [[ 9.52668063e-01 3.03904002e-01 8.11902168e-03 2.17961414e+02] [-3.03893116e-01 9.52702659e-01 -2.57229123e-03 -4.48421868e+01] [-8.51674314e-03 -1.67750891e-05 9.99963732e-01 -4.14395324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.40862385300002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:217.99, Y:-44.85, Z:-4.15 [[ 9.53109188e-01 3.02496956e-01 8.85819012e-03 2.17987049e+02] [-3.02483966e-01 9.53150351e-01 -2.80339278e-03 -4.48523729e+01] [-9.29120480e-03 -7.52106071e-06 9.99956836e-01 -4.15015671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.43862385300002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:218.01, Y:-44.86, Z:-4.15 [[ 9.53411033e-01 3.01546372e-01 8.78562841e-03 2.18013875e+02] [-3.01533548e-01 9.53451512e-01 -2.78096869e-03 -4.48614734e+01] [-9.21526171e-03 2.24452292e-06 9.99957539e-01 -4.15114472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.46862385300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:218.04, Y:-44.87, Z:-4.15 [[ 9.53718250e-01 3.00582421e-01 8.46807283e-03 2.18039380e+02] [-3.00570487e-01 9.53755843e-01 -2.67842619e-03 -4.48706035e+01] [-8.88156177e-03 9.21115604e-06 9.99960558e-01 -4.15241773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.49862385300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:218.07, Y:-44.88, Z:-4.15 [[ 9.54474574e-01 2.98174642e-01 8.37678459e-03 2.18065274e+02] [-2.98162884e-01 9.54511332e-01 -2.64811747e-03 -4.48816917e+01] [-8.78533729e-03 2.99145417e-05 9.99961408e-01 -4.15343075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.52862385300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:218.09, Y:-44.89, Z:-4.15 [[ 9.54837366e-01 2.97019716e-01 8.05564194e-03 2.18092568e+02] [-2.97008801e-01 9.54871346e-01 -2.54659666e-03 -4.48921798e+01] [-8.44849108e-03 3.89890900e-05 9.99964310e-01 -4.15457794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.55862385300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:218.12, Y:-44.90, Z:-4.16 [[ 9.55216320e-01 2.95799141e-01 8.04054365e-03 2.18119129e+02] [-2.95788236e-01 9.55250159e-01 -2.54049552e-03 -4.49026144e+01] [-8.43220699e-03 4.84245637e-05 9.99964447e-01 -4.15519355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.58862385300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:218.14, Y:-44.91, Z:-4.16 [[ 9.55625545e-01 2.94482903e-01 7.72260186e-03 2.18144949e+02] [-2.94472814e-01 9.55656746e-01 -2.43817199e-03 -4.49126403e+01] [-8.09815653e-03 5.58831290e-05 9.99967208e-01 -4.15571141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.61862385300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:218.17, Y:-44.92, Z:-4.16 [[ 9.55587363e-01 2.94598581e-01 8.02920047e-03 2.18171767e+02] [-2.94587688e-01 9.55621093e-01 -2.53394889e-03 -4.49204491e+01] [-8.41937108e-03 5.61059288e-05 9.99964555e-01 -4.15605195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.648623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:218.20, Y:-44.93, Z:-4.16 [[ 9.55613945e-01 2.94501857e-01 8.40504073e-03 2.18199270e+02] [-2.94489912e-01 9.55650905e-01 -2.65310394e-03 -4.49279115e+01] [-8.81362882e-03 6.01434146e-05 9.99961157e-01 -4.15525132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.678623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:218.23, Y:-44.93, Z:-4.15 [[ 9.55190562e-01 2.95844799e-01 9.31906376e-03 2.18228527e+02] [-2.95830200e-01 9.55236019e-01 -2.93951900e-03 -4.49315968e+01] [-9.77154677e-03 5.09403140e-05 9.99952256e-01 -4.15131641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.708623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:218.25, Y:-44.94, Z:-4.15 [[ 9.54907777e-01 2.96762101e-01 9.13198271e-03 2.18254908e+02] [-2.96748142e-01 9.54951441e-01 -2.87858724e-03 -4.49376972e+01] [-9.57485565e-03 3.88864377e-05 9.99954159e-01 -4.15223092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.738623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:218.28, Y:-44.94, Z:-4.15 [[ 9.54666258e-01 2.97543943e-01 8.94084515e-03 2.18282474e+02] [-2.97530603e-01 9.54708124e-01 -2.81761564e-03 -4.49435837e+01] [-9.37426196e-03 2.97075261e-05 9.99956060e-01 -4.15273002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.768623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:218.31, Y:-44.95, Z:-4.15 [[ 9.54369650e-01 2.98499340e-01 8.75872910e-03 2.18309877e+02] [-2.98486595e-01 9.54409840e-01 -2.75849138e-03 -4.49489704e+01] [-9.18282510e-03 1.82572277e-05 9.99957837e-01 -4.15365196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.798623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:218.34, Y:-44.95, Z:-4.16 [[ 9.53513151e-01 3.01234667e-01 8.38730872e-03 2.18337975e+02] [-3.01223105e-01 9.53550038e-01 -2.63934882e-03 -4.49499468e+01] [-8.79278191e-03 -9.79736140e-06 9.99961343e-01 -4.15619065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.828623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:218.37, Y:-44.95, Z:-4.15 [[ 9.53094431e-01 3.02548983e-01 8.66709094e-03 2.18365682e+02] [-3.02536697e-01 9.53133838e-01 -2.72660356e-03 -4.49540522e+01] [-9.08582878e-03 -2.34023925e-05 9.99958723e-01 -4.15485785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.858623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:218.40, Y:-44.95, Z:-4.15 [[ 9.52053069e-01 3.05794560e-01 9.20009335e-03 2.18395054e+02] [-3.05780897e-01 9.52097518e-01 -2.89134741e-03 -4.49540253e+01] [-9.64354435e-03 -6.04966207e-05 9.99953498e-01 -4.15469964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.888623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:218.42, Y:-44.96, Z:-4.15 [[ 9.51679381e-01 3.06941437e-01 9.65970660e-03 2.18422876e+02] [-3.06926446e-01 9.51728401e-01 -3.03455548e-03 -4.49582770e+01] [-1.01248479e-02 -7.68955318e-05 9.99948739e-01 -4.15446731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.918623853 meters Centerline goodness [0,1] 0.9999784844442532 Centerline is valid? [True, True] Translation: X:218.45, Y:-44.96, Z:-4.16 [[ 9.51360778e-01 3.07920344e-01 9.88596047e-03 2.18451806e+02] [-3.07904702e-01 9.51412136e-01 -3.10497739e-03 -4.49603521e+01] [-1.03617085e-02 -8.99800115e-05 9.99946312e-01 -4.15704889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.94862385300002 meters Centerline goodness [0,1] 0.9999784334023465 Centerline is valid? [True, True] Translation: X:218.48, Y:-44.97, Z:-4.16 [[ 9.51044393e-01 3.08911637e-01 9.38955058e-03 2.18479884e+02] [-3.08897571e-01 9.51090738e-01 -2.94940686e-03 -4.49659195e+01] [-9.84142069e-03 -9.53925124e-05 9.99951567e-01 -4.15562545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.97862385300002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:218.51, Y:-44.97, Z:-4.16 [[ 9.50992520e-01 3.09082885e-01 8.99987921e-03 2.18507815e+02] [-3.09069993e-01 9.51035100e-01 -2.82458691e-03 -4.49701645e+01] [-9.43223249e-03 -9.54315824e-05 9.99955511e-01 -4.15772995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.00862385300002 meters Centerline goodness [0,1] 0.9999786137428088 Centerline is valid? [True, True] Translation: X:218.53, Y:-44.98, Z:-4.16 [[ 9.51147341e-01 3.08608611e-01 8.91408061e-03 2.18534617e+02] [-3.08595938e-01 9.51189107e-01 -2.79821951e-03 -4.49768947e+01] [-9.34253101e-03 -8.93300232e-05 9.99956354e-01 -4.15797419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.03862385300002 meters Centerline goodness [0,1] 0.999956976293938 Centerline is valid? [True, True] Translation: X:218.56, Y:-44.98, Z:-4.16 [[ 9.51849598e-01 3.06416113e-01 9.56603566e-03 2.18561940e+02] [-3.06401438e-01 9.51897662e-01 -2.99984277e-03 -4.49834237e+01] [-1.00250871e-02 -7.56479495e-05 9.99949745e-01 -4.15838758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.06862385300002 meters Centerline goodness [0,1] 0.99995789562325 Centerline is valid? [True, True] Translation: X:218.59, Y:-44.99, Z:-4.16 [[ 9.52313255e-01 3.04972711e-01 9.54510829e-03 2.18588480e+02] [-3.04958039e-01 9.52361088e-01 -2.99214097e-03 -4.49914321e+01] [-1.00029111e-02 -6.14019967e-05 9.99949968e-01 -4.15975258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.09862385300002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:218.62, Y:-45.00, Z:-4.16 [[ 9.52992525e-01 3.02843674e-01 9.53707623e-03 2.18615485e+02] [-3.02828918e-01 9.53040244e-01 -2.98984257e-03 -4.50023434e+01] [-9.99467237e-03 -3.88048506e-05 9.99950051e-01 -4.15935657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.12862385300002 meters Centerline goodness [0,1] 0.9999785398514958 Centerline is valid? [True, True] Translation: X:218.64, Y:-45.01, Z:-4.16 [[ 9.54127509e-01 2.99267094e-01 8.93887620e-03 2.18641281e+02] [-2.99253994e-01 9.54169380e-01 -2.80008027e-03 -4.50134422e+01] [-9.36717385e-03 -3.36079689e-06 9.99956127e-01 -4.16172207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.15862385300002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:218.67, Y:-45.02, Z:-4.16 [[ 9.54788054e-01 2.97159341e-01 8.72347195e-03 2.18667935e+02] [-2.97146771e-01 9.54827904e-01 -2.73325618e-03 -4.50229691e+01] [-9.14162704e-03 1.75288318e-05 9.99958214e-01 -4.16049501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.18862385300002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:218.69, Y:-45.03, Z:-4.16 [[ 9.55259753e-01 2.95639870e-01 8.71039191e-03 2.18694149e+02] [-2.95627301e-01 9.55299464e-01 -2.72624104e-03 -4.50325690e+01] [-9.12701827e-03 2.92386877e-05 9.99958347e-01 -4.16319300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.21862385300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:218.72, Y:-45.04, Z:-4.16 [[ 9.56445138e-01 2.91759720e-01 9.43210520e-03 2.18721335e+02] [-2.91744791e-01 9.56491642e-01 -2.95229000e-03 -4.50424873e+01] [-9.88308909e-03 7.19358525e-05 9.99951158e-01 -4.16069773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.24862385300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:218.75, Y:-45.05, Z:-4.16 [[ 9.56928006e-01 2.90169749e-01 9.50307498e-03 2.18747868e+02] [-2.90154542e-01 9.56975187e-01 -2.97193156e-03 -4.50522838e+01] [-9.95657160e-03 8.65641690e-05 9.99950428e-01 -4.16125613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.27862385300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:218.78, Y:-45.06, Z:-4.16 [[ 9.57388327e-01 2.88651321e-01 9.38115858e-03 2.18775329e+02] [-2.88636427e-01 9.57434282e-01 -2.93406592e-03 -4.50622504e+01] [-9.82876483e-03 1.01296370e-04 9.99951691e-01 -4.16258256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.30862385300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:218.80, Y:-45.07, Z:-4.17 [[ 9.58017323e-01 2.86583987e-01 8.51041533e-03 2.18801514e+02] [-2.86571667e-01 9.58055117e-01 -2.65956457e-03 -4.50716190e+01] [-8.91563557e-03 1.09065028e-04 9.99960249e-01 -4.16505809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.33862385300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:218.83, Y:-45.08, Z:-4.17 [[ 9.58201821e-01 2.85978476e-01 8.09827722e-03 2.18829091e+02] [-2.85967294e-01 9.58236035e-01 -2.53128916e-03 -4.50795940e+01] [-8.48395528e-03 1.09643449e-04 9.99964005e-01 -4.16618336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.36862385300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:218.86, Y:-45.09, Z:-4.17 [[ 9.58284033e-01 2.85713738e-01 7.70533849e-03 2.18856990e+02] [-2.85703616e-01 9.58315005e-01 -2.40725943e-03 -4.50873560e+01] [-8.07192859e-03 1.05395208e-04 9.99967416e-01 -4.16756139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.398623853 meters Centerline goodness [0,1] 0.9999785564180641 Centerline is valid? [True, True] Translation: X:218.88, Y:-45.09, Z:-4.17 [[ 9.58096118e-01 2.86342121e-01 7.74713091e-03 2.18883596e+02] [-2.86331928e-01 9.58127434e-01 -2.41796136e-03 -4.50941146e+01] [-8.11510285e-03 9.83884607e-05 9.99967067e-01 -4.16946687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.428623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:218.91, Y:-45.10, Z:-4.17 [[ 9.57885113e-01 2.87034869e-01 8.19114116e-03 2.18912360e+02] [-2.87023497e-01 9.57920130e-01 -2.55692702e-03 -4.50979526e+01] [-8.58038621e-03 9.81923503e-05 9.99963183e-01 -4.16749930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.458623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:218.94, Y:-45.10, Z:-4.17 [[ 9.57568470e-01 2.88081361e-01 8.47085063e-03 2.18940949e+02] [-2.88069254e-01 9.57605932e-01 -2.64269513e-03 -4.51030791e+01] [-8.87304802e-03 9.03699086e-05 9.99960630e-01 -4.16725110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.488623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:218.97, Y:-45.11, Z:-4.17 [[ 9.56801216e-01 2.90615413e-01 8.60905742e-03 2.18969459e+02] [-2.90603029e-01 9.56839944e-01 -2.68363352e-03 -4.51057738e+01] [-9.01739528e-03 6.58856536e-05 9.99959340e-01 -4.16887717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.518623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:219.00, Y:-45.11, Z:-4.17 [[ 9.56849433e-01 2.90456617e-01 8.60906032e-03 2.18995752e+02] [-2.90444227e-01 9.56888159e-01 -2.68362461e-03 -4.51137405e+01] [-9.01738441e-03 6.73728165e-05 9.99959340e-01 -4.16936174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.548623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:219.02, Y:-45.12, Z:-4.17 [[ 9.56523128e-01 2.91529812e-01 8.59496789e-03 2.19024462e+02] [-2.91517522e-01 9.56561742e-01 -2.67755790e-03 -4.51176157e+01] [-9.00220541e-03 5.55623201e-05 9.99959478e-01 -4.16836706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.578623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:219.05, Y:-45.12, Z:-4.17 [[ 9.56243455e-01 2.92443580e-01 8.67219415e-03 2.19051854e+02] [-2.92431116e-01 9.56282778e-01 -2.70032753e-03 -4.51222335e+01] [-9.08276336e-03 4.61511150e-05 9.99958750e-01 -4.16899123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.608623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:219.08, Y:-45.13, Z:-4.17 [[ 9.56004880e-01 2.93231972e-01 8.34743518e-03 2.19078446e+02] [-2.93220472e-01 9.56041322e-01 -2.59720631e-03 -4.51272018e+01] [-8.74207689e-03 3.53030263e-05 9.99961787e-01 -4.17042759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.638623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:219.11, Y:-45.13, Z:-4.17 [[ 9.55824759e-01 2.93828644e-01 7.98491289e-03 2.19105104e+02] [-2.93818154e-01 9.55858110e-01 -2.48303132e-03 -4.51326940e+01] [-8.36202947e-03 2.72304463e-05 9.99965037e-01 -4.17206589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.668623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:219.13, Y:-45.14, Z:-4.17 [[ 9.55581938e-01 2.94630588e-01 7.48178348e-03 2.19132530e+02] [-2.94621408e-01 9.55611227e-01 -2.32581099e-03 -4.51375637e+01] [-7.83493134e-03 1.82093880e-05 9.99969306e-01 -4.17390393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.69862385300002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:219.16, Y:-45.14, Z:-4.17 [[ 9.55647713e-01 2.94418286e-01 7.43787309e-03 2.19159801e+02] [-2.94409201e-01 9.55676657e-01 -2.31294257e-03 -4.51446819e+01] [-7.78917427e-03 2.05800004e-05 9.99969664e-01 -4.17468171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.72862385300002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:219.19, Y:-45.15, Z:-4.17 [[ 9.55866213e-01 2.93700320e-01 7.73988735e-03 2.19186084e+02] [-2.93690476e-01 9.55897548e-01 -2.40473115e-03 -4.51513921e+01] [-8.10480964e-03 2.54700592e-05 9.99967155e-01 -4.17458158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.75862385300002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:219.21, Y:-45.16, Z:-4.17 [[ 9.56101295e-01 2.92925071e-01 8.07563261e-03 2.19212984e+02] [-2.92914332e-01 9.56135399e-01 -2.50842498e-03 -4.51597244e+01] [-8.45617877e-03 3.28398423e-05 9.99964245e-01 -4.17460654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.78862385300002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:219.24, Y:-45.17, Z:-4.17 [[ 9.56347092e-01 2.92117241e-01 8.23147554e-03 2.19239483e+02] [-2.92106068e-01 9.56382515e-01 -2.55528182e-03 -4.51672316e+01] [-8.61888116e-03 3.92723887e-05 9.99962856e-01 -4.17276696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.81862385300002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:219.27, Y:-45.18, Z:-4.17 [[ 9.56760808e-01 2.90727511e-01 9.28824891e-03 2.19265449e+02] [-2.90713248e-01 9.56805890e-01 -2.88030140e-03 -4.51759889e+01] [-9.72443413e-03 5.55424900e-05 9.99952715e-01 -4.17121224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.84862385300002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:219.29, Y:-45.18, Z:-4.17 [[ 9.57028441e-01 2.89834355e-01 9.62342452e-03 2.19292279e+02] [-2.89818999e-01 9.57076822e-01 -2.98425963e-03 -4.51829868e+01] [-1.00752975e-02 6.69700845e-05 9.99949241e-01 -4.16961847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.87862385300002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:219.32, Y:-45.19, Z:-4.17 [[ 9.57555011e-01 2.88083046e-01 9.82645051e-03 2.19319017e+02] [-2.88066966e-01 9.57605426e-01 -3.04493443e-03 -4.51927911e+01] [-1.02870563e-02 8.50164390e-05 9.99947083e-01 -4.16954913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.90862385300002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:219.34, Y:-45.20, Z:-4.17 [[ 9.57848059e-01 2.87113945e-01 9.62696414e-03 2.19344717e+02] [-2.87098487e-01 9.57896432e-01 -2.98062669e-03 -4.52025522e+01] [-1.00774141e-02 9.11006431e-05 9.99949217e-01 -4.17068716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.93862385300002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:219.37, Y:-45.21, Z:-4.17 [[ 9.58200725e-01 2.85936095e-01 9.58744542e-03 2.19371419e+02] [-2.85920703e-01 9.58248683e-01 -2.96860985e-03 -4.52123229e+01] [-1.00359897e-02 1.03274973e-04 9.99949633e-01 -4.17175245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.96862385300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:219.40, Y:-45.22, Z:-4.17 [[ 9.58562903e-01 2.84723692e-01 9.46464640e-03 2.19398673e+02] [-2.84708649e-01 9.58609621e-01 -2.92896327e-03 -4.52217314e+01] [-9.90684634e-03 1.12928846e-04 9.99950920e-01 -4.17173247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.99862385300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:219.42, Y:-45.23, Z:-4.17 [[ 9.59230429e-01 2.82477365e-01 9.13909662e-03 2.19424190e+02] [-2.82463260e-01 9.59273956e-01 -2.82579923e-03 -4.52331706e+01] [-9.56512168e-03 1.29133588e-04 9.99954245e-01 -4.17340939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.02862385300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:219.45, Y:-45.24, Z:-4.17 [[ 9.59620353e-01 2.81166949e-01 8.59799766e-03 2.19451058e+02] [-2.81154408e-01 9.59658861e-01 -2.65897133e-03 -4.52428779e+01] [-8.99875950e-03 1.34238064e-04 9.99959501e-01 -4.17427700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.05862385300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:219.48, Y:-45.25, Z:-4.18 [[ 9.60011486e-01 2.79830625e-01 8.53046674e-03 2.19476852e+02] [-2.79818247e-01 9.60049374e-01 -2.63587105e-03 -4.52542077e+01] [-8.92726670e-03 1.43486226e-04 9.99960141e-01 -4.17575755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.08862385300003 meters Centerline goodness [0,1] 0.9999785334020265 Centerline is valid? [True, True] Translation: X:219.50, Y:-45.26, Z:-4.18 [[ 9.60508887e-01 2.78125710e-01 8.29261391e-03 2.19503438e+02] [-2.78113950e-01 9.60544671e-01 -2.56233495e-03 -4.52647241e+01] [-8.67807733e-03 1.54853882e-04 9.99962333e-01 -4.17696305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.11862385300003 meters Centerline goodness [0,1] 0.9999783825850105 Centerline is valid? [True, True] Translation: X:219.53, Y:-45.28, Z:-4.18 [[ 9.61424738e-01 2.74946331e-01 8.18457806e-03 2.19528552e+02] [-2.74934782e-01 9.61459559e-01 -2.52643150e-03 -4.52805932e+01] [-8.56377388e-03 1.78748561e-04 9.99963314e-01 -4.17865716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.148623853 meters Centerline goodness [0,1] 0.9999784784246207 Centerline is valid? [True, True] Translation: X:219.56, Y:-45.29, Z:-4.18 [[ 9.61846525e-01 2.73466458e-01 8.20719207e-03 2.19555711e+02] [-2.73454785e-01 9.61881520e-01 -2.53407924e-03 -4.52905912e+01] [-8.58733206e-03 1.93099372e-04 9.99963110e-01 -4.17816341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.178623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:219.58, Y:-45.30, Z:-4.18 [[ 9.62402678e-01 2.71495910e-01 8.42948194e-03 2.19580853e+02] [-2.71483543e-01 9.62439570e-01 -2.60019045e-03 -4.53041848e+01] [-8.81880805e-03 2.13964630e-04 9.99961091e-01 -4.17867897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.208623853 meters Centerline goodness [0,1] 0.9999569651848346 Centerline is valid? [True, True] Translation: X:219.61, Y:-45.31, Z:-4.18 [[ 9.62651650e-01 2.70619763e-01 8.16967159e-03 2.19607427e+02] [-2.70608112e-01 9.62686292e-01 -2.52043928e-03 -4.53145566e+01] [-8.54691154e-03 2.15525634e-04 9.99963451e-01 -4.17910985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.238623853 meters Centerline goodness [0,1] 0.9998059424727241 Centerline is valid? [True, True] Translation: X:219.64, Y:-45.32, Z:-4.17 [[ 9.62845053e-01 2.69956604e-01 7.26886817e-03 2.19635689e+02] [-2.69947367e-01 9.62872470e-01 -2.24183075e-03 -4.53213731e+01] [-7.60419007e-03 1.96323820e-04 9.99971068e-01 -4.17118143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.268623853 meters Centerline goodness [0,1] 0.9999564146708217 Centerline is valid? [True, True] Translation: X:219.66, Y:-45.34, Z:-4.18 [[ 9.63033124e-01 2.69259168e-01 8.16714248e-03 2.19661097e+02] [-2.69247496e-01 9.63067728e-01 -2.51723971e-03 -4.53350624e+01] [-8.54330123e-03 2.25202564e-04 9.99963480e-01 -4.17944244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.298623853 meters Centerline goodness [0,1] 0.9998929359114366 Centerline is valid? [True, True] Translation: X:219.69, Y:-45.35, Z:-4.18 [[ 9.63011810e-01 2.69324846e-01 8.50765467e-03 2.19687101e+02] [-2.69312210e-01 9.63049362e-01 -2.61912379e-03 -4.53454100e+01] [-8.89868652e-03 2.31031865e-04 9.99960379e-01 -4.17959475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.328623853 meters Centerline goodness [0,1] 0.9999783620036785 Centerline is valid? [True, True] Translation: X:219.71, Y:-45.36, Z:-4.18 [[ 9.63043682e-01 2.69204106e-01 8.71870349e-03 2.19710739e+02] [-2.69190830e-01 9.63083118e-01 -2.68412398e-03 -4.53591981e+01] [-9.11941334e-03 2.37933607e-04 9.99958389e-01 -4.18064166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.358623853 meters Centerline goodness [0,1] 0.999892359690857 Centerline is valid? [True, True] Translation: X:219.74, Y:-45.37, Z:-4.18 [[ 9.62877915e-01 2.69801620e-01 8.55604191e-03 2.19738021e+02] [-2.69788866e-01 9.62915902e-01 -2.63317187e-03 -4.53689558e+01] [-8.94918285e-03 2.27098194e-04 9.99959929e-01 -4.18115686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.388623853 meters Centerline goodness [0,1] 0.9999575803851701 Centerline is valid? [True, True] Translation: X:219.76, Y:-45.38, Z:-4.18 [[ 9.62706888e-01 2.70422829e-01 8.18176312e-03 2.19764231e+02] [-2.70411208e-01 9.62741632e-01 -2.51576649e-03 -4.53793032e+01] [-8.55724467e-03 2.09505278e-04 9.99963364e-01 -4.18245175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.418623853 meters Centerline goodness [0,1] 0.9999348901814393 Centerline is valid? [True, True] Translation: X:219.79, Y:-45.38, Z:-4.18 [[ 9.62532598e-01 2.71037058e-01 8.36129085e-03 2.19793537e+02] [-2.71024940e-01 9.62568891e-01 -2.57145335e-03 -4.53828999e+01] [-8.74527761e-03 2.08989322e-04 9.99961737e-01 -4.17688209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.44862385300002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:219.82, Y:-45.39, Z:-4.18 [[ 9.61740195e-01 2.73807858e-01 9.22245032e-03 2.19819113e+02] [-2.73793270e-01 9.61784392e-01 -2.83343959e-03 -4.53938472e+01] [-9.64582680e-03 1.99987912e-04 9.99953458e-01 -4.18073690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.47862385300002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:219.85, Y:-45.40, Z:-4.18 [[ 9.61339398e-01 2.75208440e-01 9.32070822e-03 2.19847173e+02] [-2.75193603e-01 9.61384563e-01 -2.86389005e-03 -4.53995017e+01] [-9.74895171e-03 1.88171056e-04 9.99952460e-01 -4.17988524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.50862385300002 meters Centerline goodness [0,1] 0.9999786571050497 Centerline is valid? [True, True] Translation: X:219.87, Y:-45.41, Z:-4.18 [[ 9.60234175e-01 2.79041630e-01 9.27889052e-03 2.19874526e+02] [-2.79027130e-01 9.60278995e-01 -2.84841597e-03 -4.54069562e+01] [-9.70515029e-03 1.46084169e-04 9.99952893e-01 -4.18086901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.53862385300002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:219.90, Y:-45.41, Z:-4.18 [[ 9.59652530e-01 2.81034052e-01 9.32110331e-03 2.19901521e+02] [-2.81019517e-01 9.59697789e-01 -2.86098407e-03 -4.54142107e+01] [-9.74947618e-03 1.26138651e-04 9.99952465e-01 -4.18169041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.56862385300002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:219.93, Y:-45.42, Z:-4.18 [[ 9.59159813e-01 2.82709016e-01 9.38433993e-03 2.19929920e+02] [-2.82694361e-01 9.59205713e-01 -2.88067236e-03 -4.54208413e+01] [-9.81590452e-03 1.10125181e-04 9.99951817e-01 -4.18147693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.59862385300002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:219.96, Y:-45.43, Z:-4.18 [[ 9.57986561e-01 2.86663415e-01 9.26474549e-03 2.19957147e+02] [-2.86649332e-01 9.58031357e-01 -2.84232083e-03 -4.54275021e+01] [-9.69070609e-03 6.71720487e-05 9.99953042e-01 -4.18351768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.62862385300002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:219.99, Y:-45.43, Z:-4.18 [[ 9.57371086e-01 2.88722130e-01 8.95181917e-03 2.19985806e+02] [-2.88709086e-01 9.57412936e-01 -2.74475554e-03 -4.54336307e+01] [-9.36305914e-03 4.32780534e-05 9.99956165e-01 -4.18423966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.65862385300002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:220.01, Y:-45.44, Z:-4.19 [[ 9.56767645e-01 2.90726258e-01 8.59749043e-03 2.20012979e+02] [-2.90714328e-01 9.56806272e-01 -2.63382070e-03 -4.54395544e+01] [-8.99185360e-03 2.05407674e-05 9.99959572e-01 -4.18556363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.68862385300002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:220.04, Y:-45.44, Z:-4.18 [[ 9.56176515e-01 2.92665014e-01 8.58258057e-03 2.20040564e+02] [-2.92653198e-01 9.56215033e-01 -2.62992476e-03 -4.54448792e+01] [-8.97647953e-03 2.95264435e-06 9.99959711e-01 -4.18476518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.71862385300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:220.07, Y:-45.45, Z:-4.19 [[ 9.54800825e-01 2.97128617e-01 8.36475837e-03 2.20069261e+02] [-2.97117588e-01 9.54837464e-01 -2.56033522e-03 -4.54469707e+01] [-8.74773354e-03 -4.07066557e-05 9.99961737e-01 -4.18681132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.74862385300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:220.10, Y:-45.45, Z:-4.18 [[ 9.54230101e-01 2.98941021e-01 8.89834681e-03 2.20096874e+02] [-2.98928617e-01 9.54271587e-01 -2.72392809e-03 -4.54537119e+01] [-9.30573337e-03 -6.07163321e-05 9.99956699e-01 -4.18480184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.77862385300003 meters Centerline goodness [0,1] 0.9999785697447656 Centerline is valid? [True, True] Translation: X:220.12, Y:-45.46, Z:-4.19 [[ 9.53645489e-01 3.00792253e-01 9.18164703e-03 2.20124519e+02] [-3.00779157e-01 9.53689684e-01 -2.80803781e-03 -4.54577808e+01] [-9.60107807e-03 -8.37754652e-05 9.99953905e-01 -4.18574937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.80862385300003 meters Centerline goodness [0,1] 0.9999364056471786 Centerline is valid? [True, True] Translation: X:220.15, Y:-45.46, Z:-4.18 [[ 9.52672189e-01 3.03826127e-01 1.02657042e-02 2.20153570e+02] [-3.03809933e-01 9.52727489e-01 -3.13953307e-03 -4.54620990e+01] [-1.07342908e-02 -1.27877057e-04 9.99942378e-01 -4.18378544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.83862385300003 meters Centerline goodness [0,1] 0.9999574196295508 Centerline is valid? [True, True] Translation: X:220.18, Y:-45.47, Z:-4.18 [[ 9.52379502e-01 3.04725331e-01 1.07590655e-02 2.20181628e+02] [-3.04707630e-01 9.52440261e-01 -3.28771085e-03 -4.54670585e+01] [-1.12492159e-02 -1.47220925e-04 9.99936715e-01 -4.18416324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.86862385300003 meters Centerline goodness [0,1] 0.9999784329372183 Centerline is valid? [True, True] Translation: X:220.21, Y:-45.48, Z:-4.18 [[ 9.52256897e-01 3.05086619e-01 1.13559406e-02 2.20208076e+02] [-3.05066925e-01 9.52324593e-01 -3.47010727e-03 -4.54761949e+01] [-1.18732248e-02 -1.59888302e-04 9.99929498e-01 -4.18275552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.898623853 meters Centerline goodness [0,1] 0.9999565151218663 Centerline is valid? [True, True] Translation: X:220.24, Y:-45.48, Z:-4.18 [[ 9.52395099e-01 3.04666253e-01 1.10476181e-02 2.20235166e+02] [-3.04647610e-01 9.52459160e-01 -3.37375802e-03 -4.54841913e+01] [-1.15502753e-02 -1.52479845e-04 9.99933282e-01 -4.18442809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.928623853 meters Centerline goodness [0,1] 0.9999141557215212 Centerline is valid? [True, True] Translation: X:220.26, Y:-45.49, Z:-4.19 [[ 9.52614835e-01 3.04007305e-01 1.02241932e-02 2.20260416e+02] [-3.03991328e-01 9.52669691e-01 -3.11973940e-03 -4.54926267e+01] [-1.06887025e-02 -1.36156031e-04 9.99942865e-01 -4.18646501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.958623853 meters Centerline goodness [0,1] 0.999957115594914 Centerline is valid? [True, True] Translation: X:220.29, Y:-45.50, Z:-4.19 [[ 9.53286236e-01 3.01931799e-01 9.08523042e-03 2.20286854e+02] [-3.01919097e-01 9.53329522e-01 -2.77137376e-03 -4.55020288e+01] [-9.49798424e-03 -1.01092102e-04 9.99954888e-01 -4.19138946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.988623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:220.31, Y:-45.51, Z:-4.19 [[ 9.53791367e-01 3.00340004e-01 8.82665873e-03 2.20313356e+02] [-3.00327943e-01 9.53832205e-01 -2.69287996e-03 -4.55145739e+01] [-9.22793094e-03 -8.24465943e-05 9.99957418e-01 -4.19158779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.018623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:220.34, Y:-45.52, Z:-4.19 [[ 9.54228365e-01 2.98957668e-01 8.51710055e-03 2.20339367e+02] [-2.98946403e-01 9.54266372e-01 -2.59613062e-03 -4.55246411e+01] [-8.90371579e-03 -6.88551000e-05 9.99960359e-01 -4.19280443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.048623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:220.37, Y:-45.54, Z:-4.19 [[ 9.54746313e-01 2.97302787e-01 8.39824066e-03 2.20365506e+02] [-2.97291775e-01 9.54783248e-01 -2.55939557e-03 -4.55350957e+01] [-8.77941493e-03 -5.31543864e-05 9.99961459e-01 -4.19403568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.078623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:220.39, Y:-45.55, Z:-4.19 [[ 9.55893077e-01 2.93593868e-01 8.43008481e-03 2.20390446e+02] [-2.93582632e-01 9.55930249e-01 -2.56857830e-03 -4.55500857e+01] [-8.81269190e-03 -1.96402729e-05 9.99961167e-01 -4.19487424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.108623853 meters Centerline goodness [0,1] 0.9999567791848554 Centerline is valid? [True, True] Translation: X:220.42, Y:-45.56, Z:-4.19 [[ 9.56523230e-01 2.91539377e-01 8.25240814e-03 2.20416505e+02] [-2.91528527e-01 9.56558828e-01 -2.51510479e-03 -4.55607547e+01] [-8.62716594e-03 -5.62374046e-08 9.99962785e-01 -4.18811752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.138623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:220.44, Y:-45.57, Z:-4.19 [[ 9.57265704e-01 2.89052589e-01 9.53797703e-03 2.20442825e+02] [-2.89037999e-01 9.57313219e-01 -2.90429015e-03 -4.55746891e+01] [-9.97032409e-03 2.33395522e-05 9.99950295e-01 -4.19373941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.168623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:220.47, Y:-45.59, Z:-4.19 [[ 9.57909807e-01 2.86891213e-01 1.01110487e-02 2.20468828e+02] [-2.86874712e-01 9.57963167e-01 -3.07730472e-03 -4.55868616e+01] [-1.05688639e-02 4.71761954e-05 9.99944147e-01 -4.19276547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.19862385300002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:220.49, Y:-45.60, Z:-4.19 [[ 9.59240006e-01 2.82393763e-01 1.06006153e-02 2.20494448e+02] [-2.82375376e-01 9.59298573e-01 -3.22400410e-03 -4.56027057e+01] [-1.10795938e-02 9.92409815e-05 9.99938614e-01 -4.19134284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.22862385300002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:220.52, Y:-45.61, Z:-4.19 [[ 9.59867815e-01 2.80255742e-01 1.05117199e-02 2.20521032e+02] [-2.80237553e-01 9.59925364e-01 -3.19517344e-03 -4.56136813e+01] [-1.09859322e-02 1.21165495e-04 9.99939645e-01 -4.19109751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.25862385300002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:220.55, Y:-45.63, Z:-4.19 [[ 9.60957311e-01 2.76491207e-01 1.06611091e-02 2.20546644e+02] [-2.76472289e-01 9.61016433e-01 -3.23859497e-03 -4.56287613e+01] [-1.11409441e-02 1.64650272e-04 9.99937924e-01 -4.19149950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.28862385300002 meters Centerline goodness [0,1] 0.999760999456817 Centerline is valid? [True, True] Translation: X:220.57, Y:-45.64, Z:-4.18 [[ 9.61363244e-01 2.75103240e-01 9.94586398e-03 2.20574227e+02] [-2.75086717e-01 9.61414676e-01 -3.01972336e-03 -4.56378938e+01] [-1.03928353e-02 1.67075977e-04 9.99945979e-01 -4.18236827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.31862385300002 meters Centerline goodness [0,1] 0.9999785789259473 Centerline is valid? [True, True] Translation: X:220.60, Y:-45.66, Z:-4.20 [[ 9.61705170e-01 2.73887906e-01 1.04202437e-02 2.20596828e+02] [-2.73869729e-01 9.61761603e-01 -3.16084269e-03 -4.56576547e+01] [-1.08875069e-02 1.86009428e-04 9.99940712e-01 -4.19566159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.34862385300002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:220.62, Y:-45.67, Z:-4.20 [[ 9.62164536e-01 2.72289289e-01 9.89687503e-03 2.20621751e+02] [-2.72272815e-01 9.62215416e-01 -3.00141543e-03 -4.56720135e+01] [-1.03401790e-02 1.93205464e-04 9.99946520e-01 -4.19703178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.37862385300002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:220.65, Y:-45.68, Z:-4.19 [[ 9.62234568e-01 2.72039159e-01 9.96653829e-03 2.20650526e+02] [-2.72022445e-01 9.62286162e-01 -3.02191285e-03 -4.56762847e+01] [-1.04127405e-02 1.96666886e-04 9.99945767e-01 -4.19467310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.40862385300002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:220.68, Y:-45.68, Z:-4.20 [[ 9.62253882e-01 2.71970831e-01 9.96663156e-03 2.20676878e+02] [-2.71954117e-01 9.62305475e-01 -3.02160521e-03 -4.56841366e+01] [-1.04127326e-02 1.97084852e-04 9.99945767e-01 -4.19515801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.43862385300002 meters Centerline goodness [0,1] 0.9999784422359713 Centerline is valid? [True, True] Translation: X:220.70, Y:-45.69, Z:-4.19 [[ 9.62220794e-01 2.72081064e-01 1.01507513e-02 2.20704494e+02] [-2.72063743e-01 9.62274314e-01 -3.07645046e-03 -4.56934726e+01] [-1.06048512e-02 1.98573202e-04 9.99943747e-01 -4.19457495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.46862385300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:220.73, Y:-45.71, Z:-4.20 [[ 9.62172472e-01 2.72246544e-01 1.02933722e-02 2.20729899e+02] [-2.72228747e-01 9.62227509e-01 -3.11920080e-03 -4.57069647e+01] [-1.07537575e-02 1.99057332e-04 9.99942157e-01 -4.19675632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.49862385300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:220.76, Y:-45.72, Z:-4.20 [[ 9.62062753e-01 2.72630909e-01 1.03753074e-02 2.20756542e+02] [-2.72612858e-01 9.62118677e-01 -3.14329805e-03 -4.57165659e+01] [-1.08392373e-02 1.95607764e-04 9.99941235e-01 -4.19704219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.52862385300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:220.78, Y:-45.72, Z:-4.20 [[ 9.61882457e-01 2.73269568e-01 1.02899330e-02 2.20783794e+02] [-2.73251848e-01 9.61937476e-01 -3.11753492e-03 -4.57247250e+01] [-1.07501996e-02 1.86958945e-04 9.99942197e-01 -4.19745790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.55862385300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:220.81, Y:-45.73, Z:-4.20 [[ 9.61279977e-01 2.75375650e-01 1.04430072e-02 2.20812620e+02] [-2.75357542e-01 9.61336686e-01 -3.16216632e-03 -4.57295965e+01] [-1.09100295e-02 1.64166371e-04 9.99940470e-01 -4.19666826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.58862385300003 meters Centerline goodness [0,1] 0.9999788949390064 Centerline is valid? [True, True] Translation: X:220.84, Y:-45.74, Z:-4.20 [[ 9.60921781e-01 2.76632709e-01 1.01820833e-02 2.20838428e+02] [-2.76615590e-01 9.60975714e-01 -3.08082284e-03 -4.57395198e+01] [-1.06369911e-02 1.43906791e-04 9.99943415e-01 -4.19874181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.61862385300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:220.86, Y:-45.75, Z:-4.20 [[ 9.60543620e-01 2.77942404e-01 1.01968023e-02 2.20864675e+02] [-2.77925323e-01 9.60597732e-01 -3.08405263e-03 -4.57491817e+01] [-1.06522142e-02 1.28417493e-04 9.99943255e-01 -4.20150623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.648623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:220.89, Y:-45.75, Z:-4.20 [[ 9.59810287e-01 2.80490498e-01 9.44955937e-03 2.20893352e+02] [-2.80475948e-01 9.59856798e-01 -2.85835415e-03 -4.57529828e+01] [-9.87196497e-03 9.31035890e-05 9.99951267e-01 -4.20159826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.678623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:220.92, Y:-45.76, Z:-4.20 [[ 9.59488837e-01 2.81601480e-01 9.04317888e-03 2.20922184e+02] [-2.81588218e-01 9.59531449e-01 -2.73404208e-03 -4.57589422e+01] [-9.44712483e-03 7.68302290e-05 9.99955372e-01 -4.20124590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.708623853 meters Centerline goodness [0,1] 0.9999575623832966 Centerline is valid? [True, True] Translation: X:220.95, Y:-45.77, Z:-4.20 [[ 9.58885651e-01 2.83618138e-01 9.95290350e-03 2.20948967e+02] [-2.83602209e-01 9.58937302e-01 -3.00642455e-03 -4.57676890e+01] [-1.03968870e-02 6.01519363e-05 9.99945949e-01 -4.20208616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.738623853 meters Centerline goodness [0,1] 0.9999354935816114 Centerline is valid? [True, True] Translation: X:220.98, Y:-45.77, Z:-4.19 [[ 9.58618039e-01 2.84506723e-01 1.03624088e-02 2.20977687e+02] [-2.84489508e-01 9.58674044e-01 -3.13017557e-03 -4.57735947e+01] [-1.08247283e-02 5.26461947e-05 9.99941410e-01 -4.19417533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.768623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:221.00, Y:-45.78, Z:-4.20 [[ 9.58518073e-01 2.84822437e-01 1.09216478e-02 2.21004455e+02] [-2.84803357e-01 9.58580292e-01 -3.29712250e-03 -4.57829496e+01] [-1.14083708e-02 4.98295542e-05 9.99934921e-01 -4.19956828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.798623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:221.03, Y:-45.79, Z:-4.20 [[ 9.58350057e-01 2.85381225e-01 1.10780974e-02 2.21030228e+02] [-2.85361666e-01 9.58414083e-01 -3.34133158e-03 -4.57910764e+01] [-1.15709579e-02 4.09009761e-05 9.99933053e-01 -4.19986535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.828623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:221.06, Y:-45.80, Z:-4.20 [[ 9.58056123e-01 2.86361965e-01 1.11933498e-02 2.21057383e+02] [-2.86342068e-01 9.58121508e-01 -3.37573394e-03 -4.57995810e+01] [-1.16912710e-02 2.90156276e-05 9.99931654e-01 -4.20041838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.858623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:221.08, Y:-45.81, Z:-4.20 [[ 9.57947583e-01 2.86739776e-01 1.08040950e-02 2.21082912e+02] [-2.86721291e-01 9.58008508e-01 -3.25583940e-03 -4.58079076e+01] [-1.12839936e-02 2.11594027e-05 9.99936333e-01 -4.20197355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.888623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:221.11, Y:-45.82, Z:-4.20 [[ 9.57832293e-01 2.87142398e-01 1.03219500e-02 2.21109145e+02] [-2.87125560e-01 9.57887907e-01 -3.10963353e-03 -4.58162741e+01] [-1.07801788e-02 1.48117265e-05 9.99941892e-01 -4.20308487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.918623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:221.14, Y:-45.82, Z:-4.21 [[ 9.57696880e-01 2.87608277e-01 9.90780635e-03 2.21135238e+02] [-2.87592817e-01 9.57748129e-01 -2.98198647e-03 -4.58245598e+01] [-1.03468270e-02 6.42519967e-06 9.99946470e-01 -4.20602662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.94862385300002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:221.16, Y:-45.83, Z:-4.20 [[ 9.57329353e-01 2.88836093e-01 9.70678727e-03 2.21162417e+02] [-2.88821314e-01 9.57378562e-01 -2.92190140e-03 -4.58317850e+01] [-1.01370206e-02 -6.30507914e-06 9.99948619e-01 -4.20479851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.97862385300002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:221.19, Y:-45.84, Z:-4.21 [[ 9.57153531e-01 2.89419430e-01 9.67015169e-03 2.21189176e+02] [-2.89404812e-01 9.57202378e-01 -2.90890457e-03 -4.58393497e+01] [-1.00981857e-02 -1.43201489e-05 9.99949012e-01 -4.20525704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.00862385300002 meters Centerline goodness [0,1] 0.9999564251165628 Centerline is valid? [True, True] Translation: X:221.22, Y:-45.85, Z:-4.20 [[ 9.56634185e-01 2.91114990e-01 1.01537272e-02 2.21216309e+02] [-2.91098992e-01 9.56688069e-01 -3.05216815e-03 -4.58467933e+01] [-1.06024816e-02 -3.59313573e-05 9.99943791e-01 -4.20396049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.03862385300002 meters Centerline goodness [0,1] 0.9999568370165746 Centerline is valid? [True, True] Translation: X:221.24, Y:-45.85, Z:-4.20 [[ 9.56381370e-01 2.91938263e-01 1.03308053e-02 2.21243721e+02] [-2.91921784e-01 9.56437164e-01 -3.10221708e-03 -4.58535597e+01] [-1.07864220e-02 -4.88844801e-05 9.99941824e-01 -4.20494919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.06862385300002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:221.27, Y:-45.86, Z:-4.21 [[ 9.56075290e-01 2.92928035e-01 1.06398309e-02 2.21270687e+02] [-2.92910625e-01 9.56134490e-01 -3.19427495e-03 -4.58600267e+01] [-1.11088019e-02 -6.25521631e-05 9.99938293e-01 -4.20538634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.09862385300002 meters Centerline goodness [0,1] 0.9999571431632631 Centerline is valid? [True, True] Translation: X:221.30, Y:-45.87, Z:-4.20 [[ 9.55674128e-01 2.94209018e-01 1.13143807e-02 2.21298647e+02] [-2.94189422e-01 9.55741098e-01 -3.39665079e-03 -4.58664611e+01] [-1.18129439e-02 -8.24798305e-05 9.99930221e-01 -4.20399355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.12862385300002 meters Centerline goodness [0,1] 0.9999572905099513 Centerline is valid? [True, True] Translation: X:221.33, Y:-45.87, Z:-4.20 [[ 9.55626890e-01 2.94346235e-01 1.17277738e-02 2.21325805e+02] [-2.94325216e-01 9.55698847e-01 -3.51868498e-03 -4.58736816e+01] [-1.22439316e-02 -8.92295908e-05 9.99925036e-01 -4.20396383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.15862385300002 meters Centerline goodness [0,1] 0.999935583612471 Centerline is valid? [True, True] Translation: X:221.35, Y:-45.88, Z:-4.20 [[ 9.55626631e-01 2.94334792e-01 1.20321500e-02 2.21353073e+02] [-2.94312699e-01 9.55702371e-01 -3.60746209e-03 -4.58816448e+01] [-1.25609559e-02 -9.38276909e-05 9.99921104e-01 -4.20302694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.18862385300002 meters Centerline goodness [0,1] 0.9999571045576408 Centerline is valid? [True, True] Translation: X:221.38, Y:-45.89, Z:-4.20 [[ 9.55800315e-01 2.93762523e-01 1.22203850e-02 2.21378897e+02] [-2.93739719e-01 9.55878430e-01 -3.66135662e-03 -4.58914722e+01] [-1.27567718e-02 -9.00866534e-05 9.99918625e-01 -4.20326723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.21862385300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:221.40, Y:-45.90, Z:-4.20 [[ 9.55873458e-01 2.93508350e-01 1.26008206e-02 2.21404971e+02] [-2.93484124e-01 9.55956505e-01 -3.77213546e-03 -4.58987220e+01] [-1.31529897e-02 -9.24566254e-05 9.99913491e-01 -4.20419480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.24862385300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:221.43, Y:-45.91, Z:-4.20 [[ 9.55944818e-01 2.93274584e-01 1.26302796e-02 2.21432116e+02] [-2.93250233e-01 9.56028248e-01 -3.78029524e-03 -4.59072017e+01] [-1.31835686e-02 -9.00787928e-05 9.99913089e-01 -4.20409488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.27862385300003 meters Centerline goodness [0,1] 0.9999785894745857 Centerline is valid? [True, True] Translation: X:221.46, Y:-45.91, Z:-4.20 [[ 9.56030773e-01 2.92988493e-01 1.27634033e-02 2.21458126e+02] [-2.92963641e-01 9.56115963e-01 -3.81706847e-03 -4.59145417e+01] [-1.33216508e-02 -8.99781801e-05 9.99911259e-01 -4.20467231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.30862385300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:221.48, Y:-45.92, Z:-4.21 [[ 9.56065388e-01 2.92885767e-01 1.25260037e-02 2.21484964e+02] [-2.92861829e-01 9.56147436e-01 -3.74550182e-03 -4.59231858e+01] [-1.30737105e-02 -8.74437165e-05 9.99914532e-01 -4.20532458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.33862385300003 meters Centerline goodness [0,1] 0.9999786438868126 Centerline is valid? [True, True] Translation: X:221.51, Y:-45.93, Z:-4.21 [[ 9.56114012e-01 2.92746585e-01 1.20595476e-02 2.21511409e+02] [-2.92724415e-01 9.56190059e-01 -3.60371221e-03 -4.59307901e+01] [-1.25861940e-02 -8.45642763e-05 9.99920787e-01 -4.20673019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.36862385300003 meters Centerline goodness [0,1] 0.9999785770903404 Centerline is valid? [True, True] Translation: X:221.54, Y:-45.94, Z:-4.21 [[ 9.56036944e-01 2.93008475e-01 1.18065686e-02 2.21537960e+02] [-2.92987283e-01 9.56109840e-01 -3.52509361e-03 -4.59380600e+01] [-1.23212587e-02 -8.90547429e-05 9.99924086e-01 -4.20776755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.398623853 meters Centerline goodness [0,1] 0.9999785844308813 Centerline is valid? [True, True] Translation: X:221.57, Y:-45.94, Z:-4.21 [[ 9.55941483e-01 2.93318199e-01 1.18455090e-02 2.21565086e+02] [-2.93296891e-01 9.56014867e-01 -3.53667720e-03 -4.59439553e+01] [-1.23618545e-02 -9.33945321e-05 9.99923585e-01 -4.20827872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.428623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:221.59, Y:-45.95, Z:-4.21 [[ 9.55872132e-01 2.93540851e-01 1.19262940e-02 2.21592685e+02] [-2.93519299e-01 9.55946525e-01 -3.55839013e-03 -4.59506913e+01] [-1.24454322e-02 -9.92315049e-05 9.99922548e-01 -4.20790570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.458623853 meters Centerline goodness [0,1] 0.9998924869909259 Centerline is valid? [True, True] Translation: X:221.62, Y:-45.96, Z:-4.20 [[ 9.55752353e-01 2.93936569e-01 1.17784950e-02 2.21621597e+02] [-2.93915608e-01 9.55824922e-01 -3.51180049e-03 -4.59565350e+01] [-1.22904256e-02 -1.05471931e-04 9.99924464e-01 -4.20241409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.488623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:221.65, Y:-45.96, Z:-4.21 [[ 9.55687695e-01 2.94127823e-01 1.22414397e-02 2.21648971e+02] [-2.94105227e-01 9.55766086e-01 -3.64760726e-03 -4.59635023e+01] [-1.27728157e-02 -1.14298011e-04 9.99918418e-01 -4.20839261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.518623853 meters Centerline goodness [0,1] 0.9998492808543622 Centerline is valid? [True, True] Translation: X:221.68, Y:-45.97, Z:-4.20 [[ 9.55655519e-01 2.94250989e-01 1.17848855e-02 2.21676366e+02] [-2.94230092e-01 9.55728174e-01 -3.50865091e-03 -4.59687506e+01] [-1.22955711e-02 -1.14406350e-04 9.99924400e-01 -4.20248317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.548623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:221.70, Y:-45.98, Z:-4.21 [[ 9.55735162e-01 2.93972537e-01 1.22657210e-02 2.21703211e+02] [-2.93949886e-01 9.55813860e-01 -3.65102714e-03 -4.59776697e+01] [-1.27970479e-02 -1.16092289e-04 9.99918108e-01 -4.20958314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.578623853 meters Centerline goodness [0,1] 0.9999787215933271 Centerline is valid? [True, True] Translation: X:221.73, Y:-45.98, Z:-4.21 [[ 9.55728190e-01 2.93997610e-01 1.22078764e-02 2.21730603e+02] [-2.93975214e-01 9.55806147e-01 -3.63073488e-03 -4.59812341e+01] [-1.27357907e-02 -1.18817399e-04 9.99918889e-01 -4.21139327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.608623853 meters Centerline goodness [0,1] 0.9999785315586088 Centerline is valid? [True, True] Translation: X:221.76, Y:-45.99, Z:-4.21 [[ 9.55521033e-01 2.94691349e-01 1.16860296e-02 2.21758923e+02] [-2.94670885e-01 9.55592483e-01 -3.47503271e-03 -4.59880337e+01] [-1.21911441e-02 -1.23065828e-04 9.99925678e-01 -4.21160357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.638623853 meters Centerline goodness [0,1] 0.999935880995127 Centerline is valid? [True, True] Translation: X:221.79, Y:-45.99, Z:-4.21 [[ 9.55319869e-01 2.95337175e-01 1.18280034e-02 2.21786938e+02] [-2.95316295e-01 9.55393079e-01 -3.51444418e-03 -4.59931172e+01] [-1.23383386e-02 -1.35583807e-04 9.99923871e-01 -4.21218418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.668623853 meters Centerline goodness [0,1] 0.9999783188430935 Centerline is valid? [True, True] Translation: X:221.82, Y:-46.00, Z:-4.21 [[ 9.54741956e-01 2.97192680e-01 1.20128536e-02 2.21816351e+02] [-2.97171292e-01 9.54817514e-01 -3.56916203e-03 -4.59956536e+01] [-1.25308118e-02 -1.62246476e-04 9.99921473e-01 -4.21161592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.69862385300002 meters Centerline goodness [0,1] 0.9999566028728898 Centerline is valid? [True, True] Translation: X:221.84, Y:-46.00, Z:-4.21 [[ 9.54467679e-01 2.98071559e-01 1.20330935e-02 2.21844695e+02] [-2.98050203e-01 9.54543511e-01 -3.57234941e-03 -4.59988961e+01] [-1.25509271e-02 -1.76773922e-04 9.99921218e-01 -4.21273270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.72862385300002 meters Centerline goodness [0,1] 0.9999786520931623 Centerline is valid? [True, True] Translation: X:221.87, Y:-46.00, Z:-4.21 [[ 9.54207167e-01 2.98907300e-01 1.19627595e-02 2.21872586e+02] [-2.98886269e-01 9.54282134e-01 -3.55067372e-03 -4.60026692e+01] [-1.24771700e-02 -1.87426250e-04 9.99922140e-01 -4.21341607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.75862385300002 meters Centerline goodness [0,1] 0.9998716385341121 Centerline is valid? [True, True] Translation: X:221.90, Y:-46.00, Z:-4.21 [[ 9.53849153e-01 3.00040261e-01 1.21505205e-02 2.21901867e+02] [-3.00018659e-01 9.53926517e-01 -3.60615771e-03 -4.60040947e+01] [-1.26726962e-02 -2.05652389e-04 9.99919677e-01 -4.21371013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.78862385300002 meters Centerline goodness [0,1] 0.9999784987851814 Centerline is valid? [True, True] Translation: X:221.93, Y:-46.01, Z:-4.22 [[ 9.53939027e-01 2.99766472e-01 1.18488424e-02 2.21929371e+02] [-2.99745932e-01 9.54012591e-01 -3.51472033e-03 -4.60095582e+01] [-1.23575401e-02 -1.98813401e-04 9.99923623e-01 -4.21506772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.81862385300002 meters Centerline goodness [0,1] 0.9999353113679489 Centerline is valid? [True, True] Translation: X:221.96, Y:-46.01, Z:-4.22 [[ 9.54068410e-01 2.99361710e-01 1.16634344e-02 2.21957026e+02] [-2.99341816e-01 9.54139680e-01 -3.45663673e-03 -4.60147289e+01] [-1.21633303e-02 -1.93485726e-04 9.99926005e-01 -4.21636216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.84862385300002 meters Centerline goodness [0,1] 0.9997874420779662 Centerline is valid? [True, True] Translation: X:221.98, Y:-46.02, Z:-4.22 [[ 9.54840149e-01 2.96900416e-01 1.14207293e-02 2.21983884e+02] [-2.96881173e-01 9.54908434e-01 -3.38400057e-03 -4.60213101e+01] [-1.19104619e-02 -1.59419891e-04 9.99929055e-01 -4.21864332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.87862385300002 meters Centerline goodness [0,1] 0.9996988729243741 Centerline is valid? [True, True] Translation: X:222.01, Y:-46.03, Z:-4.22 [[ 9.55463422e-01 2.94901824e-01 1.10708840e-02 2.22011122e+02] [-2.94883607e-01 9.55527549e-01 -3.28034828e-03 -4.60307035e+01] [-1.15459154e-02 -1.30369420e-04 9.99933335e-01 -4.21856613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.90862385300002 meters Centerline goodness [0,1] 0.9998709066655191 Centerline is valid? [True, True] Translation: X:222.04, Y:-46.04, Z:-4.22 [[ 9.56253766e-01 2.92325208e-01 1.11672353e-02 2.22038518e+02] [-2.92306521e-01 9.56318965e-01 -3.30686675e-03 -4.60400571e+01] [-1.16461194e-02 -1.02051913e-04 9.99932176e-01 -4.21935929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.93862385300002 meters Centerline goodness [0,1] 0.9998923272390551 Centerline is valid? [True, True] Translation: X:222.06, Y:-46.05, Z:-4.22 [[ 9.57043605e-01 2.89711144e-01 1.16185995e-02 2.22064521e+02] [-2.89690758e-01 9.57114124e-01 -3.43772464e-03 -4.60493388e+01] [-1.21162729e-02 -7.57485267e-05 9.99926592e-01 -4.21937143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.96862385300003 meters Centerline goodness [0,1] 0.9998712943498219 Centerline is valid? [True, True] Translation: X:222.09, Y:-46.06, Z:-4.22 [[ 9.58704770e-01 2.84167827e-01 1.15676167e-02 2.22091381e+02] [-2.84147216e-01 9.58774554e-01 -3.42252904e-03 -4.60615129e+01] [-1.20633092e-02 -5.71116250e-06 9.99927236e-01 -4.21925715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.99862385300003 meters Centerline goodness [0,1] 0.9997424284702398 Centerline is valid? [True, True] Translation: X:222.12, Y:-46.07, Z:-4.22 [[ 9.59519289e-01 2.81418475e-01 1.12417363e-02 2.22116964e+02] [-2.81398850e-01 9.59585140e-01 -3.32352526e-03 -4.60714248e+01] [-1.17227045e-02 2.55749364e-05 9.99931286e-01 -4.22119046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.02862385300003 meters Centerline goodness [0,1] 0.9997239446190436 Centerline is valid? [True, True] Translation: X:222.14, Y:-46.08, Z:-4.22 [[ 9.61087618e-01 2.76028764e-01 1.08955237e-02 2.22142162e+02] [-2.76009988e-01 9.61149371e-01 -3.22068846e-03 -4.60834891e+01] [-1.13612284e-02 8.80904374e-05 9.99935455e-01 -4.22256278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.05862385300003 meters Centerline goodness [0,1] 0.999721269296741 Centerline is valid? [True, True] Translation: X:222.17, Y:-46.09, Z:-4.22 [[ 9.61901261e-01 2.73178699e-01 1.09253450e-02 2.22167572e+02] [-2.73159650e-01 9.61963296e-01 -3.22829979e-03 -4.60947353e+01] [-1.13916837e-02 1.20942208e-04 9.99935105e-01 -4.22339593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.08862385300003 meters Centerline goodness [0,1] 0.9996549344375432 Centerline is valid? [True, True] Translation: X:222.19, Y:-46.11, Z:-4.22 [[ 9.62759813e-01 2.70131109e-01 1.10781854e-02 2.22193647e+02] [-2.70111329e-01 9.62823535e-01 -3.27277189e-03 -4.61062677e+01] [-1.15504151e-02 1.58549866e-04 9.99933279e-01 -4.22377601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.11862385300003 meters Centerline goodness [0,1] 0.9994378013708998 Centerline is valid? [True, True] Translation: X:222.22, Y:-46.12, Z:-4.22 [[ 9.64326778e-01 2.64501809e-01 1.06140663e-02 2.22218959e+02] [-2.64483317e-01 9.64385165e-01 -3.13504051e-03 -4.61202993e+01] [-1.10652720e-02 2.15960050e-04 9.99938755e-01 -4.21537372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.148623853 meters Centerline goodness [0,1] 0.9994874532835024 Centerline is valid? [True, True] Translation: X:222.25, Y:-46.13, Z:-4.22 [[ 9.65153873e-01 2.61437422e-01 1.13347060e-02 2.22245654e+02] [-2.61416133e-01 9.65220391e-01 -3.34697366e-03 -4.61334751e+01] [-1.18155135e-02 2.67269579e-04 9.99930159e-01 -4.22424281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.178623853 meters Centerline goodness [0,1] 0.9994400534102901 Centerline is valid? [True, True] Translation: X:222.27, Y:-46.15, Z:-4.22 [[ 9.65793557e-01 2.59063862e-01 1.13455028e-02 2.22272833e+02] [-2.59042373e-01 9.65860149e-01 -3.34988909e-03 -4.61457537e+01] [-1.18260042e-02 2.96335332e-04 9.99930026e-01 -4.22467987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.208623853 meters Centerline goodness [0,1] 0.9991186775864663 Centerline is valid? [True, True] Translation: X:222.30, Y:-46.16, Z:-4.23 [[ 9.66849530e-01 2.55089716e-01 1.14552311e-02 2.22298521e+02] [-2.55067533e-01 9.66917326e-01 -3.38200948e-03 -4.61613079e+01] [-1.19389773e-02 3.48036750e-04 9.99928667e-01 -4.22537839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.238623853 meters Centerline goodness [0,1] 0.9991970137592777 Centerline is valid? [True, True] Translation: X:222.33, Y:-46.17, Z:-4.22 [[ 9.67227229e-01 2.53663629e-01 1.12361011e-02 2.22327738e+02] [-2.53642192e-01 9.67292425e-01 -3.31720860e-03 -4.61651885e+01] [-1.17100506e-02 3.58545178e-04 9.99931371e-01 -4.22459168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.268623853 meters Centerline goodness [0,1] 0.9985600997184673 Centerline is valid? [True, True] Translation: X:222.35, Y:-46.18, Z:-4.23 [[ 9.67488421e-01 2.52673461e-01 1.10578946e-02 2.22351358e+02] [-2.52652639e-01 9.67551544e-01 -3.26412042e-03 -4.61819850e+01] [-1.15238396e-02 3.64192465e-04 9.99933532e-01 -4.22672540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.298623853 meters Centerline goodness [0,1] 0.9982721009093068 Centerline is valid? [True, True] Translation: X:222.38, Y:-46.19, Z:-4.23 [[ 9.67646568e-01 2.52081209e-01 1.07323449e-02 2.22378938e+02] [-2.52061559e-01 9.67706017e-01 -3.16798659e-03 -4.61917920e+01] [-1.11843446e-02 3.60279771e-04 9.99937388e-01 -4.22802468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.328623853 meters Centerline goodness [0,1] 0.9982721009093068 Centerline is valid? [True, True] Translation: X:222.41, Y:-46.20, Z:-4.23 [[ 9.67662756e-01 2.52019033e-01 1.07329773e-02 2.22405358e+02] [-2.51999403e-01 9.67722211e-01 -3.16584216e-03 -4.61994434e+01] [-1.11843930e-02 3.58763667e-04 9.99937388e-01 -4.22850971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.358623853 meters Centerline goodness [0,1] 0.9990887789638115 Centerline is valid? [True, True] Translation: X:222.44, Y:-46.20, Z:-4.23 [[ 9.67437453e-01 2.52896929e-01 1.03883551e-02 2.22435140e+02] [-2.52878596e-01 9.67493168e-01 -3.06361823e-03 -4.62022956e+01] [-1.08254422e-02 3.36866371e-04 9.99941346e-01 -4.22813595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.388623853 meters Centerline goodness [0,1] 0.9984418356456777 Centerline is valid? [True, True] Translation: X:222.46, Y:-46.22, Z:-4.23 [[ 9.67120848e-01 2.54104855e-01 1.03917596e-02 2.22460301e+02] [-2.54086589e-01 9.67176622e-01 -3.06374156e-03 -4.62154318e+01] [-1.08291786e-02 3.22601572e-04 9.99941311e-01 -4.23000711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.418623853 meters Centerline goodness [0,1] 0.9986927544307053 Centerline is valid? [True, True] Translation: X:222.49, Y:-46.22, Z:-4.23 [[ 9.66678004e-01 2.55776022e-01 1.05954351e-02 2.22488743e+02] [-2.55757148e-01 9.66736019e-01 -3.12250215e-03 -4.62215581e+01] [-1.10416499e-02 3.08595879e-04 9.99938992e-01 -4.23029369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.44862385300002 meters Centerline goodness [0,1] 0.9994354085687607 Centerline is valid? [True, True] Translation: X:222.52, Y:-46.22, Z:-4.23 [[ 9.65738893e-01 2.59246355e-01 1.18202275e-02 2.22521089e+02] [-2.59223133e-01 9.65811181e-01 -3.48271473e-03 -4.62175149e+01] [-1.23189890e-02 2.99316644e-04 9.99924074e-01 -4.22651645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.47862385300002 meters Centerline goodness [0,1] 0.9992925286740272 Centerline is valid? [True, True] Translation: X:222.55, Y:-46.23, Z:-4.23 [[ 9.65231213e-01 2.61125632e-01 1.19210002e-02 2.22547178e+02] [-2.61102155e-01 9.65304785e-01 -3.51243402e-03 -4.62273342e+01] [-1.24245851e-02 2.77712104e-04 9.99922773e-01 -4.22725319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.50862385300002 meters Centerline goodness [0,1] 0.9994375946355181 Centerline is valid? [True, True] Translation: X:222.58, Y:-46.23, Z:-4.23 [[ 9.64741189e-01 2.62933262e-01 1.18549007e-02 2.22576087e+02] [-2.62910190e-01 9.64813990e-01 -3.49225659e-03 -4.62309726e+01] [-1.23560045e-02 2.52349577e-04 9.99923630e-01 -4.22713411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.53862385300002 meters Centerline goodness [0,1] 0.9990281617138909 Centerline is valid? [True, True] Translation: X:222.61, Y:-46.23, Z:-4.22 [[ 9.63393199e-01 2.67880448e-01 1.06587466e-02 2.22605746e+02] [-2.67862127e-01 9.63452146e-01 -3.13743032e-03 -4.62329618e+01] [-1.11096485e-02 1.67504500e-04 9.99938272e-01 -4.21811736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.56862385300002 meters Centerline goodness [0,1] 0.9995918542704932 Centerline is valid? [True, True] Translation: X:222.63, Y:-46.24, Z:-4.23 [[ 9.62757636e-01 2.70129490e-01 1.13045814e-02 2.22632499e+02] [-2.70109040e-01 9.62823990e-01 -3.32720681e-03 -4.62400423e+01] [-1.17830988e-02 1.49824140e-04 9.99930566e-01 -4.22982853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.59862385300002 meters Centerline goodness [0,1] 0.9996753176475681 Centerline is valid? [True, True] Translation: X:222.66, Y:-46.24, Z:-4.23 [[ 9.62075551e-01 2.72556000e-01 1.11293141e-02 2.22659952e+02] [-2.72536350e-01 9.62139913e-01 -3.27492781e-03 -4.62446240e+01] [-1.16005586e-02 1.17585329e-04 9.99932704e-01 -4.23076572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.62862385300002 meters Centerline goodness [0,1] 0.9997204120695959 Centerline is valid? [True, True] Translation: X:222.69, Y:-46.25, Z:-4.23 [[ 9.61322890e-01 2.75200850e-01 1.10812683e-02 2.22689543e+02] [-2.75181545e-01 9.61386751e-01 -3.26072820e-03 -4.62477987e+01] [-1.15507397e-02 8.52521289e-05 9.99933284e-01 -4.23031966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.65862385300002 meters Centerline goodness [0,1] 0.9996990024079807 Centerline is valid? [True, True] Translation: X:222.72, Y:-46.25, Z:-4.23 [[ 9.59838162e-01 2.80326035e-01 1.13144330e-02 2.22719874e+02] [-2.80306287e-01 9.59904846e-01 -3.32743963e-03 -4.62487169e+01] [-1.17935470e-02 2.22968492e-05 9.99930453e-01 -4.22991683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.68862385300002 meters Centerline goodness [0,1] 0.999634385014087 Centerline is valid? [True, True] Translation: X:222.75, Y:-46.25, Z:-4.23 [[ 9.59186274e-01 2.82532423e-01 1.17098876e-02 2.22746635e+02] [-2.82511465e-01 9.59257749e-01 -3.44127300e-03 -4.62530652e+01] [-1.22050716e-02 -7.35566368e-06 9.99925515e-01 -4.23053944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.71862385300003 meters Centerline goodness [0,1] 0.9994562971662209 Centerline is valid? [True, True] Translation: X:222.77, Y:-46.26, Z:-4.23 [[ 9.58677634e-01 2.84242741e-01 1.19690616e-02 2.22774471e+02] [-2.84220985e-01 9.58752347e-01 -3.51693324e-03 -4.62584608e+01] [-1.24750287e-02 -3.02532382e-05 9.99922183e-01 -4.22917816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.74862385300003 meters Centerline goodness [0,1] 0.999569494371139 Centerline is valid? [True, True] Translation: X:222.80, Y:-46.26, Z:-4.23 [[ 9.57971464e-01 2.86605327e-01 1.21680317e-02 2.22802415e+02] [-2.86583074e-01 9.58048737e-01 -3.57206652e-03 -4.62616777e+01] [-1.26813407e-02 -6.52141252e-05 9.99919586e-01 -4.22918887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.77862385300003 meters Centerline goodness [0,1] 0.9994427178223128 Centerline is valid? [True, True] Translation: X:222.83, Y:-46.27, Z:-4.22 [[ 9.57828795e-01 2.87096174e-01 1.18231535e-02 2.22830923e+02] [-2.87075204e-01 9.57901760e-01 -3.47067879e-03 -4.62688937e+01] [-1.23218381e-02 -6.98181133e-05 9.99924081e-01 -4.22444834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.80862385300003 meters Centerline goodness [0,1] 0.9997402709839401 Centerline is valid? [True, True] Translation: X:222.86, Y:-46.28, Z:-4.23 [[ 9.58236320e-01 2.85722526e-01 1.20744634e-02 2.22857817e+02] [-2.85700579e-01 9.58312389e-01 -3.54176436e-03 -4.62809884e+01] [-1.25830697e-02 -5.58339383e-05 9.99920828e-01 -4.23018614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.83862385300003 meters Centerline goodness [0,1] 0.9996776827538786 Centerline is valid? [True, True] Translation: X:222.88, Y:-46.29, Z:-4.23 [[ 9.58558671e-01 2.84640831e-01 1.20362540e-02 2.22883756e+02] [-2.84618946e-01 9.58634235e-01 -3.52987055e-03 -4.62904177e+01] [-1.25431105e-02 -4.21579109e-05 9.99921331e-01 -4.23118109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.86862385300003 meters Centerline goodness [0,1] 0.9994426819857669 Centerline is valid? [True, True] Translation: X:222.91, Y:-46.30, Z:-4.23 [[ 9.58878580e-01 2.83578898e-01 1.16136387e-02 2.22909302e+02] [-2.83558477e-01 9.58948908e-01 -3.40328128e-03 -4.62996168e+01] [-1.21019849e-02 -2.98121889e-05 9.99926768e-01 -4.23199403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.898623853 meters Centerline goodness [0,1] 0.999744419833021 Centerline is valid? [True, True] Translation: X:222.93, Y:-46.31, Z:-4.23 [[ 9.59443695e-01 2.81674762e-01 1.12749189e-02 2.22934708e+02] [-2.81655405e-01 9.59509942e-01 -3.30218394e-03 -4.63102453e+01] [-1.17485386e-02 -7.38228473e-06 9.99930984e-01 -4.23328597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.928623853 meters Centerline goodness [0,1] 0.99982828196102 Centerline is valid? [True, True] Translation: X:222.96, Y:-46.32, Z:-4.23 [[ 9.59701556e-01 2.80794020e-01 1.12979058e-02 2.22961395e+02] [-2.80774527e-01 9.59768054e-01 -3.30853640e-03 -4.63193625e+01] [-1.17723863e-02 3.04335575e-06 9.99930703e-01 -4.23358286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.958623853 meters Centerline goodness [0,1] 0.999828825744608 Centerline is valid? [True, True] Translation: X:222.99, Y:-46.33, Z:-4.23 [[ 9.59926625e-01 2.80022360e-01 1.13292547e-02 2.22987627e+02] [-2.80002732e-01 9.59993478e-01 -3.31543109e-03 -4.63284372e+01] [-1.18044055e-02 1.03483002e-05 9.99930326e-01 -4.23390378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.988623853 meters Centerline goodness [0,1] 0.99972385079446 Centerline is valid? [True, True] Translation: X:223.01, Y:-46.34, Z:-4.24 [[ 9.60145487e-01 2.79277362e-01 1.11713633e-02 2.23013152e+02] [-2.79258258e-01 9.60210474e-01 -3.26659300e-03 -4.63380850e+01] [-1.16391455e-02 1.67090802e-05 9.99932263e-01 -4.23659332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.018623853 meters Centerline goodness [0,1] 0.9990226951894885 Centerline is valid? [True, True] Translation: X:223.04, Y:-46.35, Z:-4.23 [[ 9.60471821e-01 2.78193544e-01 1.01110721e-02 2.23039789e+02] [-2.78177843e-01 9.60525040e-01 -2.95567093e-03 -4.63494833e+01] [-1.05341865e-02 2.61624202e-05 9.99944514e-01 -4.22639924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.048623853 meters Centerline goodness [0,1] 0.9997219072881682 Centerline is valid? [True, True] Translation: X:223.06, Y:-46.36, Z:-4.24 [[ 9.60828592e-01 2.76945624e-01 1.04660193e-02 2.23064511e+02] [-2.76928757e-01 9.60885591e-01 -3.05676374e-03 -4.63602922e+01] [-1.09032045e-02 3.86842800e-05 9.99940558e-01 -4.23724945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.078623853 meters Centerline goodness [0,1] 0.9997641812802812 Centerline is valid? [True, True] Translation: X:223.09, Y:-46.37, Z:-4.24 [[ 9.61033766e-01 2.76226360e-01 1.06347803e-02 2.23090777e+02] [-2.76208903e-01 9.61092605e-01 -3.10574951e-03 -4.63684168e+01] [-1.10788986e-02 4.73091354e-05 9.99938626e-01 -4.23718096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.108623853 meters Centerline goodness [0,1] 0.9997885924485223 Centerline is valid? [True, True] Translation: X:223.12, Y:-46.38, Z:-4.24 [[ 9.61166183e-01 2.75771182e-01 1.04796744e-02 2.23117766e+02] [-2.75754237e-01 9.61223311e-01 -3.05743123e-03 -4.63767528e+01] [-1.09164587e-02 4.88848936e-05 9.99940412e-01 -4.23827266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.138623853 meters Centerline goodness [0,1] 0.9998073011454877 Centerline is valid? [True, True] Translation: X:223.15, Y:-46.39, Z:-4.24 [[ 9.61508815e-01 2.74584057e-01 1.02173649e-02 2.23145134e+02] [-2.74567882e-01 9.61563098e-01 -2.98103292e-03 -4.63870340e+01] [-1.06431852e-02 6.09291897e-05 9.99943358e-01 -4.23941013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.168623853 meters Centerline goodness [0,1] 0.9997238977147226 Centerline is valid? [True, True] Translation: X:223.17, Y:-46.40, Z:-4.24 [[ 9.61656416e-01 2.74069765e-01 1.01341836e-02 2.23171086e+02] [-2.74053850e-01 9.61709811e-01 -2.95422979e-03 -4.63977518e+01] [-1.05558088e-02 6.36420079e-05 9.99944284e-01 -4.24096084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.19862385300002 meters Centerline goodness [0,1] 0.9998279088777507 Centerline is valid? [True, True] Translation: X:223.20, Y:-46.41, Z:-4.24 [[ 9.62074955e-01 2.72601328e-01 1.00148547e-02 2.23196877e+02] [-2.72585704e-01 9.62127076e-01 -2.91962431e-03 -4.64107199e+01] [-1.04314563e-02 7.89912177e-05 9.99945588e-01 -4.24089490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.22862385300002 meters Centerline goodness [0,1] 0.9998712142351199 Centerline is valid? [True, True] Translation: X:223.22, Y:-46.42, Z:-4.24 [[ 9.62264675e-01 2.71934715e-01 9.90986573e-03 2.23223164e+02] [-2.71919406e-01 9.62315699e-01 -2.88670364e-03 -4.64204655e+01] [-1.03214143e-02 8.30881380e-05 9.99946729e-01 -4.24162222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.25862385300002 meters Centerline goodness [0,1] 0.9997830002386997 Centerline is valid? [True, True] Translation: X:223.25, Y:-46.43, Z:-4.24 [[ 9.62440774e-01 2.71320373e-01 9.64424104e-03 2.23250113e+02] [-2.71305845e-01 9.62489090e-01 -2.80904302e-03 -4.64307605e+01] [-1.00446274e-02 8.69985760e-05 9.99949548e-01 -4.24161710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.28862385300002 meters Centerline goodness [0,1] 0.9996539343340399 Centerline is valid? [True, True] Translation: X:223.28, Y:-46.44, Z:-4.24 [[ 9.62486670e-01 2.71157931e-01 9.63255256e-03 2.23277279e+02] [-2.71143445e-01 9.62534866e-01 -2.80416419e-03 -4.64393400e+01] [-1.00320391e-02 8.71671708e-05 9.99949674e-01 -4.24186174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.31862385300002 meters Centerline goodness [0,1] 0.9997827031725337 Centerline is valid? [True, True] Translation: X:223.30, Y:-46.45, Z:-4.24 [[ 9.62457749e-01 2.71263840e-01 9.53991748e-03 2.23303301e+02] [-2.71249665e-01 9.62505024e-01 -2.77440203e-03 -4.64480115e+01] [-9.93481346e-03 8.25453184e-05 9.99950645e-01 -4.24234091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.34862385300002 meters Centerline goodness [0,1] 0.9998702169539919 Centerline is valid? [True, True] Translation: X:223.33, Y:-46.46, Z:-4.24 [[ 9.62390544e-01 2.71481821e-01 1.01025320e-02 2.23330816e+02] [-2.71465940e-01 9.62443564e-01 -2.93763852e-03 -4.64569897e+01] [-1.05206324e-02 8.46621886e-05 9.99944653e-01 -4.24220937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.37862385300002 meters Centerline goodness [0,1] 0.9998275750587322 Centerline is valid? [True, True] Translation: X:223.36, Y:-46.47, Z:-4.24 [[ 9.62181981e-01 2.72202040e-01 1.05775300e-02 2.23356795e+02] [-2.72184703e-01 9.62240117e-01 -3.07319602e-03 -4.64666350e+01] [-1.10146539e-02 7.79319894e-05 9.99939334e-01 -4.24158580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.40862385300002 meters Centerline goodness [0,1] 0.9997439125888303 Centerline is valid? [True, True] Translation: X:223.38, Y:-46.48, Z:-4.24 [[ 9.62165712e-01 2.72267621e-01 1.03675441e-02 2.23383063e+02] [-2.72250971e-01 9.62221563e-01 -3.01192609e-03 -4.64751447e+01] [-1.07959245e-02 7.53980475e-05 9.99941719e-01 -4.24234981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.43862385300002 meters Centerline goodness [0,1] 0.9997423897642866 Centerline is valid? [True, True] Translation: X:223.41, Y:-46.49, Z:-4.24 [[ 9.62014589e-01 2.72819060e-01 9.88392784e-03 2.23408368e+02] [-2.72803984e-01 9.62065360e-01 -2.86879160e-03 -4.64851523e+01] [-1.02916456e-02 6.34444847e-05 9.99947038e-01 -4.24414862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.46862385300003 meters Centerline goodness [0,1] 0.9998086368565414 Centerline is valid? [True, True] Translation: X:223.43, Y:-46.50, Z:-4.25 [[ 9.61905488e-01 2.73200370e-01 9.96941409e-03 2.23433232e+02] [-2.73185062e-01 9.61957148e-01 -2.89271806e-03 -4.64956649e+01] [-1.03804408e-02 5.90263695e-05 9.99946120e-01 -4.24736530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.49862385300003 meters Centerline goodness [0,1] 0.9998254075642172 Centerline is valid? [True, True] Translation: X:223.46, Y:-46.50, Z:-4.24 [[ 9.61784193e-01 2.73629523e-01 9.90201541e-03 2.23460494e+02] [-2.73614444e-01 9.61835163e-01 -2.87309818e-03 -4.65021491e+01] [-1.03102711e-02 5.39659783e-05 9.99946846e-01 -4.24490310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.52862385300003 meters Centerline goodness [0,1] 0.9998711506249195 Centerline is valid? [True, True] Translation: X:223.49, Y:-46.51, Z:-4.24 [[ 9.61331827e-01 2.75206980e-01 1.01111718e-02 2.23486815e+02] [-2.75191374e-01 9.61384999e-01 -2.93097906e-03 -4.65106829e+01] [-1.05273548e-02 3.51361972e-05 9.99944585e-01 -4.24439404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.55862385300003 meters Centerline goodness [0,1] 0.9998271802294183 Centerline is valid? [True, True] Translation: X:223.51, Y:-46.52, Z:-4.24 [[ 9.61147645e-01 2.75830788e-01 1.06103855e-02 2.23514191e+02] [-2.75813645e-01 9.61206209e-01 -3.07529303e-03 -4.65180482e+01] [-1.10470289e-02 2.93215592e-05 9.99938979e-01 -4.24461559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.58862385300003 meters Centerline goodness [0,1] 0.999786839468804 Centerline is valid? [True, True] Translation: X:223.54, Y:-46.52, Z:-4.25 [[ 9.60487461e-01 2.78134073e-01 1.02603799e-02 2.23541017e+02] [-2.78118203e-01 9.60542262e-01 -2.97118442e-03 -4.65242142e+01] [-1.06819161e-02 1.86972437e-07 9.99942947e-01 -4.24534500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.61862385300003 meters Centerline goodness [0,1] 0.999828719463892 Centerline is valid? [True, True] Translation: X:223.57, Y:-46.53, Z:-4.25 [[ 9.60155070e-01 2.79285120e-01 1.01026492e-02 2.23568115e+02] [-2.79269799e-01 9.60208218e-01 -2.92541093e-03 -4.65311312e+01] [-1.05176705e-02 -1.25166629e-05 9.99944688e-01 -4.24592480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.648623853 meters Centerline goodness [0,1] 0.9997845802546261 Centerline is valid? [True, True] Translation: X:223.60, Y:-46.54, Z:-4.25 [[ 9.59725558e-01 2.80753383e-01 1.02171910e-02 2.23595907e+02] [-2.80737816e-01 9.59779942e-01 -2.95654817e-03 -4.65370786e+01] [-1.06363158e-02 -3.08770385e-05 9.99943432e-01 -4.24662585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.678623853 meters Centerline goodness [0,1] 0.9996784428056937 Centerline is valid? [True, True] Translation: X:223.62, Y:-46.54, Z:-4.25 [[ 9.59281372e-01 2.82279489e-01 9.87624534e-03 2.23622908e+02] [-2.82265051e-01 9.59332209e-01 -2.85534279e-03 -4.65424004e+01] [-1.02806050e-02 -4.86417532e-05 9.99947152e-01 -4.24788307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.708623853 meters Centerline goodness [0,1] 0.9996354825567683 Centerline is valid? [True, True] Translation: X:223.65, Y:-46.55, Z:-4.25 [[ 9.58430387e-01 2.85163925e-01 9.62963594e-03 2.23650827e+02] [-2.85150355e-01 9.58478758e-01 -2.78299018e-03 -4.65462425e+01] [-1.00234099e-02 -7.85917558e-05 9.99949761e-01 -4.24907986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.738623853 meters Centerline goodness [0,1] 0.9994812044702881 Centerline is valid? [True, True] Translation: X:223.68, Y:-46.55, Z:-4.25 [[ 9.58144860e-01 2.86107838e-01 1.00365410e-02 2.23678855e+02] [-2.86093148e-01 9.58197420e-01 -2.90070305e-03 -4.65533153e+01] [-1.04469016e-02 -9.20919043e-05 9.99945425e-01 -4.24940704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.768623853 meters Centerline goodness [0,1] 0.9994842148245255 Centerline is valid? [True, True] Translation: X:223.71, Y:-46.56, Z:-4.25 [[ 9.57919857e-01 2.86862381e-01 9.97606111e-03 2.23706271e+02] [-2.86847932e-01 9.57971797e-01 -2.88098664e-03 -4.65595406e+01] [-1.03832319e-02 -1.01858188e-04 9.99946088e-01 -4.25011246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.798623853 meters Centerline goodness [0,1] 0.9993121977431488 Centerline is valid? [True, True] Translation: X:223.73, Y:-46.57, Z:-4.25 [[ 9.57644107e-01 2.87806915e-01 9.21647971e-03 2.23734001e+02] [-2.87794635e-01 9.57688451e-01 -2.66066950e-03 -4.65659032e+01] [-9.59227525e-03 -1.04478943e-04 9.99953988e-01 -4.24605843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.828623853 meters Centerline goodness [0,1] 0.9994044833893403 Centerline is valid? [True, True] Translation: X:223.76, Y:-46.57, Z:-4.25 [[ 9.57278113e-01 2.89021525e-01 9.22887452e-03 2.23760577e+02] [-2.89009274e-01 9.57322592e-01 -2.66369864e-03 -4.65721666e+01] [-9.60487632e-03 -1.17329912e-04 9.99953865e-01 -4.25290415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.858623853 meters Centerline goodness [0,1] 0.9994396310185784 Centerline is valid? [True, True] Translation: X:223.79, Y:-46.58, Z:-4.25 [[ 9.57152260e-01 2.89448398e-01 8.89812096e-03 2.23787519e+02] [-2.89437033e-01 9.57193612e-01 -2.56774284e-03 -4.65792268e+01] [-9.26045360e-03 -1.17724865e-04 9.99957114e-01 -4.25425803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.888623853 meters Centerline goodness [0,1] 0.9992782783658473 Centerline is valid? [True, True] Translation: X:223.81, Y:-46.59, Z:-4.25 [[ 9.56720828e-01 2.90873183e-01 8.83455550e-03 2.23814941e+02] [-2.90862036e-01 9.56761608e-01 -2.54984577e-03 -4.65874214e+01] [-9.19424528e-03 -1.30146247e-04 9.99957724e-01 -4.24766787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.918623853 meters Centerline goodness [0,1] 0.9993778426156354 Centerline is valid? [True, True] Translation: X:223.84, Y:-46.59, Z:-4.25 [[ 9.56671778e-01 2.91022089e-01 9.23324123e-03 2.23842204e+02] [-2.91009939e-01 9.56716324e-01 -2.66284326e-03 -4.65914357e+01] [-9.60853881e-03 -1.39497975e-04 9.99953827e-01 -4.25355491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.94862385300002 meters Centerline goodness [0,1] 0.9994269462602937 Centerline is valid? [True, True] Translation: X:223.87, Y:-46.60, Z:-4.25 [[ 9.56541290e-01 2.91438269e-01 9.61745167e-03 2.23869900e+02] [-2.91425128e-01 9.56589626e-01 -2.77165551e-03 -4.65971309e+01] [-1.00077210e-02 -1.51564149e-04 9.99949910e-01 -4.25418251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.97862385300002 meters Centerline goodness [0,1] 0.9994249813651368 Centerline is valid? [True, True] Translation: X:223.90, Y:-46.60, Z:-4.25 [[ 9.56441956e-01 2.91761952e-01 9.68232472e-03 2.23897327e+02] [-2.91748648e-01 9.56490951e-01 -2.79053064e-03 -4.66047775e+01] [-1.00752266e-02 -1.55824569e-04 9.99949231e-01 -4.25426306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.00862385300002 meters Centerline goodness [0,1] 0.9990632318501171 Centerline is valid? [True, True] Translation: X:223.92, Y:-46.61, Z:-4.25 [[ 9.56499696e-01 2.91566236e-01 9.87226968e-03 2.23923965e+02] [-2.91552409e-01 9.56550629e-01 -2.84384165e-03 -4.66146295e+01] [-1.02724940e-02 -1.58150340e-04 9.99947224e-01 -4.25380330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.03862385300002 meters Centerline goodness [0,1] 0.9993528206234494 Centerline is valid? [True, True] Translation: X:223.95, Y:-46.62, Z:-4.25 [[ 9.56607961e-01 2.91200820e-01 1.01632666e-02 2.23949778e+02] [-2.91186166e-01 9.56661934e-01 -2.92569478e-03 -4.66246911e+01] [-1.05747750e-02 -1.60659736e-04 9.99944073e-01 -4.25254490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.06862385300002 meters Centerline goodness [0,1] 0.9995009113792206 Centerline is valid? [True, True] Translation: X:223.98, Y:-46.63, Z:-4.25 [[ 9.56771527e-01 2.90662816e-01 1.01672773e-02 2.23977299e+02] [-2.90648153e-01 9.56825534e-01 -2.92377618e-03 -4.66309661e+01] [-1.05781435e-02 -1.57714568e-04 9.99944037e-01 -4.25267048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.09862385300002 meters Centerline goodness [0,1] 0.9993785492339012 Centerline is valid? [True, True] Translation: X:224.00, Y:-46.64, Z:-4.25 [[ 9.56936354e-01 2.90123873e-01 1.00475394e-02 2.24004360e+02] [-2.90109531e-01 9.56989088e-01 -2.88870625e-03 -4.66389219e+01] [-1.04534682e-02 -1.50578920e-04 9.99945350e-01 -4.25359239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.12862385300002 meters Centerline goodness [0,1] 0.9993352489599863 Centerline is valid? [True, True] Translation: X:224.03, Y:-46.65, Z:-4.26 [[ 9.57076691e-01 2.89667311e-01 9.85172358e-03 2.24031402e+02] [-2.89653504e-01 9.57127384e-01 -2.83179756e-03 -4.66454162e+01] [-1.02496336e-02 -1.43338814e-04 9.99947461e-01 -4.25609723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.15862385300002 meters Centerline goodness [0,1] 0.9994875189511221 Centerline is valid? [True, True] Translation: X:224.06, Y:-46.65, Z:-4.26 [[ 9.57246201e-01 2.89123002e-01 9.35951611e-03 2.24057256e+02] [-2.89110518e-01 9.57291947e-01 -2.68993540e-03 -4.66531990e+01] [-9.73751160e-03 -1.31004113e-04 9.99952581e-01 -4.25724845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.18862385300002 meters Centerline goodness [0,1] 0.9994844031967002 Centerline is valid? [True, True] Translation: X:224.08, Y:-46.66, Z:-4.26 [[ 9.57475235e-01 2.88365123e-01 9.31294766e-03 2.24084255e+02] [-2.88352728e-01 9.57520517e-01 -2.67648434e-03 -4.66635451e+01] [-9.68914320e-03 -1.22746390e-04 9.99953052e-01 -4.25669772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.21862385300003 meters Centerline goodness [0,1] 0.9994844031967002 Centerline is valid? [True, True] Translation: X:224.11, Y:-46.67, Z:-4.26 [[ 9.57529137e-01 2.88186073e-01 9.31333446e-03 2.24110724e+02] [-2.88173683e-01 9.57574421e-01 -2.67513745e-03 -4.66709439e+01] [-9.68914821e-03 -1.22335830e-04 9.99953052e-01 -4.25718239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.24862385300003 meters Centerline goodness [0,1] 0.9995917314882462 Centerline is valid? [True, True] Translation: X:224.14, Y:-46.68, Z:-4.26 [[ 9.57805653e-01 2.87249951e-01 9.78754506e-03 2.24137663e+02] [-2.87236250e-01 9.57855652e-01 -2.80819364e-03 -4.66779288e+01] [-1.01817088e-02 -1.21633996e-04 9.99948158e-01 -4.25705475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.27862385300003 meters Centerline goodness [0,1] 0.9995918893375719 Centerline is valid? [True, True] Translation: X:224.16, Y:-46.68, Z:-4.26 [[ 9.57977001e-01 2.86671081e-01 9.98783081e-03 2.24164264e+02] [-2.86656779e-01 9.58029059e-01 -2.86597305e-03 -4.66849296e+01] [-1.03902237e-02 -1.17543139e-04 9.99946013e-01 -4.25756563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.30862385300003 meters Centerline goodness [0,1] 0.9997189796800692 Centerline is valid? [True, True] Translation: X:224.19, Y:-46.69, Z:-4.26 [[ 9.58151988e-01 2.86086808e-01 9.95522713e-03 2.24191918e+02] [-2.86072587e-01 9.58203697e-01 -2.85465077e-03 -4.66915592e+01] [-1.03558134e-02 -1.12728273e-04 9.99946371e-01 -4.25715843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.33862385300003 meters Centerline goodness [0,1] 0.9994422037243629 Centerline is valid? [True, True] Translation: X:224.22, Y:-46.70, Z:-4.25 [[ 9.58078937e-01 2.86346064e-01 9.52272301e-03 2.24219340e+02] [-2.86333093e-01 9.58126254e-01 -2.72777813e-03 -4.66964213e+01] [-9.90505946e-03 -1.13243960e-04 9.99950937e-01 -4.24899569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.36862385300003 meters Centerline goodness [0,1] 0.9996136841653431 Centerline is valid? [True, True] Translation: X:224.25, Y:-46.70, Z:-4.26 [[ 9.58101448e-01 2.86230025e-01 1.06765265e-02 2.24246524e+02] [-2.86213720e-01 9.58160924e-01 -3.05767360e-03 -4.67017741e+01] [-1.11050285e-02 -1.26206859e-04 9.99938329e-01 -4.25779636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.398623853 meters Centerline goodness [0,1] 0.999506247048216 Centerline is valid? [True, True] Translation: X:224.28, Y:-46.71, Z:-4.26 [[ 9.57901340e-01 2.86885943e-01 1.10216862e-02 2.24275841e+02] [-2.86868618e-01 9.57964737e-01 -3.15590868e-03 -4.67053139e+01] [-1.14637726e-02 -1.38726738e-04 9.99934279e-01 -4.25737858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.428623853 meters Centerline goodness [0,1] 0.9995113452876689 Centerline is valid? [True, True] Translation: X:224.30, Y:-46.71, Z:-4.26 [[ 9.57830477e-01 2.87136890e-01 1.06388312e-02 2.24303316e+02] [-2.87120790e-01 9.57889549e-01 -3.04380772e-03 -4.67086354e+01] [-1.10648147e-02 -1.39177809e-04 9.99938773e-01 -4.25937934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.458623853 meters Centerline goodness [0,1] 0.9994193173753145 Centerline is valid? [True, True] Translation: X:224.33, Y:-46.71, Z:-4.26 [[ 9.57914728e-01 2.86877681e-01 1.00284799e-02 2.24330862e+02] [-2.86863358e-01 9.57967212e-01 -2.86953375e-03 -4.67125350e+01] [-1.04301601e-02 -1.28034788e-04 9.99945596e-01 -4.26111962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.488623853 meters Centerline goodness [0,1] 0.9995281906109932 Centerline is valid? [True, True] Translation: X:224.36, Y:-46.72, Z:-4.26 [[ 9.58090488e-01 2.86304868e-01 9.59891005e-03 2.24357995e+02] [-2.86291734e-01 9.58138564e-01 -2.74492649e-03 -4.67194085e+01] [-9.98297171e-03 -1.18200639e-04 9.99950162e-01 -4.26226783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.518623853 meters Centerline goodness [0,1] 0.9995045132381137 Centerline is valid? [True, True] Translation: X:224.38, Y:-46.73, Z:-4.26 [[ 9.58314901e-01 2.85566711e-01 9.17631402e-03 2.24384883e+02] [-2.85554689e-01 9.58358828e-01 -2.62243330e-03 -4.67259829e+01] [-9.54308119e-03 -1.07222592e-04 9.99954458e-01 -4.26269468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.548623853 meters Centerline goodness [0,1] 0.9995663298495164 Centerline is valid? [True, True] Translation: X:224.41, Y:-46.73, Z:-4.26 [[ 9.58581563e-01 2.84670175e-01 9.18035764e-03 2.24412481e+02] [-2.84658121e-01 9.58625517e-01 -2.62156818e-03 -4.67333140e+01] [-9.54680736e-03 -1.00276435e-04 9.99954423e-01 -4.26247824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.578623853 meters Centerline goodness [0,1] 0.999611029475322 Centerline is valid? [True, True] Translation: X:224.44, Y:-46.74, Z:-4.26 [[ 9.59245979e-01 2.82391276e-01 1.01152689e-02 2.24440313e+02] [-2.82376538e-01 9.59299307e-01 -2.88636408e-03 -4.67385909e+01] [-1.05186545e-02 -8.75814830e-05 9.99944674e-01 -4.26346639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.608623853 meters Centerline goodness [0,1] 0.9995924932975871 Centerline is valid? [True, True] Translation: X:224.47, Y:-46.75, Z:-4.26 [[ 9.59634761e-01 2.81047570e-01 1.06484683e-02 2.24466802e+02] [-2.81031186e-01 9.59693835e-01 -3.03564653e-03 -4.67461070e+01] [-1.10724305e-02 -7.94397517e-05 9.99938696e-01 -4.26271496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.638623853 meters Centerline goodness [0,1] 0.999697225286014 Centerline is valid? [True, True] Translation: X:224.49, Y:-46.76, Z:-4.26 [[ 9.60603426e-01 2.77677131e-01 1.16819742e-02 2.24494055e+02] [-2.77657165e-01 9.60674455e-01 -3.33010098e-03 -4.67559426e+01] [-1.21472671e-02 -4.46774320e-05 9.99926218e-01 -4.26027955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.668623853 meters Centerline goodness [0,1] 0.9997017024268638 Centerline is valid? [True, True] Translation: X:224.52, Y:-46.76, Z:-4.26 [[ 9.61088427e-01 2.75996902e-01 1.16079575e-02 2.24520530e+02] [-2.75977099e-01 9.61158525e-01 -3.30630823e-03 -4.67638048e+01] [-1.20696182e-02 -2.58758587e-05 9.99927159e-01 -4.26188306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.69862385300002 meters Centerline goodness [0,1] 0.9998923411493659 Centerline is valid? [True, True] Translation: X:224.55, Y:-46.77, Z:-4.26 [[ 9.61661483e-01 2.73991702e-01 1.16507245e-02 2.24547080e+02] [-2.73971605e-01 9.61732056e-01 -3.31848422e-03 -4.67725457e+01] [-1.21141123e-02 -7.09219820e-07 9.99926621e-01 -4.26219723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.72862385300002 meters Centerline goodness [0,1] 0.9997839286100128 Centerline is valid? [True, True] Translation: X:224.57, Y:-46.78, Z:-4.26 [[ 9.62621067e-01 2.70636865e-01 1.07874653e-02 2.24573301e+02] [-2.70619457e-01 9.62681508e-01 -3.06979887e-03 -4.67816623e+01] [-1.12156942e-02 3.57550470e-05 9.99937101e-01 -4.26423336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.75862385300002 meters Centerline goodness [0,1] 0.999871335749362 Centerline is valid? [True, True] Translation: X:224.60, Y:-46.79, Z:-4.27 [[ 9.63009810e-01 2.69276043e-01 1.01251747e-02 2.24600686e+02] [-2.69260630e-01 9.63063035e-01 -2.88152277e-03 -4.67893612e+01] [-1.05271065e-02 4.86237707e-05 9.99944587e-01 -4.26610535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.78862385300002 meters Centerline goodness [0,1] 0.99982828196102 Centerline is valid? [True, True] Translation: X:224.63, Y:-46.80, Z:-4.27 [[ 9.63362164e-01 2.68015117e-01 1.00617699e-02 2.24628290e+02] [-2.67999845e-01 9.63414705e-01 -2.86175974e-03 -4.67970750e+01] [-1.04606520e-02 6.03582827e-05 9.99945284e-01 -4.26667864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.81862385300002 meters Centerline goodness [0,1] 0.9998908177748662 Centerline is valid? [True, True] Translation: X:224.66, Y:-46.80, Z:-4.27 [[ 9.63640043e-01 2.67029993e-01 9.63587699e-03 2.24655994e+02] [-2.67015953e-01 9.63688216e-01 -2.73905587e-03 -4.68046011e+01] [-1.00173912e-02 6.65310443e-05 9.99949822e-01 -4.26743770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.84862385300002 meters Centerline goodness [0,1] 0.9996363169604655 Centerline is valid? [True, True] Translation: X:224.68, Y:-46.81, Z:-4.26 [[ 9.63937060e-01 2.66006320e-01 8.12294598e-03 2.24683336e+02] [-2.65996324e-01 9.63971283e-01 -2.30694813e-03 -4.68117003e+01] [-8.44394944e-03 6.30790263e-05 9.99964347e-01 -4.25951877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.87862385300002 meters Centerline goodness [0,1] 0.9998919689734892 Centerline is valid? [True, True] Translation: X:224.71, Y:-46.82, Z:-4.27 [[ 9.64195230e-01 2.65026310e-01 9.41346124e-03 2.24710171e+02] [-2.65012835e-01 9.64241177e-01 -2.67371035e-03 -4.68186272e+01] [-9.78545054e-03 8.32907135e-05 9.99952118e-01 -4.26832290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.90862385300002 meters Centerline goodness [0,1] 0.9999138265328106 Centerline is valid? [True, True] Translation: X:224.74, Y:-46.82, Z:-4.27 [[ 9.64432435e-01 2.64127688e-01 1.03268279e-02 2.24736502e+02] [-2.64111455e-01 9.64487716e-01 -2.92993824e-03 -4.68242666e+01] [-1.07339765e-02 9.82939224e-05 9.99942384e-01 -4.26789167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.93862385300002 meters Centerline goodness [0,1] 0.9998915848132006 Centerline is valid? [True, True] Translation: X:224.76, Y:-46.83, Z:-4.27 [[ 9.64609998e-01 2.63463529e-01 1.07014626e-02 2.24764069e+02] [-2.63446059e-01 9.64669351e-01 -3.03594519e-03 -4.68310577e+01] [-1.11232338e-02 1.09244930e-04 9.99938129e-01 -4.26722684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.96862385300003 meters Centerline goodness [0,1] 0.9998492646267146 Centerline is valid? [True, True] Translation: X:224.79, Y:-46.84, Z:-4.27 [[ 9.64878690e-01 2.62445245e-01 1.14719745e-02 2.24790718e+02] [-2.62425137e-01 9.64946878e-01 -3.25119656e-03 -4.68380933e+01] [-1.19231070e-02 1.26475810e-04 9.99928909e-01 -4.26678308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.99862385300003 meters Centerline goodness [0,1] 0.9997189614544826 Centerline is valid? [True, True] Translation: X:224.82, Y:-46.84, Z:-4.26 [[ 9.65040312e-01 2.61859829e-01 1.12528410e-02 2.24818649e+02] [-2.61840442e-01 9.65105908e-01 -3.18905183e-03 -4.68443823e+01] [-1.16952679e-02 1.31114706e-04 9.99931599e-01 -4.25719262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.02862385300003 meters Centerline goodness [0,1] 0.9999132076290494 Centerline is valid? [True, True] Translation: X:224.85, Y:-46.85, Z:-4.27 [[ 9.65286430e-01 2.60894547e-01 1.24957771e-02 2.24845746e+02] [-2.60870591e-01 9.65367293e-01 -3.53887831e-03 -4.68519569e+01] [-1.29862885e-02 1.56250460e-04 9.99915662e-01 -4.26625787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.05862385300003 meters Centerline goodness [0,1] 0.9999133467645849 Centerline is valid? [True, True] Translation: X:224.87, Y:-46.86, Z:-4.27 [[ 9.65450663e-01 2.60276386e-01 1.26972119e-02 2.24872523e+02] [-2.60251641e-01 9.65534140e-01 -3.59268260e-03 -4.68607975e+01] [-1.31946821e-02 1.64087554e-04 9.99912933e-01 -4.26656689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.08862385300003 meters Centerline goodness [0,1] 0.9999135340783813 Centerline is valid? [True, True] Translation: X:224.90, Y:-46.87, Z:-4.27 [[ 9.65789006e-01 2.59046181e-01 1.21108515e-02 2.24900484e+02] [-2.59023575e-01 9.65864921e-01 -3.42660846e-03 -4.68674929e+01] [-1.25850965e-02 1.72384726e-04 9.99920790e-01 -4.26780328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.11862385300003 meters Centerline goodness [0,1] 0.9998273145250071 Centerline is valid? [True, True] Translation: X:224.93, Y:-46.88, Z:-4.27 [[ 9.65950617e-01 2.58453842e-01 1.18750295e-02 2.24926958e+02] [-2.58432093e-01 9.66023592e-01 -3.35742972e-03 -4.68766044e+01] [-1.23392993e-02 1.74222583e-04 9.99923853e-01 -4.26985323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.148623853 meters Centerline goodness [0,1] 0.9998062641265741 Centerline is valid? [True, True] Translation: X:224.96, Y:-46.88, Z:-4.27 [[ 9.66139672e-01 2.57769592e-01 1.13565276e-02 2.24955141e+02] [-2.57749660e-01 9.66206400e-01 -3.21026930e-03 -4.68844272e+01] [-1.18002595e-02 1.74427397e-04 9.99930359e-01 -4.27095487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.178623853 meters Centerline goodness [0,1] 0.9997630433846021 Centerline is valid? [True, True] Translation: X:224.98, Y:-46.89, Z:-4.27 [[ 9.66468540e-01 2.56556079e-01 1.08415429e-02 2.24980987e+02] [-2.56537861e-01 9.66529330e-01 -3.06259019e-03 -4.68932157e+01] [-1.12643953e-02 1.78630851e-04 9.99936539e-01 -4.27296977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.208623853 meters Centerline goodness [0,1] 0.9998259658893143 Centerline is valid? [True, True] Translation: X:225.01, Y:-46.90, Z:-4.27 [[ 9.66668076e-01 2.55785856e-01 1.12439543e-02 2.25008804e+02] [-2.55766219e-01 9.66733447e-01 -3.17536681e-03 -4.69009415e+01] [-1.16821206e-02 1.93702067e-04 9.99931743e-01 -4.27261506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.238623853 meters Centerline goodness [0,1] 0.9998498595113999 Centerline is valid? [True, True] Translation: X:225.04, Y:-46.91, Z:-4.27 [[ 9.66854682e-01 2.55071139e-01 1.14340442e-02 2.25036191e+02] [-2.55050813e-01 9.66922268e-01 -3.22649003e-03 -4.69083408e+01] [-1.18788164e-02 2.03284739e-04 9.99929424e-01 -4.27201277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.268623853 meters Centerline goodness [0,1] 0.9996332254584682 Centerline is valid? [True, True] Translation: X:225.06, Y:-46.92, Z:-4.27 [[ 9.67372715e-01 2.53058240e-01 1.23108490e-02 2.25062833e+02] [-2.53034518e-01 9.67451015e-01 -3.47359696e-03 -4.69187648e+01] [-1.27891657e-02 2.45193193e-04 9.99918185e-01 -4.27121997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.298623853 meters Centerline goodness [0,1] 0.9996113402284456 Centerline is valid? [True, True] Translation: X:225.09, Y:-46.93, Z:-4.27 [[ 9.67601097e-01 2.52171422e-01 1.25575005e-02 2.25089068e+02] [-2.52146700e-01 9.67682544e-01 -3.54046492e-03 -4.69290203e+01] [-1.30444781e-02 2.59425438e-04 9.99914884e-01 -4.27123552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.328623853 meters Centerline goodness [0,1] 0.9996984383414109 Centerline is valid? [True, True] Translation: X:225.12, Y:-46.94, Z:-4.27 [[ 9.67872997e-01 2.51114667e-01 1.27783571e-02 2.25116028e+02] [-2.51088981e-01 9.67957306e-01 -3.60237951e-03 -4.69382741e+01] [-1.32735144e-02 2.78141198e-04 9.99911864e-01 -4.27156773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.358623853 meters Centerline goodness [0,1] 0.9993984833186534 Centerline is valid? [True, True] Translation: X:225.14, Y:-46.95, Z:-4.27 [[ 9.68308551e-01 2.49449904e-01 1.23812227e-02 2.25143066e+02] [-2.49425680e-01 9.68387661e-01 -3.48836596e-03 -4.69500024e+01] [-1.28599958e-02 2.89619702e-04 9.99917265e-01 -4.27300891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.388623853 meters Centerline goodness [0,1] 0.9996752403221616 Centerline is valid? [True, True] Translation: X:225.17, Y:-46.96, Z:-4.27 [[ 9.68527287e-01 2.48610559e-01 1.21525450e-02 2.25170652e+02] [-2.48587185e-01 9.68603481e-01 -3.42158498e-03 -4.69570168e+01] [-1.26216396e-02 2.92931457e-04 9.99920301e-01 -4.27369149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.418623853 meters Centerline goodness [0,1] 0.9988856267278143 Centerline is valid? [True, True] Translation: X:225.20, Y:-46.97, Z:-4.27 [[ 9.68619923e-01 2.48277229e-01 1.15698634e-02 2.25196348e+02] [-2.48256025e-01 9.68688979e-01 -3.25705341e-03 -4.69689515e+01] [-1.20162514e-02 2.82558521e-04 9.99927762e-01 -4.26928910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.44862385300002 meters Centerline goodness [0,1] 0.9993996312020241 Centerline is valid? [True, True] Translation: X:225.22, Y:-46.98, Z:-4.27 [[ 9.68733755e-01 2.47789795e-01 1.24550937e-02 2.25223670e+02] [-2.47765194e-01 9.68813770e-01 -3.50534334e-03 -4.69767689e+01] [-1.29352546e-02 3.09805711e-04 9.99916288e-01 -4.27309951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.47862385300002 meters Centerline goodness [0,1] 0.9995921433937963 Centerline is valid? [True, True] Translation: X:225.25, Y:-46.99, Z:-4.27 [[ 9.68730388e-01 2.47798469e-01 1.25440592e-02 2.25248396e+02] [-2.47773521e-01 9.68811551e-01 -3.52991953e-03 -4.69881422e+01] [-1.30275381e-02 3.11454599e-04 9.99915090e-01 -4.27434848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.50862385300002 meters Centerline goodness [0,1] 0.9994618679639237 Centerline is valid? [True, True] Translation: X:225.28, Y:-46.99, Z:-4.27 [[ 9.68735241e-01 2.47769318e-01 1.27435003e-02 2.25275644e+02] [-2.47743584e-01 9.68819005e-01 -3.58488266e-03 -4.69948500e+01] [-1.32343693e-02 3.15681718e-04 9.99912372e-01 -4.27432158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.53862385300002 meters Centerline goodness [0,1] 0.9995472283909359 Centerline is valid? [True, True] Translation: X:225.30, Y:-47.00, Z:-4.27 [[ 9.68701238e-01 2.47900320e-01 1.27805807e-02 2.25301620e+02] [-2.47874460e-01 9.68785494e-01 -3.59432115e-03 -4.70046871e+01] [-1.32726746e-02 3.13843794e-04 9.99911865e-01 -4.27455612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.56862385300002 meters Centerline goodness [0,1] 0.9996363169604655 Centerline is valid? [True, True] Translation: X:225.33, Y:-47.01, Z:-4.28 [[ 9.68639982e-01 2.48159481e-01 1.23877661e-02 2.25328786e+02] [-2.48135218e-01 9.68719145e-01 -3.48306990e-03 -4.70133293e+01] [-1.28646230e-02 2.99999729e-04 9.99917202e-01 -4.27549531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.59862385300002 meters Centerline goodness [0,1] 0.99961229456997 Centerline is valid? [True, True] Translation: X:225.36, Y:-47.02, Z:-4.28 [[ 9.68601387e-01 2.48297488e-01 1.26376282e-02 2.25356826e+02] [-2.48272256e-01 9.68683780e-01 -3.55270114e-03 -4.70208583e+01] [-1.31239922e-02 3.03578782e-04 9.99913831e-01 -4.27631224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.62862385300002 meters Centerline goodness [0,1] 0.9994834377219604 Centerline is valid? [True, True] Translation: X:225.38, Y:-47.03, Z:-4.28 [[ 9.68535130e-01 2.48559626e-01 1.25624374e-02 2.25382462e+02] [-2.48534723e-01 9.68616551e-01 -3.53099379e-03 -4.70312045e+01] [-1.30458473e-02 2.97689635e-04 9.99914855e-01 -4.27725458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.65862385300002 meters Centerline goodness [0,1] 0.9996989765201686 Centerline is valid? [True, True] Translation: X:225.41, Y:-47.05, Z:-4.28 [[ 9.68297868e-01 2.49484227e-01 1.25243668e-02 2.25407076e+02] [-2.49459562e-01 9.68378820e-01 -3.51951301e-03 -4.70463515e+01] [-1.30063946e-02 2.83613873e-04 9.99915373e-01 -4.27867814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.68862385300002 meters Centerline goodness [0,1] 0.9997200689061154 Centerline is valid? [True, True] Translation: X:225.44, Y:-47.05, Z:-4.28 [[ 9.68201667e-01 2.49862196e-01 1.24263777e-02 2.25436472e+02] [-2.49837951e-01 9.68281368e-01 -3.49167326e-03 -4.70502426e+01] [-1.29046672e-02 2.76063129e-04 9.99916693e-01 -4.27800194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.71862385300003 meters Centerline goodness [0,1] 0.9997029240758817 Centerline is valid? [True, True] Translation: X:225.46, Y:-47.06, Z:-4.28 [[ 9.67486772e-01 2.52660302e-01 1.14942367e-02 2.25462139e+02] [-2.52639781e-01 9.67555024e-01 -3.22756388e-03 -4.70606830e+01] [-1.19367837e-02 2.18723923e-04 9.99928730e-01 -4.28071364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.74862385300003 meters Centerline goodness [0,1] 0.9997640295177621 Centerline is valid? [True, True] Translation: X:225.49, Y:-47.07, Z:-4.28 [[ 9.66990586e-01 2.54553412e-01 1.14789953e-02 2.25489331e+02] [-2.54533087e-01 9.67058697e-01 -3.22255559e-03 -4.70666233e+01] [-1.19211748e-02 1.94396796e-04 9.99928921e-01 -4.28146582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.77862385300003 meters Centerline goodness [0,1] 0.9998723431416353 Centerline is valid? [True, True] Translation: X:225.52, Y:-47.07, Z:-4.28 [[ 9.66453026e-01 2.56599147e-01 1.11993903e-02 2.25517048e+02] [-2.56579938e-01 9.66517900e-01 -3.14403681e-03 -4.70727060e+01] [-1.16311684e-02 1.65025009e-04 9.99932342e-01 -4.28263041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.80862385300003 meters Centerline goodness [0,1] 0.9999571358151697 Centerline is valid? [True, True] Translation: X:225.55, Y:-47.08, Z:-4.28 [[ 9.65184959e-01 2.61319960e-01 1.13961983e-02 2.25546777e+02] [-2.61300421e-01 9.65252230e-01 -3.19735091e-03 -4.70755810e+01] [-1.18357374e-02 1.08203594e-04 9.99929949e-01 -4.28234779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.83862385300003 meters Centerline goodness [0,1] 0.9999572658703874 Centerline is valid? [True, True] Translation: X:225.58, Y:-47.08, Z:-4.28 [[ 9.64575427e-01 2.63560621e-01 1.14036978e-02 2.25575797e+02] [-2.63541232e-01 9.64642832e-01 -3.19789581e-03 -4.70791165e+01] [-1.18433347e-02 7.92671537e-05 9.99929862e-01 -4.28190906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.86862385300003 meters Centerline goodness [0,1] 0.999956915122792 Centerline is valid? [True, True] Translation: X:225.60, Y:-47.08, Z:-4.28 [[ 9.63994452e-01 2.65665470e-01 1.16856434e-02 2.25604016e+02] [-2.65645289e-01 9.64065275e-01 -3.27490811e-03 -4.70841461e+01] [-1.21357531e-02 5.27571210e-05 9.99926358e-01 -4.28193358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.898623853 meters Centerline goodness [0,1] 0.9998717510259918 Centerline is valid? [True, True] Translation: X:225.63, Y:-47.09, Z:-4.28 [[ 9.62847821e-01 2.69769988e-01 1.21748808e-02 2.25632114e+02] [-2.69748444e-01 9.62924791e-01 -3.40929960e-03 -4.70873441e+01] [-1.26432213e-02 -1.51845390e-06 9.99920071e-01 -4.28307538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.928623853 meters Centerline goodness [0,1] 0.9998310882141801 Centerline is valid? [True, True] Translation: X:225.66, Y:-47.09, Z:-4.28 [[ 9.62354052e-01 2.71517620e-01 1.23636737e-02 2.25659748e+02] [-2.71495550e-01 9.62433469e-01 -3.46195276e-03 -4.70922767e+01] [-1.28391945e-02 -2.50581238e-05 9.99917574e-01 -4.28267073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.958623853 meters Centerline goodness [0,1] 0.999763486636995 Centerline is valid? [True, True] Translation: X:225.69, Y:-47.10, Z:-4.28 [[ 9.61480221e-01 2.74577351e-01 1.27695725e-02 2.25688394e+02] [-2.74554111e-01 9.61565012e-01 -3.57312190e-03 -4.70954286e+01] [-1.32598725e-02 -7.04525856e-05 9.99912082e-01 -4.28302469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.988623853 meters Centerline goodness [0,1] 0.9995935394159803 Centerline is valid? [True, True] Translation: X:225.72, Y:-47.10, Z:-4.28 [[ 9.61014503e-01 2.76223594e-01 1.23146423e-02 2.25716625e+02] [-2.76202137e-01 9.61093397e-01 -3.44405352e-03 -4.71018925e+01] [-1.27868502e-02 -9.15451334e-05 9.99918241e-01 -4.28333958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.018623853 meters Centerline goodness [0,1] 0.9995714499989287 Centerline is valid? [True, True] Translation: X:225.74, Y:-47.10, Z:-4.29 [[ 9.60618890e-01 2.77603105e-01 1.21599722e-02 2.25744970e+02] [-2.77582325e-01 9.60695844e-01 -3.39837580e-03 -4.71045197e+01] [-1.26254344e-02 -1.10849363e-04 9.99920290e-01 -4.28583170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.048623853 meters Centerline goodness [0,1] 0.9995722108145106 Centerline is valid? [True, True] Translation: X:225.77, Y:-47.11, Z:-4.28 [[ 9.60310179e-01 2.78660437e-01 1.23580075e-02 2.25772297e+02] [-2.78639072e-01 9.60389684e-01 -3.45297721e-03 -4.71142139e+01] [-1.28307111e-02 -1.27494578e-04 9.99917675e-01 -4.28431751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.078623853 meters Centerline goodness [0,1] 0.9996351774754282 Centerline is valid? [True, True] Translation: X:225.80, Y:-47.12, Z:-4.29 [[ 9.59517399e-01 2.81397822e-01 1.19006851e-02 2.25800874e+02] [-2.81378249e-01 9.59591184e-01 -3.32278255e-03 -4.71159322e+01] [-1.23548163e-02 -1.60326268e-04 9.99923663e-01 -4.28654177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.108623853 meters Centerline goodness [0,1] 0.9995484065201496 Centerline is valid? [True, True] Translation: X:225.83, Y:-47.12, Z:-4.29 [[ 9.59265822e-01 2.82267378e-01 1.15849140e-02 2.25828430e+02] [-2.82248901e-01 9.59335759e-01 -3.23400628e-03 -4.71244427e+01] [-1.20266767e-02 -1.67557549e-04 9.99927663e-01 -4.28743662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.138623853 meters Centerline goodness [0,1] 0.9995484065201496 Centerline is valid? [True, True] Translation: X:225.85, Y:-47.13, Z:-4.29 [[ 9.59318536e-01 2.82088149e-01 1.15854087e-02 2.25854950e+02] [-2.82069680e-01 9.59388476e-01 -3.23223283e-03 -4.71316409e+01] [-1.20266822e-02 -1.67151659e-04 9.99927663e-01 -4.28792128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.168623853 meters Centerline goodness [0,1] 0.9993143053055626 Centerline is valid? [True, True] Translation: X:225.88, Y:-47.13, Z:-4.29 [[ 9.59075297e-01 2.82932032e-01 1.11373667e-02 2.25883364e+02] [-2.82915054e-01 9.59139946e-01 -3.10431083e-03 -4.71340959e+01] [-1.15606022e-02 -1.73660863e-04 9.99933159e-01 -4.29026112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.19862385300002 meters Centerline goodness [0,1] 0.9995723114428073 Centerline is valid? [True, True] Translation: X:225.91, Y:-47.14, Z:-4.29 [[ 9.59266723e-01 2.82261724e-01 1.16478531e-02 2.25910205e+02] [-2.82243107e-01 9.59337422e-01 -3.24640937e-03 -4.71445035e+01] [-1.20905585e-02 -1.73353776e-04 9.99926891e-01 -4.28913893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.22862385300002 meters Centerline goodness [0,1] 0.9998707843390618 Centerline is valid? [True, True] Translation: X:225.94, Y:-47.16, Z:-4.29 [[ 9.60045234e-01 2.79561216e-01 1.25966353e-02 2.25937552e+02] [-2.79539242e-01 9.60127858e-01 -3.50838186e-03 -4.71553107e+01] [-1.30751880e-02 -1.53048603e-04 9.99914504e-01 -4.28773425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.25862385300002 meters Centerline goodness [0,1] 0.9996542185338866 Centerline is valid? [True, True] Translation: X:225.96, Y:-47.17, Z:-4.29 [[ 9.60621150e-01 2.77552439e-01 1.31015284e-02 2.25964116e+02] [-2.77528512e-01 9.60710480e-01 -3.64683484e-03 -4.71658645e+01] [-1.35989635e-02 -1.32820993e-04 9.99907521e-01 -4.28749619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.28862385300002 meters Centerline goodness [0,1] 0.9997863749973297 Centerline is valid? [True, True] Translation: X:225.99, Y:-47.18, Z:-4.29 [[ 9.61322663e-01 2.75125724e-01 1.28286095e-02 2.25989581e+02] [-2.75102602e-01 9.61408251e-01 -3.56825000e-03 -4.71768030e+01] [-1.33152484e-02 -9.89442530e-05 9.99911343e-01 -4.28849139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.31862385300002 meters Centerline goodness [0,1] 0.9997843619269419 Centerline is valid? [True, True] Translation: X:226.02, Y:-47.19, Z:-4.29 [[ 9.62093437e-01 2.72423315e-01 1.27183260e-02 2.26015827e+02] [-2.72400356e-01 9.62177496e-01 -3.53727574e-03 -4.71890921e+01] [-1.32009235e-02 -6.12867615e-05 9.99912862e-01 -4.28918166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.34862385300002 meters Centerline goodness [0,1] 0.9998506379891606 Centerline is valid? [True, True] Translation: X:226.04, Y:-47.21, Z:-4.29 [[ 9.63725592e-01 2.66617198e-01 1.21759514e-02 2.26040080e+02] [-2.66595723e-01 9.63802506e-01 -3.38393046e-03 -4.72063617e+01] [-1.26374266e-02 1.51238121e-05 9.99920144e-01 -4.29062628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.37862385300002 meters Centerline goodness [0,1] 0.9995499839279974 Centerline is valid? [True, True] Translation: X:226.07, Y:-47.22, Z:-4.29 [[ 9.64561933e-01 2.63581348e-01 1.20478405e-02 2.26065268e+02] [-2.63560095e-01 9.64637170e-01 -3.34760091e-03 -4.72195541e+01] [-1.25041599e-02 5.36384132e-05 9.99921818e-01 -4.29135991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.40862385300002 meters Centerline goodness [0,1] 0.99963477775152 Centerline is valid? [True, True] Translation: X:226.09, Y:-47.24, Z:-4.29 [[ 9.66155420e-01 2.57675963e-01 1.21162310e-02 2.26089898e+02] [-2.57654012e-01 9.66231381e-01 -3.36581107e-03 -4.72385760e+01] [-1.25743712e-02 1.30101076e-04 9.99920931e-01 -4.29140502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.43862385300002 meters Centerline goodness [0,1] 0.9993334766716835 Centerline is valid? [True, True] Translation: X:226.12, Y:-47.25, Z:-4.29 [[ 9.66915357e-01 2.54793988e-01 1.24384647e-02 2.26117381e+02] [-2.54770623e-01 9.66995344e-01 -3.45471930e-03 -4.72486588e+01] [-1.29081791e-02 1.71465757e-04 9.99916671e-01 -4.28996442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.46862385300003 meters Centerline goodness [0,1] 0.99930392412773 Centerline is valid? [True, True] Translation: X:226.14, Y:-47.26, Z:-4.29 [[ 9.67621745e-01 2.52075924e-01 1.28797216e-02 2.26143801e+02] [-2.52050641e-01 9.67707437e-01 -3.57656588e-03 -4.72614624e+01] [-1.33653685e-02 2.14420826e-04 9.99910656e-01 -4.28953892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.49862385300003 meters Centerline goodness [0,1] 0.9980572575307957 Centerline is valid? [True, True] Translation: X:226.17, Y:-47.28, Z:-4.28 [[ 9.68726795e-01 2.47798676e-01 1.28145331e-02 2.26167763e+02] [-2.47773282e-01 9.68811510e-01 -3.55780804e-03 -4.72819154e+01] [-1.32964873e-02 2.71445049e-04 9.99911561e-01 -4.27950422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.52862385300003 meters Centerline goodness [0,1] 0.9986376891802721 Centerline is valid? [True, True] Translation: X:226.19, Y:-47.29, Z:-4.29 [[ 9.69182534e-01 2.45956828e-01 1.38005046e-02 2.26193519e+02] [-2.45927202e-01 9.69280732e-01 -3.83070987e-03 -4.72949336e+01] [-1.43187525e-02 3.18737604e-04 9.99897431e-01 -4.28943012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.55862385300003 meters Centerline goodness [0,1] 0.998812428475806 Centerline is valid? [True, True] Translation: X:226.22, Y:-47.31, Z:-4.29 [[ 9.69742972e-01 2.43702928e-01 1.44031902e-02 2.26219353e+02] [-2.43670420e-01 9.69849859e-01 -3.99728164e-03 -4.73076497e+01] [-1.49430813e-02 3.66704362e-04 9.99888279e-01 -4.28834737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.58862385300003 meters Centerline goodness [0,1] 0.998519821520508 Centerline is valid? [True, True] Translation: X:226.25, Y:-47.32, Z:-4.29 [[ 9.69879195e-01 2.43159805e-01 1.44102889e-02 2.26247174e+02] [-2.43127218e-01 9.69986170e-01 -3.99831062e-03 -4.73165103e+01] [-1.49500094e-02 3.74344824e-04 9.99888172e-01 -4.28815631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.61862385300003 meters Centerline goodness [0,1] 0.9986934544208362 Centerline is valid? [True, True] Translation: X:226.27, Y:-47.33, Z:-4.29 [[ 9.69907975e-01 2.43038879e-01 1.45129022e-02 2.26272868e+02] [-2.43005824e-01 9.70016474e-01 -4.02606047e-03 -4.73280021e+01] [-1.50562435e-02 3.78188394e-04 9.99886577e-01 -4.28880379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.648623853 meters Centerline goodness [0,1] 0.9982825246887076 Centerline is valid? [True, True] Translation: X:226.30, Y:-47.34, Z:-4.29 [[ 9.69916568e-01 2.42974011e-01 1.50160317e-02 2.26299796e+02] [-2.42938633e-01 9.70032719e-01 -4.16461221e-03 -4.73371573e+01] [-1.55779346e-02 3.91352160e-04 9.99878580e-01 -4.28832045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.678623853 meters Centerline goodness [0,1] 0.9984623598505072 Centerline is valid? [True, True] Translation: X:226.32, Y:-47.35, Z:-4.29 [[ 9.69754315e-01 2.43662972e-01 1.43152146e-02 2.26324341e+02] [-2.43630903e-01 9.69859900e-01 -3.96958592e-03 -4.73517849e+01] [-1.48509937e-02 3.61894415e-04 9.99889652e-01 -4.28958885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.708623853 meters Centerline goodness [0,1] 0.9989027302652811 Centerline is valid? [True, True] Translation: X:226.35, Y:-47.36, Z:-4.29 [[ 9.69524289e-01 2.44599908e-01 1.39117790e-02 2.26352087e+02] [-2.44569732e-01 9.69624036e-01 -3.85681322e-03 -4.73604817e+01] [-1.44325714e-02 3.36874053e-04 9.99895788e-01 -4.29104490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.738623853 meters Centerline goodness [0,1] 0.9987310190562223 Centerline is valid? [True, True] Translation: X:226.38, Y:-47.37, Z:-4.29 [[ 9.69194965e-01 2.45912819e-01 1.37115116e-02 2.26379929e+02] [-2.45883645e-01 9.69291900e-01 -3.80062027e-03 -4.73681738e+01] [-1.42250784e-02 3.12105578e-04 9.99898770e-01 -4.29188968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.768623853 meters Centerline goodness [0,1] 0.9988720662877967 Centerline is valid? [True, True] Translation: X:226.41, Y:-47.38, Z:-4.29 [[ 9.68325998e-01 2.49331893e-01 1.33554688e-02 2.26406157e+02] [-2.49304549e-01 9.68418062e-01 -3.70132136e-03 -4.73768115e+01] [-1.38565347e-02 2.54506572e-04 9.99903961e-01 -4.29336775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.798623853 meters Centerline goodness [0,1] 0.9989697359948487 Centerline is valid? [True, True] Translation: X:226.43, Y:-47.38, Z:-4.29 [[ 9.67790696e-01 2.51422947e-01 1.29487583e-02 2.26433996e+02] [-2.51397441e-01 9.67877293e-01 -3.58776597e-03 -4.73842684e+01] [-1.34348558e-02 2.16921820e-04 9.99909725e-01 -4.29404631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.828623853 meters Centerline goodness [0,1] 0.9993354912006174 Centerline is valid? [True, True] Translation: X:226.46, Y:-47.39, Z:-4.30 [[ 9.66335149e-01 2.56960671e-01 1.29458121e-02 2.26460998e+02] [-2.56935681e-01 9.66421851e-01 -3.58634334e-03 -4.73900030e+01] [-1.34326649e-02 1.39368576e-04 9.99909768e-01 -4.29501234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.858623853 meters Centerline goodness [0,1] 0.9993957703927493 Centerline is valid? [True, True] Translation: X:226.49, Y:-47.39, Z:-4.29 [[ 9.65489891e-01 2.60109710e-01 1.31228745e-02 2.26489323e+02] [-2.60084334e-01 9.65579064e-01 -3.63452557e-03 -4.73949000e+01] [-1.36165483e-02 9.60436233e-05 9.99907286e-01 -4.29444188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.888623853 meters Centerline goodness [0,1] 0.9993352917211656 Centerline is valid? [True, True] Translation: X:226.52, Y:-47.40, Z:-4.29 [[ 9.64484940e-01 2.63823076e-01 1.28913149e-02 2.26517006e+02] [-2.63798927e-01 9.64571088e-01 -3.56977492e-03 -4.74007145e+01] [-1.33763786e-02 4.22791112e-05 9.99910531e-01 -4.28913894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.918623853 meters Centerline goodness [0,1] 0.9997851079832384 Centerline is valid? [True, True] Translation: X:226.55, Y:-47.40, Z:-4.29 [[ 9.63386062e-01 2.67774722e-01 1.35644502e-02 2.26546060e+02] [-2.67748391e-01 9.63481550e-01 -3.75515847e-03 -4.74045802e+01] [-1.40746341e-02 -1.41923957e-05 9.99900947e-01 -4.29479516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.94862385300002 meters Centerline goodness [0,1] 0.9998273666947196 Centerline is valid? [True, True] Translation: X:226.58, Y:-47.40, Z:-4.30 [[ 9.60991684e-01 2.76265335e-01 1.31319076e-02 2.26576045e+02] [-2.76241456e-01 9.61081394e-01 -3.63478172e-03 -4.74036755e+01] [-1.36249963e-02 -1.34582272e-04 9.99907166e-01 -4.29530416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.97862385300002 meters Centerline goodness [0,1] 0.9998715285955935 Centerline is valid? [True, True] Translation: X:226.60, Y:-47.41, Z:-4.30 [[ 9.59620919e-01 2.81009290e-01 1.27070939e-02 2.26604861e+02] [-2.80987354e-01 9.59705028e-01 -3.51655062e-03 -4.74053660e+01] [-1.31832453e-02 -1.95977155e-04 9.99913078e-01 -4.29712103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.00862385300002 meters Centerline goodness [0,1] 0.9998300548073247 Centerline is valid? [True, True] Translation: X:226.63, Y:-47.41, Z:-4.30 [[ 9.58266649e-01 2.85618265e-01 1.21340491e-02 2.26634545e+02] [-2.85598641e-01 9.58343438e-01 -3.35730027e-03 -4.74051297e+01] [-1.25874926e-02 -2.48279049e-04 9.99920744e-01 -4.29916520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.03862385300002 meters Centerline goodness [0,1] 0.998870345503762 Centerline is valid? [True, True] Translation: X:226.67, Y:-47.40, Z:-4.30 [[ 9.55748408e-01 2.93955572e-01 1.16233424e-02 2.26667381e+02] [-2.93938186e-01 9.55819023e-01 -3.21537907e-03 -4.74011104e+01] [-1.20549904e-02 -3.43450754e-04 9.99927277e-01 -4.30064866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.06862385300002 meters Centerline goodness [0,1] 0.996748104820829 Centerline is valid? [True, True] Translation: X:226.70, Y:-47.40, Z:-4.30 [[ 9.54512185e-01 2.97946139e-01 1.16012002e-02 2.26697640e+02] [-2.97929112e-01 9.54582602e-01 -3.20935541e-03 -4.74010133e+01] [-1.20305189e-02 -3.92966430e-04 9.99927553e-01 -4.30144281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.09862385300002 meters Centerline goodness [0,1] 0.9937144567494762 Centerline is valid? [True, True] Translation: X:226.73, Y:-47.40, Z:-4.30 [[ 9.52370469e-01 3.04726152e-01 1.15092361e-02 2.26728505e+02] [-3.04709893e-01 9.52439891e-01 -3.18350358e-03 -4.74043755e+01] [-1.19319524e-02 -4.75103305e-04 9.99928699e-01 -4.30099851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.12862385300002 meters Centerline goodness [0,1] 0.9793020868970236 Centerline is valid? [True, True] Translation: X:226.76, Y:-47.40, Z:-4.30 [[ 9.51422486e-01 3.07672394e-01 1.15304240e-02 2.26759216e+02] [-3.07656290e-01 9.51492215e-01 -3.18943680e-03 -4.74040119e+01] [-1.19524104e-02 -5.12905589e-04 9.99928436e-01 -4.30199984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.15862385300002 meters Centerline goodness [0,1] 0.937374213163191 Centerline is valid? [True, False] Translation: X:226.68, Y:-47.37, Z:-4.30 [[ 9.52141743e-01 3.05420709e-01 1.20121669e-02 2.26676444e+02] [-3.05363347e-01 9.52214435e-01 -6.39506784e-03 -4.73740409e+01] [-1.33913449e-02 2.42093554e-03 9.99907401e-01 -4.30172461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.18862385300002 meters Centerline goodness [0,1] 0.9711321120272103 Centerline is valid? [False, True] Translation: X:226.57, Y:-47.34, Z:-4.30 [[ 9.51782395e-01 3.06592946e-01 1.05374659e-02 2.26571425e+02] [-3.06416339e-01 9.51769932e-01 -1.55891949e-02 -4.73351002e+01] [-1.48087804e-02 1.16086695e-02 9.99822954e-01 -4.29926856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.21862385300003 meters Centerline goodness [0,1] 0.9646442976057668 Centerline is valid? [True, True] Translation: X:226.60, Y:-47.35, Z:-4.30 [[ 9.51599093e-01 3.07014358e-01 1.41898006e-02 2.26597154e+02] [-3.06991461e-01 9.51704609e-01 -3.81848565e-03 -4.73450569e+01] [-1.46768286e-02 -7.22480141e-04 9.99892029e-01 -4.29892675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.24862385300003 meters Centerline goodness [0,1] 0.9606148554229819 Centerline is valid? [True, True] Translation: X:226.63, Y:-47.35, Z:-4.30 [[ 9.51526800e-01 3.07211958e-01 1.47499566e-02 2.26626198e+02] [-3.07187254e-01 9.51640816e-01 -3.96840654e-03 -4.73494941e+01] [-1.52558027e-02 -7.54953492e-04 9.99883338e-01 -4.29879044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.27862385300003 meters Centerline goodness [0,1] 0.9619764565384288 Centerline is valid? [True, True] Translation: X:226.65, Y:-47.35, Z:-4.30 [[ 9.51668658e-01 3.06746155e-01 1.52827279e-02 2.26654114e+02] [-3.06719621e-01 9.51791044e-01 -4.10876680e-03 -4.73515789e+01] [-1.58063120e-02 -7.77327937e-04 9.99874770e-01 -4.29822740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.30862385300003 meters Centerline goodness [0,1] 0.95898626426775 Centerline is valid? [True, True] Translation: X:226.68, Y:-47.36, Z:-4.30 [[ 9.51990713e-01 3.05755978e-01 1.50653403e-02 2.26682601e+02] [-3.05730087e-01 9.52109614e-01 -4.04922205e-03 -4.73564281e+01] [-1.55819292e-02 -7.51106032e-04 9.99878312e-01 -4.29942905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.33862385300003 meters Centerline goodness [0,1] 0.9757263935441174 Centerline is valid? [True, True] Translation: X:226.71, Y:-47.36, Z:-4.30 [[ 9.52884262e-01 3.03009636e-01 1.40265538e-02 2.26712705e+02] [-3.02986936e-01 9.52987264e-01 -3.76719718e-03 -4.73617670e+01] [-1.45086242e-02 -6.60159658e-04 9.99894526e-01 -4.29693950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.36862385300003 meters Centerline goodness [0,1] 0.979673384294649 Centerline is valid? [True, True] Translation: X:226.74, Y:-47.37, Z:-4.30 [[ 9.53607808e-01 3.00718033e-01 1.41708325e-02 2.26740605e+02] [-3.00694613e-01 9.53712884e-01 -3.80581979e-03 -4.73686116e+01] [-1.46593842e-02 -6.31833524e-04 9.99892346e-01 -4.30317336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.398623853 meters Centerline goodness [0,1] 0.9873763440860215 Centerline is valid? [True, True] Translation: X:226.77, Y:-47.38, Z:-4.30 [[ 9.54390744e-01 2.98226086e-01 1.41247813e-02 2.26769462e+02] [-2.98202551e-01 9.54495077e-01 -3.79306296e-03 -4.73766084e+01] [-1.46132245e-02 -5.91981636e-04 9.99893046e-01 -4.30397633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.428623853 meters Centerline goodness [0,1] 0.9966465459423206 Centerline is valid? [True, True] Translation: X:226.80, Y:-47.39, Z:-4.30 [[ 9.56209743e-01 2.92328441e-01 1.43878173e-02 2.26797772e+02] [-2.92303357e-01 9.56317845e-01 -3.86350033e-03 -4.73867779e+01] [-1.48887374e-02 -5.11290620e-04 9.99889026e-01 -4.30423827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.458623853 meters Centerline goodness [0,1] 0.9973879066554412 Centerline is valid? [True, True] Translation: X:226.83, Y:-47.39, Z:-4.30 [[ 9.57191792e-01 2.89089164e-01 1.45371475e-02 2.26825527e+02] [-2.89063183e-01 9.57302062e-01 -3.90356471e-03 -4.73944526e+01] [-1.50449196e-02 -4.65694021e-04 9.99886710e-01 -4.30426101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.488623853 meters Centerline goodness [0,1] 0.9990326117333448 Centerline is valid? [True, True] Translation: X:226.85, Y:-47.40, Z:-4.30 [[ 9.58236431e-01 2.85603047e-01 1.46233232e-02 2.26853092e+02] [-2.85576356e-01 9.58347916e-01 -3.92634847e-03 -4.74040058e+01] [-1.51356084e-02 -4.13705222e-04 9.99885365e-01 -4.30478230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.518623853 meters Centerline goodness [0,1] 0.9992408138475555 Centerline is valid? [True, True] Translation: X:226.88, Y:-47.41, Z:-4.30 [[ 9.59344343e-01 2.81847874e-01 1.48393543e-02 2.26880872e+02] [-2.81819946e-01 9.59459038e-01 -3.98399227e-03 -4.74145948e+01] [-1.53606324e-02 -3.60005579e-04 9.99881954e-01 -4.30485684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.548623853 meters Centerline goodness [0,1] 0.9998276716282877 Centerline is valid? [True, True] Translation: X:226.91, Y:-47.43, Z:-4.30 [[ 9.61481543e-01 2.74435738e-01 1.54359168e-02 2.26907121e+02] [-2.74404568e-01 9.61605409e-01 -4.14375537e-03 -4.74287171e+01] [-1.59804557e-02 -2.51541778e-04 9.99872273e-01 -4.30452442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.578623853 meters Centerline goodness [0,1] 0.9998281454748555 Centerline is valid? [True, True] Translation: X:226.93, Y:-47.44, Z:-4.30 [[ 9.62601470e-01 2.70483660e-01 1.53947760e-02 2.26932721e+02] [-2.70452152e-01 9.62724548e-01 -4.13258636e-03 -4.74395778e+01] [-1.59387258e-02 -1.85516599e-04 9.99872953e-01 -4.30465061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.608623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:226.96, Y:-47.45, Z:-4.31 [[ 9.64656668e-01 2.63096706e-01 1.47525099e-02 2.26959014e+02] [-2.63066924e-01 9.64769464e-01 -3.95900818e-03 -4.74547535e+01] [-1.52743730e-02 -6.18137502e-05 9.99883338e-01 -4.30669508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.638623853 meters Centerline goodness [0,1] 0.999848225320353 Centerline is valid? [True, True] Translation: X:226.99, Y:-47.47, Z:-4.31 [[ 9.65535449e-01 2.59876502e-01 1.43353224e-02 2.26986065e+02] [-2.59848044e-01 9.65641861e-01 -3.84579104e-03 -4.74658188e+01] [-1.48422181e-02 -1.17579116e-05 9.99889848e-01 -4.30703448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.668623853 meters Centerline goodness [0,1] 0.9998500460572824 Centerline is valid? [True, True] Translation: X:227.01, Y:-47.48, Z:-4.31 [[ 9.66295763e-01 2.57043355e-01 1.41849319e-02 2.27011938e+02] [-2.57015192e-01 9.66399872e-01 -3.80507054e-03 -4.74752309e+01] [-1.46863845e-02 3.10805526e-05 9.99892149e-01 -4.30933589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.69862385300002 meters Centerline goodness [0,1] 0.9996784083356559 Centerline is valid? [True, True] Translation: X:227.04, Y:-47.49, Z:-4.31 [[ 9.67623690e-01 2.52012209e-01 1.39370509e-02 2.27038510e+02] [-2.51984532e-01 9.67724049e-01 -3.73628069e-03 -4.74868881e+01] [-1.44288077e-02 1.03392464e-04 9.99895894e-01 -4.30991839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.72862385300002 meters Centerline goodness [0,1] 0.9997184928540493 Centerline is valid? [True, True] Translation: X:227.07, Y:-47.50, Z:-4.31 [[ 9.68238725e-01 2.49635952e-01 1.39879832e-02 2.27065581e+02] [-2.49607832e-01 9.68339750e-01 -3.74944839e-03 -4.74954644e+01] [-1.44811172e-02 1.38850983e-04 9.99895133e-01 -4.30951767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.75862385300002 meters Centerline goodness [0,1] 0.99965656392204 Centerline is valid? [True, True] Translation: X:227.09, Y:-47.50, Z:-4.31 [[ 9.68772213e-01 2.47543087e-01 1.42414349e-02 2.27093214e+02] [-2.47513734e-01 9.68876871e-01 -3.81587637e-03 -4.75045389e+01] [-1.47427907e-02 1.71764252e-04 9.99891304e-01 -4.30992951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.78862385300002 meters Centerline goodness [0,1] 0.9995026811970248 Centerline is valid? [True, True] Translation: X:227.12, Y:-47.51, Z:-4.31 [[ 9.69655715e-01 2.44076474e-01 1.39452181e-02 2.27119073e+02] [-2.44047978e-01 9.69755963e-01 -3.73594040e-03 -4.75141868e+01] [-1.44353136e-02 2.19273675e-04 9.99895781e-01 -4.31053901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.81862385300002 meters Centerline goodness [0,1] 0.9994802269675575 Centerline is valid? [True, True] Translation: X:227.15, Y:-47.52, Z:-4.31 [[ 9.69998110e-01 2.42695508e-01 1.42322512e-02 2.27146409e+02] [-2.42665697e-01 9.70102485e-01 -3.81166884e-03 -4.75228056e+01] [-1.47318172e-02 2.43632411e-04 9.99891451e-01 -4.31090764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.84862385300002 meters Centerline goodness [0,1] 0.9993538521182881 Centerline is valid? [True, True] Translation: X:227.17, Y:-47.53, Z:-4.31 [[ 9.70279775e-01 2.41572083e-01 1.41451830e-02 2.27172108e+02] [-2.41542524e-01 9.70382843e-01 -3.78772045e-03 -4.75336476e+01] [-1.46412504e-02 2.58485339e-04 9.99892778e-01 -4.31213303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.87862385300002 meters Centerline goodness [0,1] 0.9994407158836689 Centerline is valid? [True, True] Translation: X:227.20, Y:-47.54, Z:-4.31 [[ 9.70420230e-01 2.40999284e-01 1.42801365e-02 2.27200566e+02] [-2.40969111e-01 9.70525256e-01 -3.82294055e-03 -4.75386804e+01] [-1.47805590e-02 2.68787062e-04 9.99890725e-01 -4.31164308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.90862385300002 meters Centerline goodness [0,1] 0.9992020186770764 Centerline is valid? [True, True] Translation: X:227.23, Y:-47.55, Z:-4.31 [[ 9.70497070e-01 2.40691497e-01 1.42492447e-02 2.27226626e+02] [-2.40661430e-01 9.70601633e-01 -3.81403319e-03 -4.75486291e+01] [-1.47483456e-02 2.72264415e-04 9.99891200e-01 -4.31312207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.93862385300002 meters Centerline goodness [0,1] 0.9993728238067432 Centerline is valid? [True, True] Translation: X:227.26, Y:-47.55, Z:-4.31 [[ 9.70443478e-01 2.40907461e-01 1.42496051e-02 2.27255154e+02] [-2.40877430e-01 9.70548053e-01 -3.81323133e-03 -4.75526607e+01] [-1.47485623e-02 2.68117230e-04 9.99891198e-01 -4.31347943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.96862385300003 meters Centerline goodness [0,1] 0.9993148485172894 Centerline is valid? [True, True] Translation: X:227.28, Y:-47.56, Z:-4.31 [[ 9.69986595e-01 2.42776674e-01 1.36195451e-02 2.27282554e+02] [-2.42749430e-01 9.70082179e-01 -3.64419588e-03 -4.75566030e+01] [-1.40968037e-02 2.28684355e-04 9.99900609e-01 -4.31493580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.99862385300003 meters Centerline goodness [0,1] 0.9993957964697251 Centerline is valid? [True, True] Translation: X:227.31, Y:-47.56, Z:-4.32 [[ 9.69670005e-01 2.44052562e-01 1.33576838e-02 2.27311505e+02] [-2.44026492e-01 9.69761984e-01 -3.57301131e-03 -4.75615550e+01] [-1.38257765e-02 2.05013166e-04 9.99904398e-01 -4.31602601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.02862385300003 meters Centerline goodness [0,1] 0.9993957964697251 Centerline is valid? [True, True] Translation: X:227.34, Y:-47.57, Z:-4.32 [[ 9.69685936e-01 2.43989242e-01 1.33579994e-02 2.27338102e+02] [-2.43963182e-01 9.69777917e-01 -3.57183119e-03 -4.75685248e+01] [-1.38257812e-02 2.04694433e-04 9.99904398e-01 -4.31654189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.05862385300003 meters Centerline goodness [0,1] 0.9996129947754294 Centerline is valid? [True, True] Translation: X:227.37, Y:-47.57, Z:-4.32 [[ 9.68931133e-01 2.46993673e-01 1.29068120e-02 2.27367507e+02] [-2.46969616e-01 9.69017080e-01 -3.45075097e-03 -4.75706616e+01] [-1.33592350e-02 1.55949639e-04 9.99910749e-01 -4.31844826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.08862385300003 meters Centerline goodness [0,1] 0.9995500996207982 Centerline is valid? [True, True] Translation: X:227.40, Y:-47.58, Z:-4.32 [[ 9.68520018e-01 2.48608542e-01 1.27579964e-02 2.27396013e+02] [-2.48585209e-01 9.68604035e-01 -3.40850426e-03 -4.75751503e+01] [-1.32048300e-02 1.29755417e-04 9.99912804e-01 -4.31880391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.11862385300003 meters Centerline goodness [0,1] 0.9997434581836839 Centerline is valid? [True, True] Translation: X:227.43, Y:-47.58, Z:-4.32 [[ 9.68104077e-01 2.50212075e-01 1.29774467e-02 2.27425076e+02] [-2.50188076e-01 9.68191048e-01 -3.46711442e-03 -4.75794648e+01] [-1.34321616e-02 1.09725190e-04 9.99909778e-01 -4.31884286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.148623853 meters Centerline goodness [0,1] 0.9995733788395904 Centerline is valid? [True, True] Translation: X:227.45, Y:-47.58, Z:-4.32 [[ 9.67635388e-01 2.51997744e-01 1.33750931e-02 2.27454283e+02] [-2.51972461e-01 9.67727818e-01 -3.57055079e-03 -4.75819069e+01] [-1.38432204e-02 8.48361621e-05 9.99904174e-01 -4.31741033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.178623853 meters Centerline goodness [0,1] 0.9998271466228772 Centerline is valid? [True, True] Translation: X:227.48, Y:-47.59, Z:-4.32 [[ 9.67238268e-01 2.53495353e-01 1.37927031e-02 2.27481855e+02] [-2.53468629e-01 9.67336602e-01 -3.68135942e-03 -4.75877902e+01] [-1.42753941e-02 6.47341629e-05 9.99898099e-01 -4.31846848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.208623853 meters Centerline goodness [0,1] 0.9998716467719163 Centerline is valid? [True, True] Translation: X:227.51, Y:-47.59, Z:-4.32 [[ 9.66417226e-01 2.56594412e-01 1.40375838e-02 2.27511137e+02] [-2.56567064e-01 9.66519171e-01 -3.74623213e-03 -4.75892372e+01] [-1.45288561e-02 1.88416078e-05 9.99894450e-01 -4.31761213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.238623853 meters Centerline goodness [0,1] 0.9999571771154505 Centerline is valid? [True, True] Translation: X:227.54, Y:-47.59, Z:-4.32 [[ 9.66112104e-01 2.57739364e-01 1.40649673e-02 2.27537650e+02] [-2.57712069e-01 9.66214479e-01 -3.75092021e-03 -4.75938103e+01] [-1.45565348e-02 -9.02404652e-07 9.99894048e-01 -4.32001734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.268623853 meters Centerline goodness [0,1] 0.9998496079063273 Centerline is valid? [True, True] Translation: X:227.57, Y:-47.60, Z:-4.32 [[ 9.65374020e-01 2.60507550e-01 1.37411053e-02 2.27567014e+02] [-2.60481790e-01 9.65471809e-01 -3.66368768e-03 -4.75952700e+01] [-1.42210681e-02 -4.24788055e-05 9.99898875e-01 -4.32188088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.298623853 meters Centerline goodness [0,1] 0.9997841198566556 Centerline is valid? [True, True] Translation: X:227.60, Y:-47.60, Z:-4.32 [[ 9.65035916e-01 2.61775829e-01 1.33827126e-02 2.27595712e+02] [-2.61751545e-01 9.65128702e-01 -3.56607209e-03 -4.75994260e+01] [-1.38495515e-02 -6.15580469e-05 9.99904088e-01 -4.31898862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.328623853 meters Centerline goodness [0,1] 0.9998286937901499 Centerline is valid? [True, True] Translation: X:227.62, Y:-47.60, Z:-4.32 [[ 9.64668324e-01 2.63120678e-01 1.35105082e-02 2.27623532e+02] [-2.63096098e-01 9.64762925e-01 -3.59746906e-03 -4.76032296e+01] [-1.39810059e-02 -8.41975269e-05 9.99902257e-01 -4.32361733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.358623853 meters Centerline goodness [0,1] 0.9996360054813292 Centerline is valid? [True, True] Translation: X:227.65, Y:-47.61, Z:-4.32 [[ 9.63989848e-01 2.65625626e-01 1.29073649e-02 2.27652367e+02] [-2.65603416e-01 9.64076249e-01 -3.43682335e-03 -4.76068931e+01] [-1.33565923e-02 -1.15177388e-04 9.99910790e-01 -4.32355718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.388623853 meters Centerline goodness [0,1] 0.9996784565916399 Centerline is valid? [True, True] Translation: X:227.68, Y:-47.61, Z:-4.32 [[ 9.63801043e-01 2.66317028e-01 1.27589410e-02 2.27680986e+02] [-2.66295417e-01 9.63885483e-01 -3.39505201e-03 -4.76122129e+01] [-1.32023181e-02 -1.25492837e-04 9.99912838e-01 -4.32452170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.418623853 meters Centerline goodness [0,1] 0.9993965647292085 Centerline is valid? [True, True] Translation: X:227.71, Y:-47.62, Z:-4.33 [[ 9.63547049e-01 2.67239005e-01 1.26648911e-02 2.27709437e+02] [-2.67217819e-01 9.63630269e-01 -3.36778769e-03 -4.76173307e+01] [-1.31042766e-02 -1.39262686e-04 9.99914126e-01 -4.32516612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.44862385300002 meters Centerline goodness [0,1] 0.9996788558705146 Centerline is valid? [True, True] Translation: X:227.74, Y:-47.62, Z:-4.33 [[ 9.63483995e-01 2.67450084e-01 1.30016704e-02 2.27736170e+02] [-2.67427815e-01 9.63571705e-01 -3.45448490e-03 -4.76230946e+01] [-1.34519440e-02 -1.48667396e-04 9.99909507e-01 -4.32560042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.47862385300002 meters Centerline goodness [0,1] 0.9996336522713559 Centerline is valid? [True, True] Translation: X:227.76, Y:-47.63, Z:-4.33 [[ 9.63537366e-01 2.67238059e-01 1.34001847e-02 2.27763113e+02] [-2.67214392e-01 9.63630529e-01 -3.55967739e-03 -4.76296098e+01] [-1.38641083e-02 -1.50840034e-04 9.99903877e-01 -4.32546094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.50862385300002 meters Centerline goodness [0,1] 0.9994452978323946 Centerline is valid? [True, True] Translation: X:227.79, Y:-47.64, Z:-4.32 [[ 9.63832542e-01 2.66140745e-01 1.39976729e-02 2.27789949e+02] [-2.66114855e-01 9.63934169e-01 -3.71495064e-03 -4.76366624e+01] [-1.44815349e-02 -1.44398363e-04 9.99895127e-01 -4.32480646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.53862385300002 meters Centerline goodness [0,1] 0.9993279278498027 Centerline is valid? [True, True] Translation: X:227.82, Y:-47.65, Z:-4.32 [[ 9.64072066e-01 2.65264463e-01 1.41356018e-02 2.27817097e+02] [-2.65237979e-01 9.64175683e-01 -3.75067445e-03 -4.76450581e+01] [-1.46241242e-02 -1.33378003e-04 9.99893053e-01 -4.32466040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.56862385300002 meters Centerline goodness [0,1] 0.9994463490981879 Centerline is valid? [True, True] Translation: X:227.84, Y:-47.65, Z:-4.33 [[ 9.64520780e-01 2.63636748e-01 1.39760480e-02 2.27843472e+02] [-2.63610738e-01 9.64622026e-01 -3.70487279e-03 -4.76529862e+01] [-1.44583443e-02 -1.10809522e-04 9.99895467e-01 -4.32615401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.59862385300002 meters Centerline goodness [0,1] 0.9994185044796692 Centerline is valid? [True, True] Translation: X:227.87, Y:-47.66, Z:-4.33 [[ 9.64815925e-01 2.62556534e-01 1.39390795e-02 2.27870346e+02] [-2.62530553e-01 9.64916607e-01 -3.69476504e-03 -4.76619407e+01] [-1.44201340e-02 -9.46661023e-05 9.99896020e-01 -4.32666807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.62862385300002 meters Centerline goodness [0,1] 0.9996764242724939 Centerline is valid? [True, True] Translation: X:227.90, Y:-47.67, Z:-4.33 [[ 9.65063044e-01 2.61644676e-01 1.39780411e-02 2.27896929e+02] [-2.61618504e-01 9.65164264e-01 -3.70161729e-03 -4.76700395e+01] [-1.44596142e-02 -8.46201368e-05 9.99895451e-01 -4.32767068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.65862385300002 meters Centerline goodness [0,1] 0.99963535745694 Centerline is valid? [True, True] Translation: X:227.92, Y:-47.68, Z:-4.33 [[ 9.65373819e-01 2.60524336e-01 1.34335693e-02 2.27924099e+02] [-2.60500057e-01 9.65467279e-01 -3.55727823e-03 -4.76782235e+01] [-1.38964291e-02 -6.53422907e-05 9.99903438e-01 -4.32878275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.68862385300002 meters Centerline goodness [0,1] 0.9998063766619336 Centerline is valid? [True, True] Translation: X:227.95, Y:-47.69, Z:-4.33 [[ 9.65879823e-01 2.58651149e-01 1.32571176e-02 2.27950777e+02] [-2.58627371e-01 9.65970797e-01 -3.50736712e-03 -4.76879632e+01] [-1.37131730e-02 -4.09583427e-05 9.99905969e-01 -4.32987199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.71862385300003 meters Centerline goodness [0,1] 0.999869828390428 Centerline is valid? [True, True] Translation: X:227.98, Y:-47.70, Z:-4.33 [[ 9.66142846e-01 2.57672947e-01 1.31398056e-02 2.27977646e+02] [-2.57649515e-01 9.66232193e-01 -3.47500573e-03 -4.76965190e+01] [-1.35915181e-02 -2.81126124e-05 9.99907631e-01 -4.32949684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.74862385300003 meters Centerline goodness [0,1] 0.9998487467588592 Centerline is valid? [True, True] Translation: X:228.00, Y:-47.71, Z:-4.32 [[ 9.66556108e-01 2.56146039e-01 1.25895126e-02 2.28003668e+02] [-2.56124412e-01 9.66638095e-01 -3.32853830e-03 -4.77050747e+01] [-1.30220944e-02 -7.26249374e-06 9.99915209e-01 -4.32474309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.77862385300003 meters Centerline goodness [0,1] 0.9998697803628788 Centerline is valid? [True, True] Translation: X:228.03, Y:-47.71, Z:-4.33 [[ 9.66770143e-01 2.55297066e-01 1.33752804e-02 2.28031045e+02] [-2.55272590e-01 9.66862663e-01 -3.53502398e-03 -4.77137429e+01] [-1.38345405e-02 3.21316725e-06 9.99904298e-01 -4.33060026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.80862385300003 meters Centerline goodness [0,1] 0.9998925147254826 Centerline is valid? [True, True] Translation: X:228.06, Y:-47.72, Z:-4.33 [[ 9.66986942e-01 2.54464830e-01 1.35611549e-02 2.28056799e+02] [-2.54439596e-01 9.67082028e-01 -3.58359932e-03 -4.77230960e+01] [-1.40266492e-02 1.47989650e-05 9.99901622e-01 -4.33070400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.83862385300003 meters Centerline goodness [0,1] 0.9998922738828802 Centerline is valid? [True, True] Translation: X:228.08, Y:-47.73, Z:-4.33 [[ 9.67031454e-01 2.54299813e-01 1.34823048e-02 2.28082451e+02] [-2.54274868e-01 9.67125434e-01 -3.56177493e-03 -4.77301821e+01] [-1.39448386e-02 1.61371001e-05 9.99902766e-01 -4.32778862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.86862385300003 meters Centerline goodness [0,1] 0.9999783802481947 Centerline is valid? [True, True] Translation: X:228.11, Y:-47.74, Z:-4.33 [[ 9.67066350e-01 2.54148475e-01 1.38284835e-02 2.28109394e+02] [-2.54122250e-01 9.67165215e-01 -3.65099083e-03 -4.77371291e+01] [-1.43023219e-02 1.66250460e-05 9.99897716e-01 -4.33178565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.898623853 meters Centerline goodness [0,1] 0.9998932855252487 Centerline is valid? [True, True] Translation: X:228.14, Y:-47.74, Z:-4.33 [[ 9.67015773e-01 2.54335823e-01 1.39205994e-02 2.28135550e+02] [-2.54309281e-01 9.67115965e-01 -3.67430582e-03 -4.77432914e+01] [-1.43973415e-02 1.29740655e-05 9.99896353e-01 -4.33251158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.928623853 meters Centerline goodness [0,1] 0.9995909315994574 Centerline is valid? [True, True] Translation: X:228.16, Y:-47.75, Z:-4.33 [[ 9.66702522e-01 2.55531233e-01 1.37848732e-02 2.28163352e+02] [-2.55505346e-01 9.66800801e-01 -3.63724052e-03 -4.77489566e+01] [-1.42566550e-02 -5.97919964e-06 9.99898369e-01 -4.33265748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.958623853 meters Centerline goodness [0,1] 0.9997840219433706 Centerline is valid? [True, True] Translation: X:228.19, Y:-47.76, Z:-4.33 [[ 9.66453445e-01 2.56495083e-01 1.33420474e-02 2.28191717e+02] [-2.56470939e-01 9.66545535e-01 -3.51930257e-03 -4.77551359e+01] [-1.37983801e-02 -2.06053208e-05 9.99904798e-01 -4.33360753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.988623853 meters Centerline goodness [0,1] 0.99940081318211 Centerline is valid? [True, True] Translation: X:228.22, Y:-47.76, Z:-4.34 [[ 9.65732819e-01 2.59221444e-01 1.28204958e-02 2.28219592e+02] [-2.59199395e-01 9.65817912e-01 -3.38134166e-03 -4.77573015e+01] [-1.32587808e-02 -5.75921514e-05 9.99912097e-01 -4.33530176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.018623853 meters Centerline goodness [0,1] 0.9994801931948626 Centerline is valid? [True, True] Translation: X:228.25, Y:-47.76, Z:-4.34 [[ 9.65395973e-01 2.60476064e-01 1.27606698e-02 2.28248272e+02] [-2.60454341e-01 9.65480303e-01 -3.36480168e-03 -4.77626013e+01] [-1.31966257e-02 -7.52058492e-05 9.99912918e-01 -4.33568139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.048623853 meters Centerline goodness [0,1] 0.9992869027810791 Centerline is valid? [True, True] Translation: X:228.28, Y:-47.77, Z:-4.34 [[ 9.64958809e-01 2.62089947e-01 1.27811300e-02 2.28275991e+02] [-2.62068335e-01 9.65043445e-01 -3.36722871e-03 -4.77662773e+01] [-1.32168625e-02 -1.00292440e-04 9.99912648e-01 -4.33630120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.078623853 meters Centerline goodness [0,1] 0.9990958408679927 Centerline is valid? [True, True] Translation: X:228.30, Y:-47.77, Z:-4.34 [[ 9.64110194e-01 2.65156412e-01 1.35503400e-02 2.28304723e+02] [-2.65132436e-01 9.64205401e-01 -3.56892406e-03 -4.77659845e+01] [-1.40116341e-02 -1.51798582e-04 9.99901821e-01 -4.33577231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.108623853 meters Centerline goodness [0,1] 0.9992689429775522 Centerline is valid? [True, True] Translation: X:228.33, Y:-47.77, Z:-4.33 [[ 9.63727284e-01 2.66523969e-01 1.39533739e-02 2.28332279e+02] [-2.66498701e-01 9.63828274e-01 -3.67416711e-03 -4.77728581e+01] [-1.44279099e-02 -1.77660927e-04 9.99895897e-01 -4.33466006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.138623853 meters Centerline goodness [0,1] 0.9991428816319534 Centerline is valid? [True, True] Translation: X:228.36, Y:-47.78, Z:-4.33 [[ 9.63432956e-01 2.67567338e-01 1.43059060e-02 2.28360246e+02] [-2.67540905e-01 9.63539143e-01 -3.76617218e-03 -4.77769421e+01] [-1.47920051e-02 -1.98960644e-04 9.99890573e-01 -4.33475322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.168623853 meters Centerline goodness [0,1] 0.9992206105217579 Centerline is valid? [True, True] Translation: X:228.39, Y:-47.78, Z:-4.33 [[ 9.63141259e-01 2.68587931e-01 1.48134738e-02 2.28388099e+02] [-2.68559727e-01 9.63255145e-01 -3.89860996e-03 -4.77831061e+01] [-1.53162745e-02 -2.23390396e-04 9.99882674e-01 -4.33409010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.19862385300002 meters Centerline goodness [0,1] 0.9986763167445932 Centerline is valid? [True, True] Translation: X:228.42, Y:-47.78, Z:-4.33 [[ 9.62561774e-01 2.70614370e-01 1.55786509e-02 2.28416996e+02] [-2.70583495e-01 9.62687794e-01 -4.09678085e-03 -4.77837836e+01] [-1.61060248e-02 -2.71921162e-04 9.99870253e-01 -4.33401793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.22862385300002 meters Centerline goodness [0,1] 0.9988178652796286 Centerline is valid? [True, True] Translation: X:228.45, Y:-47.79, Z:-4.33 [[ 9.62413622e-01 2.71132357e-01 1.57246620e-02 2.28445129e+02] [-2.71100991e-01 9.62542032e-01 -4.13383510e-03 -4.77904954e+01] [-1.62564646e-02 -2.84512237e-04 9.99867814e-01 -4.33427708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.25862385300002 meters Centerline goodness [0,1] 0.9988153445193529 Centerline is valid? [True, True] Translation: X:228.47, Y:-47.79, Z:-4.33 [[ 9.62118018e-01 2.72172224e-01 1.58493076e-02 2.28473988e+02] [-2.72140546e-01 9.62248505e-01 -4.16380186e-03 -4.77949662e+01] [-1.63842437e-02 -3.07170431e-04 9.99865722e-01 -4.33440575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.28862385300002 meters Centerline goodness [0,1] 0.9982996450509044 Centerline is valid? [True, True] Translation: X:228.50, Y:-47.79, Z:-4.34 [[ 9.61981034e-01 2.72675039e-01 1.55181947e-02 2.28504260e+02] [-2.72644784e-01 9.62106141e-01 -4.07379068e-03 -4.77907228e+01] [-1.60409715e-02 -3.12045481e-04 9.99871287e-01 -4.33718834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.31862385300002 meters Centerline goodness [0,1] 0.9989512210783159 Centerline is valid? [True, True] Translation: X:228.53, Y:-47.80, Z:-4.34 [[ 9.61907875e-01 2.72954274e-01 1.51394925e-02 2.28530135e+02] [-2.72925523e-01 9.62026958e-01 -3.97376729e-03 -4.78038787e+01] [-1.56492567e-02 -3.09555844e-04 9.99877495e-01 -4.33710389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.34862385300002 meters Centerline goodness [0,1] 0.9988777139897268 Centerline is valid? [True, True] Translation: X:228.56, Y:-47.81, Z:-4.34 [[ 9.61806830e-01 2.73348073e-01 1.44378803e-02 2.28559190e+02] [-2.73322004e-01 9.61915141e-01 -3.78724258e-03 -4.78068276e+01] [-1.49232511e-02 -3.03594594e-04 9.99888596e-01 -4.33900507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.37862385300002 meters Centerline goodness [0,1] 0.9987159732922445 Centerline is valid? [True, True] Translation: X:228.59, Y:-47.81, Z:-4.34 [[ 9.61699738e-01 2.73711864e-01 1.46774846e-02 2.28587399e+02] [-2.73685004e-01 9.61811684e-01 -3.84750419e-03 -4.78123132e+01] [-1.51700837e-02 -3.16863657e-04 9.99884877e-01 -4.33950738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.40862385300002 meters Centerline goodness [0,1] 0.9982729570345409 Centerline is valid? [True, True] Translation: X:228.62, Y:-47.81, Z:-4.34 [[ 9.61531673e-01 2.74275952e-01 1.51507464e-02 2.28615825e+02] [-2.74247450e-01 9.61650970e-01 -3.96845778e-03 -4.78125733e+01] [-1.56581825e-02 -3.39255730e-04 9.99877346e-01 -4.33952071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.43862385300002 meters Centerline goodness [0,1] 0.998349552021263 Centerline is valid? [True, True] Translation: X:228.64, Y:-47.82, Z:-4.34 [[ 9.61568092e-01 2.74146795e-01 1.51769340e-02 2.28643308e+02] [-2.74118188e-01 9.61687798e-01 -3.97475707e-03 -4.78170230e+01] [-1.56851391e-02 -3.38274080e-04 9.99876923e-01 -4.34064929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.46862385300003 meters Centerline goodness [0,1] 0.9984649496844619 Centerline is valid? [True, True] Translation: X:228.67, Y:-47.82, Z:-4.34 [[ 9.61672985e-01 2.73809900e-01 1.46016504e-02 2.28670943e+02] [-2.73783422e-01 9.61783778e-01 -3.82141034e-03 -4.78221740e+01] [-1.50899704e-02 -3.22742713e-04 9.99886088e-01 -4.34229009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.49862385300003 meters Centerline goodness [0,1] 0.9985136426372226 Centerline is valid? [True, True] Translation: X:228.70, Y:-47.83, Z:-4.34 [[ 9.61791036e-01 2.73411381e-01 1.42905353e-02 2.28698243e+02] [-2.73386023e-01 9.61897146e-01 -3.73678990e-03 -4.78270157e+01] [-1.47677060e-02 -3.12821575e-04 9.99890903e-01 -4.34372505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.52862385300003 meters Centerline goodness [0,1] 0.9992079970888542 Centerline is valid? [True, True] Translation: X:228.73, Y:-47.84, Z:-4.35 [[ 9.62441119e-01 2.71129914e-01 1.39879414e-02 2.28725523e+02] [-2.71105383e-01 9.62542724e-01 -3.65732377e-03 -4.78354249e+01] [-1.44556011e-02 -2.72247438e-04 9.99895475e-01 -4.34520563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.55862385300003 meters Centerline goodness [0,1] 0.9992683136782302 Centerline is valid? [True, True] Translation: X:228.75, Y:-47.84, Z:-4.35 [[ 9.62965995e-01 2.69271203e-01 1.37663110e-02 2.28753246e+02] [-2.69247286e-01 9.63064359e-01 -3.59705576e-03 -4.78437962e+01] [-1.42264270e-02 -2.42699490e-04 9.99898770e-01 -4.34550659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.58862385300003 meters Centerline goodness [0,1] 0.999444064317482 Centerline is valid? [True, True] Translation: X:228.78, Y:-47.85, Z:-4.35 [[ 9.64166663e-01 2.64950354e-01 1.35630553e-02 2.28780701e+02] [-2.64926743e-01 9.64262038e-01 -3.54153599e-03 -4.78542057e+01] [-1.40166705e-02 -1.78585131e-04 9.99901746e-01 -4.34634941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.61862385300003 meters Centerline goodness [0,1] 0.9996768425361398 Centerline is valid? [True, True] Translation: X:228.81, Y:-47.86, Z:-4.35 [[ 9.64886948e-01 2.62304616e-01 1.37646747e-02 2.28806929e+02] [-2.62280067e-01 9.64985113e-01 -3.59148201e-03 -4.78627421e+01] [-1.42247685e-02 -1.44825690e-04 9.99898812e-01 -4.34781361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.64862385300003 meters Centerline goodness [0,1] 0.9997022606920313 Centerline is valid? [True, True] Translation: X:228.83, Y:-47.87, Z:-4.35 [[ 9.65618438e-01 2.59606663e-01 1.36165983e-02 2.28834392e+02] [-2.59582384e-01 9.65714435e-01 -3.55194230e-03 -4.78732663e+01] [-1.40718534e-02 -1.04808078e-04 9.99900981e-01 -4.34790839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.678623853 meters Centerline goodness [0,1] 0.999850663480821 Centerline is valid? [True, True] Translation: X:228.86, Y:-47.88, Z:-4.35 [[ 9.66398553e-01 2.56677956e-01 1.37936024e-02 2.28860717e+02] [-2.56652786e-01 9.66496985e-01 -3.59511041e-03 -4.78830138e+01] [-1.42542608e-02 -6.58569968e-05 9.99898401e-01 -4.34804426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.708623853 meters Centerline goodness [0,1] 0.9998714625420425 Centerline is valid? [True, True] Translation: X:228.89, Y:-47.90, Z:-4.35 [[ 9.68025938e-01 2.50435511e-01 1.44165813e-02 2.28885433e+02] [-2.50407337e-01 9.68133283e-01 -3.75651802e-03 -4.78978151e+01] [-1.48979377e-02 2.63891611e-05 9.99889019e-01 -4.34825307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.738623853 meters Centerline goodness [0,1] 0.9998510796723753 Centerline is valid? [True, True] Translation: X:228.91, Y:-47.91, Z:-4.35 [[ 9.68827703e-01 2.47287376e-01 1.48941213e-02 2.28912627e+02] [-2.47256942e-01 9.68942180e-01 -3.88034930e-03 -4.79088036e+01] [-1.53911038e-02 7.67150117e-05 9.99881547e-01 -4.34770039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.768623853 meters Centerline goodness [0,1] 0.9998713881505616 Centerline is valid? [True, True] Translation: X:228.94, Y:-47.92, Z:-4.35 [[ 9.70210509e-01 2.41733042e-01 1.60219807e-02 2.28939414e+02] [-2.41697115e-01 9.70342778e-01 -4.17114659e-03 -4.79220092e+01] [-1.65551172e-02 1.74423749e-04 9.99862939e-01 -4.34583424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.798623853 meters Centerline goodness [0,1] 0.9997631301276944 Centerline is valid? [True, True] Translation: X:228.97, Y:-47.93, Z:-4.35 [[ 9.70878727e-01 2.39023886e-01 1.61888827e-02 2.28966144e+02] [-2.38986878e-01 9.71013663e-01 -4.21172734e-03 -4.79321815e+01] [-1.67263297e-02 2.20145937e-04 9.99860081e-01 -4.34650175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.828623853 meters Centerline goodness [0,1] 0.9997207843811079 Centerline is valid? [True, True] Translation: X:228.99, Y:-47.94, Z:-4.35 [[ 9.71506333e-01 2.36468396e-01 1.60668308e-02 2.28991834e+02] [-2.36431644e-01 9.71639146e-01 -4.17698178e-03 -4.79430927e+01] [-1.65988859e-02 2.59257030e-04 9.99862195e-01 -4.34758247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.858623853 meters Centerline goodness [0,1] 0.999455112137922 Centerline is valid? [True, True] Translation: X:229.02, Y:-47.96, Z:-4.35 [[ 9.72559525e-01 2.32106169e-01 1.59592242e-02 2.29017609e+02] [-2.32069347e-01 9.72690402e-01 -4.14739285e-03 -4.79584457e+01] [-1.64860197e-02 3.29939665e-04 9.99864042e-01 -4.34900018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.888623853 meters Centerline goodness [0,1] 0.9994198414233224 Centerline is valid? [True, True] Translation: X:229.04, Y:-47.97, Z:-4.35 [[ 9.72950341e-01 2.30496222e-01 1.54637241e-02 2.29043971e+02] [-2.30461454e-01 9.73073159e-01 -4.01821591e-03 -4.79683967e+01] [-1.59735184e-02 3.45732206e-04 9.99872355e-01 -4.35032091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.918623853 meters Centerline goodness [0,1] 0.9994418924140299 Centerline is valid? [True, True] Translation: X:229.07, Y:-47.98, Z:-4.35 [[ 9.73323274e-01 2.28964949e-01 1.47260718e-02 2.29071434e+02] [-2.28933266e-01 9.73434604e-01 -3.82511270e-03 -4.79784246e+01] [-1.52106846e-02 3.51783508e-04 9.99884249e-01 -4.35220602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.94862385300002 meters Centerline goodness [0,1] 0.9994418924140299 Centerline is valid? [True, True] Translation: X:229.10, Y:-47.99, Z:-4.35 [[ 9.73339072e-01 2.28897768e-01 1.47262274e-02 2.29098079e+02] [-2.28866086e-01 9.73450403e-01 -3.82451356e-03 -4.79852102e+01] [-1.52106746e-02 3.52214453e-04 9.99884249e-01 -4.35272197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.97862385300002 meters Centerline goodness [0,1] 0.9993984574730918 Centerline is valid? [True, True] Translation: X:229.12, Y:-47.99, Z:-4.35 [[ 9.73404008e-01 2.28628219e-01 1.46210622e-02 2.29124429e+02] [-2.28596975e-01 9.73513746e-01 -3.79608922e-03 -4.79930937e+01] [-1.51016982e-02 3.52797864e-04 9.99885901e-01 -4.35357463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.00862385300002 meters Centerline goodness [0,1] 0.999225606608157 Centerline is valid? [True, True] Translation: X:229.15, Y:-48.00, Z:-4.35 [[ 9.73324696e-01 2.28993239e-01 1.41821453e-02 2.29152048e+02] [-2.28963894e-01 9.73427955e-01 -3.68124958e-03 -4.80005441e+01] [-1.46482780e-02 3.35851915e-04 9.99892652e-01 -4.34880549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.03862385300002 meters Centerline goodness [0,1] 0.9996987368466356 Centerline is valid? [True, True] Translation: X:229.18, Y:-48.01, Z:-4.35 [[ 9.73003313e-01 2.30326605e-01 1.46358441e-02 2.29178731e+02] [-2.30295514e-01 9.73113328e-01 -3.79831894e-03 -4.80076386e+01] [-1.51171888e-02 3.25207680e-04 9.99885676e-01 -4.35490750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.06862385300002 meters Centerline goodness [0,1] 0.9996148744062647 Centerline is valid? [True, True] Translation: X:229.21, Y:-48.01, Z:-4.36 [[ 9.72811387e-01 2.31134015e-01 1.46653256e-02 2.29205418e+02] [-2.31102902e-01 9.72921872e-01 -3.80518183e-03 -4.80138319e+01] [-1.51477230e-02 3.12524908e-04 9.99885218e-01 -4.35538811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.09862385300002 meters Centerline goodness [0,1] 0.999764746139698 Centerline is valid? [True, True] Translation: X:229.23, Y:-48.02, Z:-4.36 [[ 9.72285570e-01 2.33361428e-01 1.42553081e-02 2.29233851e+02] [-2.33332289e-01 9.72390031e-01 -3.69741195e-03 -4.80187572e+01] [-1.47245529e-02 2.68716606e-04 9.99891552e-01 -4.35700881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.12862385300002 meters Centerline goodness [0,1] 0.9994241842610365 Centerline is valid? [True, True] Translation: X:229.26, Y:-48.02, Z:-4.35 [[ 9.71975480e-01 2.34693694e-01 1.35105679e-02 2.29260965e+02] [-2.34667657e-01 9.72069347e-01 -3.50370203e-03 -4.80240979e+01] [-1.39555057e-02 2.35019133e-04 9.99902590e-01 -4.34936049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.15862385300002 meters Centerline goodness [0,1] 0.9999139136984827 Centerline is valid? [True, True] Translation: X:229.29, Y:-48.03, Z:-4.36 [[ 9.71687305e-01 2.35834680e-01 1.43451945e-02 2.29288739e+02] [-2.35805465e-01 9.71793162e-01 -3.71917866e-03 -4.80298392e+01] [-1.48176733e-02 2.31203421e-04 9.99890186e-01 -4.35862703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.18862385300002 meters Centerline goodness [0,1] 0.9998927981818572 Centerline is valid? [True, True] Translation: X:229.32, Y:-48.04, Z:-4.36 [[ 9.71399001e-01 2.37018672e-01 1.43572300e-02 2.29317295e+02] [-2.36989547e-01 9.71505072e-01 -3.72161996e-03 -4.80357313e+01] [-1.48302151e-02 2.12664483e-04 9.99890004e-01 -4.35967493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.21862385300003 meters Centerline goodness [0,1] 0.9998934878469633 Centerline is valid? [True, True] Translation: X:229.34, Y:-48.04, Z:-4.36 [[ 9.70814376e-01 2.39414639e-01 1.41449118e-02 2.29344428e+02] [-2.39386633e-01 9.70917402e-01 -3.66597604e-03 -4.80408123e+01] [-1.46112294e-02 1.72879422e-04 9.99893235e-01 -4.36055315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.24862385300003 meters Centerline goodness [0,1] 0.9998713660921019 Centerline is valid? [True, True] Translation: X:229.37, Y:-48.05, Z:-4.36 [[ 9.70513286e-01 2.40614221e-01 1.44484687e-02 2.29371406e+02] [-2.40585145e-01 9.70620818e-01 -3.74377746e-03 -4.80469899e+01] [-1.49247906e-02 1.57298822e-04 9.99888607e-01 -4.36061273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.27862385300003 meters Centerline goodness [0,1] 0.9998714680490992 Centerline is valid? [True, True] Translation: X:229.40, Y:-48.05, Z:-4.36 [[ 9.69974280e-01 2.42755008e-01 1.48290951e-02 2.29399004e+02] [-2.42724642e-01 9.70087620e-01 -3.84160201e-03 -4.80519469e+01] [-1.53180897e-02 1.26868346e-04 9.99882663e-01 -4.36116493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.30862385300003 meters Centerline goodness [0,1] 0.9997000664138656 Centerline is valid? [True, True] Translation: X:229.43, Y:-48.06, Z:-4.35 [[ 9.69790113e-01 2.43524320e-01 1.42492982e-02 2.29426366e+02] [-2.43496377e-01 9.69894785e-01 -3.69062383e-03 -4.80578826e+01] [-1.47190767e-02 1.09477999e-04 9.99891663e-01 -4.35271590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.33862385300003 meters Centerline goodness [0,1] 0.9995665835951891 Centerline is valid? [True, True] Translation: X:229.45, Y:-48.06, Z:-4.35 [[ 9.69640974e-01 2.44109103e-01 1.43919078e-02 2.29453730e+02] [-2.44080702e-01 9.69747769e-01 -3.72488636e-03 -4.80630733e+01] [-1.48657991e-02 9.90154827e-05 9.99889493e-01 -4.35136379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.36862385300003 meters Centerline goodness [0,1] 0.9998712280551144 Centerline is valid? [True, True] Translation: X:229.48, Y:-48.07, Z:-4.36 [[ 9.69466873e-01 2.44765903e-01 1.49544105e-02 2.29480351e+02] [-2.44735371e-01 9.69582201e-01 -3.86698259e-03 -4.80717089e+01] [-1.54460357e-02 8.90383297e-05 9.99880699e-01 -4.36243343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.39862385300003 meters Centerline goodness [0,1] 0.9998698763825634 Centerline is valid? [True, True] Translation: X:229.51, Y:-48.08, Z:-4.36 [[ 9.69522084e-01 2.44515946e-01 1.54557949e-02 2.29507507e+02] [-2.44483310e-01 9.69645267e-01 -3.99601865e-03 -4.80789060e+01] [-1.59637287e-02 9.55444321e-05 9.99872567e-01 -4.36241315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.428623853 meters Centerline goodness [0,1] 0.999761077324066 Centerline is valid? [True, True] Translation: X:229.53, Y:-48.09, Z:-4.36 [[ 9.69592608e-01 2.44244597e-01 1.53215912e-02 2.29533057e+02] [-2.44212542e-01 9.69713652e-01 -3.95813135e-03 -4.80862537e+01] [-1.58243084e-02 9.60501755e-05 9.99874783e-01 -4.35828762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.458623853 meters Centerline goodness [0,1] 0.9999135396852844 Centerline is valid? [True, True] Translation: X:229.56, Y:-48.09, Z:-4.36 [[ 9.69645241e-01 2.44022897e-01 1.55220160e-02 2.29559873e+02] [-2.43989990e-01 9.69769465e-01 -4.00865259e-03 -4.80939363e+01] [-1.60309802e-02 9.97543646e-05 9.99871491e-01 -4.36277595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.488623853 meters Centerline goodness [0,1] 0.9999782764538483 Centerline is valid? [True, True] Translation: X:229.59, Y:-48.10, Z:-4.36 [[ 9.69938474e-01 2.42860947e-01 1.54245693e-02 2.29587620e+02] [-2.42828357e-01 9.70061105e-01 -3.98018101e-03 -4.81032535e+01] [-1.59294053e-02 1.15007863e-04 9.99873112e-01 -4.36335650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.518623853 meters Centerline goodness [0,1] 0.9998924523025962 Centerline is valid? [True, True] Translation: X:229.61, Y:-48.12, Z:-4.37 [[ 9.70146127e-01 2.42026787e-01 1.54766734e-02 2.29613377e+02] [-2.41993883e-01 9.70269559e-01 -3.99285231e-03 -4.81160644e+01] [-1.59829223e-02 1.28389922e-04 9.99872257e-01 -4.36515401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.548623853 meters Centerline goodness [0,1] 0.999612160910129 Centerline is valid? [True, True] Translation: X:229.64, Y:-48.13, Z:-4.36 [[ 9.70689439e-01 2.39837019e-01 1.54989364e-02 2.29639918e+02] [-2.39803752e-01 9.70813153e-01 -3.99786609e-03 -4.81277000e+01] [-1.60054076e-02 1.63983294e-04 9.99871892e-01 -4.35610300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.578623853 meters Centerline goodness [0,1] 0.9995909580193757 Centerline is valid? [True, True] Translation: X:229.67, Y:-48.14, Z:-4.35 [[ 9.70952132e-01 2.38746467e-01 1.58770646e-02 2.29667501e+02] [-2.38711460e-01 9.71081918e-01 -4.09247732e-03 -4.81351823e+01] [-1.63949948e-02 1.83562318e-04 9.99865576e-01 -4.35470549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.608623853 meters Centerline goodness [0,1] 0.9998922901273131 Centerline is valid? [True, True] Translation: X:229.69, Y:-48.15, Z:-4.36 [[ 9.71263587e-01 2.37415390e-01 1.67623788e-02 2.29692499e+02] [-2.37376186e-01 9.71408197e-01 -4.31978978e-03 -4.81500691e+01] [-1.73086968e-02 2.16664959e-04 9.99850170e-01 -4.36376733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.638623853 meters Centerline goodness [0,1] 0.999936023202252 Centerline is valid? [True, True] Translation: X:229.72, Y:-48.16, Z:-4.36 [[ 9.71741952e-01 2.35405518e-01 1.73729771e-02 2.29719060e+02] [-2.35363106e-01 9.71897203e-01 -4.47599399e-03 -4.81628128e+01] [-1.79384216e-02 2.60553281e-04 9.99839060e-01 -4.36287064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.668623853 meters Centerline goodness [0,1] 0.999849121672594 Centerline is valid? [True, True] Translation: X:229.75, Y:-48.17, Z:-4.36 [[ 9.72011211e-01 2.34292459e-01 1.73565039e-02 2.29746478e+02] [-2.34249964e-01 9.72166120e-01 -4.47094741e-03 -4.81736593e+01] [-1.79209143e-02 2.80050600e-04 9.99839368e-01 -4.36356795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.69862385300002 meters Centerline goodness [0,1] 0.9998711506249195 Centerline is valid? [True, True] Translation: X:229.77, Y:-48.18, Z:-4.36 [[ 9.72264298e-01 2.33265485e-01 1.70102179e-02 2.29773509e+02] [-2.33224525e-01 9.72413044e-01 -4.38098080e-03 -4.81842085e+01] [-1.75628894e-02 2.92271234e-04 9.99845718e-01 -4.36497308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.72862385300002 meters Centerline goodness [0,1] 0.9996958307080627 Centerline is valid? [True, True] Translation: X:229.80, Y:-48.20, Z:-4.37 [[ 9.72726957e-01 2.31314982e-01 1.71943497e-02 2.29798536e+02] [-2.31272839e-01 9.72878857e-01 -4.42761694e-03 -4.81986367e+01] [-1.77521934e-02 3.30276295e-04 9.99842363e-01 -4.36548524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.75862385300002 meters Centerline goodness [0,1] 0.99965656392204 Centerline is valid? [True, True] Translation: X:229.82, Y:-48.21, Z:-4.37 [[ 9.72885251e-01 2.30656774e-01 1.70804274e-02 2.29824036e+02] [-2.30615103e-01 9.73035116e-01 -4.39731409e-03 -4.82093264e+01] [-1.76341260e-02 3.39077488e-04 9.99844449e-01 -4.36693303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.78862385300002 meters Centerline goodness [0,1] 0.9996128699242945 Centerline is valid? [True, True] Translation: X:229.85, Y:-48.22, Z:-4.37 [[ 9.72994304e-01 2.30218223e-01 1.67825381e-02 2.29851389e+02] [-2.30177945e-01 9.73138970e-01 -4.31967396e-03 -4.82200248e+01] [-1.73262095e-02 3.40048023e-04 9.99849832e-01 -4.36812929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.81862385300002 meters Centerline goodness [0,1] 0.999528827208087 Centerline is valid? [True, True] Translation: X:229.88, Y:-48.23, Z:-4.37 [[ 9.73046226e-01 2.30004449e-01 1.67031758e-02 2.29875496e+02] [-2.29964531e-01 9.73189517e-01 -4.29860085e-03 -4.82333720e+01] [-1.72440529e-02 3.41599358e-04 9.99851252e-01 -4.36928276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.84862385300002 meters Centerline goodness [0,1] 0.9996978330311663 Centerline is valid? [True, True] Translation: X:229.90, Y:-48.24, Z:-4.37 [[ 9.72925772e-01 2.30551514e-01 1.61691650e-02 2.29903434e+02] [-2.30514216e-01 9.73060069e-01 -4.15918047e-03 -4.82401300e+01] [-1.66924741e-02 3.19351486e-04 9.99860620e-01 -4.37045309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.87862385300002 meters Centerline goodness [0,1] 0.999850276987573 Centerline is valid? [True, True] Translation: X:229.93, Y:-48.25, Z:-4.37 [[ 9.72826387e-01 2.31008891e-01 1.56112916e-02 2.29929396e+02] [-2.30974192e-01 9.72951593e-01 -4.01503462e-03 -4.82489992e+01] [-1.61165398e-02 3.00126147e-04 9.99870075e-01 -4.37231181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.90862385300002 meters Centerline goodness [0,1] 0.9997637812184594 Centerline is valid? [True, True] Translation: X:229.96, Y:-48.26, Z:-4.37 [[ 9.72434115e-01 2.32704865e-01 1.48437514e-02 2.29955280e+02] [-2.32673704e-01 9.72547366e-01 -3.81684896e-03 -4.82585892e+01] [-1.53244506e-02 2.57883529e-04 9.99882540e-01 -4.37438305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.93862385300002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:229.98, Y:-48.26, Z:-4.37 [[ 9.72106396e-01 2.34066731e-01 1.48969691e-02 2.29984628e+02] [-2.34035518e-01 9.72220505e-01 -3.82968356e-03 -4.82592587e+01] [-1.53795403e-02 2.36439995e-04 9.99881700e-01 -4.37335676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.96862385300003 meters Centerline goodness [0,1] 0.9999128407382389 Centerline is valid? [True, True] Translation: X:230.01, Y:-48.27, Z:-4.37 [[ 9.71008054e-01 2.38555282e-01 1.53210859e-02 2.30011650e+02] [-2.38522838e-01 9.71128904e-01 -3.93790271e-03 -4.82671428e+01] [-1.58181569e-02 1.69306354e-04 9.99874871e-01 -4.37367009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.99862385300003 meters Centerline goodness [0,1] 0.999785711224446 Centerline is valid? [True, True] Translation: X:230.04, Y:-48.27, Z:-4.36 [[ 9.70354573e-01 2.41217112e-01 1.50434904e-02 2.30039215e+02] [-2.41186164e-01 9.70471169e-01 -3.86583119e-03 -4.82724686e+01] [-1.55317784e-02 1.22945224e-04 9.99879367e-01 -4.36438487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.02862385300003 meters Centerline goodness [0,1] 0.999978403593642 Centerline is valid? [True, True] Translation: X:230.07, Y:-48.27, Z:-4.37 [[ 9.69520049e-01 2.44489338e-01 1.59949376e-02 2.30068709e+02] [-2.44454809e-01 9.69651978e-01 -4.10950587e-03 -4.82748719e+01] [-1.65142532e-02 7.42089115e-05 9.99863628e-01 -4.37343254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.05862385300003 meters Centerline goodness [0,1] 0.9999144494824194 Centerline is valid? [True, True] Translation: X:230.10, Y:-48.28, Z:-4.37 [[ 9.68576479e-01 2.48180514e-01 1.63106508e-02 2.30098524e+02] [-2.48145175e-01 9.68713803e-01 -4.18804130e-03 -4.82760079e+01] [-1.68397428e-02 9.02898904e-06 9.99858201e-01 -4.37318519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.08862385300003 meters Centerline goodness [0,1] 0.9997830426104313 Centerline is valid? [True, True] Translation: X:230.13, Y:-48.27, Z:-4.37 [[ 9.66642506e-01 2.55564572e-01 1.70004493e-02 2.30129012e+02] [-2.55527333e-01 9.66791981e-01 -4.36444131e-03 -4.82736819e+01] [-1.75512947e-02 -1.25224998e-04 9.99845956e-01 -4.37220617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.11862385300003 meters Centerline goodness [0,1] 0.9994715704924964 Centerline is valid? [True, True] Translation: X:230.16, Y:-48.27, Z:-4.37 [[ 9.65684966e-01 2.59172192e-01 1.68024060e-02 2.30158853e+02] [-2.59136390e-01 9.65831113e-01 -4.31188768e-03 -4.82703955e+01] [-1.73458079e-02 -1.90189733e-04 9.99849532e-01 -4.37342756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.14862385300003 meters Centerline goodness [0,1] 0.9993561264567639 Centerline is valid? [True, True] Translation: X:230.19, Y:-48.27, Z:-4.37 [[ 9.63897434e-01 2.65756889e-01 1.65835004e-02 2.30188141e+02] [-2.65723016e-01 9.64040031e-01 -4.25404393e-03 -4.82731527e+01] [-1.71176997e-02 -3.06155698e-04 9.99853435e-01 -4.37395038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.178623853 meters Centerline goodness [0,1] 0.9992523284627873 Centerline is valid? [True, True] Translation: X:230.22, Y:-48.27, Z:-4.38 [[ 9.63177083e-01 2.68387829e-01 1.60586447e-02 2.30216195e+02] [-2.68356440e-01 9.63310882e-01 -4.11889172e-03 -4.82737584e+01] [-1.65749276e-02 -3.42218602e-04 9.99862568e-01 -4.37522178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.208623853 meters Centerline goodness [0,1] 0.999211356466877 Centerline is valid? [True, True] Translation: X:230.24, Y:-48.28, Z:-4.38 [[ 9.62566642e-01 2.70597512e-01 1.55706883e-02 2.30244766e+02] [-2.70568309e-01 9.62692500e-01 -3.99256919e-03 -4.82760986e+01] [-1.60701642e-02 -3.69820900e-04 9.99870798e-01 -4.37659808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.238623853 meters Centerline goodness [0,1] 0.9989927564184989 Centerline is valid? [True, True] Translation: X:230.27, Y:-48.28, Z:-4.38 [[ 9.61803729e-01 2.73292338e-01 1.56487935e-02 2.30274706e+02] [-2.73263214e-01 9.61930935e-01 -4.01156990e-03 -4.82770524e+01] [-1.61493899e-02 -4.17896731e-04 9.99869503e-01 -4.37741346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.268623853 meters Centerline goodness [0,1] 0.9989001746781394 Centerline is valid? [True, True] Translation: X:230.30, Y:-48.28, Z:-4.38 [[ 9.61744374e-01 2.73497897e-01 1.57054121e-02 2.30302937e+02] [-2.73468593e-01 9.61872508e-01 -4.02584269e-03 -4.82842287e+01] [-1.62076636e-02 -4.23105387e-04 9.99868558e-01 -4.37856593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.298623853 meters Centerline goodness [0,1] 0.9988465235501441 Centerline is valid? [True, True] Translation: X:230.33, Y:-48.29, Z:-4.38 [[ 9.61972166e-01 2.72670155e-01 1.61412327e-02 2.30330730e+02] [-2.72639137e-01 9.62107482e-01 -4.13442330e-03 -4.82893104e+01] [-1.66569346e-02 -4.23531617e-04 9.99861174e-01 -4.37843447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.328623853 meters Centerline goodness [0,1] 0.9991406904552192 Centerline is valid? [True, True] Translation: X:230.36, Y:-48.30, Z:-4.38 [[ 9.62284369e-01 2.71567892e-01 1.61143887e-02 2.30357664e+02] [-2.71536836e-01 9.62419200e-01 -4.12678065e-03 -4.82986499e+01] [-1.66294982e-02 -4.04513602e-04 9.99861639e-01 -4.37927179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.358623853 meters Centerline goodness [0,1] 0.9985520824461289 Centerline is valid? [True, True] Translation: X:230.39, Y:-48.31, Z:-4.37 [[ 9.62784266e-01 2.69838713e-01 1.52815697e-02 2.30385497e+02] [-2.69810606e-01 9.62905468e-01 -3.91100686e-03 -4.83062645e+01] [-1.57700481e-02 -3.57673718e-04 9.99875581e-01 -4.37319473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.388623853 meters Centerline goodness [0,1] 0.9993756593252815 Centerline is valid? [True, True] Translation: X:230.41, Y:-48.32, Z:-4.38 [[ 9.63735112e-01 2.66417509e-01 1.53735351e-02 2.30412426e+02] [-2.66388675e-01 9.63857675e-01 -3.93151803e-03 -4.83171016e+01] [-1.58653250e-02 -3.06393675e-04 9.99874091e-01 -4.38239959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.418623853 meters Centerline goodness [0,1] 0.9995057058735037 Centerline is valid? [True, True] Translation: X:230.44, Y:-48.32, Z:-4.38 [[ 9.64310103e-01 2.64349332e-01 1.50151868e-02 2.30439335e+02] [-2.64321586e-01 9.64426959e-01 -3.83920043e-03 -4.83246365e+01] [-1.54959410e-02 -2.66658231e-04 9.99879895e-01 -4.38354292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.44862385300002 meters Centerline goodness [0,1] 0.9995243037536758 Centerline is valid? [True, True] Translation: X:230.47, Y:-48.34, Z:-4.38 [[ 9.65010188e-01 2.61777306e-01 1.50989924e-02 2.30466407e+02] [-2.61748944e-01 9.65128277e-01 -3.86002068e-03 -4.83352318e+01] [-1.55829303e-02 -2.27186032e-04 9.99878553e-01 -4.38438057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.47862385300002 meters Centerline goodness [0,1] 0.9995707417582418 Centerline is valid? [True, True] Translation: X:230.49, Y:-48.35, Z:-4.38 [[ 9.66358054e-01 2.56743226e-01 1.53305887e-02 2.30491668e+02] [-2.56713400e-01 9.66479639e-01 -3.91630758e-03 -4.83491030e+01] [-1.58221873e-02 -1.51012167e-04 9.99874810e-01 -4.38430630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.50862385300002 meters Centerline goodness [0,1] 0.9995473650177821 Centerline is valid? [True, True] Translation: X:230.52, Y:-48.36, Z:-4.38 [[ 9.67086527e-01 2.53978618e-01 1.54437843e-02 2.30518665e+02] [-2.53948006e-01 9.67209827e-01 -3.94459254e-03 -4.83619033e+01] [-1.59392221e-02 -1.07155925e-04 9.99872957e-01 -4.38414419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.53862385300002 meters Centerline goodness [0,1] 0.9994817422099376 Centerline is valid? [True, True] Translation: X:230.54, Y:-48.38, Z:-4.39 [[ 9.68394097e-01 2.48942766e-01 1.55039339e-02 2.30544459e+02] [-2.48911316e-01 9.68518197e-01 -3.95704296e-03 -4.83752372e+01] [-1.60009194e-02 -2.71275521e-05 9.99871977e-01 -4.38521526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.56862385300002 meters Centerline goodness [0,1] 0.9995290390255389 Centerline is valid? [True, True] Translation: X:230.57, Y:-48.39, Z:-4.38 [[ 9.69006795e-01 2.46548003e-01 1.54891286e-02 2.30571085e+02] [-2.46516318e-01 9.69130581e-01 -3.95254072e-03 -4.83857000e+01] [-1.59854792e-02 1.17158738e-05 9.99872224e-01 -4.38469342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.59862385300002 meters Centerline goodness [0,1] 0.9995061198196263 Centerline is valid? [True, True] Translation: X:230.60, Y:-48.40, Z:-4.39 [[ 9.69538675e-01 2.44454146e-01 1.53924957e-02 2.30598025e+02] [-2.44422611e-01 9.69660852e-01 -3.92664729e-03 -4.83952650e+01] [-1.58853857e-02 4.47624052e-05 9.99873818e-01 -4.38538500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.62862385300002 meters Centerline goodness [0,1] 0.9992700103057368 Centerline is valid? [True, True] Translation: X:230.62, Y:-48.41, Z:-4.39 [[ 9.70352332e-01 2.41188773e-01 1.56309654e-02 2.30624422e+02] [-2.41155843e-01 9.70478215e-01 -3.98667363e-03 -4.84070910e+01] [-1.61310523e-02 9.89794228e-05 9.99869881e-01 -4.38530737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.65862385300002 meters Centerline goodness [0,1] 0.9995923446618606 Centerline is valid? [True, True] Translation: X:230.65, Y:-48.42, Z:-4.39 [[ 9.70730135e-01 2.39681663e-01 1.53527302e-02 2.30650688e+02] [-2.39649717e-01 9.70851526e-01 -3.91497784e-03 -4.84168863e+01] [-1.58435700e-02 1.21109511e-04 9.99874475e-01 -4.38670874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.68862385300002 meters Centerline goodness [0,1] 0.9998085676606968 Centerline is valid? [True, True] Translation: X:230.68, Y:-48.43, Z:-4.39 [[ 9.71072929e-01 2.38311422e-01 1.50010662e-02 2.30676661e+02] [-2.38280774e-01 9.71188780e-01 -3.82437873e-03 -4.84268337e+01] [-1.54802603e-02 1.39284984e-04 9.99880164e-01 -4.38805680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.71862385300003 meters Centerline goodness [0,1] 0.999914359731946 Centerline is valid? [True, True] Translation: X:230.70, Y:-48.44, Z:-4.39 [[ 9.71556099e-01 2.36374964e-01 1.43395832e-02 2.30704144e+02] [-2.36346762e-01 9.71661901e-01 -3.65484055e-03 -4.84370880e+01] [-1.47971395e-02 1.61768561e-04 9.99890503e-01 -4.38989708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.74862385300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:230.73, Y:-48.44, Z:-4.39 [[ 9.71677459e-01 2.35910558e-01 1.37522713e-02 2.30732334e+02] [-2.35884582e-01 9.71774759e-01 -3.50450454e-03 -4.84443717e+01] [-1.41908597e-02 1.61299298e-04 9.99899292e-01 -4.39088239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.77862385300003 meters Centerline goodness [0,1] 0.9998925262773252 Centerline is valid? [True, True] Translation: X:230.76, Y:-48.45, Z:-4.39 [[ 9.71732781e-01 2.35700524e-01 1.34411786e-02 2.30759370e+02] [-2.35675698e-01 9.71825724e-01 -3.42461765e-03 -4.84524929e+01] [-1.38696673e-02 1.60054076e-04 9.99903799e-01 -4.39189326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.80862385300003 meters Centerline goodness [0,1] 0.999807651207523 Centerline is valid? [True, True] Translation: X:230.79, Y:-48.46, Z:-4.39 [[ 9.71548624e-01 2.36479025e-01 1.30744436e-02 2.30787454e+02] [-2.36455618e-01 9.71636583e-01 -3.33030207e-03 -4.84583304e+01] [-1.34911543e-02 1.44024759e-04 9.99908980e-01 -4.39287901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.83862385300003 meters Centerline goodness [0,1] 0.999807651207523 Centerline is valid? [True, True] Translation: X:230.81, Y:-48.46, Z:-4.39 [[ 9.71565384e-01 2.36410153e-01 1.30745701e-02 2.30814129e+02] [-2.36386746e-01 9.71653343e-01 -3.32980538e-03 -4.84649861e+01] [-1.34911496e-02 1.44468557e-04 9.99908980e-01 -4.39339488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.86862385300003 meters Centerline goodness [0,1] 0.9995300952625059 Centerline is valid? [True, True] Translation: X:230.84, Y:-48.47, Z:-4.39 [[ 9.71425250e-01 2.36986979e-01 1.30443760e-02 2.30842548e+02] [-2.36963747e-01 9.71512817e-01 -3.32100747e-03 -4.84704785e+01] [-1.34598140e-02 1.35066299e-04 9.99909403e-01 -4.38962778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.89862385300003 meters Centerline goodness [0,1] 0.9996332571083402 Centerline is valid? [True, True] Translation: X:230.87, Y:-48.48, Z:-4.39 [[ 9.70963253e-01 2.38818826e-01 1.39975264e-02 2.30869955e+02] [-2.38792275e-01 9.71064135e-01 -3.56294562e-03 -4.84767890e+01] [-1.44433943e-02 1.16988099e-04 9.99895682e-01 -4.39277829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.928623853 meters Centerline goodness [0,1] 0.9995717619853114 Centerline is valid? [True, True] Translation: X:230.90, Y:-48.48, Z:-4.39 [[ 9.70758788e-01 2.39619021e-01 1.44948204e-02 2.30897458e+02] [-2.39590654e-01 9.70866990e-01 -3.68856804e-03 -4.84835031e+01] [-1.49563937e-02 1.07886339e-04 9.99888141e-01 -4.39231898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.958623853 meters Centerline goodness [0,1] 0.9992896810021955 Centerline is valid? [True, True] Translation: X:230.93, Y:-48.49, Z:-4.39 [[ 9.70512432e-01 2.40575936e-01 1.51273798e-02 2.30926169e+02] [-2.40545171e-01 9.70630316e-01 -3.84846937e-03 -4.84897189e+01] [-1.56089426e-02 9.61691949e-05 9.99878168e-01 -4.39190189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.988623853 meters Centerline goodness [0,1] 0.999265214384509 Centerline is valid? [True, True] Translation: X:230.95, Y:-48.50, Z:-4.39 [[ 9.70359959e-01 2.41179652e-01 1.52946331e-02 2.30954657e+02] [-2.41148287e-01 9.70480483e-01 -3.89048103e-03 -4.84952331e+01] [-1.57814478e-02 8.68924304e-05 9.99875461e-01 -4.39214354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.018623853 meters Centerline goodness [0,1] 0.9992069785884219 Centerline is valid? [True, True] Translation: X:230.98, Y:-48.50, Z:-4.39 [[ 9.70244973e-01 2.41677829e-01 1.47146287e-02 2.30980278e+02] [-2.41648864e-01 9.70356543e-01 -3.74235904e-03 -4.85020013e+01] [-1.51828814e-02 7.52317507e-05 9.99884731e-01 -4.39383583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.048623853 meters Centerline goodness [0,1] 0.9992896504219047 Centerline is valid? [True, True] Translation: X:231.01, Y:-48.51, Z:-4.40 [[ 9.70302882e-01 2.41484177e-01 1.40609185e-02 2.31007839e+02] [-2.41457728e-01 9.70404754e-01 -3.57475577e-03 -4.85099012e+01] [-1.45080292e-02 7.34783802e-05 9.99894750e-01 -4.39549015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.078623853 meters Centerline goodness [0,1] 0.9993349066723879 Centerline is valid? [True, True] Translation: X:231.03, Y:-48.52, Z:-4.40 [[ 9.70314276e-01 2.41476022e-01 1.33991313e-02 2.31034293e+02] [-2.41452011e-01 9.70406784e-01 -3.40594206e-03 -4.85173873e+01] [-1.38250613e-02 6.95869939e-05 9.99904427e-01 -4.39763129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.108623853 meters Centerline goodness [0,1] 0.9995927466026493 Centerline is valid? [True, True] Translation: X:231.06, Y:-48.53, Z:-4.40 [[ 9.70484566e-01 2.40858620e-01 1.21174727e-02 2.31060966e+02] [-2.40838940e-01 9.70560210e-01 -3.07968685e-03 -4.85265371e+01] [-1.25025060e-02 7.04292670e-05 9.99921838e-01 -4.40080608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.138623853 meters Centerline goodness [0,1] 0.9997430681939835 Centerline is valid? [True, True] Translation: X:231.09, Y:-48.54, Z:-4.40 [[ 9.70654696e-01 2.40191859e-01 1.17188742e-02 2.31087895e+02] [-2.40173419e-01 9.70725432e-01 -2.97717652e-03 -4.85351447e+01] [-1.20909028e-02 7.52482904e-05 9.99926900e-01 -4.40195124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.168623853 meters Centerline goodness [0,1] 0.9996137421943735 Centerline is valid? [True, True] Translation: X:231.11, Y:-48.55, Z:-4.40 [[ 9.70985605e-01 2.38828317e-01 1.21650786e-02 2.31114609e+02] [-2.38808350e-01 9.71061803e-01 -3.08968056e-03 -4.85457337e+01] [-1.25509464e-02 9.49130029e-05 9.99921229e-01 -4.40136426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.19862385300002 meters Centerline goodness [0,1] 0.9997641711688534 Centerline is valid? [True, True] Translation: X:231.14, Y:-48.55, Z:-4.40 [[ 9.71140196e-01 2.38183806e-01 1.24576759e-02 2.31142053e+02] [-2.38162821e-01 9.71220090e-01 -3.16335657e-03 -4.85544379e+01] [-1.28526054e-02 1.05107492e-04 9.99917396e-01 -4.40098766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.22862385300002 meters Centerline goodness [0,1] 0.999676731104933 Centerline is valid? [True, True] Translation: X:231.17, Y:-48.56, Z:-4.40 [[ 9.71205173e-01 2.37908544e-01 1.26505552e-02 2.31168848e+02] [-2.37886888e-01 9.71287554e-01 -3.21183084e-03 -4.85628814e+01] [-1.30514489e-02 1.09945502e-04 9.99914820e-01 -4.40071194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.25862385300002 meters Centerline goodness [0,1] 0.9995458870339936 Centerline is valid? [True, True] Translation: X:231.20, Y:-48.57, Z:-4.40 [[ 9.71272895e-01 2.37620966e-01 1.28545374e-02 2.31195492e+02] [-2.37598594e-01 9.71357948e-01 -3.26266149e-03 -4.85700844e+01] [-1.32616339e-02 1.14714648e-04 9.99912054e-01 -4.40031751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.28862385300002 meters Centerline goodness [0,1] 0.9997414294641126 Centerline is valid? [True, True] Translation: X:231.22, Y:-48.58, Z:-4.40 [[ 9.71340662e-01 2.37340410e-01 1.29170020e-02 2.31222467e+02] [-2.37317808e-01 9.71426536e-01 -3.27752175e-03 -4.85795660e+01] [-1.33258068e-02 1.18155550e-04 9.99911201e-01 -4.40047558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.31862385300002 meters Centerline goodness [0,1] 0.999632892804699 Centerline is valid? [True, True] Translation: X:231.25, Y:-48.59, Z:-4.40 [[ 9.71436871e-01 2.36942185e-01 1.29925209e-02 2.31249658e+02] [-2.36919298e-01 9.71523744e-01 -3.29554292e-03 -4.85883680e+01] [-1.34033957e-02 1.23232975e-04 9.99910163e-01 -4.40091161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.34862385300002 meters Centerline goodness [0,1] 0.9995218118981894 Centerline is valid? [True, True] Translation: X:231.28, Y:-48.60, Z:-4.40 [[ 9.71796928e-01 2.35457414e-01 1.30589570e-02 2.31276721e+02] [-2.35434167e-01 9.71884656e-01 -3.31171988e-03 -4.86005891e+01] [-1.34715689e-02 1.43794543e-04 9.99909244e-01 -4.40110048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.37862385300002 meters Centerline goodness [0,1] 0.9995908082613658 Centerline is valid? [True, True] Translation: X:231.30, Y:-48.61, Z:-4.40 [[ 9.72064004e-01 2.34358391e-01 1.29505387e-02 2.31304090e+02] [-2.34335440e-01 9.72150256e-01 -3.28356842e-03 -4.86108335e+01] [-1.33594013e-02 1.57068494e-04 9.99910747e-01 -4.40179732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.40862385300002 meters Centerline goodness [0,1] 0.9999133223541649 Centerline is valid? [True, True] Translation: X:231.33, Y:-48.63, Z:-4.40 [[ 9.72725756e-01 2.31593506e-01 1.30020046e-02 2.31329651e+02] [-2.31570133e-01 9.72812628e-01 -3.29601706e-03 -4.86254076e+01] [-1.34118504e-02 1.95244748e-04 9.99910038e-01 -4.40195406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.43862385300002 meters Centerline goodness [0,1] 0.9998700764383621 Centerline is valid? [True, True] Translation: X:231.35, Y:-48.64, Z:-4.40 [[ 9.72994682e-01 2.30459640e-01 1.30270517e-02 2.31354963e+02] [-2.30436086e-01 9.73081862e-01 -3.30151560e-03 -4.86372441e+01] [-1.34372539e-02 2.10454298e-04 9.99909694e-01 -4.40280835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.46862385300003 meters Centerline goodness [0,1] 0.9998933265062298 Centerline is valid? [True, True] Translation: X:231.38, Y:-48.65, Z:-4.40 [[ 9.73205992e-01 2.29555464e-01 1.32054983e-02 2.31382152e+02] [-2.29531191e-01 9.73295555e-01 -3.34579268e-03 -4.86467591e+01] [-1.36208978e-02 2.25071743e-04 9.99907206e-01 -4.40275134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.49862385300003 meters Centerline goodness [0,1] 0.9998495982123673 Centerline is valid? [True, True] Translation: X:231.41, Y:-48.66, Z:-4.40 [[ 9.73526063e-01 2.28150208e-01 1.39458611e-02 2.31409378e+02] [-2.28123003e-01 9.73625912e-01 -3.53263293e-03 -4.86577415e+01] [-1.43840226e-02 2.57738528e-04 9.99896511e-01 -4.40123823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.52862385300003 meters Centerline goodness [0,1] 0.9993765988090888 Centerline is valid? [True, True] Translation: X:231.44, Y:-48.67, Z:-4.39 [[ 9.73555153e-01 2.28042107e-01 1.36806839e-02 2.31437543e+02] [-2.28015926e-01 9.73651238e-01 -3.46476869e-03 -4.86668057e+01] [-1.41103280e-02 2.53729620e-04 9.99900412e-01 -4.39032131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.55862385300003 meters Centerline goodness [0,1] 0.999869709669714 Centerline is valid? [True, True] Translation: X:231.46, Y:-48.68, Z:-4.40 [[ 9.73536435e-01 2.28078395e-01 1.43894293e-02 2.31464582e+02] [-2.28049446e-01 9.73642735e-01 -3.64347202e-03 -4.86764045e+01] [-1.48411605e-02 2.65551373e-04 9.99889829e-01 -4.40106047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.58862385300003 meters Centerline goodness [0,1] 0.9998287707882965 Centerline is valid? [True, True] Translation: X:231.49, Y:-48.69, Z:-4.40 [[ 9.73224079e-01 2.29430824e-01 1.40138733e-02 2.31491084e+02] [-2.29403518e-01 9.73324941e-01 -3.54762292e-03 -4.86888180e+01] [-1.44539864e-02 2.37800225e-04 9.99895507e-01 -4.40251545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.61862385300003 meters Centerline goodness [0,1] 0.9998720873217217 Centerline is valid? [True, True] Translation: X:231.52, Y:-48.70, Z:-4.40 [[ 9.72981235e-01 2.30475175e-01 1.37371448e-02 2.31518129e+02] [-2.30449048e-01 9.73078181e-01 -3.47709883e-03 -4.86971997e+01] [-1.41687008e-02 2.17439989e-04 9.99899595e-01 -4.40379705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.64862385300003 meters Centerline goodness [0,1] 0.999675275474639 Centerline is valid? [True, True] Translation: X:231.55, Y:-48.70, Z:-4.40 [[ 9.72327944e-01 2.33260274e-01 1.29620034e-02 2.31546722e+02] [-2.33237266e-01 9.72414324e-01 -3.28032135e-03 -4.87017175e+01] [-1.33696065e-02 1.66325874e-04 9.99910609e-01 -4.40444376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.678623853 meters Centerline goodness [0,1] 0.9998286791159843 Centerline is valid? [True, True] Translation: X:231.57, Y:-48.71, Z:-4.41 [[ 9.71924683e-01 2.34950093e-01 1.26832139e-02 2.31573441e+02] [-2.34928216e-01 9.72007425e-01 -3.20920073e-03 -4.87088630e+01] [-1.30821801e-02 1.39456587e-04 9.99914415e-01 -4.40646821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.708623853 meters Centerline goodness [0,1] 0.9995670901967575 Centerline is valid? [True, True] Translation: X:231.60, Y:-48.71, Z:-4.41 [[ 9.71522292e-01 2.36610436e-01 1.26466081e-02 2.31602157e+02] [-2.36588838e-01 9.71604594e-01 -3.19905277e-03 -4.87132848e+01] [-1.30444318e-02 1.15904763e-04 9.99914911e-01 -4.40629875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.738623853 meters Centerline goodness [0,1] 0.999656770207654 Centerline is valid? [True, True] Translation: X:231.63, Y:-48.72, Z:-4.41 [[ 9.71116456e-01 2.38289696e-01 1.22820809e-02 2.31629264e+02] [-2.38269465e-01 9.71194117e-01 -3.10630766e-03 -4.87203680e+01] [-1.26684858e-02 9.01416448e-05 9.99919747e-01 -4.40784362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.768623853 meters Centerline goodness [0,1] 0.9993499458288191 Centerline is valid? [True, True] Translation: X:231.66, Y:-48.73, Z:-4.41 [[ 9.70356067e-01 2.41395059e-01 1.17272162e-02 2.31657055e+02] [-2.41376852e-01 9.70426928e-01 -2.96518460e-03 -4.87264514e+01] [-1.20961873e-02 4.66063466e-05 9.99926837e-01 -4.40885839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.798623853 meters Centerline goodness [0,1] 0.9991586123576113 Centerline is valid? [True, True] Translation: X:231.68, Y:-48.73, Z:-4.41 [[ 9.69773161e-01 2.43701553e-01 1.22298083e-02 2.31684600e+02] [-2.43681943e-01 9.69850273e-01 -3.09159220e-03 -4.87331131e+01] [-1.26145087e-02 1.79596922e-05 9.99920434e-01 -4.40872500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.828623853 meters Centerline goodness [0,1] 0.999121830020562 Centerline is valid? [True, True] Translation: X:231.71, Y:-48.74, Z:-4.41 [[ 9.69577862e-01 2.44470459e-01 1.23679027e-02 2.31711973e+02] [-2.44450472e-01 9.69656741e-01 -3.12599469e-03 -4.87403753e+01] [-1.27568336e-02 7.55559540e-06 9.99918628e-01 -4.40892747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.858623853 meters Centerline goodness [0,1] 0.9991297149285729 Centerline is valid? [True, True] Translation: X:231.74, Y:-48.75, Z:-4.41 [[ 9.69397512e-01 2.45172323e-01 1.26093255e-02 2.31739334e+02] [-2.45151621e-01 9.69479516e-01 -3.18602931e-03 -4.87476945e+01] [-1.30056090e-02 -2.66770232e-06 9.99915423e-01 -4.40916199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.888623853 meters Centerline goodness [0,1] 0.9990518876055853 Centerline is valid? [True, True] Translation: X:231.77, Y:-48.76, Z:-4.41 [[ 9.69106396e-01 2.46289788e-01 1.31959672e-02 2.31767351e+02] [-2.46267234e-01 9.69196234e-01 -3.33311891e-03 -4.87557406e+01] [-1.36103948e-02 -1.95874848e-05 9.99907374e-01 -4.40771029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.918623853 meters Centerline goodness [0,1] 0.999035411129212 Centerline is valid? [True, True] Translation: X:231.79, Y:-48.76, Z:-4.41 [[ 9.68976727e-01 2.46805961e-01 1.30736696e-02 2.31794733e+02] [-2.46783878e-01 9.69064919e-01 -3.30163157e-03 -4.87624218e+01] [-1.34840969e-02 -2.71667336e-05 9.99909085e-01 -4.40806332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.94862385300002 meters Centerline goodness [0,1] 0.9990560370719986 Centerline is valid? [True, True] Translation: X:231.82, Y:-48.77, Z:-4.41 [[ 9.68776404e-01 2.47606607e-01 1.27768421e-02 2.31823010e+02] [-2.47585596e-01 9.68860654e-01 -3.22581160e-03 -4.87688913e+01] [-1.31777118e-02 -3.82718958e-05 9.99913169e-01 -4.40895154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.97862385300002 meters Centerline goodness [0,1] 0.9990513152220785 Centerline is valid? [True, True] Translation: X:231.85, Y:-48.77, Z:-4.41 [[ 9.68542507e-01 2.48538386e-01 1.24130111e-02 2.31851151e+02] [-2.48518639e-01 9.68622046e-01 -3.13335262e-03 -4.87749372e+01] [-1.28022746e-02 -5.00794303e-05 9.99918046e-01 -4.41022629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.00862385300002 meters Centerline goodness [0,1] 0.9989069398602598 Centerline is valid? [True, True] Translation: X:231.88, Y:-48.78, Z:-4.41 [[ 9.68089901e-01 2.50304690e-01 1.22272660e-02 2.31877912e+02] [-2.50285677e-01 9.68167112e-01 -3.08592658e-03 -4.87806391e+01] [-1.26104587e-02 -7.28552091e-05 9.99920482e-01 -4.41148144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.03862385300002 meters Centerline goodness [0,1] 0.9989563365282215 Centerline is valid? [True, True] Translation: X:231.91, Y:-48.79, Z:-4.41 [[ 9.67957329e-01 2.50822750e-01 1.21060507e-02 2.31905754e+02] [-2.50804164e-01 9.68033027e-01 -3.05450410e-03 -4.87874992e+01] [-1.24851960e-02 -7.96182833e-05 9.99922054e-01 -4.41185827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.06862385300002 meters Centerline goodness [0,1] 0.999152111243005 Centerline is valid? [True, True] Translation: X:231.93, Y:-48.79, Z:-4.41 [[ 9.67741664e-01 2.51663176e-01 1.19045571e-02 2.31933377e+02] [-2.51645272e-01 9.67814878e-01 -3.00316484e-03 -4.87923958e+01] [-1.22771935e-02 -8.94377732e-05 9.99924628e-01 -4.41337119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.09862385300002 meters Centerline goodness [0,1] 0.9989870689655173 Centerline is valid? [True, True] Translation: X:231.96, Y:-48.80, Z:-4.41 [[ 9.67749036e-01 2.51647013e-01 1.16440979e-02 2.31961610e+02] [-2.51629893e-01 9.67819081e-01 -2.93667971e-03 -4.87995263e+01] [-1.20083868e-02 -8.80341354e-05 9.99927893e-01 -4.41344241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.12862385300002 meters Centerline goodness [0,1] 0.9988332144940688 Centerline is valid? [True, True] Translation: X:231.99, Y:-48.81, Z:-4.41 [[ 9.67776997e-01 2.51558554e-01 1.12240225e-02 2.31989348e+02] [-2.51542645e-01 9.67842078e-01 -2.83029539e-03 -4.88055162e+01] [-1.15750662e-02 -8.42255332e-05 9.99933003e-01 -4.40924748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.15862385300002 meters Centerline goodness [0,1] 0.9990289376577977 Centerline is valid? [True, True] Translation: X:232.02, Y:-48.82, Z:-4.42 [[ 9.68153796e-01 2.50086935e-01 1.16083052e-02 2.32016337e+02] [-2.50069823e-01 9.68223383e-01 -2.92635871e-03 -4.88153135e+01] [-1.19712766e-02 -6.97215456e-05 9.99928339e-01 -4.41548745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.18862385300002 meters Centerline goodness [0,1] 0.9990489570949962 Centerline is valid? [True, True] Translation: X:232.04, Y:-48.82, Z:-4.42 [[ 9.68423871e-01 2.49031014e-01 1.17796435e-02 2.32043791e+02] [-2.49013322e-01 9.68495509e-01 -2.96896311e-03 -4.88246480e+01] [-1.21478957e-02 -5.80734174e-05 9.99926210e-01 -4.41565592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.21862385300003 meters Centerline goodness [0,1] 0.9991191509474499 Centerline is valid? [True, True] Translation: X:232.07, Y:-48.83, Z:-4.42 [[ 9.68789138e-01 2.47590778e-01 1.21000973e-02 2.32070579e+02] [-2.47572005e-01 9.68864699e-01 -3.04918095e-03 -4.88340929e+01] [-1.24783063e-02 -4.16319715e-05 9.99922142e-01 -4.41578421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.24862385300003 meters Centerline goodness [0,1] 0.99884649705095 Centerline is valid? [True, True] Translation: X:232.10, Y:-48.84, Z:-4.41 [[ 9.69039501e-01 2.46632881e-01 1.16046183e-02 2.32097874e+02] [-2.46615554e-01 9.69108983e-01 -2.92358639e-03 -4.88434609e+01] [-1.19671924e-02 -2.88086841e-05 9.99928390e-01 -4.40563874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.27862385300003 meters Centerline goodness [0,1] 0.9990729561917903 Centerline is valid? [True, True] Translation: X:232.12, Y:-48.86, Z:-4.42 [[ 9.69735511e-01 2.43834716e-01 1.25566473e-02 2.32122968e+02] [-2.43814203e-01 9.69816803e-01 -3.16277874e-03 -4.88555316e+01] [-1.29488428e-02 5.56989482e-06 9.99916160e-01 -4.41542154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.30862385300003 meters Centerline goodness [0,1] 0.9989000323519897 Centerline is valid? [True, True] Translation: X:232.15, Y:-48.86, Z:-4.42 [[ 9.69979191e-01 2.42844029e-01 1.29284851e-02 2.32149557e+02] [-2.42822207e-01 9.70065347e-01 -3.25555252e-03 -4.88645159e+01] [-1.33320669e-02 1.84949224e-05 9.99911124e-01 -4.41511320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.33862385300003 meters Centerline goodness [0,1] 0.9992061619000622 Centerline is valid? [True, True] Translation: X:232.18, Y:-48.88, Z:-4.42 [[ 9.70458685e-01 2.40912948e-01 1.30725640e-02 2.32175792e+02] [-2.40890473e-01 9.70546727e-01 -3.29101975e-03 -4.88750474e+01] [-1.34803834e-02 4.47425858e-05 9.99909135e-01 -4.41513342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.36862385300003 meters Centerline goodness [0,1] 0.9989113961877522 Centerline is valid? [True, True] Translation: X:232.20, Y:-48.88, Z:-4.41 [[ 9.70619830e-01 2.40268089e-01 1.29765326e-02 2.32202197e+02] [-2.40245895e-01 9.70706569e-01 -3.26606894e-03 -4.88832403e+01] [-1.33811376e-02 5.25525851e-05 9.99910467e-01 -4.41228958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.39862385300003 meters Centerline goodness [0,1] 0.999192760334792 Centerline is valid? [True, True] Translation: X:232.23, Y:-48.89, Z:-4.41 [[ 9.70867780e-01 2.39231220e-01 1.35711611e-02 2.32229502e+02] [-2.39206857e-01 9.70962625e-01 -3.41481247e-03 -4.88932434e+01] [-1.39940199e-02 6.90166185e-05 9.99902077e-01 -4.41460063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.428623853 meters Centerline goodness [0,1] 0.9991422751152568 Centerline is valid? [True, True] Translation: X:232.26, Y:-48.90, Z:-4.42 [[ 9.71012876e-01 2.38633401e-01 1.37147562e-02 2.32256021e+02] [-2.38608468e-01 9.71109723e-01 -3.45033483e-03 -4.89017680e+01] [-1.41418982e-02 7.78625818e-05 9.99899995e-01 -4.41513566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.458623853 meters Centerline goodness [0,1] 0.9992270033496522 Centerline is valid? [True, True] Translation: X:232.28, Y:-48.91, Z:-4.42 [[ 9.71087033e-01 2.38358818e-01 1.32305842e-02 2.32283568e+02] [-2.38335600e-01 9.71177156e-01 -3.32772753e-03 -4.89101385e+01] [-1.36424343e-02 7.81938208e-05 9.99906935e-01 -4.41634856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.488623853 meters Centerline goodness [0,1] 0.9990479693619231 Centerline is valid? [True, True] Translation: X:232.31, Y:-48.92, Z:-4.42 [[ 9.71142685e-01 2.38126042e-01 1.33369337e-02 2.32309660e+02] [-2.38102435e-01 9.71234257e-01 -3.35393297e-03 -4.89185190e+01] [-1.37519457e-02 8.15910742e-05 9.99905434e-01 -4.41650860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.518623853 meters Centerline goodness [0,1] 0.9990132566819684 Centerline is valid? [True, True] Translation: X:232.34, Y:-48.93, Z:-4.42 [[ 9.71082112e-01 2.38361074e-01 1.35473464e-02 2.32336422e+02] [-2.38336753e-01 9.71176602e-01 -3.40589221e-03 -4.89252307e+01] [-1.39686980e-02 7.85704425e-05 9.99902430e-01 -4.41683727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.548623853 meters Centerline goodness [0,1] 0.9989012646228752 Centerline is valid? [True, True] Translation: X:232.37, Y:-48.93, Z:-4.42 [[ 9.70970187e-01 2.38819251e-01 1.35004177e-02 2.32365172e+02] [-2.38795155e-01 9.71064035e-01 -3.39315768e-03 -4.89306511e+01] [-1.39201215e-02 7.08206065e-05 9.99903108e-01 -4.41626466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.578623853 meters Centerline goodness [0,1] 0.9991189237976533 Centerline is valid? [True, True] Translation: X:232.39, Y:-48.94, Z:-4.42 [[ 9.70563414e-01 2.40514449e-01 1.26276885e-02 2.32393008e+02] [-2.40493515e-01 9.70645557e-01 -3.17358898e-03 -4.89368620e+01] [-1.30203038e-02 4.32921605e-05 9.99915231e-01 -4.42070427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.608623853 meters Centerline goodness [0,1] 0.9990123244728819 Centerline is valid? [True, True] Translation: X:232.42, Y:-48.94, Z:-4.42 [[ 9.70256573e-01 2.41778891e-01 1.20478498e-02 2.32420654e+02] [-2.41759935e-01 9.70331370e-01 -3.02763440e-03 -4.89414998e+01] [-1.24224247e-02 2.48947813e-05 9.99922838e-01 -4.42224350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.638623853 meters Centerline goodness [0,1] 0.9989251010405021 Centerline is valid? [True, True] Translation: X:232.45, Y:-48.95, Z:-4.42 [[ 9.69899295e-01 2.43225016e-01 1.17025070e-02 2.32448967e+02] [-2.43207246e-01 9.69969892e-01 -2.94007423e-03 -4.89456645e+01] [-1.20661790e-02 5.44142904e-06 9.99927201e-01 -4.42336692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.668623853 meters Centerline goodness [0,1] 0.9992669095927036 Centerline is valid? [True, True] Translation: X:232.48, Y:-48.95, Z:-4.42 [[ 9.69184328e-01 2.46066454e-01 1.15342530e-02 2.32478454e+02] [-2.46049403e-01 9.69252959e-01 -2.89690640e-03 -4.89471525e+01] [-1.18924403e-02 -3.03597756e-05 9.99929282e-01 -4.42266330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.69862385300002 meters Centerline goodness [0,1] 0.998959958398336 Centerline is valid? [True, True] Translation: X:232.51, Y:-48.95, Z:-4.42 [[ 9.68854889e-01 2.47375811e-01 1.11987799e-02 2.32506841e+02] [-2.47359830e-01 9.68919608e-01 -2.81213037e-03 -4.89515425e+01] [-1.15463705e-02 -4.55820548e-05 9.99933337e-01 -4.41753889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.72862385300002 meters Centerline goodness [0,1] 0.9992402178042294 Centerline is valid? [True, True] Translation: X:232.54, Y:-48.95, Z:-4.43 [[ 9.68518889e-01 2.48700554e-01 1.09176761e-02 2.32535420e+02] [-2.48685455e-01 9.68580420e-01 -2.74114486e-03 -4.89527577e+01] [-1.12563716e-02 -6.02166821e-05 9.99936643e-01 -4.42713257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.75862385300002 meters Centerline goodness [0,1] 0.9992402178042294 Centerline is valid? [True, True] Translation: X:232.56, Y:-48.96, Z:-4.43 [[ 9.68534543e-01 2.48639577e-01 1.09178659e-02 2.32562124e+02] [-2.48624482e-01 9.68596075e-01 -2.74038882e-03 -4.89593115e+01] [-1.12563712e-02 -6.02875165e-05 9.99936643e-01 -4.42764840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.78862385300002 meters Centerline goodness [0,1] 0.9990824317691995 Centerline is valid? [True, True] Translation: X:232.59, Y:-48.96, Z:-4.43 [[ 9.68446316e-01 2.48990257e-01 1.07510923e-02 2.32590507e+02] [-2.48975651e-01 9.68505988e-01 -2.69766071e-03 -4.89646930e+01] [-1.10841885e-02 -6.42206179e-05 9.99938566e-01 -4.42857673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.81862385300002 meters Centerline goodness [0,1] 0.9989268543956044 Centerline is valid? [True, True] Translation: X:232.62, Y:-48.97, Z:-4.43 [[ 9.68375614e-01 2.49255200e-01 1.09779517e-02 2.32617977e+02] [-2.49239991e-01 9.68437835e-01 -2.75429042e-03 -4.89719708e+01] [-1.13179849e-02 -6.89568910e-05 9.99935947e-01 -4.42621927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.84862385300002 meters Centerline goodness [0,1] 0.999140154772141 Centerline is valid? [True, True] Translation: X:232.65, Y:-48.98, Z:-4.43 [[ 9.68347654e-01 2.49357728e-01 1.11150148e-02 2.32645529e+02] [-2.49342154e-01 9.68411441e-01 -2.78785055e-03 -4.89760311e+01] [-1.14590795e-02 -7.18331752e-05 9.99934340e-01 -4.42590023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.87862385300002 meters Centerline goodness [0,1] 0.9986110517543485 Centerline is valid? [True, True] Translation: X:232.67, Y:-48.98, Z:-4.42 [[ 9.68363773e-01 2.49316526e-01 1.06241810e-02 2.32674335e+02] [-2.49302304e-01 9.68422049e-01 -2.66381425e-03 -4.89812493e+01] [-1.09528241e-02 -6.90915907e-05 9.99940014e-01 -4.41658599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.90862385300002 meters Centerline goodness [0,1] 0.9990701898542577 Centerline is valid? [True, True] Translation: X:232.70, Y:-48.99, Z:-4.43 [[ 9.68488372e-01 2.48799863e-01 1.13535084e-02 2.32702412e+02] [-2.48783594e-01 9.68554915e-01 -2.84606116e-03 -4.89881560e+01] [-1.17045960e-02 -6.81894822e-05 9.99931497e-01 -4.42613894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.93862385300002 meters Centerline goodness [0,1] 0.9991122658871928 Centerline is valid? [True, True] Translation: X:232.73, Y:-48.99, Z:-4.43 [[ 9.68643653e-01 2.48192663e-01 1.13962907e-02 2.32730338e+02] [-2.48176235e-01 9.68710689e-01 -2.85627628e-03 -4.89924799e+01] [-1.17486155e-02 -6.15746403e-05 9.99930981e-01 -4.42749062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.96862385300003 meters Centerline goodness [0,1] 0.9990964827363665 Centerline is valid? [True, True] Translation: X:232.76, Y:-49.00, Z:-4.43 [[ 9.68771122e-01 2.47697218e-01 1.13402696e-02 2.32757725e+02] [-2.47680925e-01 9.68837492e-01 -2.84149000e-03 -4.89982249e+01] [-1.16907075e-02 -5.60150000e-05 9.99931660e-01 -4.42867263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.99862385300003 meters Centerline goodness [0,1] 0.999019774974429 Centerline is valid? [True, True] Translation: X:232.79, Y:-49.00, Z:-4.43 [[ 9.69042578e-01 2.46622204e-01 1.15745871e-02 2.32786167e+02] [-2.46605164e-01 9.69111700e-01 -2.89937893e-03 -4.90042946e+01] [-1.19321190e-02 -4.47313133e-05 9.99928809e-01 -4.42836672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.02862385300003 meters Centerline goodness [0,1] 0.9991692229038854 Centerline is valid? [True, True] Translation: X:232.81, Y:-49.01, Z:-4.43 [[ 9.69222952e-01 2.45892315e-01 1.19933143e-02 2.32813771e+02] [-2.45873971e-01 9.69297152e-01 -3.00371800e-03 -4.90106066e+01] [-1.23636766e-02 -3.75713825e-05 9.99923566e-01 -4.42849762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.05862385300003 meters Centerline goodness [0,1] 0.9988444501508634 Centerline is valid? [True, True] Translation: X:232.84, Y:-49.02, Z:-4.42 [[ 9.69444104e-01 2.45036061e-01 1.16386595e-02 2.32841474e+02] [-2.45018731e-01 9.69513965e-01 -2.91430209e-03 -4.90165231e+01] [-1.19979520e-02 -2.64366110e-05 9.99928022e-01 -4.41970470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.08862385300003 meters Centerline goodness [0,1] 0.9992311799252536 Centerline is valid? [True, True] Translation: X:232.87, Y:-49.02, Z:-4.43 [[ 9.69975900e-01 2.42909986e-01 1.18950843e-02 2.32869221e+02] [-2.42891737e-01 9.70048833e-01 -2.97744949e-03 -4.90247012e+01] [-1.22620649e-02 -1.16344629e-06 9.99924818e-01 -4.42987151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.11862385300003 meters Centerline goodness [0,1] 0.9992530624439797 Centerline is valid? [True, True] Translation: X:232.90, Y:-49.03, Z:-4.43 [[ 9.70238967e-01 2.41867561e-01 1.16803321e-02 2.32896001e+02] [-2.41849896e-01 9.70309272e-01 -2.92320414e-03 -4.90316688e+01] [-1.20405628e-02 1.13194707e-05 9.99927510e-01 -4.43137061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.14862385300003 meters Centerline goodness [0,1] 0.9991615067079463 Centerline is valid? [True, True] Translation: X:232.92, Y:-49.04, Z:-4.43 [[ 9.70485760e-01 2.40882474e-01 1.15335511e-02 2.32924348e+02] [-2.40865189e-01 9.70554292e-01 -2.88568630e-03 -4.90386656e+01] [-1.18890488e-02 2.24864818e-05 9.99929323e-01 -4.43133014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.178623853 meters Centerline goodness [0,1] 0.9991144134609153 Centerline is valid? [True, True] Translation: X:232.95, Y:-49.05, Z:-4.43 [[ 9.71004125e-01 2.38808562e-01 1.10208881e-02 2.32950859e+02] [-2.38792651e-01 9.71066665e-01 -2.75703632e-03 -4.90453936e+01] [-1.13604209e-02 4.53865648e-05 9.99935467e-01 -4.43347936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.208623853 meters Centerline goodness [0,1] 0.9995058333154287 Centerline is valid? [True, True] Translation: X:232.98, Y:-49.05, Z:-4.44 [[ 9.71286182e-01 2.37660021e-01 1.09939824e-02 2.32977345e+02] [-2.37644123e-01 9.71348398e-01 -2.74951575e-03 -4.90529872e+01] [-1.13324372e-02 5.79113513e-05 9.99935784e-01 -4.43524171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.238623853 meters Centerline goodness [0,1] 0.9988799620910246 Centerline is valid? [True, True] Translation: X:233.01, Y:-49.06, Z:-4.42 [[ 9.71762579e-01 2.35728666e-01 1.04635905e-02 2.33005733e+02] [-2.35714161e-01 9.71818908e-01 -2.61607806e-03 -4.90588390e+01] [-1.07853997e-02 7.57903033e-05 9.99941833e-01 -4.42403426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.268623853 meters Centerline goodness [0,1] 0.999359316604378 Centerline is valid? [True, True] Translation: X:233.03, Y:-49.07, Z:-4.43 [[ 9.71977463e-01 2.34807654e-01 1.11882407e-02 2.33033513e+02] [-2.34791017e-01 9.72041850e-01 -2.79663207e-03 -4.90662652e+01] [-1.15321088e-02 9.13649410e-05 9.99933499e-01 -4.43407116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.298623853 meters Centerline goodness [0,1] 0.9994175888177053 Centerline is valid? [True, True] Translation: X:233.06, Y:-49.07, Z:-4.43 [[ 9.72128160e-01 2.34177946e-01 1.12929416e-02 2.33062049e+02] [-2.34160960e-01 9.72193746e-01 -2.82223792e-03 -4.90723412e+01] [-1.16398330e-02 9.92109146e-05 9.99932250e-01 -4.43422139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.328623853 meters Centerline goodness [0,1] 0.999013827848644 Centerline is valid? [True, True] Translation: X:233.09, Y:-49.08, Z:-4.43 [[ 9.72380586e-01 2.33132979e-01 1.11807972e-02 2.33090435e+02] [-2.33116266e-01 9.72444858e-01 -2.79365882e-03 -4.90770493e+01] [-1.15240027e-02 1.10073911e-04 9.99933590e-01 -4.42596315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.358623853 meters Centerline goodness [0,1] 0.9994388812154696 Centerline is valid? [True, True] Translation: X:233.12, Y:-49.08, Z:-4.43 [[ 9.72479268e-01 2.32686558e-01 1.18759958e-02 2.33118163e+02] [-2.32667677e-01 9.72551773e-01 -2.96671693e-03 -4.90835715e+01] [-1.22403360e-02 1.21910344e-04 9.99925077e-01 -4.43393092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.388623853 meters Centerline goodness [0,1] 0.9994861693928235 Centerline is valid? [True, True] Translation: X:233.15, Y:-49.09, Z:-4.43 [[ 9.72603379e-01 2.32152681e-01 1.21573021e-02 2.33145277e+02] [-2.32132860e-01 9.72679349e-01 -3.03643072e-03 -4.90899825e+01] [-1.25300722e-02 1.31133480e-04 9.99921487e-01 -4.43422301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.418623853 meters Centerline goodness [0,1] 0.999438092974001 Centerline is valid? [True, True] Translation: X:233.17, Y:-49.09, Z:-4.44 [[ 9.72754509e-01 2.31511020e-01 1.23009142e-02 2.33172506e+02] [-2.31490687e-01 9.72832271e-01 -3.07151063e-03 -4.90940999e+01] [-1.26778149e-02 1.40278736e-04 9.99919623e-01 -4.43504690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.44862385300002 meters Centerline goodness [0,1] 0.9992415377280804 Centerline is valid? [True, True] Translation: X:233.20, Y:-49.10, Z:-4.44 [[ 9.72843041e-01 2.31147181e-01 1.21407340e-02 2.33200317e+02] [-2.31127355e-01 9.72918784e-01 -3.03070985e-03 -4.90998704e+01] [-1.25124882e-02 1.42349246e-04 9.99921706e-01 -4.43520876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.47862385300002 meters Centerline goodness [0,1] 0.9991515837104072 Centerline is valid? [True, True] Translation: X:233.23, Y:-49.11, Z:-4.44 [[ 9.73029419e-01 2.30341482e-01 1.25120520e-02 2.33227272e+02] [-2.30320365e-01 9.73109849e-01 -3.12283048e-03 -4.91073736e+01] [-1.28949184e-02 1.56825553e-04 9.99916845e-01 -4.43602099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.50862385300002 meters Centerline goodness [0,1] 0.9990835073958821 Centerline is valid? [True, True] Translation: X:233.26, Y:-49.11, Z:-4.43 [[ 9.73291313e-01 2.29227697e-01 1.25969584e-02 2.33255321e+02] [-2.29206210e-01 9.73372813e-01 -3.14318819e-03 -4.91132347e+01] [-1.29820426e-02 1.71936662e-04 9.99915715e-01 -4.43478698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.53862385300002 meters Centerline goodness [0,1] 0.9989106991133091 Centerline is valid? [True, True] Translation: X:233.28, Y:-49.12, Z:-4.43 [[ 9.73487078e-01 2.28381402e-01 1.28391499e-02 2.33284269e+02] [-2.28359016e-01 9.73571723e-01 -3.20296680e-03 -4.91182123e+01] [-1.32313313e-02 1.86111149e-04 9.99912445e-01 -4.43430111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.56862385300002 meters Centerline goodness [0,1] 0.99888512499464 Centerline is valid? [True, True] Translation: X:233.31, Y:-49.13, Z:-4.44 [[ 9.73836680e-01 2.26902586e-01 1.25434368e-02 2.33311347e+02] [-2.26881104e-01 9.73917438e-01 -3.12863300e-03 -4.91255394e+01] [-1.29261668e-02 2.00908776e-04 9.99916433e-01 -4.43591468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.59862385300002 meters Centerline goodness [0,1] 0.9988312194277305 Centerline is valid? [True, True] Translation: X:233.34, Y:-49.13, Z:-4.44 [[ 9.74043269e-01 2.26006808e-01 1.26740970e-02 2.33339539e+02] [-2.25984813e-01 9.74125699e-01 -3.16031215e-03 -4.91334785e+01] [-1.30604157e-02 2.14127337e-04 9.99914686e-01 -4.43661808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.62862385300002 meters Centerline goodness [0,1] 0.9989006251347273 Centerline is valid? [True, True] Translation: X:233.37, Y:-49.14, Z:-4.44 [[ 9.74293700e-01 2.24945329e-01 1.23039005e-02 2.33366759e+02] [-2.24924522e-01 9.74371361e-01 -3.06747688e-03 -4.91412323e+01] [-1.26785829e-02 2.21174452e-04 9.99919599e-01 -4.43758928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.65862385300002 meters Centerline goodness [0,1] 0.9987881935428027 Centerline is valid? [True, True] Translation: X:233.40, Y:-49.15, Z:-4.44 [[ 9.74506825e-01 2.24027612e-01 1.21686938e-02 2.33395124e+02] [-2.24007199e-01 9.74582770e-01 -3.03293487e-03 -4.91484811e+01] [-1.25388605e-02 2.29740718e-04 9.99921359e-01 -4.43801495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.68862385300002 meters Centerline goodness [0,1] 0.9987221139267923 Centerline is valid? [True, True] Translation: X:233.42, Y:-49.16, Z:-4.44 [[ 9.74936595e-01 2.22144843e-01 1.22598368e-02 2.33421974e+02] [-2.22123983e-01 9.75013643e-01 -3.05489632e-03 -4.91585923e+01] [-1.26321376e-02 2.55126438e-04 9.99920179e-01 -4.43948141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.71862385300003 meters Centerline goodness [0,1] 0.9985692607847387 Centerline is valid? [True, True] Translation: X:233.45, Y:-49.17, Z:-4.44 [[ 9.75090744e-01 2.21456512e-01 1.24520901e-02 2.33450120e+02] [-2.21434941e-01 9.75170212e-01 -3.10250428e-03 -4.91665650e+01] [-1.28299771e-02 2.67895372e-04 9.99917657e-01 -4.43982439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.74862385300003 meters Centerline goodness [0,1] 0.9985981106845533 Centerline is valid? [True, True] Translation: X:233.48, Y:-49.17, Z:-4.44 [[ 9.75222011e-01 2.20892476e-01 1.21878628e-02 2.33478441e+02] [-2.20871773e-01 9.75298130e-01 -3.03609423e-03 -4.91729497e+01] [-1.25574502e-02 2.68911040e-04 9.99921116e-01 -4.43995614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.77862385300003 meters Centerline goodness [0,1] 0.9988022671372045 Centerline is valid? [True, True] Translation: X:233.50, Y:-49.18, Z:-4.44 [[ 9.75246806e-01 2.20801258e-01 1.18520894e-02 2.33504881e+02] [-2.20781680e-01 9.75318787e-01 -2.95195696e-03 -4.91812433e+01] [-1.22113612e-02 2.62162398e-04 9.99925404e-01 -4.44176134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.80862385300003 meters Centerline goodness [0,1] 0.9982348509310085 Centerline is valid? [True, True] Translation: X:233.53, Y:-49.19, Z:-4.43 [[ 9.75365710e-01 2.20322537e-01 1.09413054e-02 2.33533101e+02] [-2.20305830e-01 9.75427044e-01 -2.72441112e-03 -4.91885276e+01] [-1.12726944e-02 2.46863824e-04 9.99936431e-01 -4.43461286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.83862385300003 meters Centerline goodness [0,1] 0.9986098338216738 Centerline is valid? [True, True] Translation: X:233.56, Y:-49.20, Z:-4.44 [[ 9.75493952e-01 2.19732432e-01 1.13669823e-02 2.33559600e+02] [-2.19714366e-01 9.75560141e-01 -2.82989546e-03 -4.91970297e+01] [-1.17109947e-02 2.63056594e-04 9.99931389e-01 -4.44371392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.86862385300003 meters Centerline goodness [0,1] 0.9986172924858489 Centerline is valid? [True, True] Translation: X:233.59, Y:-49.20, Z:-4.44 [[ 9.75594280e-01 2.19257280e-01 1.19182633e-02 2.33587519e+02] [-2.19237394e-01 9.75667037e-01 -2.96628638e-03 -4.92037430e+01] [-1.22786365e-02 2.80963042e-04 9.99924575e-01 -4.44309706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.89862385300003 meters Centerline goodness [0,1] 0.9986301076649757 Centerline is valid? [True, True] Translation: X:233.62, Y:-49.21, Z:-4.44 [[ 9.75714770e-01 2.18714770e-01 1.20223271e-02 2.33615921e+02] [-2.18694501e-01 9.75788791e-01 -2.99159498e-03 -4.92109582e+01] [-1.23855581e-02 2.89726578e-04 9.99923254e-01 -4.44286862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.928623853 meters Centerline goodness [0,1] 0.9985135397143411 Centerline is valid? [True, True] Translation: X:233.64, Y:-49.22, Z:-4.44 [[ 9.76034061e-01 2.17272090e-01 1.22617654e-02 2.33642347e+02] [-2.17250900e-01 9.76111029e-01 -3.05055293e-03 -4.92215699e+01] [-1.26316445e-02 3.13563977e-04 9.99920168e-01 -4.44361953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.958623853 meters Centerline goodness [0,1] 0.9985977780174738 Centerline is valid? [True, True] Translation: X:233.67, Y:-49.23, Z:-4.44 [[ 9.76277751e-01 2.16188558e-01 1.20108441e-02 2.33669965e+02] [-2.16168153e-01 9.76351579e-01 -2.98740082e-03 -4.92321017e+01] [-1.23726485e-02 3.20170954e-04 9.99923405e-01 -4.44481096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.988623853 meters Centerline goodness [0,1] 0.9984187020535504 Centerline is valid? [True, True] Translation: X:233.70, Y:-49.25, Z:-4.45 [[ 9.76790071e-01 2.13881833e-01 1.16498412e-02 2.33698342e+02] [-2.13862477e-01 9.76859482e-01 -2.89717974e-03 -4.92455934e+01] [-1.19999119e-02 3.38472506e-04 9.99927941e-01 -4.44549522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.018623853 meters Centerline goodness [0,1] 0.9984224061547771 Centerline is valid? [True, True] Translation: X:233.73, Y:-49.25, Z:-4.45 [[ 9.77020092e-01 2.12835203e-01 1.15289581e-02 2.33728869e+02] [-2.12816177e-01 9.77088049e-01 -2.86694621e-03 -4.92523342e+01] [-1.18749942e-02 3.47515268e-04 9.99929429e-01 -4.44531667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.048623853 meters Centerline goodness [0,1] 0.9983652498832322 Centerline is valid? [True, True] Translation: X:233.76, Y:-49.27, Z:-4.45 [[ 9.77111803e-01 2.12413292e-01 1.15376770e-02 2.33756950e+02] [-2.12394203e-01 9.77179855e-01 -2.86949679e-03 -4.92654891e+01] [-1.18839048e-02 3.53283477e-04 9.99929322e-01 -4.44714042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.078623853 meters Centerline goodness [0,1] 0.9984464343510627 Centerline is valid? [True, True] Translation: X:233.79, Y:-49.27, Z:-4.44 [[ 9.77119001e-01 2.12347866e-01 1.21178296e-02 2.33787794e+02] [-2.12326803e-01 9.77194067e-01 -3.01387004e-03 -4.92713488e+01] [-1.24814601e-02 3.71969666e-04 9.99922034e-01 -4.44499425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.108623853 meters Centerline goodness [0,1] 0.9984160958904109 Centerline is valid? [True, True] Translation: X:233.82, Y:-49.29, Z:-4.45 [[ 9.76983541e-01 2.12961869e-01 1.22638612e-02 2.33816490e+02] [-2.12940350e-01 9.77060442e-01 -3.04967163e-03 -4.92856041e+01] [-1.26319974e-02 3.68008094e-04 9.99920145e-01 -4.44654208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.138623853 meters Centerline goodness [0,1] 0.9983782514990505 Centerline is valid? [True, True] Translation: X:233.84, Y:-49.30, Z:-4.45 [[ 9.76917219e-01 2.13272183e-01 1.21541533e-02 2.33844659e+02] [-2.13251034e-01 9.76992755e-01 -3.02534710e-03 -4.92968739e+01] [-1.25197421e-02 3.63627914e-04 9.99921559e-01 -4.44685054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.168623853 meters Centerline goodness [0,1] 0.9982875246168337 Centerline is valid? [True, True] Translation: X:233.87, Y:-49.31, Z:-4.45 [[ 9.76836422e-01 2.13637851e-01 1.22259267e-02 2.33873978e+02] [-2.13616480e-01 9.76912861e-01 -3.04329101e-03 -4.93074416e+01] [-1.25938272e-02 3.61138080e-04 9.99920629e-01 -4.44729250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.19862385300002 meters Centerline goodness [0,1] 0.9982855060971689 Centerline is valid? [True, True] Translation: X:233.90, Y:-49.32, Z:-4.45 [[ 9.76800622e-01 2.13794248e-01 1.23517362e-02 2.33902787e+02] [-2.13772441e-01 9.76878645e-01 -3.07497782e-03 -4.93177403e+01] [-1.27235599e-02 3.63179440e-04 9.99918986e-01 -4.44763682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.22862385300002 meters Centerline goodness [0,1] 0.9986585022827098 Centerline is valid? [True, True] Translation: X:233.94, Y:-49.32, Z:-4.45 [[ 9.76566152e-01 2.14818381e-01 1.31001452e-02 2.33935076e+02] [-2.14793945e-01 9.76653944e-01 -3.26119820e-03 -4.93235212e+01] [-1.34948738e-02 3.70943897e-04 9.99908871e-01 -4.44501678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.25862385300002 meters Centerline goodness [0,1] 0.9987160235903463 Centerline is valid? [True, True] Translation: X:233.96, Y:-49.33, Z:-4.45 [[ 9.76290338e-01 2.16037753e-01 1.35964940e-02 2.33964978e+02] [-2.16011543e-01 9.76384941e-01 -3.38520637e-03 -4.93326979e+01] [-1.40067444e-02 3.67944630e-04 9.99901833e-01 -4.44525597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.28862385300002 meters Centerline goodness [0,1] 0.9984515463030668 Centerline is valid? [True, True] Translation: X:233.99, Y:-49.34, Z:-4.45 [[ 9.75965915e-01 2.17492764e-01 1.36905066e-02 2.33994012e+02] [-2.17466297e-01 9.76061870e-01 -3.41118193e-03 -4.93435085e+01] [-1.41046889e-02 3.51973510e-04 9.99900462e-01 -4.44612056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.31862385300002 meters Centerline goodness [0,1] 0.9986781372570265 Centerline is valid? [True, True] Translation: X:234.03, Y:-49.35, Z:-4.45 [[ 9.75184544e-01 2.20979938e-01 1.35267067e-02 2.34025021e+02] [-2.20954411e-01 9.75278308e-01 -3.37206951e-03 -4.93479011e+01] [-1.39374633e-02 2.99604561e-04 9.99902824e-01 -4.44693451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.34862385300002 meters Centerline goodness [0,1] 0.998700080978562 Centerline is valid? [True, True] Translation: X:234.05, Y:-49.36, Z:-4.45 [[ 9.74689245e-01 2.23198582e-01 1.27777020e-02 2.34054808e+02] [-2.23175991e-01 9.74772963e-01 -3.18565020e-03 -4.93557333e+01] [-1.31663911e-02 2.53342680e-04 9.99913287e-01 -4.44892329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.37862385300002 meters Centerline goodness [0,1] 0.9987937273823885 Centerline is valid? [True, True] Translation: X:234.08, Y:-49.36, Z:-4.45 [[ 9.73573928e-01 2.28072247e-01 1.16986010e-02 2.34084616e+02] [-2.28053655e-01 9.73644196e-01 -2.91721131e-03 -4.93606933e+01] [-1.20556099e-02 1.72212155e-04 9.99927314e-01 -4.45162122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.40862385300002 meters Centerline goodness [0,1] 0.9989113264739786 Centerline is valid? [True, True] Translation: X:234.11, Y:-49.37, Z:-4.45 [[ 9.72964267e-01 2.30678051e-01 1.13213064e-02 2.34113060e+02] [-2.30660818e-01 9.73030122e-01 -2.82290109e-03 -4.93665456e+01] [-1.16671535e-02 1.35200104e-04 9.99931927e-01 -4.45334024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.43862385300002 meters Centerline goodness [0,1] 0.9988824654531387 Centerline is valid? [True, True] Translation: X:234.14, Y:-49.37, Z:-4.45 [[ 9.72302961e-01 2.33457055e-01 1.11693940e-02 2.34142771e+02] [-2.33440470e-01 9.72367108e-01 -2.78453044e-03 -4.93708675e+01] [-1.15108196e-02 1.00018606e-04 9.99933743e-01 -4.45343435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.46862385300003 meters Centerline goodness [0,1] 0.9988831615120275 Centerline is valid? [True, True] Translation: X:234.17, Y:-49.37, Z:-4.45 [[ 9.71643163e-01 2.36198918e-01 1.09378077e-02 2.34171018e+02] [-2.36183188e-01 9.71704722e-01 -2.72671325e-03 -4.93749803e+01] [-1.12723661e-02 6.60659965e-05 9.99936463e-01 -4.45391874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.49862385300003 meters Centerline goodness [0,1] 0.9989911348659497 Centerline is valid? [True, True] Translation: X:234.20, Y:-49.38, Z:-4.45 [[ 9.70360547e-01 2.41401743e-01 1.12074928e-02 2.34199071e+02] [-2.41385579e-01 9.70425267e-01 -2.79345245e-03 -4.93761346e+01] [-1.15503785e-02 5.32890098e-06 9.99933292e-01 -4.45428977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.52862385300003 meters Centerline goodness [0,1] 0.9989946524064172 Centerline is valid? [True, True] Translation: X:234.23, Y:-49.38, Z:-4.45 [[ 9.69712386e-01 2.43969760e-01 1.16895418e-02 2.34227398e+02] [-2.43952373e-01 9.69782839e-01 -2.91274909e-03 -4.93803932e+01] [-1.20469398e-02 -2.71626084e-05 9.99927433e-01 -4.45383863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.55862385300003 meters Centerline goodness [0,1] 0.9989850565776972 Centerline is valid? [True, True] Translation: X:234.26, Y:-49.38, Z:-4.45 [[ 9.68489871e-01 2.48706719e-01 1.31277658e-02 2.34256908e+02] [-2.48685235e-01 9.68578834e-01 -3.27037498e-03 -4.93823686e+01] [-1.35286404e-02 -9.73564911e-05 9.99908479e-01 -4.45174458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.58862385300003 meters Centerline goodness [0,1] 0.9992480233757305 Centerline is valid? [True, True] Translation: X:234.29, Y:-49.39, Z:-4.45 [[ 9.67903341e-01 2.50967247e-01 1.33627443e-02 2.34285070e+02] [-2.50945211e-01 9.67995570e-01 -3.32832992e-03 -4.93858454e+01] [-1.37703791e-02 -1.31815033e-04 9.99905175e-01 -4.45215617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.61862385300003 meters Centerline goodness [0,1] 0.9992098238120662 Centerline is valid? [True, True] Translation: X:234.31, Y:-49.39, Z:-4.45 [[ 9.66727391e-01 2.55467227e-01 1.32154301e-02 2.34314659e+02] [-2.55446108e-01 9.66817696e-01 -3.29055245e-03 -4.93864428e+01] [-1.36175400e-02 -1.94763012e-04 9.99907258e-01 -4.45304288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.64862385300003 meters Centerline goodness [0,1] 0.9992098238120662 Centerline is valid? [True, True] Translation: X:234.34, Y:-49.39, Z:-4.45 [[ 9.66744468e-01 2.55402591e-01 1.32155008e-02 2.34341375e+02] [-2.55381470e-01 9.66834773e-01 -3.29026870e-03 -4.93929528e+01] [-1.36175488e-02 -1.94144951e-04 9.99907258e-01 -4.45355881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.678623853 meters Centerline goodness [0,1] 0.9990567857831893 Centerline is valid? [True, True] Translation: X:234.37, Y:-49.40, Z:-4.45 [[ 9.66233488e-01 2.57332972e-01 1.31372469e-02 2.34369064e+02] [-2.57312292e-01 9.66322768e-01 -3.26981566e-03 -4.93987999e+01] [-1.35362522e-02 -2.20969735e-04 9.99908356e-01 -4.45366380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.708623853 meters Centerline goodness [0,1] 0.9993754845378585 Centerline is valid? [True, True] Translation: X:234.40, Y:-49.40, Z:-4.45 [[ 9.65793161e-01 2.58992011e-01 1.29115481e-02 2.34397990e+02] [-2.58972195e-01 9.65879434e-01 -3.21279052e-03 -4.94029841e+01] [-1.33030858e-02 -2.40840836e-04 9.99911481e-01 -4.45419929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.738623853 meters Centerline goodness [0,1] 0.9990921078230043 Centerline is valid? [True, True] Translation: X:234.43, Y:-49.40, Z:-4.46 [[ 9.65421097e-01 2.60368620e-01 1.30494477e-02 2.34426618e+02] [-2.60348512e-01 9.65509250e-01 -3.24650972e-03 -4.94045327e+01] [-1.34446517e-02 -2.63155310e-04 9.99909582e-01 -4.45544612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.768623853 meters Centerline goodness [0,1] 0.9990295658924759 Centerline is valid? [True, True] Translation: X:234.45, Y:-49.41, Z:-4.46 [[ 9.64833853e-01 2.62529933e-01 1.31783917e-02 2.34454984e+02] [-2.62509639e-01 9.64923803e-01 -3.27770498e-03 -4.94093207e+01] [-1.35766395e-02 -2.97014126e-04 9.99907789e-01 -4.45509488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.798623853 meters Centerline goodness [0,1] 0.9991381724947752 Centerline is valid? [True, True] Translation: X:234.48, Y:-49.41, Z:-4.46 [[ 9.64662900e-01 2.63148308e-01 1.33587909e-02 2.34482632e+02] [-2.63127522e-01 9.64755343e-01 -3.32196245e-03 -4.94139298e+01] [-1.37621337e-02 -3.10491619e-04 9.99905249e-01 -4.45500925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.828623853 meters Centerline goodness [0,1] 0.9989060254402712 Centerline is valid? [True, True] Translation: X:234.51, Y:-49.42, Z:-4.46 [[ 9.64571903e-01 2.63472180e-01 1.35444948e-02 2.34510502e+02] [-2.63450856e-01 9.64666941e-01 -3.36730185e-03 -4.94164800e+01] [-1.39531168e-02 -3.20304003e-04 9.99902599e-01 -4.45581340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.858623853 meters Centerline goodness [0,1] 0.9988069876438006 Centerline is valid? [True, True] Translation: X:234.54, Y:-49.42, Z:-4.45 [[ 9.64595335e-01 2.63340462e-01 1.44097744e-02 2.34538648e+02] [-2.63316326e-01 9.64702900e-01 -3.58146946e-03 -4.94206158e+01] [-1.48442969e-02 -3.39660102e-04 9.99889760e-01 -4.45461225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.888623853 meters Centerline goodness [0,1] 0.9988621481783636 Centerline is valid? [True, True] Translation: X:234.57, Y:-49.43, Z:-4.45 [[ 9.64705249e-01 2.62908991e-01 1.49212755e-02 2.34565449e+02] [-2.62883073e-01 9.64820576e-01 -3.70769300e-03 -4.94264860e+01] [-1.53711394e-02 -3.45719847e-04 9.99881797e-01 -4.45430899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.918623853 meters Centerline goodness [0,1] 0.998815472088215 Centerline is valid? [True, True] Translation: X:234.59, Y:-49.44, Z:-4.45 [[ 9.65075138e-01 2.61516957e-01 1.54550737e-02 2.34592902e+02] [-2.61488988e-01 9.65198823e-01 -3.83937991e-03 -4.94354332e+01] [-1.59212819e-02 -3.36041493e-04 9.99873192e-01 -4.45394680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.94862385300002 meters Centerline goodness [0,1] 0.9986434692735024 Centerline is valid? [True, True] Translation: X:234.62, Y:-49.44, Z:-4.45 [[ 9.65319899e-01 2.60620911e-01 1.53046747e-02 2.34621043e+02] [-2.60593382e-01 9.65441163e-01 -3.80129901e-03 -4.94420765e+01] [-1.57664609e-02 -3.18827361e-04 9.99875651e-01 -4.45458026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.97862385300002 meters Centerline goodness [0,1] 0.9985790561488116 Centerline is valid? [True, True] Translation: X:234.65, Y:-49.45, Z:-4.46 [[ 9.65553581e-01 2.59781051e-01 1.48353510e-02 2.34649296e+02] [-2.59755096e-01 9.65667499e-01 -3.68404953e-03 -4.94488470e+01] [-1.52830625e-02 -2.96410802e-04 9.99883163e-01 -4.45569266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.00862385300002 meters Centerline goodness [0,1] 0.998907642220699 Centerline is valid? [True, True] Translation: X:234.68, Y:-49.46, Z:-4.46 [[ 9.66235076e-01 2.57302673e-01 1.36055889e-02 2.34676309e+02] [-2.57280604e-01 9.66330833e-01 -3.37814037e-03 -4.94552760e+01] [-1.40167046e-02 -2.36376430e-04 9.99901733e-01 -4.45902317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.03862385300002 meters Centerline goodness [0,1] 0.9990162111296462 Centerline is valid? [True, True] Translation: X:234.70, Y:-49.46, Z:-4.46 [[ 9.66660264e-01 2.55731904e-01 1.30048735e-02 2.34702958e+02] [-2.55711607e-01 9.66747719e-01 -3.22839782e-03 -4.94619307e+01] [-1.33980361e-02 -2.04733201e-04 9.99910221e-01 -4.46086600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.06862385300002 meters Centerline goodness [0,1] 0.9990235222636924 Centerline is valid? [True, True] Translation: X:234.73, Y:-49.47, Z:-4.46 [[ 9.67390861e-01 2.52974298e-01 1.26066080e-02 2.34730894e+02] [-2.52955008e-01 9.67472986e-01 -3.12823530e-03 -4.94687325e+01] [-1.29879158e-02 -1.62678398e-04 9.99915640e-01 -4.46276307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.09862385300002 meters Centerline goodness [0,1] 0.9989330146603785 Centerline is valid? [True, True] Translation: X:234.76, Y:-49.47, Z:-4.47 [[ 9.67713702e-01 2.51751177e-01 1.23099746e-02 2.34758087e+02] [-2.51732689e-01 9.67791984e-01 -3.05434946e-03 -4.94739987e+01] [-1.26824308e-02 -1.43087182e-04 9.99919565e-01 -4.46521798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.12862385300002 meters Centerline goodness [0,1] 0.9984344842376153 Centerline is valid? [True, True] Translation: X:234.79, Y:-49.48, Z:-4.46 [[ 9.68161288e-01 2.50056020e-01 1.16493842e-02 2.34785927e+02] [-2.50039348e-01 9.68231364e-01 -2.88974372e-03 -4.94827170e+01] [-1.20018969e-02 -1.15066420e-04 9.99927968e-01 -4.45622606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.15862385300002 meters Centerline goodness [0,1] 0.998963357874249 Centerline is valid? [True, True] Translation: X:234.81, Y:-49.49, Z:-4.46 [[ 9.68445484e-01 2.48900498e-01 1.27234501e-02 2.34812954e+02] [-2.48880520e-01 9.68529055e-01 -3.15550119e-03 -4.94905684e+01] [-1.31084369e-02 -1.10687998e-04 9.99914075e-01 -4.46467461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.18862385300002 meters Centerline goodness [0,1] 0.9989636410743588 Centerline is valid? [True, True] Translation: X:234.84, Y:-49.50, Z:-4.46 [[ 9.69261433e-01 2.45664891e-01 1.34549748e-02 2.34840473e+02] [-2.45642247e-01 9.69354814e-01 -3.33620600e-03 -4.95008417e+01] [-1.38622333e-02 -7.14544355e-05 9.99903912e-01 -4.46265126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.21862385300003 meters Centerline goodness [0,1] 0.9989416846652268 Centerline is valid? [True, True] Translation: X:234.87, Y:-49.51, Z:-4.46 [[ 9.69677494e-01 2.44013567e-01 1.35254035e-02 2.34867921e+02] [-2.43990531e-01 9.69771817e-01 -3.35322051e-03 -4.95084705e+01] [-1.39347864e-02 -4.85279134e-05 9.99902905e-01 -4.46292043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.24862385300003 meters Centerline goodness [0,1] 0.9987441266266808 Centerline is valid? [True, True] Translation: X:234.90, Y:-49.52, Z:-4.46 [[ 9.70578387e-01 2.40393817e-01 1.37261193e-02 2.34895319e+02] [-2.40369740e-01 9.70675441e-01 -3.40229103e-03 -4.95178450e+01] [-1.41414966e-02 2.84641607e-06 9.99900004e-01 -4.46285218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.27862385300003 meters Centerline goodness [0,1] 0.999021734507252 Centerline is valid? [True, True] Translation: X:234.92, Y:-49.53, Z:-4.47 [[ 9.71018242e-01 2.38619739e-01 1.35718131e-02 2.34922116e+02] [-2.38596036e-01 9.71113083e-01 -3.36342433e-03 -4.95264124e+01] [-1.39823447e-02 2.77655687e-05 9.99902242e-01 -4.46546592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.30862385300003 meters Centerline goodness [0,1] 0.9991257809334954 Centerline is valid? [True, True] Translation: X:234.95, Y:-49.54, Z:-4.47 [[ 9.71572668e-01 2.36394652e-01 1.28108812e-02 2.34949825e+02] [-2.36373351e-01 9.71657123e-01 -3.17389961e-03 -4.95354528e+01] [-1.31980768e-02 5.55232039e-05 9.99912900e-01 -4.46692875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.33862385300003 meters Centerline goodness [0,1] 0.999051192478544 Centerline is valid? [True, True] Translation: X:234.98, Y:-49.54, Z:-4.47 [[ 9.71760974e-01 2.35645475e-01 1.23215168e-02 2.34978133e+02] [-2.35625716e-01 9.71839085e-01 -3.05215204e-03 -4.95415980e+01] [-1.26937574e-02 6.26960271e-05 9.99919429e-01 -4.46744122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.36862385300003 meters Centerline goodness [0,1] 0.9991420543508569 Centerline is valid? [True, True] Translation: X:235.00, Y:-49.55, Z:-4.47 [[ 9.71826469e-01 2.35398909e-01 1.18602996e-02 2.35004886e+02] [-2.35380590e-01 9.71898837e-01 -2.93742582e-03 -4.95484413e+01] [-1.22184782e-02 6.29838495e-05 9.99925350e-01 -4.46968226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.39862385300003 meters Centerline goodness [0,1] 0.9991173684663739 Centerline is valid? [True, True] Translation: X:235.03, Y:-49.55, Z:-4.47 [[ 9.71563776e-01 2.36522574e-01 1.09955436e-02 2.35033125e+02] [-2.36506906e-01 9.71625993e-01 -2.72275743e-03 -4.95502307e+01] [-1.13275495e-02 4.48104985e-05 9.99935840e-01 -4.47049976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.428623853 meters Centerline goodness [0,1] 0.9990352456907641 Centerline is valid? [True, True] Translation: X:235.06, Y:-49.55, Z:-4.47 [[ 9.71268514e-01 2.37733832e-01 1.09589250e-02 2.35061050e+02] [-2.37718355e-01 9.71330337e-01 -2.71283783e-03 -4.95539876e+01] [-1.12896696e-02 2.97563535e-05 9.99936269e-01 -4.47162165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.458623853 meters Centerline goodness [0,1] 0.9991271767360668 Centerline is valid? [True, True] Translation: X:235.09, Y:-49.55, Z:-4.47 [[ 9.70344161e-01 2.41459871e-01 1.13727462e-02 2.35090907e+02] [-2.41443471e-01 9.70410805e-01 -2.81422583e-03 -4.95519767e+01] [-1.17157584e-02 -1.51077168e-05 9.99931368e-01 -4.47136487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.488623853 meters Centerline goodness [0,1] 0.9991352582625018 Centerline is valid? [True, True] Translation: X:235.12, Y:-49.55, Z:-4.47 [[ 9.69739255e-01 2.43876529e-01 1.14024552e-02 2.35119876e+02] [-2.43860216e-01 9.69806288e-01 -2.82109789e-03 -4.95519066e+01] [-1.17461723e-02 -4.48758229e-05 9.99931010e-01 -4.47365114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.518623853 meters Centerline goodness [0,1] 0.9992561737578102 Centerline is valid? [True, True] Translation: X:235.15, Y:-49.55, Z:-4.47 [[ 9.69160756e-01 2.46149655e-01 1.17377887e-02 2.35148776e+02] [-2.46132545e-01 9.69231831e-01 -2.90323954e-03 -4.95546005e+01] [-1.20912699e-02 -7.53459839e-05 9.99926895e-01 -4.47127105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.548623853 meters Centerline goodness [0,1] 0.9989697359948487 Centerline is valid? [True, True] Translation: X:235.18, Y:-49.55, Z:-4.47 [[ 9.68037826e-01 2.50463872e-01 1.30619800e-02 2.35179309e+02] [-2.50443086e-01 9.68125936e-01 -3.23002260e-03 -4.95513738e+01] [-1.34546456e-02 -1.44498518e-04 9.99909472e-01 -4.46880047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.578623853 meters Centerline goodness [0,1] 0.9989582890429015 Centerline is valid? [True, True] Translation: X:235.21, Y:-49.55, Z:-4.47 [[ 9.67571614e-01 2.52235493e-01 1.35065489e-02 2.35207990e+02] [-2.52213449e-01 9.67665864e-01 -3.33930037e-03 -4.95527662e+01] [-1.39121164e-02 -1.75521038e-04 9.99903206e-01 -4.46872910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.608623853 meters Centerline goodness [0,1] 0.9989924325251356 Centerline is valid? [True, True] Translation: X:235.24, Y:-49.55, Z:-4.47 [[ 9.66968449e-01 2.54526783e-01 1.37162313e-02 2.35237459e+02] [-2.54504291e-01 9.67065702e-01 -3.39025683e-03 -4.95505257e+01] [-1.41274080e-02 -2.12568330e-04 9.99900181e-01 -4.46877177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.638623853 meters Centerline goodness [0,1] 0.9990248659190639 Centerline is valid? [True, True] Translation: X:235.27, Y:-49.56, Z:-4.47 [[ 9.66806710e-01 2.55148057e-01 1.35740128e-02 2.35266003e+02] [-2.55126103e-01 9.66901971e-01 -3.35422743e-03 -4.95551964e+01] [-1.39805643e-02 -2.20195399e-04 9.99902243e-01 -4.46935335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.668623853 meters Centerline goodness [0,1] 0.9990069727781016 Centerline is valid? [True, True] Translation: X:235.29, Y:-49.56, Z:-4.47 [[ 9.66704869e-01 2.55554457e-01 1.31763481e-02 2.35293719e+02] [-2.55533813e-01 9.66794637e-01 -3.25563387e-03 -4.95568931e+01] [-1.35708145e-02 -2.19765370e-04 9.99907888e-01 -4.47109521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.69862385300002 meters Centerline goodness [0,1] 0.9990069723219945 Centerline is valid? [True, True] Translation: X:235.32, Y:-49.55, Z:-4.47 [[ 9.66621801e-01 2.55896268e-01 1.26251268e-02 2.35323164e+02] [-2.55877365e-01 9.66704222e-01 -3.11788707e-03 -4.95520865e+01] [-1.30026191e-02 -2.16666565e-04 9.99915439e-01 -4.47486180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.72862385300002 meters Centerline goodness [0,1] 0.9984695637178824 Centerline is valid? [True, True] Translation: X:235.35, Y:-49.57, Z:-4.46 [[ 9.66768742e-01 2.55375633e-01 1.18947442e-02 2.35350114e+02] [-2.55358823e-01 9.66841893e-01 -2.93680839e-03 -4.95650385e+01] [-1.22503263e-02 -1.98213325e-04 9.99924942e-01 -4.46380865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.75862385300002 meters Centerline goodness [0,1] 0.9990748908156021 Centerline is valid? [True, True] Translation: X:235.38, Y:-49.57, Z:-4.47 [[ 9.66772795e-01 2.55329209e-01 1.25442248e-02 2.35378418e+02] [-2.55310518e-01 9.66854152e-01 -3.09648213e-03 -4.95704246e+01] [-1.29190581e-02 -2.09077839e-04 9.99916524e-01 -4.47300285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.78862385300002 meters Centerline goodness [0,1] 0.9986068244170097 Centerline is valid? [True, True] Translation: X:235.41, Y:-49.57, Z:-4.46 [[ 9.67261567e-01 2.53507183e-01 1.17969958e-02 2.35407112e+02] [-2.53490522e-01 9.67333489e-01 -2.91156940e-03 -4.95706386e+01] [-1.21497329e-02 -1.74177445e-04 9.99926174e-01 -4.46493243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.81862385300002 meters Centerline goodness [0,1] 0.9991182985312144 Centerline is valid? [True, True] Translation: X:235.43, Y:-49.58, Z:-4.47 [[ 9.67454599e-01 2.52729455e-01 1.26262466e-02 2.35434934e+02] [-2.52710316e-01 9.67536972e-01 -3.11529741e-03 -4.95787839e+01] [-1.30036878e-02 -1.76873954e-04 9.99915433e-01 -4.47400917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.84862385300002 meters Centerline goodness [0,1] 0.9991885023597498 Centerline is valid? [True, True] Translation: X:235.46, Y:-49.58, Z:-4.48 [[ 9.68068288e-01 2.50399507e-01 1.19948773e-02 2.35462769e+02] [-2.50382061e-01 9.68142586e-01 -2.95903672e-03 -4.95835936e+01] [-1.23536929e-02 -1.38752494e-04 9.99923681e-01 -4.47567632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.87862385300002 meters Centerline goodness [0,1] 0.9989436012418075 Centerline is valid? [True, True] Translation: X:235.49, Y:-49.59, Z:-4.48 [[ 9.68453478e-01 2.48920901e-01 1.16724147e-02 2.35490289e+02] [-2.48904279e-01 9.68523810e-01 -2.87898687e-03 -4.95890707e+01] [-1.20216516e-02 -1.17149130e-04 9.99927730e-01 -4.47770811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.90862385300002 meters Centerline goodness [0,1] 0.9990517445744703 Centerline is valid? [True, True] Translation: X:235.52, Y:-49.60, Z:-4.48 [[ 9.68923527e-01 2.47083860e-01 1.16946099e-02 2.35517881e+02] [-2.47067048e-01 9.68994095e-01 -2.88386573e-03 -4.95961435e+01] [-1.20445646e-02 -9.51073942e-05 9.99927457e-01 -4.47850539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.93862385300002 meters Centerline goodness [0,1] 0.9991559537722374 Centerline is valid? [True, True] Translation: X:235.55, Y:-49.60, Z:-4.48 [[ 9.69442934e-01 2.45041566e-01 1.16201853e-02 2.35545756e+02] [-2.45024844e-01 9.69512571e-01 -2.86358483e-03 -4.96034443e+01] [-1.19676130e-02 -7.11519977e-05 9.99928383e-01 -4.47844314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.96862385300003 meters Centerline goodness [0,1] 0.9991171784160889 Centerline is valid? [True, True] Translation: X:235.57, Y:-49.61, Z:-4.48 [[ 9.70528324e-01 2.40679672e-01 1.21683389e-02 2.35572321e+02] [-2.40661027e-01 9.70604603e-01 -2.99583919e-03 -4.96119391e+01] [-1.25316834e-02 -2.08981587e-05 9.99921475e-01 -4.47810782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.99862385300003 meters Centerline goodness [0,1] 0.9991590840484713 Centerline is valid? [True, True] Translation: X:235.60, Y:-49.62, Z:-4.48 [[ 9.71161543e-01 2.38096794e-01 1.24569103e-02 2.35598494e+02] [-2.38077052e-01 9.71241431e-01 -3.06611619e-03 -4.96204620e+01] [-1.28286998e-02 1.19896478e-05 9.99917709e-01 -4.47801834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.02862385300003 meters Centerline goodness [0,1] 0.9994208742653683 Centerline is valid? [True, True] Translation: X:235.63, Y:-49.63, Z:-4.48 [[ 9.72520190e-01 2.32471419e-01 1.27090224e-02 2.35625220e+02] [-2.32450399e-01 9.72603224e-01 -3.12734515e-03 -4.96330771e+01] [-1.30878546e-02 8.71889638e-05 9.99914347e-01 -4.47818276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.05862385300003 meters Centerline goodness [0,1] 0.9994246382679481 Centerline is valid? [True, True] Translation: X:235.65, Y:-49.64, Z:-4.48 [[ 9.73171055e-01 2.29736675e-01 1.26157679e-02 2.35652014e+02] [-2.29715739e-01 9.73252817e-01 -3.10387909e-03 -4.96428628e+01] [-1.29914065e-02 1.22564845e-04 9.99915601e-01 -4.47901311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.08862385300003 meters Centerline goodness [0,1] 0.9994461957910881 Centerline is valid? [True, True] Translation: X:235.68, Y:-49.66, Z:-4.48 [[ 9.74300554e-01 2.24924532e-01 1.21402502e-02 2.35677878e+02] [-2.24904780e-01 9.74376171e-01 -2.98614893e-03 -4.96554940e+01] [-1.25008287e-02 1.79006255e-04 9.99921846e-01 -4.48103109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.11862385300003 meters Centerline goodness [0,1] 0.9994429685491473 Centerline is valid? [True, True] Translation: X:235.71, Y:-49.66, Z:-4.48 [[ 9.74727065e-01 2.23091029e-01 1.17278291e-02 2.35705431e+02] [-2.23072468e-01 9.74797597e-01 -2.88428023e-03 -4.96617872e+01] [-1.20757166e-02 1.95230224e-04 9.99927067e-01 -4.48116168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.14862385300003 meters Centerline goodness [0,1] 0.9995306366274108 Centerline is valid? [True, True] Translation: X:235.73, Y:-49.67, Z:-4.48 [[ 9.75079089e-01 2.21558463e-01 1.15159561e-02 2.35733085e+02] [-2.21540469e-01 9.75147068e-01 -2.83143008e-03 -4.96700200e+01] [-1.18570781e-02 2.09617954e-04 9.99929680e-01 -4.48179238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.178623853 meters Centerline goodness [0,1] 0.9994396793241671 Centerline is valid? [True, True] Translation: X:235.76, Y:-49.68, Z:-4.48 [[ 9.75403508e-01 2.20118379e-01 1.16574492e-02 2.35760860e+02] [-2.20099843e-01 9.75473140e-01 -2.86574901e-03 -4.96757503e+01] [-1.20023326e-02 2.29458891e-04 9.99927943e-01 -4.48154868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.208623853 meters Centerline goodness [0,1] 0.9994427775396485 Centerline is valid? [True, True] Translation: X:235.79, Y:-49.68, Z:-4.48 [[ 9.75848963e-01 2.18091387e-01 1.24478592e-02 2.35787214e+02] [-2.18070097e-01 9.75928314e-01 -3.05929298e-03 -4.96835097e+01] [-1.28154236e-02 2.70902026e-04 9.99917842e-01 -4.48110609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.238623853 meters Centerline goodness [0,1] 0.9994627122286697 Centerline is valid? [True, True] Translation: X:235.81, Y:-49.69, Z:-4.48 [[ 9.76199546e-01 2.16520143e-01 1.23884473e-02 2.35814137e+02] [-2.16498941e-01 9.76278108e-01 -3.04371150e-03 -4.96908035e+01] [-1.27535947e-02 2.89184066e-04 9.99918628e-01 -4.48122582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.268623853 meters Centerline goodness [0,1] 0.9993355481727575 Centerline is valid? [True, True] Translation: X:235.84, Y:-49.70, Z:-4.48 [[ 9.76388108e-01 2.15670830e-01 1.23432261e-02 2.35842051e+02] [-2.15649725e-01 9.76466079e-01 -3.03182227e-03 -4.96983294e+01] [-1.27066172e-02 2.98421898e-04 9.99919223e-01 -4.48220820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.298623853 meters Centerline goodness [0,1] 0.9993790149892934 Centerline is valid? [True, True] Translation: X:235.87, Y:-49.70, Z:-4.48 [[ 9.76583064e-01 2.14794085e-01 1.22073984e-02 2.35870446e+02] [-2.14773380e-01 9.76659310e-01 -2.99792144e-03 -4.97018940e+01] [-1.25664050e-02 3.05895100e-04 9.99920993e-01 -4.48188452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.328623853 meters Centerline goodness [0,1] 0.9993554070604413 Centerline is valid? [True, True] Translation: X:235.90, Y:-49.71, Z:-4.48 [[ 9.76745856e-01 2.14063265e-01 1.20188221e-02 2.35896407e+02] [-2.14043146e-01 9.76819749e-01 -2.95110568e-03 -4.97114149e+01] [-1.23719461e-02 3.09933747e-04 9.99923417e-01 -4.48295312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.358623853 meters Centerline goodness [0,1] 0.9991008156886253 Centerline is valid? [True, True] Translation: X:235.92, Y:-49.72, Z:-4.48 [[ 9.77060139e-01 2.12666830e-01 1.12385145e-02 2.35922530e+02] [-2.12649152e-01 9.77124724e-01 -2.75902710e-03 -4.97206594e+01] [-1.15681839e-02 3.05874821e-04 9.99933040e-01 -4.47734481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.388623853 meters Centerline goodness [0,1] 0.9993146137205766 Centerline is valid? [True, True] Translation: X:235.95, Y:-49.73, Z:-4.49 [[ 9.77140241e-01 2.12281649e-01 1.15520728e-02 2.35948334e+02] [-2.12262958e-01 9.77208473e-01 -2.83490008e-03 -4.97313619e+01] [-1.18905807e-02 3.18017802e-04 9.99929254e-01 -4.48614830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.418623853 meters Centerline goodness [0,1] 0.9995228076264018 Centerline is valid? [True, True] Translation: X:235.98, Y:-49.73, Z:-4.48 [[ 9.77280019e-01 2.11624305e-01 1.17863702e-02 2.35977825e+02] [-2.11604808e-01 9.77351034e-01 -2.89164665e-03 -4.97313263e+01] [-1.21313638e-02 3.31895888e-04 9.99926357e-01 -4.48331547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.44862385300002 meters Centerline goodness [0,1] 0.9992574362455977 Centerline is valid? [True, True] Translation: X:236.00, Y:-49.74, Z:-4.49 [[ 9.77304265e-01 2.11507495e-01 1.18724037e-02 2.36002872e+02] [-2.11487709e-01 9.77376318e-01 -2.91238529e-03 -4.97444640e+01] [-1.22197975e-02 3.35419114e-04 9.99925279e-01 -4.48557419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.47862385300002 meters Centerline goodness [0,1] 0.9995114698385726 Centerline is valid? [True, True] Translation: X:236.03, Y:-49.75, Z:-4.49 [[ 9.77369795e-01 2.11200559e-01 1.19418127e-02 2.36030728e+02] [-2.11180534e-01 9.77442688e-01 -2.92808240e-03 -4.97509211e+01] [-1.22908501e-02 3.39940920e-04 9.99924407e-01 -4.48535352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.50862385300002 meters Centerline goodness [0,1] 0.9992693043347446 Centerline is valid? [True, True] Translation: X:236.06, Y:-49.76, Z:-4.49 [[ 9.77416222e-01 2.10972044e-01 1.21788776e-02 2.36058316e+02] [-2.10951206e-01 9.77492033e-01 -2.98561810e-03 -4.97600743e+01] [-1.25346378e-02 3.49042641e-04 9.99921377e-01 -4.48548107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.53862385300002 meters Centerline goodness [0,1] 0.9991923828955198 Centerline is valid? [True, True] Translation: X:236.08, Y:-49.77, Z:-4.49 [[ 9.77436716e-01 2.10879374e-01 1.21390217e-02 2.36084537e+02] [-2.10858671e-01 9.77512030e-01 -2.97534460e-03 -4.97689212e+01] [-1.24934786e-02 3.48593056e-04 9.99921893e-01 -4.48672480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.56862385300002 meters Centerline goodness [0,1] 0.9991923828955198 Centerline is valid? [True, True] Translation: X:236.11, Y:-49.78, Z:-4.49 [[ 9.77450765e-01 2.10814237e-01 1.21391700e-02 2.36111282e+02] [-2.10793537e-01 9.77526079e-01 -2.97473972e-03 -4.97753354e+01] [-1.24934727e-02 3.48803047e-04 9.99921893e-01 -4.48724084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.59862385300002 meters Centerline goodness [0,1] 0.9994385176866929 Centerline is valid? [True, True] Translation: X:236.14, Y:-49.78, Z:-4.49 [[ 9.77321245e-01 2.11450596e-01 1.14817004e-02 2.36139299e+02] [-2.11432132e-01 9.77388634e-01 -2.81273762e-03 -4.97808188e+01] [-1.18168386e-02 3.21347832e-04 9.99930127e-01 -4.48880668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.62862385300002 meters Centerline goodness [0,1] 0.9992297488125295 Centerline is valid? [True, True] Translation: X:236.17, Y:-49.79, Z:-4.49 [[ 9.77193953e-01 2.12055503e-01 1.11553919e-02 2.36165037e+02] [-2.12038118e-01 9.77257576e-01 -2.73236298e-03 -4.97916097e+01] [-1.14811039e-02 3.04680281e-04 9.99934044e-01 -4.49084843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.65862385300002 meters Centerline goodness [0,1] 0.9992059745053435 Centerline is valid? [True, True] Translation: X:236.19, Y:-49.80, Z:-4.49 [[ 9.77047772e-01 2.12773644e-01 1.02483319e-02 2.36193813e+02] [-2.12759018e-01 9.77101480e-01 -2.50955865e-03 -4.97955258e+01] [-1.05476282e-02 2.71533663e-04 9.99944335e-01 -4.48615854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.68862385300002 meters Centerline goodness [0,1] 0.999593147751606 Centerline is valid? [True, True] Translation: X:236.22, Y:-49.80, Z:-4.49 [[ 9.76417871e-01 2.15678504e-01 9.53541589e-03 2.36221818e+02] [-2.15665984e-01 9.76464404e-01 -2.33458485e-03 -4.98005102e+01] [-9.81451397e-03 2.23065519e-04 9.99951812e-01 -4.49397648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.71862385300003 meters Centerline goodness [0,1] 0.9994671327478899 Centerline is valid? [True, True] Translation: X:236.25, Y:-49.81, Z:-4.50 [[ 9.76067545e-01 2.17267700e-01 9.32173321e-03 2.36248199e+02] [-2.17255812e-01 9.76112035e-01 -2.28183025e-03 -4.98081989e+01] [-9.59482399e-03 2.02019730e-04 9.99953948e-01 -4.49603513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.74862385300003 meters Centerline goodness [0,1] 0.999507874015748 Centerline is valid? [True, True] Translation: X:236.28, Y:-49.81, Z:-4.49 [[ 9.75208131e-01 2.21081731e-01 9.59001766e-03 2.36278288e+02] [-2.21069339e-01 9.75255269e-01 -2.34680148e-03 -4.98090582e+01] [-9.87155019e-03 1.68561015e-04 9.99951261e-01 -4.49486047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.77862385300003 meters Centerline goodness [0,1] 0.9996988923540165 Centerline is valid? [True, True] Translation: X:236.31, Y:-49.81, Z:-4.49 [[ 9.74796130e-01 2.22892081e-01 9.57214644e-03 2.36307207e+02] [-2.22879822e-01 9.74843114e-01 -2.34241561e-03 -4.98134114e+01] [-9.85344694e-03 1.49939374e-04 9.99951442e-01 -4.49466378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.80862385300003 meters Centerline goodness [0,1] 0.9995464656717707 Centerline is valid? [True, True] Translation: X:236.34, Y:-49.82, Z:-4.49 [[ 9.73985945e-01 2.26409931e-01 9.48273831e-03 2.36336753e+02] [-2.26398068e-01 9.74032099e-01 -2.32040196e-03 -4.98160932e+01] [-9.76185355e-03 1.13165259e-04 9.99952346e-01 -4.48721907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.83862385300003 meters Centerline goodness [0,1] 0.9996142967343791 Centerline is valid? [True, True] Translation: X:236.36, Y:-49.82, Z:-4.50 [[ 9.73508385e-01 2.28426423e-01 1.01386914e-02 2.36364238e+02] [-2.28412986e-01 9.73561174e-01 -2.47960765e-03 -4.98222529e+01] [-1.04370442e-02 9.81100642e-05 9.99945528e-01 -4.49543394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.86862385300003 meters Centerline goodness [0,1] 0.9993270524899058 Centerline is valid? [True, True] Translation: X:236.39, Y:-49.82, Z:-4.49 [[ 9.73127409e-01 2.30045267e-01 1.01104642e-02 2.36393666e+02] [-2.30031996e-01 9.73179926e-01 -2.47222204e-03 -4.98242172e+01] [-1.04080237e-02 8.00567752e-05 9.99945832e-01 -4.48519315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.89862385300003 meters Centerline goodness [0,1] 0.9996139492986745 Centerline is valid? [True, True] Translation: X:236.42, Y:-49.83, Z:-4.49 [[ 9.72370214e-01 2.33186240e-01 1.09701426e-02 2.36421753e+02] [-2.33170824e-01 9.72432093e-01 -2.68178252e-03 -4.98280205e+01] [-1.12930735e-02 4.97682491e-05 9.99936230e-01 -4.49439387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.928623853 meters Centerline goodness [0,1] 0.9995911252663066 Centerline is valid? [True, True] Translation: X:236.45, Y:-49.83, Z:-4.49 [[ 9.72071130e-01 2.34414033e-01 1.13039240e-02 2.36449902e+02] [-2.34397754e-01 9.72136853e-01 -2.76276146e-03 -4.98324701e+01] [-1.16365912e-02 3.59862511e-05 9.99932292e-01 -4.49398096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.958623853 meters Centerline goodness [0,1] 0.999507705479452 Centerline is valid? [True, True] Translation: X:236.48, Y:-49.84, Z:-4.49 [[ 9.71629731e-01 2.36219198e-01 1.16685922e-02 2.36477953e+02] [-2.36201989e-01 9.71699794e-01 -2.85134933e-03 -4.98368988e+01] [-1.20119121e-02 1.43110996e-05 9.99927854e-01 -4.49426382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.988623853 meters Centerline goodness [0,1] 0.9995280185359993 Centerline is valid? [True, True] Translation: X:236.51, Y:-49.84, Z:-4.49 [[ 9.71549478e-01 2.36539287e-01 1.18649529e-02 2.36505557e+02] [-2.36521526e-01 9.71621925e-01 -2.89863820e-03 -4.98434741e+01] [-1.22138902e-02 9.85367812e-06 9.99925408e-01 -4.49426058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.018623853 meters Centerline goodness [0,1] 0.9995084629851256 Centerline is valid? [True, True] Translation: X:236.53, Y:-49.85, Z:-4.49 [[ 9.71535257e-01 2.36575554e-01 1.22983983e-02 2.36531777e+02] [-2.36556486e-01 9.71613095e-01 -3.00362988e-03 -4.98496937e+01] [-1.26598702e-02 8.86644515e-06 9.99919861e-01 -4.49460705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.048623853 meters Centerline goodness [0,1] 0.999464782701777 Centerline is valid? [True, True] Translation: X:236.56, Y:-49.86, Z:-4.50 [[ 9.71790902e-01 2.35547224e-01 1.18299497e-02 2.36559527e+02] [-2.35529519e-01 9.71862904e-01 -2.88802294e-03 -4.98575720e+01] [-1.21773550e-02 2.02520559e-05 9.99925853e-01 -4.49515721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.078623853 meters Centerline goodness [0,1] 0.999484425349087 Centerline is valid? [True, True] Translation: X:236.59, Y:-49.87, Z:-4.50 [[ 9.72118873e-01 2.34207240e-01 1.14832563e-02 2.36585910e+02] [-2.34190469e-01 9.72186694e-01 -2.80291881e-03 -4.98664274e+01] [-1.18203328e-02 3.55010878e-05 9.99930137e-01 -4.49664787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.108623853 meters Centerline goodness [0,1] 0.9995305965690876 Centerline is valid? [True, True] Translation: X:236.61, Y:-49.88, Z:-4.50 [[ 9.72800465e-01 2.31370687e-01 1.12632468e-02 2.36612576e+02] [-2.31354372e-01 9.72865664e-01 -2.74844486e-03 -4.98791637e+01] [-1.15935357e-02 6.78870372e-05 9.99932790e-01 -4.49871636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.138623853 meters Centerline goodness [0,1] 0.9995938695680054 Centerline is valid? [True, True] Translation: X:236.64, Y:-49.89, Z:-4.50 [[ 9.73182650e-01 2.29793081e-01 1.05199568e-02 2.36639486e+02] [-2.29778761e-01 9.73239505e-01 -2.56660893e-03 -4.98895557e+01] [-1.08282266e-02 8.05166258e-05 9.99941370e-01 -4.50053120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.168623853 meters Centerline goodness [0,1] 0.9995517896399376 Centerline is valid? [True, True] Translation: X:236.67, Y:-49.90, Z:-4.50 [[ 9.73572861e-01 2.28142861e-01 1.03305174e-02 2.36666359e+02] [-2.28128964e-01 9.73627663e-01 -2.51990326e-03 -4.99000282e+01] [-1.06329754e-02 9.66191968e-05 9.99943464e-01 -4.50146434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.19862385300002 meters Centerline goodness [0,1] 0.9996595744680851 Centerline is valid? [True, True] Translation: X:236.69, Y:-49.91, Z:-4.50 [[ 9.74342009e-01 2.24834450e-01 1.03498322e-02 2.36692115e+02] [-2.24820319e-01 9.74396969e-01 -2.52420725e-03 -4.99136688e+01] [-1.06523739e-02 1.32588596e-04 9.99943253e-01 -4.50191369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.22862385300002 meters Centerline goodness [0,1] 0.9996575269162439 Centerline is valid? [True, True] Translation: X:236.72, Y:-49.92, Z:-4.50 [[ 9.74738603e-01 2.23114406e-01 1.02282860e-02 2.36718866e+02] [-2.23100517e-01 9.74792255e-01 -2.49395248e-03 -4.99236694e+01] [-1.05268907e-02 1.49015864e-04 9.99944580e-01 -4.50231902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.25862385300002 meters Centerline goodness [0,1] 0.999766340251078 Centerline is valid? [True, True] Translation: X:236.74, Y:-49.94, Z:-4.50 [[ 9.75449099e-01 2.20004042e-01 9.86285521e-03 2.36744122e+02] [-2.19990973e-01 9.75498944e-01 -2.40440283e-03 -4.99386373e+01] [-1.01501832e-02 1.75633457e-04 9.99948470e-01 -4.50374850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.28862385300002 meters Centerline goodness [0,1] 0.9997226193270318 Centerline is valid? [True, True] Translation: X:236.77, Y:-49.95, Z:-4.50 [[ 9.75783886e-01 2.18507335e-01 1.00175811e-02 2.36770314e+02] [-2.18493783e-01 9.75835287e-01 -2.44119255e-03 -4.99498398e+01] [-1.03089276e-02 1.93297169e-04 9.99946843e-01 -4.50421453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.31862385300002 meters Centerline goodness [0,1] 0.9998286717779586 Centerline is valid? [True, True] Translation: X:236.80, Y:-49.96, Z:-4.50 [[ 9.76061568e-01 2.17241875e-01 1.04777328e-02 2.36797988e+02] [-2.17226986e-01 9.76117780e-01 -2.55253682e-03 -4.99599395e+01] [-1.07820192e-02 2.15386770e-04 9.99941849e-01 -4.50374753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.34862385300002 meters Centerline goodness [0,1] 0.9998285028297033 Centerline is valid? [True, True] Translation: X:236.82, Y:-49.97, Z:-4.50 [[ 9.76590494e-01 2.14796060e-01 1.15611068e-02 2.36824493e+02] [-2.14777768e-01 9.76658887e-01 -2.81580707e-03 -4.99734874e+01] [-1.18960820e-02 2.66821697e-04 9.99929204e-01 -4.50164281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.37862385300002 meters Centerline goodness [0,1] 0.9998070532747347 Centerline is valid? [True, True] Translation: X:236.85, Y:-49.98, Z:-4.50 [[ 9.76879972e-01 2.13471967e-01 1.16292740e-02 2.36850875e+02] [-2.13453371e-01 9.76949148e-01 -2.83196334e-03 -4.99842158e+01] [-1.19657542e-02 2.84180529e-04 9.99928367e-01 -4.50209266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.40862385300002 meters Centerline goodness [0,1] 0.9996988729243741 Centerline is valid? [True, True] Translation: X:236.88, Y:-49.99, Z:-4.50 [[ 9.77141821e-01 2.12295400e-01 1.11590290e-02 2.36878661e+02] [-2.12278213e-01 9.77205496e-01 -2.71639749e-03 -4.99940013e+01] [-1.14813432e-02 2.85486849e-04 9.99934046e-01 -4.50298340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.43862385300002 meters Centerline goodness [0,1] 0.9996354043794368 Centerline is valid? [True, True] Translation: X:236.91, Y:-50.01, Z:-4.51 [[ 9.77522843e-01 2.10572364e-01 1.04101383e-02 2.36905628e+02] [-2.10557311e-01 9.77578231e-01 -2.53386769e-03 -5.00086106e+01] [-1.07102870e-02 2.84982832e-04 9.99942603e-01 -4.50514846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.46862385300003 meters Centerline goodness [0,1] 0.9995756148280179 Centerline is valid? [True, True] Translation: X:236.93, Y:-50.02, Z:-4.51 [[ 9.77600102e-01 2.10227565e-01 1.01198360e-02 2.36932683e+02] [-2.10213323e-01 9.77652439e-01 -2.46306540e-03 -5.00199086e+01] [-1.04114866e-02 2.80568630e-04 9.99945760e-01 -4.50638533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.49862385300003 meters Centerline goodness [0,1] 0.9997214604045251 Centerline is valid? [True, True] Translation: X:236.96, Y:-50.03, Z:-4.51 [[ 9.77600920e-01 2.10223219e-01 1.01310829e-02 2.36960583e+02] [-2.10208950e-01 9.77653374e-01 -2.46531822e-03 -5.00317467e+01] [-1.04229546e-02 2.80453049e-04 9.99945640e-01 -4.50684587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.52862385300003 meters Centerline goodness [0,1] 0.9997417299786927 Centerline is valid? [True, True] Translation: X:236.99, Y:-50.04, Z:-4.51 [[ 9.77553710e-01 2.10433824e-01 1.03125677e-02 2.36988794e+02] [-2.10419054e-01 9.77608063e-01 -2.50922237e-03 -5.00396850e+01] [-1.06096746e-02 2.82938892e-04 9.99943676e-01 -4.50626834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.55862385300003 meters Centerline goodness [0,1] 0.9996800750757155 Centerline is valid? [True, True] Translation: X:237.02, Y:-50.05, Z:-4.51 [[ 9.77411857e-01 2.11085360e-01 1.04418884e-02 2.37016233e+02] [-2.11070258e-01 9.77467592e-01 -2.54032110e-03 -5.00509669e+01] [-1.07428321e-02 2.78967894e-04 9.99942255e-01 -4.50733300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.58862385300003 meters Centerline goodness [0,1] 0.9998921484037964 Centerline is valid? [True, True] Translation: X:237.04, Y:-50.06, Z:-4.51 [[ 9.77089537e-01 2.12582832e-01 1.02262356e-02 2.37044360e+02] [-2.12568430e-01 9.77143016e-01 -2.48782881e-03 -5.00610327e+01] [-1.05213644e-02 2.57056659e-04 9.99944616e-01 -4.50788518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.61862385300003 meters Centerline goodness [0,1] 0.9998931349918783 Centerline is valid? [True, True] Translation: X:237.07, Y:-50.07, Z:-4.51 [[ 9.76874659e-01 2.13573606e-01 1.01101854e-02 2.37071583e+02] [-2.13559583e-01 9.76926945e-01 -2.45945109e-03 -5.00688359e+01] [-1.04021864e-02 2.43448457e-04 9.99945866e-01 -4.50855862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.64862385300003 meters Centerline goodness [0,1] 0.9998482450625447 Centerline is valid? [True, True] Translation: X:237.10, Y:-50.07, Z:-4.51 [[ 9.76289258e-01 2.16204359e-01 1.07219099e-02 2.37101465e+02] [-2.16188751e-01 9.76348106e-01 -2.60778832e-03 -5.00743614e+01] [-1.10321316e-02 2.27999415e-04 9.99939118e-01 -4.50674353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.678623853 meters Centerline goodness [0,1] 0.9997847749822439 Centerline is valid? [True, True] Translation: X:237.13, Y:-50.08, Z:-4.51 [[ 9.75981430e-01 2.17559476e-01 1.13191007e-02 2.37129628e+02] [-2.17542178e-01 9.76047040e-01 -2.75252684e-03 -5.00838751e+01] [-1.16468131e-02 2.24033256e-04 9.99932148e-01 -4.50659768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.708623853 meters Centerline goodness [0,1] 0.9998072970195272 Centerline is valid? [True, True] Translation: X:237.16, Y:-50.09, Z:-4.51 [[ 9.75686068e-01 2.18871758e-01 1.14826260e-02 2.37157152e+02] [-2.18854048e-01 9.75753611e-01 -2.79230656e-03 -5.00914210e+01] [-1.18153708e-02 2.11395438e-04 9.99930174e-01 -4.50679410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.738623853 meters Centerline goodness [0,1] 0.9998930527036276 Centerline is valid? [True, True] Translation: X:237.19, Y:-50.10, Z:-4.51 [[ 9.75020101e-01 2.21815363e-01 1.15648833e-02 2.37186050e+02] [-2.21797611e-01 9.75088670e-01 -2.81179046e-03 -5.00989745e+01] [-1.19004850e-02 1.76488732e-04 9.99929171e-01 -4.50664065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.768623853 meters Centerline goodness [0,1] 0.9999567847882455 Centerline is valid? [True, True] Translation: X:237.21, Y:-50.11, Z:-4.51 [[ 9.74660042e-01 2.23381627e-01 1.17665347e-02 2.37214767e+02] [-2.23363368e-01 9.74731052e-01 -2.86052024e-03 -5.01053308e+01] [-1.21081944e-02 1.59821951e-04 9.99926680e-01 -4.50645397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.798623853 meters Centerline goodness [0,1] 0.9998058880621158 Centerline is valid? [True, True] Translation: X:237.24, Y:-50.11, Z:-4.51 [[ 9.74283102e-01 2.25018785e-01 1.17891116e-02 2.37244054e+02] [-2.25000580e-01 9.74354415e-01 -2.86571447e-03 -5.01121240e+01] [-1.21316125e-02 1.39460239e-04 9.99926400e-01 -4.50699241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.828623853 meters Centerline goodness [0,1] 0.9998054811100545 Centerline is valid? [True, True] Translation: X:237.27, Y:-50.12, Z:-4.51 [[ 9.73509305e-01 2.28369698e-01 1.12656077e-02 2.37272997e+02] [-2.28353300e-01 9.73574482e-01 -2.73820286e-03 -5.01170819e+01] [-1.15932307e-02 9.31272767e-05 9.99932792e-01 -4.50739692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.858623853 meters Centerline goodness [0,1] 0.9997213887698243 Centerline is valid? [True, True] Translation: X:237.30, Y:-50.13, Z:-4.51 [[ 9.72923503e-01 2.30860403e-01 1.11054474e-02 2.37300361e+02] [-2.30844633e-01 9.72986881e-01 -2.69908551e-03 -5.01253671e+01] [-1.14285666e-02 6.23708032e-05 9.99934690e-01 -4.50975737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.888623853 meters Centerline goodness [0,1] 0.999657629512336 Centerline is valid? [True, True] Translation: X:237.33, Y:-50.13, Z:-4.51 [[ 9.72678324e-01 2.31910278e-01 1.07004918e-02 2.37326937e+02] [-2.31895703e-01 9.72737180e-01 -2.60044165e-03 -5.01328601e+01] [-1.10118354e-02 4.79951573e-05 9.99939367e-01 -4.50617636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.918623853 meters Centerline goodness [0,1] 0.9997646404347733 Centerline is valid? [True, True] Translation: X:237.36, Y:-50.14, Z:-4.51 [[ 9.72487308e-01 2.32711297e-01 1.06718776e-02 2.37355272e+02] [-2.32696856e-01 9.72545861e-01 -2.59276716e-03 -5.01396742e+01] [-1.09822566e-02 3.81207923e-05 9.99939692e-01 -4.51132331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.94862385300002 meters Centerline goodness [0,1] 0.9997413068316554 Centerline is valid? [True, True] Translation: X:237.38, Y:-50.15, Z:-4.51 [[ 9.72348442e-01 2.33312169e-01 1.01950204e-02 2.37383489e+02] [-2.33299028e-01 9.72401888e-01 -2.47645329e-03 -5.01471571e+01] [-1.04914438e-02 2.94871414e-05 9.99944963e-01 -4.51210063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.97862385300002 meters Centerline goodness [0,1] 0.9997420741536808 Centerline is valid? [True, True] Translation: X:237.41, Y:-50.16, Z:-4.51 [[ 9.72018769e-01 2.34681266e-01 1.02086574e-02 2.37412010e+02] [-2.34668172e-01 9.72072376e-01 -2.47905553e-03 -5.01558735e+01] [-1.05053418e-02 1.40415207e-05 9.99944817e-01 -4.51161012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.00862385300002 meters Centerline goodness [0,1] 0.999783774433489 Centerline is valid? [True, True] Translation: X:237.44, Y:-50.16, Z:-4.51 [[ 9.71907492e-01 2.35134586e-01 1.03708037e-02 2.37439265e+02] [-2.35121101e-01 9.71962822e-01 -2.51818216e-03 -5.01643629e+01] [-1.06721474e-02 9.04530772e-06 9.99943051e-01 -4.51249142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.03862385300002 meters Centerline goodness [0,1] 0.9998486911786957 Centerline is valid? [True, True] Translation: X:237.47, Y:-50.17, Z:-4.51 [[ 9.71746546e-01 2.35785508e-01 1.06697947e-02 2.37467698e+02] [-2.35771278e-01 9.71805121e-01 -2.59041735e-03 -5.01747759e+01] [-1.09797441e-02 1.59796585e-06 9.99939721e-01 -4.51165512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.06862385300002 meters Centerline goodness [0,1] 0.9997842828483293 Centerline is valid? [True, True] Translation: X:237.50, Y:-50.18, Z:-4.51 [[ 9.71706385e-01 2.35946574e-01 1.07663761e-02 2.37496062e+02] [-2.35932098e-01 9.71766029e-01 -2.61358354e-03 -5.01833118e+01] [-1.10790646e-02 -4.97877456e-07 9.99938625e-01 -4.51197674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.09862385300002 meters Centerline goodness [0,1] 0.9998069498069498 Centerline is valid? [True, True] Translation: X:237.52, Y:-50.19, Z:-4.51 [[ 9.71641215e-01 2.36202370e-01 1.10358295e-02 2.37523917e+02] [-2.36187179e-01 9.71703885e-01 -2.67879216e-03 -5.01913421e+01] [-1.13562955e-02 -3.69657710e-06 9.99935515e-01 -4.51232110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.12862385300002 meters Centerline goodness [0,1] 0.9998276827639685 Centerline is valid? [True, True] Translation: X:237.55, Y:-50.20, Z:-4.51 [[ 9.71367928e-01 2.37289667e-01 1.17457190e-02 2.37552491e+02] [-2.37272545e-01 9.71438940e-01 -2.85053146e-03 -5.01995758e+01] [-1.20866505e-02 -1.80217988e-05 9.99926954e-01 -4.51132521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.15862385300002 meters Centerline goodness [0,1] 0.9996996674890057 Centerline is valid? [True, True] Translation: X:237.58, Y:-50.21, Z:-4.51 [[ 9.71170213e-01 2.38127758e-01 1.11170010e-02 2.37580324e+02] [-2.38112477e-01 9.71233839e-01 -2.69778215e-03 -5.02057080e+01] [-1.14396244e-02 -2.70909893e-05 9.99934565e-01 -4.50570321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.18862385300002 meters Centerline goodness [0,1] 0.9998495949807696 Centerline is valid? [True, True] Translation: X:237.61, Y:-50.22, Z:-4.51 [[ 9.70969734e-01 2.38965937e-01 1.06328357e-02 2.37608796e+02] [-2.38952014e-01 9.71027950e-01 -2.57982099e-03 -5.02151853e+01] [-1.09412700e-02 -3.58094112e-05 9.99940142e-01 -4.51419268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.21862385300003 meters Centerline goodness [0,1] 0.9998496886407559 Centerline is valid? [True, True] Translation: X:237.64, Y:-50.22, Z:-4.52 [[ 9.70842240e-01 2.39491960e-01 1.04376835e-02 2.37636143e+02] [-2.39478576e-01 9.70898346e-01 -2.53231449e-03 -5.02227757e+01] [-1.07403986e-02 -4.11236988e-05 9.99942319e-01 -4.51622608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.24862385300003 meters Centerline goodness [0,1] 0.9998041221407273 Centerline is valid? [True, True] Translation: X:237.66, Y:-50.23, Z:-4.52 [[ 9.70708887e-01 2.40042658e-01 1.01871686e-02 2.37664501e+02] [-2.40029943e-01 9.70762340e-01 -2.47107846e-03 -5.02312343e+01] [-1.04824839e-02 -4.65276802e-05 9.99945056e-01 -4.51549248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.27862385300003 meters Centerline goodness [0,1] 0.9998076142023471 Centerline is valid? [True, True] Translation: X:237.69, Y:-50.24, Z:-4.52 [[ 9.70258948e-01 2.41847359e-01 1.03647288e-02 2.37692190e+02] [-2.41834302e-01 9.70314305e-01 -2.51397453e-03 -5.02384284e+01] [-1.06650427e-02 -6.73406636e-05 9.99943125e-01 -4.51537306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.30862385300003 meters Centerline goodness [0,1] 0.9998484257935992 Centerline is valid? [True, True] Translation: X:237.72, Y:-50.24, Z:-4.52 [[ 9.69949769e-01 2.43077463e-01 1.05258435e-02 2.37720852e+02] [-2.43064074e-01 9.70006876e-01 -2.55254155e-03 -5.02445418e+01] [-1.08306059e-02 -8.26173141e-05 9.99941344e-01 -4.51535816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.33862385300003 meters Centerline goodness [0,1] 0.9998707425838558 Centerline is valid? [True, True] Translation: X:237.75, Y:-50.25, Z:-4.52 [[ 9.69234804e-01 2.45910381e-01 1.05820000e-02 2.37750007e+02] [-2.45897020e-01 9.69292562e-01 -2.56598729e-03 -5.02472024e+01] [-1.08880568e-02 -1.15038081e-04 9.99940717e-01 -4.51660834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.36862385300003 meters Centerline goodness [0,1] 0.9998281307065976 Centerline is valid? [True, True] Translation: X:237.78, Y:-50.25, Z:-4.52 [[ 9.68899638e-01 2.47224274e-01 1.06606877e-02 2.37778446e+02] [-2.47210796e-01 9.68958276e-01 -2.58475725e-03 -5.02530776e+01] [-1.09687763e-02 -1.31066723e-04 9.99939833e-01 -4.51703840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.39862385300003 meters Centerline goodness [0,1] 0.9998502032955275 Centerline is valid? [True, True] Translation: X:237.81, Y:-50.26, Z:-4.52 [[ 9.68600963e-01 2.48400967e-01 1.04467536e-02 2.37805764e+02] [-2.48388098e-01 9.68657287e-01 -2.53248277e-03 -5.02583389e+01] [-1.07483952e-02 -1.41884009e-04 9.99942224e-01 -4.51815621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.428623853 meters Centerline goodness [0,1] 0.9998714818146768 Centerline is valid? [True, True] Translation: X:237.83, Y:-50.26, Z:-4.52 [[ 9.68129597e-01 2.50277334e-01 9.29188493e-03 2.37834112e+02] [-2.50267243e-01 9.68174176e-01 -2.25207123e-03 -5.02597477e+01] [-9.55980542e-03 -1.45157613e-04 9.99954293e-01 -4.52210950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.458623853 meters Centerline goodness [0,1] 0.9998714818146768 Centerline is valid? [True, True] Translation: X:237.86, Y:-50.27, Z:-4.52 [[ 9.68145957e-01 2.50214037e-01 9.29199629e-03 2.37860872e+02] [-2.50203948e-01 9.68190536e-01 -2.25161163e-03 -5.02660884e+01] [-9.55980771e-03 -1.45005458e-04 9.99954293e-01 -4.52262541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.488623853 meters Centerline goodness [0,1] 0.9998298306815281 Centerline is valid? [True, True] Translation: X:237.89, Y:-50.27, Z:-4.52 [[ 9.67964400e-01 2.50929161e-01 8.91496301e-03 2.37888459e+02] [-2.50919911e-01 9.68005441e-01 -2.15948948e-03 -5.02732343e+01] [-9.17161159e-03 -1.46632792e-04 9.99957929e-01 -4.52252317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.518623853 meters Centerline goodness [0,1] 0.9997633950657117 Centerline is valid? [True, True] Translation: X:237.92, Y:-50.28, Z:-4.52 [[ 9.67824341e-01 2.51472244e-01 8.81788495e-03 2.37916714e+02] [-2.51463221e-01 9.67864499e-01 -2.13555643e-03 -5.02787921e+01] [-9.07155096e-03 -1.50530252e-04 9.99958841e-01 -4.52317705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.548623853 meters Centerline goodness [0,1] 0.9998498788307706 Centerline is valid? [True, True] Translation: X:237.95, Y:-50.28, Z:-4.52 [[ 9.67673881e-01 2.52028908e-01 9.41754493e-03 2.37945211e+02] [-2.52018648e-01 9.67719692e-01 -2.28027155e-03 -5.02841406e+01] [-9.68823803e-03 -1.66837724e-04 9.99953054e-01 -4.52204644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.578623853 meters Centerline goodness [0,1] 0.9998281270141366 Centerline is valid? [True, True] Translation: X:237.97, Y:-50.29, Z:-4.52 [[ 9.67721995e-01 2.51821666e-01 9.99947565e-03 2.37972691e+02] [-2.51810092e-01 9.67773640e-01 -2.42073465e-03 -5.02892513e+01] [-1.02868224e-02 -1.75370716e-04 9.99947074e-01 -4.52143684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.608623853 meters Centerline goodness [0,1] 0.9998049964249345 Centerline is valid? [True, True] Translation: X:238.00, Y:-50.30, Z:-4.52 [[ 9.67935810e-01 2.50932631e-01 1.15361249e-02 2.38000081e+02] [-2.50917174e-01 9.68004534e-01 -2.79181521e-03 -5.02990318e+01] [-1.18675787e-02 -1.92313943e-04 9.99929559e-01 -4.51737723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.638623853 meters Centerline goodness [0,1] 0.9996797130228685 Centerline is valid? [True, True] Translation: X:238.03, Y:-50.30, Z:-4.52 [[ 9.68146632e-01 2.50094996e-01 1.20246191e-02 2.38027258e+02] [-2.50078144e-01 9.68221285e-01 -2.90945475e-03 -5.03034552e+01] [-1.23701323e-02 -1.90315620e-04 9.99923469e-01 -4.51812961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.668623853 meters Centerline goodness [0,1] 0.9997399107026745 Centerline is valid? [True, True] Translation: X:238.06, Y:-50.31, Z:-4.52 [[ 9.68357440e-01 2.49254564e-01 1.24912395e-02 2.38055163e+02] [-2.49236322e-01 9.68437983e-01 -3.02130452e-03 -5.03146469e+01] [-1.28500647e-02 -1.87567878e-04 9.99917417e-01 -4.51653011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.69862385300002 meters Centerline goodness [0,1] 0.9997655733861859 Centerline is valid? [True, True] Translation: X:238.08, Y:-50.32, Z:-4.52 [[ 9.69019599e-01 2.46649655e-01 1.28438254e-02 2.38083562e+02] [-2.46630145e-01 9.69104702e-01 -3.10624160e-03 -5.03215449e+01] [-1.32131650e-02 -1.57665542e-04 9.99912690e-01 -4.51710420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.72862385300002 meters Centerline goodness [0,1] 0.9997641560000857 Centerline is valid? [True, True] Translation: X:238.11, Y:-50.33, Z:-4.52 [[ 9.69410333e-01 2.45096267e-01 1.30929637e-02 2.38111079e+02] [-2.45075854e-01 9.69498737e-01 -3.16626588e-03 -5.03292418e+01] [-1.34696517e-02 -1.39358399e-04 9.99909270e-01 -4.51746936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.75862385300002 meters Centerline goodness [0,1] 0.9998501712328767 Centerline is valid? [True, True] Translation: X:238.14, Y:-50.34, Z:-4.52 [[ 9.70261744e-01 2.41760146e-01 1.20074816e-02 2.38136770e+02] [-2.41742728e-01 9.70336037e-01 -2.90333805e-03 -5.03395966e+01] [-1.23532035e-02 -8.57235130e-05 9.99923693e-01 -4.52002054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.78862385300002 meters Centerline goodness [0,1] 0.9999142219934809 Centerline is valid? [True, True] Translation: X:238.17, Y:-50.35, Z:-4.52 [[ 9.70713680e-01 2.39953660e-01 1.17129107e-02 2.38165263e+02] [-2.39936965e-01 9.70784341e-01 -2.83121549e-03 -5.03495684e+01] [-1.20500708e-02 -6.20606313e-05 9.99927393e-01 -4.52123607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.81862385300002 meters Centerline goodness [0,1] 0.9998916224124851 Centerline is valid? [True, True] Translation: X:238.19, Y:-50.36, Z:-4.52 [[ 9.71148981e-01 2.38210714e-01 1.11942778e-02 2.38193879e+02] [-2.38195353e-01 9.71213496e-01 -2.70542660e-03 -5.03594875e+01] [-1.15164953e-02 -3.90526665e-05 9.99933682e-01 -4.52182651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.84862385300002 meters Centerline goodness [0,1] 0.9998923527385464 Centerline is valid? [True, True] Translation: X:238.22, Y:-50.37, Z:-4.52 [[ 9.71566485e-01 2.36516348e-01 1.08895669e-02 2.38222812e+02] [-2.36501707e-01 9.71627509e-01 -2.63169148e-03 -5.03688796e+01] [-1.12030408e-02 -1.85379231e-05 9.99937244e-01 -4.52337112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.87862385300002 meters Centerline goodness [0,1] 0.9999568053215844 Centerline is valid? [True, True] Translation: X:238.25, Y:-50.38, Z:-4.53 [[ 9.72241071e-01 2.33766873e-01 1.00174650e-02 2.38252174e+02] [-2.33754338e-01 9.72292676e-01 -2.42093554e-03 -5.03801060e+01] [-1.03058424e-02 1.21070561e-05 9.99946893e-01 -4.52546436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.90862385300002 meters Centerline goodness [0,1] 0.9999350410324145 Centerline is valid? [True, True] Translation: X:238.28, Y:-50.39, Z:-4.53 [[ 9.72749774e-01 2.31650151e-01 9.80231047e-03 2.38282275e+02] [-2.31638038e-01 9.72799160e-01 -2.36917398e-03 -5.03903787e+01] [-1.00844989e-02 3.40254883e-05 9.99949150e-01 -4.52601576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.93862385300002 meters Centerline goodness [0,1] 0.9999353225250086 Centerline is valid? [True, True] Translation: X:238.31, Y:-50.40, Z:-4.53 [[ 9.72920591e-01 2.30914113e-01 1.02076809e-02 2.38312551e+02] [-2.30900934e-01 9.72974137e-01 -2.46742626e-03 -5.03990529e+01] [-1.05015731e-02 4.36467619e-05 9.99944856e-01 -4.52559366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.96862385300003 meters Centerline goodness [0,1] 0.9999356292243321 Centerline is valid? [True, True] Translation: X:238.34, Y:-50.41, Z:-4.53 [[ 9.73059072e-01 2.30312584e-01 1.05903388e-02 2.38341179e+02] [-2.30298358e-01 9.73116700e-01 -2.56030456e-03 -5.04084401e+01] [-1.08953059e-02 5.23899484e-05 9.99940643e-01 -4.52792734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.99862385300003 meters Centerline goodness [0,1] 0.9999785269486794 Centerline is valid? [True, True] Translation: X:238.37, Y:-50.42, Z:-4.53 [[ 9.73223297e-01 2.29590272e-01 1.11678620e-02 2.38370721e+02] [-2.29574402e-01 9.73287369e-01 -2.70016593e-03 -5.04154193e+01] [-1.14894708e-02 6.40091535e-05 9.99933992e-01 -4.52587657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.02862385300003 meters Centerline goodness [0,1] 0.9999570474411013 Centerline is valid? [True, True] Translation: X:238.40, Y:-50.42, Z:-4.53 [[ 9.73270482e-01 2.29376001e-01 1.14550604e-02 2.38400133e+02] [-2.29359291e-01 9.73337889e-01 -2.76952208e-03 -5.04235278e+01] [-1.17849062e-02 6.81695627e-05 9.99930553e-01 -4.52730636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.05862385300003 meters Centerline goodness [0,1] 0.9999572393739844 Centerline is valid? [True, True] Translation: X:238.43, Y:-50.43, Z:-4.53 [[ 9.73344526e-01 2.29072608e-01 1.12326920e-02 2.38427434e+02] [-2.29056516e-01 9.73409336e-01 -2.71615223e-03 -5.04312906e+01] [-1.15562033e-02 7.08306097e-05 9.99933222e-01 -4.52786836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.08862385300003 meters Centerline goodness [0,1] 0.9999578299281 Centerline is valid? [True, True] Translation: X:238.45, Y:-50.44, Z:-4.53 [[ 9.73421619e-01 2.28777919e-01 1.05363795e-02 2.38454832e+02] [-2.28763745e-01 9.73478638e-01 -2.54754755e-03 -5.04392862e+01] [-1.08397630e-02 6.94962177e-05 9.99941246e-01 -4.52972749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.11862385300003 meters Centerline goodness [0,1] 0.999956457371767 Centerline is valid? [True, True] Translation: X:238.49, Y:-50.45, Z:-4.53 [[ 9.73408186e-01 2.28837669e-01 1.04797662e-02 2.38486067e+02] [-2.28823657e-01 9.73464594e-01 -2.53320862e-03 -5.04453572e+01] [-1.07813749e-02 6.78275800e-05 9.99941877e-01 -4.52870289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.14862385300003 meters Centerline goodness [0,1] 0.9999785163383247 Centerline is valid? [True, True] Translation: X:238.51, Y:-50.45, Z:-4.53 [[ 9.73344834e-01 2.29113537e-01 1.03354028e-02 2.38514937e+02] [-2.29099921e-01 9.73399704e-01 -2.49865555e-03 -5.04532445e+01] [-1.06329538e-02 6.42135141e-05 9.99943466e-01 -4.53161221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.178623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:238.54, Y:-50.46, Z:-4.53 [[ 9.73240090e-01 2.29552321e-01 1.04622578e-02 2.38544576e+02] [-2.29538391e-01 9.73296321e-01 -2.52954791e-03 -5.04589996e+01] [-1.07635407e-02 6.03675985e-05 9.99942070e-01 -4.52970791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.208623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:238.57, Y:-50.47, Z:-4.53 [[ 9.72921045e-01 2.30856737e-01 1.13933142e-02 2.38574854e+02] [-2.30840309e-01 9.72987751e-01 -2.75448823e-03 -5.04653511e+01] [-1.17214473e-02 4.98633983e-05 9.99931300e-01 -4.52839174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.238623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:238.60, Y:-50.47, Z:-4.53 [[ 9.72699562e-01 2.31804078e-01 1.10648383e-02 2.38604597e+02] [-2.31788641e-01 9.72762493e-01 -2.67542427e-03 -5.04728928e+01] [-1.13836339e-02 3.76801845e-05 9.99935204e-01 -4.53142785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.268623853 meters Centerline goodness [0,1] 0.9998931235705277 Centerline is valid? [True, True] Translation: X:238.63, Y:-50.48, Z:-4.52 [[ 9.72413815e-01 2.33016671e-01 1.07052644e-02 2.38633052e+02] [-2.33002288e-01 9.72472740e-01 -2.58903644e-03 -5.04771884e+01] [-1.10138665e-02 2.32636934e-05 9.99939345e-01 -4.52486186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.298623853 meters Centerline goodness [0,1] 0.9999785899329865 Centerline is valid? [True, True] Translation: X:238.66, Y:-50.48, Z:-4.53 [[ 9.71875772e-01 2.35210336e-01 1.15577145e-02 2.38660367e+02] [-2.35193733e-01 9.71944493e-01 -2.79468635e-03 -5.04810541e+01] [-1.18907960e-02 -2.21405488e-06 9.99929302e-01 -4.53157478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.328623853 meters Centerline goodness [0,1] 0.999978501096444 Centerline is valid? [True, True] Translation: X:238.69, Y:-50.49, Z:-4.53 [[ 9.71530882e-01 2.36616932e-01 1.18394804e-02 2.38689239e+02] [-2.36599623e-01 9.71603019e-01 -2.86205326e-03 -5.04857301e+01] [-1.21804851e-02 -2.06434735e-05 9.99925815e-01 -4.53149643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.358623853 meters Centerline goodness [0,1] 0.9999140413461125 Centerline is valid? [True, True] Translation: X:238.72, Y:-50.49, Z:-4.53 [[ 9.70787488e-01 2.39647045e-01 1.18721517e-02 2.38718553e+02] [-2.39629874e-01 9.70860078e-01 -2.86930155e-03 -5.04892642e+01] [-1.22138178e-02 -5.94401809e-05 9.99925407e-01 -4.52944466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.388623853 meters Centerline goodness [0,1] 0.9999361810755616 Centerline is valid? [True, True] Translation: X:238.75, Y:-50.49, Z:-4.53 [[ 9.70336694e-01 2.41469353e-01 1.18004570e-02 2.38747442e+02] [-2.41452527e-01 9.70408442e-01 -2.85176432e-03 -5.04905318e+01] [-1.21398767e-02 -8.20785949e-05 9.99926306e-01 -4.53296165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.418623853 meters Centerline goodness [0,1] 0.9998491574365383 Centerline is valid? [True, True] Translation: X:238.78, Y:-50.49, Z:-4.53 [[ 9.69405718e-01 2.45172493e-01 1.19583667e-02 2.38776334e+02] [-2.45155499e-01 9.69479464e-01 -2.88955162e-03 -5.04942848e+01] [-1.23018295e-02 -1.30511504e-04 9.99924321e-01 -4.53016721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.44862385300002 meters Centerline goodness [0,1] 0.9997863978127136 Centerline is valid? [True, True] Translation: X:238.80, Y:-50.50, Z:-4.53 [[ 9.68926450e-01 2.47071013e-01 1.17238477e-02 2.38804774e+02] [-2.47054825e-01 9.68997364e-01 -2.83232810e-03 -5.04977197e+01] [-1.20601637e-02 -1.52115526e-04 9.99927262e-01 -4.53040504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.47862385300002 meters Centerline goodness [0,1] 0.9996765638139595 Centerline is valid? [True, True] Translation: X:238.83, Y:-50.50, Z:-4.53 [[ 9.68398459e-01 2.49157909e-01 1.11696392e-02 2.38833548e+02] [-2.49143359e-01 9.68462858e-01 -2.69801545e-03 -5.04997995e+01] [-1.14896126e-02 -1.70087429e-04 9.99933978e-01 -4.52608821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.50862385300002 meters Centerline goodness [0,1] 0.9997640700068634 Centerline is valid? [True, True] Translation: X:238.86, Y:-50.50, Z:-4.53 [[ 9.67458728e-01 2.52774743e-01 1.13374863e-02 2.38863256e+02] [-2.52760010e-01 9.67525133e-01 -2.73767227e-03 -5.04986962e+01] [-1.16613173e-02 -2.17078221e-04 9.99931981e-01 -4.53295957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.53862385300002 meters Centerline goodness [0,1] 0.9998284439869617 Centerline is valid? [True, True] Translation: X:238.89, Y:-50.50, Z:-4.53 [[ 9.67003718e-01 2.54501694e-01 1.15194198e-02 2.38891261e+02] [-2.54486611e-01 9.67072298e-01 -2.78134188e-03 -5.05037642e+01] [-1.18479680e-02 -2.41970175e-04 9.99929781e-01 -4.53203565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.56862385300002 meters Centerline goodness [0,1] 0.9995693738696064 Centerline is valid? [True, True] Translation: X:238.92, Y:-50.50, Z:-4.53 [[ 9.66250080e-01 2.57314780e-01 1.22427968e-02 2.38921363e+02] [-2.57297981e-01 9.66327593e-01 -2.95493355e-03 -5.05020907e+01] [-1.25909004e-02 -2.94842118e-04 9.99920688e-01 -4.53151759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.59862385300002 meters Centerline goodness [0,1] 0.9996338731909028 Centerline is valid? [True, True] Translation: X:238.95, Y:-50.51, Z:-4.53 [[ 9.65976247e-01 2.58330480e-01 1.24600896e-02 2.38950212e+02] [-2.58313167e-01 9.66056554e-01 -3.00720771e-03 -5.05062155e+01] [-1.28140046e-02 -3.13713973e-04 9.99917848e-01 -4.53187563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.62862385300002 meters Centerline goodness [0,1] 0.999587754127883 Centerline is valid? [True, True] Translation: X:238.98, Y:-50.51, Z:-4.53 [[ 9.65865555e-01 2.58736470e-01 1.26161859e-02 2.38979493e+02] [-2.58718763e-01 9.65947894e-01 -3.04423788e-03 -5.05093447e+01] [-1.29742336e-02 -3.23719497e-04 9.99915779e-01 -4.53268199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.65862385300002 meters Centerline goodness [0,1] 0.9992481849035528 Centerline is valid? [True, True] Translation: X:239.01, Y:-50.51, Z:-4.53 [[ 9.65994988e-01 2.58286646e-01 1.19034546e-02 2.39007148e+02] [-2.58270855e-01 9.66068278e-01 -2.87179667e-03 -5.05137673e+01] [-1.22412967e-02 -3.00174211e-04 9.99925027e-01 -4.52872049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.68862385300002 meters Centerline goodness [0,1] 0.9995283827816841 Centerline is valid? [True, True] Translation: X:239.03, Y:-50.52, Z:-4.54 [[ 9.66283391e-01 2.57205236e-01 1.19111047e-02 2.39034494e+02] [-2.57189351e-01 9.66356758e-01 -2.87290405e-03 -5.05192003e+01] [-1.22493025e-02 -2.87369828e-04 9.99924933e-01 -4.53669663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.71862385300003 meters Centerline goodness [0,1] 0.9997228381374723 Centerline is valid? [True, True] Translation: X:239.06, Y:-50.53, Z:-4.54 [[ 9.67018751e-01 2.54446329e-01 1.14804751e-02 2.39062207e+02] [-2.54431387e-01 9.67086866e-01 -2.76820825e-03 -5.05286091e+01] [-1.18069772e-02 -2.44083933e-04 9.99930265e-01 -4.53772179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.74862385300003 meters Centerline goodness [0,1] 0.9996151296799162 Centerline is valid? [True, True] Translation: X:239.09, Y:-50.54, Z:-4.54 [[ 9.67473330e-01 2.52704895e-01 1.16444287e-02 2.39090328e+02] [-2.52689402e-01 9.67543376e-01 -2.80730674e-03 -5.05365997e+01] [-1.19759100e-02 -2.26429326e-04 9.99928261e-01 -4.53848313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.77862385300003 meters Centerline goodness [0,1] 0.9996350051528684 Centerline is valid? [True, True] Translation: X:239.12, Y:-50.55, Z:-4.53 [[ 9.68470480e-01 2.48891661e-01 1.08568186e-02 2.39117856e+02] [-2.48877957e-01 9.68531317e-01 -2.61716598e-03 -5.05463621e+01] [-1.11665596e-02 -1.67374852e-04 9.99937638e-01 -4.53259899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.80862385300003 meters Centerline goodness [0,1] 0.9997627469588474 Centerline is valid? [True, True] Translation: X:239.14, Y:-50.55, Z:-4.53 [[ 9.69031054e-01 2.46722026e-01 1.03468908e-02 2.39144142e+02] [-2.46709459e-01 9.69086283e-01 -2.49387499e-03 -5.05548498e+01] [-1.06423238e-02 -1.36033512e-04 9.99943360e-01 -4.53446172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.83862385300003 meters Centerline goodness [0,1] 0.9998917139515745 Centerline is valid? [True, True] Translation: X:239.17, Y:-50.57, Z:-4.54 [[ 9.69961000e-01 2.43018905e-01 1.08383976e-02 2.39170942e+02] [-2.43004894e-01 9.70021547e-01 -2.61154590e-03 -5.05670262e+01] [-1.11481342e-02 -1.00685983e-04 9.99937853e-01 -4.54155251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.86862385300003 meters Centerline goodness [0,1] 0.9998489817052123 Centerline is valid? [True, True] Translation: X:239.20, Y:-50.58, Z:-4.54 [[ 9.70395862e-01 2.41272202e-01 1.09359696e-02 2.39198814e+02] [-2.41257833e-01 9.70457479e-01 -2.63442419e-03 -5.05750306e+01] [-1.12485068e-02 -8.19540004e-05 9.99936730e-01 -4.54237644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.89862385300003 meters Centerline goodness [0,1] 0.9999569790703177 Centerline is valid? [True, True] Translation: X:239.23, Y:-50.58, Z:-4.54 [[ 9.70847854e-01 2.39435428e-01 1.11857054e-02 2.39226582e+02] [-2.39420277e-01 9.70912288e-01 -2.69424710e-03 -5.05829522e+01] [-1.15054370e-02 -6.23806695e-05 9.99933808e-01 -4.54224872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.928623853 meters Centerline goodness [0,1] 0.9999357422837193 Centerline is valid? [True, True] Translation: X:239.25, Y:-50.59, Z:-4.54 [[ 9.71242026e-01 2.37815872e-01 1.15124717e-02 2.39253660e+02] [-2.37799716e-01 9.71310254e-01 -2.77244608e-03 -5.05902907e+01] [-1.18415135e-02 -4.49463564e-05 9.99929886e-01 -4.54326075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.958623853 meters Centerline goodness [0,1] 0.9997833903738682 Centerline is valid? [True, True] Translation: X:239.28, Y:-50.60, Z:-4.54 [[ 9.71881367e-01 2.35202618e-01 1.12399371e-02 2.39280070e+02] [-2.35187050e-01 9.71946361e-01 -2.70615120e-03 -5.05993556e+01] [-1.15611098e-02 -1.34297235e-05 9.99933168e-01 -4.53656096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.988623853 meters Centerline goodness [0,1] 0.9999136237016563 Centerline is valid? [True, True] Translation: X:239.31, Y:-50.61, Z:-4.54 [[ 9.72226330e-01 2.33748584e-01 1.17287263e-02 2.39307221e+02] [-2.33731537e-01 9.72297074e-01 -2.82302124e-03 -5.06094023e+01] [-1.20636835e-02 3.24235451e-06 9.99927231e-01 -4.54414483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.018623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:239.33, Y:-50.62, Z:-4.55 [[ 9.72763564e-01 2.31550760e-01 1.07374715e-02 2.39333170e+02] [-2.31536342e-01 9.72822823e-01 -2.58407842e-03 -5.06199120e+01] [-1.10440027e-02 2.75824466e-05 9.99939013e-01 -4.54701125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.048623853 meters Centerline goodness [0,1] 0.9999357904199306 Centerline is valid? [True, True] Translation: X:239.36, Y:-50.63, Z:-4.54 [[ 9.72931784e-01 2.30882750e-01 9.84372621e-03 2.39359714e+02] [-2.30870604e-01 9.72981580e-01 -2.36848861e-03 -5.06270888e+01] [-1.01246074e-02 3.17508395e-05 9.99948744e-01 -4.54257480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.078623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:239.39, Y:-50.64, Z:-4.55 [[ 9.73012178e-01 2.30529621e-01 1.01683736e-02 2.39388657e+02] [-2.30516651e-01 9.73065307e-01 -2.44568211e-03 -5.06351938e+01] [-1.04582938e-02 3.56990396e-05 9.99945310e-01 -4.54792958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.108623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:239.42, Y:-50.64, Z:-4.55 [[ 9.72974398e-01 2.30654395e-01 1.09256631e-02 2.39416416e+02] [-2.30639431e-01 9.73035739e-01 -2.62760398e-03 -5.06425148e+01] [-1.12371291e-02 3.67026665e-05 9.99936861e-01 -4.54808637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.138623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:239.44, Y:-50.65, Z:-4.55 [[ 9.72853235e-01 2.31152630e-01 1.11822972e-02 2.39443784e+02] [-2.31136990e-01 9.72917499e-01 -2.68908893e-03 -5.06483943e+01] [-1.15010426e-02 3.14463482e-05 9.99933860e-01 -4.54837335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.168623853 meters Centerline goodness [0,1] 0.9999785931412425 Centerline is valid? [True, True] Translation: X:239.47, Y:-50.65, Z:-4.55 [[ 9.72306240e-01 2.33436067e-01 1.13216269e-02 2.39473129e+02] [-2.33420200e-01 9.72372152e-01 -2.72169288e-03 -5.06512757e+01] [-1.16441760e-02 3.62256067e-06 9.99932204e-01 -4.54830599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.19862385300002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:239.50, Y:-50.66, Z:-4.55 [[ 9.71916903e-01 2.35048161e-01 1.13971702e-02 2.39502229e+02] [-2.35032199e-01 9.71983725e-01 -2.73931925e-03 -5.06551099e+01] [-1.17217359e-02 -1.63113039e-05 9.99931298e-01 -4.54849023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.22862385300002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:239.53, Y:-50.66, Z:-4.55 [[ 9.71515711e-01 2.36696435e-01 1.14900046e-02 2.39530668e+02] [-2.36680333e-01 9.71583654e-01 -2.76111301e-03 -5.06592553e+01] [-1.18170463e-02 -3.69934576e-05 9.99930176e-01 -4.54753873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.25862385300002 meters Centerline goodness [0,1] 0.9999569392412694 Centerline is valid? [True, True] Translation: X:239.56, Y:-50.66, Z:-4.55 [[ 9.70725077e-01 2.39928496e-01 1.12757422e-02 2.39559121e+02] [-2.39913212e-01 9.70790560e-01 -2.70916497e-03 -5.06585972e+01] [-1.15963900e-02 -7.53451609e-05 9.99932757e-01 -4.55035872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.28862385300002 meters Centerline goodness [0,1] 0.9997852879288873 Centerline is valid? [True, True] Translation: X:239.59, Y:-50.66, Z:-4.54 [[ 9.70385324e-01 2.41345891e-01 1.02217002e-02 2.39587875e+02] [-2.41333416e-01 9.70439155e-01 -2.45529235e-03 -5.06637121e+01] [-1.05121128e-02 -8.42581679e-05 9.99944743e-01 -4.54349731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.31862385300002 meters Centerline goodness [0,1] 0.9997424284702398 Centerline is valid? [True, True] Translation: X:239.62, Y:-50.67, Z:-4.55 [[ 9.69903175e-01 2.43303392e-01 9.55460306e-03 2.39616596e+02] [-2.43292591e-01 9.69950231e-01 -2.29463400e-03 -5.06666481e+01] [-9.82578168e-03 -9.89913318e-05 9.99951721e-01 -4.54511586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.34862385300002 meters Centerline goodness [0,1] 0.9999354380528117 Centerline is valid? [True, True] Translation: X:239.64, Y:-50.67, Z:-4.55 [[ 9.69782413e-01 2.43754593e-01 1.02844437e-02 2.39644026e+02] [-2.43742110e-01 9.69836938e-01 -2.46934836e-03 -5.06741055e+01] [-1.05761484e-02 -1.12021391e-04 9.99944065e-01 -4.55175950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.37862385300002 meters Centerline goodness [0,1] 0.9999354380528117 Centerline is valid? [True, True] Translation: X:239.67, Y:-50.68, Z:-4.55 [[ 9.69794310e-01 2.43707251e-01 1.02845637e-02 2.39671595e+02] [-2.43694771e-01 9.69848835e-01 -2.46884830e-03 -5.06806331e+01] [-1.05761484e-02 -1.12019362e-04 9.99944065e-01 -4.55229104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.40862385300002 meters Centerline goodness [0,1] 0.9998707787732598 Centerline is valid? [True, True] Translation: X:239.70, Y:-50.69, Z:-4.55 [[ 9.69635945e-01 2.44325674e-01 1.05403492e-02 2.39699256e+02] [-2.44312607e-01 9.69693225e-01 -2.52977982e-03 -5.06863025e+01] [-1.08389954e-02 -1.22174761e-04 9.99941249e-01 -4.55274278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.43862385300002 meters Centerline goodness [0,1] 0.9997845616907598 Centerline is valid? [True, True] Translation: X:239.73, Y:-50.69, Z:-4.55 [[ 9.69613177e-01 2.44411527e-01 1.06439097e-02 2.39726586e+02] [-2.44398215e-01 9.69671589e-01 -2.55393236e-03 -5.06910122e+01] [-1.09453074e-02 -1.25026061e-04 9.99940091e-01 -4.55404149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.46862385300003 meters Centerline goodness [0,1] 0.9997619614377529 Centerline is valid? [True, True] Translation: X:239.75, Y:-50.70, Z:-4.55 [[ 9.69523569e-01 2.44767970e-01 1.06155831e-02 2.39754747e+02] [-2.44754758e-01 9.69581675e-01 -2.54637992e-03 -5.06991983e+01] [-1.09159470e-02 -1.29439119e-04 9.99940411e-01 -4.55293080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.49862385300003 meters Centerline goodness [0,1] 0.9995538370017847 Centerline is valid? [True, True] Translation: X:239.78, Y:-50.70, Z:-4.56 [[ 9.69321851e-01 2.45561333e-01 1.07135604e-02 2.39784093e+02] [-2.45547930e-01 9.69381046e-01 -2.56941452e-03 -5.06976547e+01] [-1.10164712e-02 -1.40102936e-04 9.99939307e-01 -4.55651023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.52862385300003 meters Centerline goodness [0,1] 0.999680925740784 Centerline is valid? [True, True] Translation: X:239.81, Y:-50.71, Z:-4.56 [[ 9.69201574e-01 2.46048884e-01 1.04045624e-02 2.39812256e+02] [-2.46036279e-01 9.69257410e-01 -2.49455382e-03 -5.07056422e+01] [-1.06984814e-02 -1.42174332e-04 9.99942760e-01 -4.55601750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.55862385300003 meters Centerline goodness [0,1] 0.9996150309044635 Centerline is valid? [True, True] Translation: X:239.84, Y:-50.71, Z:-4.56 [[ 9.69196513e-01 2.46096666e-01 9.72368998e-03 2.39840510e+02] [-2.46085663e-01 9.69245280e-01 -2.33090731e-03 -5.07116280e+01] [-9.99826914e-03 -1.33753460e-04 9.99950007e-01 -4.55826798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.58862385300003 meters Centerline goodness [0,1] 0.9994598798772847 Centerline is valid? [True, True] Translation: X:239.87, Y:-50.72, Z:-4.55 [[ 9.69319698e-01 2.45641734e-01 8.91410925e-03 2.39868259e+02] [-2.45632472e-01 9.69360678e-01 -2.13648813e-03 -5.07186160e+01] [-9.16579764e-03 -1.18654663e-04 9.99957986e-01 -4.55192504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.61862385300003 meters Centerline goodness [0,1] 0.9998302099030074 Centerline is valid? [True, True] Translation: X:239.89, Y:-50.73, Z:-4.56 [[ 9.69678732e-01 2.44190646e-01 9.69977975e-03 2.39894960e+02] [-2.44179611e-01 9.69727237e-01 -2.32433439e-03 -5.07270132e+01] [-9.97372134e-03 -1.14630823e-04 9.99950255e-01 -4.55914535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.64862385300003 meters Centerline goodness [0,1] 0.9997203759867501 Centerline is valid? [True, True] Translation: X:239.92, Y:-50.74, Z:-4.56 [[ 9.69890585e-01 2.43317307e-01 1.04375461e-02 2.39922588e+02] [-2.43304487e-01 9.69946738e-01 -2.50029096e-03 -5.07350803e+01] [-1.07322279e-02 -1.14493143e-04 9.99942401e-01 -4.55775491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.678623853 meters Centerline goodness [0,1] 0.9999355780793678 Centerline is valid? [True, True] Translation: X:239.95, Y:-50.74, Z:-4.56 [[ 9.70179418e-01 2.42144116e-01 1.08684413e-02 2.39949268e+02] [-2.42130148e-01 9.70240288e-01 -2.60302458e-03 -5.07425731e+01] [-1.11753067e-02 -1.06176416e-04 9.99937549e-01 -4.55763941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.708623853 meters Centerline goodness [0,1] 0.999806493227263 Centerline is valid? [True, True] Translation: X:239.98, Y:-50.75, Z:-4.55 [[ 9.70701592e-01 2.40053870e-01 1.06093289e-02 2.39976817e+02] [-2.40040443e-01 9.70759565e-01 -2.54024390e-03 -5.07515119e+01] [-1.09089029e-02 -8.08492202e-05 9.99940493e-01 -4.55078619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.738623853 meters Centerline goodness [0,1] 0.9999567604963895 Centerline is valid? [True, True] Translation: X:240.00, Y:-50.76, Z:-4.56 [[ 9.70856506e-01 2.39379226e-01 1.16288763e-02 2.40004611e+02] [-2.39363054e-01 9.70926145e-01 -2.78371125e-03 -5.07598674e+01] [-1.19571427e-02 -8.09391553e-05 9.99928508e-01 -4.55642741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.768623853 meters Centerline goodness [0,1] 0.9999140136288398 Centerline is valid? [True, True] Translation: X:240.03, Y:-50.77, Z:-4.56 [[ 9.70976445e-01 2.38924987e-01 1.09359007e-02 2.40031884e+02] [-2.38910660e-01 9.71038025e-01 -2.61741855e-03 -5.07660575e+01] [-1.12445421e-02 -7.12514799e-05 9.99936776e-01 -4.55853910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.798623853 meters Centerline goodness [0,1] 0.9999572357167293 Centerline is valid? [True, True] Translation: X:240.06, Y:-50.77, Z:-4.56 [[ 9.70967883e-01 2.38976930e-01 1.05544742e-02 2.40060416e+02] [-2.38963597e-01 9.71025243e-01 -2.52540018e-03 -5.07727161e+01] [-1.08521732e-02 -7.00526437e-05 9.99941111e-01 -4.55965281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.828623853 meters Centerline goodness [0,1] 0.9999782348460116 Centerline is valid? [True, True] Translation: X:240.09, Y:-50.78, Z:-4.56 [[ 9.70892106e-01 2.39278824e-01 1.06846739e-02 2.40088445e+02] [-2.39265183e-01 9.70950894e-01 -2.55602000e-03 -5.07795353e+01] [-1.09858951e-02 -7.48508046e-05 9.99939650e-01 -4.55928651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.858623853 meters Centerline goodness [0,1] 0.9998287304645687 Centerline is valid? [True, True] Translation: X:240.12, Y:-50.78, Z:-4.56 [[ 9.70721894e-01 2.39974031e-01 1.05578933e-02 2.40116594e+02] [-2.39960758e-01 9.70779304e-01 -2.52525697e-03 -5.07825588e+01] [-1.08553804e-02 -8.21578495e-05 9.99941075e-01 -4.55571767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.888623853 meters Centerline goodness [0,1] 0.9999575118966689 Centerline is valid? [True, True] Translation: X:240.14, Y:-50.79, Z:-4.56 [[ 9.70690372e-01 2.40075949e-01 1.11238665e-02 2.40144295e+02] [-2.40061231e-01 9.70754104e-01 -2.65976020e-03 -5.07893958e+01] [-1.14370836e-02 -8.86054821e-05 9.99934590e-01 -4.56076975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.918623853 meters Centerline goodness [0,1] 0.9998932399538797 Centerline is valid? [True, True] Translation: X:240.17, Y:-50.79, Z:-4.56 [[ 9.70583813e-01 2.40502024e-01 1.12177795e-02 2.40172527e+02] [-2.40487092e-01 9.70648632e-01 -2.68165243e-03 -5.07948053e+01] [-1.15334651e-02 -9.49627219e-05 9.99933483e-01 -4.56081012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.94862385300002 meters Centerline goodness [0,1] 0.9997850571747915 Centerline is valid? [True, True] Translation: X:240.20, Y:-50.80, Z:-4.56 [[ 9.70611746e-01 2.40397240e-01 1.10456351e-02 2.40199380e+02] [-2.40382761e-01 9.70674589e-01 -2.64005606e-03 -5.08008538e+01] [-1.13563795e-02 -9.27108478e-05 9.99935510e-01 -4.56210437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.97862385300002 meters Centerline goodness [0,1] 0.9998915283653325 Centerline is valid? [True, True] Translation: X:240.23, Y:-50.81, Z:-4.56 [[ 9.70606309e-01 2.40414380e-01 1.11497965e-02 2.40226862e+02] [-2.40399635e-01 9.70670344e-01 -2.66435231e-03 -5.08073924e+01] [-1.14633254e-02 -9.43698345e-05 9.99934289e-01 -4.56220030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.00862385300002 meters Centerline goodness [0,1] 0.9999569448032377 Centerline is valid? [True, True] Translation: X:240.26, Y:-50.81, Z:-4.56 [[ 9.70479882e-01 2.40928312e-01 1.10610537e-02 2.40255075e+02] [-2.40913845e-01 9.70542909e-01 -2.64216528e-03 -5.08140256e+01] [-1.13717996e-02 -1.00592720e-04 9.99935334e-01 -4.56218204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.03862385300002 meters Centerline goodness [0,1] 0.9998706812940492 Centerline is valid? [True, True] Translation: X:240.28, Y:-50.82, Z:-4.56 [[ 9.70483316e-01 2.40918976e-01 1.09626763e-02 2.40282257e+02] [-2.40904770e-01 9.70545227e-01 -2.61820295e-03 -5.08191722e+01] [-1.12705480e-02 -1.00038741e-04 9.99936480e-01 -4.56343064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.06862385300002 meters Centerline goodness [0,1] 0.9999569883223295 Centerline is valid? [True, True] Translation: X:240.31, Y:-50.82, Z:-4.56 [[ 9.70472383e-01 2.40948369e-01 1.12799081e-02 2.40310147e+02] [-2.40933339e-01 9.70537929e-01 -2.69328565e-03 -5.08246096e+01] [-1.15965214e-02 -1.03946571e-04 9.99932753e-01 -4.56307896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.09862385300002 meters Centerline goodness [0,1] 0.9999140930372407 Centerline is valid? [True, True] Translation: X:240.34, Y:-50.83, Z:-4.56 [[ 9.70532899e-01 2.40691078e-01 1.15627385e-02 2.40338099e+02] [-2.40675278e-01 9.70601769e-01 -2.75975020e-03 -5.08311914e+01] [-1.18870617e-02 -1.04436955e-04 9.99929341e-01 -4.56394031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.12862385300002 meters Centerline goodness [0,1] 0.999978646166987 Centerline is valid? [True, True] Translation: X:240.37, Y:-50.84, Z:-4.57 [[ 9.70619681e-01 2.40351227e-01 1.13455771e-02 2.40365240e+02] [-2.40335998e-01 9.70685983e-01 -2.70745537e-03 -5.08380455e+01] [-1.16637329e-02 -9.88411228e-05 9.99931971e-01 -4.56503848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.15862385300002 meters Centerline goodness [0,1] 0.9999784222337303 Centerline is valid? [True, True] Translation: X:240.39, Y:-50.85, Z:-4.57 [[ 9.70974294e-01 2.38925453e-01 1.11151829e-02 2.40391917e+02] [-2.38910751e-01 9.71037909e-01 -2.65172530e-03 -5.08484014e+01] [-1.14268286e-02 -8.07795898e-05 9.99934708e-01 -4.56575692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.18862385300002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:240.42, Y:-50.86, Z:-4.57 [[ 9.71234841e-01 2.37867296e-01 1.10468303e-02 2.40418585e+02] [-2.37852711e-01 9.71297660e-01 -2.63496427e-03 -5.08564038e+01] [-1.13565322e-02 -6.83494182e-05 9.99935510e-01 -4.56651852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.21862385300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:240.44, Y:-50.87, Z:-4.57 [[ 9.71805904e-01 2.35537841e-01 1.07335647e-02 2.40444805e+02] [-2.35523937e-01 9.71865178e-01 -2.55960451e-03 -5.08659482e+01] [-1.10344615e-02 -4.05726427e-05 9.99939118e-01 -4.56855563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.24862385300003 meters Centerline goodness [0,1] 0.9999785389303802 Centerline is valid? [True, True] Translation: X:240.47, Y:-50.88, Z:-4.57 [[ 9.72066923e-01 2.34464030e-01 1.06073154e-02 2.40472467e+02] [-2.34450394e-01 9.72124795e-01 -2.52877504e-03 -5.08751351e+01] [-1.09045411e-02 -2.87506992e-05 9.99940543e-01 -4.56793991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.27862385300003 meters Centerline goodness [0,1] 0.9999570732544912 Centerline is valid? [True, True] Translation: X:240.50, Y:-50.88, Z:-4.57 [[ 9.72333851e-01 2.33345970e-01 1.07953629e-02 2.40498888e+02] [-2.33331782e-01 9.72393777e-01 -2.57314179e-03 -5.08834764e+01] [-1.10977760e-02 -1.69484108e-05 9.99938418e-01 -4.56953950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.30862385300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:240.53, Y:-50.89, Z:-4.57 [[ 9.72763911e-01 2.31522373e-01 1.13032434e-02 2.40526237e+02] [-2.31506706e-01 9.72829579e-01 -2.69336044e-03 -5.08942276e+01] [-1.16197028e-02 3.22717741e-06 9.99932489e-01 -4.56738697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.33862385300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:240.55, Y:-50.90, Z:-4.57 [[ 9.72980938e-01 2.30613000e-01 1.12133267e-02 2.40553621e+02] [-2.30597529e-01 9.73045551e-01 -2.67122590e-03 -5.09031611e+01] [-1.15270971e-02 1.32864457e-05 9.99933561e-01 -4.56980455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.36862385300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:240.58, Y:-50.92, Z:-4.57 [[ 9.73400313e-01 2.28861291e-01 1.06929700e-02 2.40580939e+02] [-2.28847121e-01 9.73459043e-01 -2.54696485e-03 -5.09153054e+01] [-1.09920700e-02 3.21609919e-05 9.99939585e-01 -4.56930539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.39862385300003 meters Centerline goodness [0,1] 0.9999784784246207 Centerline is valid? [True, True] Translation: X:240.61, Y:-50.92, Z:-4.57 [[ 9.73601464e-01 2.28024891e-01 1.02390495e-02 2.40609247e+02] [-2.28011854e-01 9.73655302e-01 -2.43860400e-03 -5.09244110e+01] [-1.05253673e-02 3.96037524e-05 9.99944606e-01 -4.56687992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.428623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:240.64, Y:-50.93, Z:-4.57 [[ 9.73778108e-01 2.27278096e-01 1.00431152e-02 2.40637223e+02] [-2.27265517e-01 9.73829895e-01 -2.39159019e-03 -5.09334269e+01] [-1.03238419e-02 4.64243989e-05 9.99946707e-01 -4.57171259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.458623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:240.67, Y:-50.94, Z:-4.57 [[ 9.74081208e-01 2.25977825e-01 9.99113940e-03 2.40666828e+02] [-2.25965312e-01 9.74132444e-01 -2.37877034e-03 -5.09447373e+01] [-1.02702424e-02 5.94645520e-05 9.99947258e-01 -4.57155878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.488623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:240.70, Y:-50.95, Z:-4.57 [[ 9.74172434e-01 2.25557088e-01 1.05862456e-02 2.40696664e+02] [-2.25543012e-01 9.74229950e-01 -2.52076092e-03 -5.09548222e+01] [-1.08820130e-02 6.80020798e-05 9.99940787e-01 -4.57114944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.518623853 meters Centerline goodness [0,1] 0.9999138005344367 Centerline is valid? [True, True] Translation: X:240.73, Y:-50.97, Z:-4.56 [[ 9.74160657e-01 2.25609836e-01 1.05459151e-02 2.40726464e+02] [-2.25595879e-01 9.74217736e-01 -2.51033847e-03 -5.09655491e+01] [-1.08403746e-02 6.63579875e-05 9.99941239e-01 -4.56331678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.548623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:240.76, Y:-50.97, Z:-4.57 [[ 9.74106596e-01 2.25824036e-01 1.09473200e-02 2.40755136e+02] [-2.25808976e-01 9.74168107e-01 -2.60897039e-03 -5.09747012e+01] [-1.12536982e-02 6.94121526e-05 9.99936673e-01 -4.57124386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.578623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:240.79, Y:-50.98, Z:-4.57 [[ 9.73857097e-01 2.26879770e-01 1.13103858e-02 2.40785512e+02] [-2.26863764e-01 9.73922772e-01 -2.69555784e-03 -5.09842474e+01] [-1.16270099e-02 5.91714270e-05 9.99932402e-01 -4.56978479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.608623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:240.82, Y:-50.99, Z:-4.57 [[ 9.73648055e-01 2.27757211e-01 1.16669364e-02 2.40815596e+02] [-2.27740250e-01 9.73717952e-01 -2.77993367e-03 -5.09923755e+01] [-1.19934553e-02 4.96460111e-05 9.99928075e-01 -4.57014302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.638623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:240.85, Y:-51.00, Z:-4.57 [[ 9.73401972e-01 2.28802533e-01 1.17474590e-02 2.40846113e+02] [-2.28785379e-01 9.73472855e-01 -2.80196151e-03 -5.09995435e+01] [-1.20769283e-02 3.97880105e-05 9.99927070e-01 -4.57025217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.668623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:240.88, Y:-51.01, Z:-4.57 [[ 9.73115459e-01 2.30027829e-01 1.15542656e-02 2.40876464e+02] [-2.30011318e-01 9.73184051e-01 -2.75616114e-03 -5.10063029e+01] [-1.18784207e-02 2.44511628e-05 9.99929449e-01 -4.57068688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.69862385300002 meters Centerline goodness [0,1] 0.9999784765717483 Centerline is valid? [True, True] Translation: X:240.91, Y:-51.01, Z:-4.57 [[ 9.72527805e-01 2.32526523e-01 1.10038204e-02 2.40906631e+02] [-2.32511702e-01 9.72590056e-01 -2.62529144e-03 -5.10124648e+01] [-1.13126562e-02 -5.34809457e-06 9.99936010e-01 -4.57313845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.72862385300002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:240.94, Y:-51.02, Z:-4.58 [[ 9.71813848e-01 2.35537545e-01 9.99553773e-03 2.40936817e+02] [-2.35525475e-01 9.71865250e-01 -2.38473536e-03 -5.10178412e+01] [-1.02760105e-02 -3.66849271e-05 9.99947200e-01 -4.57525347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.75862385300002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:240.96, Y:-51.02, Z:-4.58 [[ 9.71393742e-01 2.37270871e-01 9.83523485e-03 2.40964929e+02] [-2.37259271e-01 9.71443529e-01 -2.34680338e-03 -5.10226000e+01] [-1.01112033e-02 -5.38305319e-05 9.99948879e-01 -4.57680443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.78862385300002 meters Centerline goodness [0,1] 0.999978466838932 Centerline is valid? [True, True] Translation: X:241.00, Y:-51.03, Z:-4.58 [[ 9.70977775e-01 2.38970461e-01 9.76109394e-03 2.40995172e+02] [-2.38959128e-01 9.71026835e-01 -2.32843851e-03 -5.10287509e+01] [-1.00347122e-02 -7.16404572e-05 9.99949648e-01 -4.57647308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.81862385300002 meters Centerline goodness [0,1] 0.9998924430485943 Centerline is valid? [True, True] Translation: X:241.02, Y:-51.03, Z:-4.58 [[ 9.70185563e-01 2.42168624e-01 9.71239339e-03 2.41024517e+02] [-2.42157561e-01 9.70234171e-01 -2.31703889e-03 -5.10319582e+01] [-9.98441007e-03 -1.03971820e-04 9.99950149e-01 -4.57657360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.84862385300002 meters Centerline goodness [0,1] 0.9999351729800982 Centerline is valid? [True, True] Translation: X:241.05, Y:-51.04, Z:-4.58 [[ 9.69872367e-01 2.43424239e-01 9.60376659e-03 2.41053462e+02] [-2.43413487e-01 9.69919907e-01 -2.29088550e-03 -5.10375240e+01] [-9.87254146e-03 -1.15819765e-04 9.99951259e-01 -4.57665147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.87862385300002 meters Centerline goodness [0,1] 0.9999136572625035 Centerline is valid? [True, True] Translation: X:241.08, Y:-51.04, Z:-4.58 [[ 9.69390143e-01 2.45355175e-01 9.14272257e-03 2.41082875e+02] [-2.45345518e-01 9.69433247e-01 -2.18069854e-03 -5.10426207e+01] [-9.39830490e-03 -1.29178341e-04 9.99955827e-01 -4.57817710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.90862385300002 meters Centerline goodness [0,1] 0.9998707286594563 Centerline is valid? [True, True] Translation: X:241.11, Y:-51.05, Z:-4.58 [[ 9.69186854e-01 2.46150577e-01 9.31320888e-03 2.41110705e+02] [-2.46140595e-01 9.69231589e-01 -2.22122798e-03 -5.10475238e+01] [-9.57341279e-03 -1.39573818e-04 9.99954164e-01 -4.57876378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.93862385300002 meters Centerline goodness [0,1] 0.9998507017020006 Centerline is valid? [True, True] Translation: X:241.14, Y:-51.05, Z:-4.58 [[ 9.69009301e-01 2.46837056e-01 9.61473108e-03 2.41138868e+02] [-2.46826452e-01 9.69056987e-01 -2.29295672e-03 -5.10512744e+01] [-9.88320902e-03 -1.51273579e-04 9.99951148e-01 -4.57934582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.96862385300003 meters Centerline goodness [0,1] 0.9997200086151196 Centerline is valid? [True, True] Translation: X:241.17, Y:-51.06, Z:-4.58 [[ 9.68759827e-01 2.47806276e-01 9.82071631e-03 2.41167715e+02] [-2.47795271e-01 9.68809590e-01 -2.34132303e-03 -5.10558602e+01] [-1.00945987e-02 -1.65347364e-04 9.99949035e-01 -4.57908881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.99862385300003 meters Centerline goodness [0,1] 0.9998073258975402 Centerline is valid? [True, True] Translation: X:241.19, Y:-51.06, Z:-4.58 [[ 9.68742665e-01 2.47862434e-01 1.00926853e-02 2.41194946e+02] [-2.47850818e-01 9.68795223e-01 -2.40564915e-03 -5.10641111e+01] [-1.03740154e-02 -1.71025337e-04 9.99946174e-01 -4.57857307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.02862385300003 meters Centerline goodness [0,1] 0.9996969040917948 Centerline is valid? [True, True] Translation: X:241.22, Y:-51.07, Z:-4.58 [[ 9.68865610e-01 2.47378399e-01 1.01665026e-02 2.41222389e+02] [-2.47366592e-01 9.68918933e-01 -2.42273288e-03 -5.10716431e+01] [-1.04498486e-02 -1.67550530e-04 9.99945385e-01 -4.57883825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.05862385300003 meters Centerline goodness [0,1] 0.9997650024567925 Centerline is valid? [True, True] Translation: X:241.25, Y:-51.08, Z:-4.58 [[ 9.68999962e-01 2.46853671e-01 1.01162242e-02 2.41249122e+02] [-2.46841956e-01 9.69052754e-01 -2.41035173e-03 -5.10782403e+01] [-1.03981591e-02 -1.61477838e-04 9.99945925e-01 -4.58011286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.08862385300003 meters Centerline goodness [0,1] 0.9996779733791327 Centerline is valid? [True, True] Translation: X:241.28, Y:-51.09, Z:-4.58 [[ 9.69257376e-01 2.45850993e-01 9.87052525e-03 2.41277154e+02] [-2.45839795e-01 9.69307623e-01 -2.35112181e-03 -5.10864516e+01] [-1.01456010e-02 -1.47725749e-04 9.99948521e-01 -4.58073205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.11862385300003 meters Centerline goodness [0,1] 0.9998297292695386 Centerline is valid? [True, True] Translation: X:241.30, Y:-51.10, Z:-4.58 [[ 9.69919280e-01 2.43205180e-01 1.03841651e-02 2.41304437e+02] [-2.43192641e-01 9.69974858e-01 -2.47281142e-03 -5.10962829e+01] [-1.06737797e-02 -1.26925073e-04 9.99943026e-01 -4.58129999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.14862385300003 meters Centerline goodness [0,1] 0.9999572311442807 Centerline is valid? [True, True] Translation: X:241.33, Y:-51.10, Z:-4.58 [[ 9.70242265e-01 2.41909585e-01 1.04737695e-02 2.41332657e+02] [-2.41896759e-01 9.70298789e-01 -2.49366235e-03 -5.11046298e+01] [-1.07659267e-02 -1.14114297e-04 9.99942039e-01 -4.58125809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.178623853 meters Centerline goodness [0,1] 0.9999786780383795 Centerline is valid? [True, True] Translation: X:241.36, Y:-51.11, Z:-4.58 [[ 9.70841463e-01 2.39511258e-01 1.00603620e-02 2.41359940e+02] [-2.39499297e-01 9.70893583e-01 -2.39510539e-03 -5.11139606e+01] [-1.03411956e-02 -8.41820048e-05 9.99946525e-01 -4.58298174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.208623853 meters Centerline goodness [0,1] 0.9998925355170116 Centerline is valid? [True, True] Translation: X:241.39, Y:-51.12, Z:-4.58 [[ 9.71118887e-01 2.38376445e-01 1.02361400e-02 2.41387972e+02] [-2.38364005e-01 9.71172830e-01 -2.43636797e-03 -5.11233021e+01] [-1.05218338e-02 -7.39243752e-05 9.99944641e-01 -4.58312676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.238623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:241.42, Y:-51.13, Z:-4.58 [[ 9.71374756e-01 2.37334251e-01 1.01753376e-02 2.41416808e+02] [-2.37321904e-01 9.71428046e-01 -2.42167358e-03 -5.11331463e+01] [-1.04593544e-02 -6.24779035e-05 9.99945298e-01 -4.58309128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.268623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:241.45, Y:-51.14, Z:-4.58 [[ 9.71374756e-01 2.37334251e-01 1.01753376e-02 2.41445990e+02] [-2.37321904e-01 9.71428046e-01 -2.42167358e-03 -5.11400913e+01] [-1.04593544e-02 -6.24779033e-05 9.99945298e-01 -4.58365414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.298623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:241.48, Y:-51.15, Z:-4.59 [[ 9.71879423e-01 2.35283028e-01 9.60644889e-03 2.41475917e+02] [-2.35271925e-01 9.71926898e-01 -2.28606509e-03 -5.11513144e+01] [-9.87463838e-03 -3.83481021e-05 9.99951244e-01 -4.58526970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.328623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:241.50, Y:-51.16, Z:-4.59 [[ 9.72117564e-01 2.34311914e-01 9.23947171e-03 2.41504886e+02] [-2.34301596e-01 9.72161471e-01 -2.19906113e-03 -5.11598580e+01] [-9.49752463e-03 -2.70770252e-05 9.99954897e-01 -4.58786402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.358623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:241.53, Y:-51.17, Z:-4.59 [[ 9.72576826e-01 2.32395816e-01 9.30066547e-03 2.41534144e+02] [-2.32385274e-01 9.72621295e-01 -2.21363243e-03 -5.11704899e+01] [-9.56046421e-03 -8.41009154e-06 9.99954298e-01 -4.58776962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.388623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:241.56, Y:-51.18, Z:-4.59 [[ 9.72750296e-01 2.31653551e-01 9.66924400e-03 2.41563579e+02] [-2.31642123e-01 9.72798351e-01 -2.30097627e-03 -5.11796539e+01] [-9.93925394e-03 -1.52885604e-06 9.99950604e-01 -4.58743161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.418623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:241.59, Y:-51.19, Z:-4.59 [[ 9.72840998e-01 2.31255889e-01 1.00551198e-02 2.41594590e+02] [-2.31243505e-01 9.72892961e-01 -2.39327111e-03 -5.11892304e+01] [-1.03360134e-02 3.09110036e-06 9.99946582e-01 -4.58714840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.44862385300002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:241.62, Y:-51.20, Z:-4.59 [[ 9.72931145e-01 2.30825024e-01 1.11711645e-02 2.41624297e+02] [-2.30809682e-01 9.72995277e-01 -2.66128100e-03 -5.11988921e+01] [-1.14837805e-02 1.08302423e-05 9.99934059e-01 -4.58552419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.47862385300002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:241.66, Y:-51.21, Z:-4.59 [[ 9.72863306e-01 2.31113980e-01 1.11047670e-02 2.41655738e+02] [-2.31098820e-01 9.72926682e-01 -2.64714915e-03 -5.12070577e+01] [-1.14159173e-02 9.01572339e-06 9.99934836e-01 -4.58590266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.50862385300002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:241.69, Y:-51.21, Z:-4.59 [[ 9.72623388e-01 2.32138286e-01 1.07499555e-02 2.41686839e+02] [-2.32124122e-01 9.72682793e-01 -2.56430815e-03 -5.12137597e+01] [-1.10515708e-02 -1.21790387e-06 9.99938930e-01 -4.58723632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.53862385300002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:241.72, Y:-51.22, Z:-4.59 [[ 9.72444035e-01 2.32881824e-01 1.08929270e-02 2.41717199e+02] [-2.32867305e-01 9.72505042e-01 -2.60042889e-03 -5.12202612e+01] [-1.11990190e-02 -7.83498212e-06 9.99937289e-01 -4.58845286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.56862385300002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:241.75, Y:-51.23, Z:-4.59 [[ 9.72116920e-01 2.34262939e-01 1.04675367e-02 2.41748086e+02] [-2.34249584e-01 9.72173274e-01 -2.50148621e-03 -5.12274014e+01] [-1.07622650e-02 -2.02790490e-05 9.99942085e-01 -4.59015359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.59862385300002 meters Centerline goodness [0,1] 0.9998928165662715 Centerline is valid? [True, True] Translation: X:241.78, Y:-51.23, Z:-4.59 [[ 9.71945307e-01 2.35001412e-01 9.83138440e-03 2.41778047e+02] [-2.34989666e-01 9.71995029e-01 -2.34977886e-03 -5.12342387e+01] [-1.01082581e-02 -2.64171988e-05 9.99948910e-01 -4.58565043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.62862385300002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:241.81, Y:-51.24, Z:-4.59 [[ 9.71884469e-01 2.35255350e-01 9.77238008e-03 2.41807588e+02] [-2.35243755e-01 9.71933598e-01 -2.33589689e-03 -5.12416633e+01] [-1.00476368e-02 -2.86694720e-05 9.99949521e-01 -4.59276203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.65862385300002 meters Centerline goodness [0,1] 0.9999785522788204 Centerline is valid? [True, True] Translation: X:241.84, Y:-51.25, Z:-4.59 [[ 9.71582551e-01 2.36495660e-01 9.85647502e-03 2.41836816e+02] [-2.36483927e-01 9.71632544e-01 -2.35609879e-03 -5.12476093e+01] [-1.01340790e-02 -4.17534514e-05 9.99948648e-01 -4.59289841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.68862385300002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:241.87, Y:-51.25, Z:-4.59 [[ 9.71361198e-01 2.37389491e-01 1.01809830e-02 2.41865492e+02] [-2.37377025e-01 9.71414549e-01 -2.43333818e-03 -5.12535491e+01] [-1.04676039e-02 -5.30811662e-05 9.99945212e-01 -4.59348733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.71862385300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:241.89, Y:-51.26, Z:-4.59 [[ 9.70845922e-01 2.39481239e-01 1.03408230e-02 2.41894890e+02] [-2.39468493e-01 9.70900989e-01 -2.47196901e-03 -5.12569636e+01] [-1.06319055e-02 -7.64002680e-05 9.99943477e-01 -4.59289373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.74862385300003 meters Centerline goodness [0,1] 0.9998282672162115 Centerline is valid? [True, True] Translation: X:241.92, Y:-51.26, Z:-4.59 [[ 9.70460368e-01 2.41035297e-01 1.04239668e-02 2.41924846e+02] [-2.41022438e-01 9.70516345e-01 -2.49159602e-03 -5.12613106e+01] [-1.07171928e-02 -9.44147058e-05 9.99942565e-01 -4.59007353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.77862385300003 meters Centerline goodness [0,1] 0.9999141483516484 Centerline is valid? [True, True] Translation: X:241.95, Y:-51.27, Z:-4.59 [[ 9.70121386e-01 2.42381398e-01 1.07589491e-02 2.41953263e+02] [-2.42367783e-01 9.70181037e-01 -2.57148458e-03 -5.12652867e+01] [-1.10614085e-02 -1.12970462e-04 9.99938814e-01 -4.59354310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.80862385300003 meters Centerline goodness [0,1] 0.9999354477772519 Centerline is valid? [True, True] Translation: X:241.98, Y:-51.27, Z:-4.59 [[ 9.69222744e-01 2.45920185e-01 1.14252196e-02 2.41982893e+02] [-2.45905083e-01 9.69290068e-01 -2.73021605e-03 -5.12687195e+01] [-1.17457671e-02 -1.63332087e-04 9.99931003e-01 -4.59123424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.83862385300003 meters Centerline goodness [0,1] 0.9998056365403304 Centerline is valid? [True, True] Translation: X:242.01, Y:-51.27, Z:-4.59 [[ 9.68827913e-01 2.47461659e-01 1.16276765e-02 2.42011919e+02] [-2.47446131e-01 9.68897669e-01 -2.77838058e-03 -5.12698010e+01] [-1.19535713e-02 -1.85450890e-04 9.99928536e-01 -4.59275482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.86862385300003 meters Centerline goodness [0,1] 0.9997865983781477 Centerline is valid? [True, True] Translation: X:242.04, Y:-51.27, Z:-4.59 [[ 9.68059013e-01 2.50447034e-01 1.17486097e-02 2.42042007e+02] [-2.50431407e-01 9.68130277e-01 -2.80674683e-03 -5.12707548e+01] [-1.20771262e-02 -2.25124303e-04 9.99927044e-01 -4.59303526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.89862385300003 meters Centerline goodness [0,1] 0.9998492516420803 Centerline is valid? [True, True] Translation: X:242.07, Y:-51.28, Z:-4.59 [[ 9.67810489e-01 2.51418447e-01 1.14726676e-02 2.42069768e+02] [-2.51403614e-01 9.67878459e-01 -2.74082036e-03 -5.12764263e+01] [-1.17932407e-02 -2.31675411e-04 9.99930430e-01 -4.59332672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.928623853 meters Centerline goodness [0,1] 0.999703012303776 Centerline is valid? [True, True] Translation: X:242.10, Y:-51.28, Z:-4.59 [[ 9.67590679e-01 2.52284958e-01 1.09807466e-02 2.42097419e+02] [-2.52271433e-01 9.67652957e-01 -2.62267409e-03 -5.12791832e+01] [-1.12872131e-02 -2.32453668e-04 9.99936270e-01 -4.59475327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.958623853 meters Centerline goodness [0,1] 0.9997400909681612 Centerline is valid? [True, True] Translation: X:242.13, Y:-51.28, Z:-4.60 [[ 9.67243677e-01 2.53645851e-01 1.01711248e-02 2.42126185e+02] [-2.53634329e-01 9.67297126e-01 -2.42858128e-03 -5.12838881e+01] [-1.04544993e-02 -2.30716514e-04 9.99945324e-01 -4.59600573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.988623853 meters Centerline goodness [0,1] 0.9997018104366348 Centerline is valid? [True, True] Translation: X:242.15, Y:-51.29, Z:-4.60 [[ 9.67178377e-01 2.53901487e-01 1.00011414e-02 2.42154676e+02] [-2.53890362e-01 9.67230057e-01 -2.38782984e-03 -5.12850696e+01] [-1.02796781e-02 -2.29736010e-04 9.99947136e-01 -4.59814864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.018623853 meters Centerline goodness [0,1] 0.9998283630122291 Centerline is valid? [True, True] Translation: X:242.18, Y:-51.29, Z:-4.60 [[ 9.67034533e-01 2.54434153e-01 1.03669831e-02 2.42183360e+02] [-2.54422239e-01 9.67090069e-01 -2.47437566e-03 -5.12892049e+01] [-1.06553721e-02 -2.44784353e-04 9.99943200e-01 -4.59747309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.048623853 meters Centerline goodness [0,1] 0.9994726850875343 Centerline is valid? [True, True] Translation: X:242.21, Y:-51.29, Z:-4.60 [[ 9.66994109e-01 2.54582892e-01 1.04854260e-02 2.42212298e+02] [-2.54570717e-01 9.67050924e-01 -2.50220809e-03 -5.12863466e+01] [-1.07769603e-02 -2.49661929e-04 9.99941896e-01 -4.60019741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.078623853 meters Centerline goodness [0,1] 0.9997859680664355 Centerline is valid? [True, True] Translation: X:242.24, Y:-51.30, Z:-4.60 [[ 9.67031852e-01 2.54431153e-01 1.06857587e-02 2.42238962e+02] [-2.54418508e-01 9.67090856e-01 -2.54923867e-03 -5.12975659e+01] [-1.09827053e-02 -2.53459798e-04 9.99939656e-01 -4.59825941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.108623853 meters Centerline goodness [0,1] 0.9996542484225084 Centerline is valid? [True, True] Translation: X:242.27, Y:-51.30, Z:-4.60 [[ 9.67222552e-01 2.53696876e-01 1.08825418e-02 2.42267845e+02] [-2.53683721e-01 9.67283739e-01 -2.59563514e-03 -5.13007347e+01] [-1.11850102e-02 -2.50166840e-04 9.99937415e-01 -4.59863467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.138623853 meters Centerline goodness [0,1] 0.9996774054798055 Centerline is valid? [True, True] Translation: X:242.30, Y:-51.31, Z:-4.60 [[ 9.67348647e-01 2.53214027e-01 1.09202315e-02 2.42296081e+02] [-2.53200755e-01 9.67410252e-01 -2.60408435e-03 -5.13058857e+01] [-1.12237346e-02 -2.45953409e-04 9.99936982e-01 -4.59916304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.168623853 meters Centerline goodness [0,1] 0.9998067964708155 Centerline is valid? [True, True] Translation: X:242.32, Y:-51.31, Z:-4.60 [[ 9.67765248e-01 2.51636985e-01 1.04523645e-02 2.42324740e+02] [-2.51624740e-01 9.67821667e-01 -2.49203607e-03 -5.13075626e+01] [-1.07431133e-02 -2.18367599e-04 9.99942267e-01 -4.60163766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.19862385300002 meters Centerline goodness [0,1] 0.999808298543069 Centerline is valid? [True, True] Translation: X:242.35, Y:-51.31, Z:-4.60 [[ 9.68058292e-01 2.50514387e-01 1.02803124e-02 2.42352756e+02] [-2.50502483e-01 9.68112855e-01 -2.45052149e-03 -5.13136995e+01] [-1.05663935e-02 -2.02996153e-04 9.99944154e-01 -4.60274850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.22862385300002 meters Centerline goodness [0,1] 0.9998489458578796 Centerline is valid? [True, True] Translation: X:242.38, Y:-51.32, Z:-4.60 [[ 9.68844948e-01 2.47461705e-01 1.01079710e-02 2.42380577e+02] [-2.47450036e-01 9.68897661e-01 -2.40898194e-03 -5.13221554e+01] [-1.03897203e-02 -1.67287813e-04 9.99946011e-01 -4.60322190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.25862385300002 meters Centerline goodness [0,1] 0.9997846173727627 Centerline is valid? [True, True] Translation: X:242.41, Y:-51.33, Z:-4.60 [[ 9.69277778e-01 2.45766280e-01 9.97622875e-03 2.42408324e+02] [-2.45754828e-01 9.69329105e-01 -2.37710408e-03 -5.13278967e+01] [-1.02544609e-02 -1.47632226e-04 9.99947411e-01 -4.60406596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.28862385300002 meters Centerline goodness [0,1] 0.9996783600651857 Centerline is valid? [True, True] Translation: X:242.44, Y:-51.33, Z:-4.60 [[ 9.69726309e-01 2.44003750e-01 9.64651312e-03 2.42435647e+02] [-2.43992959e-01 9.69774280e-01 -2.29809182e-03 -5.13338687e+01] [-9.91568334e-03 -1.25161183e-04 9.99950831e-01 -4.59701774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.31862385300002 meters Centerline goodness [0,1] 0.9999787347155769 Centerline is valid? [True, True] Translation: X:242.46, Y:-51.34, Z:-4.61 [[ 9.70702259e-01 2.40076256e-01 1.00257108e-02 2.42461675e+02] [-2.40064395e-01 9.70754028e-01 -2.38800264e-03 -5.13432780e+01] [-1.03058019e-02 -8.87766467e-05 9.99946890e-01 -4.60617370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.34862385300002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:242.49, Y:-51.35, Z:-4.61 [[ 9.71131292e-01 2.38322594e-01 1.03128055e-02 2.42488640e+02] [-2.38309953e-01 9.71186046e-01 -2.45564871e-03 -5.13485874e+01] [-1.06008894e-02 -7.28869002e-05 9.99943806e-01 -4.60841627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.37862385300002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:242.52, Y:-51.36, Z:-4.60 [[ 9.71865793e-01 2.35290217e-01 1.07421984e-02 2.42516085e+02] [-2.35276322e-01 9.71925158e-01 -2.55738473e-03 -5.13589411e+01] [-1.10423405e-02 -4.19502046e-05 9.99939031e-01 -4.60443411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.40862385300002 meters Centerline goodness [0,1] 0.9999786630251563 Centerline is valid? [True, True] Translation: X:242.54, Y:-51.37, Z:-4.60 [[ 9.72195500e-01 2.33915393e-01 1.09315690e-02 2.42543511e+02] [-2.33900923e-01 9.72256956e-01 -2.60199300e-03 -5.13657500e+01] [-1.12369402e-02 -2.72581919e-05 9.99936863e-01 -4.60471981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.43862385300002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:242.57, Y:-51.37, Z:-4.60 [[ 9.72711702e-01 2.31746436e-01 1.12041661e-02 2.42571539e+02] [-2.31731100e-01 9.72776228e-01 -2.66605971e-03 -5.13728202e+01] [-1.15169963e-02 -3.04625813e-06 9.99933677e-01 -4.60438092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.46862385300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:242.60, Y:-51.38, Z:-4.60 [[ 9.72831178e-01 2.31251704e-01 1.10521082e-02 2.42600240e+02] [-2.31236755e-01 9.72893956e-01 -2.62934580e-03 -5.13785256e+01] [-1.13605699e-02 2.25593479e-06 9.99935467e-01 -4.60482159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.49862385300003 meters Centerline goodness [0,1] 0.999978578467075 Centerline is valid? [True, True] Translation: X:242.63, Y:-51.38, Z:-4.61 [[ 9.72985353e-01 2.30610649e-01 1.08734665e-02 2.42628486e+02] [-2.30596145e-01 9.73046108e-01 -2.58633663e-03 -5.13827699e+01] [-1.11768210e-02 9.08820817e-06 9.99937537e-01 -4.60519982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.52862385300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:242.66, Y:-51.39, Z:-4.61 [[ 9.73002597e-01 2.30536588e-01 1.09008320e-02 2.42657074e+02] [-2.30522013e-01 9.73063657e-01 -2.59228668e-03 -5.13883221e+01] [-1.12048204e-02 9.41992982e-06 9.99937224e-01 -4.60595198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.55862385300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:242.69, Y:-51.39, Z:-4.61 [[ 9.72970245e-01 2.30657488e-01 1.12260802e-02 2.42685037e+02] [-2.30642044e-01 9.73035006e-01 -2.66911655e-03 -5.13928083e+01] [-1.15390207e-02 7.76489400e-06 9.99933423e-01 -4.60633184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.58862385300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:242.71, Y:-51.40, Z:-4.61 [[ 9.72861850e-01 2.31100103e-01 1.15135854e-02 2.42713020e+02] [-2.31083898e-01 9.72929978e-01 -2.73672887e-03 -5.13966706e+01] [-1.18343707e-02 1.85491857e-06 9.99929971e-01 -4.60690392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.61862385300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:242.74, Y:-51.40, Z:-4.61 [[ 9.72584795e-01 2.32278414e-01 1.12051387e-02 2.42742141e+02] [-2.32263154e-01 9.72649340e-01 -2.66258125e-03 -5.13979700e+01] [-1.15171309e-02 -1.29548006e-05 9.99933676e-01 -4.60766732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.64862385300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:242.77, Y:-51.40, Z:-4.61 [[ 9.72437189e-01 2.32881690e-01 1.14904944e-02 2.42770678e+02] [-2.32865692e-01 9.72505073e-01 -2.72979283e-03 -5.14022831e+01] [-1.18102828e-02 -2.11898542e-05 9.99930256e-01 -4.60772724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.67862385300003 meters Centerline goodness [0,1] 0.9999784992474736 Centerline is valid? [True, True] Translation: X:242.80, Y:-51.40, Z:-4.61 [[ 9.72220957e-01 2.33782844e-01 1.14887825e-02 2.42799134e+02] [-2.33766918e-01 9.72288836e-01 -2.72889035e-03 -5.14033835e+01] [-1.18083827e-02 -3.26128904e-05 9.99930278e-01 -4.60802860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.708623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:242.83, Y:-51.41, Z:-4.61 [[ 9.72176409e-01 2.33974438e-01 1.13574410e-02 2.42826665e+02] [-2.33958895e-01 9.72242748e-01 -2.69708368e-03 -5.14073717e+01] [-1.16732383e-02 -3.51332228e-05 9.99931865e-01 -4.60880954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.738623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:242.85, Y:-51.41, Z:-4.61 [[ 9.72254676e-01 2.33618456e-01 1.19692465e-02 2.42854769e+02] [-2.33601180e-01 9.72328348e-01 -2.84125864e-03 -5.14117586e+01] [-1.23018081e-02 -3.36031000e-05 9.99924329e-01 -4.60846770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.768623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:242.88, Y:-51.42, Z:-4.61 [[ 9.72322422e-01 2.33329930e-01 1.20934174e-02 2.42882415e+02] [-2.33312277e-01 9.72397626e-01 -2.87027488e-03 -5.14167498e+01] [-1.24293314e-02 -3.07101288e-05 9.99922752e-01 -4.60812010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.798623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:242.91, Y:-51.42, Z:-4.61 [[ 9.72460714e-01 2.32746874e-01 1.22087231e-02 2.42909578e+02] [-2.32728849e-01 9.72537347e-01 -2.89663287e-03 -5.14218953e+01] [-1.25476214e-02 -2.44604111e-05 9.99921275e-01 -4.60868474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.828623853 meters Centerline goodness [0,1] 0.9999786096256684 Centerline is valid? [True, True] Translation: X:242.94, Y:-51.43, Z:-4.61 [[ 9.72842380e-01 2.31163284e-01 1.18844036e-02 2.42936583e+02] [-2.31146094e-01 9.72914969e-01 -2.81905011e-03 -5.14278991e+01] [-1.22141750e-02 -4.54203643e-06 9.99925404e-01 -4.61013739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.858623853 meters Centerline goodness [0,1] 0.9998274337237645 Centerline is valid? [True, True] Translation: X:242.96, Y:-51.44, Z:-4.60 [[ 9.73074473e-01 2.30216186e-01 1.12506487e-02 2.42964837e+02] [-2.30200728e-01 9.73139511e-01 -2.66778212e-03 -5.14351827e+01] [-1.15626174e-02 6.04316173e-06 9.99933151e-01 -4.60217961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.888623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:242.99, Y:-51.44, Z:-4.61 [[ 9.73567000e-01 2.28111932e-01 1.14996934e-02 2.42991593e+02] [-2.28095642e-01 9.73634914e-01 -2.72631748e-03 -5.14421539e+01] [-1.18184085e-02 3.12227977e-05 9.99930160e-01 -4.61245125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.918623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:243.02, Y:-51.45, Z:-4.61 [[ 9.73857326e-01 2.26870790e-01 1.14696960e-02 2.43019105e+02] [-2.26854508e-01 9.73924865e-01 -2.71839201e-03 -5.14492529e+01] [-1.17873459e-02 4.53737347e-05 9.99930526e-01 -4.61305493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.94862385300002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:243.05, Y:-51.46, Z:-4.61 [[ 9.74422035e-01 2.24416383e-01 1.17891971e-02 2.43045282e+02] [-2.24399008e-01 9.74493346e-01 -2.79358284e-03 -5.14583070e+01] [-1.21154199e-02 7.66445389e-05 9.99926603e-01 -4.61255211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.97862385300002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:243.07, Y:-51.47, Z:-4.61 [[ 9.74674051e-01 2.23301017e-01 1.21305286e-02 2.43073483e+02] [-2.23282546e-01 9.74749531e-01 -2.87360688e-03 -5.14658476e+01] [-1.24659064e-02 9.22947447e-05 9.99922293e-01 -4.61216397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.00862385300002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:243.10, Y:-51.47, Z:-4.61 [[ 9.74881443e-01 2.22372247e-01 1.25201987e-02 2.43101195e+02] [-2.22352501e-01 9.74961831e-01 -2.96526728e-03 -5.14724076e+01] [-1.28661090e-02 1.06886543e-04 9.99917222e-01 -4.61148276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.03862385300002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:243.13, Y:-51.48, Z:-4.61 [[ 9.75234911e-01 2.20743094e-01 1.37605915e-02 2.43128131e+02] [-2.20719090e-01 9.75331978e-01 -3.25831606e-03 -5.14794234e+01] [-1.41403957e-02 1.40398344e-04 9.99900010e-01 -4.61032724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.06862385300002 meters Centerline goodness [0,1] 0.9999362122855138 Centerline is valid? [True, True] Translation: X:243.15, Y:-51.49, Z:-4.61 [[ 9.75402904e-01 2.19998122e-01 1.37841276e-02 2.43154982e+02] [-2.19973973e-01 9.75500284e-01 -3.26304450e-03 -5.14866543e+01] [-1.41642841e-02 1.50633762e-04 9.99899670e-01 -4.61047259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.09862385300002 meters Centerline goodness [0,1] 0.9999354324946732 Centerline is valid? [True, True] Translation: X:243.18, Y:-51.49, Z:-4.61 [[ 9.75758326e-01 2.18445916e-01 1.33067926e-02 2.43182989e+02] [-2.18423279e-01 9.75849043e-01 -3.14913879e-03 -5.14948442e+01] [-1.36733373e-02 1.66285136e-04 9.99906502e-01 -4.61271111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.12862385300002 meters Centerline goodness [0,1] 0.999913606911447 Centerline is valid? [True, True] Translation: X:243.21, Y:-51.50, Z:-4.61 [[ 9.75983310e-01 2.17457636e-01 1.29905930e-02 2.43211394e+02] [-2.17435982e-01 9.76069744e-01 -3.07371565e-03 -5.15001484e+01] [-1.33481277e-02 1.75272826e-04 9.99910894e-01 -4.61314755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.15862385300002 meters Centerline goodness [0,1] 0.9999141999141999 Centerline is valid? [True, True] Translation: X:243.24, Y:-51.51, Z:-4.62 [[ 9.76341199e-01 2.15887147e-01 1.22720511e-02 2.43237643e+02] [-2.15867710e-01 9.76418305e-01 -2.90279815e-03 -5.15114120e+01] [-1.26093321e-02 1.84981869e-04 9.99920482e-01 -4.61649274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.18862385300002 meters Centerline goodness [0,1] 0.9999141999141999 Centerline is valid? [True, True] Translation: X:243.27, Y:-51.52, Z:-4.62 [[ 9.76351014e-01 2.15842757e-01 1.22719785e-02 2.43265235e+02] [-2.15823313e-01 9.76428118e-01 -2.90310498e-03 -5.15178447e+01] [-1.26093191e-02 1.85870432e-04 9.99920482e-01 -4.61702435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.21862385300003 meters Centerline goodness [0,1] 0.9998080450454293 Centerline is valid? [True, True] Translation: X:243.29, Y:-51.53, Z:-4.62 [[ 9.76461794e-01 2.15371180e-01 1.17311469e-02 2.43292268e+02] [-2.15353383e-01 9.76532243e-01 -2.77471555e-03 -5.15252243e+01] [-1.20534369e-02 1.83061557e-04 9.99927338e-01 -4.61912425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.24862385300003 meters Centerline goodness [0,1] 0.999872136387853 Centerline is valid? [True, True] Translation: X:243.32, Y:-51.53, Z:-4.62 [[ 9.76560605e-01 2.14937880e-01 1.14495260e-02 2.43320771e+02] [-2.14920906e-01 9.76627705e-01 -2.70737491e-03 -5.15310431e+01] [-1.17638417e-02 1.83173180e-04 9.99930787e-01 -4.61971084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.27862385300003 meters Centerline goodness [0,1] 0.9998271428880102 Centerline is valid? [True, True] Translation: X:243.35, Y:-51.54, Z:-4.62 [[ 9.76711060e-01 2.14240929e-01 1.16760543e-02 2.43346843e+02] [-2.14223233e-01 9.76780828e-01 -2.76042732e-03 -5.15401634e+01] [-1.19963426e-02 1.94857785e-04 9.99928022e-01 -4.62096196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.30862385300003 meters Centerline goodness [0,1] 0.9999785292538915 Centerline is valid? [True, True] Translation: X:243.38, Y:-51.54, Z:-4.62 [[ 9.76649327e-01 2.14529091e-01 1.15482019e-02 2.43375837e+02] [-2.14511810e-01 9.76717581e-01 -2.72944208e-03 -5.15430745e+01] [-1.18648766e-02 1.88482079e-04 9.99929592e-01 -4.62003516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.33862385300003 meters Centerline goodness [0,1] 0.9999572229114086 Centerline is valid? [True, True] Translation: X:243.40, Y:-51.55, Z:-4.62 [[ 9.76389340e-01 2.15683923e-01 1.20125975e-02 2.43404682e+02] [-2.15665319e-01 9.76463216e-01 -2.83855291e-03 -5.15467860e+01] [-1.23420898e-02 1.80832126e-04 9.99923817e-01 -4.61982840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.36862385300003 meters Centerline goodness [0,1] 0.999913606911447 Centerline is valid? [True, True] Translation: X:243.43, Y:-51.55, Z:-4.62 [[ 9.76153920e-01 2.16735393e-01 1.22185888e-02 2.43433333e+02] [-2.16716236e-01 9.76230373e-01 -2.88658917e-03 -5.15514022e+01] [-1.25537836e-02 1.69788752e-04 9.99921184e-01 -4.61977089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.39862385300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:243.46, Y:-51.55, Z:-4.62 [[ 9.75575209e-01 2.19326790e-01 1.21971166e-02 2.43460901e+02] [-2.19307910e-01 9.75651444e-01 -2.88096538e-03 -5.15544276e+01] [-1.25320073e-02 1.35674261e-04 9.99921462e-01 -4.62076141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.42862385300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:243.49, Y:-51.56, Z:-4.62 [[ 9.75237313e-01 2.20821316e-01 1.22527288e-02 2.43488265e+02] [-2.20802391e-01 9.75314274e-01 -2.89330494e-03 -5.15583413e+01] [-1.25891647e-02 1.16227128e-04 9.99920747e-01 -4.62123263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.458623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:243.52, Y:-51.56, Z:-4.62 [[ 9.74952387e-01 2.22068002e-01 1.23953900e-02 2.43516498e+02] [-2.22048746e-01 9.75031175e-01 -2.92613377e-03 -5.15625241e+01] [-1.27356924e-02 1.00460307e-04 9.99918893e-01 -4.62184983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.488623853 meters Centerline goodness [0,1] 0.9999357684237571 Centerline is valid? [True, True] Translation: X:243.55, Y:-51.57, Z:-4.62 [[ 9.74513408e-01 2.24004042e-01 1.20750556e-02 2.43545389e+02] [-2.23985923e-01 9.74588213e-01 -2.84994375e-03 -5.15654901e+01] [-1.24066058e-02 7.26659197e-05 9.99923032e-01 -4.61612570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.518623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:243.57, Y:-51.57, Z:-4.62 [[ 9.74338492e-01 2.24720067e-01 1.28605976e-02 2.43573604e+02] [-2.24699586e-01 9.74423361e-01 -3.03464312e-03 -5.15704074e+01] [-1.32136120e-02 6.69986406e-05 9.99912694e-01 -4.62194872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.548623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:243.60, Y:-51.58, Z:-4.62 [[ 9.74280141e-01 2.25008431e-01 1.22234668e-02 2.43601049e+02] [-2.24989957e-01 9.74356815e-01 -2.88383482e-03 -5.15759396e+01] [-1.25589053e-02 5.95057295e-05 9.99921132e-01 -4.62375783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.578623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:243.63, Y:-51.58, Z:-4.63 [[ 9.74319184e-01 2.24850235e-01 1.20207574e-02 2.43628110e+02] [-2.24832368e-01 9.74393333e-01 -2.83517113e-03 -5.15824768e+01] [-1.23504348e-02 5.97062722e-05 9.99923729e-01 -4.62535370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.608623853 meters Centerline goodness [0,1] 0.9999784171109145 Centerline is valid? [True, True] Translation: X:243.66, Y:-51.59, Z:-4.63 [[ 9.74397949e-01 2.24493975e-01 1.22919228e-02 2.43656047e+02] [-2.24475275e-01 9.74475475e-01 -2.89826343e-03 -5.15894545e+01] [-1.26288200e-02 6.48291859e-05 9.99920251e-01 -4.62522476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.638623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:243.68, Y:-51.60, Z:-4.63 [[ 9.74434805e-01 2.24306721e-01 1.27790832e-02 2.43683029e+02] [-2.24286501e-01 9.74518594e-01 -3.01250371e-03 -5.15959946e+01] [-1.31291790e-02 6.93126173e-05 9.99913806e-01 -4.62543742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.668623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:243.71, Y:-51.60, Z:-4.62 [[ 9.74418531e-01 2.24343185e-01 1.33664433e-02 2.43711650e+02] [-2.24321081e-01 9.74510200e-01 -3.15000078e-03 -5.16016253e+01] [-1.37324165e-02 7.10441225e-05 9.99905703e-01 -4.62472123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.69862385300002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:243.74, Y:-51.61, Z:-4.62 [[ 9.74405156e-01 2.24361028e-01 1.40257081e-02 2.43738729e+02] [-2.24336701e-01 9.74506092e-01 -3.30464736e-03 -5.16065229e+01] [-1.44095721e-02 7.35843525e-05 9.99896174e-01 -4.62386438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.72862385300002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:243.77, Y:-51.61, Z:-4.63 [[ 9.74396518e-01 2.24422536e-01 1.36363769e-02 2.43765333e+02] [-2.24399559e-01 9.74491929e-01 -3.21209149e-03 -5.16126573e+01] [-1.40094049e-02 6.98537995e-05 9.99901861e-01 -4.62594329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.75862385300002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:243.79, Y:-51.62, Z:-4.63 [[ 9.74413059e-01 2.24385936e-01 1.30438587e-02 2.43793953e+02] [-2.24364922e-01 9.74500358e-01 -3.07157146e-03 -5.16175147e+01] [-1.34004624e-02 6.63950131e-05 9.99910208e-01 -4.62740297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.78862385300002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:243.82, Y:-51.62, Z:-4.63 [[ 9.74512139e-01 2.23946591e-01 1.31914533e-02 2.43821708e+02] [-2.23925066e-01 9.74601415e-01 -3.10579463e-03 -5.16232293e+01] [-1.35519412e-02 7.27375151e-05 9.99908166e-01 -4.62801442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.81862385300002 meters Centerline goodness [0,1] 0.9999785269486794 Centerline is valid? [True, True] Translation: X:243.85, Y:-51.63, Z:-4.63 [[ 9.74725840e-01 2.23011024e-01 1.32521513e-02 2.43849511e+02] [-2.22989229e-01 9.74815919e-01 -3.11895841e-03 -5.16292485e+01] [-1.36139701e-02 8.50423660e-05 9.99907322e-01 -4.62832657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.84862385300002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:243.88, Y:-51.64, Z:-4.63 [[ 9.74973495e-01 2.21916595e-01 1.34055720e-02 2.43876087e+02] [-2.21894197e-01 9.75065646e-01 -3.15446191e-03 -5.16361112e+01] [-1.37713401e-02 1.00898131e-04 9.99905166e-01 -4.62854571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.87862385300002 meters Centerline goodness [0,1] 0.9999784496692025 Centerline is valid? [True, True] Translation: X:243.90, Y:-51.64, Z:-4.63 [[ 9.75237060e-01 2.20730392e-01 1.38119797e-02 2.43904166e+02] [-2.20706512e-01 9.75334855e-01 -3.24901016e-03 -5.16434683e+01] [-1.41884605e-02 1.20161256e-04 9.99899332e-01 -4.62832373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.90862385300002 meters Centerline goodness [0,1] 0.999870731444576 Centerline is valid? [True, True] Translation: X:243.93, Y:-51.65, Z:-4.63 [[ 9.75999849e-01 2.17288785e-01 1.44872124e-02 2.43929981e+02] [-2.17262144e-01 9.76107347e-01 -3.40711456e-03 -5.16544811e+01] [-1.48814022e-02 1.77820477e-04 9.99889250e-01 -4.62846674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.93862385300002 meters Centerline goodness [0,1] 0.9998933105729222 Centerline is valid? [True, True] Translation: X:243.96, Y:-51.66, Z:-4.63 [[ 9.76387007e-01 2.15528709e-01 1.46897228e-02 2.43955894e+02] [-2.15501133e-01 9.76497482e-01 -3.45379418e-03 -5.16645066e+01] [-1.50888691e-02 2.06587848e-04 9.99886135e-01 -4.62853765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.96862385300003 meters Centerline goodness [0,1] 0.9998921925871623 Centerline is valid? [True, True] Translation: X:243.98, Y:-51.67, Z:-4.63 [[ 9.77147484e-01 2.12001270e-01 1.54355540e-02 2.43983755e+02] [-2.11970399e-01 9.77269352e-01 -3.62808262e-03 -5.16738116e+01] [-1.58538520e-02 2.73291271e-04 9.99874282e-01 -4.62779145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.99862385300003 meters Centerline goodness [0,1] 0.9994396310185784 Centerline is valid? [True, True] Translation: X:244.01, Y:-51.68, Z:-4.62 [[ 9.77516152e-01 2.10334728e-01 1.48820256e-02 2.44012454e+02] [-2.10305847e-01 9.77629387e-01 -3.49741347e-03 -5.16816084e+01] [-1.52847330e-02 2.89001164e-04 9.99883140e-01 -4.62039424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.02862385300003 meters Centerline goodness [0,1] 0.9998059257342476 Centerline is valid? [True, True] Translation: X:244.04, Y:-51.69, Z:-4.63 [[ 9.77777748e-01 2.09088987e-01 1.52470046e-02 2.44038928e+02] [-2.09058525e-01 9.77896567e-01 -3.58291013e-03 -5.16910042e+01] [-1.56591405e-02 3.15773496e-04 9.99877338e-01 -4.62966501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.05862385300003 meters Centerline goodness [0,1] 0.9998490728762398 Centerline is valid? [True, True] Translation: X:244.07, Y:-51.70, Z:-4.63 [[ 9.78156912e-01 2.07342803e-01 1.47653865e-02 2.44066828e+02] [-2.07314052e-01 9.78268292e-01 -3.46872971e-03 -5.17007545e+01] [-1.51637256e-02 3.31889842e-04 9.99884969e-01 -4.63168020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.08862385300003 meters Centerline goodness [0,1] 0.9998288879857977 Centerline is valid? [True, True] Translation: X:244.10, Y:-51.71, Z:-4.63 [[ 9.78311975e-01 2.06644486e-01 1.42735801e-02 2.44095927e+02] [-2.06617549e-01 9.78416040e-01 -3.35285968e-03 -5.17083748e+01] [-1.46583497e-02 3.30970641e-04 9.99892506e-01 -4.63271751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.11862385300003 meters Centerline goodness [0,1] 0.9996571967262288 Centerline is valid? [True, True] Translation: X:244.13, Y:-51.72, Z:-4.63 [[ 9.78519773e-01 2.05687713e-01 1.38426588e-02 2.44125074e+02] [-2.05662287e-01 9.78617623e-01 -3.25131405e-03 -5.17154233e+01] [-1.42154252e-02 3.34562216e-04 9.99898900e-01 -4.63379696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.14862385300003 meters Centerline goodness [0,1] 0.9996322097702393 Centerline is valid? [True, True] Translation: X:244.15, Y:-51.72, Z:-4.63 [[ 9.78622546e-01 2.05222812e-01 1.34725375e-02 2.44152450e+02] [-2.05198686e-01 9.78715223e-01 -3.16411962e-03 -5.17235530e+01] [-1.38351270e-02 3.31931810e-04 9.99904235e-01 -4.63481953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.17862385300003 meters Centerline goodness [0,1] 0.9997196825944454 Centerline is valid? [True, True] Translation: X:244.18, Y:-51.73, Z:-4.64 [[ 9.78701364e-01 2.04876892e-01 1.30037875e-02 2.44181475e+02] [-2.04854393e-01 9.78787696e-01 -3.05351649e-03 -5.17294114e+01] [-1.33535422e-02 3.24597751e-04 9.99910785e-01 -4.63567928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.208623853 meters Centerline goodness [0,1] 0.9991367403314917 Centerline is valid? [True, True] Translation: X:244.21, Y:-51.74, Z:-4.63 [[ 9.78803163e-01 2.04410468e-01 1.26778449e-02 2.44208729e+02] [-2.04389047e-01 9.78885211e-01 -2.97674219e-03 -5.17385315e+01] [-1.30186322e-02 3.22432024e-04 9.99915202e-01 -4.62681244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.238623853 meters Centerline goodness [0,1] 0.9995329979409455 Centerline is valid? [True, True] Translation: X:244.24, Y:-51.75, Z:-4.64 [[ 9.78646040e-01 2.05125263e-01 1.32496840e-02 2.44235402e+02] [-2.05101938e-01 9.78735674e-01 -3.11048085e-03 -5.17476697e+01] [-1.36059766e-02 3.26523901e-04 9.99907381e-01 -4.63654722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.268623853 meters Centerline goodness [0,1] 0.9995949259140816 Centerline is valid? [True, True] Translation: X:244.27, Y:-51.75, Z:-4.63 [[ 9.78167705e-01 2.07332323e-01 1.41861933e-02 2.44266008e+02] [-2.07305825e-01 9.78270519e-01 -3.32973991e-03 -5.17490974e+01] [-1.45682974e-02 3.16163545e-04 9.99893827e-01 -4.63475473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.298623853 meters Centerline goodness [0,1] 0.9993757265251647 Centerline is valid? [True, True] Translation: X:244.29, Y:-51.75, Z:-4.63 [[ 9.77887324e-01 2.08656056e-01 1.41078948e-02 2.44293347e+02] [-2.08629991e-01 9.77989041e-01 -3.31105889e-03 -5.17532852e+01] [-1.44882390e-02 2.94512539e-04 9.99894997e-01 -4.62905562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.328623853 meters Centerline goodness [0,1] 0.9997853939094792 Centerline is valid? [True, True] Translation: X:244.32, Y:-51.76, Z:-4.64 [[ 9.77541302e-01 2.10247664e-01 1.44541454e-02 2.44322063e+02] [-2.10220492e-01 9.77648118e-01 -3.39137656e-03 -5.17554642e+01] [-1.48440971e-02 2.76653094e-04 9.99889782e-01 -4.63562708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.358623853 meters Centerline goodness [0,1] 0.9998926647060087 Centerline is valid? [True, True] Translation: X:244.35, Y:-51.76, Z:-4.64 [[ 9.76902642e-01 2.13242758e-01 1.37387995e-02 2.44350009e+02] [-2.13218514e-01 9.76999221e-01 -3.22294206e-03 -5.17582641e+01] [-1.41100655e-02 2.19134190e-04 9.99900424e-01 -4.63805609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.388623853 meters Centerline goodness [0,1] 0.9998274448902118 Centerline is valid? [True, True] Translation: X:244.38, Y:-51.76, Z:-4.63 [[ 9.76595284e-01 2.14688906e-01 1.30508265e-02 2.44379103e+02] [-2.14667169e-01 9.76682465e-01 -3.06072166e-03 -5.17624074e+01] [-1.34036164e-02 1.87502363e-04 9.99910150e-01 -4.63192639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.418623853 meters Centerline goodness [0,1] 0.999936186505573 Centerline is valid? [True, True] Translation: X:244.41, Y:-51.77, Z:-4.64 [[ 9.76044311e-01 2.17182419e-01 1.30115575e-02 2.44406436e+02] [-2.17161042e-01 9.76131023e-01 -3.05092238e-03 -5.17664565e+01] [-1.33635916e-02 1.52232051e-04 9.99910692e-01 -4.64050877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.44862385300002 meters Centerline goodness [0,1] 0.9999143578983428 Centerline is valid? [True, True] Translation: X:244.43, Y:-51.77, Z:-4.64 [[ 9.75873822e-01 2.17941810e-01 1.31015968e-02 2.44434529e+02] [-2.17920217e-01 9.75961755e-01 -3.07114080e-03 -5.17708688e+01] [-1.34559874e-02 1.41943103e-04 9.99909454e-01 -4.64050061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.47862385300002 meters Centerline goodness [0,1] 0.9999348703920803 Centerline is valid? [True, True] Translation: X:244.46, Y:-51.78, Z:-4.64 [[ 9.75706726e-01 2.18658410e-01 1.35972243e-02 2.44463240e+02] [-2.18635231e-01 9.75801456e-01 -3.18661666e-03 -5.17753329e+01] [-1.39649718e-02 1.36371030e-04 9.99902476e-01 -4.64013744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.50862385300002 meters Centerline goodness [0,1] 0.9999567539516077 Centerline is valid? [True, True] Translation: X:244.49, Y:-51.78, Z:-4.64 [[ 9.75360673e-01 2.20187664e-01 1.37459044e-02 2.44491129e+02] [-2.20164136e-01 9.75457523e-01 -3.22081728e-03 -5.17797778e+01] [-1.41177301e-02 1.15103329e-04 9.99900333e-01 -4.64092102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.53862385300002 meters Centerline goodness [0,1] 0.9998704411478915 Centerline is valid? [True, True] Translation: X:244.52, Y:-51.78, Z:-4.64 [[ 9.75225824e-01 2.20774232e-01 1.39043519e-02 2.44519487e+02] [-2.20750232e-01 9.75324934e-01 -3.25700956e-03 -5.17846355e+01] [-1.42803249e-02 1.06930927e-04 9.99898025e-01 -4.64081001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.56862385300002 meters Centerline goodness [0,1] 0.9999135546334716 Centerline is valid? [True, True] Translation: X:244.55, Y:-51.79, Z:-4.64 [[ 9.75103042e-01 2.21303326e-01 1.41030164e-02 2.44548060e+02] [-2.21278701e-01 9.75205018e-01 -3.30282546e-03 -5.17906013e+01] [-1.44842586e-02 9.98980125e-05 9.99895093e-01 -4.64104831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.59862385300002 meters Centerline goodness [0,1] 0.9999569244023261 Centerline is valid? [True, True] Translation: X:244.58, Y:-51.80, Z:-4.64 [[ 9.75099291e-01 2.21320910e-01 1.40864487e-02 2.44575282e+02] [-2.21296354e-01 9.75201028e-01 -3.29829577e-03 -5.17970959e+01] [-1.44671010e-02 9.88861404e-05 9.99895341e-01 -4.64121023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.62862385300002 meters Centerline goodness [0,1] 0.9999352694946705 Centerline is valid? [True, True] Translation: X:244.60, Y:-51.80, Z:-4.64 [[ 9.75229113e-01 2.20731268e-01 1.43486907e-02 2.44604071e+02] [-2.20705739e-01 9.75334658e-01 -3.35873732e-03 -5.18026810e+01] [-1.47361537e-02 1.08700031e-04 9.99891411e-01 -4.64166019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.65862385300002 meters Centerline goodness [0,1] 0.9999358796246821 Centerline is valid? [True, True] Translation: X:244.63, Y:-51.81, Z:-4.64 [[ 9.75279514e-01 2.20513335e-01 1.42737056e-02 2.44631258e+02] [-2.20488059e-01 9.75383953e-01 -3.34053174e-03 -5.18085036e+01] [-1.46589752e-02 1.10770538e-04 9.99892545e-01 -4.64277692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.68862385300002 meters Centerline goodness [0,1] 0.9998915471878186 Centerline is valid? [True, True] Translation: X:244.66, Y:-51.81, Z:-4.64 [[ 9.75353400e-01 2.20180233e-01 1.43669481e-02 2.44659784e+02] [-2.20154604e-01 9.75459200e-01 -3.36141462e-03 -5.18141989e+01] [-1.47544888e-02 1.15617407e-04 9.99891140e-01 -4.64313663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.71862385300003 meters Centerline goodness [0,1] 0.9998705306087219 Centerline is valid? [True, True] Translation: X:244.69, Y:-51.82, Z:-4.64 [[ 9.75542795e-01 2.19351262e-01 1.41873046e-02 2.44688355e+02] [-2.19326191e-01 9.75645944e-01 -3.31870800e-03 -5.18200044e+01] [-1.45697490e-02 1.25894192e-04 9.99893848e-01 -4.64386467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.74862385300003 meters Centerline goodness [0,1] 0.9999566075806556 Centerline is valid? [True, True] Translation: X:244.72, Y:-51.83, Z:-4.64 [[ 9.75617827e-01 2.19014039e-01 1.42374930e-02 2.44715969e+02] [-2.18988765e-01 9.75721699e-01 -3.32972560e-03 -5.18266495e+01] [-1.46210875e-02 1.30688661e-04 9.99893098e-01 -4.64421353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.77862385300003 meters Centerline goodness [0,1] 0.99993502696381 Centerline is valid? [True, True] Translation: X:244.74, Y:-51.83, Z:-4.64 [[ 9.75875848e-01 2.17838167e-01 1.45897928e-02 2.44743140e+02] [-2.17811506e-01 9.75984892e-01 -3.41140625e-03 -5.18343483e+01] [-1.49825518e-02 1.51284237e-04 9.99887744e-01 -4.64408956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.80862385300003 meters Centerline goodness [0,1] 0.9998927889872847 Centerline is valid? [True, True] Translation: X:244.77, Y:-51.84, Z:-4.64 [[ 9.76085868e-01 2.16893707e-01 1.46115612e-02 2.44771196e+02] [-2.16866876e-01 9.76195212e-01 -3.41553002e-03 -5.18410158e+01] [-1.50045431e-02 1.65086948e-04 9.99887412e-01 -4.64399763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.83862385300003 meters Centerline goodness [0,1] 0.9999154584266813 Centerline is valid? [True, True] Translation: X:244.80, Y:-51.85, Z:-4.64 [[ 9.76294963e-01 2.15946399e-01 1.46730415e-02 2.44797621e+02] [-2.15919244e-01 9.76405203e-01 -3.42924162e-03 -5.18491796e+01] [-1.50673665e-02 1.79759292e-04 9.99886465e-01 -4.64463527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.86862385300003 meters Centerline goodness [0,1] 0.9998487304159913 Centerline is valid? [True, True] Translation: X:244.83, Y:-51.86, Z:-4.64 [[ 9.77011785e-01 2.12616177e-01 1.55670542e-02 2.44825010e+02] [-2.12585208e-01 9.77135764e-01 -3.63698599e-03 -5.18587897e+01] [-1.59844075e-02 2.44052718e-04 9.99872211e-01 -4.64394065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.89862385300003 meters Centerline goodness [0,1] 0.9997005859959793 Centerline is valid? [True, True] Translation: X:244.85, Y:-51.87, Z:-4.65 [[ 9.77814974e-01 2.08921015e-01 1.51619640e-02 2.44852403e+02] [-2.08891205e-01 9.77932473e-01 -3.54155402e-03 -5.18713306e+01] [-1.55672820e-02 2.95783623e-04 9.99878779e-01 -4.64587839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.92862385300003 meters Centerline goodness [0,1] 0.9997038102693211 Centerline is valid? [True, True] Translation: X:244.88, Y:-51.88, Z:-4.65 [[ 9.78203425e-01 2.07132892e-01 1.46295717e-02 2.44879399e+02] [-2.07104943e-01 9.78312766e-01 -3.41694576e-03 -5.18811561e+01] [-1.50200586e-02 3.12611442e-04 9.99887144e-01 -4.64722117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.958623853 meters Centerline goodness [0,1] 0.9996097645579499 Centerline is valid? [True, True] Translation: X:244.91, Y:-51.89, Z:-4.65 [[ 9.78660980e-01 2.04963482e-01 1.45827932e-02 2.44907197e+02] [-2.04935482e-01 9.78769561e-01 -3.40522855e-03 -5.18911598e+01] [-1.49711416e-02 3.44032567e-04 9.99887867e-01 -4.64814438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.988623853 meters Centerline goodness [0,1] 0.9985963245297688 Centerline is valid? [True, True] Translation: X:244.94, Y:-51.90, Z:-4.64 [[ 9.79296548e-01 2.01970861e-01 1.36397534e-02 2.44935122e+02] [-2.01946081e-01 9.79391463e-01 -3.18461185e-03 -5.19031833e+01] [-1.40018568e-02 3.64184652e-04 9.99901903e-01 -4.64130802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.018623853 meters Centerline goodness [0,1] 0.9993327737241988 Centerline is valid? [True, True] Translation: X:244.96, Y:-51.91, Z:-4.65 [[ 9.79445808e-01 2.01204011e-01 1.42427339e-02 2.44963212e+02] [-2.01176909e-01 9.79549280e-01 -3.32545569e-03 -5.19110985e+01] [-1.46205548e-02 3.91794450e-04 9.99893037e-01 -4.64942250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.04862385300004 meters Centerline goodness [0,1] 0.9994769760498616 Centerline is valid? [True, True] Translation: X:244.99, Y:-51.92, Z:-4.65 [[ 9.79553327e-01 2.00677980e-01 1.42698422e-02 2.44993622e+02] [-2.00650726e-01 9.79657179e-01 -3.33134551e-03 -5.19161068e+01] [-1.46480810e-02 3.99976375e-04 9.99892631e-01 -4.64923753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.078623853 meters Centerline goodness [0,1] 0.9994769760498616 Centerline is valid? [True, True] Translation: X:245.02, Y:-51.92, Z:-4.65 [[ 9.79553327e-01 2.00677980e-01 1.42698422e-02 2.45022842e+02] [-2.00650726e-01 9.79657179e-01 -3.33134551e-03 -5.19229284e+01] [-1.46480810e-02 3.99976375e-04 9.99892631e-01 -4.64980057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.10862385300004 meters Centerline goodness [0,1] 0.998876938361194 Centerline is valid? [True, True] Translation: X:245.05, Y:-51.93, Z:-4.64 [[ 9.79493845e-01 2.01008803e-01 1.36846081e-02 2.45052335e+02] [-2.00983770e-01 9.79589362e-01 -3.19477843e-03 -5.19300482e+01] [-1.40474751e-02 3.78881666e-04 9.99901258e-01 -4.64107436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.138623853 meters Centerline goodness [0,1] 0.9992226468873486 Centerline is valid? [True, True] Translation: X:245.08, Y:-51.94, Z:-4.65 [[ 9.79339653e-01 2.01725641e-01 1.41636982e-02 2.45080218e+02] [-2.01698902e-01 9.79441994e-01 -3.30643859e-03 -5.19382680e+01] [-1.45395143e-02 3.81324038e-04 9.99894223e-01 -4.65088351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.16862385300004 meters Centerline goodness [0,1] 0.9997183098591549 Centerline is valid? [True, True] Translation: X:245.11, Y:-51.94, Z:-4.65 [[ 9.78912860e-01 2.03785305e-01 1.41831811e-02 2.45109563e+02] [-2.03758710e-01 9.79015539e-01 -3.31085964e-03 -5.19414300e+01] [-1.45602592e-02 3.51096390e-04 9.99893932e-01 -4.65174938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.198623853 meters Centerline goodness [0,1] 0.9995655951346655 Centerline is valid? [True, True] Translation: X:245.14, Y:-51.95, Z:-4.65 [[ 9.78654181e-01 2.05046125e-01 1.38593462e-02 2.45137388e+02] [-2.05020861e-01 9.78752257e-01 -3.23498117e-03 -5.19487522e+01] [-1.42281867e-02 3.24472753e-04 9.99898722e-01 -4.65351764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.22862385300004 meters Centerline goodness [0,1] 0.9996775996217169 Centerline is valid? [True, True] Translation: X:245.17, Y:-51.95, Z:-4.65 [[ 9.77942116e-01 2.08430424e-01 1.36373147e-02 2.45167432e+02] [-2.08406299e-01 9.78037159e-01 -3.18265052e-03 -5.19494014e+01] [-1.40011617e-02 2.70345699e-04 9.99901942e-01 -4.65407696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.258623853 meters Centerline goodness [0,1] 0.9997407703441273 Centerline is valid? [True, True] Translation: X:245.19, Y:-51.95, Z:-4.66 [[ 9.77583259e-01 2.10116058e-01 1.34986611e-02 2.45194571e+02] [-2.10092587e-01 9.77676420e-01 -3.14992480e-03 -5.19546663e+01] [-1.38591724e-02 2.43345118e-04 9.99903927e-01 -4.65548681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.28862385300005 meters Centerline goodness [0,1] 0.9998277606734558 Centerline is valid? [True, True] Translation: X:245.22, Y:-51.96, Z:-4.66 [[ 9.77198837e-01 2.11903348e-01 1.33941663e-02 2.45223491e+02] [-2.11880418e-01 9.77290604e-01 -3.12466222e-03 -5.19576192e+01] [-1.37521192e-02 2.15454735e-04 9.99905412e-01 -4.65585990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.318623853 meters Centerline goodness [0,1] 0.9998057581905296 Centerline is valid? [True, True] Translation: X:245.25, Y:-51.96, Z:-4.66 [[ 9.76526684e-01 2.14987129e-01 1.32728765e-02 2.45250996e+02] [-2.14964906e-01 9.76616867e-01 -3.09576562e-03 -5.19614120e+01] [-1.36280649e-02 1.69895073e-04 9.99907119e-01 -4.65721464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.348623853 meters Centerline goodness [0,1] 0.9998921158244509 Centerline is valid? [True, True] Translation: X:245.28, Y:-51.96, Z:-4.66 [[ 9.76294380e-01 2.16047776e-01 1.31393437e-02 2.45279985e+02] [-2.16026105e-01 9.76382781e-01 -3.06380655e-03 -5.19640245e+01] [-1.34909575e-02 1.52735872e-04 9.99908981e-01 -4.65711846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.378623853 meters Centerline goodness [0,1] 0.9999133129618794 Centerline is valid? [True, True] Translation: X:245.31, Y:-51.97, Z:-4.66 [[ 9.75991446e-01 2.17432141e-01 1.28047533e-02 2.45307565e+02] [-2.17411686e-01 9.76075431e-01 -2.98515118e-03 -5.19695426e+01] [-1.31474729e-02 1.29579008e-04 9.99913560e-01 -4.65882963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.408623853 meters Centerline goodness [0,1] 0.9998709372109531 Centerline is valid? [True, True] Translation: X:245.33, Y:-51.98, Z:-4.66 [[ 9.75878862e-01 2.17918313e-01 1.31169796e-02 2.45334994e+02] [-2.17896902e-01 9.75967004e-01 -3.05724189e-03 -5.19765692e+01] [-1.34679683e-02 1.25348512e-04 9.99909295e-01 -4.65940031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.438623853 meters Centerline goodness [0,1] 0.999956765170021 Centerline is valid? [True, True] Translation: X:245.36, Y:-51.98, Z:-4.66 [[ 9.75819109e-01 2.18137527e-01 1.38955010e-02 2.45363277e+02] [-2.18113532e-01 9.75918031e-01 -3.23796954e-03 -5.19817759e+01] [-1.42671926e-02 1.28875754e-04 9.99898210e-01 -4.65741686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.468623853 meters Centerline goodness [0,1] 0.9998705585399004 Centerline is valid? [True, True] Translation: X:245.39, Y:-51.99, Z:-4.66 [[ 9.75810395e-01 2.18178391e-01 1.38658853e-02 2.45390433e+02] [-2.18154511e-01 9.75908896e-01 -3.23041246e-03 -5.19881506e+01] [-1.42366470e-02 1.27364631e-04 9.99898646e-01 -4.65762990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.498623853 meters Centerline goodness [0,1] 0.9999348661499381 Centerline is valid? [True, True] Translation: X:245.42, Y:-51.99, Z:-4.66 [[ 9.75757266e-01 2.18419867e-01 1.38029059e-02 2.45418568e+02] [-2.18396242e-01 9.75854880e-01 -3.21480290e-03 -5.19944828e+01] [-1.41718099e-02 1.22364504e-04 9.99899567e-01 -4.65808620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.528623853 meters Centerline goodness [0,1] 0.9999138506601193 Centerline is valid? [True, True] Translation: X:245.45, Y:-52.00, Z:-4.66 [[ 9.75645688e-01 2.18894759e-01 1.41624895e-02 2.45445659e+02] [-2.18869946e-01 9.75748467e-01 -3.29785888e-03 -5.20016872e+01] [-1.45409114e-02 1.17798474e-04 9.99894268e-01 -4.65802946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.55862385300003 meters Centerline goodness [0,1] 0.9998489914788049 Centerline is valid? [True, True] Translation: X:245.47, Y:-52.01, Z:-4.66 [[ 9.75562814e-01 2.19257040e-01 1.42669419e-02 2.45472108e+02] [-2.19231913e-01 9.75667124e-01 -3.32126572e-03 -5.20097715e+01] [-1.46479971e-02 1.12334360e-04 9.99892706e-01 -4.65968797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.588623853 meters Centerline goodness [0,1] 0.9999352163772999 Centerline is valid? [True, True] Translation: X:245.50, Y:-52.01, Z:-4.66 [[ 9.75544664e-01 2.19393142e-01 1.33886978e-02 2.45500864e+02] [-2.19371037e-01 9.75636530e-01 -3.11599572e-03 -5.20134388e+01] [-1.37461307e-02 1.02700483e-04 9.99905512e-01 -4.66051802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.61862385300003 meters Centerline goodness [0,1] 0.9999141170155663 Centerline is valid? [True, True] Translation: X:245.53, Y:-52.02, Z:-4.66 [[ 9.75613413e-01 2.19100429e-01 1.31708299e-02 2.45527728e+02] [-2.19079019e-01 9.75702307e-01 -3.06471786e-03 -5.20217638e+01] [-1.35222901e-02 1.04527371e-04 9.99908564e-01 -4.66254712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.648623853 meters Centerline goodness [0,1] 0.9999785628537129 Centerline is valid? [True, True] Translation: X:245.56, Y:-52.03, Z:-4.66 [[ 9.75706743e-01 2.18673660e-01 1.33484752e-02 2.45556070e+02] [-2.18651642e-01 9.75798042e-01 -3.10501773e-03 -5.20287683e+01] [-1.37044015e-02 1.10920721e-04 9.99906084e-01 -4.66218766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.67862385300003 meters Centerline goodness [0,1] 0.9999352233714076 Centerline is valid? [True, True] Translation: X:245.58, Y:-52.04, Z:-4.66 [[ 9.76004610e-01 2.17328774e-01 1.35353159e-02 2.45583972e+02] [-2.17306015e-01 9.76098452e-01 -3.14781187e-03 -5.20365275e+01] [-1.38959110e-02 1.30973327e-04 9.99903439e-01 -4.66166279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.708623853 meters Centerline goodness [0,1] 0.9999356154093787 Centerline is valid? [True, True] Translation: X:245.61, Y:-52.04, Z:-4.66 [[ 9.76142849e-01 2.16684485e-01 1.38914381e-02 2.45611474e+02] [-2.16660458e-01 9.76241678e-01 -3.22990954e-03 -5.20436562e+01] [-1.42612722e-02 1.43127748e-04 9.99898293e-01 -4.66188743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.73862385300004 meters Centerline goodness [0,1] 0.9998708983324368 Centerline is valid? [True, True] Translation: X:245.64, Y:-52.05, Z:-4.66 [[ 9.76542984e-01 2.14857840e-01 1.41389363e-02 2.45637352e+02] [-2.14832768e-01 9.76645319e-01 -3.28677017e-03 -5.20534840e+01] [-1.45149143e-02 1.72165525e-04 9.99894638e-01 -4.66189993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.768623853 meters Centerline goodness [0,1] 0.9998509782215316 Centerline is valid? [True, True] Translation: X:245.67, Y:-52.06, Z:-4.66 [[ 9.76762271e-01 2.13849352e-01 1.42800733e-02 2.45665033e+02] [-2.13823684e-01 9.76866633e-01 -3.31860679e-03 -5.20614759e+01] [-1.46594091e-02 1.88072026e-04 9.99892527e-01 -4.66232569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.79862385300004 meters Centerline goodness [0,1] 0.9998713385083844 Centerline is valid? [True, True] Translation: X:245.69, Y:-52.07, Z:-4.66 [[ 9.77234767e-01 2.11733885e-01 1.34525924e-02 2.45693050e+02] [-2.11710915e-01 9.77327335e-01 -3.12556950e-03 -5.20717420e+01] [-1.38093752e-02 2.06354541e-04 9.99904625e-01 -4.66477173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.828623853 meters Centerline goodness [0,1] 0.9999136330267305 Centerline is valid? [True, True] Translation: X:245.72, Y:-52.08, Z:-4.67 [[ 9.77491486e-01 2.10570482e-01 1.30563334e-02 2.45721378e+02] [-2.10548745e-01 9.77578654e-01 -3.03318778e-03 -5.20807646e+01] [-1.34022926e-02 2.15920618e-04 9.99910162e-01 -4.66599769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.85862385300004 meters Centerline goodness [0,1] 0.9998290123324856 Centerline is valid? [True, True] Translation: X:245.75, Y:-52.10, Z:-4.67 [[ 9.77674841e-01 2.09728806e-01 1.28737272e-02 2.45747088e+02] [-2.09707604e-01 9.77759571e-01 -2.99051096e-03 -5.20950435e+01] [-1.32146063e-02 2.24028844e-04 9.99912658e-01 -4.66920782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.888623853 meters Centerline goodness [0,1] 0.9997232393766499 Centerline is valid? [True, True] Translation: X:245.78, Y:-52.10, Z:-4.67 [[ 9.77813449e-01 2.09081773e-01 1.28712887e-02 2.45776877e+02] [-2.09060531e-01 9.77898133e-01 -2.98937861e-03 -5.20992431e+01] [-1.32118338e-02 2.32176166e-04 9.99912693e-01 -4.66802955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.91862385300004 meters Centerline goodness [0,1] 0.9996962332928311 Centerline is valid? [True, True] Translation: X:245.81, Y:-52.10, Z:-4.67 [[ 9.77714191e-01 2.09508995e-01 1.34514651e-02 2.45806378e+02] [-2.09485839e-01 9.77806691e-01 -3.12378524e-03 -5.21018181e+01] [-1.38073937e-02 2.36277709e-04 9.99904645e-01 -4.66626139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.948623853 meters Centerline goodness [0,1] 0.9996533044420368 Centerline is valid? [True, True] Translation: X:245.83, Y:-52.11, Z:-4.66 [[ 9.77619443e-01 2.09974550e-01 1.30733982e-02 2.45834789e+02] [-2.09952724e-01 9.77706827e-01 -3.03558900e-03 -5.21103966e+01] [-1.34193471e-02 2.22855274e-04 9.99909932e-01 -4.65875564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.97862385300004 meters Centerline goodness [0,1] 0.9997827031725337 Centerline is valid? [True, True] Translation: X:245.86, Y:-52.12, Z:-4.67 [[ 9.77491492e-01 2.10499479e-01 1.41546093e-02 2.45862374e+02] [-2.10473950e-01 9.77593942e-01 -3.28658815e-03 -5.21165800e+01] [-1.45292853e-02 2.33435436e-04 9.99894417e-01 -4.66673740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.008623853 meters Centerline goodness [0,1] 0.9997837978077098 Centerline is valid? [True, True] Translation: X:245.89, Y:-52.12, Z:-4.67 [[ 9.77390272e-01 2.10933598e-01 1.46721627e-02 2.45890041e+02] [-2.10906228e-01 9.77500364e-01 -3.40599681e-03 -5.21227521e+01] [-1.50604835e-02 2.34537664e-04 9.99886557e-01 -4.66599914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.03862385300005 meters Centerline goodness [0,1] 0.9994829814735028 Centerline is valid? [True, True] Translation: X:245.92, Y:-52.13, Z:-4.66 [[ 9.77183209e-01 2.11859288e-01 1.51201365e-02 2.45918668e+02] [-2.11830344e-01 9.77300154e-01 -3.50921559e-03 -5.21282532e+01] [-1.55203716e-02 2.26242845e-04 9.99879526e-01 -4.65767235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.068623853 meters Centerline goodness [0,1] 0.999762141590624 Centerline is valid? [True, True] Translation: X:245.95, Y:-52.13, Z:-4.66 [[ 9.77095425e-01 2.12199899e-01 1.59916554e-02 2.45947859e+02] [-2.12167581e-01 9.77226253e-01 -3.71059487e-03 -5.21323955e+01] [-1.64148533e-02 2.32694425e-04 9.99865240e-01 -4.66393072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.098623853 meters Centerline goodness [0,1] 0.9996985227615315 Centerline is valid? [True, True] Translation: X:245.98, Y:-52.14, Z:-4.66 [[ 9.77100373e-01 2.12159960e-01 1.62176399e-02 2.45975084e+02] [-2.12126725e-01 9.77234923e-01 -3.76259982e-03 -5.21400498e+01] [-1.66467171e-02 2.36242867e-04 9.99861406e-01 -4.66458999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.128623853 meters Centerline goodness [0,1] 0.9997420796973735 Centerline is valid? [True, True] Translation: X:246.00, Y:-52.15, Z:-4.67 [[ 9.77170058e-01 2.11873330e-01 1.57597291e-02 2.46002573e+02] [-2.11841914e-01 9.77297108e-01 -3.65599278e-03 -5.21487972e+01] [-1.61765451e-02 2.33955499e-04 9.99869124e-01 -4.66672907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.158623853 meters Centerline goodness [0,1] 0.9998928326474623 Centerline is valid? [True, True] Translation: X:246.03, Y:-52.16, Z:-4.67 [[ 9.77252819e-01 2.11532194e-01 1.52005996e-02 2.46031053e+02] [-2.11502936e-01 9.77371003e-01 -3.52569875e-03 -5.21553413e+01] [-1.56024241e-02 2.30527603e-04 9.99878248e-01 -4.66735369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.188623853 meters Centerline goodness [0,1] 0.9998696983516842 Centerline is valid? [True, True] Translation: X:246.06, Y:-52.17, Z:-4.67 [[ 9.77616622e-01 2.09877097e-01 1.47426216e-02 2.46060115e+02] [-2.09849393e-01 9.77727745e-01 -3.41902125e-03 -5.21659961e+01] [-1.51318444e-02 2.48761806e-04 9.99885476e-01 -4.66894226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.218623853 meters Centerline goodness [0,1] 0.9996305552537216 Centerline is valid? [True, True] Translation: X:246.09, Y:-52.18, Z:-4.67 [[ 9.77782213e-01 2.09100129e-01 1.48013573e-02 2.46089587e+02] [-2.09072115e-01 9.77894201e-01 -3.43264288e-03 -5.21751325e+01] [-1.51919275e-02 2.61826075e-04 9.99884562e-01 -4.66979466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.248623853 meters Centerline goodness [0,1] 0.9989410671449873 Centerline is valid? [True, True] Translation: X:246.12, Y:-52.19, Z:-4.66 [[ 9.78132705e-01 2.07485074e-01 1.43650643e-02 2.46117980e+02] [-2.07458516e-01 9.78238144e-01 -3.33125609e-03 -5.21875254e+01] [-1.47436398e-02 2.78255600e-04 9.99891268e-01 -4.66314823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.278623853 meters Centerline goodness [0,1] 0.9994808902731815 Centerline is valid? [True, True] Translation: X:246.15, Y:-52.20, Z:-4.67 [[ 9.78333158e-01 2.06527006e-01 1.45198920e-02 2.46147055e+02] [-2.06499753e-01 9.78440855e-01 -3.36812571e-03 -5.21965850e+01] [-1.49024645e-02 2.96794945e-04 9.99888908e-01 -4.67189079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.30862385300003 meters Centerline goodness [0,1] 0.9994832597696199 Centerline is valid? [True, True] Translation: X:246.18, Y:-52.21, Z:-4.67 [[ 9.78398656e-01 2.06213450e-01 1.45630675e-02 2.46177332e+02] [-2.06186002e-01 9.78506986e-01 -3.37804756e-03 -5.22062186e+01] [-1.49466621e-02 3.02376529e-04 9.99888247e-01 -4.67256035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.338623853 meters Centerline goodness [0,1] 0.9997420630655804 Centerline is valid? [True, True] Translation: X:246.21, Y:-52.22, Z:-4.67 [[ 9.78413233e-01 2.06169523e-01 1.42011966e-02 2.46207222e+02] [-2.06143412e-01 9.78516244e-01 -3.29445427e-03 -5.22164501e+01] [-1.45753176e-02 2.95854535e-04 9.99893731e-01 -4.67379242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.36862385300003 meters Centerline goodness [0,1] 0.999653597176817 Centerline is valid? [True, True] Translation: X:246.24, Y:-52.22, Z:-4.67 [[ 9.78105521e-01 2.07623393e-01 1.42167953e-02 2.46237403e+02] [-2.07597375e-01 9.78208797e-01 -3.29831788e-03 -5.22239568e+01] [-1.45918022e-02 2.74733541e-04 9.99893496e-01 -4.67454493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.398623853 meters Centerline goodness [0,1] 0.9995453069178305 Centerline is valid? [True, True] Translation: X:246.27, Y:-52.23, Z:-4.67 [[ 9.77858118e-01 2.08760016e-01 1.45862035e-02 2.46267143e+02] [-2.08732743e-01 9.77966863e-01 -3.38475853e-03 -5.22313540e+01] [-1.49714259e-02 2.65195345e-04 9.99887887e-01 -4.67466436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.42862385300003 meters Centerline goodness [0,1] 0.9992252733063614 Centerline is valid? [True, True] Translation: X:246.30, Y:-52.24, Z:-4.67 [[ 9.77576970e-01 2.10115193e-01 1.39597041e-02 2.46297805e+02] [-2.10090335e-01 9.77676608e-01 -3.24050867e-03 -5.22369344e+01] [-1.43289563e-02 2.35047734e-04 9.99897308e-01 -4.66693372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.458623853 meters Centerline goodness [0,1] 0.9997211856045983 Centerline is valid? [True, True] Translation: X:246.33, Y:-52.24, Z:-4.68 [[ 9.77238086e-01 2.11651986e-01 1.44623878e-02 2.46325932e+02] [-2.11625471e-01 9.77345071e-01 -3.35735719e-03 -5.22435931e+01] [-1.48453348e-02 2.20327683e-04 9.99889778e-01 -4.67620167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.48862385300004 meters Centerline goodness [0,1] 0.9999360382065113 Centerline is valid? [True, True] Translation: X:246.35, Y:-52.25, Z:-4.68 [[ 9.76646511e-01 2.14391251e-01 1.40706835e-02 2.46354300e+02] [-2.14366430e-01 9.76747849e-01 -3.26693065e-03 -5.22487515e+01] [-1.44439112e-02 1.74354238e-04 9.99895666e-01 -4.67766717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.518623853 meters Centerline goodness [0,1] 0.9999569910971571 Centerline is valid? [True, True] Translation: X:246.38, Y:-52.25, Z:-4.68 [[ 9.75955743e-01 2.17513632e-01 1.40786521e-02 2.46383049e+02] [-2.17489113e-01 9.76057275e-01 -3.26831957e-03 -5.22520752e+01] [-1.44524749e-02 1.27781676e-04 9.99895549e-01 -4.67823080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.54862385300004 meters Centerline goodness [0,1] 0.9999569225467391 Centerline is valid? [True, True] Translation: X:246.41, Y:-52.26, Z:-4.68 [[ 9.75519888e-01 2.19470909e-01 1.39092845e-02 2.46411997e+02] [-2.19447186e-01 9.75619040e-01 -3.22833258e-03 -5.22562142e+01] [-1.42786879e-02 9.69492918e-05 9.99898050e-01 -4.67924481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.578623853 meters Centerline goodness [0,1] 0.9999136572625035 Centerline is valid? [True, True] Translation: X:246.44, Y:-52.26, Z:-4.67 [[ 9.75061447e-01 2.21526947e-01 1.34531440e-02 2.46441238e+02] [-2.21504958e-01 9.75154248e-01 -3.12183578e-03 -5.22593933e+01] [-1.38104613e-02 6.40436157e-05 9.99904629e-01 -4.67391672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.60862385300004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:246.47, Y:-52.26, Z:-4.68 [[ 9.74059134e-01 2.25858739e-01 1.40225828e-02 2.46470017e+02] [-2.25835307e-01 9.74160064e-01 -3.25330463e-03 -5.22594665e+01] [-1.43950274e-02 2.11681133e-06 9.99896386e-01 -4.68062968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.638623853 meters Centerline goodness [0,1] 0.9999785227980499 Centerline is valid? [True, True] Translation: X:246.50, Y:-52.26, Z:-4.68 [[ 9.73563900e-01 2.28005326e-01 1.36713158e-02 2.46498466e+02] [-2.27983276e-01 9.73659884e-01 -3.17100559e-03 -5.22621130e+01] [-1.40342180e-02 -2.96548064e-05 9.99901515e-01 -4.68165182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.66862385300004 meters Centerline goodness [0,1] 0.9999134723544172 Centerline is valid? [True, True] Translation: X:246.53, Y:-52.26, Z:-4.68 [[ 9.72711604e-01 2.31659197e-01 1.28899677e-02 2.46527547e+02] [-2.31639926e-01 9.72797004e-01 -2.98905700e-03 -5.22619119e+01] [-1.32317645e-02 -7.83407361e-05 9.99912453e-01 -4.67670292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.698623853 meters Centerline goodness [0,1] 0.9998930229572733 Centerline is valid? [True, True] Translation: X:246.56, Y:-52.27, Z:-4.68 [[ 9.72410621e-01 2.32919894e-01 1.28804977e-02 2.46555608e+02] [-2.32900772e-01 9.72495920e-01 -2.98608441e-03 -5.22653313e+01] [-1.32217499e-02 -9.61776668e-05 9.99912584e-01 -4.67758619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.72862385300004 meters Centerline goodness [0,1] 0.9999565915700829 Centerline is valid? [True, True] Translation: X:246.58, Y:-52.27, Z:-4.68 [[ 9.72252126e-01 2.33534373e-01 1.36930503e-02 2.46582838e+02] [-2.33512835e-01 9.72348540e-01 -3.17362651e-03 -5.22701103e+01] [-1.40555684e-02 -1.11937873e-04 9.99901209e-01 -4.68407635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.758623853 meters Centerline goodness [0,1] 0.9998924337929996 Centerline is valid? [True, True] Translation: X:246.61, Y:-52.27, Z:-4.68 [[ 9.72296506e-01 2.33296893e-01 1.45624389e-02 2.46610305e+02] [-2.33272524e-01 9.72405546e-01 -3.37395991e-03 -5.22740178e+01] [-1.49477307e-02 -1.16527451e-04 9.99888270e-01 -4.68283388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.78862385300005 meters Centerline goodness [0,1] 0.9999568937646831 Centerline is valid? [True, True] Translation: X:246.64, Y:-52.28, Z:-4.68 [[ 9.72765402e-01 2.31260450e-01 1.56868104e-02 2.46637967e+02] [-2.31231924e-01 9.72891873e-01 -3.63343274e-03 -5.22836738e+01] [-1.61018396e-02 -9.28136835e-05 9.99870353e-01 -4.68155592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.818623853 meters Centerline goodness [0,1] 0.9999359001752062 Centerline is valid? [True, True] Translation: X:246.67, Y:-52.29, Z:-4.68 [[ 9.73102070e-01 2.29848190e-01 1.55618680e-02 2.46665461e+02] [-2.29819947e-01 9.73226492e-01 -3.60374656e-03 -5.22918317e+01] [-1.59735368e-02 -6.96144479e-05 9.99872412e-01 -4.68235574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.848623853 meters Centerline goodness [0,1] 0.9999784566332026 Centerline is valid? [True, True] Translation: X:246.69, Y:-52.30, Z:-4.68 [[ 9.73535719e-01 2.28015298e-01 1.54021893e-02 2.46691948e+02] [-2.27987414e-01 9.73657549e-01 -3.56607121e-03 -5.22999982e+01] [-1.58095767e-02 -3.98076043e-05 9.99875020e-01 -4.68421016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.878623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:246.72, Y:-52.31, Z:-4.69 [[ 9.74444893e-01 2.24173317e-01 1.42644316e-02 2.46718056e+02] [-2.24149000e-01 9.74549292e-01 -3.30186283e-03 -5.23119761e+01] [-1.46415813e-02 2.01252827e-05 9.99892806e-01 -4.68726143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.908623853 meters Centerline goodness [0,1] 0.999978471474704 Centerline is valid? [True, True] Translation: X:246.74, Y:-52.32, Z:-4.69 [[ 9.75364270e-01 2.20163709e-01 1.38737765e-02 2.46744570e+02] [-2.20140311e-01 9.75462934e-01 -3.21062635e-03 -5.23237237e+01] [-1.42402182e-02 7.73527460e-05 9.99898600e-01 -4.68843961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.938623853 meters Centerline goodness [0,1] 0.9999571541806809 Centerline is valid? [True, True] Translation: X:246.77, Y:-52.33, Z:-4.69 [[ 9.75834959e-01 2.18086071e-01 1.35866760e-02 2.46771974e+02] [-2.18063439e-01 9.75929534e-01 -3.14353727e-03 -5.23329391e+01] [-1.39452001e-02 1.04816268e-04 9.99902755e-01 -4.68946758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.968623853 meters Centerline goodness [0,1] 0.9999571541806809 Centerline is valid? [True, True] Translation: X:246.80, Y:-52.34, Z:-4.69 [[ 9.75845141e-01 2.18040500e-01 1.35868224e-02 2.46799595e+02] [-2.18017872e-01 9.75939716e-01 -3.14290435e-03 -5.23392353e+01] [-1.39452000e-02 1.04817827e-04 9.99902755e-01 -4.68999909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.998623853 meters Centerline goodness [0,1] 0.9999352974162101 Centerline is valid? [True, True] Translation: X:246.83, Y:-52.35, Z:-4.69 [[ 9.76330597e-01 2.15852211e-01 1.36524475e-02 2.46828179e+02] [-2.15829161e-01 9.76426036e-01 -3.15729557e-03 -5.23489210e+01] [-1.40121144e-02 1.35967977e-04 9.99901816e-01 -4.69051223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.028623853 meters Centerline goodness [0,1] 0.9998928602039941 Centerline is valid? [True, True] Translation: X:246.86, Y:-52.36, Z:-4.69 [[ 9.77379082e-01 2.10996865e-01 1.45070337e-02 2.46855015e+02] [-2.10970311e-01 9.77486714e-01 -3.35449549e-03 -5.23637104e+01] [-1.48882207e-02 2.18060316e-04 9.99889141e-01 -4.68969211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.05862385300003 meters Centerline goodness [0,1] 0.9998924268502581 Centerline is valid? [True, True] Translation: X:246.88, Y:-52.38, Z:-4.69 [[ 9.77916385e-01 2.08445491e-01 1.51664508e-02 2.46883179e+02] [-2.08416167e-01 9.78033949e-01 -3.50658838e-03 -5.23758184e+01] [-1.55642363e-02 2.68216695e-04 9.99878834e-01 -4.68899008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.088623853 meters Centerline goodness [0,1] 0.9992693828433901 Centerline is valid? [True, True] Translation: X:246.91, Y:-52.40, Z:-4.69 [[ 9.78907991e-01 2.03667885e-01 1.60791051e-02 2.46909177e+02] [-2.03634265e-01 9.79039968e-01 -3.71853886e-03 -5.23970861e+01] [-1.64994335e-02 3.65850656e-04 9.99863808e-01 -4.68790633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.11862385300003 meters Centerline goodness [0,1] 0.9993756458835688 Centerline is valid? [True, True] Translation: X:246.94, Y:-52.41, Z:-4.69 [[ 9.79319409e-01 2.01665181e-01 1.62680866e-02 2.46940634e+02] [-2.01630491e-01 9.79454436e-01 -3.76214812e-03 -5.24050515e+01] [-1.66925438e-02 4.04202387e-04 9.99860588e-01 -4.68751246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.148623853 meters Centerline goodness [0,1] 0.9988158801240097 Centerline is valid? [True, True] Translation: X:246.97, Y:-52.42, Z:-4.69 [[ 9.79924698e-01 1.98692907e-01 1.63925391e-02 2.46969577e+02] [-1.98657255e-01 9.80061691e-01 -3.79176016e-03 -5.24188327e+01] [-1.68190954e-02 4.59142616e-04 9.99858444e-01 -4.68818539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.17862385300003 meters Centerline goodness [0,1] 0.9980444560328532 Centerline is valid? [True, True] Translation: X:247.00, Y:-52.43, Z:-4.68 [[ 9.80071389e-01 1.98017317e-01 1.57865446e-02 2.47000531e+02] [-1.97984164e-01 9.80198417e-01 -3.65161335e-03 -5.24264825e+01] [-1.61970287e-02 4.53355948e-04 9.99868717e-01 -4.67997513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.208623853 meters Centerline goodness [0,1] 0.9980183517856374 Centerline is valid? [True, True] Translation: X:247.03, Y:-52.44, Z:-4.69 [[ 9.80283934e-01 1.96943448e-01 1.60214874e-02 2.47029004e+02] [-1.96909115e-01 9.80414732e-01 -3.70851061e-03 -5.24415737e+01] [-1.64380691e-02 4.80616463e-04 9.99864770e-01 -4.69010740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.23862385300004 meters Centerline goodness [0,1] 0.9984117104161748 Centerline is valid? [True, True] Translation: X:247.06, Y:-52.45, Z:-4.69 [[ 9.80271774e-01 1.97036358e-01 1.56180564e-02 2.47060924e+02] [-1.97003708e-01 9.80396070e-01 -3.61739416e-03 -5.24479897e+01] [-1.60246393e-02 4.69214368e-04 9.99871487e-01 -4.69087388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.268623853 meters Centerline goodness [0,1] 0.9987849858971577 Centerline is valid? [True, True] Translation: X:247.09, Y:-52.46, Z:-4.69 [[ 9.80164482e-01 1.97560391e-01 1.57314768e-02 2.47092128e+02] [-1.97527283e-01 9.80290607e-01 -3.64677570e-03 -5.24567046e+01] [-1.61418773e-02 4.67044152e-04 9.99869602e-01 -4.69125587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.29862385300004 meters Centerline goodness [0,1] 0.9986957172486048 Centerline is valid? [True, True] Translation: X:247.12, Y:-52.46, Z:-4.69 [[ 9.79794595e-01 1.99416208e-01 1.53534374e-02 2.47122503e+02] [-1.99384856e-01 9.79914788e-01 -3.56185361e-03 -5.24648595e+01] [-1.57553517e-02 4.28642009e-04 9.99875785e-01 -4.69222683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.328623853 meters Centerline goodness [0,1] 0.9988649262202043 Centerline is valid? [True, True] Translation: X:247.15, Y:-52.47, Z:-4.69 [[ 9.79515213e-01 2.00776727e-01 1.54483840e-02 2.47154447e+02] [-2.00745132e-01 9.79636941e-01 -3.58538801e-03 -5.24719981e+01] [-1.58536701e-02 4.10754214e-04 9.99874238e-01 -4.69318715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.35862385300004 meters Centerline goodness [0,1] 0.9991264514754448 Centerline is valid? [True, True] Translation: X:247.18, Y:-52.48, Z:-4.69 [[ 9.78707720e-01 2.04671879e-01 1.55119217e-02 2.47183970e+02] [-2.04640486e-01 9.78830577e-01 -3.60173979e-03 -5.24807112e+01] [-1.59207181e-02 3.50683348e-04 9.99873196e-01 -4.69413042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.388623853 meters Centerline goodness [0,1] 0.9997838819130773 Centerline is valid? [True, True] Translation: X:247.22, Y:-52.48, Z:-4.69 [[ 9.78150968e-01 2.07307861e-01 1.56248281e-02 2.47217503e+02] [-2.07276345e-01 9.78275705e-01 -3.62792806e-03 -5.24775187e+01] [-1.60374877e-02 3.10004088e-04 9.99871343e-01 -4.69356820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.41862385300004 meters Centerline goodness [0,1] 0.9996139824147544 Centerline is valid? [True, True] Translation: X:247.25, Y:-52.49, Z:-4.70 [[ 9.77534425e-01 2.10197767e-01 1.55995978e-02 2.47246911e+02] [-2.10166674e-01 9.77658851e-01 -3.62500804e-03 -5.24888722e+01] [-1.60130534e-02 2.65054573e-04 9.99871748e-01 -4.69513727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.448623853 meters Centerline goodness [0,1] 0.9999131510953818 Centerline is valid? [True, True] Translation: X:247.28, Y:-52.48, Z:-4.69 [[ 9.76171260e-01 2.16390104e-01 1.62786302e-02 2.47280136e+02] [-2.16357074e-01 9.76306967e-01 -3.78459999e-03 -5.24835355e+01] [-1.67118901e-02 1.72420928e-04 9.99860332e-01 -4.69395154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.47862385300004 meters Centerline goodness [0,1] 0.9998929473729286 Centerline is valid? [True, True] Translation: X:247.31, Y:-52.49, Z:-4.69 [[ 9.75452707e-01 2.19621905e-01 1.60697232e-02 2.47310299e+02] [-2.19590141e-01 9.75585058e-01 -3.73691678e-03 -5.24866268e+01] [-1.64980906e-02 1.16432805e-04 9.99863890e-01 -4.69422217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.508623853 meters Centerline goodness [0,1] 0.9999145864918537 Centerline is valid? [True, True] Translation: X:247.34, Y:-52.48, Z:-4.69 [[ 9.74158046e-01 2.25362393e-01 1.50961460e-02 2.47341900e+02] [-2.25335031e-01 9.74275008e-01 -3.51172326e-03 -5.24843293e+01] [-1.54992081e-02 1.92829422e-05 9.99879880e-01 -4.68953612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.53862385300005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:247.37, Y:-52.49, Z:-4.70 [[ 9.73575123e-01 2.27854282e-01 1.52939804e-02 2.47371741e+02] [-2.27826509e-01 9.73695243e-01 -3.55758865e-03 -5.24874802e+01] [-1.57022878e-02 -2.07943496e-05 9.99876711e-01 -4.69699512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.568623853 meters Centerline goodness [0,1] 0.9996566228860846 Centerline is valid? [True, True] Translation: X:247.40, Y:-52.49, Z:-4.69 [[ 9.72794067e-01 2.31225006e-01 1.43770673e-02 2.47400861e+02] [-2.31200833e-01 9.72900299e-01 -3.34411590e-03 -5.24877340e+01] [-1.47606963e-02 -7.08538340e-05 9.99891052e-01 -4.69065299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.598623853 meters Centerline goodness [0,1] 0.99997843898232 Centerline is valid? [True, True] Translation: X:247.43, Y:-52.49, Z:-4.70 [[ 9.72601510e-01 2.32003861e-01 1.48495965e-02 2.47429059e+02] [-2.31978179e-01 9.72714861e-01 -3.45304214e-03 -5.24944757e+01] [-1.52455423e-02 -8.63483629e-05 9.99883776e-01 -4.69981832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.628623853 meters Centerline goodness [0,1] 0.9999137670848963 Centerline is valid? [True, True] Translation: X:247.46, Y:-52.50, Z:-4.70 [[ 9.72510576e-01 2.32388368e-01 1.47927345e-02 2.47456741e+02] [-2.32362939e-01 9.72623071e-01 -3.43902312e-03 -5.25002626e+01] [-1.51869438e-02 -9.27968966e-05 9.99884667e-01 -4.70106740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.658623853 meters Centerline goodness [0,1] 0.9999785135686814 Centerline is valid? [True, True] Translation: X:247.48, Y:-52.51, Z:-4.70 [[ 9.72726572e-01 2.31468611e-01 1.50099616e-02 2.47483947e+02] [-2.31442327e-01 9.72842369e-01 -3.48902005e-03 -5.25062332e+01] [-1.54099252e-02 -8.00779327e-05 9.99881257e-01 -4.70240686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.688623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:247.51, Y:-52.52, Z:-4.70 [[ 9.72965510e-01 2.30440126e-01 1.53448796e-02 2.47510987e+02] [-2.30412544e-01 9.73086504e-01 -3.56585126e-03 -5.25163595e+01] [-1.57536105e-02 -6.62024698e-05 9.99875902e-01 -4.70198881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.718623853 meters Centerline goodness [0,1] 0.9999567127675693 Centerline is valid? [True, True] Translation: X:247.54, Y:-52.53, Z:-4.70 [[ 9.73465652e-01 2.28304395e-01 1.55476072e-02 2.47539354e+02] [-2.28275822e-01 9.73589802e-01 -3.61205289e-03 -5.25276794e+01] [-1.59616394e-02 -3.29334002e-05 9.99872604e-01 -4.70204116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.748623853 meters Centerline goodness [0,1] 0.9999567268163919 Centerline is valid? [True, True] Translation: X:247.57, Y:-52.54, Z:-4.70 [[ 9.73658270e-01 2.27480271e-01 1.55659656e-02 2.47568937e+02] [-2.27451525e-01 9.73782689e-01 -3.61631795e-03 -5.25357590e+01] [-1.59805089e-02 -1.94447396e-05 9.99872303e-01 -4.70237215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.778623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:247.60, Y:-52.54, Z:-4.70 [[ 9.73923490e-01 2.26369129e-01 1.51675140e-02 2.47596915e+02] [-2.26341700e-01 9.74041589e-01 -3.52378808e-03 -5.25434366e+01] [-1.55714663e-02 -1.14092739e-06 9.99878757e-01 -4.70436831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.80862385300003 meters Centerline goodness [0,1] 0.9999570750971176 Centerline is valid? [True, True] Translation: X:247.63, Y:-52.55, Z:-4.71 [[ 9.74035369e-01 2.25908634e-01 1.48455216e-02 2.47625877e+02] [-2.25882307e-01 9.74148494e-01 -3.44883855e-03 -5.25508735e+01] [-1.52408649e-02 5.95007484e-06 9.99883851e-01 -4.70574569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.838623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:247.65, Y:-52.56, Z:-4.71 [[ 9.74361208e-01 2.24524017e-01 1.44638136e-02 2.47653242e+02] [-2.24498878e-01 9.74468555e-01 -3.35982173e-03 -5.25599826e+01] [-1.48488922e-02 2.65700309e-05 9.99889749e-01 -4.70801527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.86862385300003 meters Centerline goodness [0,1] 0.9998925724598758 Centerline is valid? [True, True] Translation: X:247.68, Y:-52.57, Z:-4.70 [[ 9.74590197e-01 2.23560245e-01 1.39558174e-02 2.47682838e+02] [-2.23536748e-01 9.74690113e-01 -3.24139272e-03 -5.25682367e+01] [-1.43272438e-02 3.93915310e-05 9.99897359e-01 -4.70131395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.898623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:247.71, Y:-52.58, Z:-4.71 [[ 9.74814974e-01 2.22551315e-01 1.43763388e-02 2.47712112e+02] [-2.22526271e-01 9.74920976e-01 -3.33906347e-03 -5.25776578e+01] [-1.47589073e-02 5.58559921e-05 9.99891080e-01 -4.70882718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.92862385300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:247.74, Y:-52.59, Z:-4.71 [[ 9.75192463e-01 2.20857548e-01 1.48863695e-02 2.47741239e+02] [-2.20830498e-01 9.75306073e-01 -3.45752373e-03 -5.25875829e+01] [-1.52823868e-02 8.43866819e-05 9.99883214e-01 -4.70839443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.958623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:247.77, Y:-52.60, Z:-4.71 [[ 9.75362901e-01 2.20080227e-01 1.52284140e-02 2.47771560e+02] [-2.20051826e-01 9.75481770e-01 -3.53689193e-03 -5.25962538e+01] [-1.56334402e-02 9.87128615e-05 9.99877785e-01 -4.70868286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.98862385300004 meters Centerline goodness [0,1] 0.9999136609898768 Centerline is valid? [True, True] Translation: X:247.80, Y:-52.61, Z:-4.71 [[ 9.75813277e-01 2.18068544e-01 1.53153191e-02 2.47800546e+02] [-2.18039569e-01 9.75933447e-01 -3.55723885e-03 -5.26078522e+01] [-1.57224541e-02 1.31855330e-04 9.99876386e-01 -4.70952520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.018623853 meters Centerline goodness [0,1] 0.9999134948096886 Centerline is valid? [True, True] Translation: X:247.83, Y:-52.62, Z:-4.70 [[ 9.75917474e-01 2.17598374e-01 1.53633180e-02 2.47832524e+02] [-2.17569139e-01 9.76038384e-01 -3.56960208e-03 -5.26157054e+01] [-1.57719277e-02 1.41053176e-04 9.99875605e-01 -4.70255574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.04862385300004 meters Centerline goodness [0,1] 0.9999784287501617 Centerline is valid? [True, True] Translation: X:247.86, Y:-52.63, Z:-4.71 [[ 9.75912712e-01 2.17598974e-01 1.56545291e-02 2.47863078e+02] [-2.17568567e-01 9.76038250e-01 -3.64057794e-03 -5.26253523e+01] [-1.60716052e-02 1.46952823e-04 9.99870833e-01 -4.70995773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.078623853 meters Centerline goodness [0,1] 0.9998928303504447 Centerline is valid? [True, True] Translation: X:247.89, Y:-52.63, Z:-4.71 [[ 9.75817976e-01 2.18040974e-01 1.54081552e-02 2.47893751e+02] [-2.18011524e-01 9.75939606e-01 -3.58626507e-03 -5.26320689e+01] [-1.58193817e-02 1.40386515e-04 9.99874856e-01 -4.71145127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.10862385300004 meters Centerline goodness [0,1] 0.999891287804666 Centerline is valid? [True, True] Translation: X:247.93, Y:-52.64, Z:-4.71 [[ 9.75641921e-01 2.18870128e-01 1.47887912e-02 2.47926933e+02] [-2.18843063e-01 9.75753991e-01 -3.44415008e-03 -5.26367885e+01] [-1.51840436e-02 1.23832849e-04 9.99884708e-01 -4.71298274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.138623853 meters Centerline goodness [0,1] 0.9999785384697929 Centerline is valid? [True, True] Translation: X:247.96, Y:-52.64, Z:-4.71 [[ 9.75439033e-01 2.19799465e-01 1.43835882e-02 2.47958395e+02] [-2.19773920e-01 9.75545070e-01 -3.35271214e-03 -5.26435454e+01] [-1.47687629e-02 1.09228716e-04 9.99890930e-01 -4.71430804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.16862385300004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:247.99, Y:-52.65, Z:-4.72 [[ 9.75128286e-01 2.21205543e-01 1.38900438e-02 2.47989453e+02] [-2.21181817e-01 9.75227204e-01 -3.24097118e-03 -5.26479223e+01] [-1.42628694e-02 8.81375537e-05 9.99898276e-01 -4.71657963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.198623853 meters Centerline goodness [0,1] 0.9999563204333013 Centerline is valid? [True, True] Translation: X:248.02, Y:-52.65, Z:-4.72 [[ 9.75011596e-01 2.21713397e-01 1.39842033e-02 2.48019787e+02] [-2.21689396e-01 9.75111872e-01 -3.26328821e-03 -5.26545422e+01] [-1.43596773e-02 8.15942689e-05 9.99896891e-01 -4.71708040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.22862385300004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:248.05, Y:-52.66, Z:-4.72 [[ 9.74970588e-01 2.21916885e-01 1.36106263e-02 2.48049656e+02] [-2.21894163e-01 9.75065583e-01 -3.17650813e-03 -5.26617436e+01] [-1.39761741e-02 7.68834660e-05 9.99902326e-01 -4.71824322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.258623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:248.08, Y:-52.67, Z:-4.72 [[ 9.74973009e-01 2.21929072e-01 1.32332292e-02 2.48078942e+02] [-2.21907591e-01 9.75062809e-01 -3.08859235e-03 -5.26687432e+01] [-1.35886781e-02 7.47401571e-05 9.99907667e-01 -4.71955252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.28862385300005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:248.11, Y:-52.68, Z:-4.72 [[ 9.75116477e-01 2.21345188e-01 1.24162513e-02 2.48109220e+02] [-2.21326229e-01 9.75195520e-01 -2.89798398e-03 -5.26764620e+01] [-1.27497274e-02 7.78298565e-05 9.99918716e-01 -4.72256739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.318623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:248.14, Y:-52.68, Z:-4.72 [[ 9.75131037e-01 2.21289799e-01 1.22590982e-02 2.48138957e+02] [-2.21271308e-01 9.75208090e-01 -2.86175231e-03 -5.26832726e+01] [-1.25884483e-02 7.79968150e-05 9.99920759e-01 -4.72384185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.348623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:248.17, Y:-52.69, Z:-4.72 [[ 9.75145186e-01 2.21216100e-01 1.24621017e-02 2.48167606e+02] [-2.21196984e-01 9.75224810e-01 -2.90921297e-03 -5.26906278e+01] [-1.27969155e-02 8.03257048e-05 9.99918113e-01 -4.72421174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.378623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:248.20, Y:-52.70, Z:-4.72 [[ 9.74957345e-01 2.21970684e-01 1.36817471e-02 2.48196300e+02] [-2.21947719e-01 9.75053337e-01 -3.19379707e-03 -5.26966762e+01] [-1.40493625e-02 7.71833435e-05 9.99901300e-01 -4.72192691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.408623853 meters Centerline goodness [0,1] 0.9998053801574258 Centerline is valid? [True, True] Translation: X:248.23, Y:-52.70, Z:-4.71 [[ 9.74742584e-01 2.22899000e-01 1.38899338e-02 2.48227245e+02] [-2.22875433e-01 9.74841542e-01 -3.24183017e-03 -5.27013779e+01] [-1.42630852e-02 6.42249173e-05 9.99898275e-01 -4.71141247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.438623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:248.26, Y:-52.70, Z:-4.72 [[ 9.74077819e-01 2.25706992e-01 1.51246930e-02 2.48257257e+02] [-2.25679383e-01 9.74195233e-01 -3.53031521e-03 -5.27049113e+01] [-1.55312206e-02 2.54703606e-05 9.99879383e-01 -4.71908202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.468623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:248.29, Y:-52.71, Z:-4.72 [[ 9.73784068e-01 2.26987609e-01 1.48732795e-02 2.48285679e+02] [-2.26961039e-01 9.73897646e-01 -3.47297254e-03 -5.27082641e+01] [-1.52733736e-02 6.27037088e-06 9.99883355e-01 -4.71983956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.498623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:248.31, Y:-52.71, Z:-4.72 [[ 9.73159704e-01 2.29673906e-01 1.44944009e-02 2.48314430e+02] [-2.29648977e-01 9.73267638e-01 -3.38406799e-03 -5.27080756e+01] [-1.48841635e-02 -3.53857433e-05 9.99889224e-01 -4.72209245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.528623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:248.34, Y:-52.71, Z:-4.72 [[ 9.72930042e-01 2.30658647e-01 1.42730912e-02 2.48343240e+02] [-2.30634592e-01 9.73034730e-01 -3.33152180e-03 -5.27129624e+01] [-1.46566577e-02 -5.05309046e-05 9.99892584e-01 -4.72260861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.55862385300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:248.37, Y:-52.72, Z:-4.72 [[ 9.72686161e-01 2.31717823e-01 1.37288987e-02 2.48371097e+02] [-2.31695681e-01 9.72783042e-01 -3.20393013e-03 -5.27163273e+01] [-1.40976476e-02 -6.45080308e-05 9.99900621e-01 -4.72492492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.588623853 meters Centerline goodness [0,1] 0.999978741948513 Centerline is valid? [True, True] Translation: X:248.40, Y:-52.72, Z:-4.73 [[ 9.72746600e-01 2.31465250e-01 1.37073260e-02 2.48398827e+02] [-2.31443166e-01 9.72843170e-01 -3.19791754e-03 -5.27224505e+01] [-1.40752852e-02 -6.17035030e-05 9.99900936e-01 -4.72533038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.61862385300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:248.43, Y:-52.73, Z:-4.72 [[ 9.73096754e-01 2.29997726e-01 1.35555946e-02 2.48427181e+02] [-2.29975996e-01 9.73191165e-01 -3.16178876e-03 -5.27301260e+01] [-1.39193891e-02 -4.07349856e-05 9.99903120e-01 -4.72495300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.648623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:248.46, Y:-52.74, Z:-4.73 [[ 9.73383522e-01 2.28787527e-01 1.34456707e-02 2.48455726e+02] [-2.28766037e-01 9.73476382e-01 -3.13581420e-03 -5.27368423e+01] [-1.38064780e-02 -2.35629184e-05 9.99904686e-01 -4.72589729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.67862385300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:248.48, Y:-52.74, Z:-4.73 [[ 9.73650097e-01 2.27658408e-01 1.33093334e-02 2.48483782e+02] [-2.27637250e-01 9.73741058e-01 -3.10374784e-03 -5.27435641e+01] [-1.36664387e-02 -7.73566560e-06 9.99906610e-01 -4.72812921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.708623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:248.51, Y:-52.75, Z:-4.73 [[ 9.74329206e-01 2.24744361e-01 1.31365809e-02 2.48510722e+02] [-2.24723489e-01 9.74417760e-01 -3.06303265e-03 -5.27541443e+01] [-1.34889171e-02 3.23038676e-05 9.99909020e-01 -4.72836038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.73862385300004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:248.54, Y:-52.76, Z:-4.73 [[ 9.74937491e-01 2.22062380e-01 1.36083692e-02 2.48540179e+02] [-2.22039734e-01 9.75032458e-01 -3.17212662e-03 -5.27630458e+01] [-1.39730117e-02 7.10264891e-05 9.99902370e-01 -4.72680490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.768623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:248.57, Y:-52.77, Z:-4.73 [[ 9.75143191e-01 2.21149021e-01 1.37429389e-02 2.48569214e+02] [-2.21125832e-01 9.75240024e-01 -3.20355257e-03 -5.27705787e+01] [-1.41111266e-02 8.50036681e-05 9.99900429e-01 -4.72692599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.79862385300004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:248.60, Y:-52.78, Z:-4.73 [[ 9.75222159e-01 2.20793418e-01 1.38566929e-02 2.48597951e+02] [-2.20769812e-01 9.75320593e-01 -3.22977439e-03 -5.27788776e+01] [-1.42278308e-02 9.06080649e-05 9.99898775e-01 -4.72792946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.828623853 meters Centerline goodness [0,1] 0.9999786943923641 Centerline is valid? [True, True] Translation: X:248.63, Y:-52.78, Z:-4.73 [[ 9.75220220e-01 2.20835497e-01 1.33118576e-02 2.48627657e+02] [-2.20813710e-01 9.75311066e-01 -3.10314668e-03 -5.27829314e+01] [-1.36684870e-02 8.68107254e-05 9.99906578e-01 -4.72808558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.85862385300004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:248.66, Y:-52.79, Z:-4.73 [[ 9.75214697e-01 2.20868802e-01 1.31630659e-02 2.48655786e+02] [-2.20847506e-01 9.75303525e-01 -3.06819966e-03 -5.27892647e+01] [-1.35156542e-02 8.51231200e-05 9.99908656e-01 -4.72991743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.888623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:248.68, Y:-52.80, Z:-4.73 [[ 9.75224513e-01 2.20825452e-01 1.31631636e-02 2.48683397e+02] [-2.20804158e-01 9.75313341e-01 -3.06778030e-03 -5.27956039e+01] [-1.35156531e-02 8.52932824e-05 9.99908656e-01 -4.73044895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.91862385300004 meters Centerline goodness [0,1] 0.9999786329351937 Centerline is valid? [True, True] Translation: X:248.71, Y:-52.80, Z:-4.73 [[ 9.75289115e-01 2.20572850e-01 1.25999945e-02 2.48712237e+02] [-2.20553326e-01 9.75370499e-01 -2.93591460e-03 -5.28006782e+01] [-1.29372460e-02 8.43948509e-05 9.99916307e-01 -4.73152135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.948623853 meters Centerline goodness [0,1] 0.9999573251397602 Centerline is valid? [True, True] Translation: X:248.74, Y:-52.81, Z:-4.73 [[ 9.75365703e-01 2.20245253e-01 1.24005872e-02 2.48739101e+02] [-2.20226319e-01 9.75444525e-01 -2.88915471e-03 -5.28074104e+01] [-1.27324075e-02 8.70467297e-05 9.99918936e-01 -4.73311020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.97862385300004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:248.77, Y:-52.81, Z:-4.73 [[ 9.75532059e-01 2.19516940e-01 1.22276230e-02 2.48766026e+02] [-2.19498483e-01 9.75608684e-01 -2.84812423e-03 -5.28146966e+01] [-1.25545867e-02 9.44918032e-05 9.99921184e-01 -4.73402121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.008623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:248.80, Y:-52.82, Z:-4.73 [[ 9.75596649e-01 2.19226297e-01 1.22885380e-02 2.48795683e+02] [-2.19207645e-01 9.75674034e-01 -2.86138731e-03 -5.28193440e+01] [-1.26168988e-02 9.78183958e-05 9.99920399e-01 -4.73291579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.03862385300005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:248.83, Y:-52.82, Z:-4.73 [[ 9.75686738e-01 2.18832455e-01 1.21550873e-02 2.48825590e+02] [-2.18814180e-01 9.75762444e-01 -2.82986567e-03 -5.28246294e+01] [-1.24797441e-02 1.01356940e-04 9.99922120e-01 -4.73265959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.068623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:248.85, Y:-52.83, Z:-4.73 [[ 9.75780055e-01 2.18379647e-01 1.27911598e-02 2.48853710e+02] [-2.18359369e-01 9.75863882e-01 -2.97802379e-03 -5.28332619e+01] [-1.31327707e-02 1.12826622e-04 9.99913755e-01 -4.73341744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.098623853 meters Centerline goodness [0,1] 0.9999784557049294 Centerline is valid? [True, True] Translation: X:248.88, Y:-52.84, Z:-4.73 [[ 9.75837049e-01 2.18061509e-01 1.38286729e-02 2.48882552e+02] [-2.18037779e-01 9.75935019e-01 -3.21942557e-03 -5.28387271e+01] [-1.41979190e-02 1.26461618e-04 9.99899196e-01 -4.73130359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.128623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:248.91, Y:-52.84, Z:-4.73 [[ 9.75843627e-01 2.18014729e-01 1.40994195e-02 2.48911649e+02] [-2.17990061e-01 9.75945470e-01 -3.28210332e-03 -5.28449282e+01] [-1.44758115e-02 1.29286287e-04 9.99895212e-01 -4.73152603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.158623853 meters Centerline goodness [0,1] 0.9999568090528226 Centerline is valid? [True, True] Translation: X:248.94, Y:-52.85, Z:-4.73 [[ 9.76097463e-01 2.16879586e-01 1.40352474e-02 2.48940040e+02] [-2.16855029e-01 9.76198353e-01 -3.26682991e-03 -5.28521152e+01] [-1.44096941e-02 1.45130404e-04 9.99896164e-01 -4.73177089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.188623853 meters Centerline goodness [0,1] 0.9999783886583679 Centerline is valid? [True, True] Translation: X:248.97, Y:-52.86, Z:-4.73 [[ 9.76320411e-01 2.15911353e-01 1.34440838e-02 2.48969262e+02] [-2.15888736e-01 9.76412958e-01 -3.12879660e-03 -5.28600450e+01] [-1.38025204e-02 1.52281723e-04 9.99904729e-01 -4.72975500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.218623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:249.00, Y:-52.87, Z:-4.74 [[ 9.76518801e-01 2.15025686e-01 1.32282079e-02 2.48997131e+02] [-2.15003707e-01 9.76608380e-01 -3.07861851e-03 -5.28698528e+01] [-1.35807608e-02 1.62215121e-04 9.99907764e-01 -4.73503368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.248623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:249.03, Y:-52.88, Z:-4.74 [[ 9.76977315e-01 2.12950230e-01 1.29431581e-02 2.49027095e+02] [-2.12929010e-01 9.77063030e-01 -3.01192642e-03 -5.28799899e+01] [-1.32876717e-02 1.86609948e-04 9.99911698e-01 -4.73565701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.278623853 meters Centerline goodness [0,1] 0.9998923063668476 Centerline is valid? [True, True] Translation: X:249.06, Y:-52.89, Z:-4.74 [[ 9.77364949e-01 2.11178329e-01 1.27070709e-02 2.49056357e+02] [-2.11157723e-01 9.77447528e-01 -2.95729559e-03 -5.28916536e+01] [-1.30450118e-02 2.07160908e-04 9.99914889e-01 -4.73623510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.30862385300003 meters Centerline goodness [0,1] 0.9998501423647534 Centerline is valid? [True, True] Translation: X:249.09, Y:-52.90, Z:-4.74 [[ 9.77499834e-01 2.10549011e-01 1.27745047e-02 2.49085601e+02] [-2.10528127e-01 9.77583279e-01 -2.97337662e-03 -5.29005333e+01] [-1.31141837e-02 2.17082606e-04 9.99913982e-01 -4.73639825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.338623853 meters Centerline goodness [0,1] 0.9998277161623775 Centerline is valid? [True, True] Translation: X:249.12, Y:-52.91, Z:-4.74 [[ 9.77591282e-01 2.10128684e-01 1.26973006e-02 2.49116385e+02] [-2.10108015e-01 9.77673712e-01 -2.95549256e-03 -5.29084369e+01] [-1.30348508e-02 2.21459136e-04 9.99915018e-01 -4.73625478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.36862385300003 meters Centerline goodness [0,1] 0.9997628952643718 Centerline is valid? [True, True] Translation: X:249.15, Y:-52.92, Z:-4.73 [[ 9.77664949e-01 2.09733604e-01 1.35300501e-02 2.49147904e+02] [-2.09710099e-01 9.77758537e-01 -3.14920353e-03 -5.29165603e+01] [-1.38896158e-02 2.41477765e-04 9.99903505e-01 -4.73497704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.398623853 meters Centerline goodness [0,1] 0.9996803954573541 Centerline is valid? [True, True] Translation: X:249.18, Y:-52.93, Z:-4.74 [[ 9.77647562e-01 2.09813546e-01 1.35469518e-02 2.49178201e+02] [-2.09789970e-01 9.77741386e-01 -3.15457884e-03 -5.29287709e+01] [-1.39072888e-02 2.42051708e-04 9.99903260e-01 -4.73649251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.42862385300003 meters Centerline goodness [0,1] 0.9998707453683757 Centerline is valid? [True, True] Translation: X:249.21, Y:-52.94, Z:-4.74 [[ 9.77815822e-01 2.09059106e-01 1.30578949e-02 2.49208650e+02] [-2.09037101e-01 9.77902976e-01 -3.04314804e-03 -5.29389443e+01] [-1.34055521e-02 2.46053810e-04 9.99910111e-01 -4.73739584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.458623853 meters Centerline goodness [0,1] 0.9997628441454843 Centerline is valid? [True, True] Translation: X:249.24, Y:-52.95, Z:-4.74 [[ 9.77853314e-01 2.08871366e-01 1.32532684e-02 2.49240082e+02] [-2.08848650e-01 9.77943090e-01 -3.09089302e-03 -5.29482343e+01] [-1.36065413e-02 2.54512766e-04 9.99907394e-01 -4.73744688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.48862385300004 meters Centerline goodness [0,1] 0.9997822678975788 Centerline is valid? [True, True] Translation: X:249.27, Y:-52.96, Z:-4.74 [[ 9.78008147e-01 2.08163019e-01 1.29700540e-02 2.49270615e+02] [-2.08141166e-01 9.78094111e-01 -3.02750756e-03 -5.29585995e+01] [-1.33161486e-02 2.61324901e-04 9.99911302e-01 -4.73792835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.518623853 meters Centerline goodness [0,1] 0.9997453472826433 Centerline is valid? [True, True] Translation: X:249.30, Y:-52.97, Z:-4.74 [[ 9.77979702e-01 2.08333914e-01 1.23564517e-02 2.49299664e+02] [-2.08314068e-01 9.78057727e-01 -2.88629790e-03 -5.29732706e+01] [-1.26866368e-02 2.48718047e-04 9.99919490e-01 -4.74131831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.54862385300004 meters Centerline goodness [0,1] 0.9998721391126455 Centerline is valid? [True, True] Translation: X:249.33, Y:-52.98, Z:-4.74 [[ 9.77715090e-01 2.09628989e-01 1.13529844e-02 2.49329564e+02] [-2.09612288e-01 9.77780978e-01 -2.65492265e-03 -5.29829067e+01] [-1.16572809e-02 2.16032909e-04 9.99932028e-01 -4.74441806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.578623853 meters Centerline goodness [0,1] 0.9999351561655679 Centerline is valid? [True, True] Translation: X:249.36, Y:-52.99, Z:-4.74 [[ 9.77522567e-01 2.10548629e-01 1.09044073e-02 2.49361305e+02] [-2.10533286e-01 9.77583365e-01 -2.54934981e-03 -5.29882826e+01] [-1.11967293e-02 1.96306279e-04 9.99937295e-01 -4.74436013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.60862385300004 meters Centerline goodness [0,1] 0.9999784677662461 Centerline is valid? [True, True] Translation: X:249.39, Y:-52.99, Z:-4.75 [[ 9.77009054e-01 2.12946351e-01 1.03517678e-02 2.49392524e+02] [-2.12932642e-01 9.77063880e-01 -2.42176366e-03 -5.29946801e+01] [-1.06300442e-02 1.61855755e-04 9.99943486e-01 -4.74537260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.638623853 meters Centerline goodness [0,1] 0.9999352708913198 Centerline is valid? [True, True] Translation: X:249.42, Y:-53.00, Z:-4.75 [[ 9.76660389e-01 2.14542121e-01 1.03035666e-02 2.49423661e+02] [-2.14528608e-01 9.76714727e-01 -2.41230234e-03 -5.30018634e+01] [-1.05811857e-02 1.45590334e-04 9.99944007e-01 -4.74552005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.66862385300004 meters Centerline goodness [0,1] 0.9999353211305866 Centerline is valid? [True, True] Translation: X:249.45, Y:-53.01, Z:-4.74 [[ 9.75958346e-01 2.17683264e-01 1.09226018e-02 2.49453870e+02] [-2.17668250e-01 9.76019458e-01 -2.55948167e-03 -5.30090038e+01] [-1.12178282e-02 1.20443888e-04 9.99937071e-01 -4.74470007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.698623853 meters Centerline goodness [0,1] 0.9999352443446727 Centerline is valid? [True, True] Translation: X:249.49, Y:-53.02, Z:-4.74 [[ 9.75599689e-01 2.19264869e-01 1.13209149e-02 2.49485324e+02] [-2.19248824e-01 9.75665366e-01 -2.65472444e-03 -5.30151534e+01] [-1.16275124e-02 1.07851061e-04 9.99932392e-01 -4.74470534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.72862385300004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:249.52, Y:-53.02, Z:-4.74 [[ 9.75204018e-01 2.21024367e-01 1.11961288e-02 2.49517245e+02] [-2.21008768e-01 9.75268282e-01 -2.62738281e-03 -5.30214750e+01] [-1.14999449e-02 8.77916521e-05 9.99933870e-01 -4.74484807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.758623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:249.55, Y:-53.03, Z:-4.75 [[ 9.74438720e-01 2.24341612e-01 1.18330846e-02 2.49547468e+02] [-2.24324403e-01 9.74510563e-01 -2.77925974e-03 -5.30286183e+01] [-1.21549696e-02 5.37686608e-05 9.99926124e-01 -4.74507573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.78862385300005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:249.58, Y:-53.03, Z:-4.74 [[ 9.73820996e-01 2.26995513e-01 1.20708551e-02 2.49576752e+02] [-2.26977775e-01 9.73895804e-01 -2.83781252e-03 -5.30348132e+01] [-1.23999258e-02 2.37055828e-05 9.99923118e-01 -4.74498535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.818623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:249.61, Y:-53.04, Z:-4.74 [[ 9.73476044e-01 2.28464497e-01 1.21804909e-02 2.49608306e+02] [-2.28446549e-01 9.73552245e-01 -2.86370928e-03 -5.30417443e+01] [-1.25126001e-02 5.16127946e-06 9.99921714e-01 -4.74496328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.848623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:249.64, Y:-53.05, Z:-4.75 [[ 9.73186268e-01 2.29719126e-01 1.17307629e-02 2.49639582e+02] [-2.29702547e-01 9.73256967e-01 -2.75991709e-03 -5.30494829e+01] [-1.20510524e-02 -8.67269188e-06 9.99927383e-01 -4.74560447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.878623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:249.67, Y:-53.06, Z:-4.75 [[ 9.72766531e-01 2.31541201e-01 1.06746219e-02 2.49669545e+02] [-2.31527563e-01 9.72825098e-01 -2.51318191e-03 -5.30576012e+01] [-1.09664452e-02 -2.67299413e-05 9.99939866e-01 -4.74825033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.908623853 meters Centerline goodness [0,1] 0.999978413849674 Centerline is valid? [True, True] Translation: X:249.70, Y:-53.07, Z:-4.75 [[ 9.72682926e-01 2.31916109e-01 1.01412154e-02 2.49700183e+02] [-2.31903805e-01 9.72735790e-01 -2.38915540e-03 -5.30651319e+01] [-1.04188068e-02 -2.78957732e-05 9.99945722e-01 -4.75151661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.938623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:249.73, Y:-53.07, Z:-4.75 [[ 9.72603473e-01 2.32208622e-01 1.10290223e-02 2.49727490e+02] [-2.32194048e-01 9.72666004e-01 -2.60177002e-03 -5.30727143e+01] [-1.13317085e-02 -3.03827774e-05 9.99935794e-01 -4.75083214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.968623853 meters Centerline goodness [0,1] 0.99997854997855 Centerline is valid? [True, True] Translation: X:249.76, Y:-53.08, Z:-4.75 [[ 9.72586352e-01 2.32268143e-01 1.12826221e-02 2.49757726e+02] [-2.32252902e-01 9.72651792e-01 -2.66096858e-03 -5.30814819e+01] [-1.15921209e-02 -3.24000008e-05 9.99932809e-01 -4.74865049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.998623853 meters Centerline goodness [0,1] 0.9999786484466745 Centerline is valid? [True, True] Translation: X:249.79, Y:-53.09, Z:-4.75 [[ 9.72601595e-01 2.32158330e-01 1.21921071e-02 2.49788678e+02] [-2.32140532e-01 9.72678009e-01 -2.87489958e-03 -5.30924278e+01] [-1.25264264e-02 -3.41503172e-05 9.99921541e-01 -4.74811025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.028623853 meters Centerline goodness [0,1] 0.9999573588043409 Centerline is valid? [True, True] Translation: X:249.82, Y:-53.10, Z:-4.75 [[ 9.72668175e-01 2.31879412e-01 1.21885397e-02 2.49818154e+02] [-2.31861574e-01 9.72744539e-01 -2.87627572e-03 -5.31017632e+01] [-1.25232845e-02 -2.83921388e-05 9.99921580e-01 -4.74924821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.05862385300003 meters Centerline goodness [0,1] 0.9999784686934803 Centerline is valid? [True, True] Translation: X:249.85, Y:-53.11, Z:-4.75 [[ 9.72857830e-01 2.31128749e-01 1.12757940e-02 2.49847668e+02] [-2.31113415e-01 9.72923173e-01 -2.66242075e-03 -5.31147763e+01] [-1.15858433e-02 -1.58303845e-05 9.99932882e-01 -4.75115009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.088623853 meters Centerline goodness [0,1] 0.9999785117218557 Centerline is valid? [True, True] Translation: X:249.88, Y:-53.12, Z:-4.75 [[ 9.72894528e-01 2.30984685e-01 1.10595132e-02 2.49878545e+02] [-2.30969902e-01 9.72957386e-01 -2.61320952e-03 -5.31243554e+01] [-1.13640464e-02 -1.20374457e-05 9.99935427e-01 -4.75228296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.11862385300003 meters Centerline goodness [0,1] 0.999978606422352 Centerline is valid? [True, True] Translation: X:249.91, Y:-53.13, Z:-4.75 [[ 9.72876250e-01 2.31070596e-01 1.08711714e-02 2.49909959e+02] [-2.31056298e-01 9.72936986e-01 -2.57051202e-03 -5.31332763e+01] [-1.11709345e-02 -1.10625182e-05 9.99937603e-01 -4.75340609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.148623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:249.94, Y:-53.14, Z:-4.75 [[ 9.72620954e-01 2.32171867e-01 1.02325339e-02 2.49940584e+02] [-2.32159245e-01 9.72674778e-01 -2.42106988e-03 -5.31417506e+01] [-1.05150319e-02 -2.07940335e-05 9.99944715e-01 -4.75477234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.17862385300003 meters Centerline goodness [0,1] 0.9999787170646576 Centerline is valid? [True, True] Translation: X:249.97, Y:-53.15, Z:-4.76 [[ 9.72424724e-01 2.32999720e-01 1.00640946e-02 2.49971348e+02] [-2.32987536e-01 9.72476802e-01 -2.38288126e-03 -5.31498241e+01] [-1.03423092e-02 -2.76359582e-05 9.99946517e-01 -4.75504553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.208623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:250.00, Y:-53.16, Z:-4.76 [[ 9.72026518e-01 2.34659436e-01 9.96979846e-03 2.50003238e+02] [-2.34647552e-01 9.72077645e-01 -2.36205195e-03 -5.31590630e+01] [-1.02456960e-02 -4.34116729e-05 9.99947511e-01 -4.75554041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.23862385300004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:250.03, Y:-53.17, Z:-4.76 [[ 9.71755700e-01 2.35754305e-01 1.05245950e-02 2.50033700e+02] [-2.35741097e-01 9.71812690e-01 -2.49608593e-03 -5.31662861e+01] [-1.08163980e-02 -5.54938427e-05 9.99941500e-01 -4.75504075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.268623853 meters Centerline goodness [0,1] 0.9997614348608731 Centerline is valid? [True, True] Translation: X:250.07, Y:-53.17, Z:-4.75 [[ 9.71258192e-01 2.37767472e-01 1.11424347e-02 2.50065357e+02] [-2.37752781e-01 9.71322100e-01 -2.64427562e-03 -5.31741841e+01] [-1.14516158e-02 -8.08704706e-05 9.99934425e-01 -4.75231524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.29862385300004 meters Centerline goodness [0,1] 0.9999355780793678 Centerline is valid? [True, True] Translation: X:250.10, Y:-53.18, Z:-4.75 [[ 9.71004031e-01 2.38770615e-01 1.18222485e-02 2.50097067e+02] [-2.38754118e-01 9.71075993e-01 -2.80832729e-03 -5.31809121e+01] [-1.21508477e-02 -9.57133996e-05 9.99926171e-01 -4.75257188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.328623853 meters Centerline goodness [0,1] 0.9998715615969175 Centerline is valid? [True, True] Translation: X:250.13, Y:-53.19, Z:-4.75 [[ 9.70767587e-01 2.39709530e-01 1.22325112e-02 2.50128398e+02] [-2.39691912e-01 9.70844647e-01 -2.90822371e-03 -5.31865878e+01] [-1.25729970e-02 -1.08824695e-04 9.99920951e-01 -4.75313072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.35862385300004 meters Centerline goodness [0,1] 0.9998094875214326 Centerline is valid? [True, True] Translation: X:250.16, Y:-53.20, Z:-4.75 [[ 9.70550792e-01 2.40596958e-01 1.20109951e-02 2.50158670e+02] [-2.40580011e-01 9.70625103e-01 -2.85793253e-03 -5.31961439e+01] [-1.23457833e-02 -1.15836658e-04 9.99923781e-01 -4.75423249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.388623853 meters Centerline goodness [0,1] 0.9998061431094645 Centerline is valid? [True, True] Translation: X:250.19, Y:-53.21, Z:-4.76 [[ 9.70546785e-01 2.40634861e-01 1.15672328e-02 2.50190333e+02] [-2.40619129e-01 9.70615707e-01 -2.75378947e-03 -5.32058260e+01] [-1.18899956e-02 -1.10615958e-04 9.99929305e-01 -4.75514184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.41862385300004 meters Centerline goodness [0,1] 0.9998494397006001 Centerline is valid? [True, True] Translation: X:250.22, Y:-53.22, Z:-4.76 [[ 9.70673007e-01 2.40155904e-01 1.09112769e-02 2.50221613e+02] [-2.40141854e-01 9.70734326e-01 -2.59955686e-03 -5.32174499e+01] [-1.12162500e-02 -9.69346102e-05 9.99937091e-01 -4.75660526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.448623853 meters Centerline goodness [0,1] 0.9997646857485133 Centerline is valid? [True, True] Translation: X:250.25, Y:-53.23, Z:-4.76 [[ 9.70728346e-01 2.39948469e-01 1.05456797e-02 2.50252310e+02] [-2.39935304e-01 9.70785622e-01 -2.51506011e-03 -5.32257641e+01] [-1.08410791e-02 -8.88407277e-05 9.99941230e-01 -4.75895386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.47862385300004 meters Centerline goodness [0,1] 0.9998701326811108 Centerline is valid? [True, True] Translation: X:250.28, Y:-53.24, Z:-4.76 [[ 9.70853359e-01 2.39470984e-01 9.86928281e-03 2.50283413e+02] [-2.39459424e-01 9.70903518e-01 -2.35423978e-03 -5.32372167e+01] [-1.01458935e-02 -7.76711724e-05 9.99948526e-01 -4.75950202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.508623853 meters Centerline goodness [0,1] 0.9999574440921761 Centerline is valid? [True, True] Translation: X:250.31, Y:-53.25, Z:-4.76 [[ 9.70853413e-01 2.39479625e-01 9.65192365e-03 2.50313903e+02] [-2.39468550e-01 9.70901387e-01 -2.30433581e-03 -5.32454514e+01] [-9.92290754e-03 -7.41598768e-05 9.99950764e-01 -4.76138055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.53862385300005 meters Centerline goodness [0,1] 0.9999145463479245 Centerline is valid? [True, True] Translation: X:250.35, Y:-53.25, Z:-4.76 [[ 9.70780467e-01 2.39776643e-01 9.61488032e-03 2.50345575e+02] [-2.39765651e-01 9.70828077e-01 -2.29718994e-03 -5.32541130e+01] [-9.88520827e-03 -7.52509107e-05 9.99951137e-01 -4.76211635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.568623853 meters Centerline goodness [0,1] 0.9998488414778984 Centerline is valid? [True, True] Translation: X:250.38, Y:-53.26, Z:-4.76 [[ 9.70683475e-01 2.40155632e-01 9.94297912e-03 2.50377033e+02] [-2.40143877e-01 9.70734395e-01 -2.37753798e-03 -5.32643052e+01] [-1.02229710e-02 -7.99087190e-05 9.99947741e-01 -4.76063546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.598623853 meters Centerline goodness [0,1] 0.999806875241406 Centerline is valid? [True, True] Translation: X:250.41, Y:-53.27, Z:-4.76 [[ 9.70512769e-01 2.40825476e-01 1.03949251e-02 2.50408426e+02] [-2.40812640e-01 9.70568432e-01 -2.48799084e-03 -5.32719718e+01] [-1.06881578e-02 -8.86024898e-05 9.99942876e-01 -4.76095914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.628623853 meters Centerline goodness [0,1] 0.9998924731182796 Centerline is valid? [True, True] Translation: X:250.44, Y:-53.28, Z:-4.76 [[ 9.70444127e-01 2.41080166e-01 1.08880963e-02 2.50440657e+02] [-2.41066075e-01 9.70505201e-01 -2.60816319e-03 -5.32811787e+01] [-1.11957305e-02 -9.36739798e-05 9.99937321e-01 -4.75995695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.658623853 meters Centerline goodness [0,1] 0.9998708927764508 Centerline is valid? [True, True] Translation: X:250.47, Y:-53.29, Z:-4.76 [[ 9.70410685e-01 2.41205916e-01 1.10818976e-02 2.50472770e+02] [-2.41191302e-01 9.70473955e-01 -2.65685216e-03 -5.32896481e+01] [-1.13955415e-02 -9.46195862e-05 9.99935064e-01 -4.75998209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.688623853 meters Centerline goodness [0,1] 0.9999142201539748 Centerline is valid? [True, True] Translation: X:250.50, Y:-53.30, Z:-4.76 [[ 9.70616926e-01 2.40353830e-01 1.15247401e-02 2.50502514e+02] [-2.40337932e-01 9.70685340e-01 -2.76570236e-03 -5.32997708e+01] [-1.18516434e-02 -8.53946736e-05 9.99929763e-01 -4.75994544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.718623853 meters Centerline goodness [0,1] 0.99972128124866 Centerline is valid? [True, True] Translation: X:250.53, Y:-53.31, Z:-4.76 [[ 9.71022194e-01 2.38702361e-01 1.17082348e-02 2.50532587e+02] [-2.38685811e-01 9.71092776e-01 -2.81157994e-03 -5.33116007e+01] [-1.20409130e-02 -6.44829945e-05 9.99927503e-01 -4.76002705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.748623853 meters Centerline goodness [0,1] 0.9997623060633563 Centerline is valid? [True, True] Translation: X:250.56, Y:-53.32, Z:-4.76 [[ 9.71233494e-01 2.37849181e-01 1.15441199e-02 2.50564020e+02] [-2.37833010e-01 9.71302098e-01 -2.77395595e-03 -5.33224796e+01] [-1.18726110e-02 -5.14138550e-05 9.99929517e-01 -4.76087961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.778623853 meters Centerline goodness [0,1] 0.9997623060633563 Centerline is valid? [True, True] Translation: X:250.60, Y:-53.33, Z:-4.76 [[ 9.71189102e-01 2.38030403e-01 1.15436021e-02 2.50595558e+02] [-2.38014219e-01 9.71257702e-01 -2.77610862e-03 -5.33302592e+01] [-1.18726107e-02 -5.14149969e-05 9.99929517e-01 -4.76148970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.80862385300003 meters Centerline goodness [0,1] 0.9999788663933387 Centerline is valid? [True, True] Translation: X:250.63, Y:-53.34, Z:-4.76 [[ 9.71443687e-01 2.36981840e-01 1.16949086e-02 2.50625507e+02] [-2.36965124e-01 9.71514079e-01 -2.81493854e-03 -5.33409161e+01] [-1.20288577e-02 -3.67311904e-05 9.99927650e-01 -4.76171215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.838623853 meters Centerline goodness [0,1] 0.999935683046051 Centerline is valid? [True, True] Translation: X:250.65, Y:-53.36, Z:-4.76 [[ 9.72146193e-01 2.34045472e-01 1.24296786e-02 2.50654546e+02] [-2.34026316e-01 9.72225651e-01 -2.99438405e-03 -5.33555746e+01] [-1.27852744e-02 2.10717226e-06 9.99918265e-01 -4.76058288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.86862385300003 meters Centerline goodness [0,1] 0.9997430791958379 Centerline is valid? [True, True] Translation: X:250.69, Y:-53.37, Z:-4.75 [[ 9.72406200e-01 2.32978664e-01 1.21294516e-02 2.50685707e+02] [-2.32960317e-01 9.72481847e-01 -2.92386902e-03 -5.33658022e+01] [-1.24768706e-02 1.75074690e-05 9.99922161e-01 -4.75257915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.898623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:250.72, Y:-53.38, Z:-4.76 [[ 9.73018766e-01 2.30377362e-01 1.26788285e-02 2.50715438e+02] [-2.30357060e-01 9.73101366e-01 -3.05894297e-03 -5.33828318e+01] [-1.30424965e-02 5.57512577e-05 9.99914941e-01 -4.76086393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.92862385300003 meters Centerline goodness [0,1] 0.99997850340721 Centerline is valid? [True, True] Translation: X:250.74, Y:-53.40, Z:-4.76 [[ 9.73300831e-01 2.29188444e-01 1.25757103e-02 2.50744563e+02] [-2.29168337e-01 9.73382069e-01 -3.03672297e-03 -5.33953401e+01] [-1.29369527e-02 7.36903746e-05 9.99916311e-01 -4.76184631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.958623853 meters Centerline goodness [0,1] 0.9999782773976322 Centerline is valid? [True, True] Translation: X:250.77, Y:-53.41, Z:-4.76 [[ 9.73871630e-01 2.26759604e-01 1.24149098e-02 2.50773971e+02] [-2.26739786e-01 9.73950754e-01 -2.99978198e-03 -5.34116225e+01] [-1.27717401e-02 1.06448578e-04 9.99918432e-01 -4.76274453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.98862385300004 meters Centerline goodness [0,1] 0.999956738984664 Centerline is valid? [True, True] Translation: X:250.80, Y:-53.42, Z:-4.76 [[ 9.74062192e-01 2.25960267e-01 1.20334290e-02 2.50804361e+02] [-2.25941563e-01 9.74136512e-01 -2.90952642e-03 -5.34230345e+01] [-1.23796399e-02 1.15207930e-04 9.99923363e-01 -4.76399831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.018623853 meters Centerline goodness [0,1] 0.999978494623656 Centerline is valid? [True, True] Translation: X:250.83, Y:-53.43, Z:-4.77 [[ 9.74254723e-01 2.25158908e-01 1.14542936e-02 2.50833609e+02] [-2.25141884e-01 9.74322047e-01 -2.77136167e-03 -5.34344064e+01] [-1.17841676e-02 1.21170945e-04 9.99930557e-01 -4.76580458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.04862385300004 meters Centerline goodness [0,1] 0.9999567530164771 Centerline is valid? [True, True] Translation: X:250.86, Y:-53.45, Z:-4.76 [[ 9.74417190e-01 2.24483033e-01 1.08861249e-02 2.50863430e+02] [-2.24467598e-01 9.74477990e-01 -2.63535709e-03 -5.34476830e+01] [-1.11998821e-02 1.24354938e-04 9.99937272e-01 -4.76032706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.078623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:250.89, Y:-53.46, Z:-4.77 [[ 9.74342896e-01 2.24789411e-01 1.12089836e-02 2.50894958e+02] [-2.24773047e-01 9.74407361e-01 -2.71522797e-03 -5.34566598e+01] [-1.15324707e-02 1.26085685e-04 9.99933491e-01 -4.76547435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.10862385300004 meters Centerline goodness [0,1] 0.9999784779614325 Centerline is valid? [True, True] Translation: X:250.93, Y:-53.47, Z:-4.77 [[ 9.74004928e-01 2.26209605e-01 1.19839688e-02 2.50925697e+02] [-2.26190972e-01 9.74078642e-01 -2.90577859e-03 -5.34672068e+01] [-1.23306431e-02 1.19577109e-04 9.99923968e-01 -4.76523186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.138623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:250.96, Y:-53.48, Z:-4.77 [[ 9.73733230e-01 2.27355949e-01 1.23640087e-02 2.50956626e+02] [-2.27336179e-01 9.73811717e-01 -3.00020295e-03 -5.34757964e+01] [-1.27223305e-02 1.10610816e-04 9.99919062e-01 -4.76518446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.16862385300004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:250.99, Y:-53.48, Z:-4.76 [[ 9.73365617e-01 2.28916363e-01 1.25169835e-02 2.50987743e+02] [-2.28896202e-01 9.73446090e-01 -3.03955530e-03 -5.34832879e+01] [-1.28804125e-02 9.35086520e-05 9.99917040e-01 -4.76487403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.198623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:251.02, Y:-53.49, Z:-4.77 [[ 9.72407164e-01 2.33000572e-01 1.16207025e-02 2.51019113e+02] [-2.32983463e-01 9.72476597e-01 -2.82376102e-03 -5.34896266e+01] [-1.19587992e-02 3.84139254e-05 9.99928490e-01 -4.76659485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.22862385300004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:251.05, Y:-53.49, Z:-4.77 [[ 9.71198793e-01 2.37984102e-01 1.16820804e-02 2.51050423e+02] [-2.37967142e-01 9.71269050e-01 -2.84127848e-03 -5.34943358e+01] [-1.20226222e-02 -2.05050469e-05 9.99927725e-01 -4.76770344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.258623853 meters Centerline goodness [0,1] 0.9997634662939469 Centerline is valid? [True, True] Translation: X:251.08, Y:-53.50, Z:-4.76 [[ 9.70459257e-01 2.41005157e-01 1.11957236e-02 2.51082005e+02] [-2.40989774e-01 9.70523833e-01 -2.72357365e-03 -5.34990133e+01] [-1.15221119e-02 -5.49376378e-05 9.99933617e-01 -4.75974979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.28862385300005 meters Centerline goodness [0,1] 0.9997211616833255 Centerline is valid? [True, True] Translation: X:251.11, Y:-53.50, Z:-4.77 [[ 9.69734108e-01 2.43873888e-01 1.18864111e-02 2.51113009e+02] [-2.43856736e-01 9.69806949e-01 -2.89374934e-03 -5.35031437e+01] [-1.22332340e-02 -9.24139990e-05 9.99925167e-01 -4.76826271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.318623853 meters Centerline goodness [0,1] 0.9997847842462069 Centerline is valid? [True, True] Translation: X:251.15, Y:-53.51, Z:-4.77 [[ 9.69026424e-01 2.46665137e-01 1.20041964e-02 2.51145054e+02] [-2.46647834e-01 9.69100766e-01 -2.92437260e-03 -5.35076989e+01] [-1.23546167e-02 -1.27014721e-04 9.99923671e-01 -4.76821147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.348623853 meters Centerline goodness [0,1] 0.9996535671754899 Centerline is valid? [True, True] Translation: X:251.18, Y:-53.51, Z:-4.77 [[ 9.67582643e-01 2.52255850e-01 1.22806506e-02 2.51177439e+02] [-2.52238154e-01 9.67660553e-01 -2.99457676e-03 -5.35100810e+01] [-1.26389006e-02 -2.00148133e-04 9.99920106e-01 -4.76780236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.378623853 meters Centerline goodness [0,1] 0.9991661856199089 Centerline is valid? [True, True] Translation: X:251.21, Y:-53.51, Z:-4.77 [[ 9.66223537e-01 2.57424072e-01 1.20384447e-02 2.51209074e+02] [-2.57407459e-01 9.66298494e-01 -2.93621823e-03 -5.35088685e+01] [-1.23885842e-02 -2.61742299e-04 9.99923224e-01 -4.76906081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.408623853 meters Centerline goodness [0,1] 0.998757204996893 Centerline is valid? [True, True] Translation: X:251.24, Y:-53.51, Z:-4.77 [[ 9.65567020e-01 2.59884554e-01 1.18468638e-02 2.51240932e+02] [-2.59868655e-01 9.65639651e-01 -2.88907761e-03 -5.35101538e+01] [-1.21906280e-02 -2.89030496e-04 9.99925650e-01 -4.77084561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.438623853 meters Centerline goodness [0,1] 0.9986899750880509 Centerline is valid? [True, True] Translation: X:251.27, Y:-53.52, Z:-4.77 [[ 9.64970432e-01 2.62107336e-01 1.14808509e-02 2.51272184e+02] [-2.62092533e-01 9.65038679e-01 -2.80227218e-03 -5.35173483e+01] [-1.18139613e-02 -3.04935488e-04 9.99930166e-01 -4.77113979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.468623853 meters Centerline goodness [0,1] 0.9984255365038284 Centerline is valid? [True, True] Translation: X:251.30, Y:-53.52, Z:-4.77 [[ 9.63957533e-01 2.65799173e-01 1.16907605e-02 2.51304114e+02] [-2.65784086e-01 9.64028357e-01 -2.85425932e-03 -5.35195900e+01] [-1.20288844e-02 -3.55833320e-04 9.99927587e-01 -4.77125850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.498623853 meters Centerline goodness [0,1] 0.9973573727170044 Centerline is valid? [True, True] Translation: X:251.34, Y:-53.52, Z:-4.77 [[ 9.63502077e-01 2.67425275e-01 1.21437564e-02 2.51335551e+02] [-2.67409125e-01 9.63578523e-01 -2.96480150e-03 -5.35198835e+01] [-1.24943257e-02 -3.90758861e-04 9.99921867e-01 -4.77177608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.528623853 meters Centerline goodness [0,1] 0.9975317651098901 Centerline is valid? [True, True] Translation: X:251.37, Y:-53.53, Z:-4.77 [[ 9.62965308e-01 2.69330486e-01 1.26057364e-02 2.51366968e+02] [-2.69313230e-01 9.63047717e-01 -3.07894941e-03 -5.35256550e+01] [-1.29691806e-02 -4.29970109e-04 9.99915804e-01 -4.77126830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.55862385300003 meters Centerline goodness [0,1] 0.9970447147507281 Centerline is valid? [True, True] Translation: X:251.40, Y:-53.53, Z:-4.77 [[ 9.62833273e-01 2.69810580e-01 1.24233320e-02 2.51398444e+02] [-2.69793861e-01 9.62913322e-01 -3.03428498e-03 -5.35314108e+01] [-1.27812741e-02 -4.30228166e-04 9.99918224e-01 -4.77167986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.588623853 meters Centerline goodness [0,1] 0.9974746934320629 Centerline is valid? [True, True] Translation: X:251.43, Y:-53.54, Z:-4.77 [[ 9.62822337e-01 2.69871061e-01 1.19481530e-02 2.51430326e+02] [-2.69855579e-01 9.62896381e-01 -2.92000859e-03 -5.35388674e+01] [-1.22928591e-02 -4.12826273e-04 9.99924355e-01 -4.77327115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.61862385300003 meters Centerline goodness [0,1] 0.9974792631692341 Centerline is valid? [True, True] Translation: X:251.46, Y:-53.54, Z:-4.78 [[ 9.63260035e-01 2.68347315e-01 1.09464089e-02 2.51460682e+02] [-2.68334197e-01 9.63322163e-01 -2.67733954e-03 -5.35448208e+01] [-1.12633751e-02 -3.58321660e-04 9.99936502e-01 -4.77611362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.648623853 meters Centerline goodness [0,1] 0.9983206304095078 Centerline is valid? [True, True] Translation: X:251.49, Y:-53.55, Z:-4.78 [[ 9.64082304e-01 2.65390315e-01 1.06439003e-02 2.51491176e+02] [-2.65377704e-01 9.64141008e-01 -2.60590502e-03 -5.35545380e+01] [-1.09538028e-02 -3.12346923e-04 9.99939957e-01 -4.77692836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.67862385300003 meters Centerline goodness [0,1] 0.9978570663237972 Centerline is valid? [True, True] Translation: X:251.52, Y:-53.56, Z:-4.78 [[ 9.64593650e-01 2.63520438e-01 1.07735458e-02 2.51522690e+02] [-2.63507408e-01 9.64653768e-01 -2.63713875e-03 -5.35554466e+01] [-1.10876815e-02 -2.95141820e-04 9.99938486e-01 -4.77946322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.708623853 meters Centerline goodness [0,1] 0.9987022256829537 Centerline is valid? [True, True] Translation: X:251.55, Y:-53.57, Z:-4.78 [[ 9.65068076e-01 2.61774480e-01 1.08503861e-02 2.51551773e+02] [-2.61761134e-01 9.65129031e-01 -2.65760887e-03 -5.35722281e+01] [-1.11677168e-02 -2.75435885e-04 9.99937601e-01 -4.77727541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.73862385300004 meters Centerline goodness [0,1] 0.9986846361185984 Centerline is valid? [True, True] Translation: X:251.58, Y:-53.58, Z:-4.78 [[ 9.65538250e-01 2.60039265e-01 1.07456596e-02 2.51582490e+02] [-2.60026048e-01 9.65598010e-01 -2.63378838e-03 -5.35824835e+01] [-1.10608759e-02 -2.51127969e-04 9.99938795e-01 -4.77760091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.768623853 meters Centerline goodness [0,1] 0.9992706053975201 Centerline is valid? [True, True] Translation: X:251.61, Y:-53.59, Z:-4.78 [[ 9.66436904e-01 2.56688682e-01 1.05181784e-02 2.51612234e+02] [-2.56675788e-01 9.66494117e-01 -2.58093951e-03 -5.35907896e+01] [-1.08282555e-02 -2.05446532e-04 9.99941352e-01 -4.77919985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.79862385300004 meters Centerline goodness [0,1] 0.999145043389048 Centerline is valid? [True, True] Translation: X:251.64, Y:-53.60, Z:-4.78 [[ 9.66864764e-01 2.55065027e-01 1.06939420e-02 2.51642534e+02] [-2.55051605e-01 9.66923883e-01 -2.62355957e-03 -5.35994790e+01] [-1.10094062e-02 -1.90879769e-04 9.99939376e-01 -4.77980133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.828623853 meters Centerline goodness [0,1] 0.9993727017088471 Centerline is valid? [True, True] Translation: X:251.67, Y:-53.61, Z:-4.78 [[ 9.67750205e-01 2.51663691e-01 1.11770601e-02 2.51672433e+02] [-2.51648769e-01 9.67814736e-01 -2.74489657e-03 -5.36112221e+01] [-1.15081143e-02 -1.56319205e-04 9.99933767e-01 -4.77874881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.85862385300004 meters Centerline goodness [0,1] 0.9995244991030324 Centerline is valid? [True, True] Translation: X:251.70, Y:-53.62, Z:-4.78 [[ 9.68203598e-01 2.49884447e-01 1.18134154e-02 2.51702363e+02] [-2.49867650e-01 9.68275654e-01 -2.90085353e-03 -5.36193700e+01] [-1.21635207e-02 -1.43173517e-04 9.99926011e-01 -4.77955926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.888623853 meters Centerline goodness [0,1] 0.9998273890435195 Centerline is valid? [True, True] Translation: X:251.73, Y:-53.63, Z:-4.78 [[ 9.69024249e-01 2.46671515e-01 1.20485793e-02 2.51731984e+02] [-2.46653769e-01 9.69099145e-01 -2.96057293e-03 -5.36321223e+01] [-1.24065569e-02 -1.02960533e-04 9.99923030e-01 -4.77907960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.91862385300004 meters Centerline goodness [0,1] 0.9998277310019595 Centerline is valid? [True, True] Translation: X:251.76, Y:-53.64, Z:-4.78 [[ 9.69373133e-01 2.45314140e-01 1.16919189e-02 2.51761577e+02] [-2.45297306e-01 9.69443637e-01 -2.87501899e-03 -5.36413672e+01] [-1.20399392e-02 -8.10300503e-05 9.99927514e-01 -4.78096444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.948623853 meters Centerline goodness [0,1] 0.9996100012999957 Centerline is valid? [True, True] Translation: X:251.79, Y:-53.65, Z:-4.78 [[ 9.69854109e-01 2.43494531e-01 9.66539252e-03 2.51793188e+02] [-2.43482929e-01 9.69902269e-01 -2.37746038e-03 -5.36513907e+01] [-9.95338473e-03 -4.75683612e-05 9.99950463e-01 -4.77565097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.97862385300004 meters Centerline goodness [0,1] 0.9999348123682666 Centerline is valid? [True, True] Translation: X:251.82, Y:-53.66, Z:-4.78 [[ 9.70135531e-01 2.42352838e-01 1.01070683e-02 2.51824000e+02] [-2.42340064e-01 9.70188178e-01 -2.48851460e-03 -5.36612826e+01] [-1.04088568e-02 -3.51511524e-05 9.99945826e-01 -4.78447269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.008623853 meters Centerline goodness [0,1] 0.9999785043313772 Centerline is valid? [True, True] Translation: X:251.85, Y:-53.67, Z:-4.79 [[ 9.70500903e-01 2.40871129e-01 1.04449090e-02 2.51854026e+02] [-2.40857379e-01 9.70557107e-01 -2.57376224e-03 -5.36708581e+01] [-1.07573257e-02 -1.78948155e-05 9.99942138e-01 -4.78562570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.03862385300005 meters Centerline goodness [0,1] 0.9999570040416201 Centerline is valid? [True, True] Translation: X:251.89, Y:-53.68, Z:-4.79 [[ 9.70664021e-01 2.40220329e-01 1.02737947e-02 2.51885127e+02] [-2.40206975e-01 9.70718390e-01 -2.53292590e-03 -5.36805159e+01] [-1.05814218e-02 -9.21711977e-06 9.99944015e-01 -4.78546547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.068623853 meters Centerline goodness [0,1] 0.9999565670604587 Centerline is valid? [True, True] Translation: X:251.92, Y:-53.69, Z:-4.79 [[ 9.70794628e-01 2.39699985e-01 1.00850000e-02 2.51915254e+02] [-2.39687062e-01 9.70847010e-01 -2.48897039e-03 -5.36901110e+01] [-1.03875983e-02 -9.64936399e-07 9.99946047e-01 -4.78648094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.098623853 meters Centerline goodness [0,1] 0.9999784566332026 Centerline is valid? [True, True] Translation: X:251.95, Y:-53.70, Z:-4.79 [[ 9.70939223e-01 2.39113425e-01 1.00893584e-02 2.51945317e+02] [-2.39100452e-01 9.70991642e-01 -2.49080847e-03 -5.37002529e+01] [-1.03922684e-02 6.05348479e-06 9.99945999e-01 -4.78634431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.128623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:251.98, Y:-53.71, Z:-4.79 [[ 9.70844328e-01 2.39485155e-01 1.03996201e-02 2.51977715e+02] [-2.39471372e-01 9.70900026e-01 -2.56935670e-03 -5.37086940e+01] [-1.07123142e-02 4.03408403e-06 9.99942622e-01 -4.78618792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.158623853 meters Centerline goodness [0,1] 0.9999784770349963 Centerline is valid? [True, True] Translation: X:252.01, Y:-53.72, Z:-4.79 [[ 9.70599482e-01 2.40447526e-01 1.10287164e-02 2.52008817e+02] [-2.40432058e-01 9.70662139e-01 -2.72730456e-03 -5.37154229e+01] [-1.13609311e-02 -4.53659413e-06 9.99935463e-01 -4.78556407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.188623853 meters Centerline goodness [0,1] 0.9999349254896857 Centerline is valid? [True, True] Translation: X:252.04, Y:-53.72, Z:-4.79 [[ 9.70396559e-01 2.41254988e-01 1.12493923e-02 2.52041096e+02] [-2.41238925e-01 9.70461762e-01 -2.78395742e-03 -5.37224297e+01] [-1.15887487e-02 -1.22486125e-05 9.99932848e-01 -4.78619937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.218623853 meters Centerline goodness [0,1] 0.9999784640565104 Centerline is valid? [True, True] Translation: X:252.07, Y:-53.73, Z:-4.79 [[ 9.70135955e-01 2.42291268e-01 1.14529690e-02 2.52072839e+02] [-2.42274657e-01 9.70203556e-01 -2.83717519e-03 -5.37291936e+01] [-1.17991341e-02 -2.23184820e-05 9.99930388e-01 -4.78604957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.248623853 meters Centerline goodness [0,1] 0.9998498434081257 Centerline is valid? [True, True] Translation: X:252.11, Y:-53.73, Z:-4.78 [[ 9.69467281e-01 2.44936047e-01 1.18120199e-02 2.52105792e+02] [-2.44918562e-01 9.69539236e-01 -2.92711692e-03 -5.37347307e+01] [-1.21691732e-02 -5.52388514e-05 9.99925951e-01 -4.78445831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.278623853 meters Centerline goodness [0,1] 0.9997208803005905 Centerline is valid? [True, True] Translation: X:252.14, Y:-53.74, Z:-4.79 [[ 9.68690135e-01 2.47986384e-01 1.19237294e-02 2.52137638e+02] [-2.47968759e-01 9.68763514e-01 -2.95795444e-03 -5.37365217e+01] [-1.22848064e-02 -9.13710981e-05 9.99924535e-01 -4.78573517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.30862385300003 meters Centerline goodness [0,1] 0.9996152366294728 Centerline is valid? [True, True] Translation: X:252.17, Y:-53.74, Z:-4.79 [[ 9.68240859e-01 2.49744951e-01 1.17088750e-02 2.52169804e+02] [-2.49728077e-01 9.68311648e-01 -2.90529352e-03 -5.37416262e+01] [-1.20634224e-02 -1.11010932e-04 9.99927228e-01 -4.78685705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.338623853 meters Centerline goodness [0,1] 0.9994626775850581 Centerline is valid? [True, True] Translation: X:252.20, Y:-53.75, Z:-4.79 [[ 9.67796159e-01 2.51460062e-01 1.17657017e-02 2.52200519e+02] [-2.51443125e-01 9.67867667e-01 -2.92146969e-03 -5.37458919e+01] [-1.21222752e-02 -1.31017660e-04 9.99926514e-01 -4.78746375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.36862385300003 meters Centerline goodness [0,1] 0.9993782427854723 Centerline is valid? [True, True] Translation: X:252.23, Y:-53.75, Z:-4.79 [[ 9.67069060e-01 2.54231713e-01 1.19862497e-02 2.52233339e+02] [-2.54214324e-01 9.67143324e-01 -2.97807949e-03 -5.37488026e+01] [-1.23495437e-02 -1.67067852e-04 9.99923728e-01 -4.78705291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.398623853 meters Centerline goodness [0,1] 0.9995063106379325 Centerline is valid? [True, True] Translation: X:252.27, Y:-53.76, Z:-4.79 [[ 9.66817252e-01 2.55174265e-01 1.22676414e-02 2.52265245e+02] [-2.55156100e-01 9.66895062e-01 -3.05008500e-03 -5.37552455e+01] [-1.26398251e-02 -1.81288735e-04 9.99920098e-01 -4.78648340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.42862385300003 meters Centerline goodness [0,1] 0.9993752423628764 Centerline is valid? [True, True] Translation: X:252.30, Y:-53.76, Z:-4.78 [[ 9.66557916e-01 2.56099331e-01 1.33764007e-02 2.52297223e+02] [-2.56077790e-01 9.66650448e-01 -3.32811121e-03 -5.37629151e+01] [-1.37826308e-02 -2.08586891e-04 9.99904993e-01 -4.78444561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.458623853 meters Centerline goodness [0,1] 0.999317740869454 Centerline is valid? [True, True] Translation: X:252.33, Y:-53.77, Z:-4.78 [[ 9.66480345e-01 2.56375102e-01 1.36948749e-02 2.52328116e+02] [-2.56352509e-01 9.66577344e-01 -3.41027220e-03 -5.37696843e+01] [-1.41114646e-02 -2.14754485e-04 9.99900405e-01 -4.78433631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.48862385300004 meters Centerline goodness [0,1] 0.999318409337792 Centerline is valid? [True, True] Translation: X:252.36, Y:-53.77, Z:-4.79 [[ 9.66487696e-01 2.56334023e-01 1.39428490e-02 2.52359751e+02] [-2.56310558e-01 9.66588238e-01 -3.47498855e-03 -5.37745639e+01] [-1.43677517e-02 -2.15165731e-04 9.99896755e-01 -4.78531819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.518623853 meters Centerline goodness [0,1] 0.9994079086487629 Centerline is valid? [True, True] Translation: X:252.39, Y:-53.78, Z:-4.79 [[ 9.66407204e-01 2.56644033e-01 1.38187077e-02 2.52392280e+02] [-2.56620996e-01 9.66505972e-01 -3.44543441e-03 -5.37811092e+01] [-1.42401137e-02 -2.16477899e-04 9.99898581e-01 -4.78636463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.54862385300004 meters Centerline goodness [0,1] 0.9993586865901366 Centerline is valid? [True, True] Translation: X:252.42, Y:-53.79, Z:-4.79 [[ 9.66351885e-01 2.56873155e-01 1.34244569e-02 2.52424626e+02] [-2.56851402e-01 9.66445103e-01 -3.34961099e-03 -5.37894847e+01] [-1.38344258e-02 -2.11187683e-04 9.99904277e-01 -4.78720460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.578623853 meters Centerline goodness [0,1] 0.9994172745715889 Centerline is valid? [True, True] Translation: X:252.46, Y:-53.80, Z:-4.79 [[ 9.66331593e-01 2.56969223e-01 1.30411383e-02 2.52456604e+02] [-2.56948670e-01 9.66419566e-01 -3.25644520e-03 -5.37971161e+01] [-1.34400174e-02 -2.04097261e-04 9.99909658e-01 -4.78844067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.60862385300004 meters Centerline goodness [0,1] 0.9993553793592471 Centerline is valid? [True, True] Translation: X:252.49, Y:-53.80, Z:-4.79 [[ 9.66341109e-01 2.56972048e-01 1.22567662e-02 2.52489092e+02] [-2.56953864e-01 9.66418817e-01 -3.06289113e-03 -5.37986714e+01] [-1.26322469e-02 -1.89625828e-04 9.99920192e-01 -4.79202839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.638623853 meters Centerline goodness [0,1] 0.9995926243567753 Centerline is valid? [True, True] Translation: X:252.52, Y:-53.80, Z:-4.79 [[ 9.66438416e-01 2.56644739e-01 1.14133950e-02 2.52521569e+02] [-2.56628927e-01 9.66505793e-01 -2.85399094e-03 -5.38046956e+01] [-1.17635742e-02 -1.70800839e-04 9.99930792e-01 -4.79395903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.66862385300004 meters Centerline goodness [0,1] 0.9997409941507845 Centerline is valid? [True, True] Translation: X:252.55, Y:-53.81, Z:-4.79 [[ 9.66458841e-01 2.56566531e-01 1.14421788e-02 2.52553169e+02] [-2.56550608e-01 9.66526558e-01 -2.86331966e-03 -5.38134806e+01] [-1.17938017e-02 -1.68217328e-04 9.99930437e-01 -4.79288156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.698623853 meters Centerline goodness [0,1] 0.9997409941507845 Centerline is valid? [True, True] Translation: X:252.58, Y:-53.82, Z:-4.79 [[ 9.66409432e-01 2.56752602e-01 1.14416282e-02 2.52584639e+02] [-2.56736666e-01 9.66477146e-01 -2.86551771e-03 -5.38215422e+01] [-1.17938013e-02 -1.68222128e-04 9.99930437e-01 -4.79349171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.72862385300004 meters Centerline goodness [0,1] 0.9995503885927163 Centerline is valid? [True, True] Translation: X:252.62, Y:-53.83, Z:-4.79 [[ 9.66416457e-01 2.56704934e-01 1.19083715e-02 2.52615297e+02] [-2.56687633e-01 9.66489807e-01 -2.98524834e-03 -5.38260962e+01] [-1.22756477e-02 -1.71738576e-04 9.99924637e-01 -4.79455782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.758623853 meters Centerline goodness [0,1] 0.999119529270283 Centerline is valid? [True, True] Translation: X:252.65, Y:-53.83, Z:-4.78 [[ 9.66483785e-01 2.56446588e-01 1.20100181e-02 2.52647960e+02] [-2.56428946e-01 9.66558389e-01 -3.01270837e-03 -5.38305894e+01] [-1.23809825e-02 -1.67982497e-04 9.99923339e-01 -4.78495560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.78862385300005 meters Centerline goodness [0,1] 0.999376960426245 Centerline is valid? [True, True] Translation: X:252.68, Y:-53.84, Z:-4.79 [[ 9.66581925e-01 2.56029563e-01 1.29709334e-02 2.52679298e+02] [-2.56008907e-01 9.66668937e-01 -3.25677735e-03 -5.38392957e+01] [-1.33724297e-02 -1.72732350e-04 9.99910570e-01 -4.79303905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.818623853 meters Centerline goodness [0,1] 0.9994385904301261 Centerline is valid? [True, True] Translation: X:252.71, Y:-53.85, Z:-4.79 [[ 9.66929188e-01 2.54721060e-01 1.28502087e-02 2.52710327e+02] [-2.54700668e-01 9.67014559e-01 -3.22665899e-03 -5.38458607e+01] [-1.32482369e-02 -1.53005991e-04 9.99912227e-01 -4.79417190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.848623853 meters Centerline goodness [0,1] 0.9994859272587071 Centerline is valid? [True, True] Translation: X:252.74, Y:-53.85, Z:-4.80 [[ 9.67075633e-01 2.54195224e-01 1.22273538e-02 2.52741701e+02] [-2.54176695e-01 9.67152919e-01 -3.07215475e-03 -5.38525306e+01] [-1.26066480e-02 -1.36902381e-04 9.99920524e-01 -4.79636101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.878623853 meters Centerline goodness [0,1] 0.9992397584604022 Centerline is valid? [True, True] Translation: X:252.77, Y:-53.86, Z:-4.79 [[ 9.67259282e-01 2.53519565e-01 1.17180221e-02 2.52773683e+02] [-2.53502475e-01 9.67330252e-01 -2.94609482e-03 -5.38610407e+01] [-1.20820899e-02 -1.20910047e-04 9.99927002e-01 -4.78971577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.908623853 meters Centerline goodness [0,1] 0.9996109033527161 Centerline is valid? [True, True] Translation: X:252.80, Y:-53.87, Z:-4.80 [[ 9.67554011e-01 2.52348639e-01 1.26253720e-02 2.52803841e+02] [-2.52328656e-01 9.67636374e-01 -3.17762828e-03 -5.38679109e+01] [-1.30186394e-02 -1.11216172e-04 9.99915248e-01 -4.79557781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.938623853 meters Centerline goodness [0,1] 0.99968046354089 Centerline is valid? [True, True] Translation: X:252.83, Y:-53.87, Z:-4.80 [[ 9.67671253e-01 2.51887516e-01 1.28462462e-02 2.52833928e+02] [-2.51866773e-01 9.67756513e-01 -3.23422463e-03 -5.38744449e+01] [-1.32466992e-02 -1.05876378e-04 9.99912253e-01 -4.79588369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.968623853 meters Centerline goodness [0,1] 0.9998697436120096 Centerline is valid? [True, True] Translation: X:252.86, Y:-53.88, Z:-4.80 [[ 9.67917958e-01 2.50911598e-01 1.33490040e-02 2.52864994e+02] [-2.50889069e-01 9.68010001e-01 -3.36356627e-03 -5.38811395e+01] [-1.37659272e-02 -9.34629875e-05 9.99905241e-01 -4.79512036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.998623853 meters Centerline goodness [0,1] 0.9997654384169226 Centerline is valid? [True, True] Translation: X:252.90, Y:-53.89, Z:-4.80 [[ 9.67912820e-01 2.50946159e-01 1.30689636e-02 2.52896941e+02] [-2.50924567e-01 9.68001042e-01 -3.29315733e-03 -5.38868742e+01] [-1.34771756e-02 -9.18348256e-05 9.99909175e-01 -4.79667640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.028623853 meters Centerline goodness [0,1] 0.9998694033911586 Centerline is valid? [True, True] Translation: X:252.93, Y:-53.89, Z:-4.80 [[ 9.67938879e-01 2.50851508e-01 1.29556013e-02 2.52928745e+02] [-2.50830249e-01 9.68025575e-01 -3.26691182e-03 -5.38946954e+01] [-1.33608631e-02 -8.74857409e-05 9.99910736e-01 -4.79690553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.05862385300003 meters Centerline goodness [0,1] 0.9999139285176339 Centerline is valid? [True, True] Translation: X:252.96, Y:-53.90, Z:-4.80 [[ 9.67916911e-01 2.50977432e-01 1.21318312e-02 2.52960147e+02] [-2.50958770e-01 9.67992935e-01 -3.06161148e-03 -5.38987690e+01] [-1.25119223e-02 -8.12039173e-05 9.99921720e-01 -4.79955269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.088623853 meters Centerline goodness [0,1] 0.9997655184174625 Centerline is valid? [True, True] Translation: X:252.99, Y:-53.90, Z:-4.80 [[ 9.67782621e-01 2.51533079e-01 1.13096644e-02 2.52992019e+02] [-2.51516877e-01 9.67848699e-01 -2.85604251e-03 -5.39011718e+01] [-1.16644331e-02 -8.05431606e-05 9.99931965e-01 -4.80267774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.11862385300003 meters Centerline goodness [0,1] 0.9997640801269678 Centerline is valid? [True, True] Translation: X:253.02, Y:-53.91, Z:-4.80 [[ 9.67737851e-01 2.51717726e-01 1.10289222e-02 2.53023244e+02] [-2.51702300e-01 9.67800692e-01 -2.78787992e-03 -5.39073507e+01] [-1.13755574e-02 -7.80681540e-05 9.99935293e-01 -4.80236323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.148623853 meters Centerline goodness [0,1] 0.9997244887146339 Centerline is valid? [True, True] Translation: X:253.05, Y:-53.91, Z:-4.80 [[ 9.67651535e-01 2.52044493e-01 1.11391163e-02 2.53052444e+02] [-2.52028772e-01 9.67715644e-01 -2.81628227e-03 -5.39106314e+01] [-1.14893256e-02 -8.21979479e-05 9.99933992e-01 -4.80385867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.17862385300003 meters Centerline goodness [0,1] 0.9998703571660077 Centerline is valid? [True, True] Translation: X:253.08, Y:-53.91, Z:-4.80 [[ 9.67769329e-01 2.51593142e-01 1.11093243e-02 2.53082565e+02] [-2.51577477e-01 9.67833087e-01 -2.80852429e-03 -5.39149395e+01] [-1.14585770e-02 -7.68521002e-05 9.99934345e-01 -4.80330213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.208623853 meters Centerline goodness [0,1] 0.9999139322216245 Centerline is valid? [True, True] Translation: X:253.11, Y:-53.92, Z:-4.80 [[ 9.67989452e-01 2.50760076e-01 1.07612782e-02 2.53112879e+02] [-2.50745326e-01 9.68049265e-01 -2.72053552e-03 -5.39212969e+01] [-1.10996492e-02 -6.48905223e-05 9.99938395e-01 -4.80461823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.23862385300004 meters Centerline goodness [0,1] 0.9998917327097138 Centerline is valid? [True, True] Translation: X:253.14, Y:-53.93, Z:-4.80 [[ 9.68723980e-01 2.47875165e-01 1.14783749e-02 2.53141036e+02] [-2.47858181e-01 9.68791980e-01 -2.90190710e-03 -5.39291157e+01] [-1.18394683e-02 -3.38621211e-05 9.99929910e-01 -4.80395568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.268623853 meters Centerline goodness [0,1] 0.9999785518188058 Centerline is valid? [True, True] Translation: X:253.17, Y:-53.94, Z:-4.80 [[ 9.69263292e-01 2.45734701e-01 1.19635943e-02 2.53169955e+02] [-2.45716090e-01 9.69337122e-01 -3.02426337e-03 -5.39384315e+01] [-1.23399225e-02 -8.34013778e-06 9.99923860e-01 -4.80420323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.29862385300004 meters Centerline goodness [0,1] 0.9999571826161422 Centerline is valid? [True, True] Translation: X:253.20, Y:-53.95, Z:-4.80 [[ 9.70410844e-01 2.41119250e-01 1.28180245e-02 2.53199944e+02] [-2.41097492e-01 9.70495494e-01 -3.23956388e-03 -5.39523712e+01] [-1.32209562e-02 5.33143473e-05 9.99912598e-01 -4.80235533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.328623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:253.23, Y:-53.96, Z:-4.80 [[ 9.70957324e-01 2.38887394e-01 1.32169277e-02 2.53229631e+02] [-2.38864021e-01 9.71047272e-01 -3.34283641e-03 -5.39636872e+01] [-1.36328231e-02 8.87029875e-05 9.99907065e-01 -4.80256568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.35862385300004 meters Centerline goodness [0,1] 0.9999573560767591 Centerline is valid? [True, True] Translation: X:253.26, Y:-53.98, Z:-4.80 [[ 9.72088747e-01 2.34261958e-01 1.28375923e-02 2.53258788e+02] [-2.34239478e-01 9.72173499e-01 -3.24882311e-03 -5.39784395e+01] [-1.32414426e-02 1.51073476e-04 9.99912317e-01 -4.80394744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.388623853 meters Centerline goodness [0,1] 0.9999358604323006 Centerline is valid? [True, True] Translation: X:253.29, Y:-53.99, Z:-4.81 [[ 9.72561125e-01 2.32305212e-01 1.26153055e-02 2.53289283e+02] [-2.32283311e-01 9.72642924e-01 -3.19467506e-03 -5.39901150e+01] [-1.30123273e-02 1.76691838e-04 9.99915320e-01 -4.80510557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.41862385300004 meters Centerline goodness [0,1] 0.9998496143682729 Centerline is valid? [True, True] Translation: X:253.32, Y:-54.00, Z:-4.81 [[ 9.73421897e-01 2.28693732e-01 1.22060529e-02 2.53317913e+02] [-2.28672919e-01 9.73498397e-01 -3.09311033e-03 -5.40043219e+01] [-1.25899479e-02 2.19707588e-04 9.99920719e-01 -4.80674496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.448623853 meters Centerline goodness [0,1] 0.9999135396852844 Centerline is valid? [True, True] Translation: X:253.35, Y:-54.01, Z:-4.81 [[ 9.73735903e-01 2.27358372e-01 1.21062653e-02 2.53348256e+02] [-2.27337773e-01 9.73811129e-01 -3.06963712e-03 -5.40146885e+01] [-1.24871236e-02 2.36804480e-04 9.99922005e-01 -4.80750188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.47862385300004 meters Centerline goodness [0,1] 0.9994641287805714 Centerline is valid? [True, True] Translation: X:253.38, Y:-54.03, Z:-4.80 [[ 9.74015362e-01 2.26197768e-01 1.13421576e-02 2.53377282e+02] [-2.26179576e-01 9.74081369e-01 -2.87863539e-03 -5.40257664e+01] [-1.16993253e-02 2.38470705e-04 9.99931532e-01 -4.80014174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.508623853 meters Centerline goodness [0,1] 0.9996992545809972 Centerline is valid? [True, True] Translation: X:253.41, Y:-54.04, Z:-4.81 [[ 9.74293633e-01 2.24937862e-01 1.24448983e-02 2.53407335e+02] [-2.24915864e-01 9.74373071e-01 -3.15803127e-03 -5.40380670e+01] [-1.28363346e-02 2.77794709e-04 9.99917572e-01 -4.80809319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.53862385300005 meters Centerline goodness [0,1] 0.999825308439786 Centerline is valid? [True, True] Translation: X:253.44, Y:-54.04, Z:-4.81 [[ 9.74313909e-01 2.24845319e-01 1.25295239e-02 2.53440045e+02] [-2.24822988e-01 9.74394429e-01 -3.18143980e-03 -5.40443916e+01] [-1.29240301e-02 2.82796051e-04 9.99916441e-01 -4.80713520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.568623853 meters Centerline goodness [0,1] 0.9998261398704742 Centerline is valid? [True, True] Translation: X:253.47, Y:-54.06, Z:-4.81 [[ 9.74140258e-01 2.25609492e-01 1.22928688e-02 2.53468627e+02] [-2.25588024e-01 9.74217781e-01 -3.12401276e-03 -5.40569752e+01] [-1.26807383e-02 2.70102617e-04 9.99919560e-01 -4.80913407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.598623853 meters Centerline goodness [0,1] 0.9996962860118015 Centerline is valid? [True, True] Translation: X:253.50, Y:-54.06, Z:-4.81 [[ 9.73855507e-01 2.26828985e-01 1.24122316e-02 2.53500107e+02] [-2.26807170e-01 9.73934569e-01 -3.15640414e-03 -5.40641950e+01] [-1.28046653e-02 2.58698440e-04 9.99917983e-01 -4.80943582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.628623853 meters Centerline goodness [0,1] 0.9997630433846021 Centerline is valid? [True, True] Translation: X:253.53, Y:-54.07, Z:-4.81 [[ 9.73431411e-01 2.28655894e-01 1.21560428e-02 2.53531532e+02] [-2.28635088e-01 9.73507282e-01 -3.09320654e-03 -5.40699500e+01] [-1.25412761e-02 2.31726485e-04 9.99921328e-01 -4.81061330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.658623853 meters Centerline goodness [0,1] 0.9996769191005428 Centerline is valid? [True, True] Translation: X:253.56, Y:-54.07, Z:-4.81 [[ 9.72272494e-01 2.33571053e-01 1.14350309e-02 2.53562891e+02] [-2.33552951e-01 9.72339723e-01 -2.91240622e-03 -5.40709758e+01] [-1.17989885e-02 1.60967261e-04 9.99930377e-01 -4.81258506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.688623853 meters Centerline goodness [0,1] 0.9996584116140051 Centerline is valid? [True, True] Translation: X:253.59, Y:-54.07, Z:-4.81 [[ 9.71624954e-01 2.36281960e-01 1.07603467e-02 2.53594653e+02] [-2.36266094e-01 9.71684527e-01 -2.74079871e-03 -5.40746140e+01] [-1.11032637e-02 1.20723346e-04 9.99938350e-01 -4.81443987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.718623853 meters Centerline goodness [0,1] 0.9993527089131983 Centerline is valid? [True, True] Translation: X:253.63, Y:-54.07, Z:-4.82 [[ 9.70261369e-01 2.41832793e-01 1.04774142e-02 2.53625173e+02] [-2.41818067e-01 9.70317936e-01 -2.66932617e-03 -5.40729312e+01] [-1.08119535e-02 5.63160110e-05 9.99941548e-01 -4.81534235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.748623853 meters Centerline goodness [0,1] 0.9992465827144549 Centerline is valid? [True, True] Translation: X:253.66, Y:-54.08, Z:-4.81 [[ 9.69592727e-01 2.44490481e-01 1.06933972e-02 2.53657461e+02] [-2.44475311e-01 9.69651692e-01 -2.72363319e-03 -5.40753976e+01] [-1.10347731e-02 2.65433183e-05 9.99939115e-01 -4.81321388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.778623853 meters Centerline goodness [0,1] 0.9991465938426746 Centerline is valid? [True, True] Translation: X:253.69, Y:-54.08, Z:-4.81 [[ 9.68462985e-01 2.48893125e-01 1.14742353e-02 2.53687622e+02] [-2.48875958e-01 9.68530955e-01 -2.92334664e-03 -5.40753024e+01] [-1.18407529e-02 -2.45082861e-05 9.99929896e-01 -4.81373017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.80862385300003 meters Centerline goodness [0,1] 0.9991247918712377 Centerline is valid? [True, True] Translation: X:253.72, Y:-54.08, Z:-4.81 [[ 9.68014324e-01 2.50612624e-01 1.18987996e-02 2.53716381e+02] [-2.50594292e-01 9.68087450e-01 -3.03156178e-03 -5.40792122e+01] [-1.22788262e-02 -4.71760388e-05 9.99924611e-01 -4.81315021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.838623853 meters Centerline goodness [0,1] 0.9989647586593625 Centerline is valid? [True, True] Translation: X:253.75, Y:-54.09, Z:-4.81 [[ 9.67583591e-01 2.52261380e-01 1.20909688e-02 2.53746127e+02] [-2.52242590e-01 9.67659130e-01 -3.07968178e-03 -5.40854863e+01] [-1.24768211e-02 -7.00077244e-05 9.99922159e-01 -4.81067466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.86862385300003 meters Centerline goodness [0,1] 0.9989031786313389 Centerline is valid? [True, True] Translation: X:253.78, Y:-54.09, Z:-4.81 [[ 9.66940054e-01 2.54680550e-01 1.28355081e-02 2.53776941e+02] [-2.54659587e-01 9.67025236e-01 -3.26932283e-03 -5.40900176e+01] [-1.32448931e-02 -1.07445991e-04 9.99912277e-01 -4.80966538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.898623853 meters Centerline goodness [0,1] 0.9987264931867386 Centerline is valid? [True, True] Translation: X:253.81, Y:-54.09, Z:-4.81 [[ 9.66726864e-01 2.55476303e-01 1.30777999e-02 2.53806588e+02] [-2.55454614e-01 9.66815310e-01 -3.33110301e-03 -5.40939645e+01] [-1.34948351e-02 -1.20517570e-04 9.99908933e-01 -4.81086756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.92862385300003 meters Centerline goodness [0,1] 0.9989415703639702 Centerline is valid? [True, True] Translation: X:253.84, Y:-54.10, Z:-4.81 [[ 9.66578879e-01 2.56034445e-01 1.31008751e-02 2.53835638e+02] [-2.56012733e-01 9.66667650e-01 -3.33680780e-03 -5.41007328e+01] [-1.35185299e-02 -1.28702880e-04 9.99908612e-01 -4.81079827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.958623853 meters Centerline goodness [0,1] 0.9987326545517033 Centerline is valid? [True, True] Translation: X:253.86, Y:-54.11, Z:-4.81 [[ 9.66604058e-01 2.55949105e-01 1.29093000e-02 2.53863205e+02] [-2.55928016e-01 9.66690250e-01 -3.28798725e-03 -5.41072666e+01] [-1.33208518e-02 -1.25669708e-04 9.99911266e-01 -4.81196832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.98862385300004 meters Centerline goodness [0,1] 0.9987855544902525 Centerline is valid? [True, True] Translation: X:253.89, Y:-54.11, Z:-4.81 [[ 9.66731209e-01 2.55482665e-01 1.26244640e-02 2.53892145e+02] [-2.55462464e-01 9.66813629e-01 -3.21491193e-03 -5.41145198e+01] [-1.30268581e-02 -1.17120981e-04 9.99915140e-01 -4.81315013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.018623853 meters Centerline goodness [0,1] 0.9989211582445087 Centerline is valid? [True, True] Translation: X:253.92, Y:-54.12, Z:-4.81 [[ 9.66833224e-01 2.55109601e-01 1.23534476e-02 2.53920478e+02] [-2.55090231e-01 9.66912136e-01 -3.14559923e-03 -5.41224786e+01] [-1.27471710e-02 -1.09973944e-04 9.99918745e-01 -4.81414010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.04862385300004 meters Centerline goodness [0,1] 0.9988263411719517 Centerline is valid? [True, True] Translation: X:253.95, Y:-54.13, Z:-4.82 [[ 9.67174418e-01 2.53829157e-01 1.20168085e-02 2.53949179e+02] [-2.53810736e-01 9.67249064e-01 -3.05932928e-03 -5.41302263e+01] [-1.23997938e-02 -9.10899943e-05 9.99923115e-01 -4.81537792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.078623853 meters Centerline goodness [0,1] 0.9989067931871352 Centerline is valid? [True, True] Translation: X:253.98, Y:-54.14, Z:-4.81 [[ 9.67425247e-01 2.52873794e-01 1.19680822e-02 2.53977626e+02] [-2.52855443e-01 9.67499270e-01 -3.04737322e-03 -5.41375943e+01] [-1.23497116e-02 -7.80889285e-05 9.99923736e-01 -4.81209092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.10862385300004 meters Centerline goodness [0,1] 0.9989072677408296 Centerline is valid? [True, True] Translation: X:254.00, Y:-54.14, Z:-4.82 [[ 9.67621712e-01 2.52117894e-01 1.20328278e-02 2.54004884e+02] [-2.52099290e-01 9.67696524e-01 -3.06356032e-03 -5.41449987e+01] [-1.24165040e-02 -6.90998654e-05 9.99922910e-01 -4.81614532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.138623853 meters Centerline goodness [0,1] 0.9990249187432286 Centerline is valid? [True, True] Translation: X:254.03, Y:-54.15, Z:-4.82 [[ 9.68055569e-01 2.50439390e-01 1.21871625e-02 2.54033334e+02] [-2.50420177e-01 9.68132279e-01 -3.10251072e-03 -5.41529971e+01] [-1.25757763e-02 -4.85086038e-05 9.99920921e-01 -4.81693563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.16862385300004 meters Centerline goodness [0,1] 0.9988130179558011 Centerline is valid? [True, True] Translation: X:254.06, Y:-54.16, Z:-4.82 [[ 9.68327090e-01 2.49397611e-01 1.19782305e-02 2.54061325e+02] [-2.49378975e-01 9.68401172e-01 -3.04902912e-03 -5.41615056e+01] [-1.23601530e-02 -3.46613361e-05 9.99923610e-01 -4.81780010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.198623853 meters Centerline goodness [0,1] 0.9990359897172236 Centerline is valid? [True, True] Translation: X:254.09, Y:-54.17, Z:-4.82 [[ 9.69006512e-01 2.46780801e-01 1.12078531e-02 2.54089395e+02] [-2.46764316e-01 9.69071327e-01 -2.85242034e-03 -5.41732286e+01] [-1.15651317e-02 -1.68432830e-06 9.99933122e-01 -4.81991198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.22862385300004 meters Centerline goodness [0,1] 0.9990565835459594 Centerline is valid? [True, True] Translation: X:254.12, Y:-54.18, Z:-4.82 [[ 9.69346603e-01 2.45447369e-01 1.10793700e-02 2.54118863e+02] [-2.45431169e-01 9.69409918e-01 -2.81994466e-03 -5.41824478e+01] [-1.14325992e-02 1.42810300e-05 9.99934646e-01 -4.82095670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.258623853 meters Centerline goodness [0,1] 0.9990951785945108 Centerline is valid? [True, True] Translation: X:254.15, Y:-54.19, Z:-4.82 [[ 9.69616064e-01 2.44381998e-01 1.10511123e-02 2.54148515e+02] [-2.44365812e-01 9.69679039e-01 -2.81275243e-03 -5.41910682e+01] [-1.14034180e-02 2.67759117e-05 9.99934979e-01 -4.82149219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.28862385300005 meters Centerline goodness [0,1] 0.9989111172790742 Centerline is valid? [True, True] Translation: X:254.18, Y:-54.20, Z:-4.82 [[ 9.69998746e-01 2.42867228e-01 1.08601018e-02 2.54177643e+02] [-2.42851503e-01 9.70059538e-01 -2.76404575e-03 -5.42001723e+01] [-1.12062415e-02 4.37288654e-05 9.99937207e-01 -4.82274277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.318623853 meters Centerline goodness [0,1] 0.9991048974894505 Centerline is valid? [True, True] Translation: X:254.21, Y:-54.21, Z:-4.82 [[ 9.70106011e-01 2.42431813e-01 1.10065312e-02 2.54205711e+02] [-2.42415629e-01 9.70168446e-01 -2.80162959e-03 -5.42080578e+01] [-1.13573935e-02 4.97225111e-05 9.99935501e-01 -4.82326659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.348623853 meters Centerline goodness [0,1] 0.999028371550719 Centerline is valid? [True, True] Translation: X:254.23, Y:-54.22, Z:-4.82 [[ 9.70197266e-01 2.42055149e-01 1.12503370e-02 2.54233960e+02] [-2.42038219e-01 9.70262491e-01 -2.86336542e-03 -5.42152424e+01] [-1.16088724e-02 5.50177678e-05 9.99932613e-01 -4.82287495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.378623853 meters Centerline goodness [0,1] 0.9990256301631011 Centerline is valid? [True, True] Translation: X:254.26, Y:-54.22, Z:-4.82 [[ 9.70138486e-01 2.42300636e-01 1.10326756e-02 2.54262160e+02] [-2.42284365e-01 9.70201216e-01 -2.80847033e-03 -5.42218028e+01] [-1.13844095e-02 5.15603434e-05 9.99935194e-01 -4.82416672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.408623853 meters Centerline goodness [0,1] 0.9989190591490834 Centerline is valid? [True, True] Translation: X:254.29, Y:-54.23, Z:-4.82 [[ 9.69838603e-01 2.43475519e-01 1.15219909e-02 2.54291635e+02] [-2.43457861e-01 9.69907042e-01 -2.93250078e-03 -5.42256723e+01] [-1.18892522e-02 3.89332067e-05 9.99929320e-01 -4.82376418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.438623853 meters Centerline goodness [0,1] 0.9990349560368861 Centerline is valid? [True, True] Translation: X:254.32, Y:-54.23, Z:-4.82 [[ 9.69691500e-01 2.44045734e-01 1.18352932e-02 2.54320582e+02] [-2.44027149e-01 9.69763723e-01 -3.01194230e-03 -5.42311359e+01] [-1.22124896e-02 3.25220010e-05 9.99925424e-01 -4.82339872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.468623853 meters Centerline goodness [0,1] 0.9990359690653184 Centerline is valid? [True, True] Translation: X:254.35, Y:-54.23, Z:-4.82 [[ 9.69320022e-01 2.45532392e-01 1.15125511e-02 2.54348432e+02] [-2.45514912e-01 9.69388387e-01 -2.92978217e-03 -5.42346160e+01] [-1.18794898e-02 1.33935403e-05 9.99929436e-01 -4.82483967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.498623853 meters Centerline goodness [0,1] 0.9989897687215201 Centerline is valid? [True, True] Translation: X:254.38, Y:-54.24, Z:-4.83 [[ 9.69190961e-01 2.46052712e-01 1.12669392e-02 2.54376621e+02] [-2.46036014e-01 9.69256449e-01 -2.86654565e-03 -5.42406208e+01] [-1.16258748e-02 6.15733377e-06 9.99932417e-01 -4.82599433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.528623853 meters Centerline goodness [0,1] 0.9990724562652343 Centerline is valid? [True, True] Translation: X:254.40, Y:-54.25, Z:-4.83 [[ 9.69094288e-01 2.46459206e-01 1.06827209e-02 2.54404633e+02] [-2.46444225e-01 9.69153166e-01 -2.71744371e-03 -5.42459994e+01] [-1.10229319e-02 7.64302033e-07 9.99939246e-01 -4.82786297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.55862385300003 meters Centerline goodness [0,1] 0.999070410964827 Centerline is valid? [True, True] Translation: X:254.43, Y:-54.25, Z:-4.83 [[ 9.69130855e-01 2.46329582e-01 1.03500275e-02 2.54432724e+02] [-2.46315517e-01 9.69186121e-01 -2.63234886e-03 -5.42526390e+01] [-1.06795284e-02 1.71813918e-06 9.99942972e-01 -4.82937720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.588623853 meters Centerline goodness [0,1] 0.999070410964827 Centerline is valid? [True, True] Translation: X:254.46, Y:-54.26, Z:-4.83 [[ 9.69141744e-01 2.46286733e-01 1.03501439e-02 2.54460203e+02] [-2.46272670e-01 9.69197011e-01 -2.63189101e-03 -5.42595299e+01] [-1.06795283e-02 1.71787132e-06 9.99942972e-01 -4.82990870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.61862385300003 meters Centerline goodness [0,1] 0.9992274014936905 Centerline is valid? [True, True] Translation: X:254.49, Y:-54.27, Z:-4.83 [[ 9.69311516e-01 2.45609108e-01 1.05523247e-02 2.54487893e+02] [-2.45594455e-01 9.69368953e-01 -2.68280236e-03 -5.42674778e+01] [-1.08880167e-02 8.87877899e-06 9.99940724e-01 -4.82958824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.648623853 meters Centerline goodness [0,1] 0.9989931663846104 Centerline is valid? [True, True] Translation: X:254.51, Y:-54.27, Z:-4.83 [[ 9.69415408e-01 2.45197182e-01 1.05881846e-02 2.54514890e+02] [-2.45182410e-01 9.69473229e-01 -2.69149170e-03 -5.42744439e+01] [-1.09249077e-02 1.31369121e-05 9.99940321e-01 -4.82629070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.67862385300003 meters Centerline goodness [0,1] 0.9991154261057174 Centerline is valid? [True, True] Translation: X:254.54, Y:-54.28, Z:-4.83 [[ 9.69557949e-01 2.44576404e-01 1.18222474e-02 2.54543659e+02] [-2.44557956e-01 9.69630023e-01 -3.00403169e-03 -5.42837711e+01] [-1.21979213e-02 2.13581502e-05 9.99925602e-01 -4.82658467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.708623853 meters Centerline goodness [0,1] 0.9988359058377166 Centerline is valid? [True, True] Translation: X:254.57, Y:-54.29, Z:-4.82 [[ 9.69613047e-01 2.44356563e-01 1.18494498e-02 2.54572529e+02] [-2.44338015e-01 9.69685449e-01 -3.01079327e-03 -5.42907550e+01] [-1.22259461e-02 2.40334015e-05 9.99925260e-01 -4.81951685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.73862385300004 meters Centerline goodness [0,1] 0.999048936538129 Centerline is valid? [True, True] Translation: X:254.60, Y:-54.30, Z:-4.83 [[ 9.69587254e-01 2.44417159e-01 1.26810287e-02 2.54602365e+02] [-2.44395926e-01 9.69670177e-01 -3.22170086e-03 -5.42997829e+01] [-1.30838543e-02 2.45283340e-05 9.99914402e-01 -4.82589040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.768623853 meters Centerline goodness [0,1] 0.9989255630049854 Centerline is valid? [True, True] Translation: X:254.63, Y:-54.31, Z:-4.83 [[ 9.69499015e-01 2.44804015e-01 1.19437809e-02 2.54632148e+02] [-2.44785205e-01 9.69572583e-01 -3.03475849e-03 -5.43065904e+01] [-1.23232836e-02 1.85345138e-05 9.99924065e-01 -4.82786725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.79862385300004 meters Centerline goodness [0,1] 0.9990684978987046 Centerline is valid? [True, True] Translation: X:254.66, Y:-54.31, Z:-4.83 [[ 9.69427648e-01 2.45105478e-01 1.15473308e-02 2.54661513e+02] [-2.45087914e-01 9.69496418e-01 -2.93425058e-03 -5.43134510e+01] [-1.19142968e-02 1.44324066e-05 9.99929022e-01 -4.82910761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.828623853 meters Centerline goodness [0,1] 0.9990724962792001 Centerline is valid? [True, True] Translation: X:254.69, Y:-54.32, Z:-4.83 [[ 9.69172362e-01 2.46133934e-01 1.10914250e-02 2.54690997e+02] [-2.46117796e-01 9.69235826e-01 -2.81849157e-03 -5.43188864e+01] [-1.14439329e-02 1.80707121e-06 9.99934516e-01 -4.83026523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.85862385300004 meters Centerline goodness [0,1] 0.9990351215746816 Centerline is valid? [True, True] Translation: X:254.72, Y:-54.33, Z:-4.83 [[ 9.69115271e-01 2.46373831e-01 1.07483726e-02 2.54719770e+02] [-2.46358691e-01 9.69174873e-01 -2.73128120e-03 -5.43256668e+01] [-1.10899688e-02 -1.02867938e-06 9.99938504e-01 -4.83150588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.888623853 meters Centerline goodness [0,1] 0.9991286792051854 Centerline is valid? [True, True] Translation: X:254.75, Y:-54.33, Z:-4.83 [[ 9.69113347e-01 2.46388086e-01 1.05939322e-02 2.54747976e+02] [-2.46373382e-01 9.69171250e-01 -2.69177706e-03 -5.43332618e+01] [-1.09305563e-02 -1.42583172e-06 9.99940260e-01 -4.83267419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.91862385300004 meters Centerline goodness [0,1] 0.9987687921202696 Centerline is valid? [True, True] Translation: X:254.78, Y:-54.34, Z:-4.83 [[ 9.69296061e-01 2.45674825e-01 1.04415555e-02 2.54777217e+02] [-2.45660504e-01 9.69352299e-01 -2.65260855e-03 -5.43424914e+01] [-1.07732249e-02 6.08524792e-06 9.99941967e-01 -4.82536281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.948623853 meters Centerline goodness [0,1] 0.999071875674509 Centerline is valid? [True, True] Translation: X:254.81, Y:-54.35, Z:-4.83 [[ 9.69479604e-01 2.44920506e-01 1.11015268e-02 2.54805601e+02] [-2.44904268e-01 9.69543163e-01 -2.82026994e-03 -5.43525169e+01] [-1.14541514e-02 1.53828849e-05 9.99934399e-01 -4.83212638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.97862385300004 meters Centerline goodness [0,1] 0.9991280862556621 Centerline is valid? [True, True] Translation: X:254.83, Y:-54.37, Z:-4.83 [[ 9.70031460e-01 2.42731148e-01 1.09798547e-02 2.54834663e+02] [-2.42715137e-01 9.70093598e-01 -2.78817288e-03 -5.43664674e+01] [-1.13282631e-02 3.96384793e-05 9.99935832e-01 -4.83351737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.008623853 meters Centerline goodness [0,1] 0.9991356397346414 Centerline is valid? [True, True] Translation: X:254.86, Y:-54.38, Z:-4.83 [[ 9.70372317e-01 2.41360416e-01 1.10776864e-02 2.54862884e+02] [-2.41343999e-01 9.70435545e-01 -2.81563773e-03 -5.43775495e+01] [-1.14297641e-02 5.86837736e-05 9.99934676e-01 -4.83405797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.03862385300005 meters Centerline goodness [0,1] 0.9992065023912158 Centerline is valid? [True, True] Translation: X:254.89, Y:-54.39, Z:-4.83 [[ 9.70622926e-01 2.40340563e-01 1.12938053e-02 2.54892508e+02] [-2.40323420e-01 9.70688626e-01 -2.87144507e-03 -5.43879751e+01] [-1.16528931e-02 7.29244948e-05 9.99932100e-01 -4.83459358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.068623853 meters Centerline goodness [0,1] 0.9991837436095716 Centerline is valid? [True, True] Translation: X:254.92, Y:-54.40, Z:-4.83 [[ 9.70939972e-01 2.39038041e-01 1.16784400e-02 2.54920906e+02] [-2.39019623e-01 9.71010199e-01 -2.96866022e-03 -5.44010846e+01] [-1.20495070e-02 9.10145428e-05 9.99927398e-01 -4.83392087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.098623853 meters Centerline goodness [0,1] 0.9990588033968641 Centerline is valid? [True, True] Translation: X:254.95, Y:-54.41, Z:-4.83 [[ 9.71056095e-01 2.38561450e-01 1.17683851e-02 2.54951791e+02] [-2.38542692e-01 9.71127399e-01 -2.99320616e-03 -5.44125500e+01] [-1.21426649e-02 9.93088175e-05 9.99926270e-01 -4.83478818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.128623853 meters Centerline goodness [0,1] 0.9991770438548998 Centerline is valid? [True, True] Translation: X:254.98, Y:-54.43, Z:-4.83 [[ 9.71281656e-01 2.37645098e-01 1.16940886e-02 2.54981168e+02] [-2.37626481e-01 9.71352045e-01 -2.97674361e-03 -5.44258866e+01] [-1.20664854e-02 1.12431332e-04 9.99927191e-01 -4.83497907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.158623853 meters Centerline goodness [0,1] 0.9991864348719706 Centerline is valid? [True, True] Translation: X:255.01, Y:-54.44, Z:-4.84 [[ 9.71357965e-01 2.37336198e-01 1.16289463e-02 2.55011755e+02] [-2.37317737e-01 9.71427566e-01 -2.96248291e-03 -5.44368398e+01] [-1.19997834e-02 1.17876155e-04 9.99927993e-01 -4.83592122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.188623853 meters Centerline goodness [0,1] 0.9992654207626661 Centerline is valid? [True, True] Translation: X:255.04, Y:-54.45, Z:-4.84 [[ 9.71419229e-01 2.37073549e-01 1.18665160e-02 2.55042991e+02] [-2.37054294e-01 9.71491697e-01 -3.02402820e-03 -5.44474416e+01] [-1.22451389e-02 1.24590568e-04 9.99925018e-01 -4.83577410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.218623853 meters Centerline goodness [0,1] 0.9989584011457587 Centerline is valid? [True, True] Translation: X:255.07, Y:-54.46, Z:-4.83 [[ 9.71434271e-01 2.37029981e-01 1.14997699e-02 2.55072413e+02] [-2.37011868e-01 9.71502328e-01 -2.93282596e-03 -5.44611695e+01] [-1.18672209e-02 1.23465696e-04 9.99929574e-01 -4.83221383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.248623853 meters Centerline goodness [0,1] 0.9991341054226648 Centerline is valid? [True, True] Translation: X:255.10, Y:-54.47, Z:-4.84 [[ 9.71346371e-01 2.37379798e-01 1.17072589e-02 2.55101364e+02] [-2.37361017e-01 9.71416912e-01 -2.98856246e-03 -5.44717464e+01] [-1.20820536e-02 1.24082420e-04 9.99927002e-01 -4.83804055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.278623853 meters Centerline goodness [0,1] 0.999245819686261 Centerline is valid? [True, True] Translation: X:255.13, Y:-54.48, Z:-4.84 [[ 9.70861409e-01 2.39374487e-01 1.13127911e-02 2.55131612e+02] [-2.39357078e-01 9.70927312e-01 -2.88846395e-03 -5.44807022e+01] [-1.16753225e-02 9.65015469e-05 9.99931836e-01 -4.83911907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.30862385300003 meters Centerline goodness [0,1] 0.9992181901101049 Centerline is valid? [True, True] Translation: X:255.16, Y:-54.49, Z:-4.84 [[ 9.70492127e-01 2.40858613e-01 1.14960800e-02 2.55162825e+02] [-2.40840719e-01 9.70560210e-01 -2.93701746e-03 -5.44887712e+01] [-1.18650438e-02 8.16281478e-05 9.99929605e-01 -4.83923760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.338623853 meters Centerline goodness [0,1] 0.9990858237381103 Centerline is valid? [True, True] Translation: X:255.19, Y:-54.50, Z:-4.84 [[ 9.70102273e-01 2.42415093e-01 1.16834535e-02 2.55193975e+02] [-2.42396701e-01 9.70172623e-01 -2.98678288e-03 -5.44954307e+01] [-1.20590080e-02 6.54542745e-05 9.99927285e-01 -4.83730879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.36862385300003 meters Centerline goodness [0,1] 0.9990236493816446 Centerline is valid? [True, True] Translation: X:255.22, Y:-54.50, Z:-4.84 [[ 9.69116146e-01 2.46332180e-01 1.15910947e-02 2.55223862e+02] [-2.46314332e-01 9.69185460e-01 -2.96534862e-03 -5.45024727e+01] [-1.19643813e-02 1.87144732e-05 9.99928424e-01 -4.83829389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.398623853 meters Centerline goodness [0,1] 0.9991016811395816 Centerline is valid? [True, True] Translation: X:255.26, Y:-54.51, Z:-4.84 [[ 9.68499880e-01 2.48764184e-01 1.11518498e-02 2.55255514e+02] [-2.48747805e-01 9.68564082e-01 -2.85462332e-03 -5.45083035e+01] [-1.15114092e-02 -9.29581846e-06 9.99933741e-01 -4.84077210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.42862385300003 meters Centerline goodness [0,1] 0.9987707039337475 Centerline is valid? [True, True] Translation: X:255.29, Y:-54.51, Z:-4.84 [[ 9.67393433e-01 2.53026901e-01 1.12842128e-02 2.55285564e+02] [-2.53010380e-01 9.67459241e-01 -2.89197793e-03 -5.45109198e+01] [-1.16487642e-02 -5.73425206e-05 9.99932149e-01 -4.84148832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.458623853 meters Centerline goodness [0,1] 0.998653491149962 Centerline is valid? [True, True] Translation: X:255.31, Y:-54.52, Z:-4.84 [[ 9.66904806e-01 2.54886015e-01 1.13232285e-02 2.55314646e+02] [-2.54869508e-01 9.66971102e-01 -2.90192406e-03 -5.45166063e+01] [-1.16888946e-02 -8.00613492e-05 9.99931679e-01 -4.84159882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.48862385300004 meters Centerline goodness [0,1] 0.9984875983061101 Centerline is valid? [True, True] Translation: X:255.35, Y:-54.53, Z:-4.84 [[ 9.66134706e-01 2.57789460e-01 1.13280479e-02 2.55345984e+02] [-2.57773157e-01 9.66201108e-01 -2.90151730e-03 -5.45254099e+01] [-1.16931530e-02 -1.16810110e-04 9.99931626e-01 -4.83966596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.518623853 meters Centerline goodness [0,1] 0.9983319076133448 Centerline is valid? [True, True] Translation: X:255.38, Y:-54.53, Z:-4.84 [[ 9.65862471e-01 2.58805929e-01 1.13656477e-02 2.55375983e+02] [-2.58789563e-01 9.65929332e-01 -2.91328432e-03 -5.45323813e+01] [-1.17323878e-02 -1.27479019e-04 9.99931165e-01 -4.84064165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.54862385300004 meters Centerline goodness [0,1] 0.998153634763193 Centerline is valid? [True, True] Translation: X:255.41, Y:-54.54, Z:-4.84 [[ 9.65525554e-01 2.60030330e-01 1.20263389e-02 2.55407126e+02] [-2.60012074e-01 9.65600438e-01 -3.08475783e-03 -5.45417573e+01] [-1.24147687e-02 -1.48580802e-04 9.99922923e-01 -4.83983492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.578623853 meters Centerline goodness [0,1] 0.998153079632334 Centerline is valid? [True, True] Translation: X:255.44, Y:-54.55, Z:-4.84 [[ 9.65439056e-01 2.60340452e-01 1.22588248e-02 2.55438191e+02] [-2.60321481e-01 9.65516870e-01 -3.14661430e-03 -5.45474716e+01] [-1.26552931e-02 -1.53371079e-04 9.99919907e-01 -4.84118186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.60862385300004 meters Centerline goodness [0,1] 0.9983311581334645 Centerline is valid? [True, True] Translation: X:255.47, Y:-54.56, Z:-4.84 [[ 9.65293184e-01 2.60871222e-01 1.24609276e-02 2.55469486e+02] [-2.60851642e-01 9.65373596e-01 -3.20025543e-03 -5.45601605e+01] [-1.28643051e-02 -1.61268685e-04 9.99917238e-01 -4.83936946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.638623853 meters Centerline goodness [0,1] 0.9984569554874521 Centerline is valid? [True, True] Translation: X:255.50, Y:-54.57, Z:-4.84 [[ 9.65178275e-01 2.61290176e-01 1.25833554e-02 2.55500641e+02] [-2.61270210e-01 9.65260284e-01 -3.23431106e-03 -5.45684278e+01] [-1.29913069e-02 -1.65969133e-04 9.99915596e-01 -4.84024846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.66862385300004 meters Centerline goodness [0,1] 0.9985258300217921 Centerline is valid? [True, True] Translation: X:255.53, Y:-54.58, Z:-4.84 [[ 9.65051265e-01 2.61760140e-01 1.25572365e-02 2.55532389e+02] [-2.61740268e-01 9.65132944e-01 -3.22984626e-03 -5.45775679e+01] [-1.29648477e-02 -1.69767232e-04 9.99915938e-01 -4.84109819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.698623853 meters Centerline goodness [0,1] 0.9984180986846383 Centerline is valid? [True, True] Translation: X:255.56, Y:-54.59, Z:-4.84 [[ 9.64831493e-01 2.62597569e-01 1.19459941e-02 2.55563485e+02] [-2.62579619e-01 9.64905430e-01 -3.07501289e-03 -5.45857092e+01] [-1.23342454e-02 -1.69905289e-04 9.99923916e-01 -4.84255880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.72862385300004 meters Centerline goodness [0,1] 0.9983367893554519 Centerline is valid? [True, True] Translation: X:255.59, Y:-54.59, Z:-4.84 [[ 9.64575874e-01 2.63538151e-01 1.18754488e-02 2.55594197e+02] [-2.63520459e-01 9.64648957e-01 -3.05890097e-03 -5.45944784e+01] [-1.22617764e-02 -1.78881650e-04 9.99924806e-01 -4.84307263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.758623853 meters Centerline goodness [0,1] 0.9982250924876505 Centerline is valid? [True, True] Translation: X:255.63, Y:-54.60, Z:-4.84 [[ 9.64423804e-01 2.64098085e-01 1.17868086e-02 2.55626390e+02] [-2.64080674e-01 9.64495810e-01 -3.03798135e-03 -5.46022573e+01] [-1.21706526e-02 -1.82766824e-04 9.99925918e-01 -4.84343039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.78862385300005 meters Centerline goodness [0,1] 0.9981915649421946 Centerline is valid? [True, True] Translation: X:255.66, Y:-54.61, Z:-4.85 [[ 9.64316765e-01 2.64494908e-01 1.16456448e-02 2.55657762e+02] [-2.64477912e-01 9.64387065e-01 -3.00398417e-03 -5.46087692e+01] [-1.20254477e-02 -1.83223511e-04 9.99927675e-01 -4.84520100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.818623853 meters Centerline goodness [0,1] 0.9981654544277297 Centerline is valid? [True, True] Translation: X:255.69, Y:-54.62, Z:-4.85 [[ 9.64256750e-01 2.64720933e-01 1.14781200e-02 2.55688207e+02] [-2.64704407e-01 9.64325046e-01 -2.96351132e-03 -5.46163252e+01] [-1.18531421e-02 -1.80723145e-04 9.99929733e-01 -4.84648443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.848623853 meters Centerline goodness [0,1] 0.998380829015544 Centerline is valid? [True, True] Translation: X:255.72, Y:-54.63, Z:-4.85 [[ 9.64207608e-01 2.64896521e-01 1.15551977e-02 2.55719838e+02] [-2.64879779e-01 9.64276827e-01 -2.98379370e-03 -5.46273690e+01] [-1.19328059e-02 -1.83741620e-04 9.99928785e-01 -4.84646061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.878623853 meters Centerline goodness [0,1] 0.9985748833995509 Centerline is valid? [True, True] Translation: X:255.75, Y:-54.64, Z:-4.85 [[ 9.64362045e-01 2.64345849e-01 1.12746991e-02 2.55749748e+02] [-2.64329844e-01 9.64427936e-01 -2.91382229e-03 -5.46360019e+01] [-1.16438916e-02 -1.70259840e-04 9.99932193e-01 -4.84787116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.908623853 meters Centerline goodness [0,1] 0.9984462465146968 Centerline is valid? [True, True] Translation: X:255.78, Y:-54.64, Z:-4.85 [[ 9.64446791e-01 2.64039150e-01 1.12122272e-02 2.55780291e+02] [-2.64023275e-01 9.64511949e-01 -2.89994829e-03 -5.46442074e+01] [-1.15800270e-02 -1.63443122e-04 9.99932936e-01 -4.84914378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.938623853 meters Centerline goodness [0,1] 0.9982222222222222 Centerline is valid? [True, True] Translation: X:255.81, Y:-54.65, Z:-4.84 [[ 9.64594913e-01 2.63507625e-01 1.09720200e-02 2.55811326e+02] [-2.63492383e-01 9.64657301e-01 -2.83826194e-03 -5.46544827e+01] [-1.13321429e-02 -1.53270673e-04 9.99935777e-01 -4.84147736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.968623853 meters Centerline goodness [0,1] 0.9986283166873848 Centerline is valid? [True, True] Translation: X:255.84, Y:-54.66, Z:-4.85 [[ 9.64816842e-01 2.62674828e-01 1.14190663e-02 2.55841464e+02] [-2.62658235e-01 9.64884404e-01 -2.95610255e-03 -5.46638471e+01] [-1.17945727e-02 -1.47214261e-04 9.99930431e-01 -4.84898992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.998623853 meters Centerline goodness [0,1] 0.9985474569657027 Centerline is valid? [True, True] Translation: X:255.87, Y:-54.67, Z:-4.85 [[ 9.64877418e-01 2.62406792e-01 1.24194577e-02 2.55871780e+02] [-2.62387110e-01 9.64957331e-01 -3.21759142e-03 -5.46736638e+01] [-1.28285646e-02 -1.54124316e-04 9.99917699e-01 -4.84699253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.028623853 meters Centerline goodness [0,1] 0.9985350510577793 Centerline is valid? [True, True] Translation: X:255.90, Y:-54.68, Z:-4.85 [[ 9.64851218e-01 2.62490305e-01 1.26872924e-02 2.55903287e+02] [-2.62469742e-01 9.64934617e-01 -3.28927568e-03 -5.46799508e+01] [-1.31058106e-02 -1.56368708e-04 9.99914103e-01 -4.84850212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.05862385300003 meters Centerline goodness [0,1] 0.9985655562216322 Centerline is valid? [True, True] Translation: X:255.93, Y:-54.69, Z:-4.85 [[ 9.64862930e-01 2.62445957e-01 1.27139974e-02 2.55934670e+02] [-2.62425269e-01 9.64946680e-01 -3.29879820e-03 -5.46882416e+01] [-1.31340858e-02 -1.53586079e-04 9.99913732e-01 -4.84904306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.088623853 meters Centerline goodness [0,1] 0.9986445491512296 Centerline is valid? [True, True] Translation: X:255.97, Y:-54.70, Z:-4.85 [[ 9.64962559e-01 2.62081115e-01 1.26786940e-02 2.55965106e+02] [-2.62060484e-01 9.65045837e-01 -3.29171433e-03 -5.46974730e+01] [-1.30982170e-02 -1.46203584e-04 9.99914204e-01 -4.84903465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.11862385300003 meters Centerline goodness [0,1] 0.998648387719637 Centerline is valid? [True, True] Translation: X:256.00, Y:-54.70, Z:-4.85 [[ 9.65000791e-01 2.61948510e-01 1.25080099e-02 2.55996473e+02] [-2.61928392e-01 9.65081840e-01 -3.24949958e-03 -5.47043087e+01] [-1.29224548e-02 -1.40433246e-04 9.99916492e-01 -4.85079521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.148623853 meters Centerline goodness [0,1] 0.9984903707218185 Centerline is valid? [True, True] Translation: X:256.03, Y:-54.71, Z:-4.85 [[ 9.65219612e-01 2.61164727e-01 1.20035976e-02 2.56026602e+02] [-2.61146112e-01 9.65294240e-01 -3.12062972e-03 -5.47148939e+01] [-1.24020021e-02 -1.22599840e-04 9.99923085e-01 -4.85132859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.17862385300003 meters Centerline goodness [0,1] 0.9986455690759771 Centerline is valid? [True, True] Translation: X:256.06, Y:-54.72, Z:-4.85 [[ 9.65359120e-01 2.60654492e-01 1.18745796e-02 2.56056592e+02] [-2.60636204e-01 9.65432143e-01 -3.08969132e-03 -5.47226660e+01] [-1.22694428e-02 -1.12283665e-04 9.99924721e-01 -4.85268943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.208623853 meters Centerline goodness [0,1] 0.9987142948978935 Centerline is valid? [True, True] Translation: X:256.09, Y:-54.73, Z:-4.85 [[ 9.65539589e-01 2.59994664e-01 1.16651755e-02 2.56087509e+02] [-2.59976958e-01 9.65610048e-01 -3.03587144e-03 -5.47315381e+01] [-1.20533210e-02 -1.01422774e-04 9.99927351e-01 -4.85326414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.23862385300004 meters Centerline goodness [0,1] 0.9988484421981959 Centerline is valid? [True, True] Translation: X:256.12, Y:-54.74, Z:-4.86 [[ 9.65910575e-01 2.58623237e-01 1.14359980e-02 2.56117880e+02] [-2.58606101e-01 9.65978268e-01 -2.97826284e-03 -5.47394638e+01] [-1.18171736e-02 -8.06832865e-05 9.99930172e-01 -4.85561091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.268623853 meters Centerline goodness [0,1] 0.9987771389341801 Centerline is valid? [True, True] Translation: X:256.15, Y:-54.75, Z:-4.86 [[ 9.66166064e-01 2.57681284e-01 1.11127192e-02 2.56148413e+02] [-2.57665013e-01 9.66229968e-01 -2.89646733e-03 -5.47492176e+01] [-1.14838077e-02 -6.48904974e-05 9.99934057e-01 -4.85553252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.29862385300004 meters Centerline goodness [0,1] 0.9988238564677202 Centerline is valid? [True, True] Translation: X:256.18, Y:-54.76, Z:-4.86 [[ 9.66672678e-01 2.55766276e-01 1.12936423e-02 2.56179149e+02] [-2.55749341e-01 9.66738646e-01 -2.94357454e-03 -5.47596845e+01] [-1.16708676e-02 -4.28684947e-05 9.99931892e-01 -4.85579242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.328623853 meters Centerline goodness [0,1] 0.9991378567117855 Centerline is valid? [True, True] Translation: X:256.21, Y:-54.77, Z:-4.86 [[ 9.66911474e-01 2.54861037e-01 1.13160789e-02 2.56210165e+02] [-2.54843951e-01 9.66977689e-01 -2.95126096e-03 -5.47694148e+01] [-1.16945572e-02 -3.02261552e-05 9.99931616e-01 -4.85680965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.35862385300004 meters Centerline goodness [0,1] 0.9989858449853272 Centerline is valid? [True, True] Translation: X:256.24, Y:-54.78, Z:-4.86 [[ 9.67214480e-01 2.53708915e-01 1.13108880e-02 2.56241051e+02] [-2.53691739e-01 9.67280614e-01 -2.95216683e-03 -5.47797678e+01] [-1.16897937e-02 -1.41003352e-05 9.99931672e-01 -4.85738641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.388623853 meters Centerline goodness [0,1] 0.9993157714676703 Centerline is valid? [True, True] Translation: X:256.27, Y:-54.79, Z:-4.86 [[ 9.67950415e-01 2.50875185e-01 1.15601280e-02 2.56271125e+02] [-2.50857011e-01 9.68019443e-01 -3.01970035e-03 -5.47929655e+01] [-1.19479965e-02 2.29810520e-05 9.99928620e-01 -4.85842734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.41862385300004 meters Centerline goodness [0,1] 0.99930681916645 Centerline is valid? [True, True] Translation: X:256.30, Y:-54.80, Z:-4.86 [[ 9.68370653e-01 2.49243172e-01 1.16670446e-02 2.56302583e+02] [-2.49224517e-01 9.68440932e-01 -3.04975816e-03 -5.48045873e+01] [-1.20589750e-02 4.55827409e-05 9.99927287e-01 -4.85876400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.448623853 meters Centerline goodness [0,1] 0.9994213459065581 Centerline is valid? [True, True] Translation: X:256.33, Y:-54.82, Z:-4.86 [[ 9.68734718e-01 2.47837281e-01 1.13898582e-02 2.56332498e+02] [-2.47819377e-01 9.68801671e-01 -2.97964210e-03 -5.48158524e+01] [-1.17729800e-02 6.38551896e-05 9.99930694e-01 -4.85986608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.47862385300004 meters Centerline goodness [0,1] 0.9990561383186392 Centerline is valid? [True, True] Translation: X:256.36, Y:-54.83, Z:-4.85 [[ 9.69334054e-01 2.45542596e-01 1.00162991e-02 2.56361186e+02] [-2.45528612e-01 9.69385799e-01 -2.62178219e-03 -5.48288460e+01] [-1.03534173e-02 8.20947476e-05 9.99946399e-01 -4.85312413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.508623853 meters Centerline goodness [0,1] 0.9990561383186392 Centerline is valid? [True, True] Translation: X:256.39, Y:-54.84, Z:-4.85 [[ 9.69288831e-01 2.45721064e-01 1.00159774e-02 2.56392556e+02] [-2.45707077e-01 9.69340576e-01 -2.62301032e-03 -5.48372669e+01] [-1.03534222e-02 8.14580744e-05 9.99946399e-01 -4.85373412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.53862385300005 meters Centerline goodness [0,1] 0.9993707826162425 Centerline is valid? [True, True] Translation: X:256.42, Y:-54.85, Z:-4.86 [[ 9.69406163e-01 2.45250530e-01 1.01916019e-02 2.56424093e+02] [-2.45236001e-01 9.69459731e-01 -2.67104026e-03 -5.48477301e+01] [-1.05354217e-02 8.99751899e-05 9.99944497e-01 -4.85740500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.568623853 meters Centerline goodness [0,1] 0.9995058545493608 Centerline is valid? [True, True] Translation: X:256.45, Y:-54.86, Z:-4.86 [[ 9.69376405e-01 2.45349428e-01 1.06322425e-02 2.56453457e+02] [-2.45333589e-01 9.69434706e-01 -2.78938082e-03 -5.48603571e+01] [-1.09916378e-02 9.55137410e-05 9.99939586e-01 -4.86371178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.598623853 meters Centerline goodness [0,1] 0.9998054600868945 Centerline is valid? [True, True] Translation: X:256.48, Y:-54.87, Z:-4.86 [[ 9.69162892e-01 2.46191423e-01 1.06335190e-02 2.56484922e+02] [-2.46175620e-01 9.69221221e-01 -2.79071745e-03 -5.48686698e+01] [-1.09932830e-02 8.69466572e-05 9.99939568e-01 -4.86380917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.628623853 meters Centerline goodness [0,1] 0.999591529614103 Centerline is valid? [True, True] Translation: X:256.52, Y:-54.87, Z:-4.86 [[ 9.68436151e-01 2.48995554e-01 1.15167256e-02 2.56515789e+02] [-2.48977188e-01 9.68504626e-01 -3.02481051e-03 -5.48743615e+01] [-1.19071664e-02 6.19338998e-05 9.99929105e-01 -4.86234998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.658623853 meters Centerline goodness [0,1] 0.9996101702256681 Centerline is valid? [True, True] Translation: X:256.55, Y:-54.88, Z:-4.86 [[ 9.67924194e-01 2.50958356e-01 1.19439896e-02 2.56547905e+02] [-2.50938729e-01 9.67997883e-01 -3.13887706e-03 -5.48800154e+01] [-1.23494840e-02 4.09854900e-05 9.99923741e-01 -4.86056627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.688623853 meters Centerline goodness [0,1] 0.9994150653177062 Centerline is valid? [True, True] Translation: X:256.58, Y:-54.89, Z:-4.86 [[ 9.67289100e-01 2.53368551e-01 1.24969713e-02 2.56579036e+02] [-2.53347233e-01 9.67369824e-01 -3.28665474e-03 -5.48855252e+01] [-1.29219279e-02 1.30721930e-05 9.99916508e-01 -4.86027445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.718623853 meters Centerline goodness [0,1] 0.9991424038420308 Centerline is valid? [True, True] Translation: X:256.61, Y:-54.89, Z:-4.86 [[ 9.65700955e-01 2.59298210e-01 1.36420189e-02 2.56613016e+02] [-2.59273364e-01 9.65797305e-01 -3.59013299e-03 -5.48859904e+01] [-1.41063402e-02 -7.00172892e-05 9.99900498e-01 -4.85755823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.748623853 meters Centerline goodness [0,1] 0.9989897687215201 Centerline is valid? [True, True] Translation: X:256.64, Y:-54.89, Z:-4.86 [[ 9.64806968e-01 2.62592837e-01 1.38750055e-02 2.56644178e+02] [-2.62567432e-01 9.64906725e-01 -3.65453089e-03 -5.48882834e+01] [-1.43477397e-02 -1.17207693e-04 9.99897059e-01 -4.85798260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.778623853 meters Centerline goodness [0,1] 0.9988723108952117 Centerline is valid? [True, True] Translation: X:256.68, Y:-54.89, Z:-4.86 [[ 9.63081407e-01 2.68863561e-01 1.36597843e-02 2.56677685e+02] [-2.68839530e-01 9.63178251e-01 -3.60054441e-03 -5.48875143e+01] [-1.41248623e-02 -2.04672596e-04 9.99900218e-01 -4.85893661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.80862385300003 meters Centerline goodness [0,1] 0.9986470234515935 Centerline is valid? [True, True] Translation: X:256.71, Y:-54.89, Z:-4.86 [[ 9.62181389e-01 2.72079031e-01 1.34154889e-02 2.56709510e+02] [-2.72056161e-01 9.62274877e-01 -3.53628503e-03 -5.48881313e+01] [-1.38715369e-02 -2.47218767e-04 9.99903755e-01 -4.86050986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.838623853 meters Centerline goodness [0,1] 0.9986552828175027 Centerline is valid? [True, True] Translation: X:256.74, Y:-54.89, Z:-4.86 [[ 9.61340797e-01 2.75044181e-01 1.32124969e-02 2.56740541e+02] [-2.75022239e-01 9.61431546e-01 -3.48565608e-03 -5.48916764e+01] [-1.36616208e-02 -2.82827087e-04 9.99906636e-01 -4.86094021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.86862385300003 meters Centerline goodness [0,1] 0.9979407979407979 Centerline is valid? [True, True] Translation: X:256.77, Y:-54.88, Z:-4.86 [[ 9.59729816e-01 2.80612446e-01 1.32414555e-02 2.56773449e+02] [-2.80590932e-01 9.59821090e-01 -3.49357931e-03 -5.48825723e+01] [-1.36897701e-02 -3.62540108e-04 9.99906225e-01 -4.86253217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.898623853 meters Centerline goodness [0,1] 0.9982244090277035 Centerline is valid? [True, True] Translation: X:256.80, Y:-54.89, Z:-4.86 [[ 9.59078776e-01 2.82844767e-01 1.29127328e-02 2.56801315e+02] [-2.82824510e-01 9.59165622e-01 -3.40683765e-03 -5.48913202e+01] [-1.33490555e-02 -3.84611634e-04 9.99910823e-01 -4.86234627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.92862385300003 meters Centerline goodness [0,1] 0.9941716481639624 Centerline is valid? [True, True] Translation: X:256.83, Y:-54.88, Z:-4.86 [[ 9.58298435e-01 2.85492173e-01 1.25828666e-02 2.56832998e+02] [-2.85473172e-01 9.58380953e-01 -3.31932477e-03 -5.48839783e+01] [-1.30068209e-02 -4.11167101e-04 9.99915323e-01 -4.86452326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.958623853 meters Centerline goodness [0,1] 0.9970219603642206 Centerline is valid? [True, True] Translation: X:256.86, Y:-54.89, Z:-4.86 [[ 9.58111537e-01 2.86118602e-01 1.25867853e-02 2.56860655e+02] [-2.86099649e-01 9.58194119e-01 -3.31995509e-03 -5.48935034e+01] [-1.30104846e-02 -4.20187589e-04 9.99915272e-01 -4.86428054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.98862385300004 meters Centerline goodness [0,1] 0.9974258317781067 Centerline is valid? [True, True] Translation: X:256.89, Y:-54.90, Z:-4.86 [[ 9.58159327e-01 2.85942990e-01 1.29348498e-02 2.56889607e+02] [-2.85922966e-01 9.58246535e-01 -3.41112169e-03 -5.48983646e+01] [-1.33701613e-02 -4.29972547e-04 9.99910523e-01 -4.86406138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.018623853 meters Centerline goodness [0,1] 0.997344903509908 Centerline is valid? [True, True] Translation: X:256.92, Y:-54.91, Z:-4.86 [[ 9.58347354e-01 2.85310850e-01 1.29641102e-02 2.56917522e+02] [-2.85290686e-01 9.58434943e-01 -3.41820592e-03 -5.49051043e+01] [-1.34005075e-02 -4.22711298e-04 9.99910120e-01 -4.86429491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.04862385300004 meters Centerline goodness [0,1] 0.9949384463603997 Centerline is valid? [True, True] Translation: X:256.95, Y:-54.90, Z:-4.87 [[ 9.58707120e-01 2.84111162e-01 1.27084686e-02 2.56946682e+02] [-2.84091687e-01 9.58791265e-01 -3.35026240e-03 -5.49045359e+01] [-1.31366156e-02 -3.98449851e-04 9.99913632e-01 -4.86695547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.078623853 meters Centerline goodness [0,1] 0.9982584015996904 Centerline is valid? [True, True] Translation: X:256.97, Y:-54.92, Z:-4.87 [[ 9.59648663e-01 2.80937492e-01 1.21889348e-02 2.56973339e+02] [-2.80919332e-01 9.59726007e-01 -3.21238884e-03 -5.49204760e+01] [-1.26005182e-02 -3.41342772e-04 9.99920552e-01 -4.86723035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.10862385300004 meters Centerline goodness [0,1] 0.9984910541064884 Centerline is valid? [True, True] Translation: X:257.00, Y:-54.93, Z:-4.87 [[ 9.60203350e-01 2.79043627e-01 1.20075589e-02 2.57000754e+02] [-2.79025858e-01 9.60278375e-01 -3.16445469e-03 -5.49290231e+01] [-1.24136201e-02 -3.11899435e-04 9.99922899e-01 -4.86807084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.138623853 meters Centerline goodness [0,1] 0.9988385348332007 Centerline is valid? [True, True] Translation: X:257.03, Y:-54.94, Z:-4.87 [[ 9.61165860e-01 2.75729390e-01 1.15539580e-02 2.57028753e+02] [-2.75712706e-01 9.61235266e-01 -3.04422376e-03 -5.49393156e+01] [-1.19454539e-02 -2.59569080e-04 9.99928617e-01 -4.86891631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.16862385300004 meters Centerline goodness [0,1] 0.9987493261455526 Centerline is valid? [True, True] Translation: X:257.06, Y:-54.95, Z:-4.87 [[ 9.61581525e-01 2.74277128e-01 1.15338171e-02 2.57057219e+02] [-2.74260401e-01 9.61650664e-01 -3.03862809e-03 -5.49471545e+01] [-1.19249290e-02 -2.41380667e-04 9.99928866e-01 -4.86961477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.198623853 meters Centerline goodness [0,1] 0.9989075252233147 Centerline is valid? [True, True] Translation: X:257.09, Y:-54.95, Z:-4.87 [[ 9.62296796e-01 2.71763274e-01 1.13841880e-02 2.57085568e+02] [-2.71746806e-01 9.62364110e-01 -2.99892607e-03 -5.49544279e+01] [-1.17707319e-02 -2.07759774e-04 9.99930701e-01 -4.87031050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.22862385300004 meters Centerline goodness [0,1] 0.9989186617357642 Centerline is valid? [True, True] Translation: X:257.11, Y:-54.96, Z:-4.87 [[ 9.62591337e-01 2.70727988e-01 1.11478280e-02 2.57114674e+02] [-2.70712133e-01 9.62655868e-01 -2.93621766e-03 -5.49641347e+01] [-1.15264384e-02 -1.91474620e-04 9.99933550e-01 -4.86968324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.258623853 meters Centerline goodness [0,1] 0.9985183594588791 Centerline is valid? [True, True] Translation: X:257.14, Y:-54.97, Z:-4.86 [[ 9.62871130e-01 2.69749004e-01 1.07080637e-02 2.57144679e+02] [-2.69734313e-01 9.62930654e-01 -2.82048488e-03 -5.49678551e+01] [-1.10719457e-02 -1.72568734e-04 9.99938689e-01 -4.86329693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.28862385300005 meters Centerline goodness [0,1] 0.9990950226244344 Centerline is valid? [True, True] Translation: X:257.17, Y:-54.97, Z:-4.87 [[ 9.63494127e-01 2.67500068e-01 1.10806485e-02 2.57172300e+02] [-2.67484188e-01 9.63557829e-01 -2.91864232e-03 -5.49749638e+01] [-1.14575826e-02 -1.51803534e-04 9.99934348e-01 -4.87128732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.318623853 meters Centerline goodness [0,1] 0.999419054996127 Centerline is valid? [True, True] Translation: X:257.20, Y:-54.98, Z:-4.87 [[ 9.63810559e-01 2.66343032e-01 1.14278788e-02 2.57200918e+02] [-2.66326065e-01 9.63878296e-01 -3.00965499e-03 -5.49816189e+01] [-1.18166850e-02 -1.42804739e-04 9.99930170e-01 -4.87154499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.348623853 meters Centerline goodness [0,1] 0.9991639871382637 Centerline is valid? [True, True] Translation: X:257.23, Y:-54.99, Z:-4.87 [[ 9.64368002e-01 2.64313184e-01 1.15280804e-02 2.57229297e+02] [-2.64295779e-01 9.64436896e-01 -3.03561112e-03 -5.49889341e+01] [-1.19204581e-02 -1.19376752e-04 9.99928942e-01 -4.87131076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.378623853 meters Centerline goodness [0,1] 0.9992518330091277 Centerline is valid? [True, True] Translation: X:257.26, Y:-55.00, Z:-4.87 [[ 9.64559195e-01 2.63617219e-01 1.14682708e-02 2.57256142e+02] [-2.63599947e-01 9.64627363e-01 -3.01965067e-03 -5.49955584e+01] [-1.18586397e-02 -1.10403743e-04 9.99929678e-01 -4.87206639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.408623853 meters Centerline goodness [0,1] 0.999392136856045 Centerline is valid? [True, True] Translation: X:257.28, Y:-55.00, Z:-4.87 [[ 9.64732946e-01 2.62999822e-01 1.10198065e-02 2.57284693e+02] [-2.62983845e-01 9.64795877e-01 -2.90064077e-03 -5.50022939e+01] [-1.13947319e-02 -9.96873694e-05 9.99935073e-01 -4.87296850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.438623853 meters Centerline goodness [0,1] 0.9993373236425823 Centerline is valid? [True, True] Translation: X:257.31, Y:-55.01, Z:-4.87 [[ 9.64868601e-01 2.62512890e-01 1.07501735e-02 2.57312456e+02] [-2.62497658e-01 9.64928481e-01 -2.82938062e-03 -5.50082014e+01] [-1.11158975e-02 -9.19148488e-05 9.99938212e-01 -4.87448329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.468623853 meters Centerline goodness [0,1] 0.9993504525180791 Centerline is valid? [True, True] Translation: X:257.34, Y:-55.01, Z:-4.88 [[ 9.64983649e-01 2.62118777e-01 1.00151751e-02 2.57340969e+02] [-2.62105540e-01 9.65035616e-01 -2.63550281e-03 -5.50124151e+01] [-1.03558155e-02 -8.18157722e-05 9.99946374e-01 -4.87644294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.498623853 meters Centerline goodness [0,1] 0.9992746976129019 Centerline is valid? [True, True] Translation: X:257.37, Y:-55.02, Z:-4.88 [[ 9.64974168e-01 2.62173586e-01 9.47972490e-03 2.57369016e+02] [-2.62161732e-01 9.65020728e-01 -2.49428991e-03 -5.50150117e+01] [-9.80206795e-03 -7.82957710e-05 9.99951956e-01 -4.87810442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.528623853 meters Centerline goodness [0,1] 0.999374163753291 Centerline is valid? [True, True] Translation: X:257.40, Y:-55.02, Z:-4.88 [[ 9.64916196e-01 2.62386359e-01 9.49384102e-03 2.57397874e+02] [-2.62374487e-01 9.64962897e-01 -2.49731887e-03 -5.50197822e+01] [-9.81646674e-03 -8.12382337e-05 9.99951814e-01 -4.87867342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.55862385300003 meters Centerline goodness [0,1] 0.9993498049414824 Centerline is valid? [True, True] Translation: X:257.43, Y:-55.02, Z:-4.88 [[ 9.64906684e-01 2.62427307e-01 9.32730506e-03 2.57426072e+02] [-2.62415854e-01 9.64951761e-01 -2.45307897e-03 -5.50243230e+01] [-9.64415436e-03 -8.06404320e-05 9.99953491e-01 -4.87902103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.588623853 meters Centerline goodness [0,1] 0.9992546689665452 Centerline is valid? [True, True] Translation: X:257.45, Y:-55.03, Z:-4.88 [[ 9.64860201e-01 2.62586845e-01 9.64061865e-03 2.57454309e+02] [-2.62574620e-01 9.64908359e-01 -2.53519309e-03 -5.50285858e+01] [-9.96802188e-03 -8.52748676e-05 9.99950314e-01 -4.87919118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.61862385300003 meters Centerline goodness [0,1] 0.9994894268816746 Centerline is valid? [True, True] Translation: X:257.48, Y:-55.03, Z:-4.88 [[ 9.65045936e-01 2.61871794e-01 1.04644698e-02 2.57482279e+02] [-2.61857359e-01 9.65102666e-01 -2.75089232e-03 -5.50315577e+01] [-1.08196688e-02 -8.54609560e-05 9.99941462e-01 -4.87844469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.648623853 meters Centerline goodness [0,1] 0.9995904466287291 Centerline is valid? [True, True] Translation: X:257.51, Y:-55.04, Z:-4.88 [[ 9.65312769e-01 2.60857296e-01 1.11682406e-02 2.57510222e+02] [-2.60840795e-01 9.65377369e-01 -2.93508580e-03 -5.50381173e+01] [-1.15472053e-02 -7.98569665e-05 9.99933326e-01 -4.87783174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.67862385300003 meters Centerline goodness [0,1] 0.9995065013088443 Centerline is valid? [True, True] Translation: X:257.54, Y:-55.05, Z:-4.88 [[ 9.66005277e-01 2.58257748e-01 1.16936184e-02 2.57537765e+02] [-2.58239474e-01 9.66076049e-01 -3.07259020e-03 -5.50464505e+01] [-1.20904449e-02 -5.16155097e-05 9.99926907e-01 -4.87590370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.708623853 meters Centerline goodness [0,1] 0.9997429305912596 Centerline is valid? [True, True] Translation: X:257.56, Y:-55.05, Z:-4.88 [[ 9.66454506e-01 2.56587189e-01 1.13447008e-02 2.57564136e+02] [-2.56569880e-01 9.66521088e-01 -2.98045354e-03 -5.50541559e+01] [-1.17296388e-02 -3.02357626e-05 9.99931205e-01 -4.87690331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.73862385300004 meters Centerline goodness [0,1] 0.9993764781767361 Centerline is valid? [True, True] Translation: X:257.59, Y:-55.06, Z:-4.87 [[ 9.67474459e-01 2.52732395e-01 1.09319919e-02 2.57591802e+02] [-2.52716085e-01 9.67536220e-01 -2.87129977e-03 -5.50637943e+01] [-1.13027686e-02 1.52189993e-05 9.99936122e-01 -4.87330851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.768623853 meters Centerline goodness [0,1] 0.9997405068765678 Centerline is valid? [True, True] Translation: X:257.62, Y:-55.07, Z:-4.88 [[ 9.68141365e-01 2.50166397e-01 1.09119726e-02 2.57620139e+02] [-2.50149991e-01 9.68202857e-01 -2.86532607e-03 -5.50737257e+01] [-1.12818113e-02 4.44108511e-05 9.99936357e-01 -4.87855241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.79862385300004 meters Centerline goodness [0,1] 0.9998926624017861 Centerline is valid? [True, True] Translation: X:257.65, Y:-55.09, Z:-4.88 [[ 9.69381487e-01 2.45338084e-01 1.04286470e-02 2.57647277e+02] [-2.45322823e-01 9.69437577e-01 -2.73805910e-03 -5.50864898e+01] [-1.07816725e-02 9.58386625e-05 9.99941871e-01 -4.88109750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.828623853 meters Centerline goodness [0,1] 0.9998918404430216 Centerline is valid? [True, True] Translation: X:257.67, Y:-55.10, Z:-4.88 [[ 9.70114046e-01 2.42430393e-01 1.03074107e-02 2.57674837e+02] [-2.42415321e-01 9.70168794e-01 -2.70619278e-03 -5.50980033e+01] [-1.06559916e-02 1.26641358e-04 9.99943215e-01 -4.88237783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.85862385300004 meters Centerline goodness [0,1] 0.9998065098679967 Centerline is valid? [True, True] Translation: X:257.70, Y:-55.11, Z:-4.88 [[ 9.70733128e-01 2.39936812e-01 1.03692190e-02 2.57702444e+02] [-2.39921422e-01 9.70788495e-01 -2.72192822e-03 -5.51104272e+01] [-1.07194093e-02 1.54468122e-04 9.99942534e-01 -4.88382143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.888623853 meters Centerline goodness [0,1] 0.9997402597402597 Centerline is valid? [True, True] Translation: X:257.73, Y:-55.12, Z:-4.88 [[ 9.71879949e-01 2.35295647e-01 9.23700752e-03 2.57731628e+02] [-2.35283227e-01 9.71923827e-01 -2.42455605e-03 -5.51221188e+01] [-9.54815519e-03 1.83064480e-04 9.99954399e-01 -4.88461398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.91862385300004 meters Centerline goodness [0,1] 0.9998486977196585 Centerline is valid? [True, True] Translation: X:257.76, Y:-55.13, Z:-4.89 [[ 9.72290332e-01 2.33595667e-01 9.19648035e-03 2.57760697e+02] [-2.33583289e-01 9.72333803e-01 -2.41288870e-03 -5.51337943e+01] [-9.50568906e-03 1.97884222e-04 9.99954800e-01 -4.88665592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.948623853 meters Centerline goodness [0,1] 0.9996553506806825 Centerline is valid? [True, True] Translation: X:257.79, Y:-55.15, Z:-4.89 [[ 9.72926785e-01 2.30925104e-01 9.33099338e-03 2.57790447e+02] [-2.30912222e-01 9.72971502e-01 -2.44977644e-03 -5.51456458e+01] [-9.64450553e-03 2.28812701e-04 9.99953464e-01 -4.88636517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.97862385300004 meters Centerline goodness [0,1] 0.9996151872755259 Centerline is valid? [True, True] Translation: X:257.82, Y:-55.16, Z:-4.89 [[ 9.73114655e-01 2.30123941e-01 9.53100953e-03 2.57819075e+02] [-2.30110447e-01 9.73161298e-01 -2.50397134e-03 -5.51588524e+01] [-9.85143336e-03 2.43466338e-04 9.99951444e-01 -4.88793003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.008623853 meters Centerline goodness [0,1] 0.9992425226161105 Centerline is valid? [True, True] Translation: X:257.85, Y:-55.17, Z:-4.88 [[ 9.73195171e-01 2.29802260e-01 9.05982087e-03 2.57850174e+02] [-2.29790040e-01 9.73237312e-01 -2.38150572e-03 -5.51672437e+01] [-9.36463111e-03 2.35813262e-04 9.99956123e-01 -4.88215591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.03862385300005 meters Centerline goodness [0,1] 0.9991932230738201 Centerline is valid? [True, True] Translation: X:257.88, Y:-55.18, Z:-4.89 [[ 9.73402332e-01 2.28915980e-01 9.23977793e-03 2.57877900e+02] [-2.28903214e-01 9.73446152e-01 -2.43057283e-03 -5.51830313e+01] [-9.55082323e-03 2.50910401e-04 9.99954358e-01 -4.89067628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.068623853 meters Centerline goodness [0,1] 0.9995899162565829 Centerline is valid? [True, True] Translation: X:257.91, Y:-55.19, Z:-4.89 [[ 9.73468345e-01 2.28643937e-01 9.01839809e-03 2.57910242e+02] [-2.28631752e-01 9.73510086e-01 -2.37349991e-03 -5.51855365e+01] [-9.32218787e-03 2.48634872e-04 9.99956517e-01 -4.88924871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.098623853 meters Centerline goodness [0,1] 0.9993938081835895 Centerline is valid? [True, True] Translation: X:257.94, Y:-55.20, Z:-4.89 [[ 9.73431623e-01 2.28796802e-01 9.10491674e-03 2.57941329e+02] [-2.28784375e-01 9.73474170e-01 -2.39771598e-03 -5.51963713e+01] [-9.41199102e-03 2.50949867e-04 9.99955675e-01 -4.88681031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.128623853 meters Centerline goodness [0,1] 0.9991173684663739 Centerline is valid? [True, True] Translation: X:257.97, Y:-55.21, Z:-4.88 [[ 9.73352501e-01 2.29134889e-01 9.06155327e-03 2.57971581e+02] [-2.29122576e-01 9.73394648e-01 -2.38828170e-03 -5.52091057e+01] [-9.36770612e-03 2.48433533e-04 9.99956091e-01 -4.88249458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.158623853 meters Centerline goodness [0,1] 0.9996335812048712 Centerline is valid? [True, True] Translation: X:258.00, Y:-55.22, Z:-4.89 [[ 9.73285220e-01 2.29385258e-01 9.91387118e-03 2.58001847e+02] [-2.29370509e-01 9.73335672e-01 -2.61532488e-03 -5.52192065e+01] [-1.02494414e-02 2.71507375e-04 9.99947436e-01 -4.89037383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.188623853 meters Centerline goodness [0,1] 0.9996297344978546 Centerline is valid? [True, True] Translation: X:258.03, Y:-55.23, Z:-4.89 [[ 9.73151100e-01 2.29949316e-01 1.00124233e-02 2.58033407e+02] [-2.29934284e-01 9.73202568e-01 -2.64310330e-03 -5.52267630e+01] [-1.03518958e-02 2.69939515e-04 9.99946381e-01 -4.89077057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.218623853 meters Centerline goodness [0,1] 0.9996782703815713 Centerline is valid? [True, True] Translation: X:258.06, Y:-55.24, Z:-4.89 [[ 9.72811739e-01 2.31401783e-01 9.51500849e-03 2.58062474e+02] [-2.31388255e-01 9.72858240e-01 -2.51402790e-03 -5.52388086e+01] [-9.83850495e-03 2.44014642e-04 9.99951571e-01 -4.89248065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.248623853 meters Centerline goodness [0,1] 0.9994379593601384 Centerline is valid? [True, True] Translation: X:258.09, Y:-55.25, Z:-4.88 [[ 9.72512249e-01 2.32665905e-01 9.30067756e-03 2.58094180e+02] [-2.32653035e-01 9.72556695e-01 -2.45765291e-03 -5.52462976e+01] [-9.61724827e-03 2.26266701e-04 9.99953728e-01 -4.88403590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.278623853 meters Centerline goodness [0,1] 0.9997843014602791 Centerline is valid? [True, True] Translation: X:258.12, Y:-55.26, Z:-4.89 [[ 9.72334677e-01 2.33395818e-01 9.57437993e-03 2.58123638e+02] [-2.33382195e-01 9.72381787e-01 -2.53190009e-03 -5.52574844e+01] [-9.90088756e-03 2.27364450e-04 9.99950959e-01 -4.89329858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.30862385300003 meters Centerline goodness [0,1] 0.9998717948717949 Centerline is valid? [True, True] Translation: X:258.15, Y:-55.27, Z:-4.89 [[ 9.71853814e-01 2.35397069e-01 9.40133294e-03 2.58153621e+02] [-2.35384013e-01 9.71899263e-01 -2.48765368e-03 -5.52671077e+01] [-9.72273494e-03 2.04712245e-04 9.99952712e-01 -4.89471017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.338623853 meters Centerline goodness [0,1] 0.9998933947379642 Centerline is valid? [True, True] Translation: X:258.18, Y:-55.28, Z:-4.90 [[ 9.71613421e-01 2.36384804e-01 9.46486783e-03 2.58183156e+02] [-2.36371603e-01 9.71659501e-01 -2.50602988e-03 -5.52770700e+01] [-9.78901613e-03 1.97666293e-04 9.99952067e-01 -4.89604976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.36862385300003 meters Centerline goodness [0,1] 0.9998501616114048 Centerline is valid? [True, True] Translation: X:258.21, Y:-55.29, Z:-4.90 [[ 9.71117357e-01 2.38407254e-01 9.64676911e-03 2.58214471e+02] [-2.38393615e-01 9.71165253e-01 -2.55666095e-03 -5.52860218e+01] [-9.97813347e-03 1.83089658e-04 9.99950200e-01 -4.89577298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.398623853 meters Centerline goodness [0,1] 0.9998501616114048 Centerline is valid? [True, True] Translation: X:258.25, Y:-55.29, Z:-4.90 [[ 9.71073109e-01 2.38587415e-01 9.64690779e-03 2.58245824e+02] [-2.38573790e-01 9.71121008e-01 -2.55613848e-03 -5.52945413e+01] [-9.97817730e-03 1.80697986e-04 9.99950200e-01 -4.89638280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.42862385300003 meters Centerline goodness [0,1] 0.9998707509370557 Centerline is valid? [True, True] Translation: X:258.28, Y:-55.30, Z:-4.90 [[ 9.70842189e-01 2.39522607e-01 9.71416643e-03 2.58275312e+02] [-2.39508815e-01 9.70890772e-01 -2.57623608e-03 -5.53038467e+01] [-1.00484613e-02 1.74490187e-04 9.99949498e-01 -4.89766725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.458623853 meters Centerline goodness [0,1] 0.999956960554348 Centerline is valid? [True, True] Translation: X:258.31, Y:-55.31, Z:-4.90 [[ 9.70210280e-01 2.42082126e-01 9.39451518e-03 2.58306664e+02] [-2.42069335e-01 9.70255752e-01 -2.49270924e-03 -5.53115681e+01] [-9.71852274e-03 1.44328086e-04 9.99952764e-01 -4.89789993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.48862385300004 meters Centerline goodness [0,1] 0.9999356761508609 Centerline is valid? [True, True] Translation: X:258.34, Y:-55.32, Z:-4.90 [[ 9.69880996e-01 2.43399718e-01 9.35049383e-03 2.58336384e+02] [-2.43387090e-01 9.69926059e-01 -2.48280597e-03 -5.53214084e+01] [-9.67360190e-03 1.32236839e-04 9.99953201e-01 -4.89893025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.518623853 meters Centerline goodness [0,1] 0.9999567249437424 Centerline is valid? [True, True] Translation: X:258.37, Y:-55.33, Z:-4.90 [[ 9.69192477e-01 2.46124125e-01 9.42644543e-03 2.58367295e+02] [-2.46111405e-01 9.69238311e-01 -2.50451170e-03 -5.53282619e+01] [-9.75289280e-03 1.07398166e-04 9.99952434e-01 -4.89979231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.54862385300004 meters Centerline goodness [0,1] 0.9999358124010441 Centerline is valid? [True, True] Translation: X:258.40, Y:-55.34, Z:-4.90 [[ 9.68869782e-01 2.47388222e-01 9.50864491e-03 2.58398197e+02] [-2.47375323e-01 9.68916435e-01 -2.52804086e-03 -5.53364371e+01] [-9.83848986e-03 9.71382840e-05 9.99951596e-01 -4.90028992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.578623853 meters Centerline goodness [0,1] 0.9999353211305866 Centerline is valid? [True, True] Translation: X:258.43, Y:-55.34, Z:-4.90 [[ 9.68555329e-01 2.48617307e-01 9.48735330e-03 2.58429559e+02] [-2.48604510e-01 9.68601790e-01 -2.52393159e-03 -5.53442696e+01] [-9.81696047e-03 8.59685663e-05 9.99951809e-01 -4.90004740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.60862385300004 meters Centerline goodness [0,1] 0.9999787179705457 Centerline is valid? [True, True] Translation: X:258.46, Y:-55.35, Z:-4.90 [[ 9.68121370e-01 2.50305446e-01 9.39128744e-03 2.58458939e+02] [-2.50292964e-01 9.68166917e-01 -2.50066100e-03 -5.53537317e+01] [-9.71826287e-03 7.03701839e-05 9.99952774e-01 -4.90073631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.638623853 meters Centerline goodness [0,1] 0.9999354477772519 Centerline is valid? [True, True] Translation: X:258.49, Y:-55.36, Z:-4.90 [[ 9.67955189e-01 2.50947909e-01 9.37541043e-03 2.58490541e+02] [-2.50935499e-01 9.68000590e-01 -2.49649853e-03 -5.53633649e+01] [-9.70189392e-03 6.38754195e-05 9.99952933e-01 -4.90190278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.66862385300004 meters Centerline goodness [0,1] 0.9999787784898774 Centerline is valid? [True, True] Translation: X:258.52, Y:-55.38, Z:-4.90 [[ 9.67940539e-01 2.51007504e-01 9.29222475e-03 2.58520362e+02] [-2.50995298e-01 9.67985139e-01 -2.47627818e-03 -5.53750586e+01] [-9.61629986e-03 6.45853188e-05 9.99953760e-01 -4.90345214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.698623853 meters Centerline goodness [0,1] 0.9999784231648902 Centerline is valid? [True, True] Translation: X:258.55, Y:-55.39, Z:-4.90 [[ 9.67918057e-01 2.51088322e-01 9.44929851e-03 2.58551607e+02] [-2.51075686e-01 9.67964178e-01 -2.51987422e-03 -5.53857055e+01] [-9.77929345e-03 6.65426456e-05 9.99952179e-01 -4.90383019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.72862385300004 meters Centerline goodness [0,1] 0.999978403593642 Centerline is valid? [True, True] Translation: X:258.58, Y:-55.40, Z:-4.90 [[ 9.67918852e-01 2.51079807e-01 9.59307276e-03 2.58583381e+02] [-2.51066764e-01 9.67966387e-01 -2.56014389e-03 -5.53963667e+01] [-9.92857241e-03 6.95097971e-05 9.99950708e-01 -4.90391511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.758623853 meters Centerline goodness [0,1] 0.9999784793509372 Centerline is valid? [True, True] Translation: X:258.61, Y:-55.41, Z:-4.90 [[ 9.67856419e-01 2.51323624e-01 9.50733060e-03 2.58613735e+02] [-2.51310805e-01 9.67903111e-01 -2.53919890e-03 -5.54079295e+01] [-9.84033553e-03 6.82850433e-05 9.99951580e-01 -4.90470016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.78862385300005 meters Centerline goodness [0,1] 0.9999783708958775 Centerline is valid? [True, True] Translation: X:258.64, Y:-55.42, Z:-4.91 [[ 9.67706747e-01 2.51899556e-01 9.50077969e-03 2.58644800e+02] [-2.51886767e-01 9.67753383e-01 -2.53910499e-03 -5.54176261e+01] [-9.83401110e-03 6.39883533e-05 9.99951643e-01 -4.90511735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.818623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:258.68, Y:-55.43, Z:-4.91 [[ 9.67493603e-01 2.52720995e-01 9.39294775e-03 2.58676306e+02] [-2.52708516e-01 9.67539196e-01 -2.51207637e-03 -5.54281740e+01] [-9.72289955e-03 5.67399315e-05 9.99952730e-01 -4.90575878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.848623853 meters Centerline goodness [0,1] 0.9999784143156258 Centerline is valid? [True, True] Translation: X:258.71, Y:-55.44, Z:-4.91 [[ 9.67307006e-01 2.53426828e-01 9.59161882e-03 2.58707522e+02] [-2.53413830e-01 9.67354558e-01 -2.56715146e-03 -5.54374052e+01] [-9.92908123e-03 5.25747315e-05 9.99950704e-01 -4.90648945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.878623853 meters Centerline goodness [0,1] 0.9999567352413092 Centerline is valid? [True, True] Translation: X:258.74, Y:-55.45, Z:-4.91 [[ 9.67161650e-01 2.53975976e-01 9.72347913e-03 2.58738840e+02] [-2.53962627e-01 9.67210526e-01 -2.60436147e-03 -5.54470323e+01] [-1.00660966e-02 4.94382268e-05 9.99949334e-01 -4.90700368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.908623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:258.77, Y:-55.46, Z:-4.91 [[ 9.66886780e-01 2.55015618e-01 9.84832346e-03 2.58768161e+02] [-2.55001956e-01 9.66936933e-01 -2.64003911e-03 -5.54575308e+01] [-1.01959589e-02 4.12771678e-05 9.99948019e-01 -4.90774039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.938623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:258.80, Y:-55.47, Z:-4.91 [[ 9.66768034e-01 2.55462274e-01 9.92948178e-03 2.58799704e+02] [-2.55448396e-01 9.66819024e-01 -2.66304223e-03 -5.54672071e+01] [-1.02803187e-02 3.80739099e-05 9.99947155e-01 -4.90772416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.968623853 meters Centerline goodness [0,1] 0.9999783722992409 Centerline is valid? [True, True] Translation: X:258.83, Y:-55.48, Z:-4.91 [[ 9.66664145e-01 2.55864797e-01 9.67660374e-03 2.58829935e+02] [-2.55851618e-01 9.66712576e-01 -2.59713629e-03 -5.54782764e+01] [-1.00190103e-02 3.47838013e-05 9.99949808e-01 -4.90994880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.998623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:258.86, Y:-55.49, Z:-4.91 [[ 9.66592116e-01 2.56127628e-01 9.91565056e-03 2.58861724e+02] [-2.56113784e-01 9.66642973e-01 -2.66314361e-03 -5.54875404e+01] [-1.02669986e-02 3.46388316e-05 9.99947292e-01 -4.91084490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.028623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:258.89, Y:-55.50, Z:-4.91 [[ 9.66517065e-01 2.56414787e-01 9.80917584e-03 2.58892863e+02] [-2.56401236e-01 9.66566840e-01 -2.63634609e-03 -5.54971463e+01] [-1.01572222e-02 3.29886784e-05 9.99948414e-01 -4.91198645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.05862385300003 meters Centerline goodness [0,1] 0.9999783970620004 Centerline is valid? [True, True] Translation: X:258.92, Y:-55.51, Z:-4.91 [[ 9.66368141e-01 2.56985851e-01 9.53351976e-03 2.58924039e+02] [-2.56973064e-01 9.66415165e-01 -2.56371652e-03 -5.55075879e+01] [-9.87217695e-03 2.76361858e-05 9.99951268e-01 -4.91009922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.088623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:258.96, Y:-55.52, Z:-4.91 [[ 9.66235347e-01 2.57482531e-01 9.59172059e-03 2.58955593e+02] [-2.57469591e-01 9.66282953e-01 -2.58142996e-03 -5.55174080e+01] [-9.93298922e-03 2.46924986e-05 9.99950666e-01 -4.91032220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.11862385300003 meters Centerline goodness [0,1] 0.999935283458452 Centerline is valid? [True, True] Translation: X:258.99, Y:-55.53, Z:-4.91 [[ 9.65785791e-01 2.59164237e-01 9.57626802e-03 2.58986736e+02] [-2.59151401e-01 9.65833266e-01 -2.57942730e-03 -5.55257729e+01] [-9.91757353e-03 9.47096537e-06 9.99950820e-01 -4.91131275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.148623853 meters Centerline goodness [0,1] 0.9999360818152765 Centerline is valid? [True, True] Translation: X:259.02, Y:-55.53, Z:-4.91 [[ 9.65483526e-01 2.60274188e-01 9.94521559e-03 2.59017556e+02] [-2.60260379e-01 9.65534747e-01 -2.68100976e-03 -5.55334269e+01] [-1.03002489e-02 1.25178874e-07 9.99946951e-01 -4.91187989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.17862385300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:259.05, Y:-55.54, Z:-4.91 [[ 9.64921358e-01 2.62322879e-01 1.06526619e-02 2.59049886e+02] [-2.62307138e-01 9.64980159e-01 -2.87386120e-03 -5.55407131e+01] [-1.10334869e-02 -2.12192091e-05 9.99939129e-01 -4.91096242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.208623853 meters Centerline goodness [0,1] 0.9999357794237274 Centerline is valid? [True, True] Translation: X:259.08, Y:-55.55, Z:-4.91 [[ 9.64634958e-01 2.63368520e-01 1.07897991e-02 2.59080478e+02] [-2.63352409e-01 9.64695300e-01 -2.91318382e-03 -5.55482782e+01] [-1.11761094e-02 -3.13606361e-05 9.99937545e-01 -4.91209241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.23862385300004 meters Centerline goodness [0,1] 0.9998922181504635 Centerline is valid? [True, True] Translation: X:259.11, Y:-55.56, Z:-4.91 [[ 9.64152086e-01 2.65140568e-01 1.05467986e-02 2.59112370e+02] [-2.65125261e-01 9.64209768e-01 -2.84935090e-03 -5.55563910e+01] [-1.09248048e-02 -4.90151286e-05 9.99940321e-01 -4.91215974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.268623853 meters Centerline goodness [0,1] 0.9999785343236165 Centerline is valid? [True, True] Translation: X:259.14, Y:-55.56, Z:-4.92 [[ 9.63981845e-01 2.65766162e-01 1.03609456e-02 2.59144050e+02] [-2.65751403e-01 9.64037522e-01 -2.80130389e-03 -5.55633075e+01] [-1.07328321e-02 -5.30297286e-05 9.99942400e-01 -4.91626679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.29862385300004 meters Centerline goodness [0,1] 0.9999569735171998 Centerline is valid? [True, True] Translation: X:259.18, Y:-55.57, Z:-4.92 [[ 9.63829457e-01 2.66338424e-01 9.82960956e-03 2.59175193e+02] [-2.66325153e-01 9.63879578e-01 -2.65926436e-03 -5.55733347e+01] [-1.01828242e-02 -5.47949465e-05 9.99948152e-01 -4.91505159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.328623853 meters Centerline goodness [0,1] 0.9996554916779709 Centerline is valid? [True, True] Translation: X:259.21, Y:-55.58, Z:-4.91 [[ 9.63646986e-01 2.67046651e-01 8.40076389e-03 2.59206453e+02] [-2.67036973e-01 9.63683601e-01 -2.27407647e-03 -5.55808576e+01] [-8.70296290e-03 -5.19076244e-05 9.99962127e-01 -4.90886488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.35862385300004 meters Centerline goodness [0,1] 0.9999570649607145 Centerline is valid? [True, True] Translation: X:259.24, Y:-55.59, Z:-4.92 [[ 9.63791284e-01 2.66507293e-01 8.95674964e-03 2.59236326e+02] [-2.66496250e-01 9.63832901e-01 -2.42652605e-03 -5.55906432e+01] [-9.27949688e-03 -4.82755382e-05 9.99956943e-01 -4.91830335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.388623853 meters Centerline goodness [0,1] 0.9999572740867336 Centerline is valid? [True, True] Translation: X:259.27, Y:-55.60, Z:-4.92 [[ 9.63850515e-01 2.66288903e-01 9.07773887e-03 2.59267003e+02] [-2.66277538e-01 9.63893261e-01 -2.46063995e-03 -5.55995129e+01] [-9.40521243e-03 -4.55088737e-05 9.99955769e-01 -4.91781597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.41862385300004 meters Centerline goodness [0,1] 0.9999786425184742 Centerline is valid? [True, True] Translation: X:259.30, Y:-55.61, Z:-4.92 [[ 9.63795972e-01 2.66471693e-01 9.49537466e-03 2.59298042e+02] [-2.66459242e-01 9.63842744e-01 -2.57635576e-03 -5.56075658e+01] [-9.83857385e-03 -4.70490307e-05 9.99951599e-01 -4.91755909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.448623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:259.33, Y:-55.62, Z:-4.92 [[ 9.63734081e-01 2.66672125e-01 1.01291575e-02 2.59329474e+02] [-2.66657959e-01 9.63787308e-01 -2.74914159e-03 -5.56160052e+01] [-1.04954729e-02 -5.15790271e-05 9.99944920e-01 -4.91653293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.47862385300004 meters Centerline goodness [0,1] 0.9995268104876003 Centerline is valid? [True, True] Translation: X:259.36, Y:-55.62, Z:-4.91 [[ 9.63535506e-01 2.67362395e-01 1.08017863e-02 2.59360793e+02] [-2.67346300e-01 9.63596049e-01 -2.93419798e-03 -5.56226166e+01] [-1.11930528e-02 -6.06136730e-05 9.99937354e-01 -4.90753304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.508623853 meters Centerline goodness [0,1] 0.9999785568778814 Centerline is valid? [True, True] Translation: X:259.39, Y:-55.63, Z:-4.92 [[ 9.63622981e-01 2.67019376e-01 1.14631109e-02 2.59390028e+02] [-2.67001196e-01 9.63691159e-01 -3.11637483e-03 -5.56317937e+01] [-1.18790311e-02 -5.76539102e-05 9.99929440e-01 -4.91596549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.53862385300005 meters Centerline goodness [0,1] 0.99991412439082 Centerline is valid? [True, True] Translation: X:259.42, Y:-55.64, Z:-4.92 [[ 9.63808766e-01 2.66334667e-01 1.17689204e-02 2.59420859e+02] [-2.66315430e-01 9.63880617e-01 -3.20140609e-03 -5.56407712e+01] [-1.21964797e-02 -4.87018415e-05 9.99925619e-01 -4.91627975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.568623853 meters Centerline goodness [0,1] 0.9999785876407863 Centerline is valid? [True, True] Translation: X:259.45, Y:-55.65, Z:-4.92 [[ 9.63918161e-01 2.65935311e-01 1.18401851e-02 2.59452472e+02] [-2.65915787e-01 9.63990876e-01 -3.22266457e-03 -5.56500874e+01] [-1.22708507e-02 -4.21072374e-05 9.99924709e-01 -4.91668184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.598623853 meters Centerline goodness [0,1] 0.9999786256278722 Centerline is valid? [True, True] Translation: X:259.48, Y:-55.66, Z:-4.92 [[ 9.64092075e-01 2.65303243e-01 1.18600032e-02 2.59484113e+02] [-2.65283577e-01 9.64165021e-01 -3.23041011e-03 -5.56598165e+01] [-1.22920385e-02 -3.18512708e-05 9.99924450e-01 -4.91735769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.628623853 meters Centerline goodness [0,1] 0.9999783451352346 Centerline is valid? [True, True] Translation: X:259.51, Y:-55.67, Z:-4.92 [[ 9.64354932e-01 2.64351340e-01 1.17445142e-02 2.59514948e+02] [-2.64331957e-01 9.64426446e-01 -3.20122534e-03 -5.56703187e+01] [-1.21729683e-02 -1.73329809e-05 9.99925907e-01 -4.91844818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.658623853 meters Centerline goodness [0,1] 0.9999357257632565 Centerline is valid? [True, True] Translation: X:259.54, Y:-55.68, Z:-4.92 [[ 9.65053542e-01 2.61831007e-01 1.07788659e-02 2.59544014e+02] [-2.61814500e-01 9.65113736e-01 -2.94010542e-03 -5.56836749e+01] [-1.11726423e-02 1.52957746e-05 9.99937584e-01 -4.92162672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.688623853 meters Centerline goodness [0,1] 0.9998064724223202 Centerline is valid? [True, True] Translation: X:259.57, Y:-55.69, Z:-4.92 [[ 9.65321612e-01 2.60869607e-01 1.00615344e-02 2.59574633e+02] [-2.60855157e-01 9.65374045e-01 -2.74575453e-03 -5.56939522e+01] [-1.04294280e-02 2.59330631e-05 9.99945612e-01 -4.91641754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.718623853 meters Centerline goodness [0,1] 0.9998291620398052 Centerline is valid? [True, True] Translation: X:259.60, Y:-55.71, Z:-4.92 [[ 9.66059405e-01 2.58138305e-01 9.68714437e-03 2.59602764e+02] [-2.58124752e-01 9.66107971e-01 -2.64575429e-03 -5.57085251e+01] [-1.00417979e-02 5.54640787e-05 9.99949578e-01 -4.91663412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.748623853 meters Centerline goodness [0,1] 0.9999786050492084 Centerline is valid? [True, True] Translation: X:259.63, Y:-55.72, Z:-4.92 [[ 9.66460631e-01 2.56612476e-01 1.01924255e-02 2.59633340e+02] [-2.56597385e-01 9.66514372e-01 -2.78398419e-03 -5.57215396e+01] [-1.05655308e-02 7.52613876e-05 9.99944180e-01 -4.92394309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.778623853 meters Centerline goodness [0,1] 0.999956369030738 Centerline is valid? [True, True] Translation: X:259.66, Y:-55.73, Z:-4.92 [[ 9.67011986e-01 2.54500708e-01 1.08263416e-02 2.59662313e+02] [-2.54483520e-01 9.67072582e-01 -2.95969867e-03 -5.57348318e+01] [-1.12231035e-02 1.06938579e-04 9.99937013e-01 -4.92353974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.80862385300003 meters Centerline goodness [0,1] 0.9998710426204139 Centerline is valid? [True, True] Translation: X:259.69, Y:-55.75, Z:-4.92 [[ 9.67146176e-01 2.53986097e-01 1.09241331e-02 2.59693508e+02] [-2.53968548e-01 9.67207862e-01 -2.98790284e-03 -5.57450876e+01] [-1.13247932e-02 1.15352580e-04 9.99935866e-01 -4.92348676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.838623853 meters Centerline goodness [0,1] 0.9999139803445087 Centerline is valid? [True, True] Translation: X:259.72, Y:-55.76, Z:-4.92 [[ 9.67356373e-01 2.53168207e-01 1.12918607e-02 2.59723198e+02] [-2.53149371e-01 9.67422266e-01 -3.09100113e-03 -5.57557796e+01] [-1.17065407e-02 1.31572210e-04 9.99931467e-01 -4.92364731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.86862385300003 meters Centerline goodness [0,1] 0.9998506316148856 Centerline is valid? [True, True] Translation: X:259.75, Y:-55.77, Z:-4.92 [[ 9.67517768e-01 2.52532096e-01 1.17008633e-02 2.59754632e+02] [-2.52511804e-01 9.67588507e-01 -3.20462798e-03 -5.57668761e+01] [-1.21308923e-02 1.45928406e-04 9.99926407e-01 -4.92371157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.898623853 meters Centerline goodness [0,1] 0.9998281491665234 Centerline is valid? [True, True] Translation: X:259.78, Y:-55.78, Z:-4.92 [[ 9.67855550e-01 2.51235316e-01 1.16812268e-02 2.59783490e+02] [-2.51214968e-01 9.67926024e-01 -3.20169745e-03 -5.57805595e+01] [-1.21109429e-02 1.64281629e-04 9.99926646e-01 -4.92435865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.92862385300003 meters Centerline goodness [0,1] 0.9998925678434069 Centerline is valid? [True, True] Translation: X:259.81, Y:-55.79, Z:-4.93 [[ 9.67929197e-01 2.50963030e-01 1.14292217e-02 2.59813876e+02] [-2.50943512e-01 9.67996658e-01 -3.13425265e-03 -5.57914129e+01] [-1.18500299e-02 1.65645629e-04 9.99929772e-01 -4.92541174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.958623853 meters Centerline goodness [0,1] 0.9998708427510494 Centerline is valid? [True, True] Translation: X:259.84, Y:-55.80, Z:-4.93 [[ 9.67880049e-01 2.51164885e-01 1.11539988e-02 2.59844560e+02] [-2.51146291e-01 9.67944303e-01 -3.06036728e-03 -5.58028124e+01] [-1.15651064e-02 1.60783001e-04 9.99933109e-01 -4.92610477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.98862385300004 meters Centerline goodness [0,1] 0.9998712833054447 Centerline is valid? [True, True] Translation: X:259.87, Y:-55.81, Z:-4.93 [[ 9.67751837e-01 2.51659739e-01 1.11246403e-02 2.59874476e+02] [-2.51641244e-01 9.67815763e-01 -3.05503206e-03 -5.58120603e+01] [-1.15354308e-02 1.57094558e-04 9.99933452e-01 -4.92676176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.018623853 meters Centerline goodness [0,1] 0.9999137708027939 Centerline is valid? [True, True] Translation: X:259.91, Y:-55.82, Z:-4.93 [[ 9.67581229e-01 2.52320398e-01 1.09991784e-02 2.59907702e+02] [-2.52302358e-01 9.67643734e-01 -3.02073373e-03 -5.58167867e+01] [-1.14054788e-02 1.47686601e-04 9.99934945e-01 -4.92536500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.04862385300004 meters Centerline goodness [0,1] 0.9999141557215212 Centerline is valid? [True, True] Translation: X:259.94, Y:-55.83, Z:-4.93 [[ 9.67207631e-01 2.53762427e-01 1.06784568e-02 2.59938879e+02] [-2.53745487e-01 9.67266568e-01 -2.93496671e-03 -5.58260175e+01] [-1.10736985e-02 1.29111986e-04 9.99938676e-01 -4.92647684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.078623853 meters Centerline goodness [0,1] 0.9998706534158277 Centerline is valid? [True, True] Translation: X:259.97, Y:-55.84, Z:-4.93 [[ 9.67016955e-01 2.54495623e-01 1.04969816e-02 2.59970530e+02] [-2.54479279e-01 9.67073918e-01 -2.88674190e-03 -5.58353863e+01] [-1.08860204e-02 1.20264044e-04 9.99940738e-01 -4.92715503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.10862385300004 meters Centerline goodness [0,1] 0.9999353782526279 Centerline is valid? [True, True] Translation: X:260.00, Y:-55.84, Z:-4.93 [[ 9.66815515e-01 2.55253673e-01 1.06453056e-02 2.60001882e+02] [-2.55236883e-01 9.66874112e-01 -2.92996988e-03 -5.58441240e+01] [-1.10405560e-02 1.15665725e-04 9.99939045e-01 -4.92805571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.138623853 meters Centerline goodness [0,1] 0.9998294243070363 Centerline is valid? [True, True] Translation: X:260.03, Y:-55.85, Z:-4.93 [[ 9.66545906e-01 2.56307973e-01 9.75885695e-03 2.60033552e+02] [-2.56293903e-01 9.66595165e-01 -2.68726642e-03 -5.58542383e+01] [-1.01216318e-02 9.62308244e-05 9.99948770e-01 -4.93071834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.16862385300004 meters Centerline goodness [0,1] 0.9997869121438769 Centerline is valid? [True, True] Translation: X:260.06, Y:-55.86, Z:-4.93 [[ 9.66407240e-01 2.56824206e-01 9.91835372e-03 2.60062705e+02] [-2.56809669e-01 9.66458131e-01 -2.73416660e-03 -5.58640580e+01] [-1.02878738e-02 9.51892655e-05 9.99947074e-01 -4.93168443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.198623853 meters Centerline goodness [0,1] 0.9997859909688189 Centerline is valid? [True, True] Translation: X:260.09, Y:-55.87, Z:-4.93 [[ 9.66279310e-01 2.57258288e-01 1.10665756e-02 2.60093165e+02] [-2.57240210e-01 9.66342674e-01 -3.05148511e-03 -5.58747256e+01] [-1.14791241e-02 1.01818686e-04 9.99934108e-01 -4.92876820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.22862385300004 meters Centerline goodness [0,1] 0.9997840406003672 Centerline is valid? [True, True] Translation: X:260.12, Y:-55.89, Z:-4.93 [[ 9.66267513e-01 2.57262204e-01 1.19687959e-02 2.60124752e+02] [-2.57241030e-01 9.66341630e-01 -3.30252000e-03 -5.58852286e+01] [-1.24155593e-02 1.12252406e-04 9.99922918e-01 -4.92807628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.258623853 meters Centerline goodness [0,1] 0.9996778973136636 Centerline is valid? [True, True] Translation: X:260.16, Y:-55.90, Z:-4.93 [[ 9.66205381e-01 2.57470329e-01 1.24976728e-02 2.60155063e+02] [-2.57447222e-01 9.66286198e-01 -3.45129417e-03 -5.58956773e+01] [-1.29649346e-02 1.17167848e-04 9.99915945e-01 -4.92787377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.28862385300005 meters Centerline goodness [0,1] 0.9997850479343107 Centerline is valid? [True, True] Translation: X:260.19, Y:-55.91, Z:-4.93 [[ 9.65902115e-01 2.58597346e-01 1.26695017e-02 2.60185645e+02] [-2.58573663e-01 9.65985197e-01 -3.50132692e-03 -5.59068581e+01] [-1.31439850e-02 1.05939607e-04 9.99913608e-01 -4.92827103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.318623853 meters Centerline goodness [0,1] 0.9997850479343107 Centerline is valid? [True, True] Translation: X:260.22, Y:-55.92, Z:-4.93 [[ 9.65853244e-01 2.58779844e-01 1.26689617e-02 2.60216891e+02] [-2.58756151e-01 9.65936324e-01 -3.50327969e-03 -5.59156933e+01] [-1.31439884e-02 1.05482298e-04 9.99913608e-01 -4.92888102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.348623853 meters Centerline goodness [0,1] 0.9998302423290752 Centerline is valid? [True, True] Translation: X:260.25, Y:-55.93, Z:-4.93 [[ 9.65617275e-01 2.59690653e-01 1.20017700e-02 2.60248802e+02] [-2.59669432e-01 9.65691854e-01 -3.32103571e-03 -5.59253253e+01] [-1.24524535e-02 9.03566502e-05 9.99922461e-01 -4.93001158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.378623853 meters Centerline goodness [0,1] 0.9998496434401581 Centerline is valid? [True, True] Translation: X:260.28, Y:-55.93, Z:-4.93 [[ 9.64793339e-01 2.62770992e-01 1.11901422e-02 2.60279039e+02] [-2.62752720e-01 9.64858230e-01 -3.09917646e-03 -5.59317064e+01] [-1.16112745e-02 4.98244996e-05 9.99932586e-01 -4.93217629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.408623853 meters Centerline goodness [0,1] 0.9998697492673396 Centerline is valid? [True, True] Translation: X:260.31, Y:-55.94, Z:-4.93 [[ 9.64227607e-01 2.64855352e-01 1.08057949e-02 2.60311515e+02] [-2.64838441e-01 9.64288153e-01 -2.99302851e-03 -5.59386823e+01] [-1.12126196e-02 2.41708500e-05 9.99937136e-01 -4.93346471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.438623853 meters Centerline goodness [0,1] 0.9999352317623438 Centerline is valid? [True, True] Translation: X:260.34, Y:-55.95, Z:-4.93 [[ 9.63607798e-01 2.67116572e-01 1.04282494e-02 2.60344321e+02] [-2.67100934e-01 9.63664224e-01 -2.89039409e-03 -5.59452887e+01] [-1.08214030e-02 -1.88854085e-07 9.99941447e-01 -4.93435098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.468623853 meters Centerline goodness [0,1] 0.9999568630834268 Centerline is valid? [True, True] Translation: X:260.38, Y:-55.95, Z:-4.93 [[ 9.62507748e-01 2.71042494e-01 1.07145284e-02 2.60375976e+02] [-2.71026202e-01 9.62567382e-01 -2.97211158e-03 -5.59494657e+01] [-1.11190241e-02 -4.32375052e-05 9.99938181e-01 -4.93489313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.498623853 meters Centerline goodness [0,1] 0.9999569485104185 Centerline is valid? [True, True] Translation: X:260.41, Y:-55.96, Z:-4.94 [[ 9.61891124e-01 2.73223569e-01 1.06933592e-02 2.60407681e+02] [-2.73207452e-01 9.61950559e-01 -2.96836013e-03 -5.59563361e+01] [-1.10975089e-02 -6.62661671e-05 9.99938419e-01 -4.93509843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.528623853 meters Centerline goodness [0,1] 0.9998712446351932 Centerline is valid? [True, True] Translation: X:260.44, Y:-55.96, Z:-4.94 [[ 9.61343351e-01 2.75147802e-01 1.06136467e-02 2.60438033e+02] [-2.75132020e-01 9.61401935e-01 -2.94816423e-03 -5.59626132e+01] [-1.10151614e-02 -8.59559790e-05 9.99939328e-01 -4.93667476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.55862385300003 meters Centerline goodness [0,1] 0.9998937639434824 Centerline is valid? [True, True] Translation: X:260.47, Y:-55.97, Z:-4.94 [[ 9.60415366e-01 2.78343394e-01 1.12818790e-02 2.60469335e+02] [-2.78325759e-01 9.60481618e-01 -3.13581759e-03 -5.59668320e+01] [-1.17088715e-02 -1.28350126e-04 9.99931441e-01 -4.93599587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.588623853 meters Centerline goodness [0,1] 0.9998709094429743 Centerline is valid? [True, True] Translation: X:260.50, Y:-55.98, Z:-4.93 [[ 9.60038136e-01 2.79626050e-01 1.16640085e-02 2.60499825e+02] [-2.79607273e-01 9.60108979e-01 -3.24381509e-03 -5.59759465e+01] [-1.21057745e-02 -1.47155423e-04 9.99926712e-01 -4.93458680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.61862385300003 meters Centerline goodness [0,1] 0.9998927176758358 Centerline is valid? [True, True] Translation: X:260.53, Y:-55.98, Z:-4.94 [[ 9.59594948e-01 2.81120988e-01 1.21871188e-02 2.60531101e+02] [-2.81100574e-01 9.59672320e-01 -3.39211050e-03 -5.59804998e+01] [-1.26492340e-02 -1.70753985e-04 9.99919981e-01 -4.93566276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.648623853 meters Centerline goodness [0,1] 0.9998298487781015 Centerline is valid? [True, True] Translation: X:260.56, Y:-55.99, Z:-4.93 [[ 9.59418242e-01 2.81722237e-01 1.22154474e-02 2.60562128e+02] [-2.81701769e-01 9.59495987e-01 -3.40059240e-03 -5.59909147e+01] [-1.26786953e-02 -1.78522773e-04 9.99919606e-01 -4.93466758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.67862385300003 meters Centerline goodness [0,1] 0.9997861602942434 Centerline is valid? [True, True] Translation: X:260.59, Y:-56.00, Z:-4.94 [[ 9.59316570e-01 2.82068206e-01 1.22165856e-02 2.60593652e+02] [-2.82047732e-01 9.59394337e-01 -3.40332529e-03 -5.60001977e+01] [-1.26804929e-02 -1.80793913e-04 9.99919583e-01 -4.93539189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.708623853 meters Centerline goodness [0,1] 0.9997429636293536 Centerline is valid? [True, True] Translation: X:260.62, Y:-56.01, Z:-4.94 [[ 9.59268532e-01 2.82241153e-01 1.19922696e-02 2.60624356e+02] [-2.82221407e-01 9.59343474e-01 -3.34326842e-03 -5.60076193e+01] [-1.24483135e-02 -1.77382999e-04 9.99922501e-01 -4.93668574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.73862385300004 meters Centerline goodness [0,1] 0.999871783913155 Centerline is valid? [True, True] Translation: X:260.66, Y:-56.02, Z:-4.94 [[ 9.59176802e-01 2.82557139e-01 1.18880669e-02 2.60656409e+02] [-2.82537732e-01 9.59250453e-01 -3.31635830e-03 -5.60173248e+01] [-1.23406943e-02 -1.77853503e-04 9.99923835e-01 -4.93647628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.768623853 meters Centerline goodness [0,1] 0.9996571379591137 Centerline is valid? [True, True] Translation: X:260.69, Y:-56.03, Z:-4.94 [[ 9.59267388e-01 2.82218840e-01 1.25938154e-02 2.60687631e+02] [-2.82196994e-01 9.59350037e-01 -3.51610503e-03 -5.60268096e+01] [-1.30741883e-02 -1.81051951e-04 9.99914513e-01 -4.93543680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.79862385300004 meters Centerline goodness [0,1] 0.9997883329099991 Centerline is valid? [True, True] Translation: X:260.72, Y:-56.03, Z:-4.94 [[ 9.59310473e-01 2.82053378e-01 1.30118416e-02 2.60718167e+02] [-2.82030009e-01 9.59398696e-01 -3.63528739e-03 -5.60340999e+01] [-1.35088890e-02 -1.82360544e-04 9.99908734e-01 -4.93629676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.828623853 meters Centerline goodness [0,1] 0.999828329864166 Centerline is valid? [True, True] Translation: X:260.75, Y:-56.04, Z:-4.94 [[ 9.59366001e-01 2.81861768e-01 1.30698203e-02 2.60749331e+02] [-2.81838146e-01 9.59455008e-01 -3.65341955e-03 -5.60445222e+01] [-1.35696638e-02 -1.78607411e-04 9.99907912e-01 -4.93588459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.85862385300004 meters Centerline goodness [0,1] 0.9998077703496444 Centerline is valid? [True, True] Translation: X:260.78, Y:-56.05, Z:-4.94 [[ 9.59370880e-01 2.81862911e-01 1.26812819e-02 2.60780340e+02] [-2.81840639e-01 9.59454673e-01 -3.54737306e-03 -5.60508471e+01] [-1.31669880e-02 -1.70854172e-04 9.99913297e-01 -4.93785883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.888623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:260.81, Y:-56.06, Z:-4.94 [[ 9.59506330e-01 2.81431517e-01 1.19959588e-02 2.60812017e+02] [-2.81411529e-01 9.59581303e-01 -3.35770150e-03 -5.60611494e+01] [-1.24560608e-02 -1.54065273e-04 9.99922408e-01 -4.93951388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.91862385300004 meters Centerline goodness [0,1] 0.9999571063975808 Centerline is valid? [True, True] Translation: X:260.84, Y:-56.07, Z:-4.94 [[ 9.59591292e-01 2.81152117e-01 1.17489964e-02 2.60843206e+02] [-2.81132894e-01 9.59663205e-01 -3.29089679e-03 -5.60702306e+01] [-1.22003221e-02 -1.45113442e-04 9.99925563e-01 -4.94031922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.948623853 meters Centerline goodness [0,1] 0.9998275936382053 Centerline is valid? [True, True] Translation: X:260.87, Y:-56.08, Z:-4.94 [[ 9.60092223e-01 2.79448432e-01 1.14672015e-02 2.60873662e+02] [-2.79429969e-01 9.60160695e-01 -3.21437602e-03 -5.60815611e+01] [-1.19086085e-02 -1.18182341e-04 9.99929083e-01 -4.94148542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.97862385300004 meters Centerline goodness [0,1] 0.9998940992078621 Centerline is valid? [True, True] Translation: X:260.90, Y:-56.09, Z:-4.94 [[ 9.60305694e-01 2.78720515e-01 1.13069833e-02 2.60903618e+02] [-2.78702491e-01 9.60372252e-01 -3.17150616e-03 -5.60907405e+01] [-1.17428768e-02 -1.05668972e-04 9.99931044e-01 -4.94323723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.008623853 meters Centerline goodness [0,1] 0.9999569216188856 Centerline is valid? [True, True] Translation: X:260.93, Y:-56.10, Z:-4.94 [[ 9.60734211e-01 2.77215922e-01 1.18788764e-02 2.60934196e+02] [-2.77195888e-01 9.60807642e-01 -3.33393078e-03 -5.61017799e+01] [-1.23375339e-02 -8.97543295e-05 9.99923886e-01 -4.94274154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.03862385300005 meters Centerline goodness [0,1] 0.999978769479003 Centerline is valid? [True, True] Translation: X:260.97, Y:-56.11, Z:-4.94 [[ 9.60808837e-01 2.76952520e-01 1.19866486e-02 2.60965826e+02] [-2.76932076e-01 9.60883601e-01 -3.36614580e-03 -5.61109124e+01] [-1.24500367e-02 -8.52648685e-05 9.99922492e-01 -4.94305113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.068623853 meters Centerline goodness [0,1] 0.9999786201441002 Centerline is valid? [True, True] Translation: X:261.00, Y:-56.12, Z:-4.94 [[ 9.60956947e-01 2.76435989e-01 1.20370172e-02 2.60996438e+02] [-2.76415301e-01 9.61032329e-01 -3.38278581e-03 -5.61204219e+01] [-1.25030865e-02 -7.65042131e-05 9.99921830e-01 -4.94382806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.098623853 meters Centerline goodness [0,1] 0.9999785389303802 Centerline is valid? [True, True] Translation: X:261.03, Y:-56.13, Z:-4.94 [[ 9.61241727e-01 2.75451101e-01 1.18757632e-02 2.61027841e+02] [-2.75430863e-01 9.61315082e-01 -3.33956123e-03 -5.61319879e+01] [-1.23362361e-02 -6.08261086e-05 9.99923904e-01 -4.94486431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.128623853 meters Centerline goodness [0,1] 0.999934850590688 Centerline is valid? [True, True] Translation: X:261.06, Y:-56.14, Z:-4.95 [[ 9.61359279e-01 2.75043102e-01 1.18164865e-02 2.61057851e+02] [-2.75023005e-01 9.61431895e-01 -3.32529229e-03 -5.61416902e+01] [-1.22753457e-02 -5.30050130e-05 9.99924654e-01 -4.94571649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.158623853 meters Centerline goodness [0,1] 0.9999569633327595 Centerline is valid? [True, True] Translation: X:261.09, Y:-56.15, Z:-4.95 [[ 9.61359826e-01 2.75058308e-01 1.14110834e-02 2.61089199e+02] [-2.75039545e-01 9.61427545e-01 -3.21312727e-03 -5.61512888e+01] [-1.18547273e-02 -4.95277099e-05 9.99929729e-01 -4.94667539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.188623853 meters Centerline goodness [0,1] 0.9999784431654056 Centerline is valid? [True, True] Translation: X:261.12, Y:-56.16, Z:-4.95 [[ 9.61329622e-01 2.75182938e-01 1.09411057e-02 2.61120281e+02] [-2.75165668e-01 9.61391881e-01 -3.08330053e-03 -5.61598953e+01] [-1.13671619e-02 -4.65485189e-05 9.99935391e-01 -4.94834994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.218623853 meters Centerline goodness [0,1] 0.9999785338628314 Centerline is valid? [True, True] Translation: X:261.15, Y:-56.17, Z:-4.95 [[ 9.61182732e-01 2.75707169e-01 1.06448434e-02 2.61151644e+02] [-2.75690844e-01 9.61241673e-01 -3.00060724e-03 -5.61676780e+01] [-1.10595560e-02 -5.05539890e-05 9.99938840e-01 -4.94977080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.248623853 meters Centerline goodness [0,1] 0.9999568286312518 Centerline is valid? [True, True] Translation: X:261.18, Y:-56.18, Z:-4.95 [[ 9.60989731e-01 2.76376849e-01 1.07039179e-02 2.61183940e+02] [-2.76360364e-01 9.61049340e-01 -3.01912809e-03 -5.61760918e+01] [-1.11214103e-02 -5.67875596e-05 9.99938154e-01 -4.95029190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.278623853 meters Centerline goodness [0,1] 0.9998272100909307 Centerline is valid? [True, True] Translation: X:261.22, Y:-56.18, Z:-4.94 [[ 9.60545131e-01 2.77957777e-01 9.61902441e-03 2.61215388e+02] [-2.77944527e-01 9.60593291e-01 -2.71481232e-03 -5.61833497e+01] [-9.99457351e-03 -6.58554302e-05 9.99950051e-01 -4.94238681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.30862385300003 meters Centerline goodness [0,1] 0.999957003117274 Centerline is valid? [True, True] Translation: X:261.25, Y:-56.19, Z:-4.95 [[ 9.60275262e-01 2.78848517e-01 1.07203185e-02 2.61246647e+02] [-2.78832091e-01 9.60335097e-01 -3.02775149e-03 -5.61905608e+01] [-1.11393821e-02 -8.16939779e-05 9.99937952e-01 -4.95070902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.338623853 meters Centerline goodness [0,1] 0.9999784301460279 Centerline is valid? [True, True] Translation: X:261.28, Y:-56.20, Z:-4.95 [[ 9.59698124e-01 2.80801016e-01 1.14148759e-02 2.61277146e+02] [-2.80782501e-01 9.59766001e-01 -3.22640945e-03 -5.61960087e+01] [-1.18615889e-02 -1.08718298e-04 9.99929643e-01 -4.95019346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.36862385300003 meters Centerline goodness [0,1] 0.9999355282386315 Centerline is valid? [True, True] Translation: X:261.31, Y:-56.21, Z:-4.95 [[ 9.59364917e-01 2.81928617e-01 1.16280144e-02 2.61307664e+02] [-2.81909467e-01 9.59435375e-01 -3.28833147e-03 -5.62052079e+01] [-1.20834031e-02 -1.23337478e-04 9.99926985e-01 -4.94820873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.398623853 meters Centerline goodness [0,1] 0.9997422458974139 Centerline is valid? [True, True] Translation: X:261.34, Y:-56.21, Z:-4.94 [[ 9.59019068e-01 2.83128523e-01 1.09848806e-02 2.61338997e+02] [-2.83111483e-01 9.59081969e-01 -3.10882271e-03 -5.62109941e+01] [-1.14155973e-02 -1.28525591e-04 9.99934832e-01 -4.94025730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.42862385300003 meters Centerline goodness [0,1] 0.9999359644816325 Centerline is valid? [True, True] Translation: X:261.37, Y:-56.21, Z:-4.95 [[ 9.58587898e-01 2.84489937e-01 1.32180700e-02 2.61370516e+02] [-2.84465379e-01 9.58679011e-01 -3.74202944e-03 -5.62147857e+01] [-1.37364560e-02 -1.73019163e-04 9.99905635e-01 -4.94832067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.458623853 meters Centerline goodness [0,1] 0.9998934401773155 Centerline is valid? [True, True] Translation: X:261.40, Y:-56.22, Z:-4.95 [[ 9.58488017e-01 2.84809570e-01 1.35731211e-02 2.61400871e+02] [-2.84783664e-01 9.58584100e-01 -3.84550094e-03 -5.62232720e+01] [-1.41062136e-02 -1.79536598e-04 9.99900486e-01 -4.94825849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.48862385300004 meters Centerline goodness [0,1] 0.9996332333714483 Centerline is valid? [True, True] Translation: X:261.43, Y:-56.23, Z:-4.94 [[ 9.58358594e-01 2.85262177e-01 1.32021316e-02 2.61432339e+02] [-2.85237696e-01 9.58449507e-01 -3.74145108e-03 -5.62343862e+01] [-1.37208710e-02 -1.80093799e-04 9.99905848e-01 -4.94007151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.518623853 meters Centerline goodness [0,1] 0.9998927935847681 Centerline is valid? [True, True] Translation: X:261.46, Y:-56.24, Z:-4.95 [[ 9.58250934e-01 2.85599618e-01 1.37115332e-02 2.61463743e+02] [-2.85573201e-01 9.58349009e-01 -3.88900810e-03 -5.62416264e+01] [-1.42511335e-02 -1.89000801e-04 9.99898430e-01 -4.94803318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.54862385300004 meters Centerline goodness [0,1] 0.999720910261915 Centerline is valid? [True, True] Translation: X:261.50, Y:-56.25, Z:-4.94 [[ 9.58008225e-01 2.86445947e-01 1.29985064e-02 2.61495238e+02] [-2.86422267e-01 9.58096385e-01 -3.68800934e-03 -5.62503661e+01] [-1.35102373e-02 -1.89918391e-04 9.99908715e-01 -4.94291424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.578623853 meters Centerline goodness [0,1] 0.9998504848562518 Centerline is valid? [True, True] Translation: X:261.53, Y:-56.26, Z:-4.95 [[ 9.57715565e-01 2.87396568e-01 1.35687045e-02 2.61525607e+02] [-2.87370824e-01 9.57811656e-01 -3.85234974e-03 -5.62561416e+01] [-1.41034154e-02 -2.09794488e-04 9.99900520e-01 -4.94980884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.60862385300004 meters Centerline goodness [0,1] 0.9998278311023113 Centerline is valid? [True, True] Translation: X:261.56, Y:-56.26, Z:-4.95 [[ 9.57061630e-01 2.89616650e-01 1.24592317e-02 2.61557471e+02] [-2.89595110e-01 9.57142700e-01 -3.53905882e-03 -5.62611039e+01] [-1.29502330e-02 -2.21035154e-04 9.99916118e-01 -4.95219174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.638623853 meters Centerline goodness [0,1] 0.9997854859815088 Centerline is valid? [True, True] Translation: X:261.59, Y:-56.27, Z:-4.95 [[ 9.56444533e-01 2.91653379e-01 1.23353585e-02 2.61589885e+02] [-2.91632409e-01 9.56524044e-01 -3.50592578e-03 -5.62654133e+01] [-1.28215821e-02 -2.44166755e-04 9.99917770e-01 -4.95223009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.66862385300004 meters Centerline goodness [0,1] 0.999806426635695 Centerline is valid? [True, True] Translation: X:261.62, Y:-56.27, Z:-4.95 [[ 9.56202425e-01 2.92432118e-01 1.26640553e-02 2.61621104e+02] [-2.92410053e-01 9.56286249e-01 -3.60161587e-03 -5.62735077e+01] [-1.31636901e-02 -2.59223264e-04 9.99913321e-01 -4.95167615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.698623853 meters Centerline goodness [0,1] 0.9998490533488593 Centerline is valid? [True, True] Translation: X:261.65, Y:-56.28, Z:-4.95 [[ 9.56116546e-01 2.92699725e-01 1.29623116e-02 2.61652281e+02] [-2.92676597e-01 9.56204371e-01 -3.68909825e-03 -5.62801104e+01] [-1.34744170e-02 -2.66557365e-04 9.99909180e-01 -4.95241499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.72862385300004 meters Centerline goodness [0,1] 0.9998287451299396 Centerline is valid? [True, True] Translation: X:261.68, Y:-56.29, Z:-4.95 [[ 9.56106826e-01 2.92743910e-01 1.26783171e-02 2.61683828e+02] [-2.92721774e-01 9.56190847e-01 -3.60942929e-03 -5.62882852e+01] [-1.31795292e-02 -2.60219475e-04 9.99913112e-01 -4.95300059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.758623853 meters Centerline goodness [0,1] 0.999745455316802 Centerline is valid? [True, True] Translation: X:261.71, Y:-56.29, Z:-4.95 [[ 9.56496683e-01 2.91438480e-01 1.33307341e-02 2.61714336e+02] [-2.91413837e-01 9.56589541e-01 -3.79824936e-03 -5.62935405e+01] [-1.38589968e-02 -2.51747455e-04 9.99903928e-01 -4.95376966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.78862385300005 meters Centerline goodness [0,1] 0.999676675360507 Centerline is valid? [True, True] Translation: X:261.74, Y:-56.31, Z:-4.95 [[ 9.56781872e-01 2.90477575e-01 1.38285561e-02 2.61743441e+02] [-2.90450923e-01 9.56881768e-01 -3.94240540e-03 -5.63075283e+01] [-1.43774736e-02 -2.44494879e-04 9.99896609e-01 -4.95286120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.818623853 meters Centerline goodness [0,1] 0.999827923684154 Centerline is valid? [True, True] Translation: X:261.77, Y:-56.32, Z:-4.95 [[ 9.57420113e-01 2.88360878e-01 1.39545918e-02 2.61773658e+02] [-2.88333476e-01 9.57521780e-01 -3.98089048e-03 -5.63169596e+01] [-1.45097586e-02 -2.12191335e-04 9.99894705e-01 -4.95397606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.848623853 meters Centerline goodness [0,1] 0.9998725519350865 Centerline is valid? [True, True] Translation: X:261.80, Y:-56.32, Z:-4.96 [[ 9.57642953e-01 2.87635895e-01 1.36222934e-02 2.61804122e+02] [-2.87609674e-01 9.57739816e-01 -3.88854701e-03 -5.63248623e+01] [-1.41650985e-02 -1.94063735e-04 9.99899651e-01 -4.95519054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.878623853 meters Centerline goodness [0,1] 0.9998713991769548 Centerline is valid? [True, True] Translation: X:261.84, Y:-56.34, Z:-4.96 [[ 9.57789171e-01 2.87147580e-01 1.36444516e-02 2.61835028e+02] [-2.87121194e-01 9.57886336e-01 -3.89704719e-03 -5.63354009e+01] [-1.41888614e-02 -1.85061648e-04 9.99899316e-01 -4.95526786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.908623853 meters Centerline goodness [0,1] 0.9999361416803253 Centerline is valid? [True, True] Translation: X:261.87, Y:-56.34, Z:-4.96 [[ 9.57936353e-01 2.86665514e-01 1.34472004e-02 2.61866135e+02] [-2.86639804e-01 9.58030716e-01 -3.84312873e-03 -5.63404792e+01] [-1.39845235e-02 -1.73030178e-04 9.99902197e-01 -4.95699321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.938623853 meters Centerline goodness [0,1] 0.999762798119636 Centerline is valid? [True, True] Translation: X:261.90, Y:-56.35, Z:-4.96 [[ 9.57966466e-01 2.86567336e-01 1.33944600e-02 2.61897699e+02] [-2.86541789e-01 9.58060089e-01 -3.83010812e-03 -5.63483937e+01] [-1.39302814e-02 -1.68957378e-04 9.99902955e-01 -4.95721872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.968623853 meters Centerline goodness [0,1] 0.9999144933732365 Centerline is valid? [True, True] Translation: X:261.93, Y:-56.35, Z:-4.96 [[ 9.58170699e-01 2.85867115e-01 1.37442192e-02 2.61928212e+02] [-2.85840103e-01 9.58269256e-01 -3.93305230e-03 -5.63549338e+01] [-1.42949930e-02 -1.60113561e-04 9.99897809e-01 -4.95702607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.998623853 meters Centerline goodness [0,1] 0.9998497434906733 Centerline is valid? [True, True] Translation: X:261.96, Y:-56.37, Z:-4.96 [[ 9.58334864e-01 2.85302093e-01 1.40357976e-02 2.61958860e+02] [-2.85273829e-01 9.58437631e-01 -4.01867963e-03 -5.63653440e+01] [-1.45989743e-02 -1.52804933e-04 9.99893418e-01 -4.95659051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.028623853 meters Centerline goodness [0,1] 0.9998276270711685 Centerline is valid? [True, True] Translation: X:261.99, Y:-56.37, Z:-4.96 [[ 9.58511451e-01 2.84696435e-01 1.42737083e-02 2.61989789e+02] [-2.84667100e-01 9.58617713e-01 -4.08937200e-03 -5.63747282e+01] [-1.48472592e-02 -1.43545262e-04 9.99889763e-01 -4.95596340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.05862385300003 meters Centerline goodness [0,1] 0.9999785545785975 Centerline is valid? [True, True] Translation: X:262.02, Y:-56.38, Z:-4.96 [[ 9.58929946e-01 2.83253107e-01 1.48672843e-02 2.62020952e+02] [-2.83221064e-01 9.59045182e-01 -4.26228930e-03 -5.63831060e+01] [-1.54657041e-02 -1.23491233e-04 9.99880391e-01 -4.95582285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.088623853 meters Centerline goodness [0,1] 0.9999352457424076 Centerline is valid? [True, True] Translation: X:262.05, Y:-56.39, Z:-4.96 [[ 9.59187419e-01 2.82373740e-01 1.49855163e-02 2.62051357e+02] [-2.82341034e-01 9.59304467e-01 -4.29898952e-03 -5.63913387e+01] [-1.55895945e-02 -1.07489502e-04 9.99878469e-01 -4.95620315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.11862385300003 meters Centerline goodness [0,1] 0.9999141851883635 Centerline is valid? [True, True] Translation: X:262.08, Y:-56.40, Z:-4.96 [[ 9.59508706e-01 2.81276091e-01 1.50599936e-02 2.62081630e+02] [-2.81242884e-01 9.59626882e-01 -4.32287453e-03 -5.64006969e+01] [-1.56678959e-02 -8.76802901e-05 9.99877247e-01 -4.95673796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.148623853 meters Centerline goodness [0,1] 0.9999354963555441 Centerline is valid? [True, True] Translation: X:262.11, Y:-56.41, Z:-4.96 [[ 9.60357306e-01 2.78353603e-01 1.52681561e-02 2.62111746e+02] [-2.78319058e-01 9.60478667e-01 -4.38542344e-03 -5.64122573e+01] [-1.58854366e-02 -3.78453827e-05 9.99873818e-01 -4.95764285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.17862385300003 meters Centerline goodness [0,1] 0.9998713467847418 Centerline is valid? [True, True] Translation: X:262.14, Y:-56.42, Z:-4.96 [[ 9.60844945e-01 2.76669259e-01 1.52024136e-02 2.62141401e+02] [-2.76634757e-01 9.60965203e-01 -4.36924781e-03 -5.64233595e+01] [-1.58178270e-02 -7.34630091e-06 9.99874890e-01 -4.95872309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.208623853 meters Centerline goodness [0,1] 0.9998713467847418 Centerline is valid? [True, True] Translation: X:262.17, Y:-56.43, Z:-4.96 [[ 9.60793896e-01 2.76846526e-01 1.52016339e-02 2.62172561e+02] [-2.76812003e-01 9.60914148e-01 -4.37195846e-03 -5.64325197e+01] [-1.58178266e-02 -7.44374244e-06 9.99874890e-01 -4.95933314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.23862385300004 meters Centerline goodness [0,1] 0.9999139488856381 Centerline is valid? [True, True] Translation: X:262.20, Y:-56.45, Z:-4.96 [[ 9.61883255e-01 2.73082975e-01 1.43629005e-02 2.62202141e+02] [-2.73051696e-01 9.61990481e-01 -4.13350473e-03 -5.64474881e+01] [-1.49457633e-02 5.41346409e-05 9.99888304e-01 -4.96173140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.268623853 meters Centerline goodness [0,1] 0.9997630535929691 Centerline is valid? [True, True] Translation: X:262.23, Y:-56.46, Z:-4.96 [[ 9.62368850e-01 2.71380810e-01 1.40944209e-02 2.62232251e+02] [-2.71350472e-01 9.62472051e-01 -4.05862300e-03 -5.64593938e+01] [-1.46669186e-02 8.13645933e-05 9.99892432e-01 -4.96272375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.29862385300004 meters Centerline goodness [0,1] 0.9997626292052394 Centerline is valid? [True, True] Translation: X:262.26, Y:-56.47, Z:-4.96 [[ 9.62874926e-01 2.69601580e-01 1.36698726e-02 2.62262685e+02] [-2.69572829e-01 9.62971950e-01 -3.93868153e-03 -5.64708035e+01] [-1.42255786e-02 1.07431458e-04 9.99898806e-01 -4.96350728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.328623853 meters Centerline goodness [0,1] 0.9996560545153593 Centerline is valid? [True, True] Translation: X:262.29, Y:-56.48, Z:-4.96 [[ 9.63468064e-01 2.67469952e-01 1.37518703e-02 2.62291476e+02] [-2.67440601e-01 9.63566191e-01 -3.96486923e-03 -5.64828401e+01] [-1.43113206e-02 1.42216429e-04 9.99897578e-01 -4.96397018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.35862385300004 meters Centerline goodness [0,1] 0.9997846591153796 Centerline is valid? [True, True] Translation: X:262.32, Y:-56.49, Z:-4.96 [[ 9.63545983e-01 2.67189902e-01 1.37366046e-02 2.62322910e+02] [-2.67160558e-01 9.63643883e-01 -3.96259823e-03 -5.64919521e+01] [-1.42959612e-02 1.48266660e-04 9.99897797e-01 -4.96464308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.388623853 meters Centerline goodness [0,1] 0.9996540690132318 Centerline is valid? [True, True] Translation: X:262.35, Y:-56.50, Z:-4.97 [[ 9.63478082e-01 2.67429594e-01 1.38346647e-02 2.62354786e+02] [-2.67399813e-01 9.63577392e-01 -3.99372966e-03 -5.65001780e+01] [-1.43988116e-02 1.48484257e-04 9.99896321e-01 -4.96503183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.41862385300004 meters Centerline goodness [0,1] 0.9997641205987048 Centerline is valid? [True, True] Translation: X:262.39, Y:-56.51, Z:-4.97 [[ 9.63321531e-01 2.68000538e-01 1.36871808e-02 2.62385362e+02] [-2.67971405e-01 9.63418752e-01 -3.95405199e-03 -5.65095568e+01] [-1.42461748e-02 1.41250340e-04 9.99898508e-01 -4.96556137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.448623853 meters Centerline goodness [0,1] 0.9997633441621308 Centerline is valid? [True, True] Translation: X:262.42, Y:-56.52, Z:-4.97 [[ 9.63001330e-01 2.69141701e-01 1.38268811e-02 2.62415451e+02] [-2.69112046e-01 9.63100581e-01 -3.99728854e-03 -5.65166231e+01] [-1.43925143e-02 1.28413910e-04 9.99896414e-01 -4.96597836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.47862385300004 meters Centerline goodness [0,1] 0.9998063641644613 Centerline is valid? [True, True] Translation: X:262.45, Y:-56.52, Z:-4.97 [[ 9.62706104e-01 2.70195246e-01 1.38378419e-02 2.62446604e+02] [-2.70165621e-01 9.62805544e-01 -4.00269141e-03 -5.65244389e+01] [-1.44046591e-02 1.14906289e-04 9.99896241e-01 -4.96605693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.508623853 meters Centerline goodness [0,1] 0.9999568444674607 Centerline is valid? [True, True] Translation: X:262.48, Y:-56.53, Z:-4.97 [[ 9.62155212e-01 2.72147370e-01 1.38981000e-02 2.62478068e+02] [-2.72117654e-01 9.62255580e-01 -4.02258379e-03 -5.65299490e+01] [-1.44682599e-02 8.84315953e-05 9.99895325e-01 -4.96618119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.53862385300005 meters Centerline goodness [0,1] 0.9998491801865856 Centerline is valid? [True, True] Translation: X:262.51, Y:-56.54, Z:-4.97 [[ 9.61911224e-01 2.73014740e-01 1.37748934e-02 2.62509436e+02] [-2.72985604e-01 9.62009847e-01 -3.98931093e-03 -5.65379860e+01] [-1.43407238e-02 7.70153569e-05 9.99897164e-01 -4.96733515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.568623853 meters Centerline goodness [0,1] 0.9999143248800548 Centerline is valid? [True, True] Translation: X:262.54, Y:-56.54, Z:-4.97 [[ 9.61427754e-01 2.74726153e-01 1.34986893e-02 2.62541369e+02] [-2.74698305e-01 9.61522511e-01 -3.91188610e-03 -5.65432080e+01] [-1.40539910e-02 5.29287967e-05 9.99901236e-01 -4.96871774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.598623853 meters Centerline goodness [0,1] 0.9998934356351236 Centerline is valid? [True, True] Translation: X:262.57, Y:-56.55, Z:-4.97 [[ 9.61130385e-01 2.75772855e-01 1.33309915e-02 2.62572187e+02] [-2.75745765e-01 9.61222831e-01 -3.86555515e-03 -5.65508029e+01] [-1.38800686e-02 3.93380661e-05 9.99903666e-01 -4.96994314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.628623853 meters Centerline goodness [0,1] 0.999935036812473 Centerline is valid? [True, True] Translation: X:262.60, Y:-56.56, Z:-4.97 [[ 9.60840702e-01 2.76767859e-01 1.35903527e-02 2.62603951e+02] [-2.76739767e-01 9.60936809e-01 -3.94333987e-03 -5.65582722e+01] [-1.41508599e-02 2.79304042e-05 9.99899871e-01 -4.97016616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.658623853 meters Centerline goodness [0,1] 0.9998703179371906 Centerline is valid? [True, True] Translation: X:262.63, Y:-56.57, Z:-4.97 [[ 9.60480595e-01 2.78018731e-01 1.35133912e-02 2.62634954e+02] [-2.77991041e-01 9.60575653e-01 -3.92375688e-03 -5.65657895e+01] [-1.40715124e-02 1.20906707e-05 9.99900991e-01 -4.97083821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.688623853 meters Centerline goodness [0,1] 0.9999142293507162 Centerline is valid? [True, True] Translation: X:262.67, Y:-56.57, Z:-4.97 [[ 9.59530247e-01 2.81282467e-01 1.34862584e-02 2.62666159e+02] [-2.81255173e-01 9.59625017e-01 -3.91851647e-03 -5.65685638e+01] [-1.40439609e-02 -3.31448591e-05 9.99901378e-01 -4.97172719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.718623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:262.70, Y:-56.57, Z:-4.97 [[ 9.58980190e-01 2.83156968e-01 1.33838042e-02 2.62696835e+02] [-2.83130235e-01 9.59073578e-01 -3.89123942e-03 -5.65728814e+01] [-1.39378845e-02 -5.77381110e-05 9.99902861e-01 -4.97257185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.748623853 meters Centerline goodness [0,1] 0.9999358823655132 Centerline is valid? [True, True] Translation: X:262.73, Y:-56.57, Z:-4.97 [[ 9.57913714e-01 2.86734643e-01 1.35853507e-02 2.62728104e+02] [-2.86707435e-01 9.58010038e-01 -3.95150952e-03 -5.65730649e+01] [-1.41479370e-02 -1.09815904e-04 9.99899907e-01 -4.97261907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.778623853 meters Centerline goodness [0,1] 0.9999784969358133 Centerline is valid? [True, True] Translation: X:262.76, Y:-56.58, Z:-4.97 [[ 9.57533613e-01 2.88012288e-01 1.33529906e-02 2.62757824e+02] [-2.87986131e-01 9.57626705e-01 -3.88360582e-03 -5.65780352e+01] [-1.39057066e-02 -1.26792996e-04 9.99903303e-01 -4.97315807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.80862385300003 meters Centerline goodness [0,1] 0.9996556177356866 Centerline is valid? [True, True] Translation: X:262.79, Y:-56.58, Z:-4.97 [[ 9.57076192e-01 2.89554330e-01 1.27848915e-02 2.62787690e+02] [-2.89530493e-01 9.57161569e-01 -3.71808524e-03 -5.65828084e+01] [-1.33137945e-02 -1.43125074e-04 9.99911357e-01 -4.96681776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.838623853 meters Centerline goodness [0,1] 0.9998713523017217 Centerline is valid? [True, True] Translation: X:262.82, Y:-56.59, Z:-4.97 [[ 9.56577394e-01 2.91182364e-01 1.31346957e-02 2.62818221e+02] [-2.91157364e-01 9.56667550e-01 -3.81936773e-03 -5.65881888e+01] [-1.36776697e-02 -1.70742541e-04 9.99906442e-01 -4.97445897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.86862385300003 meters Centerline goodness [0,1] 0.9999783676206546 Centerline is valid? [True, True] Translation: X:262.85, Y:-56.59, Z:-4.98 [[ 9.56332903e-01 2.91986028e-01 1.30972788e-02 2.62848543e+02] [-2.91961246e-01 9.56422567e-01 -3.80848747e-03 -5.65946440e+01] [-1.36385581e-02 -1.81715951e-04 9.99906974e-01 -4.97529750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.898623853 meters Centerline goodness [0,1] 0.9998497628399116 Centerline is valid? [True, True] Translation: X:262.88, Y:-56.60, Z:-4.98 [[ 9.56084180e-01 2.92802872e-01 1.30199245e-02 2.62877594e+02] [-2.92778456e-01 9.56172809e-01 -3.78612245e-03 -5.66000902e+01] [-1.35578853e-02 -1.92101604e-04 9.99908069e-01 -4.97565739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.92862385300003 meters Centerline goodness [0,1] 0.9998292568403978 Centerline is valid? [True, True] Translation: X:262.91, Y:-56.60, Z:-4.98 [[ 9.55872647e-01 2.93490212e-01 1.30758420e-02 2.62906598e+02] [-2.93465654e-01 9.55962057e-01 -3.80206320e-03 -5.66021116e+01] [-1.36158772e-02 -2.03022319e-04 9.99907279e-01 -4.97718415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.958623853 meters Centerline goodness [0,1] 0.9998710259882634 Centerline is valid? [True, True] Translation: X:262.94, Y:-56.61, Z:-4.98 [[ 9.55556979e-01 2.94492957e-01 1.35925755e-02 2.62935880e+02] [-2.94466527e-01 9.55653623e-01 -3.95187622e-03 -5.66084933e+01] [-1.41535937e-02 -2.26315590e-04 9.99899807e-01 -4.97599130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.98862385300004 meters Centerline goodness [0,1] 0.9998287781178434 Centerline is valid? [True, True] Translation: X:262.96, Y:-56.61, Z:-4.98 [[ 9.55525298e-01 2.94609170e-01 1.32981502e-02 2.62964499e+02] [-2.94583887e-01 9.55617804e-01 -3.86606419e-03 -5.66143886e+01] [-1.38469271e-02 -2.23298645e-04 9.99904102e-01 -4.97674022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.018623853 meters Centerline goodness [0,1] 0.999724091092387 Centerline is valid? [True, True] Translation: X:262.99, Y:-56.62, Z:-4.98 [[ 9.55711554e-01 2.94021105e-01 1.29233990e-02 2.62992497e+02] [-2.93997181e-01 9.55798904e-01 -3.75654296e-03 -5.66192752e+01] [-1.34566735e-02 -2.09271356e-04 9.99909433e-01 -4.97839100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.04862385300004 meters Centerline goodness [0,1] 0.9998502417525994 Centerline is valid? [True, True] Translation: X:263.02, Y:-56.63, Z:-4.98 [[ 9.55927347e-01 2.93310408e-01 1.31115365e-02 2.63020464e+02] [-2.93285727e-01 9.56017240e-01 -3.81031321e-03 -5.66275999e+01] [-1.36524595e-02 -2.03043937e-04 9.99906780e-01 -4.97885065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.078623853 meters Centerline goodness [0,1] 0.9998715065852875 Centerline is valid? [True, True] Translation: X:263.05, Y:-56.64, Z:-4.98 [[ 9.56244729e-01 2.92281440e-01 1.29452169e-02 2.63048488e+02] [-2.92257297e-01 9.56332330e-01 -3.76133203e-03 -5.66351988e+01] [-1.34792969e-02 -1.86580155e-04 9.99909133e-01 -4.97993869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.10862385300004 meters Centerline goodness [0,1] 0.999785269486794 Centerline is valid? [True, True] Translation: X:263.08, Y:-56.64, Z:-4.98 [[ 9.57070248e-01 2.89572560e-01 1.28169194e-02 2.63076509e+02] [-2.89548660e-01 9.57156054e-01 -3.72327203e-03 -5.66435100e+01] [-1.33459494e-02 -1.47688944e-04 9.99910928e-01 -4.98128885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.138623853 meters Centerline goodness [0,1] 0.9999785047934311 Centerline is valid? [True, True] Translation: X:263.11, Y:-56.65, Z:-4.98 [[ 9.57557876e-01 2.87961044e-01 1.27023853e-02 2.63105076e+02] [-2.87937432e-01 9.57642116e-01 -3.68967850e-03 -5.66526348e+01] [-1.32268228e-02 -1.24411490e-04 9.99912514e-01 -4.98198241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.16862385300004 meters Centerline goodness [0,1] 0.9998932285549552 Centerline is valid? [True, True] Translation: X:263.13, Y:-56.66, Z:-4.98 [[ 9.58541947e-01 2.84684333e-01 1.23356001e-02 2.63134183e+02] [-2.84661799e-01 9.58621314e-01 -3.58268697e-03 -5.66633353e+01] [-1.28451041e-02 -7.73183947e-05 9.99917495e-01 -4.97947153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.198623853 meters Centerline goodness [0,1] 0.9999360532037345 Centerline is valid? [True, True] Translation: X:263.16, Y:-56.67, Z:-4.98 [[ 9.59164926e-01 2.82557962e-01 1.27923306e-02 2.63162441e+02] [-2.82533540e-01 9.59250226e-01 -3.71524510e-03 -5.66723556e+01] [-1.33208181e-02 -5.07296532e-05 9.99911273e-01 -4.98361947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.22862385300004 meters Centerline goodness [0,1] 0.9999784454886408 Centerline is valid? [True, True] Translation: X:263.19, Y:-56.68, Z:-4.98 [[ 9.59789858e-01 2.80412953e-01 1.31150122e-02 2.63190343e+02] [-2.80387077e-01 9.59879459e-01 -3.80941349e-03 -5.66826499e+01] [-1.36570397e-02 -2.10434905e-05 9.99906738e-01 -4.98328027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.258623853 meters Centerline goodness [0,1] 0.9999784091890491 Centerline is valid? [True, True] Translation: X:263.22, Y:-56.70, Z:-4.98 [[ 9.61109464e-01 2.75849577e-01 1.32517785e-02 2.63218810e+02] [-2.75822733e-01 9.61200816e-01 -3.84854410e-03 -5.66964184e+01] [-1.37992396e-02 4.37304021e-05 9.99904785e-01 -4.98344879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.28862385300005 meters Centerline goodness [0,1] 0.9998490858916868 Centerline is valid? [True, True] Translation: X:263.25, Y:-56.71, Z:-4.98 [[ 9.61727963e-01 2.73687907e-01 1.32005892e-02 2.63247838e+02] [-2.73661070e-01 9.61818551e-01 -3.83333096e-03 -5.67085791e+01] [-1.37457079e-02 7.41342036e-05 9.99905521e-01 -4.98394973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.318623853 meters Centerline goodness [0,1] 0.9996972645691427 Centerline is valid? [True, True] Translation: X:263.28, Y:-56.72, Z:-4.98 [[ 9.63053397e-01 2.68963730e-01 1.36625724e-02 2.63276624e+02] [-2.68934472e-01 9.63150295e-01 -3.96986663e-03 -5.67235636e+01] [-1.42268608e-02 1.48856837e-04 9.99898782e-01 -4.98404531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.348623853 meters Centerline goodness [0,1] 0.9995912308254986 Centerline is valid? [True, True] Translation: X:263.31, Y:-56.74, Z:-4.98 [[ 9.63598403e-01 2.67003349e-01 1.36868295e-02 2.63306660e+02] [-2.66973754e-01 9.63695584e-01 -3.97937708e-03 -5.67353906e+01] [-1.42524441e-02 1.80497155e-04 9.99898412e-01 -4.98425673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.378623853 meters Centerline goodness [0,1] 0.9994629084581176 Centerline is valid? [True, True] Translation: X:263.34, Y:-56.75, Z:-4.99 [[ 9.64157058e-01 2.64989340e-01 1.34839949e-02 2.63335190e+02] [-2.64960384e-01 9.64251319e-01 -3.92285472e-03 -5.67477098e+01] [-1.40414745e-02 2.09523604e-04 9.99901392e-01 -4.98525893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.408623853 meters Centerline goodness [0,1] 0.9992064683552448 Centerline is valid? [True, True] Translation: X:263.36, Y:-56.76, Z:-4.99 [[ 9.64669799e-01 2.63106521e-01 1.36798196e-02 2.63364676e+02] [-2.63076496e-01 9.64766759e-01 -3.98214205e-03 -5.67597681e+01] [-1.42455627e-02 2.42613175e-04 9.99898497e-01 -4.98584870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.438623853 meters Centerline goodness [0,1] 0.9992935282909807 Centerline is valid? [True, True] Translation: X:263.39, Y:-56.77, Z:-4.99 [[ 9.65482512e-01 2.60118887e-01 1.34790282e-02 2.63392323e+02] [-2.60089410e-01 9.65576555e-01 -3.92625203e-03 -5.67745488e+01] [-1.40363260e-02 2.84975172e-04 9.99901445e-01 -4.98668148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.468623853 meters Centerline goodness [0,1] 0.999248894802352 Centerline is valid? [True, True] Translation: X:263.42, Y:-56.79, Z:-4.99 [[ 9.65726160e-01 2.59214408e-01 1.34489374e-02 2.63422012e+02] [-2.59184964e-01 9.65819756e-01 -3.91829509e-03 -5.67864107e+01] [-1.40049280e-02 2.98237705e-04 9.99901882e-01 -4.98781723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.498623853 meters Centerline goodness [0,1] 0.9992071485203677 Centerline is valid? [True, True] Translation: X:263.45, Y:-56.80, Z:-4.99 [[ 9.66039040e-01 2.58051565e-01 1.33402486e-02 2.63451021e+02] [-2.58022450e-01 9.66131094e-01 -3.88902539e-03 -5.67995337e+01] [-1.38919980e-02 3.14866730e-04 9.99903452e-01 -4.98851011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.528623853 meters Centerline goodness [0,1] 0.9992644195404785 Centerline is valid? [True, True] Translation: X:263.48, Y:-56.81, Z:-4.99 [[ 9.65956920e-01 2.58354738e-01 1.34185523e-02 2.63482373e+02] [-2.58325281e-01 9.66050066e-01 -3.91390300e-03 -5.68098052e+01] [-1.39741687e-02 3.14310392e-04 9.99902307e-01 -4.98908824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.55862385300003 meters Centerline goodness [0,1] 0.999195704627959 Centerline is valid? [True, True] Translation: X:263.51, Y:-56.82, Z:-4.99 [[ 9.65609959e-01 2.59673919e-01 1.29175265e-02 2.63513167e+02] [-2.59646704e-01 9.65696316e-01 -3.77033959e-03 -5.68182166e+01] [-1.34534666e-02 2.86684279e-04 9.99909457e-01 -4.99124195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.588623853 meters Centerline goodness [0,1] 0.9994632543959465 Centerline is valid? [True, True] Translation: X:263.54, Y:-56.83, Z:-4.99 [[ 9.65286457e-01 2.60914141e-01 1.20775522e-02 2.63543270e+02] [-2.60890418e-01 9.65361977e-01 -3.52752058e-03 -5.68265508e+01] [-1.25795897e-02 2.54150188e-04 9.99920842e-01 -4.99348915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.61862385300003 meters Centerline goodness [0,1] 0.9994701369166208 Centerline is valid? [True, True] Translation: X:263.57, Y:-56.83, Z:-5.00 [[ 9.64934534e-01 2.62238296e-01 1.15074800e-02 2.63573943e+02] [-2.62216847e-01 9.65003122e-01 -3.36159865e-03 -5.68345833e+01] [-1.19862940e-02 2.26267516e-04 9.99928136e-01 -4.99504801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.648623853 meters Centerline goodness [0,1] 0.9994218786801704 Centerline is valid? [True, True] Translation: X:263.60, Y:-56.84, Z:-4.99 [[ 9.64374309e-01 2.64306578e-01 1.11456215e-02 2.63604717e+02] [-2.64286573e-01 9.64438694e-01 -3.25780935e-03 -5.68415467e+01] [-1.16103291e-02 1.96109524e-04 9.99932579e-01 -4.99060733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.67862385300003 meters Centerline goodness [0,1] 0.9993373944640376 Centerline is valid? [True, True] Translation: X:263.63, Y:-56.85, Z:-4.99 [[ 9.63247264e-01 2.68381026e-01 1.12398022e-02 2.63634919e+02] [-2.68360924e-01 9.63312827e-01 -3.28824897e-03 -5.68454481e+01] [-1.17099492e-02 1.51073129e-04 9.99931425e-01 -4.98812363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.708623853 meters Centerline goodness [0,1] 0.9999344491543941 Centerline is valid? [True, True] Translation: X:263.67, Y:-56.85, Z:-5.00 [[ 9.62627969e-01 2.70542630e-01 1.24128645e-02 2.63665389e+02] [-2.70518293e-01 9.62707986e-01 -3.63136498e-03 -5.68513140e+01] [-1.29324028e-02 1.37746588e-04 9.99916363e-01 -4.99530124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.73862385300004 meters Centerline goodness [0,1] 0.9998489099935247 Centerline is valid? [True, True] Translation: X:263.69, Y:-56.86, Z:-5.00 [[ 9.61984296e-01 2.72821526e-01 1.24350102e-02 2.63694770e+02] [-2.72797288e-01 9.62064657e-01 -3.63819743e-03 -5.68566021e+01] [-1.29558624e-02 1.07651733e-04 9.99916063e-01 -4.99519615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.768623853 meters Centerline goodness [0,1] 0.9999570594297492 Centerline is valid? [True, True] Translation: X:263.72, Y:-56.86, Z:-5.00 [[ 9.61385003e-01 2.74914427e-01 1.26859734e-02 2.63724620e+02] [-2.74889388e-01 9.61468695e-01 -3.71124468e-03 -5.68620136e+01] [-1.32174410e-02 8.06955262e-05 9.99912643e-01 -4.99508706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.79862385300004 meters Centerline goodness [0,1] 0.9999787193292332 Centerline is valid? [True, True] Translation: X:263.75, Y:-56.86, Z:-5.00 [[ 9.60389040e-01 2.78360770e-01 1.29681683e-02 2.63753384e+02] [-2.78334917e-01 9.60476590e-01 -3.79388055e-03 -5.68639307e+01] [-1.35116896e-02 3.41072458e-05 9.99908712e-01 -4.99554101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.828623853 meters Centerline goodness [0,1] 0.9999359412367612 Centerline is valid? [True, True] Translation: X:263.78, Y:-56.87, Z:-5.00 [[ 9.60005379e-01 2.79687664e-01 1.28250638e-02 2.63781531e+02] [-2.79662508e-01 9.60091043e-01 -3.75119329e-03 -5.68698091e+01] [-1.33623914e-02 1.44762294e-05 9.99910719e-01 -4.99654981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.85862385300004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:263.81, Y:-56.88, Z:-5.00 [[ 9.59707330e-01 2.80723781e-01 1.24899676e-02 2.63809352e+02] [-2.80700017e-01 9.59788601e-01 -3.65260952e-03 -5.68766468e+01] [-1.30131029e-02 -4.97993017e-07 9.99915326e-01 -4.99826349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.888623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:263.84, Y:-56.88, Z:-5.00 [[ 9.59318098e-01 2.82054712e-01 1.24067213e-02 2.63837085e+02] [-2.82031382e-01 9.59398321e-01 -3.62768507e-03 -5.68844888e+01] [-1.29261932e-02 -1.89808073e-05 9.99916453e-01 -4.99885418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.91862385300004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:263.86, Y:-56.89, Z:-5.00 [[ 9.59158543e-01 2.82592943e-01 1.24947176e-02 2.63863748e+02] [-2.82569334e-01 9.59239922e-01 -3.65288150e-03 -5.68919314e+01] [-1.30177104e-02 -2.69315218e-05 9.99915266e-01 -4.99922514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.948623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:263.89, Y:-56.90, Z:-5.00 [[ 9.58978642e-01 2.83195053e-01 1.26698846e-02 2.63890745e+02] [-2.83170840e-01 9.59062334e-01 -3.70332762e-03 -5.68988864e+01] [-1.31999732e-02 -3.63297722e-05 9.99912876e-01 -4.99935544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.97862385300004 meters Centerline goodness [0,1] 0.9999572914219821 Centerline is valid? [True, True] Translation: X:263.92, Y:-56.90, Z:-5.00 [[ 9.58301533e-01 2.85467685e-01 1.28985771e-02 2.63919911e+02] [-2.85442807e-01 9.58388333e-01 -3.76934108e-03 -5.69035583e+01] [-1.34378709e-02 -6.96407286e-05 9.99909705e-01 -4.99914806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.008623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:263.95, Y:-56.91, Z:-5.00 [[ 9.57863115e-01 2.86931749e-01 1.29778576e-02 2.63948300e+02] [-2.86906709e-01 9.57951023e-01 -3.79179476e-03 -5.69110573e+01] [-1.35201383e-02 -9.14140770e-05 9.99908595e-01 -4.99779759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.03862385300005 meters Centerline goodness [0,1] 0.999934873219868 Centerline is valid? [True, True] Translation: X:263.98, Y:-56.92, Z:-5.00 [[ 9.57132776e-01 2.89371228e-01 1.26941960e-02 2.63977518e+02] [-2.89347488e-01 9.57216944e-01 -3.70860933e-03 -5.69165780e+01] [-1.32242643e-02 -1.23402175e-04 9.99912548e-01 -4.99924130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.068623853 meters Centerline goodness [0,1] 0.999914465946755 Centerline is valid? [True, True] Translation: X:264.01, Y:-56.92, Z:-5.00 [[ 9.56888914e-01 2.90185612e-01 1.24866374e-02 2.64006198e+02] [-2.90162715e-01 9.56970372e-01 -3.64772386e-03 -5.69204817e+01] [-1.30078590e-02 -1.32690076e-04 9.99915385e-01 -5.00276157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.09862385300005 meters Centerline goodness [0,1] 0.9999785227980499 Centerline is valid? [True, True] Translation: X:264.03, Y:-56.93, Z:-5.00 [[ 9.56807814e-01 2.90458286e-01 1.23608491e-02 2.64033337e+02] [-2.90435876e-01 9.56887645e-01 -3.61053684e-03 -5.69289667e+01] [-1.28766541e-02 -1.35444160e-04 9.99917083e-01 -5.00327631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.128623853 meters Centerline goodness [0,1] 0.9999785227980499 Centerline is valid? [True, True] Translation: X:264.06, Y:-56.94, Z:-5.00 [[ 9.56826077e-01 2.90398116e-01 1.23609661e-02 2.64059774e+02] [-2.90375706e-01 9.56905908e-01 -3.61013603e-03 -5.69365401e+01] [-1.28766582e-02 -1.35051975e-04 9.99917083e-01 -5.00379221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.158623853 meters Centerline goodness [0,1] 0.99997854997855 Centerline is valid? [True, True] Translation: X:264.09, Y:-56.95, Z:-5.00 [[ 9.56813682e-01 2.90425545e-01 1.26720158e-02 2.64086816e+02] [-2.90402011e-01 9.56897582e-01 -3.69985663e-03 -5.69489661e+01] [-1.32003541e-02 -1.39905416e-04 9.99912862e-01 -5.00168434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.188623853 meters Centerline goodness [0,1] 0.9998493619402182 Centerline is valid? [True, True] Translation: X:264.11, Y:-56.96, Z:-4.99 [[ 9.56980427e-01 2.89827338e-01 1.37323317e-02 2.64113916e+02] [-2.89799643e-01 9.57078938e-01 -4.00910382e-03 -5.69574137e+01] [-1.43048734e-02 -1.42990946e-04 9.99897670e-01 -4.99309352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.218623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:264.14, Y:-56.97, Z:-5.00 [[ 9.57129469e-01 2.89296551e-01 1.45150078e-02 2.64142501e+02] [-2.89265559e-01 9.57239513e-01 -4.23688208e-03 -5.69684337e+01] [-1.51200543e-02 -1.43447142e-04 9.99885675e-01 -4.99926319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.248623853 meters Centerline goodness [0,1] 0.9997856561066575 Centerline is valid? [True, True] Translation: X:264.17, Y:-56.98, Z:-4.99 [[ 9.57244082e-01 2.88951672e-01 1.38093424e-02 2.64170307e+02] [-2.88923584e-01 9.57343676e-01 -4.03095405e-03 -5.69772962e+01] [-1.43850375e-02 -1.31237777e-04 9.99896521e-01 -4.99137518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.278623853 meters Centerline goodness [0,1] 0.9999147739378702 Centerline is valid? [True, True] Translation: X:264.20, Y:-56.99, Z:-5.00 [[ 9.57314045e-01 2.88711363e-01 1.39845938e-02 2.64198926e+02] [-2.88682535e-01 9.57416175e-01 -4.08187843e-03 -5.69879535e+01] [-1.45675610e-02 -1.29468448e-04 9.99893879e-01 -5.00159458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.30862385300003 meters Centerline goodness [0,1] 0.9998934606123884 Centerline is valid? [True, True] Translation: X:264.23, Y:-57.00, Z:-5.00 [[ 9.57293619e-01 2.88802813e-01 1.34856538e-02 2.64227423e+02] [-2.88776016e-01 9.57388594e-01 -3.93618481e-03 -5.69963909e+01] [-1.40477924e-02 -1.26248774e-04 9.99901317e-01 -5.00326447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.338623853 meters Centerline goodness [0,1] 0.9999147939077644 Centerline is valid? [True, True] Translation: X:264.26, Y:-57.00, Z:-5.01 [[ 9.57209067e-01 2.89109354e-01 1.29067170e-02 2.64255397e+02] [-2.89084830e-01 9.57296070e-01 -3.76762929e-03 -5.70040664e+01] [-1.34448063e-02 -1.24727152e-04 9.99909607e-01 -5.00526994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.36862385300003 meters Centerline goodness [0,1] 0.9998060804550646 Centerline is valid? [True, True] Translation: X:264.28, Y:-57.01, Z:-5.00 [[ 9.56912434e-01 2.90161529e-01 1.11750179e-02 2.64284223e+02] [-2.90143222e-01 9.56977676e-01 -3.26171085e-03 -5.70110661e+01] [-1.16406657e-02 -1.21184023e-04 9.99932238e-01 -4.99906354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.398623853 meters Centerline goodness [0,1] 0.999978608252936 Centerline is valid? [True, True] Translation: X:264.31, Y:-57.02, Z:-5.01 [[ 9.56747283e-01 2.90697852e-01 1.13751677e-02 2.64312544e+02] [-2.90678924e-01 9.56814894e-01 -3.31983821e-03 -5.70182724e+01] [-1.18489997e-02 -1.30275313e-04 9.99929790e-01 -5.00853407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.42862385300003 meters Centerline goodness [0,1] 0.999913972944491 Centerline is valid? [True, True] Translation: X:264.34, Y:-57.02, Z:-5.01 [[ 9.56397879e-01 2.91854833e-01 1.11289006e-02 2.64340509e+02] [-2.91836794e-01 9.56462616e-01 -3.24802369e-03 -5.70230872e+01] [-1.15923288e-02 -1.41419697e-04 9.99932797e-01 -5.01048613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.458623853 meters Centerline goodness [0,1] 0.999978653460274 Centerline is valid? [True, True] Translation: X:264.37, Y:-57.03, Z:-5.01 [[ 9.56259623e-01 2.92303539e-01 1.12327172e-02 2.64368784e+02] [-2.92285204e-01 9.56325582e-01 -3.27732244e-03 -5.70298949e+01] [-1.17001077e-02 -1.49185902e-04 9.99931540e-01 -5.01104570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.48862385300004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:264.40, Y:-57.04, Z:-5.01 [[ 9.56208771e-01 2.92464311e-01 1.13759474e-02 2.64395894e+02] [-2.92445523e-01 9.56276426e-01 -3.31861745e-03 -5.70363618e+01] [-1.18491274e-02 -1.53553759e-04 9.99929785e-01 -5.01107732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.518623853 meters Centerline goodness [0,1] 0.9998077005256185 Centerline is valid? [True, True] Translation: X:264.42, Y:-57.04, Z:-5.00 [[ 9.56218749e-01 2.92433871e-01 1.13197136e-02 2.64423583e+02] [-2.92415274e-01 9.56285735e-01 -3.30144224e-03 -5.70446545e+01] [-1.17903342e-02 -1.53156200e-04 9.99930480e-01 -5.00392436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.54862385300004 meters Centerline goodness [0,1] 0.9998694573778338 Centerline is valid? [True, True] Translation: X:264.45, Y:-57.05, Z:-5.01 [[ 9.56328965e-01 2.92015457e-01 1.27233297e-02 2.64451677e+02] [-2.91991938e-01 9.56413585e-01 -3.70992659e-03 -5.70540106e+01] [-1.32521213e-02 -1.67199446e-04 9.99912173e-01 -5.00956709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.578623853 meters Centerline goodness [0,1] 0.9999785637727759 Centerline is valid? [True, True] Translation: X:264.48, Y:-57.06, Z:-5.01 [[ 9.56484370e-01 2.91504535e-01 1.27575866e-02 2.64479684e+02] [-2.91480848e-01 9.56569433e-01 -3.71958933e-03 -5.70633827e+01] [-1.32877946e-02 -1.60863103e-04 9.99911700e-01 -5.00955517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.60862385300004 meters Centerline goodness [0,1] 0.9998727249586357 Centerline is valid? [True, True] Translation: X:264.51, Y:-57.07, Z:-5.01 [[ 9.56662651e-01 2.90906955e-01 1.30275417e-02 2.64508446e+02] [-2.90882203e-01 9.56751336e-01 -3.79795201e-03 -5.70689164e+01] [-1.35689686e-02 -1.56121208e-04 9.99907925e-01 -5.01083608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.638623853 meters Centerline goodness [0,1] 0.9999141077947177 Centerline is valid? [True, True] Translation: X:264.54, Y:-57.08, Z:-5.01 [[ 9.57117276e-01 2.89414510e-01 1.28748355e-02 2.64535357e+02] [-2.89390203e-01 9.57203857e-01 -3.75322931e-03 -5.70793811e+01] [-1.34100812e-02 -1.33570639e-04 9.99910072e-01 -5.01107989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.66862385300004 meters Centerline goodness [0,1] 0.9999786584715197 Centerline is valid? [True, True] Translation: X:264.56, Y:-57.09, Z:-5.01 [[ 9.57390408e-01 2.88514130e-01 1.27751214e-02 2.64562842e+02] [-2.88490128e-01 9.57475630e-01 -3.72342522e-03 -5.70896271e+01] [-1.33061282e-02 -1.20724821e-04 9.99911462e-01 -5.01112870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.698623853 meters Centerline goodness [0,1] 0.9998934083738381 Centerline is valid? [True, True] Translation: X:264.59, Y:-57.10, Z:-5.01 [[ 9.57831556e-01 2.87061682e-01 1.24218097e-02 2.64592306e+02] [-2.87038874e-01 9.57912095e-01 -3.61985758e-03 -5.71003340e+01] [-1.29381242e-02 -9.83284727e-05 9.99916294e-01 -5.01257920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.72862385300004 meters Centerline goodness [0,1] 0.9999137243060199 Centerline is valid? [True, True] Translation: X:264.62, Y:-57.11, Z:-5.01 [[ 9.58092108e-01 2.86209652e-01 1.19811758e-02 2.64620163e+02] [-2.86188361e-01 9.58167015e-01 -3.49197867e-03 -5.71089978e+01] [-1.24794054e-02 -8.32358601e-05 9.99922126e-01 -5.01408222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.758623853 meters Centerline goodness [0,1] 0.9999358741423167 Centerline is valid? [True, True] Translation: X:264.65, Y:-57.12, Z:-5.02 [[ 9.58265269e-01 2.85636029e-01 1.18208653e-02 2.64647572e+02] [-2.85615260e-01 9.58338173e-01 -3.44526114e-03 -5.71176529e+01] [-1.23124772e-02 -7.47454183e-05 9.99924196e-01 -5.01560656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.78862385300005 meters Centerline goodness [0,1] 0.9999783998617591 Centerline is valid? [True, True] Translation: X:264.68, Y:-57.13, Z:-5.02 [[ 9.58438457e-01 2.85062517e-01 1.16226502e-02 2.64676138e+02] [-2.85042404e-01 9.58508924e-01 -3.38681850e-03 -5.71275188e+01] [-1.21058690e-02 -6.68910694e-05 9.99926719e-01 -5.01561089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.818623853 meters Centerline goodness [0,1] 0.9999142495766072 Centerline is valid? [True, True] Translation: X:264.70, Y:-57.14, Z:-5.01 [[ 9.58558098e-01 2.84660756e-01 1.16028914e-02 2.64704150e+02] [-2.84640682e-01 9.58628317e-01 -3.38114274e-03 -5.71358946e+01] [-1.20853389e-02 -6.16331731e-05 9.99926968e-01 -5.00988437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.84862385300005 meters Centerline goodness [0,1] 0.9998933674557475 Centerline is valid? [True, True] Translation: X:264.73, Y:-57.14, Z:-5.02 [[ 9.58559863e-01 2.84612989e-01 1.25871487e-02 2.64731719e+02] [-2.84589361e-01 9.58642500e-01 -3.66785138e-03 -5.71439145e+01] [-1.31104938e-02 -6.63134911e-05 9.99914052e-01 -5.01541569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.878623853 meters Centerline goodness [0,1] 0.9998705389893411 Centerline is valid? [True, True] Translation: X:264.76, Y:-57.15, Z:-5.02 [[ 9.58655638e-01 2.84289594e-01 1.26013863e-02 2.64760174e+02] [-2.84265890e-01 9.58738454e-01 -3.67166854e-03 -5.71524558e+01] [-1.31252508e-02 -6.22785480e-05 9.99913858e-01 -5.01582472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.908623853 meters Centerline goodness [0,1] 0.9999133204758706 Centerline is valid? [True, True] Translation: X:264.79, Y:-57.16, Z:-5.02 [[ 9.58633035e-01 2.84370074e-01 1.25045935e-02 2.64790535e+02] [-2.84346759e-01 9.58714586e-01 -3.64199829e-03 -5.71619277e+01] [-1.30240115e-02 -6.43007632e-05 9.99915182e-01 -5.01567906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.938623853 meters Centerline goodness [0,1] 0.9999137056932669 Centerline is valid? [True, True] Translation: X:264.82, Y:-57.17, Z:-5.02 [[ 9.58617399e-01 2.84444214e-01 1.20071335e-02 2.64820857e+02] [-2.84422696e-01 9.58692592e-01 -3.49928563e-03 -5.71693354e+01] [-1.25065015e-02 -6.06251886e-05 9.99921789e-01 -5.01834465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.968623853 meters Centerline goodness [0,1] 0.9999567987903661 Centerline is valid? [True, True] Translation: X:264.85, Y:-57.18, Z:-5.02 [[ 9.58509276e-01 2.84812087e-01 1.19181572e-02 2.64848563e+02] [-2.84790875e-01 9.58583367e-01 -3.47656426e-03 -5.71753613e+01] [-1.24147148e-02 -6.18633155e-05 9.99922933e-01 -5.01963830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.998623853 meters Centerline goodness [0,1] 0.9999785995548708 Centerline is valid? [True, True] Translation: X:264.88, Y:-57.18, Z:-5.02 [[ 9.58371801e-01 2.85279963e-01 1.17827555e-02 2.64875793e+02] [-2.85259266e-01 9.58444228e-01 -3.43701483e-03 -5.71813038e+01] [-1.22736254e-02 -6.72020776e-05 9.99924674e-01 -5.02042852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.028623853 meters Centerline goodness [0,1] 0.999978220625068 Centerline is valid? [True, True] Translation: X:264.90, Y:-57.19, Z:-5.02 [[ 9.58215854e-01 2.85801187e-01 1.18346244e-02 2.64903877e+02] [-2.85780359e-01 9.58288931e-01 -3.45119971e-03 -5.71871299e+01] [-1.23273466e-02 -7.51089395e-05 9.99924013e-01 -5.02077309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.05862385300003 meters Centerline goodness [0,1] 0.9996755283480067 Centerline is valid? [True, True] Translation: X:264.93, Y:-57.19, Z:-5.02 [[ 9.57657905e-01 2.87651985e-01 1.21520563e-02 2.64933443e+02] [-2.87630183e-01 9.57734997e-01 -3.54300793e-03 -5.71915106e+01] [-1.26576029e-02 -1.02308623e-04 9.99919884e-01 -5.01987485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.088623853 meters Centerline goodness [0,1] 0.9996999249812453 Centerline is valid? [True, True] Translation: X:264.96, Y:-57.20, Z:-5.02 [[ 9.57402731e-01 2.88498875e-01 1.21823304e-02 2.64961043e+02] [-2.88477034e-01 9.57480228e-01 -3.55174501e-03 -5.71954783e+01] [-1.26890149e-02 -1.13872161e-04 9.99919485e-01 -5.02069032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.11862385300003 meters Centerline goodness [0,1] 0.9996790620052206 Centerline is valid? [True, True] Translation: X:264.99, Y:-57.20, Z:-5.02 [[ 9.57109942e-01 2.89461521e-01 1.23525934e-02 2.64989306e+02] [-2.89439156e-01 9.57189642e-01 -3.60049520e-03 -5.72003349e+01] [-1.28659792e-02 -1.29254447e-04 9.99917222e-01 -5.02090120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.148623853 meters Centerline goodness [0,1] 0.9997207783839512 Centerline is valid? [True, True] Translation: X:265.02, Y:-57.20, Z:-5.02 [[ 9.56412235e-01 2.91750177e-01 1.25487642e-02 2.65019039e+02] [-2.91727302e-01 9.56494541e-01 -3.65705369e-03 -5.72014153e+01] [-1.30697705e-02 -1.63166222e-04 9.99914574e-01 -5.02056299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.17862385300003 meters Centerline goodness [0,1] 0.9995334337157763 Centerline is valid? [True, True] Translation: X:265.05, Y:-57.20, Z:-5.02 [[ 9.56132778e-01 2.92663455e-01 1.25782612e-02 2.65047258e+02] [-2.92640558e-01 9.56215494e-01 -3.66508581e-03 -5.72040098e+01] [-1.31001649e-02 -1.76600708e-04 9.99914174e-01 -5.02197098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.208623853 meters Centerline goodness [0,1] 0.9995053550690353 Centerline is valid? [True, True] Translation: X:265.08, Y:-57.21, Z:-5.02 [[ 9.55981718e-01 2.93154651e-01 1.26216148e-02 2.65075666e+02] [-2.93131650e-01 9.56065017e-01 -3.67685812e-03 -5.72112042e+01] [-1.31449724e-02 -1.84785633e-04 9.99913584e-01 -5.02150467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.23862385300004 meters Centerline goodness [0,1] 0.9995276841495094 Centerline is valid? [True, True] Translation: X:265.10, Y:-57.22, Z:-5.02 [[ 9.55832482e-01 2.93630720e-01 1.28556043e-02 2.65104655e+02] [-2.93606910e-01 9.55918910e-01 -3.74436211e-03 -5.72164912e+01] [-1.33883750e-02 -1.95511313e-04 9.99910353e-01 -5.02175382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.268623853 meters Centerline goodness [0,1] 0.9994681077400962 Centerline is valid? [True, True] Translation: X:265.13, Y:-57.22, Z:-5.02 [[ 9.55692024e-01 2.94099966e-01 1.25684221e-02 2.65133340e+02] [-2.94077256e-01 9.55774644e-01 -3.66017426e-03 -5.72159788e+01] [-1.30890363e-02 -1.98087724e-04 9.99914315e-01 -5.02379459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.29862385300004 meters Centerline goodness [0,1] 0.9997634255973503 Centerline is valid? [True, True] Translation: X:265.16, Y:-57.22, Z:-5.02 [[ 9.55712747e-01 2.94032567e-01 1.25696225e-02 2.65160260e+02] [-2.94009856e-01 9.55795381e-01 -3.65980920e-03 -5.72244875e+01] [-1.30900902e-02 -1.97866607e-04 9.99914302e-01 -5.02363157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.328623853 meters Centerline goodness [0,1] 0.9996150062026778 Centerline is valid? [True, True] Translation: X:265.19, Y:-57.23, Z:-5.02 [[ 9.55721972e-01 2.93992452e-01 1.28042993e-02 2.65187982e+02] [-2.93968894e-01 9.55807720e-01 -3.72716063e-03 -5.72311818e+01] [-1.33342052e-02 -2.01936403e-04 9.99911075e-01 -5.02343759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.35862385300004 meters Centerline goodness [0,1] 0.9996765428904127 Centerline is valid? [True, True] Translation: X:265.22, Y:-57.24, Z:-5.02 [[ 9.55748580e-01 2.93891009e-01 1.31425742e-02 2.65215730e+02] [-2.93866195e-01 9.55838915e-01 -3.82458046e-03 -5.72351533e+01] [-1.36861937e-02 -2.06820918e-04 9.99906318e-01 -5.02318019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.388623853 meters Centerline goodness [0,1] 0.9996332571083402 Centerline is valid? [True, True] Translation: X:265.24, Y:-57.24, Z:-5.02 [[ 9.55785480e-01 2.93773844e-01 1.30784053e-02 2.65242664e+02] [-2.93749273e-01 9.55874933e-01 -3.80496683e-03 -5.72381909e+01] [-1.36191196e-02 -2.05040015e-04 9.99907234e-01 -5.02443547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.41862385300004 meters Centerline goodness [0,1] 0.9997202797202798 Centerline is valid? [True, True] Translation: X:265.27, Y:-57.24, Z:-5.02 [[ 9.56029098e-01 2.92984177e-01 1.29859397e-02 2.65271302e+02] [-2.92959899e-01 9.56117270e-01 -3.77671929e-03 -5.72441368e+01] [-1.35226002e-02 -1.93706049e-04 9.99908547e-01 -5.02456462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.448623853 meters Centerline goodness [0,1] 0.9996605854900297 Centerline is valid? [True, True] Translation: X:265.30, Y:-57.25, Z:-5.03 [[ 9.56211480e-01 2.92371572e-01 1.33592654e-02 2.65298974e+02] [-2.92345826e-01 9.56304777e-01 -3.88465117e-03 -5.72483281e+01] [-1.39112909e-02 -1.90977452e-04 9.99903215e-01 -5.02533057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.47862385300004 meters Centerline goodness [0,1] 0.9997222222222222 Centerline is valid? [True, True] Translation: X:265.33, Y:-57.26, Z:-5.03 [[ 9.56500701e-01 2.91417462e-01 1.35008316e-02 2.65326980e+02] [-2.91391086e-01 9.56595960e-01 -3.92488731e-03 -5.72550251e+01] [-1.40586216e-02 -1.79864506e-04 9.99901157e-01 -5.02553055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.508623853 meters Centerline goodness [0,1] 0.999460660582918 Centerline is valid? [True, True] Translation: X:265.36, Y:-57.26, Z:-5.02 [[ 9.57105835e-01 2.89424073e-01 1.34954168e-02 2.65355533e+02] [-2.89397529e-01 9.57200963e-01 -3.92261404e-03 -5.72622831e+01] [-1.40531249e-02 -1.51183485e-04 9.99901239e-01 -5.01766342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.53862385300005 meters Centerline goodness [0,1] 0.9998702899020688 Centerline is valid? [True, True] Translation: X:265.38, Y:-57.27, Z:-5.03 [[ 9.57475886e-01 2.88159343e-01 1.42870616e-02 2.65382542e+02] [-2.88129461e-01 9.57582463e-01 -4.15218504e-03 -5.72705751e+01] [-1.48775305e-02 -1.40906300e-04 9.99889313e-01 -5.02526260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.568623853 meters Centerline goodness [0,1] 0.9997433484472581 Centerline is valid? [True, True] Translation: X:265.41, Y:-57.28, Z:-5.03 [[ 9.57786939e-01 2.87130217e-01 1.41569294e-02 2.65409726e+02] [-2.87100775e-01 9.57891551e-01 -4.11369510e-03 -5.72769967e+01] [-1.47419692e-02 -1.24421960e-04 9.99891324e-01 -5.02587521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.59862385300005 meters Centerline goodness [0,1] 0.9998931920620341 Centerline is valid? [True, True] Translation: X:265.44, Y:-57.28, Z:-5.03 [[ 9.58447037e-01 2.84954146e-01 1.34317772e-02 2.65436793e+02] [-2.84927440e-01 9.58541145e-01 -3.90217209e-03 -5.72818989e+01] [-1.39868512e-02 -8.70566046e-05 9.99902175e-01 -5.02825808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.628623853 meters Centerline goodness [0,1] 0.9999783446662913 Centerline is valid? [True, True] Translation: X:265.47, Y:-57.29, Z:-5.03 [[ 9.58699991e-01 2.84109473e-01 1.32715452e-02 2.65465476e+02] [-2.84083333e-01 9.58791845e-01 -3.85469481e-03 -5.72882506e+01] [-1.38198047e-02 -7.47289202e-05 9.99904499e-01 -5.02955353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.658623853 meters Centerline goodness [0,1] 0.9999565491320689 Centerline is valid? [True, True] Translation: X:265.49, Y:-57.29, Z:-5.03 [[ 9.59118351e-01 2.82701392e-01 1.31115294e-02 2.65493839e+02] [-2.82675751e-01 9.59207965e-01 -3.80785923e-03 -5.72916445e+01] [-1.36531705e-02 -5.41237454e-05 9.99906790e-01 -5.03069542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.688623853 meters Centerline goodness [0,1] 0.9999574585752877 Centerline is valid? [True, True] Translation: X:265.52, Y:-57.30, Z:-5.03 [[ 9.59335460e-01 2.81961913e-01 1.31512406e-02 2.65520396e+02] [-2.81936057e-01 9.59425598e-01 -3.81869778e-03 -5.72967897e+01] [-1.36943642e-02 -4.43967244e-05 9.99906227e-01 -5.03094155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.718623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:265.55, Y:-57.30, Z:-5.03 [[ 9.59583683e-01 2.81101845e-01 1.34501967e-02 2.65548848e+02] [-2.81074734e-01 9.59677942e-01 -3.90416395e-03 -5.73028599e+01] [-1.40053248e-02 -3.41384293e-05 9.99901920e-01 -5.03062772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.748623853 meters Centerline goodness [0,1] 0.999956960554348 Centerline is valid? [True, True] Translation: X:265.58, Y:-57.31, Z:-5.03 [[ 9.60317606e-01 2.78567036e-01 1.38022298e-02 2.65576415e+02] [-2.78538235e-01 9.60416788e-01 -4.00567170e-03 -5.73079578e+01] [-1.43717413e-02 2.26834287e-06 9.99896721e-01 -5.03096817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.778623853 meters Centerline goodness [0,1] 0.9999785844308813 Centerline is valid? [True, True] Translation: X:265.60, Y:-57.32, Z:-5.03 [[ 9.60922041e-01 2.76486010e-01 1.35763844e-02 2.65602008e+02] [-2.76457943e-01 9.61017942e-01 -3.93958301e-03 -5.73158742e+01] [-1.41363886e-02 3.23328260e-05 9.99900076e-01 -5.03310560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.80862385300003 meters Centerline goodness [0,1] 0.9999352890422778 Centerline is valid? [True, True] Translation: X:265.63, Y:-57.32, Z:-5.03 [[ 9.61556992e-01 2.74262250e-01 1.37247401e-02 2.65630176e+02] [-2.74233371e-01 9.61654935e-01 -3.98047104e-03 -5.73236675e+01] [-1.42901570e-02 6.36680181e-05 9.99897888e-01 -5.03212948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.838623853 meters Centerline goodness [0,1] 0.9999570953555722 Centerline is valid? [True, True] Translation: X:265.66, Y:-57.33, Z:-5.03 [[ 9.62322224e-01 2.71578809e-01 1.34494881e-02 2.65656813e+02] [-2.71550823e-01 9.62416199e-01 -3.90000779e-03 -5.73332684e+01] [-1.40031647e-02 1.00844610e-04 9.99901946e-01 -5.03326800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.86862385300003 meters Centerline goodness [0,1] 0.9996566228860846 Centerline is valid? [True, True] Translation: X:265.68, Y:-57.35, Z:-5.03 [[ 9.64016872e-01 2.65524220e-01 1.29753637e-02 2.65683010e+02] [-2.65497636e-01 9.64104173e-01 -3.76157019e-03 -5.73470119e+01] [-1.35083903e-02 1.81288744e-04 9.99908741e-01 -5.02688154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.898623853 meters Centerline goodness [0,1] 0.9998483929654336 Centerline is valid? [True, True] Translation: X:265.71, Y:-57.36, Z:-5.03 [[ 9.64929288e-01 2.62159941e-01 1.35511891e-02 2.65709628e+02] [-2.62130620e-01 9.65024408e-01 -3.92807634e-03 -5.73563538e+01] [-1.41070125e-02 2.38134314e-04 9.99900463e-01 -5.03445817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.92862385300003 meters Centerline goodness [0,1] 0.999396668749596 Centerline is valid? [True, True] Translation: X:265.74, Y:-57.37, Z:-5.04 [[ 9.66550479e-01 2.56127878e-01 1.33671576e-02 2.65735620e+02] [-2.56098785e-01 9.66642854e-01 -3.87361224e-03 -5.73725534e+01] [-1.39134075e-02 3.20728947e-04 9.99903152e-01 -5.03572329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.958623853 meters Centerline goodness [0,1] 0.9991851788318038 Centerline is valid? [True, True] Translation: X:265.76, Y:-57.38, Z:-5.04 [[ 9.67278458e-01 2.53377740e-01 1.31189141e-02 2.65761439e+02] [-2.53349467e-01 9.67367353e-01 -3.80156013e-03 -5.73847082e+01] [-1.36540399e-02 3.53497334e-04 9.99906717e-01 -5.03703976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.98862385300004 meters Centerline goodness [0,1] 0.9987940131366426 Centerline is valid? [True, True] Translation: X:265.79, Y:-57.40, Z:-5.04 [[ 9.67924554e-01 2.50914325e-01 1.28085514e-02 2.65789172e+02] [-2.50887162e-01 9.68009224e-01 -3.71133232e-03 -5.73959482e+01] [-1.33300224e-02 3.78788567e-04 9.99911080e-01 -5.03839096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.018623853 meters Centerline goodness [0,1] 0.9987940131366426 Centerline is valid? [True, True] Translation: X:265.82, Y:-57.40, Z:-5.04 [[ 9.67936175e-01 2.50869492e-01 1.28086023e-02 2.65816418e+02] [-2.50842327e-01 9.68020844e-01 -3.71115673e-03 -5.74037494e+01] [-1.33300100e-02 3.79223243e-04 9.99911080e-01 -5.03892271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.04862385300004 meters Centerline goodness [0,1] 0.9983336579454218 Centerline is valid? [True, True] Translation: X:265.84, Y:-57.41, Z:-5.04 [[ 9.68837762e-01 2.47372393e-01 1.26605518e-02 2.65844332e+02] [-2.47345565e-01 9.68920390e-01 -3.66743445e-03 -5.74149275e+01] [-1.31742888e-02 4.21617642e-04 9.99913126e-01 -5.03990031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.078623853 meters Centerline goodness [0,1] 0.998428383818812 Centerline is valid? [True, True] Translation: X:265.87, Y:-57.42, Z:-5.04 [[ 9.69131063e-01 2.46234798e-01 1.23857916e-02 2.65873049e+02] [-2.46209030e-01 9.69210112e-01 -3.58776480e-03 -5.74231510e+01] [-1.28878670e-02 4.27520583e-04 9.99916857e-01 -5.04046404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.10862385300004 meters Centerline goodness [0,1] 0.9980613058182366 Centerline is valid? [True, True] Translation: X:265.90, Y:-57.43, Z:-5.04 [[ 9.69236124e-01 2.45811162e-01 1.25781127e-02 2.65900647e+02] [-2.45784557e-01 9.69317636e-01 -3.64307182e-03 -5.74337850e+01] [-1.30876941e-02 4.39490953e-04 9.99914256e-01 -5.04103471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.138623853 meters Centerline goodness [0,1] 0.9958160791297445 Centerline is valid? [True, True] Translation: X:265.93, Y:-57.44, Z:-5.03 [[ 9.69135554e-01 2.46217429e-01 1.23796278e-02 2.65928186e+02] [-2.46191690e-01 9.69214525e-01 -3.58557023e-03 -5.74419330e+01] [-1.28813450e-02 4.27142091e-04 9.99916941e-01 -5.03188162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.16862385300004 meters Centerline goodness [0,1] 0.9977272244525159 Centerline is valid? [True, True] Translation: X:265.95, Y:-57.45, Z:-5.04 [[ 9.68871750e-01 2.47226591e-01 1.29052253e-02 2.65954888e+02] [-2.47198717e-01 9.68957598e-01 -3.73728103e-03 -5.74512899e+01] [-1.34285714e-02 4.30790865e-04 9.99909740e-01 -5.04192131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.198623853 meters Centerline goodness [0,1] 0.9987696956615584 Centerline is valid? [True, True] Translation: X:265.98, Y:-57.45, Z:-5.04 [[ 9.68536230e-01 2.48546957e-01 1.27271537e-02 2.65984794e+02] [-2.48519968e-01 9.68619763e-01 -3.68517947e-03 -5.74533772e+01] [-1.32437127e-02 4.06278007e-04 9.99912216e-01 -5.04192451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.22862385300004 meters Centerline goodness [0,1] 0.9986451030151835 Centerline is valid? [True, True] Translation: X:266.01, Y:-57.46, Z:-5.04 [[ 9.67672064e-01 2.51922634e-01 1.20732451e-02 2.66013542e+02] [-2.51898612e-01 9.67747317e-01 -3.49563132e-03 -5.74569273e+01] [-1.25644792e-02 3.41391090e-04 9.99921006e-01 -5.03552441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.258623853 meters Centerline goodness [0,1] 0.999291328437057 Centerline is valid? [True, True] Translation: X:266.04, Y:-57.46, Z:-5.04 [[ 9.67221244e-01 2.53621199e-01 1.26234913e-02 2.66042266e+02] [-2.53595086e-01 9.67303560e-01 -3.65459850e-03 -5.74626987e+01] [-1.31376317e-02 3.33549962e-04 9.99913642e-01 -5.04304238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.28862385300005 meters Centerline goodness [0,1] 0.9995904378004354 Centerline is valid? [True, True] Translation: X:266.07, Y:-57.46, Z:-5.04 [[ 9.66297433e-01 2.57097097e-01 1.30519844e-02 2.66072900e+02] [-2.57069513e-01 9.66385532e-01 -3.77752472e-03 -5.74627067e+01] [-1.35844395e-02 2.94945179e-04 9.99907684e-01 -5.04254484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.318623853 meters Centerline goodness [0,1] 0.9995720277326029 Centerline is valid? [True, True] Translation: X:266.10, Y:-57.47, Z:-5.04 [[ 9.65882133e-01 2.58652094e-01 1.30690115e-02 2.66099837e+02] [-2.58624583e-01 9.65970506e-01 -3.78230112e-03 -5.74708472e+01] [-1.36025798e-02 2.73289424e-04 9.99907443e-01 -5.04340187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.34862385300005 meters Centerline goodness [0,1] 0.9998066761180564 Centerline is valid? [True, True] Translation: X:266.13, Y:-57.48, Z:-5.04 [[ 9.65363165e-01 2.60571893e-01 1.32758698e-02 2.66128562e+02] [-2.60543698e-01 9.65454415e-01 -3.84119466e-03 -5.74755958e+01] [-1.38181545e-02 2.49203623e-04 9.99904494e-01 -5.04373163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.378623853 meters Centerline goodness [0,1] 0.9999129299085764 Centerline is valid? [True, True] Translation: X:266.16, Y:-57.48, Z:-5.04 [[ 9.64871826e-01 2.62384340e-01 1.32972557e-02 2.66158331e+02] [-2.62356236e-01 9.64963423e-01 -3.84672973e-03 -5.74775111e+01] [-1.38406870e-02 2.22983189e-04 9.99904188e-01 -5.04377133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.408623853 meters Centerline goodness [0,1] 0.9998497789604704 Centerline is valid? [True, True] Translation: X:266.19, Y:-57.48, Z:-5.05 [[ 9.63677555e-01 2.66771257e-01 1.25963284e-02 2.66186398e+02] [-2.66746417e-01 9.63759863e-01 -3.64348679e-03 -5.74806734e+01] [-1.31118133e-02 1.51120970e-04 9.99914025e-01 -5.04677378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.438623853 meters Centerline goodness [0,1] 0.9999568984095513 Centerline is valid? [True, True] Translation: X:266.22, Y:-57.48, Z:-5.05 [[ 9.63130505e-01 2.68739795e-01 1.25918114e-02 2.66215871e+02] [-2.68715157e-01 9.63212805e-01 -3.64101976e-03 -5.74828242e+01] [-1.31070809e-02 1.23166607e-04 9.99914091e-01 -5.04607031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.468623853 meters Centerline goodness [0,1] 0.9999567052711332 Centerline is valid? [True, True] Translation: X:266.24, Y:-57.49, Z:-5.05 [[ 9.62644953e-01 2.70466116e-01 1.27582903e-02 2.66244319e+02] [-2.70440983e-01 9.62729489e-01 -3.68848497e-03 -5.74871849e+01] [-1.32803925e-02 1.00336882e-04 9.99911807e-01 -5.04622018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.498623853 meters Centerline goodness [0,1] 0.9999573287817367 Centerline is valid? [True, True] Translation: X:266.27, Y:-57.49, Z:-5.05 [[ 9.62216733e-01 2.71975520e-01 1.29721190e-02 2.66271861e+02] [-2.71949680e-01 9.62304167e-01 -3.74982508e-03 -5.74922028e+01] [-1.35029848e-02 8.03808145e-05 9.99908827e-01 -5.04691787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.528623853 meters Centerline goodness [0,1] 0.9999575479707931 Centerline is valid? [True, True] Translation: X:266.30, Y:-57.49, Z:-5.05 [[ 9.61576192e-01 2.74223859e-01 1.31340185e-02 2.66300355e+02] [-2.74197599e-01 9.61665884e-01 -3.79517147e-03 -5.74947800e+01] [-1.36712641e-02 4.80301758e-05 9.99906543e-01 -5.04721038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.55862385300003 meters Centerline goodness [0,1] 0.9999785158767671 Centerline is valid? [True, True] Translation: X:266.33, Y:-57.50, Z:-5.05 [[ 9.61370614e-01 2.74931634e-01 1.33843120e-02 2.66328781e+02] [-2.74904446e-01 9.61463777e-01 -3.86656508e-03 -5.75001488e+01] [-1.39315722e-02 3.77951742e-05 9.99902950e-01 -5.04675123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.588623853 meters Centerline goodness [0,1] 0.9999785926829791 Centerline is valid? [True, True] Translation: X:266.36, Y:-57.51, Z:-5.05 [[ 9.61254713e-01 2.75324900e-01 1.36226072e-02 2.66355409e+02] [-2.75296783e-01 9.61351236e-01 -3.93485185e-03 -5.75054503e+01] [-1.41794729e-02 3.21349683e-05 9.99899466e-01 -5.04762768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.61862385300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:266.38, Y:-57.51, Z:-5.05 [[ 9.61394696e-01 2.74833687e-01 1.36632015e-02 2.66382667e+02] [-2.74805371e-01 9.61491780e-01 -3.94528804e-03 -5.75131007e+01] [-1.42213540e-02 3.82578551e-05 9.99898871e-01 -5.04808808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.648623853 meters Centerline goodness [0,1] 0.9999786807657869 Centerline is valid? [True, True] Translation: X:266.41, Y:-57.52, Z:-5.05 [[ 9.61923127e-01 2.72976235e-01 1.37066884e-02 2.66408788e+02] [-2.72947566e-01 9.62020775e-01 -3.95672763e-03 -5.75234992e+01] [-1.42662116e-02 6.48605784e-05 9.99898230e-01 -5.04948057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.67862385300003 meters Centerline goodness [0,1] 0.9998935989104528 Centerline is valid? [True, True] Translation: X:266.44, Y:-57.53, Z:-5.05 [[ 9.62283205e-01 2.71712244e-01 1.35458768e-02 2.66436052e+02] [-2.71684130e-01 9.62378538e-01 -3.90939859e-03 -5.75330236e+01] [-1.40984925e-02 8.17488547e-05 9.99900608e-01 -5.04962199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.708623853 meters Centerline goodness [0,1] 0.9999786662115459 Centerline is valid? [True, True] Translation: X:266.46, Y:-57.54, Z:-5.05 [[ 9.62678471e-01 2.70314177e-01 1.34315593e-02 2.66463472e+02] [-2.70286409e-01 9.62772162e-01 -3.87573270e-03 -5.75424949e+01] [-1.39791969e-02 1.00716506e-04 9.99902281e-01 -5.05036241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.73862385300004 meters Centerline goodness [0,1] 0.9999569503637694 Centerline is valid? [True, True] Translation: X:266.49, Y:-57.55, Z:-5.05 [[ 9.63051046e-01 2.68979303e-01 1.35210076e-02 2.66489790e+02] [-2.68951039e-01 9.63145950e-01 -3.90104418e-03 -5.75526048e+01] [-1.40720038e-02 1.20415647e-04 9.99900977e-01 -5.05142430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.768623853 meters Centerline goodness [0,1] 0.9999578867574909 Centerline is valid? [True, True] Translation: X:266.52, Y:-57.56, Z:-5.05 [[ 9.63793212e-01 2.66288967e-01 1.38863570e-02 2.66516506e+02] [-2.66258898e-01 9.63893230e-01 -4.00494336e-03 -5.75642153e+01] [-1.44514377e-02 1.62571129e-04 9.99895559e-01 -5.05074481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.79862385300004 meters Centerline goodness [0,1] 0.9999362285568523 Centerline is valid? [True, True] Translation: X:266.54, Y:-57.57, Z:-5.05 [[ 9.64159809e-01 2.64947521e-01 1.40951956e-02 2.66543741e+02] [-2.64916407e-01 9.64262815e-01 -4.06447973e-03 -5.75734409e+01] [-1.46683469e-02 1.84759408e-04 9.99892397e-01 -5.05057221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.828623853 meters Centerline goodness [0,1] 0.9999361525528337 Centerline is valid? [True, True] Translation: X:266.57, Y:-57.58, Z:-5.05 [[ 9.64445848e-01 2.63903922e-01 1.41041393e-02 2.66571053e+02] [-2.63872668e-01 9.64548951e-01 -4.06635748e-03 -5.75827641e+01] [-1.46772605e-02 2.00084707e-04 9.99892263e-01 -5.05077912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.85862385300004 meters Centerline goodness [0,1] 0.9998273107973924 Centerline is valid? [True, True] Translation: X:266.60, Y:-57.59, Z:-5.05 [[ 9.64757168e-01 2.62777221e-01 1.38470086e-02 2.66597002e+02] [-2.62746988e-01 9.64856511e-01 -3.99160641e-03 -5.75926891e+01] [-1.44092797e-02 2.12671082e-04 9.99896158e-01 -5.05244021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.888623853 meters Centerline goodness [0,1] 0.9998934878469633 Centerline is valid? [True, True] Translation: X:266.62, Y:-57.60, Z:-5.05 [[ 9.64823485e-01 2.62547794e-01 1.35756747e-02 2.66624314e+02] [-2.62518725e-01 9.64918966e-01 -3.91252685e-03 -5.76013283e+01] [-1.41266512e-02 2.11028991e-04 9.99900192e-01 -5.05358719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.91862385300004 meters Centerline goodness [0,1] 0.9999788377703475 Centerline is valid? [True, True] Translation: X:266.65, Y:-57.61, Z:-5.06 [[ 9.64727757e-01 2.62937576e-01 1.28135223e-02 2.66652354e+02] [-2.62911721e-01 9.64812828e-01 -3.69229906e-03 -5.76087500e+01] [-1.33334949e-02 1.93238183e-04 9.99911086e-01 -5.05572726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.948623853 meters Centerline goodness [0,1] 0.9999146156637565 Centerline is valid? [True, True] Translation: X:266.68, Y:-57.62, Z:-5.06 [[ 9.64686719e-01 2.63113702e-01 1.22765919e-02 2.66678213e+02] [-2.63089987e-01 9.64764814e-01 -3.53722771e-03 -5.76156474e+01] [-1.27747170e-02 1.82468195e-04 9.99918383e-01 -5.05716752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.97862385300004 meters Centerline goodness [0,1] 0.9999570677256627 Centerline is valid? [True, True] Translation: X:266.71, Y:-57.62, Z:-5.06 [[ 9.64553769e-01 2.63627894e-01 1.16773558e-02 2.66705842e+02] [-2.63606490e-01 9.64624438e-01 -3.36342583e-03 -5.76225257e+01] [-1.21509557e-02 1.65978283e-04 9.99926161e-01 -5.05871556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.008623853 meters Centerline goodness [0,1] 0.9998703571660077 Centerline is valid? [True, True] Translation: X:266.73, Y:-57.63, Z:-5.06 [[ 9.64455646e-01 2.63991928e-01 1.15572035e-02 2.66734130e+02] [-2.63970994e-01 9.64524876e-01 -3.32826631e-03 -5.76300144e+01] [-1.20258457e-02 1.59198735e-04 9.99927674e-01 -5.05948911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.03862385300005 meters Centerline goodness [0,1] 0.9999141501942352 Centerline is valid? [True, True] Translation: X:266.76, Y:-57.64, Z:-5.06 [[ 9.64343545e-01 2.64410494e-01 1.13409949e-02 2.66760611e+02] [-2.64390371e-01 9.64410218e-01 -3.26554561e-03 -5.76368611e+01] [-1.18008159e-02 1.50657979e-04 9.99930357e-01 -5.06036617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.068623853 meters Centerline goodness [0,1] 0.9999140394988503 Centerline is valid? [True, True] Translation: X:266.79, Y:-57.64, Z:-5.06 [[ 9.64247350e-01 2.64751362e-01 1.15656888e-02 2.66789651e+02] [-2.64730468e-01 9.64316698e-01 -3.32946676e-03 -5.76417807e+01] [-1.20344677e-02 1.48639282e-04 9.99927572e-01 -5.05863915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.09862385300005 meters Centerline goodness [0,1] 0.9999356623560445 Centerline is valid? [True, True] Translation: X:266.82, Y:-57.65, Z:-5.06 [[ 9.63984460e-01 2.65653492e-01 1.27351338e-02 2.66815504e+02] [-2.65628246e-01 9.64068566e-01 -3.66542620e-03 -5.76519020e+01] [-1.32512755e-02 1.50602624e-04 9.99912187e-01 -5.05884845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.128623853 meters Centerline goodness [0,1] 0.9998064224722001 Centerline is valid? [True, True] Translation: X:266.84, Y:-57.66, Z:-5.05 [[ 9.63950313e-01 2.65785434e-01 1.25656851e-02 2.66843858e+02] [-2.65760877e-01 9.64032199e-01 -3.61592077e-03 -5.76564242e+01] [-1.30747842e-02 1.46100464e-04 9.99914511e-01 -5.05002405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.158623853 meters Centerline goodness [0,1] 0.9999786146575137 Centerline is valid? [True, True] Translation: X:266.87, Y:-57.66, Z:-5.06 [[ 9.63540794e-01 2.67219492e-01 1.35233854e-02 2.66870982e+02] [-2.67191206e-01 9.63635681e-01 -3.89029743e-03 -5.76634963e+01] [-1.40711800e-02 1.35130627e-04 9.99900987e-01 -5.05684831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.188623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:266.90, Y:-57.67, Z:-5.06 [[ 9.63329702e-01 2.67979553e-01 1.35219776e-02 2.66898267e+02] [-2.67951361e-01 9.63424592e-01 -3.88902242e-03 -5.76710010e+01] [-1.40695842e-02 1.23178519e-04 9.99901011e-01 -5.05760399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.218623853 meters Centerline goodness [0,1] 0.9999569781448976 Centerline is valid? [True, True] Translation: X:266.93, Y:-57.68, Z:-5.06 [[ 9.63102770e-01 2.68796993e-01 1.34621945e-02 2.66926692e+02] [-2.68769142e-01 9.63196846e-01 -3.87092875e-03 -5.76776967e+01] [-1.40072373e-02 1.09879731e-04 9.99901888e-01 -5.05836352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.248623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:266.96, Y:-57.68, Z:-5.06 [[ 9.62787685e-01 2.69933305e-01 1.32621403e-02 2.66955331e+02] [-2.69906392e-01 9.62879018e-01 -3.81274491e-03 -5.76837106e+01] [-1.37990235e-02 9.13274006e-05 9.99904785e-01 -5.05863355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.278623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:266.98, Y:-57.69, Z:-5.06 [[ 9.62057221e-01 2.72520539e-01 1.33588563e-02 2.66984915e+02] [-2.72493491e-01 9.62149964e-01 -3.83981230e-03 -5.76867906e+01] [-1.38996508e-02 5.39177713e-05 9.99903394e-01 -5.05850147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.30862385300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:267.01, Y:-57.69, Z:-5.06 [[ 9.61727838e-01 2.73692409e-01 1.31160337e-02 2.67011170e+02] [-2.73666448e-01 9.61817272e-01 -3.76977527e-03 -5.76916395e+01] [-1.36469866e-02 3.60794650e-05 9.99906875e-01 -5.05942068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.338623853 meters Centerline goodness [0,1] 0.9999569910971571 Centerline is valid? [True, True] Translation: X:267.04, Y:-57.69, Z:-5.06 [[ 9.60902288e-01 2.76574588e-01 1.31639594e-02 2.67040312e+02] [-2.76548727e-01 9.60992454e-01 -3.78216579e-03 -5.76934359e+01] [-1.36965166e-02 -6.18443448e-06 9.99906198e-01 -5.05962094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.36862385300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:267.07, Y:-57.70, Z:-5.06 [[ 9.60564964e-01 2.77731622e-01 1.34199986e-02 2.67067188e+02] [-2.77704865e-01 9.60658704e-01 -3.85519609e-03 -5.76981504e+01] [-1.39627484e-02 -2.36326142e-05 9.99902516e-01 -5.06002494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.398623853 meters Centerline goodness [0,1] 0.9999357876712329 Centerline is valid? [True, True] Translation: X:267.10, Y:-57.70, Z:-5.06 [[ 9.59985696e-01 2.79727574e-01 1.34144562e-02 2.67095155e+02] [-2.79701052e-01 9.60079414e-01 -3.85227558e-03 -5.77007607e+01] [-1.39565310e-02 -5.39080709e-05 9.99902601e-01 -5.06094477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.42862385300003 meters Centerline goodness [0,1] 0.9998932695796956 Centerline is valid? [True, True] Translation: X:267.12, Y:-57.71, Z:-5.06 [[ 9.59739319e-01 2.80571814e-01 1.34125697e-02 2.67122803e+02] [-2.80545394e-01 9.59833034e-01 -3.85088087e-03 -5.77056953e+01] [-1.39542761e-02 -6.69928761e-05 9.99902632e-01 -5.06222596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.458623853 meters Centerline goodness [0,1] 0.9998926255207662 Centerline is valid? [True, True] Translation: X:267.15, Y:-57.71, Z:-5.06 [[ 9.59567686e-01 2.81173336e-01 1.30924243e-02 2.67150280e+02] [-2.81148229e-01 9.59656996e-01 -3.75815695e-03 -5.77101035e+01] [-1.36209301e-02 -7.47059241e-05 9.99907228e-01 -5.06413774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.48862385300004 meters Centerline goodness [0,1] 0.9998940363667189 Centerline is valid? [True, True] Translation: X:267.18, Y:-57.71, Z:-5.07 [[ 9.59297625e-01 2.82111189e-01 1.27021221e-02 2.67178817e+02] [-2.82087642e-01 9.59381712e-01 -3.64590531e-03 -5.77137038e+01] [-1.32147343e-02 -8.56033711e-05 9.99912678e-01 -5.06566255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.518623853 meters Centerline goodness [0,1] 0.9998926116838488 Centerline is valid? [True, True] Translation: X:267.21, Y:-57.72, Z:-5.06 [[ 9.59250948e-01 2.82277807e-01 1.25243318e-02 2.67205996e+02] [-2.82254952e-01 9.59332701e-01 -3.59312372e-03 -5.77209660e+01] [-1.30292601e-02 -8.83473223e-05 9.99915112e-01 -5.06494140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.54862385300004 meters Centerline goodness [0,1] 0.999786966617669 Centerline is valid? [True, True] Translation: X:267.23, Y:-57.72, Z:-5.07 [[ 9.59208495e-01 2.82424602e-01 1.24662268e-02 2.67233088e+02] [-2.82402011e-01 9.59289495e-01 -3.57328183e-03 -5.77248254e+01] [-1.29679031e-02 -9.29652397e-05 9.99915909e-01 -5.06672150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.578623853 meters Centerline goodness [0,1] 0.9998496918683301 Centerline is valid? [True, True] Translation: X:267.26, Y:-57.73, Z:-5.07 [[ 9.59307655e-01 2.82089121e-01 1.24318853e-02 2.67260211e+02] [-2.82066632e-01 9.59388201e-01 -3.56298303e-03 -5.77316328e+01] [-1.29320828e-02 -8.86231301e-05 9.99916373e-01 -5.06628796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.60862385300004 meters Centerline goodness [0,1] 0.9998709122203098 Centerline is valid? [True, True] Translation: X:267.29, Y:-57.74, Z:-5.07 [[ 9.59599564e-01 2.81086519e-01 1.26112960e-02 2.67288162e+02] [-2.81063324e-01 9.59682428e-01 -3.61180076e-03 -5.77373381e+01] [-1.31180677e-02 -7.86903505e-05 9.99913951e-01 -5.06691377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.638623853 meters Centerline goodness [0,1] 0.9999360081909515 Centerline is valid? [True, True] Translation: X:267.31, Y:-57.75, Z:-5.07 [[ 9.59919567e-01 2.79998485e-01 1.24608962e-02 2.67314966e+02] [-2.79975781e-01 9.60000440e-01 -3.56620919e-03 -5.77450181e+01] [-1.29609990e-02 -6.54751682e-05 9.99916001e-01 -5.06762648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.66862385300004 meters Centerline goodness [0,1] 0.9999783965953034 Centerline is valid? [True, True] Translation: X:267.34, Y:-57.75, Z:-5.07 [[ 9.60321321e-01 2.78609871e-01 1.26293571e-02 2.67341996e+02] [-2.78586474e-01 9.60404361e-01 -3.61097283e-03 -5.77540140e+01] [-1.31353424e-02 -5.06738885e-05 9.99913726e-01 -5.06760944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.698623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:267.37, Y:-57.76, Z:-5.07 [[ 9.61503638e-01 2.74518819e-01 1.22545008e-02 2.67367357e+02] [-2.74496459e-01 9.61581727e-01 -3.50370330e-03 -5.77645344e+01] [-1.27455365e-02 5.00639905e-06 9.99918772e-01 -5.06846131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.72862385300004 meters Centerline goodness [0,1] 0.9999566780747736 Centerline is valid? [True, True] Translation: X:267.39, Y:-57.77, Z:-5.07 [[ 9.62190440e-01 2.72111210e-01 1.20435321e-02 2.67394129e+02] [-2.72089453e-01 9.62265809e-01 -3.44115547e-03 -5.77748956e+01] [-1.25254562e-02 3.41288270e-05 9.99921553e-01 -5.07015950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.758623853 meters Centerline goodness [0,1] 0.9999570114349583 Centerline is valid? [True, True] Translation: X:267.42, Y:-57.79, Z:-5.07 [[ 9.63800794e-01 2.66345575e-01 1.21681425e-02 2.67418884e+02] [-2.66322909e-01 9.63877597e-01 -3.47638487e-03 -5.77896274e+01] [-1.26545197e-02 1.09887377e-04 9.99919922e-01 -5.06685338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.78862385300005 meters Centerline goodness [0,1] 0.999935952177626 Centerline is valid? [True, True] Translation: X:267.45, Y:-57.80, Z:-5.07 [[ 9.64561226e-01 2.63571697e-01 1.23126513e-02 2.67445747e+02] [-2.63548283e-01 9.64639797e-01 -3.51620117e-03 -5.78018598e+01] [-1.28040446e-02 1.46613190e-04 9.99918014e-01 -5.07072596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.818623853 meters Centerline goodness [0,1] 0.999957179865973 Centerline is valid? [True, True] Translation: X:267.47, Y:-57.81, Z:-5.07 [[ 9.65248465e-01 2.61043856e-01 1.23088046e-02 2.67471094e+02] [-2.61020258e-01 9.65326925e-01 -3.51454496e-03 -5.78137115e+01] [-1.27994708e-02 1.79561784e-04 9.99918067e-01 -5.07140259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.84862385300005 meters Centerline goodness [0,1] 0.9998507271719197 Centerline is valid? [True, True] Translation: X:267.50, Y:-57.83, Z:-5.07 [[ 9.65878430e-01 2.58695002e-01 1.24801561e-02 2.67496609e+02] [-2.58670554e-01 9.65959032e-01 -3.56283522e-03 -5.78269621e+01] [-1.29770071e-02 2.13016805e-04 9.99915772e-01 -5.07241869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.878623853 meters Centerline goodness [0,1] 0.999914337723525 Centerline is valid? [True, True] Translation: X:267.52, Y:-57.84, Z:-5.07 [[ 9.66922166e-01 2.54750140e-01 1.28019979e-02 2.67523080e+02] [-2.54724089e-01 9.67006873e-01 -3.65318660e-03 -5.78402014e+01] [-1.33102697e-02 2.71369851e-04 9.99911378e-01 -5.07151799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.908623853 meters Centerline goodness [0,1] 0.999914337723525 Centerline is valid? [True, True] Translation: X:267.55, Y:-57.85, Z:-5.07 [[ 9.66939774e-01 2.54683294e-01 1.28020731e-02 2.67549561e+02] [-2.54657241e-01 9.67024480e-01 -3.65292294e-03 -5.78476179e+01] [-1.33102566e-02 2.72015861e-04 9.99911378e-01 -5.07203396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.938623853 meters Centerline goodness [0,1] 0.9997842130249018 Centerline is valid? [True, True] Translation: X:267.58, Y:-57.86, Z:-5.07 [[ 9.67393105e-01 2.52965472e-01 1.26114881e-02 2.67576386e+02] [-2.52940057e-01 9.67475264e-01 -3.59748241e-03 -5.78586956e+01] [-1.31113416e-02 2.90229157e-04 9.99914001e-01 -5.07309232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.968623853 meters Centerline goodness [0,1] 0.9997880098363436 Centerline is valid? [True, True] Translation: X:267.60, Y:-57.87, Z:-5.07 [[ 9.68058011e-01 2.50433019e-01 1.21239306e-02 2.67603134e+02] [-2.50409341e-01 9.68133878e-01 -3.45768995e-03 -5.78725602e+01] [-1.26035077e-02 3.11298982e-04 9.99920524e-01 -5.07431106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.998623853 meters Centerline goodness [0,1] 0.9998273368873157 Centerline is valid? [True, True] Translation: X:267.63, Y:-57.88, Z:-5.07 [[ 9.68258150e-01 2.49654839e-01 1.21908435e-02 2.67631286e+02] [-2.49630839e-01 9.68334837e-01 -3.47662962e-03 -5.78791842e+01] [-1.26727759e-02 3.23064461e-04 9.99919645e-01 -5.07401903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.028623853 meters Centerline goodness [0,1] 0.9998274448902118 Centerline is valid? [True, True] Translation: X:267.66, Y:-57.89, Z:-5.07 [[ 9.68443143e-01 2.48948838e-01 1.19312856e-02 2.67657644e+02] [-2.48925804e-01 9.68516583e-01 -3.40200798e-03 -5.78902804e+01] [-1.24025739e-02 3.24646450e-04 9.99923032e-01 -5.07490702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.05862385300003 meters Centerline goodness [0,1] 0.9995066389240439 Centerline is valid? [True, True] Translation: X:267.68, Y:-57.90, Z:-5.07 [[ 9.68490095e-01 2.48801676e-01 1.11652459e-02 2.67683118e+02] [-2.48781500e-01 9.68554404e-01 -3.18315159e-03 -5.79029697e+01] [-1.16061215e-02 3.05144167e-04 9.99932600e-01 -5.07141971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.088623853 meters Centerline goodness [0,1] 0.9998926946519014 Centerline is valid? [True, True] Translation: X:267.71, Y:-57.91, Z:-5.08 [[ 9.68317705e-01 2.49470709e-01 1.11887206e-02 2.67710330e+02] [-2.49450502e-01 9.68382299e-01 -3.18900219e-03 -5.79115727e+01] [-1.16305216e-02 2.96935308e-04 9.99932319e-01 -5.07870146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.11862385300003 meters Centerline goodness [0,1] 0.9996516438057914 Centerline is valid? [True, True] Translation: X:267.74, Y:-57.91, Z:-5.07 [[ 9.68228950e-01 2.49834550e-01 1.07423867e-02 2.67740106e+02] [-2.49815951e-01 9.68288500e-01 -3.06133506e-03 -5.79130172e+01] [-1.11665568e-02 2.80453678e-04 9.99937613e-01 -5.06957676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.148623853 meters Centerline goodness [0,1] 0.999614238871863 Centerline is valid? [True, True] Translation: X:267.77, Y:-57.92, Z:-5.07 [[ 9.67563135e-01 2.52401714e-01 1.07217224e-02 2.67766978e+02] [-2.52383350e-01 9.67622505e-01 -3.05487801e-03 -5.79219449e+01] [-1.11456364e-02 2.49803119e-04 9.99937854e-01 -5.06960041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.17862385300003 meters Centerline goodness [0,1] 0.9999353141575748 Centerline is valid? [True, True] Translation: X:267.80, Y:-57.93, Z:-5.08 [[ 9.67036577e-01 2.54363064e-01 1.18190323e-02 2.67795722e+02] [-2.54340905e-01 9.67108768e-01 -3.36672042e-03 -5.79278729e+01] [-1.22866591e-02 2.49678412e-04 9.99924485e-01 -5.07735765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.208623853 meters Centerline goodness [0,1] 0.9999571211114208 Centerline is valid? [True, True] Translation: X:267.82, Y:-57.93, Z:-5.08 [[ 9.65730490e-01 2.59223443e-01 1.29548030e-02 2.67824780e+02] [-2.59197266e-01 9.65817356e-01 -3.68960361e-03 -5.79328839e+01] [-1.34684054e-02 2.05313180e-04 9.99909276e-01 -5.07669886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.23862385300004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:267.85, Y:-57.94, Z:-5.08 [[ 9.65054589e-01 2.61728445e-01 1.29560940e-02 2.67854428e+02] [-2.61702488e-01 9.65141540e-01 -3.68998156e-03 -5.79361975e+01] [-1.34702377e-02 1.70391598e-04 9.99909258e-01 -5.07629756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.268623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:267.88, Y:-57.94, Z:-5.08 [[ 9.64293380e-01 2.64531029e-01 1.27126971e-02 2.67881596e+02] [-2.64506297e-01 9.64377166e-01 -3.61945362e-03 -5.79410020e+01] [-1.32172926e-02 1.27626713e-04 9.99912640e-01 -5.07754414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.29862385300004 meters Centerline goodness [0,1] 0.9998926301322797 Centerline is valid? [True, True] Translation: X:267.91, Y:-57.94, Z:-5.07 [[ 9.62949910e-01 2.69407985e-01 1.21164511e-02 2.67911645e+02] [-2.69385920e-01 9.63026134e-01 -3.44846366e-03 -5.79413445e+01] [-1.25975027e-02 5.66964358e-05 9.99920647e-01 -5.07138943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.328623853 meters Centerline goodness [0,1] 0.9999569244023261 Centerline is valid? [True, True] Translation: X:267.94, Y:-57.95, Z:-5.08 [[ 9.62310849e-01 2.71691965e-01 1.18872396e-02 2.67939094e+02] [-2.71670908e-01 9.62384266e-01 -3.38270971e-03 -5.79464916e+01] [-1.23591474e-02 2.58010826e-05 9.99923622e-01 -5.07695512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.35862385300004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:267.97, Y:-57.95, Z:-5.08 [[ 9.61624434e-01 2.74113958e-01 1.18315457e-02 2.67966895e+02] [-2.74093280e-01 9.61697217e-01 -3.36687538e-03 -5.79505096e+01] [-1.23012721e-02 -5.27754319e-06 9.99924336e-01 -5.08351463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.388623853 meters Centerline goodness [0,1] 0.9999137875293661 Centerline is valid? [True, True] Translation: X:268.00, Y:-57.95, Z:-5.08 [[ 9.60564081e-01 2.77801980e-01 1.19459792e-02 2.67995885e+02] [-2.77781223e-01 9.60638359e-01 -3.39637221e-03 -5.79515030e+01] [-1.24192848e-02 -5.59355799e-05 9.99922876e-01 -5.08418844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.41862385300004 meters Centerline goodness [0,1] 0.9998927958833619 Centerline is valid? [True, True] Translation: X:268.02, Y:-57.96, Z:-5.08 [[ 9.60138075e-01 2.79264084e-01 1.21016336e-02 2.68024214e+02] [-2.79242899e-01 9.60214333e-01 -3.44052808e-03 -5.79560616e+01] [-1.25809780e-02 -7.59132599e-05 9.99920853e-01 -5.08443176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.448623853 meters Centerline goodness [0,1] 0.9999566405064388 Centerline is valid? [True, True] Translation: X:268.05, Y:-57.96, Z:-5.08 [[ 9.59634274e-01 2.80971481e-01 1.25334191e-02 2.68052054e+02] [-2.80948930e-01 9.59716112e-01 -3.56126112e-03 -5.79624531e+01] [-1.30291371e-02 -1.03742456e-04 9.99915112e-01 -5.08228464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.47862385300004 meters Centerline goodness [0,1] 0.9998934969220611 Centerline is valid? [True, True] Translation: X:268.08, Y:-57.97, Z:-5.09 [[ 9.59539232e-01 2.81299640e-01 1.24489131e-02 2.68079884e+02] [-2.81277458e-01 9.59619977e-01 -3.53429852e-03 -5.79658999e+01] [-1.29404226e-02 -1.10300535e-04 9.99916263e-01 -5.08515429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.508623853 meters Centerline goodness [0,1] 0.9997423787033062 Centerline is valid? [True, True] Translation: X:268.11, Y:-57.98, Z:-5.08 [[ 9.59635987e-01 2.80944225e-01 1.30044251e-02 2.68106550e+02] [-2.80919999e-01 9.59724091e-01 -3.69103175e-03 -5.79764617e+01] [-1.35176341e-02 -1.11156187e-04 9.99908626e-01 -5.08286582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.53862385300005 meters Centerline goodness [0,1] 0.9997855503849371 Centerline is valid? [True, True] Translation: X:268.13, Y:-57.98, Z:-5.08 [[ 9.59727038e-01 2.80624213e-01 1.31933150e-02 2.68133004e+02] [-2.80599256e-01 9.59817711e-01 -3.74413609e-03 -5.79834704e+01] [-1.37138727e-02 -1.08685743e-04 9.99905955e-01 -5.08240499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.568623853 meters Centerline goodness [0,1] 0.9995750196553409 Centerline is valid? [True, True] Translation: X:268.16, Y:-57.99, Z:-5.08 [[ 9.59850679e-01 2.80195468e-01 1.33106421e-02 2.68160537e+02] [-2.80170042e-01 9.59942961e-01 -3.77610197e-03 -5.79877182e+01] [-1.38355039e-02 -1.04749121e-04 9.99904279e-01 -5.08460728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.59862385300005 meters Centerline goodness [0,1] 0.9998061389337641 Centerline is valid? [True, True] Translation: X:268.19, Y:-58.00, Z:-5.08 [[ 9.60215069e-01 2.78944036e-01 1.33133954e-02 2.68188213e+02] [-2.78918483e-01 9.60307356e-01 -3.77654370e-03 -5.79977824e+01] [-1.38383958e-02 -8.70578692e-05 9.99904241e-01 -5.08293468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.628623853 meters Centerline goodness [0,1] 0.9999572567374068 Centerline is valid? [True, True] Translation: X:268.21, Y:-58.00, Z:-5.08 [[ 9.60379829e-01 2.78382609e-01 1.31797697e-02 2.68213993e+02] [-2.78357550e-01 9.60470258e-01 -3.73601730e-03 -5.80042958e+01] [-1.36988191e-02 -8.06927547e-05 9.99906164e-01 -5.08431187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.658623853 meters Centerline goodness [0,1] 0.9998718030895456 Centerline is valid? [True, True] Translation: X:268.24, Y:-58.01, Z:-5.08 [[ 9.60814933e-01 2.76871079e-01 1.33067738e-02 2.68241658e+02] [-2.76845410e-01 9.60907072e-01 -3.77057917e-03 -5.80133314e+01] [-1.38305373e-02 -6.10904648e-05 9.99904352e-01 -5.08480981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.688623853 meters Centerline goodness [0,1] 0.9996565049377415 Centerline is valid? [True, True] Translation: X:268.27, Y:-58.02, Z:-5.08 [[ 9.61129140e-01 2.75796031e-01 1.29354433e-02 2.68268822e+02] [-2.75771683e-01 9.61216181e-01 -3.66486154e-03 -5.80209481e+01] [-1.34445117e-02 -4.48237461e-05 9.99909617e-01 -5.07613827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.718623853 meters Centerline goodness [0,1] 0.9999568695952211 Centerline is valid? [True, True] Translation: X:268.29, Y:-58.03, Z:-5.09 [[ 9.61393565e-01 2.74831249e-01 1.37911975e-02 2.68294946e+02] [-2.74803492e-01 9.61492477e-01 -3.90608975e-03 -5.80294357e+01] [-1.43336481e-02 -3.45796740e-05 9.99897267e-01 -5.08539324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.748623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:268.32, Y:-58.04, Z:-5.08 [[ 9.61720466e-01 2.73690378e-01 1.36865611e-02 2.68321273e+02] [-2.73662937e-01 9.61817850e-01 -3.87563256e-03 -5.80374977e+01] [-1.42247021e-02 -1.82293510e-05 9.99898824e-01 -5.08476238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.778623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:268.35, Y:-58.05, Z:-5.08 [[ 9.62566073e-01 2.70677483e-01 1.41511923e-02 2.68348302e+02] [-2.70647837e-01 9.62670089e-01 -4.00604970e-03 -5.80464893e+01] [-1.47072770e-02 2.60979336e-05 9.99891842e-01 -5.08465755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.80862385300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:268.37, Y:-58.06, Z:-5.09 [[ 9.63041643e-01 2.68974180e-01 1.42718219e-02 2.68374468e+02] [-2.68943857e-01 9.63147386e-01 -4.03901774e-03 -5.80561150e+01] [-1.48322594e-02 5.14234638e-05 9.99889995e-01 -5.08514777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.838623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:268.40, Y:-58.07, Z:-5.09 [[ 9.64044704e-01 2.65369130e-01 1.40368835e-02 2.68400680e+02] [-2.65339429e-01 9.64146884e-01 -3.97158579e-03 -5.80690741e+01] [-1.45875537e-02 1.04247610e-04 9.99893591e-01 -5.08633087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.86862385300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:268.43, Y:-58.08, Z:-5.09 [[ 9.64517259e-01 2.63661893e-01 1.37427456e-02 2.68426472e+02] [-2.63633257e-01 9.64615151e-01 -3.88784194e-03 -5.80795069e+01] [-1.42815364e-02 1.26845877e-04 9.99898006e-01 -5.08766966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.898623853 meters Centerline goodness [0,1] 0.999956539690128 Centerline is valid? [True, True] Translation: X:268.45, Y:-58.09, Z:-5.09 [[ 9.64848736e-01 2.62443722e-01 1.37916307e-02 2.68453625e+02] [-2.62414780e-01 9.64947290e-01 -3.90014107e-03 -5.80881524e+01] [-1.43317642e-02 1.43918458e-04 9.99897285e-01 -5.08803227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.92862385300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:268.48, Y:-58.10, Z:-5.09 [[ 9.65204282e-01 2.61130249e-01 1.38450842e-02 2.68479870e+02] [-2.61100957e-01 9.65303562e-01 -3.91458911e-03 -5.80972108e+01] [-1.43869267e-02 1.63413453e-04 9.99896489e-01 -5.08875736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.958623853 meters Centerline goodness [0,1] 0.9995285343848446 Centerline is valid? [True, True] Translation: X:268.51, Y:-58.10, Z:-5.08 [[ 9.65297385e-01 2.60832911e-01 1.29287247e-02 2.68508412e+02] [-2.60807352e-01 9.65383949e-01 -3.65466837e-03 -5.81026461e+01] [-1.34344411e-02 1.55935361e-04 9.99909742e-01 -5.08133592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.98862385300004 meters Centerline goodness [0,1] 0.9998706924419732 Centerline is valid? [True, True] Translation: X:268.54, Y:-58.11, Z:-5.09 [[ 9.65163760e-01 2.61302855e-01 1.34064970e-02 2.68536239e+02] [-2.61275428e-01 9.65256854e-01 -3.78901925e-03 -5.81090936e+01] [-1.39307947e-02 1.54235825e-04 9.99902950e-01 -5.09056776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.018623853 meters Centerline goodness [0,1] 0.9999568435362406 Centerline is valid? [True, True] Translation: X:268.56, Y:-58.12, Z:-5.09 [[ 9.64909543e-01 2.62265838e-01 1.28920431e-02 2.68562866e+02] [-2.62240568e-01 9.64995654e-01 -3.64305906e-03 -5.81153937e+01] [-1.33962155e-02 1.34405751e-04 9.99910258e-01 -5.09279266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.04862385300004 meters Centerline goodness [0,1] 0.9999359398688903 Centerline is valid? [True, True] Translation: X:268.59, Y:-58.12, Z:-5.09 [[ 9.64783903e-01 2.62725362e-01 1.29385129e-02 2.68591203e+02] [-2.62699964e-01 9.64870648e-01 -3.65528766e-03 -5.81217052e+01] [-1.34443281e-02 1.27615831e-04 9.99909613e-01 -5.09289614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.078623853 meters Centerline goodness [0,1] 0.9996344872070523 Centerline is valid? [True, True] Translation: X:268.62, Y:-58.13, Z:-5.09 [[ 9.64558153e-01 2.63543297e-01 1.31339016e-02 2.68619915e+02] [-2.63517211e-01 9.64647561e-01 -3.70982726e-03 -5.81259246e+01] [-1.36472863e-02 1.17335001e-04 9.99906865e-01 -5.09258689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.10862385300004 meters Centerline goodness [0,1] 0.9997239563426339 Centerline is valid? [True, True] Translation: X:268.65, Y:-58.13, Z:-5.09 [[ 9.64522241e-01 2.63666762e-01 1.32922650e-02 2.68646441e+02] [-2.63640059e-01 9.64613822e-01 -3.75428685e-03 -5.81319979e+01] [-1.38117832e-02 1.16719643e-04 9.99904606e-01 -5.09282598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.138623853 meters Centerline goodness [0,1] 0.9997842735411498 Centerline is valid? [True, True] Translation: X:268.67, Y:-58.14, Z:-5.09 [[ 9.64482821e-01 2.63781784e-01 1.38584986e-02 2.68673928e+02] [-2.63752803e-01 9.64582374e-01 -3.91185453e-03 -5.81386919e+01] [-1.43995394e-02 1.17698646e-04 9.99896314e-01 -5.09318435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.16862385300004 meters Centerline goodness [0,1] 0.9998277087416277 Centerline is valid? [True, True] Translation: X:268.70, Y:-58.15, Z:-5.09 [[ 9.64586667e-01 2.63382779e-01 1.42152646e-02 2.68701620e+02] [-2.63352256e-01 9.64691399e-01 -4.01168750e-03 -5.81450586e+01] [-1.47699529e-02 1.25998262e-04 9.99890910e-01 -5.09277385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.198623853 meters Centerline goodness [0,1] 0.9999353364659224 Centerline is valid? [True, True] Translation: X:268.73, Y:-58.15, Z:-5.09 [[ 9.64736102e-01 2.62835288e-01 1.42079486e-02 2.68729589e+02] [-2.62804754e-01 9.64840709e-01 -4.00845416e-03 -5.81531553e+01] [-1.47619704e-02 1.33184006e-04 9.99891027e-01 -5.09331137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.22862385300004 meters Centerline goodness [0,1] 0.9998280974687352 Centerline is valid? [True, True] Translation: X:268.76, Y:-58.16, Z:-5.09 [[ 9.65172081e-01 2.61247622e-01 1.38756528e-02 2.68756752e+02] [-2.61218346e-01 9.65271804e-01 -3.91402779e-03 -5.81622769e+01] [-1.44163069e-02 1.53135267e-04 9.99896068e-01 -5.09461000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.258623853 meters Centerline goodness [0,1] 0.9998913657497936 Centerline is valid? [True, True] Translation: X:268.78, Y:-58.17, Z:-5.10 [[ 9.65477975e-01 2.60102389e-01 1.41076924e-02 2.68782945e+02] [-2.60072012e-01 9.65581026e-01 -3.97878510e-03 -5.81713263e+01] [-1.46570116e-02 1.72413434e-04 9.99892565e-01 -5.09538199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.28862385300005 meters Centerline goodness [0,1] 0.9998715340969918 Centerline is valid? [True, True] Translation: X:268.81, Y:-58.18, Z:-5.10 [[ 9.65743074e-01 2.59117825e-01 1.40807835e-02 2.68808868e+02] [-2.59087473e-01 9.65845701e-01 -3.97028816e-03 -5.81807622e+01] [-1.46286367e-02 1.86123659e-04 9.99892978e-01 -5.09584882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.318623853 meters Centerline goodness [0,1] 0.9998708788843935 Centerline is valid? [True, True] Translation: X:268.84, Y:-58.19, Z:-5.09 [[ 9.66316845e-01 2.56921283e-01 1.49402041e-02 2.68835447e+02] [-2.56886864e-01 9.66432305e-01 -4.21169311e-03 -5.81909357e+01] [-1.55207694e-02 2.31887823e-04 9.99879519e-01 -5.09484637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.34862385300005 meters Centerline goodness [0,1] 0.9999136460784526 Centerline is valid? [True, True] Translation: X:268.86, Y:-58.20, Z:-5.09 [[ 9.66631850e-01 2.55726043e-01 1.50684574e-02 2.68863193e+02] [-2.55690910e-01 9.66749258e-01 -4.24629703e-03 -5.81987737e+01] [-1.56533088e-02 2.51738364e-04 9.99877448e-01 -5.09443192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.378623853 meters Centerline goodness [0,1] 0.9997852141415009 Centerline is valid? [True, True] Translation: X:268.89, Y:-58.21, Z:-5.09 [[ 9.66924940e-01 2.54607366e-01 1.52069081e-02 2.68889392e+02] [-2.54571458e-01 9.67044474e-01 -4.28453715e-03 -5.82082680e+01] [-1.57966311e-02 2.71581067e-04 9.99875189e-01 -5.09463689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.408623853 meters Centerline goodness [0,1] 0.9997008994381182 Centerline is valid? [True, True] Translation: X:268.92, Y:-58.22, Z:-5.10 [[ 9.67256448e-01 2.53349659e-01 1.51298961e-02 2.68915280e+02] [-2.53313975e-01 9.67374729e-01 -4.26185075e-03 -5.82203303e+01] [-1.57160175e-02 2.89688498e-04 9.99876454e-01 -5.09551228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.438623853 meters Centerline goodness [0,1] 0.999656024938192 Centerline is valid? [True, True] Translation: X:268.94, Y:-58.23, Z:-5.10 [[ 9.67402382e-01 2.52794569e-01 1.50843630e-02 2.68943330e+02] [-2.52759049e-01 9.67519931e-01 -4.24800941e-03 -5.82269797e+01] [-1.56682955e-02 2.96825194e-04 9.99877201e-01 -5.09604261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.468623853 meters Centerline goodness [0,1] 0.9994358128634667 Centerline is valid? [True, True] Translation: X:268.97, Y:-58.24, Z:-5.10 [[ 9.67534374e-01 2.52278753e-01 1.52533753e-02 2.68970602e+02] [-2.52242381e-01 9.67654554e-01 -4.29480590e-03 -5.82362168e+01] [-1.58434863e-02 3.07824648e-04 9.99874437e-01 -5.09682862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.498623853 meters Centerline goodness [0,1] 0.9995711375576284 Centerline is valid? [True, True] Translation: X:269.00, Y:-58.25, Z:-5.10 [[ 9.67571052e-01 2.52141538e-01 1.51955586e-02 2.68995477e+02] [-2.52105434e-01 9.67690317e-01 -4.27789059e-03 -5.82455961e+01] [-1.57832288e-02 3.08280206e-04 9.99875390e-01 -5.09771848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.528623853 meters Centerline goodness [0,1] 0.9993507477222066 Centerline is valid? [True, True] Translation: X:269.02, Y:-58.25, Z:-5.10 [[ 9.67594246e-01 2.52050724e-01 1.52252456e-02 2.69022518e+02] [-2.52014494e-01 9.67713975e-01 -4.28459266e-03 -5.82518019e+01] [-1.58136177e-02 3.08764629e-04 9.99874909e-01 -5.09772555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.55862385300003 meters Centerline goodness [0,1] 0.9994828812135054 Centerline is valid? [True, True] Translation: X:269.05, Y:-58.26, Z:-5.10 [[ 9.67590942e-01 2.52063278e-01 1.52273523e-02 2.69047914e+02] [-2.52027056e-01 9.67710705e-01 -4.28414380e-03 -5.82594126e+01] [-1.58155471e-02 3.07593984e-04 9.99874879e-01 -5.09886828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.588623853 meters Centerline goodness [0,1] 0.999314716463937 Centerline is valid? [True, True] Translation: X:269.07, Y:-58.27, Z:-5.10 [[ 9.67611854e-01 2.52010633e-01 1.47628158e-02 2.69072376e+02] [-2.51976610e-01 9.67724420e-01 -4.15159153e-03 -5.82711996e+01] [-1.53325825e-02 2.97244910e-04 9.99882405e-01 -5.10084057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.61862385300003 meters Centerline goodness [0,1] 0.9993576704849588 Centerline is valid? [True, True] Translation: X:269.10, Y:-58.28, Z:-5.10 [[ 9.67598121e-01 2.52100383e-01 1.41164369e-02 2.69097483e+02] [-2.52069301e-01 9.67701048e-01 -3.96857627e-03 -5.82799820e+01] [-1.46609704e-02 2.81666542e-04 9.99892483e-01 -5.10265007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.648623853 meters Centerline goodness [0,1] 0.9993773884666581 Centerline is valid? [True, True] Translation: X:269.12, Y:-58.29, Z:-5.10 [[ 9.67586557e-01 2.52147670e-01 1.40644043e-02 2.69124523e+02] [-2.52116837e-01 9.67688728e-01 -3.95295932e-03 -5.82854644e+01] [-1.46066950e-02 2.78957183e-04 9.99893278e-01 -5.10302330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.67862385300003 meters Centerline goodness [0,1] 0.9994212590830172 Centerline is valid? [True, True] Translation: X:269.15, Y:-58.29, Z:-5.10 [[ 9.67551894e-01 2.52282137e-01 1.40376335e-02 2.69152180e+02] [-2.52251452e-01 9.67653682e-01 -3.94426843e-03 -5.82948474e+01] [-1.45786362e-02 2.75270966e-04 9.99893688e-01 -5.10351511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.708623853 meters Centerline goodness [0,1] 0.9994226821758467 Centerline is valid? [True, True] Translation: X:269.18, Y:-58.31, Z:-5.10 [[ 9.67392568e-01 2.52876378e-01 1.43233109e-02 2.69178189e+02] [-2.52844507e-01 9.67498560e-01 -4.02384438e-03 -5.83056766e+01] [-1.48753178e-02 2.71066671e-04 9.99889320e-01 -5.10422190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.73862385300004 meters Centerline goodness [0,1] 0.9993984057753046 Centerline is valid? [True, True] Translation: X:269.21, Y:-58.31, Z:-5.10 [[ 9.67178542e-01 2.53693829e-01 1.43216664e-02 2.69205610e+02] [-2.53662068e-01 9.67284537e-01 -4.02244406e-03 -5.83132021e+01] [-1.48735957e-02 2.57558052e-04 9.99889349e-01 -5.10436677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.768623853 meters Centerline goodness [0,1] 0.9993974996234373 Centerline is valid? [True, True] Translation: X:269.23, Y:-58.32, Z:-5.10 [[ 9.66456278e-01 2.56397678e-01 1.49162128e-02 2.69233506e+02] [-2.56363560e-01 9.66571353e-01 -4.18864858e-03 -5.83187126e+01] [-1.54915437e-02 2.24172314e-04 9.99879974e-01 -5.10453718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.79862385300004 meters Centerline goodness [0,1] 0.9992084376270244 Centerline is valid? [True, True] Translation: X:269.26, Y:-58.32, Z:-5.10 [[ 9.65933379e-01 2.58350978e-01 1.50824100e-02 2.69261679e+02] [-2.58316345e-01 9.66051104e-01 -4.23455832e-03 -5.83244551e+01] [-1.56643811e-02 1.94268206e-04 9.99877287e-01 -5.10468943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.828623853 meters Centerline goodness [0,1] 0.9994211350041807 Centerline is valid? [True, True] Translation: X:269.29, Y:-58.33, Z:-5.10 [[ 9.65324760e-01 2.60603506e-01 1.52944575e-02 2.69288969e+02] [-2.60568187e-01 9.65445901e-01 -4.29335538e-03 -5.83296294e+01] [-1.58848348e-02 1.59233188e-04 9.99873815e-01 -5.10433115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.85862385300004 meters Centerline goodness [0,1] 0.9994211350041807 Centerline is valid? [True, True] Translation: X:269.32, Y:-58.34, Z:-5.10 [[ 9.65342559e-01 2.60537551e-01 1.52946942e-02 2.69315478e+02] [-2.60502236e-01 9.65463702e-01 -4.29251189e-03 -5.83369263e+01] [-1.58848326e-02 1.59442363e-04 9.99873815e-01 -5.10484701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.888623853 meters Centerline goodness [0,1] 0.9991087154892515 Centerline is valid? [True, True] Translation: X:269.34, Y:-58.34, Z:-5.11 [[ 9.63980966e-01 2.65529824e-01 1.53169573e-02 2.69343699e+02] [-2.65495055e-01 9.64102643e-01 -4.29759477e-03 -5.83384428e+01] [-1.59082586e-02 7.62231521e-05 9.99873453e-01 -5.10520200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.91862385300004 meters Centerline goodness [0,1] 0.9989269465190145 Centerline is valid? [True, True] Translation: X:269.37, Y:-58.34, Z:-5.11 [[ 9.63326355e-01 2.67895668e-01 1.53050494e-02 2.69372561e+02] [-2.67861267e-01 9.63447928e-01 -4.29328529e-03 -5.83423287e+01] [-1.58957707e-02 3.62049440e-05 9.99873654e-01 -5.10576662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.948623853 meters Centerline goodness [0,1] 0.9990005866122059 Centerline is valid? [True, True] Translation: X:269.40, Y:-58.34, Z:-5.11 [[ 9.62081043e-01 2.72357255e-01 1.48859842e-02 2.69402457e+02] [-2.72325256e-01 9.62196198e-01 -4.17504296e-03 -5.83431834e+01] [-1.54603407e-02 -3.70997832e-05 9.99880481e-01 -5.10648561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.97862385300004 meters Centerline goodness [0,1] 0.9986764015200034 Centerline is valid? [True, True] Translation: X:269.43, Y:-58.35, Z:-5.11 [[ 9.61449098e-01 2.74591704e-01 1.46638611e-02 2.69430622e+02] [-2.74560923e-01 9.61560914e-01 -4.11202383e-03 -5.83461815e+01] [-1.52293233e-02 -7.26216452e-05 9.99884024e-01 -5.10730997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.008623853 meters Centerline goodness [0,1] 0.9985202976560658 Centerline is valid? [True, True] Translation: X:269.46, Y:-58.35, Z:-5.11 [[ 9.60830797e-01 2.76742091e-01 1.47646356e-02 2.69459880e+02] [-2.76711149e-01 9.60944225e-01 -4.13967050e-03 -5.83499562e+01] [-1.53336124e-02 -1.08016379e-04 9.99882427e-01 -5.10752948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.03862385300005 meters Centerline goodness [0,1] 0.9977704639558339 Centerline is valid? [True, True] Translation: X:269.49, Y:-58.35, Z:-5.11 [[ 9.59544571e-01 2.81175839e-01 1.46411647e-02 2.69489329e+02] [-2.81145970e-01 9.59656248e-01 -4.10222437e-03 -5.83461898e+01] [-1.52039316e-02 -1.80037325e-04 9.99884397e-01 -5.10948821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.068623853 meters Centerline goodness [0,1] 0.9979258879124169 Centerline is valid? [True, True] Translation: X:269.52, Y:-58.35, Z:-5.11 [[ 9.59052360e-01 2.82859080e-01 1.44675912e-02 2.69516951e+02] [-2.82830127e-01 9.59161456e-01 -4.05225169e-03 -5.83548974e+01] [-1.50229720e-02 -2.05549107e-04 9.99887128e-01 -5.10875300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.09862385300005 meters Centerline goodness [0,1] 0.9975987590046538 Centerline is valid? [True, True] Translation: X:269.54, Y:-58.36, Z:-5.11 [[ 9.58560801e-01 2.84522921e-01 1.44186792e-02 2.69544792e+02] [-2.84494394e-01 9.58669209e-01 -4.03567884e-03 -5.83566452e+01] [-1.49709870e-02 -2.33589881e-04 9.99887901e-01 -5.10995721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.128623853 meters Centerline goodness [0,1] 0.9973597784789748 Centerline is valid? [True, True] Translation: X:269.57, Y:-58.36, Z:-5.11 [[ 9.58020381e-01 2.86342220e-01 1.43206749e-02 2.69573500e+02] [-2.86314310e-01 9.58127374e-01 -4.00645003e-03 -5.83595192e+01] [-1.48682465e-02 -2.61953371e-04 9.99889427e-01 -5.11061914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.158623853 meters Centerline goodness [0,1] 0.9967169495526039 Centerline is valid? [True, True] Translation: X:269.60, Y:-58.36, Z:-5.10 [[ 9.58091558e-01 2.86121299e-01 1.39702983e-02 2.69601528e+02] [-2.86094719e-01 9.58193372e-01 -3.90814515e-03 -5.83626031e+01] [-1.45044508e-02 -2.52467685e-04 9.99894773e-01 -5.10333663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.188623853 meters Centerline goodness [0,1] 0.9977618144224415 Centerline is valid? [True, True] Translation: X:269.63, Y:-58.37, Z:-5.11 [[ 9.58140337e-01 2.85937982e-01 1.43723476e-02 2.69627564e+02] [-2.85909881e-01 9.58248090e-01 -4.01716873e-03 -5.83677241e+01] [-1.49209358e-02 -2.60184784e-04 9.99888643e-01 -5.11196520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.218623853 meters Centerline goodness [0,1] 0.9975656630365151 Centerline is valid? [True, True] Translation: X:269.66, Y:-58.37, Z:-5.11 [[ 9.58362930e-01 2.85198892e-01 1.42156885e-02 2.69655240e+02] [-2.85171331e-01 9.58468326e-01 -3.97246291e-03 -5.83747376e+01] [-1.47582292e-02 -2.46845623e-04 9.99891061e-01 -5.11308790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.248623853 meters Centerline goodness [0,1] 0.9976665252439542 Centerline is valid? [True, True] Translation: X:269.68, Y:-58.38, Z:-5.11 [[ 9.58643259e-01 2.84262204e-01 1.40748745e-02 2.69682989e+02] [-2.84235121e-01 9.58746549e-01 -3.93075952e-03 -5.83828601e+01] [-1.46116037e-02 -2.32377538e-04 9.99893218e-01 -5.11370900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.278623853 meters Centerline goodness [0,1] 0.9981711384125481 Centerline is valid? [True, True] Translation: X:269.71, Y:-58.39, Z:-5.11 [[ 9.59350836e-01 2.81858761e-01 1.41989943e-02 2.69710023e+02] [-2.81830970e-01 9.59455887e-01 -3.96299231e-03 -5.83921779e+01] [-1.47403127e-02 -1.99816339e-04 9.99891336e-01 -5.11340382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.30862385300003 meters Centerline goodness [0,1] 0.9982054349683814 Centerline is valid? [True, True] Translation: X:269.74, Y:-58.40, Z:-5.11 [[ 9.59798293e-01 2.80347369e-01 1.38776453e-02 2.69737434e+02] [-2.80320707e-01 9.59898600e-01 -3.87034745e-03 -5.83988598e+01] [-1.44061740e-02 -1.75438461e-04 9.99896210e-01 -5.11466091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.338623853 meters Centerline goodness [0,1] 0.9983246703037072 Centerline is valid? [True, True] Translation: X:269.76, Y:-58.41, Z:-5.12 [[ 9.60936215e-01 2.76437480e-01 1.35613787e-02 2.69764751e+02] [-2.76411639e-01 9.61031897e-01 -3.78141780e-03 -5.84097673e+01] [-1.40782431e-02 -1.14821598e-04 9.99900890e-01 -5.11605360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.36862385300003 meters Centerline goodness [0,1] 0.9985849966768862 Centerline is valid? [True, True] Translation: X:269.79, Y:-58.42, Z:-5.11 [[ 9.61560174e-01 2.74274102e-01 1.32570462e-02 2.69790997e+02] [-2.74249221e-01 9.61651553e-01 -3.69521551e-03 -5.84181087e+01] [-1.37621610e-02 -8.25625203e-05 9.99905294e-01 -5.11381492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.398623853 meters Centerline goodness [0,1] 0.9987530367854148 Centerline is valid? [True, True] Translation: X:269.82, Y:-58.43, Z:-5.12 [[ 9.62293614e-01 2.71667034e-01 1.37121357e-02 2.69817171e+02] [-2.71640162e-01 9.62391303e-01 -3.82126454e-03 -5.84276600e+01] [-1.42345517e-02 -4.75882905e-05 9.99898683e-01 -5.11863213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.42862385300003 meters Centerline goodness [0,1] 0.9989409069294947 Centerline is valid? [True, True] Translation: X:269.84, Y:-58.44, Z:-5.12 [[ 9.63784094e-01 2.66293560e-01 1.44208158e-02 2.69842469e+02] [-2.66263260e-01 9.63891975e-01 -4.01716791e-03 -5.84429689e+01] [-1.49698545e-02 3.19491281e-05 9.99887945e-01 -5.11631614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.458623853 meters Centerline goodness [0,1] 0.9991635568137949 Centerline is valid? [True, True] Translation: X:269.87, Y:-58.45, Z:-5.12 [[ 9.64557194e-01 2.63456452e-01 1.48363668e-02 2.69868839e+02] [-2.63424056e-01 9.64671287e-01 -4.13216512e-03 -5.84537532e+01] [-1.54008626e-02 7.74536659e-05 9.99881397e-01 -5.11666825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.48862385300004 meters Centerline goodness [0,1] 0.9989924757229522 Centerline is valid? [True, True] Translation: X:269.90, Y:-58.46, Z:-5.11 [[ 9.65429639e-01 2.60261639e-01 1.44738410e-02 2.69896594e+02] [-2.60230462e-01 9.65538121e-01 -4.03024049e-03 -5.84633905e+01] [-1.50239622e-02 1.24379305e-04 9.99887126e-01 -5.11206486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.518623853 meters Centerline goodness [0,1] 0.9994869931385332 Centerline is valid? [True, True] Translation: X:269.92, Y:-58.48, Z:-5.12 [[ 9.66842877e-01 2.54992025e-01 1.39254549e-02 2.69921999e+02] [-2.54962629e-01 9.66943136e-01 -3.87679960e-03 -5.84793135e+01] [-1.44536760e-02 1.97785484e-04 9.99895521e-01 -5.11972326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.54862385300004 meters Centerline goodness [0,1] 0.9992686127304408 Centerline is valid? [True, True] Translation: X:269.95, Y:-58.49, Z:-5.12 [[ 9.67472961e-01 2.52608503e-01 1.36019548e-02 2.69949380e+02] [-2.52580228e-01 9.67568547e-01 -3.78628746e-03 -5.84892484e+01] [-1.41172721e-02 2.27545894e-04 9.99900320e-01 -5.12029143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.578623853 meters Centerline goodness [0,1] 0.9993620821638173 Centerline is valid? [True, True] Translation: X:269.97, Y:-58.50, Z:-5.12 [[ 9.68217118e-01 2.49775803e-01 1.29483668e-02 2.69974395e+02] [-2.49749934e-01 9.68303662e-01 -3.60386151e-03 -5.85017623e+01] [-1.34381084e-02 2.55466638e-04 9.99909672e-01 -5.12227207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.60862385300004 meters Centerline goodness [0,1] 0.9992532058804703 Centerline is valid? [True, True] Translation: X:270.00, Y:-58.51, Z:-5.12 [[ 9.68484116e-01 2.48751614e-01 1.26945664e-02 2.70002339e+02] [-2.48726675e-01 9.68567275e-01 -3.53212932e-03 -5.85102701e+01] [-1.31741644e-02 2.63333857e-04 9.99913182e-01 -5.12362399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.638623853 meters Centerline goodness [0,1] 0.9991159792147308 Centerline is valid? [True, True] Translation: X:270.03, Y:-58.52, Z:-5.12 [[ 9.68647234e-01 2.48118227e-01 1.26443922e-02 2.70028475e+02] [-2.48093436e-01 9.68729721e-01 -3.51776545e-03 -5.85187858e+01] [-1.31218203e-02 2.70483053e-04 9.99913869e-01 -5.12468787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.66862385300004 meters Centerline goodness [0,1] 0.999194369063772 Centerline is valid? [True, True] Translation: X:270.06, Y:-58.53, Z:-5.13 [[ 9.68725348e-01 2.47835252e-01 1.22019326e-02 2.70055434e+02] [-2.47812157e-01 9.68802156e-01 -3.39358773e-03 -5.85274472e+01] [-1.26623093e-02 2.63667211e-04 9.99919795e-01 -5.12580862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.698623853 meters Centerline goodness [0,1] 0.9993155226626168 Centerline is valid? [True, True] Translation: X:270.08, Y:-58.53, Z:-5.13 [[ 9.68804242e-01 2.47532052e-01 1.20923190e-02 2.70083492e+02] [-2.47509364e-01 9.68879669e-01 -3.36175106e-03 -5.85346479e+01] [-1.25481431e-02 2.63916505e-04 9.99921234e-01 -5.12633814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.72862385300004 meters Centerline goodness [0,1] 0.9992571840910056 Centerline is valid? [True, True] Translation: X:270.11, Y:-58.54, Z:-5.13 [[ 9.68715998e-01 2.47876695e-01 1.21020412e-02 2.70110803e+02] [-2.47854003e-01 9.68791555e-01 -3.36392842e-03 -5.85419036e+01] [-1.25581948e-02 2.59151926e-04 9.99921109e-01 -5.12723218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.758623853 meters Centerline goodness [0,1] 0.9993778826557975 Centerline is valid? [True, True] Translation: X:270.14, Y:-58.55, Z:-5.13 [[ 9.68360249e-01 2.49212756e-01 1.30931183e-02 2.70139447e+02] [-2.49186331e-01 9.68448726e-01 -3.63845415e-03 -5.85479165e+01] [-1.35867630e-02 2.60708251e-04 9.99907662e-01 -5.12568179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.78862385300005 meters Centerline goodness [0,1] 0.9992678882883659 Centerline is valid? [True, True] Translation: X:270.17, Y:-58.55, Z:-5.13 [[ 9.68098473e-01 2.50210924e-01 1.34104756e-02 2.70167447e+02] [-2.50183304e-01 9.68191319e-01 -3.72616177e-03 -5.85547276e+01] [-1.39162325e-02 2.52214410e-04 9.99903133e-01 -5.12535010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.818623853 meters Centerline goodness [0,1] 0.9995481149939749 Centerline is valid? [True, True] Translation: X:270.20, Y:-58.56, Z:-5.12 [[ 9.67423178e-01 2.52799500e-01 1.35944123e-02 2.70196696e+02] [-2.52771394e-01 9.67518664e-01 -3.77580857e-03 -5.85581864e+01] [-1.41073701e-02 2.16526182e-04 9.99900463e-01 -5.12455715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.84862385300005 meters Centerline goodness [0,1] 0.9993941885371816 Centerline is valid? [True, True] Translation: X:270.23, Y:-58.56, Z:-5.12 [[ 9.67066176e-01 2.54148091e-01 1.38477088e-02 2.70225342e+02] [-2.54119076e-01 9.67165295e-01 -3.84546627e-03 -5.85618965e+01] [-1.43703413e-02 1.99853403e-04 9.99896721e-01 -5.12415332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.878623853 meters Centerline goodness [0,1] 0.9995725765088049 Centerline is valid? [True, True] Translation: X:270.25, Y:-58.57, Z:-5.13 [[ 9.66634411e-01 2.55785204e-01 1.38508378e-02 2.70251492e+02] [-2.55756353e-01 9.66733624e-01 -3.84565985e-03 -5.85702326e+01] [-1.43737335e-02 1.74907381e-04 9.99896677e-01 -5.12543038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.908623853 meters Centerline goodness [0,1] 0.9995279577736772 Centerline is valid? [True, True] Translation: X:270.28, Y:-58.57, Z:-5.12 [[ 9.65658338e-01 2.59426550e-01 1.42070086e-02 2.70281256e+02] [-2.59396603e-01 9.65762833e-01 -3.94367414e-03 -5.85723152e+01] [-1.47436946e-02 1.22992047e-04 9.99891298e-01 -5.12401767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.938623853 meters Centerline goodness [0,1] 0.9993592071256168 Centerline is valid? [True, True] Translation: X:270.31, Y:-58.58, Z:-5.12 [[ 9.65066458e-01 2.61604736e-01 1.44807957e-02 2.70309775e+02] [-2.61573889e-01 9.65175090e-01 -4.01823776e-03 -5.85761262e+01] [-1.50276933e-02 9.00684365e-05 9.99887074e-01 -5.12414364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.968623853 meters Centerline goodness [0,1] 0.9993577117410294 Centerline is valid? [True, True] Translation: X:270.34, Y:-58.58, Z:-5.12 [[ 9.64077640e-01 2.65192355e-01 1.50770805e-02 2.70339485e+02] [-2.65159366e-01 9.64195527e-01 -4.18293136e-03 -5.85762419e+01] [-1.56465350e-02 3.48414815e-05 9.99877585e-01 -5.12257904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.998623853 meters Centerline goodness [0,1] 0.9990631919604838 Centerline is valid? [True, True] Translation: X:270.37, Y:-58.58, Z:-5.12 [[ 9.63624217e-01 2.66832693e-01 1.51222409e-02 2.70367440e+02] [-2.66799719e-01 9.63742867e-01 -4.19476424e-03 -5.85810519e+01] [-1.56932521e-02 7.56678435e-06 9.99876853e-01 -5.12292171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.028623853 meters Centerline goodness [0,1] 0.999053783789596 Centerline is valid? [True, True] Translation: X:270.39, Y:-58.59, Z:-5.12 [[ 9.63271354e-01 2.68124957e-01 1.47413143e-02 2.70394684e+02] [-2.68093785e-01 9.63384143e-01 -4.08843324e-03 -5.85856921e+01] [-1.52977594e-02 -1.37841205e-05 9.99882982e-01 -5.12370146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.05862385300003 meters Centerline goodness [0,1] 0.9991403765150864 Centerline is valid? [True, True] Translation: X:270.42, Y:-58.59, Z:-5.12 [[ 9.62426035e-01 2.71172555e-01 1.41976299e-02 2.70424493e+02] [-2.71144012e-01 9.62530748e-01 -3.93482654e-03 -5.85872460e+01] [-1.47326723e-02 -6.26228386e-05 9.99891466e-01 -5.12487364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.088623853 meters Centerline goodness [0,1] 0.9991145855828618 Centerline is valid? [True, True] Translation: X:270.45, Y:-58.59, Z:-5.13 [[ 9.61986286e-01 2.72731411e-01 1.41408253e-02 2.70452897e+02] [-2.72703302e-01 9.62090209e-01 -3.91654948e-03 -5.85918125e+01] [-1.46729156e-02 -8.85828603e-05 9.99892343e-01 -5.12543548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.11862385300003 meters Centerline goodness [0,1] 0.9990665769422797 Centerline is valid? [True, True] Translation: X:270.48, Y:-58.60, Z:-5.13 [[ 9.61558030e-01 2.74234002e-01 1.42080230e-02 2.70481044e+02] [-2.74205833e-01 9.61662986e-01 -3.93220068e-03 -5.85964731e+01] [-1.47416730e-02 -1.14883654e-04 9.99891329e-01 -5.12514570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.148623853 meters Centerline goodness [0,1] 0.9988665768482282 Centerline is valid? [True, True] Translation: X:270.51, Y:-58.60, Z:-5.13 [[ 9.60854815e-01 2.76676102e-01 1.44346837e-02 2.70509633e+02] [-2.76647326e-01 9.60963220e-01 -3.99332339e-03 -5.85969037e+01] [-1.49760572e-02 -1.56312631e-04 9.99887840e-01 -5.12542618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.17862385300003 meters Centerline goodness [0,1] 0.9986445491512296 Centerline is valid? [True, True] Translation: X:270.54, Y:-58.60, Z:-5.13 [[ 9.60701347e-01 2.77212214e-01 1.43634784e-02 2.70537849e+02] [-2.77183789e-01 9.60808702e-01 -3.97309687e-03 -5.86023080e+01] [-1.49019461e-02 -1.64363867e-04 9.99888946e-01 -5.12631431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.208623853 meters Centerline goodness [0,1] 0.9987218541635601 Centerline is valid? [True, True] Translation: X:270.56, Y:-58.61, Z:-5.13 [[ 9.60754540e-01 2.77046236e-01 1.40034665e-02 2.70564159e+02] [-2.77019239e-01 9.60856575e-01 -3.87086533e-03 -5.86072320e+01] [-1.45277315e-02 -1.60278184e-04 9.99894454e-01 -5.12797297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.23862385300004 meters Centerline goodness [0,1] 0.9987093443469283 Centerline is valid? [True, True] Translation: X:270.59, Y:-58.61, Z:-5.13 [[ 9.61001685e-01 2.76199930e-01 1.37608264e-02 2.70590676e+02] [-2.76173797e-01 9.61100191e-01 -3.80217327e-03 -5.86149290e+01] [-1.42756929e-02 -1.46484762e-04 9.99898086e-01 -5.12869748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.268623853 meters Centerline goodness [0,1] 0.9988044661727974 Centerline is valid? [True, True] Translation: X:270.62, Y:-58.62, Z:-5.13 [[ 9.61343320e-01 2.75016548e-01 1.35985143e-02 2.70617206e+02] [-2.74990960e-01 9.61439484e-01 -3.75382609e-03 -5.86221693e+01] [-1.41065129e-02 -1.30752864e-04 9.99900490e-01 -5.12978699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.29862385300004 meters Centerline goodness [0,1] 0.9990585214507328 Centerline is valid? [True, True] Translation: X:270.64, Y:-58.63, Z:-5.13 [[ 9.62386116e-01 2.71349301e-01 1.35100198e-02 2.70644597e+02] [-2.71323687e-01 9.62480935e-01 -3.72904691e-03 -5.86323641e+01] [-1.40150108e-02 -7.68054037e-05 9.99901782e-01 -5.12989681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.328623853 meters Centerline goodness [0,1] 0.9992925741725261 Centerline is valid? [True, True] Translation: X:270.67, Y:-58.64, Z:-5.13 [[ 9.63088018e-01 2.68842863e-01 1.36009036e-02 2.70671387e+02] [-2.68816689e-01 9.63184049e-01 -3.75162190e-03 -5.86416957e+01] [-1.41087702e-02 -4.30077845e-05 9.99900465e-01 -5.13024698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.35862385300004 meters Centerline goodness [0,1] 0.9993331325560384 Centerline is valid? [True, True] Translation: X:270.70, Y:-58.65, Z:-5.13 [[ 9.64471826e-01 2.63825319e-01 1.37948533e-02 2.70696596e+02] [-2.63797914e-01 9.64570474e-01 -3.80267719e-03 -5.86538969e+01] [-1.43093507e-02 2.85214799e-05 9.99897616e-01 -5.12987399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.388623853 meters Centerline goodness [0,1] 0.9993999657123264 Centerline is valid? [True, True] Translation: X:270.72, Y:-58.66, Z:-5.13 [[ 9.65181250e-01 2.61221112e-01 1.37362584e-02 2.70723738e+02] [-2.61193725e-01 9.65278989e-01 -3.78302409e-03 -5.86647076e+01] [-1.42475273e-02 6.34794323e-05 9.99898497e-01 -5.13052969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.41862385300004 meters Centerline goodness [0,1] 0.9993793472445158 Centerline is valid? [True, True] Translation: X:270.75, Y:-58.68, Z:-5.13 [[ 9.65929376e-01 2.58433963e-01 1.38682190e-02 2.70749653e+02] [-2.58405769e-01 9.66028921e-01 -3.81869235e-03 -5.86759487e+01] [-1.43839805e-02 1.04959303e-04 9.99896540e-01 -5.13078191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.448623853 meters Centerline goodness [0,1] 0.9989830141728876 Centerline is valid? [True, True] Translation: X:270.78, Y:-58.69, Z:-5.12 [[ 9.66660983e-01 2.55717623e-01 1.32302995e-02 2.70777324e+02] [-2.55691721e-01 9.66751508e-01 -3.64218284e-03 -5.86854189e+01] [-1.37217823e-02 1.37877996e-04 9.99905842e-01 -5.12245510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.47862385300004 meters Centerline goodness [0,1] 0.9990975117108599 Centerline is valid? [True, True] Translation: X:270.80, Y:-58.70, Z:-5.12 [[ 9.67896225e-01 2.50987972e-01 1.34883701e-02 2.70803254e+02] [-2.50960601e-01 9.67990183e-01 -3.71245523e-03 -5.87005305e+01] [-1.39883914e-02 2.08221939e-04 9.99902136e-01 -5.12300763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.508623853 meters Centerline goodness [0,1] 0.9995276740091888 Centerline is valid? [True, True] Translation: X:270.83, Y:-58.71, Z:-5.13 [[ 9.68467581e-01 2.48728506e-01 1.43064491e-02 2.70829660e+02] [-2.48697476e-01 9.68573211e-01 -3.93707546e-03 -5.87128795e+01] [-1.48361063e-02 2.54952166e-04 9.99889906e-01 -5.13181012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.53862385300005 meters Centerline goodness [0,1] 0.9993971623570952 Centerline is valid? [True, True] Translation: X:270.86, Y:-58.73, Z:-5.13 [[ 9.69457810e-01 2.44835556e-01 1.43911583e-02 2.70855800e+02] [-2.44803739e-01 9.69564568e-01 -3.95960290e-03 -5.87269213e+01] [-1.49226088e-02 3.15658583e-04 9.99888602e-01 -5.13206686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.568623853 meters Centerline goodness [0,1] 0.9993781894592393 Centerline is valid? [True, True] Translation: X:270.88, Y:-58.74, Z:-5.13 [[ 9.69845060e-01 2.43303114e-01 1.42882603e-02 2.70883215e+02] [-2.43271592e-01 9.69950247e-01 -3.93080429e-03 -5.87354444e+01] [-1.48152785e-02 3.36343294e-04 9.99890191e-01 -5.13267737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.59862385300005 meters Centerline goodness [0,1] 0.9994382872080714 Centerline is valid? [True, True] Translation: X:270.91, Y:-58.75, Z:-5.13 [[ 9.70102191e-01 2.42288076e-01 1.40792898e-02 2.70909633e+02] [-2.42257370e-01 9.70204292e-01 -3.87277525e-03 -5.87457673e+01] [-1.45981146e-02 3.46176045e-04 9.99893382e-01 -5.13369233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.628623853 meters Centerline goodness [0,1] 0.9993591249919891 Centerline is valid? [True, True] Translation: X:270.94, Y:-58.76, Z:-5.13 [[ 9.70462612e-01 2.40843150e-01 1.40319401e-02 2.70935713e+02] [-2.40812517e-01 9.70563982e-01 -3.85849151e-03 -5.87571271e+01] [-1.45481869e-02 3.65454934e-04 9.99894103e-01 -5.13435890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.658623853 meters Centerline goodness [0,1] 0.9991219428620379 Centerline is valid? [True, True] Translation: X:270.96, Y:-58.77, Z:-5.13 [[ 9.70588559e-01 2.40374663e-01 1.33368260e-02 2.70962828e+02] [-2.40346964e-01 9.70680121e-01 -3.66605910e-03 -5.87652472e+01] [-1.38270196e-02 3.52769373e-04 9.99904340e-01 -5.12769252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.688623853 meters Centerline goodness [0,1] 0.9993999271340092 Centerline is valid? [True, True] Translation: X:270.99, Y:-58.77, Z:-5.14 [[ 9.70592811e-01 2.40321644e-01 1.39678876e-02 2.70990015e+02] [-2.40291270e-01 9.70693242e-01 -3.83856920e-03 -5.87743871e+01] [-1.44810253e-02 3.69326226e-04 9.99895076e-01 -5.13552225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.718623853 meters Centerline goodness [0,1] 0.9993999271340092 Centerline is valid? [True, True] Translation: X:271.02, Y:-58.78, Z:-5.14 [[ 9.70609191e-01 2.40255471e-01 1.39680374e-02 2.71016568e+02] [-2.40225098e-01 9.70709623e-01 -3.83802394e-03 -5.87815452e+01] [-1.44810146e-02 3.69748166e-04 9.99895076e-01 -5.13603826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.748623853 meters Centerline goodness [0,1] 0.9992932559484291 Centerline is valid? [True, True] Translation: X:271.04, Y:-58.79, Z:-5.14 [[ 9.70613412e-01 2.40247555e-01 1.38099941e-02 2.71043039e+02] [-2.40217879e-01 9.70711584e-01 -3.79359981e-03 -5.87902040e+01] [-1.43169244e-02 3.64711351e-04 9.99897441e-01 -5.13690051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.778623853 meters Centerline goodness [0,1] 0.999488839666042 Centerline is valid? [True, True] Translation: X:271.07, Y:-58.80, Z:-5.14 [[ 9.70611890e-01 2.40285391e-01 1.32472667e-02 2.71067709e+02] [-2.40258099e-01 9.70702225e-01 -3.63816248e-03 -5.88008043e+01] [-1.37333486e-02 3.48480632e-04 9.99905632e-01 -5.13891929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.80862385300003 meters Centerline goodness [0,1] 0.9994416646981769 Centerline is valid? [True, True] Translation: X:271.10, Y:-58.81, Z:-5.14 [[ 9.70579657e-01 2.40423455e-01 1.31031311e-02 2.71095111e+02] [-2.40396784e-01 9.70668041e-01 -3.59729278e-03 -5.88097837e+01] [-1.35836641e-02 3.41508609e-04 9.99907679e-01 -5.13963223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.838623853 meters Centerline goodness [0,1] 0.999526066350711 Centerline is valid? [True, True] Translation: X:271.12, Y:-58.82, Z:-5.14 [[ 9.70342169e-01 2.41390780e-01 1.29060659e-02 2.71121185e+02] [-2.41364998e-01 9.70427940e-01 -3.54264103e-03 -5.88200653e+01] [-1.33795679e-02 3.22501404e-04 9.99910438e-01 -5.14055298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.86862385300003 meters Centerline goodness [0,1] 0.9993169398907104 Centerline is valid? [True, True] Translation: X:271.15, Y:-58.83, Z:-5.13 [[ 9.70151123e-01 2.42206764e-01 1.19449504e-02 2.71149242e+02] [-2.42184750e-01 9.70224614e-01 -3.27810645e-03 -5.88256741e+01] [-1.23832644e-02 2.87373837e-04 9.99923283e-01 -5.13305547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.898623853 meters Centerline goodness [0,1] 0.9994603695389397 Centerline is valid? [True, True] Translation: X:271.18, Y:-58.83, Z:-5.14 [[ 9.69849599e-01 2.43389050e-01 1.23905415e-02 2.71176258e+02] [-2.43365467e-01 9.69928704e-01 -3.39976820e-03 -5.88349520e+01] [-1.28454082e-02 2.81833896e-04 9.99917455e-01 -5.14248639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.92862385300003 meters Centerline goodness [0,1] 0.9992864247718721 Centerline is valid? [True, True] Translation: X:271.21, Y:-58.84, Z:-5.13 [[ 9.69161460e-01 2.46174923e-01 1.11342795e-02 2.71206361e+02] [-2.46156068e-01 9.69225391e-01 -3.05465765e-03 -5.88352128e+01] [-1.15436065e-02 2.19686019e-04 9.99933346e-01 -5.13401470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.958623853 meters Centerline goodness [0,1] 0.9996133439305738 Centerline is valid? [True, True] Translation: X:271.23, Y:-58.85, Z:-5.15 [[ 9.68664672e-01 2.48113040e-01 1.13433774e-02 2.71231933e+02] [-2.48093610e-01 9.68731067e-01 -3.11141586e-03 -5.88481330e+01] [-1.17606649e-02 1.99699186e-04 9.99930821e-01 -5.14526807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.98862385300004 meters Centerline goodness [0,1] 0.9998067010309278 Centerline is valid? [True, True] Translation: X:271.26, Y:-58.85, Z:-5.15 [[ 9.67594153e-01 2.52265567e-01 1.11192854e-02 2.71260854e+02] [-2.52247179e-01 9.67658030e-01 -3.04936242e-03 -5.88524546e+01] [-1.15289149e-02 1.45736889e-04 9.99933529e-01 -5.14620832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.018623853 meters Centerline goodness [0,1] 0.9996553135569487 Centerline is valid? [True, True] Translation: X:271.29, Y:-58.85, Z:-5.14 [[ 9.66942588e-01 2.54738527e-01 1.14155416e-02 2.71290712e+02] [-2.54719325e-01 9.67009963e-01 -3.12999037e-03 -5.88543000e+01] [-1.18362716e-02 1.18761920e-04 9.99929942e-01 -5.14382555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.04862385300004 meters Centerline goodness [0,1] 0.9993763172609574 Centerline is valid? [True, True] Translation: X:271.32, Y:-58.85, Z:-5.14 [[ 9.65494692e-01 2.60154013e-01 1.18275159e-02 2.71319077e+02] [-2.60133807e-01 9.65567132e-01 -3.24280740e-03 -5.88548300e+01] [-1.22638900e-02 5.41765870e-05 9.99924794e-01 -5.14316575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.078623853 meters Centerline goodness [0,1] 0.9989089041975098 Centerline is valid? [True, True] Translation: X:271.35, Y:-58.86, Z:-5.14 [[ 9.64737550e-01 2.62942013e-01 1.19565166e-02 2.71347651e+02] [-2.62921595e-01 9.64811638e-01 -3.27683315e-03 -5.88577413e+01] [-1.23974035e-02 1.76575837e-05 9.99923149e-01 -5.14059312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.10862385300004 meters Centerline goodness [0,1] 0.9992467934922957 Centerline is valid? [True, True] Translation: X:271.38, Y:-58.86, Z:-5.14 [[ 9.63957327e-01 2.65758969e-01 1.25874191e-02 2.71375976e+02] [-2.65736591e-01 9.64039506e-01 -3.44878627e-03 -5.88620693e+01] [-1.30513151e-02 -2.04550392e-05 9.99914828e-01 -5.14357751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.138623853 meters Centerline goodness [0,1] 0.998948339879381 Centerline is valid? [True, True] Translation: X:271.40, Y:-58.87, Z:-5.14 [[ 9.63161406e-01 2.68625800e-01 1.26603883e-02 2.71404461e+02] [-2.68603418e-01 9.63244609e-01 -3.46813480e-03 -5.88656554e+01] [-1.31266812e-02 -6.02499722e-05 9.99913840e-01 -5.14324068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.16862385300004 meters Centerline goodness [0,1] 0.9985150615188799 Centerline is valid? [True, True] Translation: X:271.43, Y:-58.86, Z:-5.14 [[ 9.61689212e-01 2.73852488e-01 1.25965983e-02 2.71433271e+02] [-2.73830786e-01 9.61771697e-01 -3.45007835e-03 -5.88646224e+01] [-1.30598643e-02 -1.31433274e-04 9.99914708e-01 -5.14472720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.198623853 meters Centerline goodness [0,1] 0.9985483733242251 Centerline is valid? [True, True] Translation: X:271.46, Y:-58.87, Z:-5.14 [[ 9.60400027e-01 2.78353146e-01 1.23009639e-02 2.71463012e+02] [-2.78332831e-01 9.60478782e-01 -3.36818722e-03 -5.88662371e+01] [-1.27523604e-02 -1.88955019e-04 9.99918667e-01 -5.14493598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.22862385300004 meters Centerline goodness [0,1] 0.9980226960110041 Centerline is valid? [True, True] Translation: X:271.49, Y:-58.87, Z:-5.15 [[ 9.59824969e-01 2.80319852e-01 1.25223266e-02 2.71490577e+02] [-2.80298970e-01 9.59906627e-01 -3.42851379e-03 -5.88689225e+01] [-1.29813447e-02 -2.19222103e-04 9.99915715e-01 -5.14536766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.258623853 meters Centerline goodness [0,1] 0.9973377632952101 Centerline is valid? [True, True] Translation: X:271.52, Y:-58.87, Z:-5.15 [[ 9.59199299e-01 2.82436581e-01 1.28950709e-02 2.71519068e+02] [-2.82414643e-01 9.59285939e-01 -3.52945306e-03 -5.88699663e+01] [-1.33669069e-02 -2.56307951e-04 9.99910626e-01 -5.14538999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.28862385300005 meters Centerline goodness [0,1] 0.9972040605643496 Centerline is valid? [True, True] Translation: X:271.55, Y:-58.87, Z:-5.14 [[ 9.58660244e-01 2.84250453e-01 1.31231153e-02 2.71547388e+02] [-2.84227914e-01 9.58750018e-01 -3.59101414e-03 -5.88737390e+01] [-1.36025344e-02 -2.87393194e-04 9.99907440e-01 -5.14462832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.318623853 meters Centerline goodness [0,1] 0.9954439030563818 Centerline is valid? [True, True] Translation: X:271.58, Y:-58.87, Z:-5.15 [[ 9.57616342e-01 2.87739819e-01 1.32942647e-02 2.71578810e+02] [-2.87717038e-01 9.57708557e-01 -3.63686665e-03 -5.88685562e+01] [-1.37785024e-02 -3.42263514e-04 9.99905013e-01 -5.14563090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.34862385300005 meters Centerline goodness [0,1] 0.9958933562674693 Centerline is valid? [True, True] Translation: X:271.61, Y:-58.88, Z:-5.15 [[ 9.56901529e-01 2.90115919e-01 1.31231352e-02 2.71607075e+02] [-2.90093950e-01 9.56991439e-01 -3.58963261e-03 -5.88763788e+01] [-1.36001376e-02 -3.72017193e-04 9.99907445e-01 -5.14545906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.378623853 meters Centerline goodness [0,1] 0.9948266609423634 Centerline is valid? [True, True] Translation: X:271.64, Y:-58.88, Z:-5.15 [[ 9.56741165e-01 2.90653828e-01 1.29110313e-02 2.71636024e+02] [-2.90632617e-01 9.56828204e-01 -3.53118787e-03 -5.88772855e+01] [-1.33799922e-02 -3.73934019e-04 9.99910414e-01 -5.14720265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.408623853 meters Centerline goodness [0,1] 0.9949693881919767 Centerline is valid? [True, True] Translation: X:271.66, Y:-58.88, Z:-5.15 [[ 9.56681161e-01 2.90871699e-01 1.24422588e-02 2.71663458e+02] [-2.90852037e-01 9.56761998e-01 -3.40163349e-03 -5.88814718e+01] [-1.28937193e-02 -3.64577630e-04 9.99916806e-01 -5.14907585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.438623853 meters Centerline goodness [0,1] 0.9950861000726403 Centerline is valid? [True, True] Translation: X:271.69, Y:-58.89, Z:-5.15 [[ 9.56824078e-01 2.90419479e-01 1.20087810e-02 2.71691317e+02] [-2.90401126e-01 9.56899371e-01 -3.28318374e-03 -5.88874653e+01] [-1.24446955e-02 -3.45934262e-04 9.99922502e-01 -5.15042308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.468623853 meters Centerline goodness [0,1] 0.995221944924383 Centerline is valid? [True, True] Translation: X:271.72, Y:-58.89, Z:-5.15 [[ 9.57475566e-01 2.88262003e-01 1.20647391e-02 2.71719179e+02] [-2.88243346e-01 9.57551520e-01 -3.29539141e-03 -5.88946735e+01] [-1.25025453e-02 -3.22324003e-04 9.99921788e-01 -5.15001070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.498623853 meters Centerline goodness [0,1] 0.9969431380932022 Centerline is valid? [True, True] Translation: X:271.75, Y:-58.90, Z:-5.15 [[ 9.58786336e-01 2.83871971e-01 1.20609251e-02 2.71747760e+02] [-2.83852989e-01 9.58862156e-01 -3.29349740e-03 -5.89045223e+01] [-1.24996963e-02 -2.65769340e-04 9.99921840e-01 -5.15087994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.528623853 meters Centerline goodness [0,1] 0.9977530031976493 Centerline is valid? [True, True] Translation: X:271.77, Y:-58.91, Z:-5.15 [[ 9.59746514e-01 2.80631599e-01 1.15123853e-02 2.71773915e+02] [-2.80614069e-01 9.59815534e-01 -3.14390719e-03 -5.89142768e+01] [-1.19320459e-02 -2.13183314e-04 9.99928788e-01 -5.15255036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.55862385300003 meters Centerline goodness [0,1] 0.9980234213938067 Centerline is valid? [True, True] Translation: X:271.80, Y:-58.92, Z:-5.15 [[ 9.60669155e-01 2.77453776e-01 1.15834870e-02 2.71800744e+02] [-2.77435808e-01 9.60738971e-01 -3.16248576e-03 -5.89236040e+01] [-1.20061510e-02 -1.75571565e-04 9.99927908e-01 -5.15391265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.588623853 meters Centerline goodness [0,1] 0.9987407960729912 Centerline is valid? [True, True] Translation: X:271.83, Y:-58.94, Z:-5.15 [[ 9.62645782e-01 2.70516530e-01 1.15717836e-02 2.71826956e+02] [-2.70498093e-01 9.62715326e-01 -3.15945466e-03 -5.89390957e+01] [-1.19950181e-02 -8.87096911e-05 9.99928053e-01 -5.15362966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.61862385300003 meters Centerline goodness [0,1] 0.9991158267020336 Centerline is valid? [True, True] Translation: X:271.85, Y:-58.95, Z:-5.15 [[ 9.63670878e-01 2.66825128e-01 1.19494684e-02 2.71853802e+02] [-2.66805210e-01 9.63744960e-01 -3.26058430e-03 -5.89502353e+01] [-1.23862458e-02 -4.60502875e-05 9.99923286e-01 -5.15300798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.648623853 meters Centerline goodness [0,1] 0.9991827605488408 Centerline is valid? [True, True] Translation: X:271.88, Y:-58.96, Z:-5.15 [[ 9.64607425e-01 2.63404221e-01 1.22772904e-02 2.71880934e+02] [-2.63382947e-01 9.64685553e-01 -3.34770473e-03 -5.89610011e+01] [-1.27255243e-02 -4.40809011e-06 9.99919027e-01 -5.15265296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.67862385300003 meters Centerline goodness [0,1] 0.9994412207178165 Centerline is valid? [True, True] Translation: X:271.91, Y:-58.97, Z:-5.15 [[ 9.66238995e-01 2.57340246e-01 1.25778547e-02 2.71906327e+02] [-2.57317439e-01 9.66320854e-01 -3.42680783e-03 -5.89742169e+01] [-1.30360989e-02 7.46139806e-05 9.99915024e-01 -5.15285707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.708623853 meters Centerline goodness [0,1] 0.9997638978321528 Centerline is valid? [True, True] Translation: X:271.93, Y:-58.98, Z:-5.15 [[ 9.66964520e-01 2.54610265e-01 1.23786379e-02 2.71932678e+02] [-2.54587969e-01 9.67043743e-01 -3.37117357e-03 -5.89845094e+01] [-1.28290197e-02 1.08352941e-04 9.99917699e-01 -5.15368972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.73862385300004 meters Centerline goodness [0,1] 0.9997023999319772 Centerline is valid? [True, True] Translation: X:271.96, Y:-58.99, Z:-5.15 [[ 9.67655659e-01 2.51958834e-01 1.26202656e-02 2.71959893e+02] [-2.51935436e-01 9.67737942e-01 -3.43675973e-03 -5.89947528e+01] [-1.30790318e-02 1.46107885e-04 9.99914455e-01 -5.15425615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.768623853 meters Centerline goodness [0,1] 0.9997854767778612 Centerline is valid? [True, True] Translation: X:271.99, Y:-59.01, Z:-5.16 [[ 9.68843503e-01 2.47355414e-01 1.25525288e-02 2.71985902e+02] [-2.47331917e-01 9.68924795e-01 -3.41541381e-03 -5.90084625e+01] [-1.30072775e-02 2.04360470e-04 9.99915381e-01 -5.15517554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.79862385300004 meters Centerline goodness [0,1] 0.9997423621100543 Centerline is valid? [True, True] Translation: X:272.01, Y:-59.02, Z:-5.16 [[ 9.69325164e-01 2.45465181e-01 1.24728064e-02 2.72013419e+02] [-2.45441833e-01 9.69405381e-01 -3.39310609e-03 -5.90172164e+01] [-1.29240951e-02 2.27674641e-04 9.99916454e-01 -5.15536062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.828623853 meters Centerline goodness [0,1] 0.999721687004924 Centerline is valid? [True, True] Translation: X:272.04, Y:-59.03, Z:-5.16 [[ 9.70133433e-01 2.42254385e-01 1.24070846e-02 2.72040841e+02] [-2.42231031e-01 9.70212730e-01 -3.37445204e-03 -5.90288328e+01] [-1.28549872e-02 2.68287852e-04 9.99917335e-01 -5.15573136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.85862385300004 meters Centerline goodness [0,1] 0.9997848444425319 Centerline is valid? [True, True] Translation: X:272.07, Y:-59.04, Z:-5.16 [[ 9.70506644e-01 2.40750723e-01 1.24877498e-02 2.72068348e+02] [-2.40726942e-01 9.70586939e-01 -3.39621388e-03 -5.90384196e+01] [-1.29380878e-02 2.89910321e-04 9.99916257e-01 -5.15587282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.888623853 meters Centerline goodness [0,1] 0.9996800955447973 Centerline is valid? [True, True] Translation: X:272.09, Y:-59.05, Z:-5.16 [[ 9.70786391e-01 2.39619551e-01 1.25001529e-02 2.72093626e+02] [-2.39595636e-01 9.70866818e-01 -3.39901784e-03 -5.90506330e+01] [-1.29504548e-02 3.04738187e-04 9.99916093e-01 -5.15703256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.91862385300004 meters Centerline goodness [0,1] 0.999634070215468 Centerline is valid? [True, True] Translation: X:272.12, Y:-59.06, Z:-5.16 [[ 9.71064797e-01 2.38500860e-01 1.22678366e-02 2.72120731e+02] [-2.38477746e-01 9.71142236e-01 -3.33508649e-03 -5.90589627e+01] [-1.27092353e-02 3.12979063e-04 9.99919185e-01 -5.15725698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.948623853 meters Centerline goodness [0,1] 0.9997405573692517 Centerline is valid? [True, True] Translation: X:272.15, Y:-59.07, Z:-5.16 [[ 9.71264674e-01 2.37670709e-01 1.25526014e-02 2.72148093e+02] [-2.37646451e-01 9.71345729e-01 -3.41162598e-03 -5.90668084e+01] [-1.30037594e-02 3.30510605e-04 9.99915393e-01 -5.15670293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.97862385300004 meters Centerline goodness [0,1] 0.999720183387503 Centerline is valid? [True, True] Translation: X:272.17, Y:-59.08, Z:-5.16 [[ 9.71217082e-01 2.37849771e-01 1.28400030e-02 2.72174627e+02] [-2.37824414e-01 9.71301897e-01 -3.48912156e-03 -5.90753067e+01] [-1.33014060e-02 3.35028284e-04 9.99911476e-01 -5.15688735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.008623853 meters Centerline goodness [0,1] 0.9995297336582446 Centerline is valid? [True, True] Translation: X:272.20, Y:-59.09, Z:-5.16 [[ 9.71064028e-01 2.38460350e-01 1.30887472e-02 2.72199694e+02] [-2.38434068e-01 9.71152177e-01 -3.55585193e-03 -5.90878012e+01] [-1.35590950e-02 3.32156660e-04 9.99908016e-01 -5.15784508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.03862385300005 meters Centerline goodness [0,1] 0.9996591538494312 Centerline is valid? [True, True] Translation: X:272.23, Y:-59.09, Z:-5.16 [[ 9.70681384e-01 2.40008580e-01 1.31731979e-02 2.72226984e+02] [-2.39982113e-01 9.70770717e-01 -3.57787674e-03 -5.90949658e+01] [-1.36468758e-02 3.11646486e-04 9.99906828e-01 -5.15835977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.068623853 meters Centerline goodness [0,1] 0.9996992804210074 Centerline is valid? [True, True] Translation: X:272.26, Y:-59.10, Z:-5.16 [[ 9.70503062e-01 2.40727587e-01 1.31922465e-02 2.72256894e+02] [-2.40701117e-01 9.70592674e-01 -3.58245445e-03 -5.90965517e+01] [-1.36666935e-02 3.01394536e-04 9.99906561e-01 -5.15734912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.09862385300005 meters Centerline goodness [0,1] 0.9998083556918359 Centerline is valid? [True, True] Translation: X:272.28, Y:-59.11, Z:-5.16 [[ 9.70011461e-01 2.42696203e-01 1.32785291e-02 2.72283068e+02] [-2.42669577e-01 9.70102303e-01 -3.60539187e-03 -5.91072773e+01] [-1.37565466e-02 2.74976388e-04 9.99905336e-01 -5.15869385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.128623853 meters Centerline goodness [0,1] 0.9997205803331543 Centerline is valid? [True, True] Translation: X:272.31, Y:-59.11, Z:-5.16 [[ 9.69779425e-01 2.43608993e-01 1.35101940e-02 2.72311717e+02] [-2.43581536e-01 9.69873491e-01 -3.66704391e-03 -5.91134711e+01] [-1.39965039e-02 2.65389926e-04 9.99902009e-01 -5.15841707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.158623853 meters Centerline goodness [0,1] 0.9997437211686314 Centerline is valid? [True, True] Translation: X:272.34, Y:-59.12, Z:-5.16 [[ 9.69463443e-01 2.44848202e-01 1.37837189e-02 2.72338208e+02] [-2.44819768e-01 9.69561393e-01 -3.73977763e-03 -5.91217441e+01] [-1.42798395e-02 2.51050839e-04 9.99898006e-01 -5.15897383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.188623853 meters Centerline goodness [0,1] 0.9999143560646612 Centerline is valid? [True, True] Translation: X:272.37, Y:-59.13, Z:-5.16 [[ 9.68780295e-01 2.47620330e-01 1.22029813e-02 2.72366601e+02] [-2.47598274e-01 9.68857130e-01 -3.31008954e-03 -5.91287323e+01] [-1.26425909e-02 1.85312425e-04 9.99920062e-01 -5.16219552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.218623853 meters Centerline goodness [0,1] 0.999870709160256 Centerline is valid? [True, True] Translation: X:272.40, Y:-59.13, Z:-5.16 [[ 9.68383919e-01 2.49188491e-01 1.17337730e-02 2.72395081e+02] [-2.49168218e-01 9.68454992e-01 -3.18249044e-03 -5.91346452e+01] [-1.21566710e-02 1.58189255e-04 9.99926092e-01 -5.16370992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.248623853 meters Centerline goodness [0,1] 0.9999139895927407 Centerline is valid? [True, True] Translation: X:272.42, Y:-59.14, Z:-5.16 [[ 9.67858319e-01 2.51234713e-01 1.14626845e-02 2.72423628e+02] [-2.51215516e-01 9.67926186e-01 -3.10840645e-03 -5.91407895e+01] [-1.18759721e-02 1.28892857e-04 9.99929470e-01 -5.16462639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.278623853 meters Centerline goodness [0,1] 0.9998284844456832 Centerline is valid? [True, True] Translation: X:272.45, Y:-59.14, Z:-5.17 [[ 9.66655188e-01 2.55840748e-01 1.11022567e-02 2.72451516e+02] [-2.55823048e-01 9.66718939e-01 -3.01022050e-03 -5.91444730e+01] [-1.15028989e-02 6.96321178e-05 9.99933837e-01 -5.16579007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.30862385300003 meters Centerline goodness [0,1] 0.9997434910863152 Centerline is valid? [True, True] Translation: X:272.48, Y:-59.15, Z:-5.17 [[ 9.66001855e-01 2.58297991e-01 1.10708442e-02 2.72480674e+02] [-2.58280558e-01 9.66065291e-01 -3.00123834e-03 -5.91489398e+01] [-1.14703722e-02 3.98179838e-05 9.99934212e-01 -5.16650761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.338623853 meters Centerline goodness [0,1] 0.99963187527068 Centerline is valid? [True, True] Translation: X:272.51, Y:-59.15, Z:-5.17 [[ 9.64637515e-01 2.63352039e-01 1.09621551e-02 2.72509362e+02] [-2.63335275e-01 9.64699799e-01 -2.97153614e-03 -5.91490664e+01] [-1.13577489e-02 -2.02668910e-05 9.99935498e-01 -5.16640307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.36862385300003 meters Centerline goodness [0,1] 0.9994467731982892 Centerline is valid? [True, True] Translation: X:272.54, Y:-59.15, Z:-5.17 [[ 9.63909987e-01 2.66003464e-01 1.09404642e-02 2.72537647e+02] [-2.65986973e-01 9.63972071e-01 -2.96236460e-03 -5.91522540e+01] [-1.13343012e-02 -5.45681462e-05 9.99935763e-01 -5.16816545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.398623853 meters Centerline goodness [0,1] 0.9993089597685015 Centerline is valid? [True, True] Translation: X:272.57, Y:-59.16, Z:-5.17 [[ 9.63286470e-01 2.68254455e-01 1.08960546e-02 2.72566631e+02] [-2.68238241e-01 9.63348089e-01 -2.95044070e-03 -5.91566413e+01] [-1.12881622e-02 -8.06189046e-05 9.99936283e-01 -5.16851821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.42862385300003 meters Centerline goodness [0,1] 0.9993524993524994 Centerline is valid? [True, True] Translation: X:272.59, Y:-59.16, Z:-5.17 [[ 9.62774182e-01 2.70085929e-01 1.09300234e-02 2.72594522e+02] [-2.70069753e-01 9.62836217e-01 -2.95777810e-03 -5.91624921e+01] [-1.13226766e-02 -1.04196323e-04 9.99935891e-01 -5.16816151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.458623853 meters Centerline goodness [0,1] 0.9987381298656857 Centerline is valid? [True, True] Translation: X:272.62, Y:-59.17, Z:-5.17 [[ 9.61949663e-01 2.73015076e-01 1.07523529e-02 2.72622143e+02] [-2.72999636e-01 9.62009745e-01 -2.90688246e-03 -5.91661983e+01] [-1.11374910e-02 -1.39113832e-04 9.99937967e-01 -5.16922948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.48862385300004 meters Centerline goodness [0,1] 0.9985007496251874 Centerline is valid? [True, True] Translation: X:272.65, Y:-59.17, Z:-5.17 [[ 9.61692666e-01 2.73918061e-01 1.07755490e-02 2.72649389e+02] [-2.73902618e-01 9.61753021e-01 -2.91242914e-03 -5.91717652e+01] [-1.11611838e-02 -1.50589350e-04 9.99937701e-01 -5.17042119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.518623853 meters Centerline goodness [0,1] 0.9985014236475348 Centerline is valid? [True, True] Translation: X:272.68, Y:-59.18, Z:-5.17 [[ 9.61432227e-01 2.74822250e-01 1.09910847e-02 2.72677172e+02] [-2.74806242e-01 9.61495036e-01 -2.97073557e-03 -5.91777463e+01] [-1.13842976e-02 -1.64257762e-04 9.99935183e-01 -5.17062608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.54862385300004 meters Centerline goodness [0,1] 0.9982043608379649 Centerline is valid? [True, True] Translation: X:272.70, Y:-59.18, Z:-5.17 [[ 9.61419272e-01 2.74854910e-01 1.13032277e-02 2.72704035e+02] [-2.74838013e-01 9.61485699e-01 -3.05243414e-03 -5.91825905e+01] [-1.17068683e-02 -1.71887626e-04 9.99931457e-01 -5.17112661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.578623853 meters Centerline goodness [0,1] 0.9973917916882221 Centerline is valid? [True, True] Translation: X:272.73, Y:-59.19, Z:-5.16 [[ 9.61566758e-01 2.74329904e-01 1.15097029e-02 2.72731054e+02] [-2.74312350e-01 9.61635625e-01 -3.10794713e-03 -5.91919413e+01] [-1.19207431e-02 -1.68754991e-04 9.99928931e-01 -5.16185092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.60862385300004 meters Centerline goodness [0,1] 0.9985174999462862 Centerline is valid? [True, True] Translation: X:272.76, Y:-59.20, Z:-5.17 [[ 9.61689325e-01 2.73868884e-01 1.22260306e-02 2.72757685e+02] [-2.73849085e-01 9.61767021e-01 -3.29779054e-03 -5.91998955e+01] [-1.26617552e-02 -1.76637326e-04 9.99919821e-01 -5.17089563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.638623853 meters Centerline goodness [0,1] 0.998644490823418 Centerline is valid? [True, True] Translation: X:272.78, Y:-59.21, Z:-5.17 [[ 9.61876446e-01 2.73195690e-01 1.25625685e-02 2.72784206e+02] [-2.73174731e-01 9.61958463e-01 -3.38837716e-03 -5.92105546e+01] [-1.30103591e-02 -1.72576085e-04 9.99915347e-01 -5.16970123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.66862385300004 meters Centerline goodness [0,1] 0.998644490823418 Centerline is valid? [True, True] Translation: X:272.81, Y:-59.22, Z:-5.17 [[ 9.61928820e-01 2.73011196e-01 1.25631012e-02 2.72810788e+02] [-2.72990247e-01 9.62010841e-01 -3.38640073e-03 -5.92175223e+01] [-1.30103648e-02 -1.72127628e-04 9.99915347e-01 -5.17021689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.698623853 meters Centerline goodness [0,1] 0.9986260197509661 Centerline is valid? [True, True] Translation: X:272.84, Y:-59.22, Z:-5.17 [[ 9.62227678e-01 2.71924714e-01 1.32228849e-02 2.72838071e+02] [-2.71901454e-01 9.62318513e-01 -3.56063673e-03 -5.92238884e+01] [-1.36928521e-02 -1.69178407e-04 9.99906234e-01 -5.17071930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.72862385300004 meters Centerline goodness [0,1] 0.9986712102702587 Centerline is valid? [True, True] Translation: X:272.87, Y:-59.23, Z:-5.17 [[ 9.62446937e-01 2.71140018e-01 1.33784756e-02 2.72865511e+02] [-2.71116136e-01 9.62539903e-01 -3.60219010e-03 -5.92336165e+01] [-1.38540145e-02 -1.60203779e-04 9.99904016e-01 -5.16983236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.758623853 meters Centerline goodness [0,1] 0.9985842985842985 Centerline is valid? [True, True] Translation: X:272.89, Y:-59.24, Z:-5.17 [[ 9.62873795e-01 2.69633095e-01 1.31167324e-02 2.72892661e+02] [-2.69610029e-01 9.62963122e-01 -3.52949676e-03 -5.92429492e+01] [-1.35825987e-02 -1.37942659e-04 9.99907743e-01 -5.17015050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.78862385300005 meters Centerline goodness [0,1] 0.998890170391487 Centerline is valid? [True, True] Translation: X:272.92, Y:-59.25, Z:-5.17 [[ 9.63141516e-01 2.68674513e-01 1.31311020e-02 2.72920287e+02] [-2.68651339e-01 9.63231016e-01 -3.53107467e-03 -5.92524708e+01] [-1.35969944e-02 -1.26763507e-04 9.99907549e-01 -5.17050211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.818623853 meters Centerline goodness [0,1] 0.9986915486915486 Centerline is valid? [True, True] Translation: X:272.95, Y:-59.26, Z:-5.17 [[ 9.63306733e-01 2.68085393e-01 1.30521742e-02 2.72947214e+02] [-2.68062482e-01 9.63395146e-01 -3.50690606e-03 -5.92604863e+01] [-1.35145515e-02 -1.20571979e-04 9.99908667e-01 -5.17121959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.84862385300005 meters Centerline goodness [0,1] 0.9989849433260024 Centerline is valid? [True, True] Translation: X:272.97, Y:-59.27, Z:-5.17 [[ 9.63469023e-01 2.67513728e-01 1.28002793e-02 2.72973159e+02] [-2.67491648e-01 9.63554042e-01 -3.43882548e-03 -5.92667347e+01] [-1.32536939e-02 -1.10765966e-04 9.99912160e-01 -5.17244039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.878623853 meters Centerline goodness [0,1] 0.9989674754775426 Centerline is valid? [True, True] Translation: X:273.00, Y:-59.27, Z:-5.17 [[ 9.63856481e-01 2.66103914e-01 1.30150408e-02 2.73000831e+02] [-2.66080981e-01 9.63944344e-01 -3.49482051e-03 -5.92747181e+01] [-1.34757604e-02 -9.45494188e-05 9.99909193e-01 -5.17220881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.908623853 meters Centerline goodness [0,1] 0.9991211523621709 Centerline is valid? [True, True] Translation: X:273.03, Y:-59.28, Z:-5.17 [[ 9.64064040e-01 2.65330877e-01 1.34183947e-02 2.73027409e+02] [-2.65306456e-01 9.64157413e-01 -3.60088778e-03 -5.92831692e+01] [-1.38928715e-02 -8.85003291e-05 9.99903485e-01 -5.17128374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.938623853 meters Centerline goodness [0,1] 0.9991147767510148 Centerline is valid? [True, True] Translation: X:273.05, Y:-59.29, Z:-5.17 [[ 9.64415599e-01 2.64034205e-01 1.37292414e-02 2.73054170e+02] [-2.64008558e-01 9.64513314e-01 -3.68076043e-03 -5.92917738e+01] [-1.42138828e-02 -7.48544699e-05 9.99898975e-01 -5.17151603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.968623853 meters Centerline goodness [0,1] 0.9990620736698499 Centerline is valid? [True, True] Translation: X:273.08, Y:-59.30, Z:-5.17 [[ 9.64528971e-01 2.63635815e-01 1.34172344e-02 2.73079852e+02] [-2.63611292e-01 9.64622285e-01 -3.59639340e-03 -5.92985774e+01] [-1.38907014e-02 -6.81088703e-05 9.99903517e-01 -5.17218141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.998623853 meters Centerline goodness [0,1] 0.9992082513053154 Centerline is valid? [True, True] Translation: X:273.11, Y:-59.31, Z:-5.17 [[ 9.64700061e-01 2.63010249e-01 1.33940958e-02 2.73106407e+02] [-2.62985760e-01 9.64793038e-01 -3.58953543e-03 -5.93057128e+01] [-1.38666149e-02 -5.96314020e-05 9.99903852e-01 -5.17312041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.028623853 meters Centerline goodness [0,1] 0.9994400895856663 Centerline is valid? [True, True] Translation: X:273.13, Y:-59.31, Z:-5.17 [[ 9.65049221e-01 2.61724566e-01 1.34257902e-02 2.73133794e+02] [-2.61699874e-01 9.65142606e-01 -3.59529820e-03 -5.93134378e+01] [-1.38987800e-02 -4.38878834e-05 9.99903406e-01 -5.17385538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.05862385300003 meters Centerline goodness [0,1] 0.9996575635647633 Centerline is valid? [True, True] Translation: X:273.16, Y:-59.32, Z:-5.18 [[ 9.65175922e-01 2.61290399e-01 1.27579879e-02 2.73161248e+02] [-2.61268097e-01 9.65260237e-01 -3.41407247e-03 -5.93202693e+01] [-1.32068427e-02 -3.80746635e-05 9.99912785e-01 -5.17503324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.088623853 meters Centerline goodness [0,1] 0.9995473650177821 Centerline is valid? [True, True] Translation: X:273.19, Y:-59.33, Z:-5.18 [[ 9.65345838e-01 2.60686514e-01 1.22456254e-02 2.73188219e+02] [-2.60665948e-01 9.65423503e-01 -3.27466163e-03 -5.93274475e+01] [-1.26758747e-02 -3.08365699e-05 9.99919657e-01 -5.17675906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.11862385300003 meters Centerline goodness [0,1] 0.9995918630378279 Centerline is valid? [True, True] Translation: X:273.21, Y:-59.34, Z:-5.18 [[ 9.65783513e-01 2.59077476e-01 1.18772117e-02 2.73214253e+02] [-2.59058043e-01 9.65856543e-01 -3.17315939e-03 -5.93359023e+01] [-1.22937767e-02 -1.23021933e-05 9.99924429e-01 -5.17805017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.148623853 meters Centerline goodness [0,1] 0.9998286167227233 Centerline is valid? [True, True] Translation: X:273.24, Y:-59.34, Z:-5.18 [[ 9.66130247e-01 2.57785543e-01 1.17881361e-02 2.73240809e+02] [-2.57766308e-01 9.66202160e-01 -3.14904816e-03 -5.93445838e+01] [-1.22015016e-02 3.80636283e-06 9.99925559e-01 -5.17889963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.17862385300003 meters Centerline goodness [0,1] 0.9998931121467356 Centerline is valid? [True, True] Translation: X:273.27, Y:-59.36, Z:-5.18 [[ 9.66935616e-01 2.54763895e-01 1.14399077e-02 2.73266042e+02] [-2.54745605e-01 9.67003287e-01 -3.05294241e-03 -5.93572139e+01] [-1.18402078e-02 3.77325640e-05 9.99929902e-01 -5.18075238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.208623853 meters Centerline goodness [0,1] 0.999871729091842 Centerline is valid? [True, True] Translation: X:273.29, Y:-59.37, Z:-5.18 [[ 9.67356936e-01 2.53167186e-01 1.12665511e-02 2.73293477e+02] [-2.53149346e-01 9.67422541e-01 -3.00591700e-03 -5.93673953e+01] [-1.16605151e-02 5.56746123e-05 9.99932012e-01 -5.18117870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.23862385300004 meters Centerline goodness [0,1] 0.999957263130903 Centerline is valid? [True, True] Translation: X:273.32, Y:-59.38, Z:-5.18 [[ 9.67762132e-01 2.51613898e-01 1.12650545e-02 2.73320391e+02] [-2.51595964e-01 9.67827692e-01 -3.00496487e-03 -5.93779272e+01] [-1.16587226e-02 7.38489638e-05 9.99932032e-01 -5.18125805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.268623853 meters Centerline goodness [0,1] 0.9999570021928882 Centerline is valid? [True, True] Translation: X:273.35, Y:-59.39, Z:-5.18 [[ 9.68390210e-01 2.49139571e-01 1.22423405e-02 2.73345748e+02] [-2.49118200e-01 9.68467584e-01 -3.26505103e-03 -5.93904567e+01] [-1.26697634e-02 1.12053621e-04 9.99919729e-01 -5.18016916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.29862385300004 meters Centerline goodness [0,1] 0.9999785729590743 Centerline is valid? [True, True] Translation: X:273.37, Y:-59.40, Z:-5.18 [[ 9.68569127e-01 2.48425269e-01 1.25988899e-02 2.73372645e+02] [-2.48402587e-01 9.68651057e-01 -3.35927166e-03 -5.93998237e+01] [-1.30384560e-02 1.24089981e-04 9.99914988e-01 -5.17995431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.328623853 meters Centerline goodness [0,1] 0.999978621515307 Centerline is valid? [True, True] Translation: X:273.40, Y:-59.41, Z:-5.18 [[ 9.68698197e-01 2.47917034e-01 1.26865350e-02 2.73399131e+02] [-2.47893998e-01 9.68781259e-01 -3.38208949e-03 -5.94089782e+01] [-1.31289549e-02 1.31308098e-04 9.99913803e-01 -5.18039255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.35862385300004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:273.43, Y:-59.42, Z:-5.18 [[ 9.68737146e-01 2.47767058e-01 1.26423042e-02 2.73425448e+02] [-2.47744179e-01 9.68819626e-01 -3.36960817e-03 -5.94188421e+01] [-1.30829903e-02 1.32207335e-04 9.99914405e-01 -5.18078325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.388623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:273.45, Y:-59.43, Z:-5.18 [[ 9.68727850e-01 2.47796469e-01 1.27774256e-02 2.73451810e+02] [-2.47773113e-01 9.68812104e-01 -3.40469497e-03 -5.94268959e+01] [-1.32225959e-02 1.32320337e-04 9.99912569e-01 -5.18124542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.41862385300004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:273.48, Y:-59.44, Z:-5.18 [[ 9.68507692e-01 2.48673247e-01 1.24284975e-02 2.73478358e+02] [-2.48651231e-01 9.68587427e-01 -3.31097319e-03 -5.94355768e+01] [-1.28614369e-02 1.16341798e-04 9.99917282e-01 -5.18248625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.448623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:273.50, Y:-59.44, Z:-5.18 [[ 9.68378776e-01 2.49185215e-01 1.22178335e-02 2.73504812e+02] [-2.49163996e-01 9.68455842e-01 -3.25361149e-03 -5.94433261e+01] [-1.26431841e-02 1.06484099e-04 9.99920066e-01 -5.18365927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.47862385300004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:273.53, Y:-59.45, Z:-5.18 [[ 9.68225230e-01 2.49791836e-01 1.19975933e-02 2.73532928e+02] [-2.49771431e-01 9.68299556e-01 -3.19421057e-03 -5.94506832e+01] [-1.24151520e-02 9.60592214e-05 9.99922924e-01 -5.18439028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.508623853 meters Centerline goodness [0,1] 0.9999783197831978 Centerline is valid? [True, True] Translation: X:273.56, Y:-59.46, Z:-5.18 [[ 9.67944644e-01 2.50883510e-01 1.18588238e-02 2.73561477e+02] [-2.50863662e-01 9.68017282e-01 -3.15673664e-03 -5.94555552e+01] [-1.22715196e-02 8.05983546e-05 9.99924699e-01 -5.18336082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.53862385300005 meters Centerline goodness [0,1] 0.9999138636461519 Centerline is valid? [True, True] Translation: X:273.59, Y:-59.46, Z:-5.19 [[ 9.67056735e-01 2.54308865e-01 1.13257450e-02 2.73588606e+02] [-2.54291002e-01 9.67123053e-01 -3.01437260e-03 -5.94608946e+01] [-1.17199708e-02 3.50342711e-05 9.99931318e-01 -5.18678769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.568623853 meters Centerline goodness [0,1] 0.9997848675859992 Centerline is valid? [True, True] Translation: X:273.62, Y:-59.46, Z:-5.19 [[ 9.66476234e-01 2.56522905e-01 1.09401847e-02 2.73615494e+02] [-2.56506386e-01 9.66538152e-01 -2.91119297e-03 -5.94643681e+01] [-1.13208936e-02 7.37158067e-06 9.99935917e-01 -5.18838045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.59862385300005 meters Centerline goodness [0,1] 0.999545700378583 Centerline is valid? [True, True] Translation: X:273.65, Y:-59.46, Z:-5.19 [[ 9.65096884e-01 2.61655637e-01 1.11504499e-02 2.73646170e+02] [-2.61638822e-01 9.65161295e-01 -2.96678628e-03 -5.94628292e+01] [-1.15382590e-02 -5.41543875e-05 9.99933431e-01 -5.18752585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.628623853 meters Centerline goodness [0,1] 0.9992273849125443 Centerline is valid? [True, True] Translation: X:273.67, Y:-59.46, Z:-5.19 [[ 9.64343651e-01 2.64409155e-01 1.13631451e-02 2.73674086e+02] [-2.64391915e-01 9.64410592e-01 -3.02073966e-03 -5.94644491e+01] [-1.17574487e-02 -9.12925897e-05 9.99930875e-01 -5.18786482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.658623853 meters Centerline goodness [0,1] 0.9989856917797872 Centerline is valid? [True, True] Translation: X:273.70, Y:-59.47, Z:-5.18 [[ 9.63696371e-01 2.66749986e-01 1.15650134e-02 2.73702750e+02] [-2.66732295e-01 9.63765755e-01 -3.07452500e-03 -5.94706896e+01] [-1.19660934e-02 -1.21853983e-04 9.99928396e-01 -5.18459105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.688623853 meters Centerline goodness [0,1] 0.9984744469870328 Centerline is valid? [True, True] Translation: X:273.73, Y:-59.46, Z:-5.19 [[ 9.62418851e-01 2.71281422e-01 1.25038058e-02 2.73733342e+02] [-2.71261166e-01 9.62500053e-01 -3.32088625e-03 -5.94635267e+01] [-1.29358085e-02 -1.95713407e-04 9.99916310e-01 -5.18569687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.718623853 meters Centerline goodness [0,1] 0.9983670663057024 Centerline is valid? [True, True] Translation: X:273.76, Y:-59.47, Z:-5.18 [[ 9.62051711e-01 2.72571457e-01 1.27006157e-02 2.73761051e+02] [-2.72550674e-01 9.62135517e-01 -3.37290209e-03 -5.94709603e+01] [-1.31390703e-02 -2.16655139e-04 9.99913655e-01 -5.18471767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.748623853 meters Centerline goodness [0,1] 0.9981668391994479 Centerline is valid? [True, True] Translation: X:273.79, Y:-59.47, Z:-5.19 [[ 9.61653153e-01 2.73988727e-01 1.23851168e-02 2.73790322e+02] [-2.73969115e-01 9.61732875e-01 -3.28643021e-03 -5.94702818e+01] [-1.28116188e-02 -2.32733502e-04 9.99917901e-01 -5.18739345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.778623853 meters Centerline goodness [0,1] 0.9984366299738724 Centerline is valid? [True, True] Translation: X:273.82, Y:-59.48, Z:-5.19 [[ 9.61578354e-01 2.74252017e-01 1.23653301e-02 2.73817307e+02] [-2.74232491e-01 9.61657827e-01 -3.28104808e-03 -5.94793272e+01] [-1.27910506e-02 -2.35990470e-04 9.99918163e-01 -5.18696871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.80862385300003 meters Centerline goodness [0,1] 0.9982970752267019 Centerline is valid? [True, True] Translation: X:273.84, Y:-59.49, Z:-5.19 [[ 9.61612160e-01 2.74147311e-01 1.20542886e-02 2.73843732e+02] [-2.74128777e-01 9.61687682e-01 -3.19604915e-03 -5.94852132e+01] [-1.24686491e-02 -2.31067675e-04 9.99922237e-01 -5.18784337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.838623853 meters Centerline goodness [0,1] 0.998643702906351 Centerline is valid? [True, True] Translation: X:273.87, Y:-59.50, Z:-5.19 [[ 9.62044152e-01 2.72611489e-01 1.24107123e-02 2.73870783e+02] [-2.72591723e-01 9.62124175e-01 -3.28994797e-03 -5.94976842e+01] [-1.28375240e-02 -2.17982260e-04 9.99917572e-01 -5.18663151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.86862385300003 meters Centerline goodness [0,1] 0.9983200425305688 Centerline is valid? [True, True] Translation: X:273.90, Y:-59.50, Z:-5.19 [[ 9.62340229e-01 2.71552309e-01 1.26738808e-02 2.73899374e+02] [-2.71531641e-01 9.62423659e-01 -3.35695193e-03 -5.94976009e+01] [-1.31092307e-02 -2.10829754e-04 9.99914048e-01 -5.18928511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.898623853 meters Centerline goodness [0,1] 0.99879367541252 Centerline is valid? [True, True] Translation: X:273.93, Y:-59.51, Z:-5.19 [[ 9.63370704e-01 2.67866708e-01 1.28184598e-02 2.73925827e+02] [-2.67845252e-01 9.63455967e-01 -3.39430592e-03 -5.95098575e+01] [-1.32592432e-02 -1.63388715e-04 9.99912079e-01 -5.18987656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.92862385300003 meters Centerline goodness [0,1] 0.9986255476333649 Centerline is valid? [True, True] Translation: X:273.95, Y:-59.52, Z:-5.19 [[ 9.64126250e-01 2.65150751e-01 1.24760757e-02 2.73952582e+02] [-2.65130196e-01 9.64206961e-01 -3.30374259e-03 -5.95212917e+01] [-1.29055088e-02 -1.22559436e-04 9.99916713e-01 -5.18757963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.958623853 meters Centerline goodness [0,1] 0.9994813278008299 Centerline is valid? [True, True] Translation: X:273.98, Y:-59.54, Z:-5.19 [[ 9.64933783e-01 2.62184476e-01 1.27316648e-02 2.73977755e+02] [-2.62162837e-01 9.65017768e-01 -3.36948438e-03 -5.95378963e+01] [-1.31697092e-02 -8.64400491e-05 9.99913272e-01 -5.18923220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.98862385300004 meters Centerline goodness [0,1] 0.9996142223365267 Centerline is valid? [True, True] Translation: X:274.00, Y:-59.55, Z:-5.19 [[ 9.66446928e-01 2.56527313e-01 1.31936555e-02 2.74002198e+02] [-2.56503587e-01 9.66536982e-01 -3.48890429e-03 -5.95538626e+01] [-1.36471552e-02 -1.23791230e-05 9.99906873e-01 -5.19117907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.018623853 meters Centerline goodness [0,1] 0.9998506794086904 Centerline is valid? [True, True] Translation: X:274.03, Y:-59.57, Z:-5.19 [[ 9.67143060e-01 2.53876642e-01 1.34518633e-02 2.74027902e+02] [-2.53851734e-01 9.67236605e-01 -3.55630510e-03 -5.95662199e+01] [-1.39139974e-02 2.46769672e-05 9.99903195e-01 -5.19136097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.04862385300004 meters Centerline goodness [0,1] 0.9999141465089825 Centerline is valid? [True, True] Translation: X:274.05, Y:-59.58, Z:-5.19 [[ 9.68139788e-01 2.50044076e-01 1.35392303e-02 2.74052990e+02] [-2.50018510e-01 9.68234452e-01 -3.57640662e-03 -5.95821477e+01] [-1.40034086e-02 7.74033577e-05 9.99901944e-01 -5.19177461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.078623853 meters Centerline goodness [0,1] 0.9999786269983757 Centerline is valid? [True, True] Translation: X:274.08, Y:-59.59, Z:-5.19 [[ 9.68488600e-01 2.48711451e-01 1.31318612e-02 2.74080868e+02] [-2.48687287e-01 9.68577620e-01 -3.46806425e-03 -5.95904055e+01] [-1.35817741e-02 9.30537610e-05 9.99907759e-01 -5.19136094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.10862385300004 meters Centerline goodness [0,1] 0.9999568909772816 Centerline is valid? [True, True] Translation: X:274.11, Y:-59.60, Z:-5.19 [[ 9.68717774e-01 2.47823558e-01 1.30137545e-02 2.74108835e+02] [-2.47799755e-01 9.68805178e-01 -3.43627119e-03 -5.95983017e+01] [-1.34593817e-02 1.03971803e-04 9.99909413e-01 -5.19121054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.138623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:274.13, Y:-59.61, Z:-5.19 [[ 9.68777031e-01 2.47603425e-01 1.27909645e-02 2.74134536e+02] [-2.47580419e-01 9.68861462e-01 -3.37685790e-03 -5.96094699e+01] [-1.32287942e-02 1.04630014e-04 9.99912490e-01 -5.19401260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.16862385300004 meters Centerline goodness [0,1] 0.9999568342218289 Centerline is valid? [True, True] Translation: X:274.16, Y:-59.61, Z:-5.19 [[ 9.68580012e-01 2.48398049e-01 1.22951043e-02 2.74163292e+02] [-2.48376867e-01 9.68658041e-01 -3.24511363e-03 -5.96146036e+01] [-1.27158315e-02 8.93327252e-05 9.99919147e-01 -5.19327965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.198623853 meters Centerline goodness [0,1] 0.999892537826685 Centerline is valid? [True, True] Translation: X:274.19, Y:-59.62, Z:-5.19 [[ 9.68310641e-01 2.49443214e-01 1.23525402e-02 2.74190810e+02] [-2.49421926e-01 9.68389424e-01 -3.25970344e-03 -5.96209439e+01] [-1.27751802e-02 7.54111629e-05 9.99918391e-01 -5.19431001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.22862385300004 meters Centerline goodness [0,1] 0.9999142532530172 Centerline is valid? [True, True] Translation: X:274.22, Y:-59.63, Z:-5.20 [[ 9.67940587e-01 2.50883787e-01 1.21796737e-02 2.74219449e+02] [-2.50863215e-01 9.68017212e-01 -3.21324299e-03 -5.96256402e+01] [-1.25962844e-02 5.47962023e-05 9.99920662e-01 -5.19526345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.258623853 meters Centerline goodness [0,1] 0.9999143267150721 Centerline is valid? [True, True] Translation: X:274.25, Y:-59.63, Z:-5.20 [[ 9.66875831e-01 2.54980103e-01 1.16736487e-02 2.74249333e+02] [-2.54961510e-01 9.66946300e-01 -3.07919522e-03 -5.96266113e+01] [-1.20729250e-02 8.68330786e-07 9.99927120e-01 -5.19648944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.28862385300005 meters Centerline goodness [0,1] 0.999849381387843 Centerline is valid? [True, True] Translation: X:274.28, Y:-59.63, Z:-5.20 [[ 9.66299864e-01 2.57139707e-01 1.19893130e-02 2.74277438e+02] [-2.57120267e-01 9.66374239e-01 -3.16198765e-03 -5.96297221e+01] [-1.23992358e-02 -2.72671340e-05 9.99923126e-01 -5.19635709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.318623853 meters Centerline goodness [0,1] 0.9998496208296633 Centerline is valid? [True, True] Translation: X:274.31, Y:-59.63, Z:-5.20 [[ 9.65646497e-01 2.59581368e-01 1.20147911e-02 2.74306405e+02] [-2.59562047e-01 9.65721238e-01 -3.16765323e-03 -5.96327330e+01] [-1.24252027e-02 -5.97505113e-05 9.99922802e-01 -5.19615240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.34862385300005 meters Centerline goodness [0,1] 0.999721376827125 Centerline is valid? [True, True] Translation: X:274.34, Y:-59.63, Z:-5.20 [[ 9.64301643e-01 2.64524017e-01 1.22223408e-02 2.74336688e+02] [-2.64504417e-01 9.64379090e-01 -3.22250508e-03 -5.96313172e+01] [-1.26393999e-02 -1.25396187e-04 9.99920112e-01 -5.19627968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.378623853 meters Centerline goodness [0,1] 0.9994378986055562 Centerline is valid? [True, True] Translation: X:274.37, Y:-59.63, Z:-5.20 [[ 9.63736889e-01 2.66554697e-01 1.26413169e-02 2.74365928e+02] [-2.66533936e-01 9.63819780e-01 -3.33057512e-03 -5.96344936e+01] [-1.30717317e-02 -1.59541847e-04 9.99914549e-01 -5.19633901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.408623853 meters Centerline goodness [0,1] 0.9992471823109352 Centerline is valid? [True, True] Translation: X:274.40, Y:-59.63, Z:-5.20 [[ 9.62546563e-01 2.70815813e-01 1.27636105e-02 2.74395686e+02] [-2.70795063e-01 9.62631158e-01 -3.35974020e-03 -5.96322225e+01] [-1.31965199e-02 -2.22416326e-04 9.99912897e-01 -5.19674667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.438623853 meters Centerline goodness [0,1] 0.9987835328766246 Centerline is valid? [True, True] Translation: X:274.42, Y:-59.64, Z:-5.20 [[ 9.62167129e-01 2.72154858e-01 1.28898558e-02 2.74424596e+02] [-2.72133816e-01 9.62253435e-01 -3.39292570e-03 -5.96359700e+01] [-1.33267092e-02 -2.43204061e-04 9.99911166e-01 -5.19733312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.468623853 meters Centerline goodness [0,1] 0.9984219287057654 Centerline is valid? [True, True] Translation: X:274.45, Y:-59.64, Z:-5.20 [[ 9.61856877e-01 2.73236806e-01 1.31528041e-02 2.74453022e+02] [-2.73215030e-01 9.61946764e-01 -3.45973586e-03 -5.96403538e+01] [-1.35976245e-02 -2.65773049e-04 9.99907513e-01 -5.19746694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.498623853 meters Centerline goodness [0,1] 0.9979739632726959 Centerline is valid? [True, True] Translation: X:274.48, Y:-59.64, Z:-5.20 [[ 9.61489083e-01 2.74520031e-01 1.33227289e-02 2.74481652e+02] [-2.74497853e-01 9.61581337e-01 -3.50146891e-03 -5.96418640e+01] [-1.37721108e-02 -2.90436351e-04 9.99905118e-01 -5.19797017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.528623853 meters Centerline goodness [0,1] 0.9979739632726959 Centerline is valid? [True, True] Translation: X:274.51, Y:-59.65, Z:-5.20 [[ 9.61540385e-01 2.74340284e-01 1.33227737e-02 2.74508280e+02] [-2.74318092e-01 9.61632635e-01 -3.50129890e-03 -5.96486624e+01] [-1.37721613e-02 -2.88037557e-04 9.99905118e-01 -5.19848585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.55862385300003 meters Centerline goodness [0,1] 0.9980174550156233 Centerline is valid? [True, True] Translation: X:274.54, Y:-59.66, Z:-5.20 [[ 9.61569502e-01 2.74228984e-01 1.35113461e-02 2.74535107e+02] [-2.74206186e-01 9.61664379e-01 -3.54812569e-03 -5.96550776e+01] [-1.39663792e-02 -2.93125217e-04 9.99902422e-01 -5.19869219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.588623853 meters Centerline goodness [0,1] 0.9982128630794738 Centerline is valid? [True, True] Translation: X:274.56, Y:-59.66, Z:-5.20 [[ 9.61742325e-01 2.73605104e-01 1.38545366e-02 2.74562677e+02] [-2.73581119e-01 9.61842066e-01 -3.63472015e-03 -5.96594880e+01] [-1.43203541e-02 -2.94675434e-04 9.99897415e-01 -5.19838536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.61862385300003 meters Centerline goodness [0,1] 0.9982742457814897 Centerline is valid? [True, True] Translation: X:274.59, Y:-59.66, Z:-5.20 [[ 9.61942048e-01 2.72912486e-01 1.36481259e-02 2.74590160e+02] [-2.72889153e-01 9.62038822e-01 -3.57971714e-03 -5.96636593e+01] [-1.41069765e-02 -2.80945085e-04 9.99900452e-01 -5.19967358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.648623853 meters Centerline goodness [0,1] 0.9984078831300157 Centerline is valid? [True, True] Translation: X:274.62, Y:-59.67, Z:-5.20 [[ 9.62182546e-01 2.72083581e-01 1.32390822e-02 2.74617994e+02] [-2.72061550e-01 9.62273587e-01 -3.47218898e-03 -5.96718653e+01] [-1.36843447e-02 -2.60965583e-04 9.99906331e-01 -5.20018907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.67862385300003 meters Centerline goodness [0,1] 0.9983087857509848 Centerline is valid? [True, True] Translation: X:274.65, Y:-59.68, Z:-5.20 [[ 9.62353022e-01 2.71483979e-01 1.31570937e-02 2.74645516e+02] [-2.71462204e-01 9.62442925e-01 -3.44780699e-03 -5.96760456e+01] [-1.35989761e-02 -2.53646161e-04 9.99907497e-01 -5.20205254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.708623853 meters Centerline goodness [0,1] 0.9983472848250697 Centerline is valid? [True, True] Translation: X:274.67, Y:-59.68, Z:-5.20 [[ 9.62689345e-01 2.70320330e-01 1.24958037e-02 2.74672433e+02] [-2.70300600e-01 9.62770413e-01 -3.27378043e-03 -5.96812536e+01] [-1.29155595e-02 -2.25989704e-04 9.99916565e-01 -5.20430683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.73862385300004 meters Centerline goodness [0,1] 0.9983739837398374 Centerline is valid? [True, True] Translation: X:274.70, Y:-59.69, Z:-5.21 [[ 9.62960419e-01 2.69373919e-01 1.20383947e-02 2.74699370e+02] [-2.69355541e-01 9.63035643e-01 -3.15324136e-03 -5.96869924e+01] [-1.24428042e-02 -2.06161695e-04 9.99922564e-01 -5.20606251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.768623853 meters Centerline goodness [0,1] 0.9990574727416832 Centerline is valid? [True, True] Translation: X:274.73, Y:-59.70, Z:-5.21 [[ 9.63491108e-01 2.67492353e-01 1.15206287e-02 2.74726548e+02] [-2.67475387e-01 9.63559967e-01 -3.01775126e-03 -5.96970231e+01] [-1.19080420e-02 -1.73908109e-04 9.99929082e-01 -5.20745413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.79862385300004 meters Centerline goodness [0,1] 0.9990131084937032 Centerline is valid? [True, True] Translation: X:274.75, Y:-59.71, Z:-5.21 [[ 9.63863688e-01 2.66164786e-01 1.10949230e-02 2.74754058e+02] [-2.66148983e-01 9.63927530e-01 -2.90441086e-03 -5.97055757e+01] [-1.14677536e-02 -1.53446305e-04 9.99934231e-01 -5.20848160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.828623853 meters Centerline goodness [0,1] 0.9992511927429879 Centerline is valid? [True, True] Translation: X:274.78, Y:-59.71, Z:-5.21 [[ 9.64721735e-01 2.63058901e-01 1.05824768e-02 2.74781927e+02] [-2.63044356e-01 9.64779769e-01 -2.76849806e-03 -5.97107826e+01] [-1.09380376e-02 -1.12830549e-04 9.99940172e-01 -5.21311231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.85862385300004 meters Centerline goodness [0,1] 0.9994767936168821 Centerline is valid? [True, True] Translation: X:274.81, Y:-59.72, Z:-5.21 [[ 9.65257333e-01 2.61093917e-01 1.04042638e-02 2.74808505e+02] [-2.61079763e-01 9.65313399e-01 -2.72007165e-03 -5.97228773e+01] [-1.07535694e-02 -9.07736232e-05 9.99942175e-01 -5.21158744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.888623853 meters Centerline goodness [0,1] 0.9994007362383358 Centerline is valid? [True, True] Translation: X:274.83, Y:-59.73, Z:-5.21 [[ 9.65812284e-01 2.59035346e-01 1.03596354e-02 2.74834617e+02] [-2.59021225e-01 9.65867840e-01 -2.70562904e-03 -5.97311343e+01] [-1.07068922e-02 -7.02356804e-05 9.99942677e-01 -5.21286524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.91862385300004 meters Centerline goodness [0,1] 0.9998474879079698 Centerline is valid? [True, True] Translation: X:274.86, Y:-59.74, Z:-5.21 [[ 9.66937992e-01 2.54774997e-01 1.09827346e-02 2.74860776e+02] [-2.54758851e-01 9.67000362e-01 -2.86842761e-03 -5.97436806e+01] [-1.13511120e-02 -2.43572224e-05 9.99935574e-01 -5.21138569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.948623853 meters Centerline goodness [0,1] 0.9996135514620637 Centerline is valid? [True, True] Translation: X:274.89, Y:-59.75, Z:-5.21 [[ 9.67427145e-01 2.52895900e-01 1.13306449e-02 2.74887219e+02] [-2.52878620e-01 9.67493495e-01 -2.95633120e-03 -5.97523605e+01] [-1.17099693e-02 -5.24280691e-06 9.99931436e-01 -5.21145620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.97862385300004 meters Centerline goodness [0,1] 0.9997870936149376 Centerline is valid? [True, True] Translation: X:274.91, Y:-59.76, Z:-5.21 [[ 9.68100384e-01 2.50298597e-01 1.15004294e-02 2.74912341e+02] [-2.50280619e-01 9.68168690e-01 -3.00003008e-03 -5.97627090e+01] [-1.18852590e-02 2.59956842e-05 9.99929367e-01 -5.21214452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.008623853 meters Centerline goodness [0,1] 0.9993608590054966 Centerline is valid? [True, True] Translation: X:274.94, Y:-59.77, Z:-5.21 [[ 9.68286697e-01 2.49602124e-01 1.09385995e-02 2.74940329e+02] [-2.49585818e-01 9.68348480e-01 -2.85318794e-03 -5.97691582e+01] [-1.13045380e-02 3.25846142e-05 9.99936101e-01 -5.20704540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.03862385300005 meters Centerline goodness [0,1] 0.9999356278431036 Centerline is valid? [True, True] Translation: X:274.97, Y:-59.78, Z:-5.21 [[ 9.68507032e-01 2.48736549e-01 1.11471052e-02 2.74966277e+02] [-2.48719579e-01 9.68571178e-01 -2.90578438e-03 -5.97784262e+01] [-1.15195396e-02 4.17692901e-05 9.99933647e-01 -5.21368069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.068623853 meters Centerline goodness [0,1] 0.9999787184234608 Centerline is valid? [True, True] Translation: X:274.99, Y:-59.79, Z:-5.21 [[ 9.68560957e-01 2.48520735e-01 1.12746288e-02 2.74993215e+02] [-2.48503397e-01 9.68626575e-01 -2.93587281e-03 -5.97851274e+01] [-1.16505304e-02 4.17882121e-05 9.99932129e-01 -5.21411704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.09862385300005 meters Centerline goodness [0,1] 0.9999784987851814 Centerline is valid? [True, True] Translation: X:275.02, Y:-59.79, Z:-5.21 [[ 9.68554457e-01 2.48533935e-01 1.15389130e-02 2.75020498e+02] [-2.48515786e-01 9.68623189e-01 -3.00380520e-03 -5.97908481e+01] [-1.19234062e-02 4.17468866e-05 9.99928913e-01 -5.21370102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.128623853 meters Centerline goodness [0,1] 0.9998920575980657 Centerline is valid? [True, True] Translation: X:275.05, Y:-59.80, Z:-5.21 [[ 9.68576544e-01 2.48444150e-01 1.16182343e-02 2.75047762e+02] [-2.48425754e-01 9.68646222e-01 -3.02358261e-03 -5.97974208e+01] [-1.20051502e-02 4.23025656e-05 9.99927935e-01 -5.21339580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.158623853 meters Centerline goodness [0,1] 0.9999136647169282 Centerline is valid? [True, True] Translation: X:275.07, Y:-59.81, Z:-5.21 [[ 9.68713081e-01 2.47915496e-01 1.15271034e-02 2.75073895e+02] [-2.47897362e-01 9.68781660e-01 -2.99888150e-03 -5.98060393e+01] [-1.19107156e-02 4.75172073e-05 9.99929064e-01 -5.21416930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.188623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:275.10, Y:-59.81, Z:-5.22 [[ 9.68846699e-01 2.47400972e-01 1.13504450e-02 2.75100509e+02] [-2.47383362e-01 9.68913183e-01 -2.95220122e-03 -5.98145004e+01] [-1.17279732e-02 5.23191642e-05 9.99931224e-01 -5.21537669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.218623853 meters Centerline goodness [0,1] 0.9999785798436328 Centerline is valid? [True, True] Translation: X:275.13, Y:-59.82, Z:-5.22 [[ 9.68996410e-01 2.46815489e-01 1.13168896e-02 2.75127626e+02] [-2.46797942e-01 9.69062491e-01 -2.94362618e-03 -5.98222417e+01] [-1.16933058e-02 5.93781303e-05 9.99931629e-01 -5.21541679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.248623853 meters Centerline goodness [0,1] 0.9999570409829023 Centerline is valid? [True, True] Translation: X:275.15, Y:-59.83, Z:-5.22 [[ 9.69272850e-01 2.45744670e-01 1.09407565e-02 2.75154049e+02] [-2.45728235e-01 9.69334593e-01 -2.84285331e-03 -5.98314061e+01] [-1.13038698e-02 6.70477531e-05 9.99936107e-01 -5.21673035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.278623853 meters Centerline goodness [0,1] 0.9999783961285862 Centerline is valid? [True, True] Translation: X:275.18, Y:-59.84, Z:-5.22 [[ 9.69369242e-01 2.45366162e-01 1.08958466e-02 2.75181582e+02] [-2.45349847e-01 9.69430473e-01 -2.83038980e-03 -5.98395524e+01] [-1.12572476e-02 7.03985361e-05 9.99936633e-01 -5.21792625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.30862385300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:275.21, Y:-59.85, Z:-5.22 [[ 9.69277656e-01 2.45711648e-01 1.12522021e-02 2.75208098e+02] [-2.45694278e-01 9.69342964e-01 -2.92243727e-03 -5.98471927e+01] [-1.16253198e-02 6.80514738e-05 9.99932421e-01 -5.21731238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.338623853 meters Centerline goodness [0,1] 0.9999784649840641 Centerline is valid? [True, True] Translation: X:275.24, Y:-59.85, Z:-5.22 [[ 9.69188360e-01 2.46053990e-01 1.14610581e-02 2.75236497e+02] [-2.46036003e-01 9.69256122e-01 -2.97583949e-03 -5.98540760e+01] [-1.18409179e-02 6.43160750e-05 9.99929892e-01 -5.21692929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.36862385300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:275.26, Y:-59.86, Z:-5.22 [[ 9.69142095e-01 2.46232055e-01 1.15487932e-02 2.75262535e+02] [-2.46213807e-01 9.69210901e-01 -2.99827959e-03 -5.98606435e+01] [-1.19314888e-02 6.22866251e-05 9.99928815e-01 -5.21805740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.398623853 meters Centerline goodness [0,1] 0.9999785435351671 Centerline is valid? [True, True] Translation: X:275.29, Y:-59.87, Z:-5.22 [[ 9.68886550e-01 2.47253194e-01 1.11674157e-02 2.75290003e+02] [-2.47236211e-01 9.68950905e-01 -2.89823773e-03 -5.98679907e+01] [-1.15372760e-02 4.70740206e-05 9.99933442e-01 -5.21937408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.42862385300003 meters Centerline goodness [0,1] 0.9999784969358133 Centerline is valid? [True, True] Translation: X:275.32, Y:-59.87, Z:-5.22 [[ 9.68761560e-01 2.47749687e-01 1.10060643e-02 2.75317268e+02] [-2.47733233e-01 9.68824076e-01 -2.85556160e-03 -5.98746369e+01] [-1.13704045e-02 3.97904280e-05 9.99935354e-01 -5.22037800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.458623853 meters Centerline goodness [0,1] 0.9998288184191381 Centerline is valid? [True, True] Translation: X:275.34, Y:-59.88, Z:-5.22 [[ 9.68611933e-01 2.48333724e-01 1.10129441e-02 2.75344739e+02] [-2.48317297e-01 9.68674538e-01 -2.85652121e-03 -5.98810248e+01] [-1.13773291e-02 3.21560309e-05 9.99935276e-01 -5.22044140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.48862385300004 meters Centerline goodness [0,1] 0.9997857249994643 Centerline is valid? [True, True] Translation: X:275.37, Y:-59.89, Z:-5.22 [[ 9.68264476e-01 2.49674504e-01 1.12492892e-02 2.75372744e+02] [-2.49657466e-01 9.68329821e-01 -2.91677373e-03 -5.98868222e+01] [-1.16212662e-02 1.57393625e-05 9.99932471e-01 -5.22069570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.518623853 meters Centerline goodness [0,1] 0.9999364649074506 Centerline is valid? [True, True] Translation: X:275.40, Y:-59.89, Z:-5.22 [[ 9.68078620e-01 2.50393563e-01 1.12627602e-02 2.75399046e+02] [-2.50376538e-01 9.68144134e-01 -2.91995731e-03 -5.98925089e+01] [-1.16351138e-02 6.81733013e-06 9.99932310e-01 -5.22113315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.54862385300004 meters Centerline goodness [0,1] 0.9998487304159913 Centerline is valid? [True, True] Translation: X:275.43, Y:-59.90, Z:-5.22 [[ 9.67763886e-01 2.51589996e-01 1.16419666e-02 2.75426862e+02] [-2.51571895e-01 9.67833908e-01 -3.01793371e-03 -5.98979061e+01] [-1.20267720e-02 -8.14435101e-06 9.99927676e-01 -5.22143715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.578623853 meters Centerline goodness [0,1] 0.9998049287990116 Centerline is valid? [True, True] Translation: X:275.45, Y:-59.90, Z:-5.22 [[ 9.67590655e-01 2.52256579e-01 1.16164512e-02 2.75453605e+02] [-2.52238643e-01 9.67660384e-01 -3.00818658e-03 -5.99045943e+01] [-1.19996145e-02 -1.94246766e-05 9.99928002e-01 -5.22188988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.60862385300004 meters Centerline goodness [0,1] 0.9996558473683078 Centerline is valid? [True, True] Translation: X:275.48, Y:-59.91, Z:-5.22 [[ 9.67416414e-01 2.52926697e-01 1.15571981e-02 2.75479411e+02] [-2.52908999e-01 9.67485444e-01 -2.99214135e-03 -5.99105684e+01] [-1.19382134e-02 -2.82727518e-05 9.99928737e-01 -5.22254882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.638623853 meters Centerline goodness [0,1] 0.9996582511000043 Centerline is valid? [True, True] Translation: X:275.51, Y:-59.92, Z:-5.22 [[ 9.67240855e-01 2.53615067e-01 1.11591554e-02 2.75507681e+02] [-2.53598619e-01 9.67305224e-01 -2.88854749e-03 -5.99166192e+01] [-1.15268885e-02 -3.60252560e-05 9.99933563e-01 -5.22376309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.66862385300004 meters Centerline goodness [0,1] 0.9992711838974513 Centerline is valid? [True, True] Translation: X:275.53, Y:-59.92, Z:-5.22 [[ 9.67140680e-01 2.54034459e-01 1.02664431e-02 2.75534921e+02] [-2.54020587e-01 9.67195168e-01 -2.65505051e-03 -5.99211764e+01] [-1.06041284e-02 -4.00805337e-05 9.99943774e-01 -5.21958970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.698623853 meters Centerline goodness [0,1] 0.9996772249956963 Centerline is valid? [True, True] Translation: X:275.56, Y:-59.93, Z:-5.23 [[ 9.67238926e-01 2.53664831e-01 1.01495150e-02 2.75561520e+02] [-2.53651249e-01 9.67292175e-01 -2.62527848e-03 -5.99298605e+01] [-1.04834873e-02 -3.51656099e-05 9.99945046e-01 -5.22775197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.72862385300004 meters Centerline goodness [0,1] 0.9996986265983554 Centerline is valid? [True, True] Translation: X:275.59, Y:-59.94, Z:-5.23 [[ 9.67395089e-01 2.53080503e-01 9.84887897e-03 2.75587797e+02] [-2.53067700e-01 9.67445222e-01 -2.54572491e-03 -5.99382641e+01] [-1.01725242e-02 -2.97113730e-05 9.99948258e-01 -5.22872768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.758623853 meters Centerline goodness [0,1] 0.9998278236914601 Centerline is valid? [True, True] Translation: X:275.61, Y:-59.95, Z:-5.23 [[ 9.67538160e-01 2.52529392e-01 9.94057238e-03 2.75614581e+02] [-2.52516352e-01 9.67589224e-01 -2.56634587e-03 -5.99460623e+01] [-1.02664685e-02 -2.71195175e-05 9.99947298e-01 -5.22871600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.78862385300005 meters Centerline goodness [0,1] 0.9997613779339668 Centerline is valid? [True, True] Translation: X:275.64, Y:-59.95, Z:-5.23 [[ 9.67720007e-01 2.51816089e-01 1.03268949e-02 2.75642655e+02] [-2.51801987e-01 9.67775107e-01 -2.66505191e-03 -5.99543835e+01] [-1.06652147e-02 -2.13085919e-05 9.99943125e-01 -5.22793328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.818623853 meters Centerline goodness [0,1] 0.9997844409475976 Centerline is valid? [True, True] Translation: X:275.67, Y:-59.96, Z:-5.23 [[ 9.68056713e-01 2.50517035e-01 1.03641396e-02 2.75668195e+02] [-2.50502760e-01 9.68112191e-01 -2.67442068e-03 -5.99631158e+01] [-1.07036379e-02 -7.25467823e-06 9.99942714e-01 -5.22876181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.84862385300005 meters Centerline goodness [0,1] 0.9997208743075535 Centerline is valid? [True, True] Translation: X:275.69, Y:-59.97, Z:-5.23 [[ 9.68204469e-01 2.49935908e-01 1.05900038e-02 2.75693752e+02] [-2.49920979e-01 9.68262383e-01 -2.73169591e-03 -5.99710228e+01] [-1.09366513e-02 -1.82394446e-06 9.99940193e-01 -5.22959537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.878623853 meters Centerline goodness [0,1] 0.9998944323628148 Centerline is valid? [True, True] Translation: X:275.72, Y:-59.98, Z:-5.23 [[ 9.68509825e-01 2.48730051e-01 1.10490124e-02 2.75720122e+02] [-2.48713736e-01 9.68572848e-01 -2.84883066e-03 -5.99806016e+01] [-1.14103632e-02 1.10793292e-05 9.99934900e-01 -5.22967120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.908623853 meters Centerline goodness [0,1] 0.9999572192513368 Centerline is valid? [True, True] Translation: X:275.75, Y:-59.99, Z:-5.23 [[ 9.68664354e-01 2.48106391e-01 1.15146746e-02 2.75746078e+02] [-2.48088631e-01 9.68732790e-01 -2.96858654e-03 -5.99880192e+01] [-1.18911681e-02 1.89041095e-05 9.99929297e-01 -5.22979043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.938623853 meters Centerline goodness [0,1] 0.9999355849955983 Centerline is valid? [True, True] Translation: X:275.77, Y:-60.00, Z:-5.23 [[ 9.68810954e-01 2.47513536e-01 1.19325438e-02 2.75773263e+02] [-2.47494444e-01 9.68884435e-01 -3.07430320e-03 -5.99954584e+01] [-1.23221876e-02 2.51803186e-05 9.99924079e-01 -5.22828016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.968623853 meters Centerline goodness [0,1] 0.9998497789604704 Centerline is valid? [True, True] Translation: X:275.80, Y:-60.00, Z:-5.23 [[ 9.68956301e-01 2.46921061e-01 1.23966496e-02 2.75800559e+02] [-2.46900419e-01 9.69035597e-01 -3.19290474e-03 -6.00035127e+01] [-1.28011902e-02 3.30471955e-05 9.99918061e-01 -5.22844384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.998623853 meters Centerline goodness [0,1] 0.9999361294443262 Centerline is valid? [True, True] Translation: X:275.83, Y:-60.01, Z:-5.23 [[ 9.69367340e-01 2.45312669e-01 1.21924416e-02 2.75827301e+02] [-2.45292587e-01 9.69444012e-01 -3.13926041e-03 -6.00145284e+01] [-1.25899898e-02 5.23809709e-05 9.99920742e-01 -5.22957273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.028623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:275.85, Y:-60.02, Z:-5.23 [[ 9.69648016e-01 2.44205070e-01 1.21082363e-02 2.75853849e+02] [-2.44185185e-01 9.69723610e-01 -3.11705046e-03 -6.00241260e+01] [-1.25028421e-02 6.57898796e-05 9.99921834e-01 -5.23052747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.05862385300003 meters Centerline goodness [0,1] 0.9999785001719986 Centerline is valid? [True, True] Translation: X:275.88, Y:-60.03, Z:-5.23 [[ 9.70041244e-01 2.42646509e-01 1.19438667e-02 2.75880875e+02] [-2.42627052e-01 9.70114769e-01 -3.07392674e-03 -6.00346126e+01] [-1.23327990e-02 8.39305634e-05 9.99923945e-01 -5.23119718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.088623853 meters Centerline goodness [0,1] 0.9999571109967405 Centerline is valid? [True, True] Translation: X:275.90, Y:-60.05, Z:-5.23 [[ 9.70963288e-01 2.38908251e-01 1.23750136e-02 2.75904744e+02] [-2.38887067e-01 9.71042136e-01 -3.18431219e-03 -6.00531020e+01] [-1.27774181e-02 1.35619527e-04 9.99918356e-01 -5.23290734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.11862385300003 meters Centerline goodness [0,1] 0.9999565425231411 Centerline is valid? [True, True] Translation: X:275.93, Y:-60.06, Z:-5.23 [[ 9.71422576e-01 2.37016129e-01 1.27096180e-02 2.75932820e+02] [-2.36993634e-01 9.71505701e-01 -3.26954428e-03 -6.00614127e+01] [-1.31224011e-02 1.64010574e-04 9.99913884e-01 -5.23083747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.148623853 meters Centerline goodness [0,1] 0.9999786132854271 Centerline is valid? [True, True] Translation: X:275.96, Y:-60.08, Z:-5.23 [[ 9.72091540e-01 2.34204921e-01 1.36415995e-02 2.75956932e+02] [-2.34178739e-01 9.72187229e-01 -3.50857708e-03 -6.00783286e+01] [-1.40839148e-02 2.16085536e-04 9.99900793e-01 -5.23018065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.17862385300003 meters Centerline goodness [0,1] 0.9999573160320984 Centerline is valid? [True, True] Translation: X:275.98, Y:-60.09, Z:-5.23 [[ 9.72334548e-01 2.33187935e-01 1.37445962e-02 2.75983713e+02] [-2.33161268e-01 9.72431660e-01 -3.53410472e-03 -6.00896563e+01] [-1.41897911e-02 2.31624623e-04 9.99899293e-01 -5.23055736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.208623853 meters Centerline goodness [0,1] 0.9999357725491875 Centerline is valid? [True, True] Translation: X:276.01, Y:-60.10, Z:-5.23 [[ 9.72600802e-01 2.32074279e-01 1.37553092e-02 2.76008773e+02] [-2.32047467e-01 9.72698035e-01 -3.53624804e-03 -6.01043341e+01] [-1.42004344e-02 2.47473021e-04 9.99899138e-01 -5.23284488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.23862385300004 meters Centerline goodness [0,1] 0.9999785545785975 Centerline is valid? [True, True] Translation: X:276.03, Y:-60.12, Z:-5.23 [[ 9.72833177e-01 2.31128717e-01 1.32335325e-02 2.76033522e+02] [-2.31103824e-01 9.72923149e-01 -3.40133602e-03 -6.01187066e+01] [-1.36613565e-02 2.50612561e-04 9.99906648e-01 -5.23429661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.268623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:276.06, Y:-60.12, Z:-5.23 [[ 9.72771730e-01 2.31390523e-01 1.31752501e-02 2.76062626e+02] [-2.31365883e-01 9.72860918e-01 -3.38559715e-03 -6.01220114e+01] [-1.36010810e-02 2.45109833e-04 9.99907471e-01 -5.23323864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.29862385300004 meters Centerline goodness [0,1] 0.9999785908497292 Centerline is valid? [True, True] Translation: X:276.09, Y:-60.13, Z:-5.24 [[ 9.72707490e-01 2.31675648e-01 1.29047562e-02 2.76088880e+02] [-2.31652043e-01 9.72793061e-01 -3.31546233e-03 -6.01335389e+01] [-1.33217692e-02 2.35561909e-04 9.99911234e-01 -5.23509281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.328623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:276.12, Y:-60.14, Z:-5.24 [[ 9.72445950e-01 2.32796126e-01 1.24433694e-02 2.76116116e+02] [-2.32774278e-01 9.72525536e-01 -3.19633449e-03 -6.01429036e+01] [-1.28455888e-02 2.11766193e-04 9.99917470e-01 -5.23578251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.35862385300004 meters Centerline goodness [0,1] 0.9999569577755778 Centerline is valid? [True, True] Translation: X:276.14, Y:-60.15, Z:-5.24 [[ 9.72251488e-01 2.33629407e-01 1.20143505e-02 2.76141818e+02] [-2.33609110e-01 9.72325698e-01 -3.08564315e-03 -6.01530967e+01] [-1.24027587e-02 1.93359417e-04 9.99923064e-01 -5.23761669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.388623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:276.17, Y:-60.16, Z:-5.24 [[ 9.71708203e-01 2.35878419e-01 1.20224707e-02 2.76169777e+02] [-2.35858277e-01 9.71782560e-01 -3.08691094e-03 -6.01599508e+01] [-1.24113630e-02 1.63977456e-04 9.99922963e-01 -5.23819526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.41862385300004 meters Centerline goodness [0,1] 0.9999571771154505 Centerline is valid? [True, True] Translation: X:276.20, Y:-60.17, Z:-5.24 [[ 9.71467803e-01 2.36861137e-01 1.21289186e-02 2.76196117e+02] [-2.36840718e-01 9.71543503e-01 -3.11375990e-03 -6.01698796e+01] [-1.25213008e-02 1.52295702e-04 9.99921594e-01 -5.23975586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.448623853 meters Centerline goodness [0,1] 0.9999575317450206 Centerline is valid? [True, True] Translation: X:276.22, Y:-60.18, Z:-5.24 [[ 9.71131780e-01 2.38239445e-01 1.20429274e-02 2.76222837e+02] [-2.38219432e-01 9.71206440e-01 -3.09078108e-03 -6.01774687e+01] [-1.24325146e-02 1.32696402e-04 9.99922704e-01 -5.24058658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.47862385300004 meters Centerline goodness [0,1] 0.9999575317450206 Centerline is valid? [True, True] Translation: X:276.25, Y:-60.18, Z:-5.24 [[ 9.71147302e-01 2.38176157e-01 1.20430789e-02 2.76249505e+02] [-2.38156147e-01 9.71221963e-01 -3.09019064e-03 -6.01841649e+01] [-1.24325125e-02 1.32897032e-04 9.99922704e-01 -5.24110245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.508623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:276.28, Y:-60.19, Z:-5.24 [[ 9.70322260e-01 2.41497008e-01 1.24058824e-02 2.76277744e+02] [-2.41476058e-01 9.70401559e-01 -3.18225003e-03 -6.01904877e+01] [-1.28071915e-02 9.20844619e-05 9.99917980e-01 -5.24044479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.53862385300005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:276.31, Y:-60.19, Z:-5.24 [[ 9.69761343e-01 2.43713294e-01 1.29138739e-02 2.76306449e+02] [-2.43690797e-01 9.69847321e-01 -3.31193748e-03 -6.01948206e+01] [-1.33316492e-02 6.47967061e-05 9.99911128e-01 -5.23908101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.568623853 meters Centerline goodness [0,1] 0.9998488055639553 Centerline is valid? [True, True] Translation: X:276.34, Y:-60.20, Z:-5.24 [[ 9.68310762e-01 2.49379673e-01 1.35663934e-02 2.76335194e+02] [-2.49355410e-01 9.68405792e-01 -3.47863792e-03 -6.01957309e+01] [-1.40052755e-02 -1.44510513e-05 9.99901921e-01 -5.23837773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.59862385300005 meters Centerline goodness [0,1] 0.9996801432958035 Centerline is valid? [True, True] Translation: X:276.36, Y:-60.20, Z:-5.24 [[ 9.67555826e-01 2.52307934e-01 1.32826711e-02 2.76363423e+02] [-2.52284961e-01 9.67646993e-01 -3.40510727e-03 -6.01988617e+01] [-1.37120723e-02 -5.63867754e-05 9.99905984e-01 -5.24025967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.628623853 meters Centerline goodness [0,1] 0.9995484356520804 Centerline is valid? [True, True] Translation: X:276.39, Y:-60.20, Z:-5.24 [[ 9.66836780e-01 2.55059044e-01 1.30967594e-02 2.76392026e+02] [-2.55036974e-01 9.66925476e-01 -3.35661568e-03 -6.02035885e+01] [-1.35197255e-02 -9.48583837e-05 9.99908600e-01 -5.24065167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.658623853 meters Centerline goodness [0,1] 0.9993843279621255 Centerline is valid? [True, True] Translation: X:276.42, Y:-60.20, Z:-5.24 [[ 9.65579278e-01 2.59804876e-01 1.25731608e-02 2.76420223e+02] [-2.59784943e-01 9.65661122e-01 -3.22198366e-03 -6.02040243e+01] [-1.29784996e-02 -1.55237202e-04 9.99915764e-01 -5.24210272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.688623853 meters Centerline goodness [0,1] 0.9993770541103688 Centerline is valid? [True, True] Translation: X:276.45, Y:-60.21, Z:-5.24 [[ 9.65145471e-01 2.61415081e-01 1.25050328e-02 2.76448695e+02] [-2.61395512e-01 9.65226463e-01 -3.20350927e-03 -6.02091989e+01] [-1.29076343e-02 -1.76906996e-04 9.99916677e-01 -5.24319542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.718623853 meters Centerline goodness [0,1] 0.9993555455307083 Centerline is valid? [True, True] Translation: X:276.48, Y:-60.22, Z:-5.24 [[ 9.64855085e-01 2.62498904e-01 1.22061987e-02 2.76476918e+02] [-2.62480352e-01 9.64932272e-01 -3.12639788e-03 -6.02151006e+01] [-1.25988311e-02 -1.87366450e-04 9.99920614e-01 -5.24483556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.748623853 meters Centerline goodness [0,1] 0.999314716463937 Centerline is valid? [True, True] Translation: X:276.50, Y:-60.22, Z:-5.25 [[ 9.64779211e-01 2.62794630e-01 1.18345421e-02 2.76504552e+02] [-2.62777219e-01 9.64851775e-01 -3.03067618e-03 -6.02246651e+01] [-1.22150244e-02 -1.85914687e-04 9.99925377e-01 -5.24619076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.778623853 meters Centerline goodness [0,1] 0.999485949280329 Centerline is valid? [True, True] Translation: X:276.53, Y:-60.24, Z:-5.25 [[ 9.64969822e-01 2.62091203e-01 1.18929789e-02 2.76531528e+02] [-2.62073574e-01 9.65043092e-01 -3.04509604e-03 -6.02364691e+01] [-1.22753300e-02 -1.78409692e-04 9.99924639e-01 -5.24577705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.80862385300003 meters Centerline goodness [0,1] 0.9995925107770176 Centerline is valid? [True, True] Translation: X:276.56, Y:-60.25, Z:-5.25 [[ 9.65559932e-01 2.59906396e-01 1.19450070e-02 2.76557309e+02] [-2.59888451e-01 9.65633803e-01 -3.05788772e-03 -6.02483834e+01] [-1.23292671e-02 -1.51795510e-04 9.99923980e-01 -5.24700370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.838623853 meters Centerline goodness [0,1] 0.9993544360999332 Centerline is valid? [True, True] Translation: X:276.58, Y:-60.26, Z:-5.25 [[ 9.65945113e-01 2.58467573e-01 1.20230126e-02 2.76584554e+02] [-2.58449293e-01 9.66019925e-01 -3.07693858e-03 -6.02601626e+01] [-1.24097586e-02 -1.35185334e-04 9.99922987e-01 -5.24687674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.86862385300003 meters Centerline goodness [0,1] 0.9994420481126205 Centerline is valid? [True, True] Translation: X:276.61, Y:-60.27, Z:-5.25 [[ 9.66308706e-01 2.57091155e-01 1.23134855e-02 2.76611237e+02] [-2.57071874e-01 9.66387150e-01 -3.15087387e-03 -6.02710036e+01] [-1.27096559e-02 -1.20733932e-04 9.99919222e-01 -5.24652427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.898623853 meters Centerline goodness [0,1] 0.999633959907844 Centerline is valid? [True, True] Translation: X:276.64, Y:-60.28, Z:-5.25 [[ 9.66643041e-01 2.55809063e-01 1.27653813e-02 2.76637309e+02] [-2.55788236e-01 9.66727320e-01 -3.26598864e-03 -6.02801054e+01] [-1.31761123e-02 -1.08189175e-04 9.99913185e-01 -5.24694197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.92862385300003 meters Centerline goodness [0,1] 0.9997632371932845 Centerline is valid? [True, True] Translation: X:276.66, Y:-60.29, Z:-5.25 [[ 9.67326024e-01 2.53182456e-01 1.33793215e-02 2.76663339e+02] [-2.53159345e-01 9.67418543e-01 -3.42174854e-03 -6.02937261e+01] [-1.38097305e-02 -7.71538579e-05 9.99904638e-01 -5.24614960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.958623853 meters Centerline goodness [0,1] 0.9997862973885541 Centerline is valid? [True, True] Translation: X:276.69, Y:-60.30, Z:-5.25 [[ 9.67660660e-01 2.51894812e-01 1.34852276e-02 2.76689603e+02] [-2.51871217e-01 9.67754618e-01 -3.44820464e-03 -6.03039645e+01] [-1.39189762e-02 -5.98487160e-05 9.99903125e-01 -5.24629059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.98862385300004 meters Centerline goodness [0,1] 0.9998274969811972 Centerline is valid? [True, True] Translation: X:276.72, Y:-60.31, Z:-5.25 [[ 9.67926068e-01 2.50857657e-01 1.37682036e-02 2.76716896e+02] [-2.50832970e-01 9.68023984e-01 -3.51962277e-03 -6.03142994e+01] [-1.42108756e-02 -4.67847775e-05 9.99899019e-01 -5.24671162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.018623853 meters Centerline goodness [0,1] 0.9999356057353825 Centerline is valid? [True, True] Translation: X:276.74, Y:-60.33, Z:-5.25 [[ 9.68422273e-01 2.48933169e-01 1.38050196e-02 2.76742058e+02] [-2.48908162e-01 9.68520664e-01 -3.52839626e-03 -6.03270875e+01] [-1.42487816e-02 -1.92045158e-05 9.99898481e-01 -5.24706014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.04862385300004 meters Centerline goodness [0,1] 0.999850158403973 Centerline is valid? [True, True] Translation: X:276.77, Y:-60.34, Z:-5.25 [[ 9.68680776e-01 2.47930199e-01 1.37175629e-02 2.76768158e+02] [-2.47905420e-01 9.68777898e-01 -3.50519200e-03 -6.03368062e+01] [-1.41583147e-02 -5.24609050e-06 9.99899766e-01 -5.24805960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.078623853 meters Centerline goodness [0,1] 0.9999358755129959 Centerline is valid? [True, True] Translation: X:276.79, Y:-60.35, Z:-5.25 [[ 9.69155181e-01 2.46069014e-01 1.37213344e-02 2.76794231e+02] [-2.46044047e-01 9.69252310e-01 -3.50526876e-03 -6.03504393e+01] [-1.41619731e-02 2.10967483e-05 9.99899714e-01 -5.24868429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.10862385300004 meters Centerline goodness [0,1] 0.9999360504774898 Centerline is valid? [True, True] Translation: X:276.82, Y:-60.36, Z:-5.25 [[ 9.69316877e-01 2.45411400e-01 1.40725610e-02 2.76821100e+02] [-2.45385080e-01 9.69419024e-01 -3.59428057e-03 -6.03604060e+01] [-1.45242858e-02 3.08003146e-05 9.99894517e-01 -5.24867839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.138623853 meters Centerline goodness [0,1] 0.9998931874986648 Centerline is valid? [True, True] Translation: X:276.85, Y:-60.37, Z:-5.25 [[ 9.69454982e-01 2.44860285e-01 1.41590660e-02 2.76847233e+02] [-2.44833591e-01 9.69558373e-01 -3.61572489e-03 -6.03699612e+01] [-1.46133884e-02 3.86675440e-05 9.99893218e-01 -5.24905759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.16862385300004 meters Centerline goodness [0,1] 0.9999782220479986 Centerline is valid? [True, True] Translation: X:276.88, Y:-60.38, Z:-5.25 [[ 9.69632983e-01 2.44140295e-01 1.44012169e-02 2.76875220e+02] [-2.44112615e-01 9.69739921e-01 -3.67653382e-03 -6.03822003e+01] [-1.48630250e-02 4.93697413e-05 9.99889538e-01 -5.24862924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.198623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:276.90, Y:-60.39, Z:-5.25 [[ 9.69609615e-01 2.44227129e-01 1.45018783e-02 2.76903695e+02] [-2.44199077e-01 9.69718056e-01 -3.70185880e-03 -6.03912950e+01] [-1.49668276e-02 4.80125821e-05 9.99887990e-01 -5.24888941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.22862385300004 meters Centerline goodness [0,1] 0.9999141465089825 Centerline is valid? [True, True] Translation: X:276.93, Y:-60.40, Z:-5.25 [[ 9.69554522e-01 2.44444990e-01 1.45146628e-02 2.76932629e+02] [-2.44416918e-01 9.69663161e-01 -3.70475231e-03 -6.03998626e+01] [-1.49799420e-02 4.43302030e-05 9.99887793e-01 -5.24918894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.258623853 meters Centerline goodness [0,1] 0.9999144933732365 Centerline is valid? [True, True] Translation: X:276.96, Y:-60.41, Z:-5.25 [[ 9.69277012e-01 2.45576647e-01 1.39350106e-02 2.76960271e+02] [-2.45550893e-01 9.69377176e-01 -3.55651634e-03 -6.04083776e+01] [-1.43816786e-02 2.54952340e-05 9.99896578e-01 -5.25143365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.28862385300005 meters Centerline goodness [0,1] 0.9999785283318661 Centerline is valid? [True, True] Translation: X:276.99, Y:-60.42, Z:-5.25 [[ 9.69109445e-01 2.46237125e-01 1.39342147e-02 2.76988804e+02] [-2.46211451e-01 9.69209615e-01 -3.55573034e-03 -6.04156191e+01] [-1.43807277e-02 1.51286306e-05 9.99896592e-01 -5.25179671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.318623853 meters Centerline goodness [0,1] 0.9999785444558874 Centerline is valid? [True, True] Translation: X:277.02, Y:-60.42, Z:-5.25 [[ 9.68903271e-01 2.47063615e-01 1.36389829e-02 2.77017052e+02] [-2.47039105e-01 9.68999262e-01 -3.48006945e-03 -6.04225330e+01] [-1.40759629e-02 2.48855484e-06 9.99900929e-01 -5.25269020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.34862385300005 meters Centerline goodness [0,1] 0.9998261020780802 Centerline is valid? [True, True] Translation: X:277.05, Y:-60.43, Z:-5.25 [[ 9.68412811e-01 2.49000677e-01 1.32397527e-02 2.77045218e+02] [-2.48977765e-01 9.68503310e-01 -3.37795408e-03 -6.04291061e+01] [-1.36638572e-02 -2.51500296e-05 9.99906645e-01 -5.25462078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.378623853 meters Centerline goodness [0,1] 0.9995903583286619 Centerline is valid? [True, True] Translation: X:277.07, Y:-60.43, Z:-5.25 [[ 9.67973563e-01 2.50727146e-01 1.27702372e-02 2.77073544e+02] [-2.50705988e-01 9.68057796e-01 -3.25755550e-03 -6.04341954e+01] [-1.31790853e-02 -4.83473331e-05 9.99913151e-01 -5.24857673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.408623853 meters Centerline goodness [0,1] 0.9997868712702472 Centerline is valid? [True, True] Translation: X:277.10, Y:-60.44, Z:-5.26 [[ 9.67767736e-01 2.51495321e-01 1.32556720e-02 2.77100484e+02] [-2.51472604e-01 9.67858512e-01 -3.38079032e-03 -6.04408924e+01] [-1.36798680e-02 -6.16185630e-05 9.99906424e-01 -5.25537703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.438623853 meters Centerline goodness [0,1] 0.9996992868803162 Centerline is valid? [True, True] Translation: X:277.13, Y:-60.44, Z:-5.25 [[ 9.67031494e-01 2.54288235e-01 1.36961015e-02 2.77127847e+02] [-2.54264279e-01 9.67128472e-01 -3.49198412e-03 -6.04443587e+01] [-1.41338602e-02 -1.05570764e-04 9.99900106e-01 -5.25479832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.468623853 meters Centerline goodness [0,1] 0.9996965230208965 Centerline is valid? [True, True] Translation: X:277.16, Y:-60.45, Z:-5.25 [[ 9.66661219e-01 2.55684378e-01 1.38415035e-02 2.77156517e+02] [-2.55660064e-01 9.66760302e-01 -3.52836022e-03 -6.04519498e+01] [-1.42835627e-02 -1.27990674e-04 9.99897977e-01 -5.25434774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.498623853 meters Centerline goodness [0,1] 0.999744457931387 Centerline is valid? [True, True] Translation: X:277.19, Y:-60.45, Z:-5.26 [[ 9.66310293e-01 2.57007698e-01 1.38369602e-02 2.77185658e+02] [-2.56983540e-01 9.66409345e-01 -3.52689148e-03 -6.04547858e+01] [-1.42786059e-02 -1.47799468e-04 9.99898045e-01 -5.25527259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.528623853 meters Centerline goodness [0,1] 0.9995110544217687 Centerline is valid? [True, True] Translation: X:277.21, Y:-60.46, Z:-5.25 [[ 9.65618060e-01 2.59558004e-01 1.45397709e-02 2.77213374e+02] [-2.59531625e-01 9.65727500e-01 -3.70553611e-03 -6.04569174e+01] [-1.50032582e-02 -1.95397778e-04 9.99887426e-01 -5.25443623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.55862385300003 meters Centerline goodness [0,1] 0.9994421558530724 Centerline is valid? [True, True] Translation: X:277.24, Y:-60.46, Z:-5.25 [[ 9.65289181e-01 2.60749654e-01 1.50471226e-02 2.77241146e+02] [-2.60721565e-01 9.65406427e-01 -3.83364486e-03 -6.04637732e+01] [-1.55262105e-02 -2.22533466e-04 9.99879436e-01 -5.25414224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.588623853 meters Centerline goodness [0,1] 0.9992746511925588 Centerline is valid? [True, True] Translation: X:277.27, Y:-60.46, Z:-5.25 [[ 9.64578873e-01 2.63347187e-01 1.53576080e-02 2.77269988e+02] [-2.63318268e-01 9.64701086e-01 -3.91204022e-03 -6.04628856e+01] [-1.58457259e-02 -2.70467394e-04 9.99874412e-01 -5.25395313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.61862385300003 meters Centerline goodness [0,1] 0.9991215101454864 Centerline is valid? [True, True] Translation: X:277.30, Y:-60.47, Z:-5.25 [[ 9.64257249e-01 2.64525312e-01 1.53074333e-02 2.77298663e+02] [-2.64496749e-01 9.64378699e-01 -3.89801425e-03 -6.04666433e+01] [-1.57932861e-02 -2.90077859e-04 9.99875236e-01 -5.25464573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.648623853 meters Centerline goodness [0,1] 0.9992705741010899 Centerline is valid? [True, True] Translation: X:277.33, Y:-60.47, Z:-5.26 [[ 9.63929894e-01 2.65726122e-01 1.51257161e-02 2.77326836e+02] [-2.65698392e-01 9.64048512e-01 -3.85104155e-03 -6.04742753e+01] [-1.56052465e-02 -3.06744383e-04 9.99878184e-01 -5.25515287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.67862385300003 meters Centerline goodness [0,1] 0.9987927821077601 Centerline is valid? [True, True] Translation: X:277.36, Y:-60.47, Z:-5.26 [[ 9.63469592e-01 2.67427929e-01 1.44446417e-02 2.77355576e+02] [-2.67402841e-01 9.63577812e-01 -3.67699167e-03 -6.04739245e+01] [-1.49018665e-02 -3.19868558e-04 9.99888910e-01 -5.25713000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.708623853 meters Centerline goodness [0,1] 0.9993044839053229 Centerline is valid? [True, True] Translation: X:277.38, Y:-60.48, Z:-5.26 [[ 9.63374265e-01 2.67766745e-01 1.45257032e-02 2.77383990e+02] [-2.67741427e-01 9.63483712e-01 -3.69665285e-03 -6.04796483e+01] [-1.49851191e-02 -3.27872281e-04 9.99887663e-01 -5.25801217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.73862385300004 meters Centerline goodness [0,1] 0.9991325092170895 Centerline is valid? [True, True] Translation: X:277.41, Y:-60.48, Z:-5.26 [[ 9.63307557e-01 2.68023760e-01 1.42061704e-02 2.77412156e+02] [-2.67999582e-01 9.63412247e-01 -3.61463830e-03 -6.04839555e+01] [-1.46552075e-02 -3.25239358e-04 9.99892554e-01 -5.25877091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.768623853 meters Centerline goodness [0,1] 0.9990960354698464 Centerline is valid? [True, True] Translation: X:277.44, Y:-60.48, Z:-5.26 [[ 9.63243072e-01 2.68271345e-01 1.39021710e-02 2.77440798e+02] [-2.68248226e-01 9.63343335e-01 -3.53665461e-03 -6.04846026e+01] [-1.43413468e-02 -3.22574654e-04 9.99897106e-01 -5.26022806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.79862385300004 meters Centerline goodness [0,1] 0.998995812323733 Centerline is valid? [True, True] Translation: X:277.47, Y:-60.49, Z:-5.26 [[ 9.63313135e-01 2.68031958e-01 1.36628744e-02 2.77467913e+02] [-2.68009611e-01 9.63409970e-01 -3.47524014e-03 -6.04878858e+01] [-1.40944248e-02 -3.14037172e-04 9.99900619e-01 -5.26097591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.828623853 meters Centerline goodness [0,1] 0.998974402803299 Centerline is valid? [True, True] Translation: X:277.50, Y:-60.49, Z:-5.26 [[ 9.63501395e-01 2.67371696e-01 1.33205672e-02 2.77496438e+02] [-2.67350421e-01 9.63593424e-01 -3.38609737e-03 -6.04913061e+01] [-1.37409576e-02 -2.98749709e-04 9.99905544e-01 -5.26205672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.85862385300004 meters Centerline goodness [0,1] 0.9988440048808683 Centerline is valid? [True, True] Translation: X:277.52, Y:-60.50, Z:-5.26 [[ 9.63722824e-01 2.66557178e-01 1.36231197e-02 2.77524417e+02] [-2.66534854e-01 9.63819062e-01 -3.46231275e-03 -6.04967010e+01] [-1.40531268e-02 -2.94326404e-04 9.99901207e-01 -5.26199248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.888623853 meters Centerline goodness [0,1] 0.9990191479380783 Centerline is valid? [True, True] Translation: X:277.55, Y:-60.50, Z:-5.26 [[ 9.63908083e-01 2.65878076e-01 1.37860779e-02 2.77551699e+02] [-2.65855154e-01 9.64006621e-01 -3.50308793e-03 -6.05007762e+01] [-1.42212646e-02 -2.88445081e-04 9.99898831e-01 -5.26203135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.91862385300004 meters Centerline goodness [0,1] 0.9991701244813278 Centerline is valid? [True, True] Translation: X:277.58, Y:-60.50, Z:-5.26 [[ 9.64447081e-01 2.63864996e-01 1.47340481e-02 2.77579386e+02] [-2.63838594e-01 9.64559582e-01 -3.74298366e-03 -6.05037150e+01] [-1.51995096e-02 -2.77500870e-04 9.99884442e-01 -5.26034907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.948623853 meters Centerline goodness [0,1] 0.9992938004237197 Centerline is valid? [True, True] Translation: X:277.61, Y:-60.51, Z:-5.26 [[ 9.64829486e-01 2.62449597e-01 1.49757491e-02 2.77606837e+02] [-2.62422165e-01 9.64945668e-01 -3.80341696e-03 -6.05110505e+01] [-1.54489894e-02 -2.60319658e-04 9.99880623e-01 -5.26045006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.97862385300004 meters Centerline goodness [0,1] 0.9988128129856674 Centerline is valid? [True, True] Translation: X:277.63, Y:-60.51, Z:-5.25 [[ 9.65116197e-01 2.61435342e-01 1.42228250e-02 2.77634927e+02] [-2.61410496e-01 9.65220963e-01 -3.61169062e-03 -6.05143088e+01] [-1.46723924e-02 -2.32294608e-04 9.99892328e-01 -5.25396738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.008623853 meters Centerline goodness [0,1] 0.9994240122877378 Centerline is valid? [True, True] Translation: X:277.66, Y:-60.52, Z:-5.26 [[ 9.66075600e-01 2.57866985e-01 1.42321368e-02 2.77662909e+02] [-2.57841741e-01 9.66180411e-01 -3.61258282e-03 -6.05211278e+01] [-1.46823776e-02 -1.79610824e-04 9.99892192e-01 -5.26335007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.03862385300005 meters Centerline goodness [0,1] 0.9996810410819087 Centerline is valid? [True, True] Translation: X:277.69, Y:-60.53, Z:-5.26 [[ 9.66621225e-01 2.55827592e-01 1.39875072e-02 2.77689984e+02] [-2.55803004e-01 9.66722412e-01 -3.54986952e-03 -6.05271140e+01] [-1.44301913e-02 -1.46667128e-04 9.99895869e-01 -5.26487092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.068623853 meters Centerline goodness [0,1] 0.9997409717875105 Centerline is valid? [True, True] Translation: X:277.72, Y:-60.54, Z:-5.27 [[ 9.67825328e-01 2.51210559e-01 1.44010286e-02 2.77716605e+02] [-2.51183997e-01 9.67932461e-01 -3.65390318e-03 -6.05364313e+01] [-1.48571221e-02 -8.09678755e-05 9.99889624e-01 -5.26506951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.09862385300005 meters Centerline goodness [0,1] 0.9998269185002489 Centerline is valid? [True, True] Translation: X:277.74, Y:-60.55, Z:-5.27 [[ 9.68539147e-01 2.48447895e-01 1.43374868e-02 2.77743734e+02] [-2.48421277e-01 9.68645261e-01 -3.63690302e-03 -6.05458373e+01] [-1.47915196e-02 -3.92538390e-05 9.99890599e-01 -5.26523127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.128623853 meters Centerline goodness [0,1] 0.9999570686472331 Centerline is valid? [True, True] Translation: X:277.77, Y:-60.56, Z:-5.27 [[ 9.69265051e-01 2.45597534e-01 1.43914201e-02 2.77770876e+02] [-2.45570412e-01 9.69371885e-01 -3.64990018e-03 -6.05555748e+01] [-1.48470445e-02 3.61372592e-06 9.99889777e-01 -5.26581961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.158623853 meters Centerline goodness [0,1] 0.9999787157056808 Centerline is valid? [True, True] Translation: X:277.80, Y:-60.57, Z:-5.27 [[ 9.70804503e-01 2.39429599e-01 1.45631162e-02 2.77796465e+02] [-2.39401140e-01 9.70913723e-01 -3.69275776e-03 -6.05685433e+01] [-1.50236849e-02 9.85192381e-05 9.99887133e-01 -5.26590313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.188623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:277.82, Y:-60.58, Z:-5.27 [[ 9.71630917e-01 2.36047506e-01 1.46606923e-02 2.77823835e+02] [-2.36018295e-01 9.71741505e-01 -3.71654554e-03 -6.05784814e+01] [-1.51236845e-02 1.50918957e-04 9.99885619e-01 -5.26590085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.218623853 meters Centerline goodness [0,1] 0.9999361770024465 Centerline is valid? [True, True] Translation: X:277.85, Y:-60.59, Z:-5.27 [[ 9.72422810e-01 2.32780003e-01 1.43996243e-02 2.77849087e+02] [-2.32751473e-01 9.72529399e-01 -3.64971515e-03 -6.05905871e+01] [-1.48536386e-02 1.97532508e-04 9.99889659e-01 -5.26737360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.248623853 meters Centerline goodness [0,1] 0.9999356250804686 Centerline is valid? [True, True] Translation: X:277.87, Y:-60.60, Z:-5.27 [[ 9.73187488e-01 2.29585081e-01 1.40287025e-02 2.77874935e+02] [-2.29557682e-01 9.73288566e-01 -3.55486963e-03 -6.06027597e+01] [-1.44701208e-02 2.39158223e-04 9.99895274e-01 -5.26865894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.278623853 meters Centerline goodness [0,1] 0.9998281307065976 Centerline is valid? [True, True] Translation: X:277.90, Y:-60.61, Z:-5.26 [[ 9.74423321e-01 2.24356000e-01 1.27897097e-02 2.77904290e+02] [-2.24332789e-01 9.74507210e-01 -3.24000055e-03 -6.06108486e+01] [-1.31905779e-02 2.87980844e-04 9.99912959e-01 -5.26278439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.30862385300003 meters Centerline goodness [0,1] 0.9998061180525636 Centerline is valid? [True, True] Translation: X:277.93, Y:-60.62, Z:-5.27 [[ 9.75091928e-01 2.21388071e-01 1.35297748e-02 2.77931008e+02] [-2.21361813e-01 9.75185727e-01 -3.42723023e-03 -6.06244728e+01] [-1.39527912e-02 3.46889054e-04 9.99902595e-01 -5.26940257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.338623853 meters Centerline goodness [0,1] 0.9998061180525636 Centerline is valid? [True, True] Translation: X:277.96, Y:-60.63, Z:-5.27 [[ 9.75097022e-01 2.21365632e-01 1.35297448e-02 2.77959297e+02] [-2.21339370e-01 9.75190821e-01 -3.42734852e-03 -6.06315928e+01] [-1.39527801e-02 3.47332139e-04 9.99902595e-01 -5.26994994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.36862385300003 meters Centerline goodness [0,1] 0.9997221925419383 Centerline is valid? [True, True] Translation: X:277.99, Y:-60.64, Z:-5.27 [[ 9.75539418e-01 2.19393731e-01 1.37562445e-02 2.77986404e+02] [-2.19366395e-01 9.75636329e-01 -3.48412930e-03 -6.06431867e+01] [-1.41854880e-02 3.81247708e-04 9.99899308e-01 -5.27018837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.398623853 meters Centerline goodness [0,1] 0.9990321123610005 Centerline is valid? [True, True] Translation: X:278.01, Y:-60.66, Z:-5.27 [[ 9.76216657e-01 2.16353800e-01 1.38590172e-02 2.78013330e+02] [-2.16325740e-01 9.76314933e-01 -3.51067020e-03 -6.06559759e+01] [-1.42903123e-02 4.29112572e-04 9.99897796e-01 -5.26956889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.42862385300003 meters Centerline goodness [0,1] 0.9989729764426472 Centerline is valid? [True, True] Translation: X:278.04, Y:-60.66, Z:-5.27 [[ 9.76434236e-01 2.15359341e-01 1.40191639e-02 2.78042672e+02] [-2.15330522e-01 9.76534768e-01 -3.55158050e-03 -6.06641603e+01] [-1.44550670e-02 4.49130907e-04 9.99895419e-01 -5.27045265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.458623853 meters Centerline goodness [0,1] 0.9992036160137753 Centerline is valid? [True, True] Translation: X:278.07, Y:-60.67, Z:-5.27 [[ 9.76730020e-01 2.14008780e-01 1.40964447e-02 2.78072799e+02] [-2.13979503e-01 9.76831623e-01 -3.57105609e-03 -6.06724238e+01] [-1.45340903e-02 4.71607456e-04 9.99894263e-01 -5.27030408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.48862385300004 meters Centerline goodness [0,1] 0.9996094597526578 Centerline is valid? [True, True] Translation: X:278.10, Y:-60.68, Z:-5.27 [[ 9.76741022e-01 2.13959409e-01 1.40835962e-02 2.78104694e+02] [-2.13930185e-01 9.76842438e-01 -3.56750280e-03 -6.06779627e+01] [-1.45207552e-02 4.71619995e-04 9.99894457e-01 -5.27001506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.518623853 meters Centerline goodness [0,1] 0.9989434313124697 Centerline is valid? [True, True] Translation: X:278.13, Y:-60.69, Z:-5.27 [[ 9.76698340e-01 2.14159031e-01 1.40093925e-02 2.78133678e+02] [-2.14130098e-01 9.76798695e-01 -3.55121074e-03 -6.06927335e+01] [-1.44448802e-02 4.68629043e-04 9.99895557e-01 -5.27151121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.54862385300004 meters Centerline goodness [0,1] 0.999011475480294 Centerline is valid? [True, True] Translation: X:278.16, Y:-60.70, Z:-5.27 [[ 9.76694948e-01 2.14164486e-01 1.41616353e-02 2.78163877e+02] [-2.14134871e-01 9.76797495e-01 -3.59331371e-03 -6.07023367e+01] [-1.46026101e-02 4.77071400e-04 9.99893262e-01 -5.27153345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.578623853 meters Centerline goodness [0,1] 0.9988857699972145 Centerline is valid? [True, True] Translation: X:278.19, Y:-60.71, Z:-5.27 [[ 9.76688741e-01 2.14203875e-01 1.39929755e-02 2.78193480e+02] [-2.14174960e-01 9.76788860e-01 -3.55085353e-03 -6.07129049e+01] [-1.44287892e-02 4.71133680e-04 9.99895789e-01 -5.27320112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.60862385300004 meters Centerline goodness [0,1] 0.9995942165175234 Centerline is valid? [True, True] Translation: X:278.23, Y:-60.72, Z:-5.27 [[ 9.76660546e-01 2.14363185e-01 1.35130372e-02 2.78225505e+02] [-2.14336241e-01 9.76753920e-01 -3.42854753e-03 -6.07209544e+01] [-1.39338665e-02 4.52193490e-04 9.99902817e-01 -5.27370300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.638623853 meters Centerline goodness [0,1] 0.9996321222219818 Centerline is valid? [True, True] Translation: X:278.26, Y:-60.73, Z:-5.28 [[ 9.76597117e-01 2.14677976e-01 1.30934339e-02 2.78257582e+02] [-2.14652674e-01 9.76684789e-01 -3.32461356e-03 -6.07303240e+01] [-1.35018790e-02 4.36267427e-04 9.99908750e-01 -5.27511649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.66862385300004 meters Centerline goodness [0,1] 0.999310433995604 Centerline is valid? [True, True] Translation: X:278.29, Y:-60.74, Z:-5.27 [[ 9.76237688e-01 2.16397419e-01 1.14949178e-02 2.78287125e+02] [-2.16378007e-01 9.76305292e-01 -2.92133375e-03 -6.07405989e+01] [-1.18547182e-02 3.64668700e-04 9.99929664e-01 -5.26989980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.698623853 meters Centerline goodness [0,1] 0.9996750222068159 Centerline is valid? [True, True] Translation: X:278.32, Y:-60.75, Z:-5.28 [[ 9.76069262e-01 2.17123448e-01 1.20915252e-02 2.78316942e+02] [-2.17102012e-01 9.76144081e-01 -3.07391220e-03 -6.07502060e+01] [-1.24704891e-02 3.75256772e-04 9.99922170e-01 -5.27733202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.72862385300004 meters Centerline goodness [0,1] 0.9997191436040357 Centerline is valid? [True, True] Translation: X:278.35, Y:-60.76, Z:-5.28 [[ 9.75633318e-01 2.19081141e-01 1.19617429e-02 2.78348319e+02] [-2.19060286e-01 9.75706581e-01 -3.04277150e-03 -6.07572410e+01] [-1.23377652e-02 3.48286425e-04 9.99923826e-01 -5.27822894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.758623853 meters Centerline goodness [0,1] 0.9998915754093028 Centerline is valid? [True, True] Translation: X:278.38, Y:-60.76, Z:-5.28 [[ 9.74449348e-01 2.24284527e-01 1.20382714e-02 2.78378288e+02] [-2.24263761e-01 9.74523662e-01 -3.06550064e-03 -6.07618910e+01] [-1.24191247e-02 2.87427093e-04 9.99922838e-01 -5.27782718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.78862385300005 meters Centerline goodness [0,1] 0.9999573260503126 Centerline is valid? [True, True] Translation: X:278.41, Y:-60.77, Z:-5.28 [[ 9.73736512e-01 2.27317344e-01 1.28074505e-02 2.78407674e+02] [-2.27294100e-01 9.73820700e-01 -3.26150380e-03 -6.07670494e+01] [-1.32135568e-02 2.64787406e-04 9.99912662e-01 -5.27740073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.818623853 meters Centerline goodness [0,1] 0.999957172530461 Centerline is valid? [True, True] Translation: X:278.44, Y:-60.77, Z:-5.27 [[ 9.72176371e-01 2.33829773e-01 1.40264583e-02 2.78437480e+02] [-2.33802575e-01 9.72277532e-01 -3.57153753e-03 -6.07686819e+01] [-1.44727421e-02 1.92742313e-04 9.99895246e-01 -5.27487277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.84862385300005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:278.47, Y:-60.77, Z:-5.27 [[ 9.71435403e-01 2.36855059e-01 1.45923960e-02 2.78467281e+02] [-2.36825969e-01 9.71544985e-01 -3.71525802e-03 -6.07726798e+01] [-1.50571468e-02 1.53274856e-04 9.99886623e-01 -5.27442237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.878623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:278.50, Y:-60.78, Z:-5.27 [[ 9.70848653e-01 2.39227043e-01 1.49437519e-02 2.78495752e+02] [-2.39196820e-01 9.70963649e-01 -3.80441308e-03 -6.07769818e+01] [-1.54199584e-02 1.19011386e-04 9.99881098e-01 -5.27435064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.908623853 meters Centerline goodness [0,1] 0.9999785135686814 Centerline is valid? [True, True] Translation: X:278.52, Y:-60.78, Z:-5.28 [[ 9.70029785e-01 2.42541082e-01 1.46982607e-02 2.78524410e+02] [-2.42512235e-01 9.70141134e-01 -3.74119231e-03 -6.07813241e+01] [-1.51667801e-02 6.45599326e-05 9.99884976e-01 -5.27550057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.938623853 meters Centerline goodness [0,1] 0.9999785665294925 Centerline is valid? [True, True] Translation: X:278.55, Y:-60.79, Z:-5.28 [[ 9.69786111e-01 2.43521219e-01 1.45710529e-02 2.78551640e+02] [-2.43492990e-01 9.69895568e-01 -3.70811802e-03 -6.07879114e+01] [-1.50354051e-02 4.81321107e-05 9.99886961e-01 -5.27647170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.968623853 meters Centerline goodness [0,1] 0.9999572804750411 Centerline is valid? [True, True] Translation: X:278.58, Y:-60.79, Z:-5.28 [[ 9.69579516e-01 2.44346873e-01 1.44971898e-02 2.78578045e+02] [-2.44319036e-01 9.69687890e-01 -3.68840118e-03 -6.07949968e+01] [-1.49589986e-02 3.42588109e-05 9.99888107e-01 -5.27759177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.998623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:278.61, Y:-60.80, Z:-5.28 [[ 9.69466870e-01 2.44816196e-01 1.41073843e-02 2.78605840e+02] [-2.44789899e-01 9.69569507e-01 -3.58831006e-03 -6.08026820e+01] [-1.45565660e-02 2.54025599e-05 9.99894047e-01 -5.27903239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.028623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:278.63, Y:-60.81, Z:-5.28 [[ 9.69142491e-01 2.46150717e-01 1.31399297e-02 2.78632315e+02] [-2.46128033e-01 9.69231564e-01 -3.34169694e-03 -6.08103752e+01] [-1.35581957e-02 4.47545777e-06 9.99908083e-01 -5.28185798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.05862385300003 meters Centerline goodness [0,1] 0.9999147594084303 Centerline is valid? [True, True] Translation: X:278.66, Y:-60.82, Z:-5.28 [[ 9.68910826e-01 2.47073911e-01 1.28954950e-02 2.78660871e+02] [-2.47052156e-01 9.68996637e-01 -3.27867951e-03 -6.08170162e+01] [-1.33057674e-02 -9.11176534e-06 9.99911474e-01 -5.28262233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.088623853 meters Centerline goodness [0,1] 0.9999150183772759 Centerline is valid? [True, True] Translation: X:278.69, Y:-60.82, Z:-5.28 [[ 9.68341205e-01 2.49282328e-01 1.31769295e-02 2.78689051e+02] [-2.49259826e-01 9.68430854e-01 -3.34957160e-03 -6.08214111e+01] [-1.35959341e-02 -4.09509714e-05 9.99907570e-01 -5.28285799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.11862385300003 meters Centerline goodness [0,1] 0.9998715615969175 Centerline is valid? [True, True] Translation: X:278.72, Y:-60.83, Z:-5.28 [[ 9.68065788e-01 2.50336001e-01 1.34356158e-02 2.78717659e+02] [-2.50312718e-01 9.68159017e-01 -3.41466458e-03 -6.08275521e+01] [-1.38626261e-02 -5.74855625e-05 9.99903908e-01 -5.28231652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.148623853 meters Centerline goodness [0,1] 0.9999140099318529 Centerline is valid? [True, True] Translation: X:278.75, Y:-60.83, Z:-5.28 [[ 9.67763194e-01 2.51484611e-01 1.37801105e-02 2.78745946e+02] [-2.51460245e-01 9.67861294e-01 -3.50150959e-03 -6.08333216e+01] [-1.42178114e-02 -7.65178663e-05 9.99898919e-01 -5.28191709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.17862385300003 meters Centerline goodness [0,1] 0.9998086978701696 Centerline is valid? [True, True] Translation: X:278.77, Y:-60.84, Z:-5.28 [[ 9.67139697e-01 2.53832814e-01 1.44813556e-02 2.78774154e+02] [-2.53806178e-01 9.67248101e-01 -3.67900621e-03 -6.08356205e+01] [-1.49409162e-02 -1.17344557e-04 9.99888371e-01 -5.28140557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.208623853 meters Centerline goodness [0,1] 0.9998703991705546 Centerline is valid? [True, True] Translation: X:278.80, Y:-60.84, Z:-5.28 [[ 9.66852601e-01 2.54927063e-01 1.44305413e-02 2.78801999e+02] [-2.54900752e-01 9.66960276e-01 -3.66494888e-03 -6.08424518e+01] [-1.48880549e-02 -1.34890483e-04 9.99889158e-01 -5.28088609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.23862385300004 meters Centerline goodness [0,1] 0.9998512189419542 Centerline is valid? [True, True] Translation: X:278.83, Y:-60.85, Z:-5.28 [[ 9.66582207e-01 2.55948571e-01 1.44625436e-02 2.78829356e+02] [-2.55922270e-01 9.66690388e-01 -3.67230336e-03 -6.08457605e+01] [-1.49207227e-02 -1.51703920e-04 9.99888668e-01 -5.28238281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.268623853 meters Centerline goodness [0,1] 0.9997849878518136 Centerline is valid? [True, True] Translation: X:278.86, Y:-60.85, Z:-5.28 [[ 9.66103892e-01 2.57772376e-01 1.40240029e-02 2.78858504e+02] [-2.57747847e-01 9.66205657e-01 -3.56032988e-03 -6.08495261e+01] [-1.44678257e-02 -1.75008008e-04 9.99895320e-01 -5.28327591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.29862385300004 meters Centerline goodness [0,1] 0.9996581634833142 Centerline is valid? [True, True] Translation: X:278.89, Y:-60.85, Z:-5.29 [[ 9.65901021e-01 2.58549136e-01 1.36952987e-02 2.78886668e+02] [-2.58525829e-01 9.65998091e-01 -3.47626544e-03 -6.08511042e+01] [-1.41284178e-02 -1.82860119e-04 9.99900172e-01 -5.28560661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.328623853 meters Centerline goodness [0,1] 0.9998493749058593 Centerline is valid? [True, True] Translation: X:278.92, Y:-60.86, Z:-5.29 [[ 9.65711907e-01 2.59265423e-01 1.34889887e-02 2.78915060e+02] [-2.59242896e-01 9.65806090e-01 -3.42301268e-03 -6.08573755e+01] [-1.39152162e-02 -1.91280384e-04 9.99903160e-01 -5.28542949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.35862385300004 meters Centerline goodness [0,1] 0.9996568070182965 Centerline is valid? [True, True] Translation: X:278.94, Y:-60.86, Z:-5.29 [[ 9.65673842e-01 2.59394031e-01 1.37392641e-02 2.78942728e+02] [-2.59370681e-01 9.65771556e-01 -3.48597646e-03 -6.08580796e+01] [-1.41732319e-02 -1.97245998e-04 9.99899535e-01 -5.28709138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.388623853 meters Centerline goodness [0,1] 0.9998493716646583 Centerline is valid? [True, True] Translation: X:278.97, Y:-60.87, Z:-5.29 [[ 9.65729912e-01 2.59167346e-01 1.40721083e-02 2.78970018e+02] [-2.59142848e-01 9.65832411e-01 -3.56899921e-03 -6.08685967e+01] [-1.45162663e-02 -1.99996925e-04 9.99894613e-01 -5.28506031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.41862385300004 meters Centerline goodness [0,1] 0.9997645144716562 Centerline is valid? [True, True] Translation: X:279.00, Y:-60.87, Z:-5.29 [[ 9.66052343e-01 2.57927815e-01 1.47007863e-02 2.78997788e+02] [-2.57900947e-01 9.66164171e-01 -3.72769153e-03 -6.08731625e+01] [-1.51648483e-02 -1.90201560e-04 9.99884989e-01 -5.28527569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.448623853 meters Centerline goodness [0,1] 0.9997205503009459 Centerline is valid? [True, True] Translation: X:279.02, Y:-60.88, Z:-5.29 [[ 9.66250772e-01 2.57179089e-01 1.47770450e-02 2.79024854e+02] [-2.57151866e-01 9.66363743e-01 -3.74616416e-03 -6.08795937e+01] [-1.52434356e-02 -1.80210688e-04 9.99883796e-01 -5.28599193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.47862385300004 meters Centerline goodness [0,1] 0.9997653683716565 Centerline is valid? [True, True] Translation: X:279.05, Y:-60.89, Z:-5.29 [[ 9.66520347e-01 2.56169450e-01 1.46844037e-02 2.79052920e+02] [-2.56142473e-01 9.66631877e-01 -3.72126830e-03 -6.08868381e+01] [-1.51476879e-02 -1.64617942e-04 9.99885254e-01 -5.28644904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.508623853 meters Centerline goodness [0,1] 0.999935745036304 Centerline is valid? [True, True] Translation: X:279.08, Y:-60.90, Z:-5.29 [[ 9.67215811e-01 2.53528036e-01 1.47346670e-02 2.79080357e+02] [-2.53500578e-01 9.67328031e-01 -3.73327872e-03 -6.08956838e+01] [-1.51997472e-02 -1.24360402e-04 9.99884469e-01 -5.28675153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.53862385300005 meters Centerline goodness [0,1] 0.9998719426302983 Centerline is valid? [True, True] Translation: X:279.11, Y:-60.90, Z:-5.29 [[ 9.67552046e-01 2.52244913e-01 1.46813800e-02 2.79108723e+02] [-2.52217517e-01 9.67663419e-01 -3.71899662e-03 -6.09031747e+01] [-1.51447323e-02 -1.04578422e-04 9.99885306e-01 -5.28775943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.568623853 meters Centerline goodness [0,1] 0.9998712971106202 Centerline is valid? [True, True] Translation: X:279.14, Y:-60.91, Z:-5.29 [[ 9.67942032e-01 2.50743956e-01 1.46864303e-02 2.79136402e+02] [-2.50716377e-01 9.68053439e-01 -3.71976342e-03 -6.09108113e+01] [-1.51499575e-02 -8.16132262e-05 9.99885229e-01 -5.28829361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.59862385300005 meters Centerline goodness [0,1] 0.999956912338152 Centerline is valid? [True, True] Translation: X:279.16, Y:-60.92, Z:-5.29 [[ 9.68341296e-01 2.49204264e-01 1.45728917e-02 2.79162846e+02] [-2.49176945e-01 9.68450944e-01 -3.69031630e-03 -6.09182105e+01] [-1.50327733e-02 -5.77429701e-05 9.99887000e-01 -5.28916233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.628623853 meters Centerline goodness [0,1] 0.9999578601377973 Centerline is valid? [True, True] Translation: X:279.19, Y:-60.93, Z:-5.29 [[ 9.69200150e-01 2.45888130e-01 1.37875916e-02 2.79189374e+02] [-2.45863351e-01 9.69298214e-01 -3.49068275e-03 -6.09274573e+01] [-1.42226054e-02 -6.69323035e-06 9.99898854e-01 -5.29134894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.658623853 meters Centerline goodness [0,1] 0.9999570916736392 Centerline is valid? [True, True] Translation: X:279.22, Y:-60.94, Z:-5.29 [[ 9.69681775e-01 2.43997136e-01 1.35149273e-02 2.79216807e+02] [-2.43973159e-01 9.69775952e-01 -3.42058665e-03 -6.09365285e+01] [-1.39410648e-02 1.96010229e-05 9.99902818e-01 -5.29186699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.688623853 meters Centerline goodness [0,1] 0.9999783315276273 Centerline is valid? [True, True] Translation: X:279.24, Y:-60.95, Z:-5.29 [[ 9.70710657e-01 2.39883560e-01 1.32927895e-02 2.79243962e+02] [-2.39859988e-01 9.70801665e-01 -3.36369862e-03 -6.09480151e+01] [-1.37115582e-02 7.67697781e-05 9.99905989e-01 -5.29331743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.718623853 meters Centerline goodness [0,1] 0.9999572055204878 Centerline is valid? [True, True] Translation: X:279.27, Y:-60.96, Z:-5.29 [[ 9.71200415e-01 2.37892068e-01 1.33085566e-02 2.79271457e+02] [-2.37868262e-01 9.71291590e-01 -3.36700054e-03 -6.09569520e+01] [-1.37274718e-02 1.04349092e-04 9.99905768e-01 -5.29374023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.748623853 meters Centerline goodness [0,1] 0.9999787061879818 Centerline is valid? [True, True] Translation: X:279.30, Y:-60.97, Z:-5.29 [[ 9.71632582e-01 2.36094022e-01 1.37745468e-02 2.79297355e+02] [-2.36068349e-01 9.71730207e-01 -3.48421157e-03 -6.09663296e+01] [-1.42077448e-02 1.33638958e-04 9.99899056e-01 -5.29414418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.778623853 meters Centerline goodness [0,1] 0.9999785587169536 Centerline is valid? [True, True] Translation: X:279.32, Y:-60.98, Z:-5.29 [[ 9.71998551e-01 2.34558720e-01 1.41783018e-02 2.79323413e+02] [-2.34531370e-01 9.72101940e-01 -3.58540234e-03 -6.09757011e+01] [-1.46237421e-02 1.59749317e-04 9.99893055e-01 -5.29414705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.80862385300003 meters Centerline goodness [0,1] 0.9999359781472076 Centerline is valid? [True, True] Translation: X:279.35, Y:-60.98, Z:-5.29 [[ 9.72535916e-01 2.32306122e-01 1.44137909e-02 2.79350642e+02] [-2.32277624e-01 9.72642703e-01 -3.64393802e-03 -6.09843681e+01] [-1.48659777e-02 1.95859504e-04 9.99889476e-01 -5.29283268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.838623853 meters Centerline goodness [0,1] 0.9997648668291224 Centerline is valid? [True, True] Translation: X:279.38, Y:-60.99, Z:-5.29 [[ 9.72738786e-01 2.31437140e-01 1.47005197e-02 2.79378088e+02] [-2.31407408e-01 9.72849837e-01 -3.71573824e-03 -6.09914083e+01] [-1.51613581e-02 2.12633534e-04 9.99885037e-01 -5.29281350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.86862385300003 meters Centerline goodness [0,1] 0.9997435184987283 Centerline is valid? [True, True] Translation: X:279.41, Y:-61.00, Z:-5.29 [[ 9.73045930e-01 2.30120288e-01 1.50423157e-02 2.79405295e+02] [-2.30089015e-01 9.73162164e-01 -3.80109338e-03 -6.10013072e+01] [-1.55133212e-02 2.37566827e-04 9.99879633e-01 -5.29302408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.898623853 meters Centerline goodness [0,1] 0.9997215558601782 Centerline is valid? [True, True] Translation: X:279.43, Y:-61.01, Z:-5.29 [[ 9.73149109e-01 2.29706125e-01 1.46937919e-02 2.79432116e+02] [-2.29676244e-01 9.73260006e-01 -3.71257281e-03 -6.10100221e+01] [-1.51536807e-02 2.38071991e-04 9.99885148e-01 -5.29468091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.92862385300003 meters Centerline goodness [0,1] 0.9998302711418509 Centerline is valid? [True, True] Translation: X:279.46, Y:-61.02, Z:-5.30 [[ 9.73259606e-01 2.29253506e-01 1.44419610e-02 2.79460187e+02] [-2.29224604e-01 9.73366720e-01 -3.64805466e-03 -6.10180049e+01] [-1.48936535e-02 2.40051453e-04 9.99889055e-01 -5.29600190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.958623853 meters Centerline goodness [0,1] 0.9998293988441772 Centerline is valid? [True, True] Translation: X:279.49, Y:-61.03, Z:-5.30 [[ 9.73337325e-01 2.28948459e-01 1.40375990e-02 2.79487608e+02] [-2.28921131e-01 9.73438517e-01 -3.54528135e-03 -6.10253084e+01] [-1.44764262e-02 2.37251643e-04 9.99895183e-01 -5.29732144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.98862385300004 meters Centerline goodness [0,1] 0.999699493431785 Centerline is valid? [True, True] Translation: X:279.51, Y:-61.03, Z:-5.30 [[ 9.73403527e-01 2.28697963e-01 1.35209400e-02 2.79514579e+02] [-2.28672593e-01 9.73497400e-01 -3.41425114e-03 -6.10322196e+01] [-1.39434322e-02 2.31575703e-04 9.99902759e-01 -5.29945796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.018623853 meters Centerline goodness [0,1] 0.9996807491752687 Centerline is valid? [True, True] Translation: X:279.54, Y:-61.04, Z:-5.30 [[ 9.73421464e-01 2.28639057e-01 1.32225332e-02 2.79542303e+02] [-2.28614800e-01 9.73511238e-01 -3.33810004e-03 -6.10391115e+01] [-1.36355047e-02 2.26511440e-04 9.99907007e-01 -5.30043976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.04862385300004 meters Centerline goodness [0,1] 0.999719137536188 Centerline is valid? [True, True] Translation: X:279.57, Y:-61.05, Z:-5.30 [[ 9.73354611e-01 2.28910742e-01 1.34415127e-02 2.79569451e+02] [-2.28885709e-01 9.73447390e-01 -3.39279965e-03 -6.10461656e+01] [-1.38612537e-02 2.25827023e-04 9.99903903e-01 -5.30094766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.078623853 meters Centerline goodness [0,1] 0.9999357023447212 Centerline is valid? [True, True] Translation: X:279.60, Y:-61.05, Z:-5.30 [[ 9.73147770e-01 2.29755402e-01 1.39954317e-02 2.79598039e+02] [-2.29728363e-01 9.73248378e-01 -3.53171909e-03 -6.10525406e+01] [-1.44324627e-02 2.21736949e-04 9.99895822e-01 -5.30013620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.10862385300004 meters Centerline goodness [0,1] 0.9999357023447212 Centerline is valid? [True, True] Translation: X:279.63, Y:-61.06, Z:-5.30 [[ 9.73021822e-01 2.30290659e-01 1.39551293e-02 2.79627460e+02] [-2.30263840e-01 9.73121866e-01 -3.52092555e-03 -6.10557070e+01] [-1.43908778e-02 2.12575722e-04 9.99896423e-01 -5.29959162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.138623853 meters Centerline goodness [0,1] 0.9998693265963934 Centerline is valid? [True, True] Translation: X:279.65, Y:-61.07, Z:-5.30 [[ 9.72852420e-01 2.30981952e-01 1.43355114e-02 2.79654489e+02] [-2.30953737e-01 9.72958013e-01 -3.61610756e-03 -6.10664671e+01] [-1.47831063e-02 2.07099048e-04 9.99890702e-01 -5.30111042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.16862385300004 meters Centerline goodness [0,1] 0.9997421240383375 Centerline is valid? [True, True] Translation: X:279.68, Y:-61.07, Z:-5.30 [[ 9.72777832e-01 2.31291027e-01 1.44135172e-02 2.79681127e+02] [-2.31262546e-01 9.72884587e-01 -3.63531556e-03 -6.10730468e+01] [-1.48635046e-02 2.03047722e-04 9.99889511e-01 -5.30149913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.198623853 meters Centerline goodness [0,1] 0.9998922483460121 Centerline is valid? [True, True] Translation: X:279.71, Y:-61.08, Z:-5.30 [[ 9.72756619e-01 2.31370552e-01 1.45680654e-02 2.79710548e+02] [-2.31341478e-01 9.72865678e-01 -3.67343708e-03 -6.10761362e+01] [-1.50226960e-02 2.03162448e-04 9.99887132e-01 -5.30103031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.22862385300004 meters Centerline goodness [0,1] 0.9999571624400274 Centerline is valid? [True, True] Translation: X:279.74, Y:-61.08, Z:-5.30 [[ 9.72796494e-01 2.31202387e-01 1.45752345e-02 2.79739477e+02] [-2.31173278e-01 9.72905655e-01 -3.67443574e-03 -6.10830748e+01] [-1.50298664e-02 2.05073463e-04 9.99887024e-01 -5.30132912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.258623853 meters Centerline goodness [0,1] 0.9999350396258282 Centerline is valid? [True, True] Translation: X:279.77, Y:-61.09, Z:-5.30 [[ 9.73000254e-01 2.30362252e-01 1.42737141e-02 2.79767818e+02] [-2.30334250e-01 9.73104921e-01 -3.59807243e-03 -6.10931863e+01] [-1.47186815e-02 2.13200151e-04 9.99891652e-01 -5.30259814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.28862385300005 meters Centerline goodness [0,1] 0.9999350396258282 Centerline is valid? [True, True] Translation: X:279.80, Y:-61.10, Z:-5.30 [[ 9.73005806e-01 2.30338795e-01 1.42738008e-02 2.79796110e+02] [-2.30310795e-01 9.73110474e-01 -3.59772873e-03 -6.11002716e+01] [-1.47186815e-02 2.13200536e-04 9.99891652e-01 -5.30314536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.318623853 meters Centerline goodness [0,1] 0.9998925170360498 Centerline is valid? [True, True] Translation: X:279.82, Y:-61.11, Z:-5.30 [[ 9.73065768e-01 2.30090362e-01 1.41928557e-02 2.79823644e+02] [-2.30062660e-01 9.73169245e-01 -3.57680899e-03 -6.11113751e+01] [-1.46350400e-02 2.15224242e-04 9.99892879e-01 -5.30414174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.34862385300005 meters Centerline goodness [0,1] 0.9998063099901003 Centerline is valid? [True, True] Translation: X:279.85, Y:-61.12, Z:-5.30 [[ 9.73122760e-01 2.29844599e-01 1.42672441e-02 2.79852239e+02] [-2.29816574e-01 9.73227318e-01 -3.59590282e-03 -6.11176313e+01] [-1.47117706e-02 2.20405710e-04 9.99891752e-01 -5.30403468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.378623853 meters Centerline goodness [0,1] 0.9996373720136519 Centerline is valid? [True, True] Translation: X:279.88, Y:-61.13, Z:-5.30 [[ 9.72925144e-01 2.30667886e-01 1.44565266e-02 2.79879579e+02] [-2.30639210e-01 9.73032519e-01 -3.64318176e-03 -6.11284920e+01] [-1.49070355e-02 2.10301257e-04 9.99888862e-01 -5.30433237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.408623853 meters Centerline goodness [0,1] 0.9998927567938571 Centerline is valid? [True, True] Translation: X:279.91, Y:-61.13, Z:-5.30 [[ 9.72657506e-01 2.31777096e-01 1.47225836e-02 2.79908573e+02] [-2.31747481e-01 9.72768903e-01 -3.71026539e-03 -6.11332965e+01] [-1.51816260e-02 1.96895812e-04 9.99884733e-01 -5.30399340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.438623853 meters Centerline goodness [0,1] 0.9999786516374194 Centerline is valid? [True, True] Translation: X:279.94, Y:-61.14, Z:-5.30 [[ 9.71694803e-01 2.35775952e-01 1.47955795e-02 2.79937386e+02] [-2.35746525e-01 9.71807431e-01 -3.72739008e-03 -6.11350908e+01] [-1.52572831e-02 1.33879106e-04 9.99883592e-01 -5.30390432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.468623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:279.97, Y:-61.14, Z:-5.31 [[ 9.71101822e-01 2.38217884e-01 1.46113565e-02 2.79966616e+02] [-2.38189472e-01 9.71211733e-01 -3.68027579e-03 -6.11375962e+01] [-1.50674284e-02 9.36512194e-05 9.99886475e-01 -5.30554670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.498623853 meters Centerline goodness [0,1] 0.9999788985017937 Centerline is valid? [True, True] Translation: X:279.99, Y:-61.14, Z:-5.31 [[ 9.70412484e-01 2.41043880e-01 1.40519971e-02 2.79994436e+02] [-2.41017907e-01 9.70514217e-01 -3.53876684e-03 -6.11401454e+01] [-1.44906610e-02 4.72806030e-05 9.99895004e-01 -5.30729467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.528623853 meters Centerline goodness [0,1] 0.9999357711741029 Centerline is valid? [True, True] Translation: X:280.02, Y:-61.14, Z:-5.31 [[ 9.69166742e-01 2.46009440e-01 1.39707472e-02 2.80022665e+02] [-2.45984293e-01 9.69267432e-01 -3.51753653e-03 -6.11373049e+01] [-1.44067374e-02 -2.75049443e-05 9.99896217e-01 -5.30912695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.55862385300003 meters Centerline goodness [0,1] 0.9999568993384048 Centerline is valid? [True, True] Translation: X:280.05, Y:-61.14, Z:-5.31 [[ 9.68607374e-01 2.48203218e-01 1.39612888e-02 2.80051523e+02] [-2.48178352e-01 9.68707984e-01 -3.51382765e-03 -6.11407760e+01] [-1.43965553e-02 -6.13702756e-05 9.99896362e-01 -5.30848907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.588623853 meters Centerline goodness [0,1] 0.9999145499989319 Centerline is valid? [True, True] Translation: X:280.08, Y:-61.14, Z:-5.31 [[ 9.68137104e-01 2.50027451e-01 1.40293318e-02 2.80079382e+02] [-2.50002543e-01 9.68238744e-01 -3.53027695e-03 -6.11424207e+01] [-1.44664087e-02 -8.95765228e-05 9.99895352e-01 -5.30986350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.61862385300003 meters Centerline goodness [0,1] 0.9999569011959918 Centerline is valid? [True, True] Translation: X:280.11, Y:-61.15, Z:-5.31 [[ 9.67744956e-01 2.51504736e-01 1.46652061e-02 2.80108099e+02] [-2.51477703e-01 9.67856061e-01 -3.68925633e-03 -6.11461477e+01] [-1.51216740e-02 -1.17713135e-04 9.99885654e-01 -5.30870994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.648623853 meters Centerline goodness [0,1] 0.9999140930372407 Centerline is valid? [True, True] Translation: X:280.14, Y:-61.15, Z:-5.31 [[ 9.67741290e-01 2.51512176e-01 1.47790755e-02 2.80135612e+02] [-2.51484734e-01 9.67854127e-01 -3.71716698e-03 -6.11513930e+01] [-1.52389020e-02 -1.19455911e-04 9.99883874e-01 -5.30934949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.67862385300003 meters Centerline goodness [0,1] 0.9997860504920839 Centerline is valid? [True, True] Translation: X:280.16, Y:-61.16, Z:-5.31 [[ 9.68119433e-01 2.50059044e-01 1.46710012e-02 2.80163843e+02] [-2.50031848e-01 9.68230585e-01 -3.68913704e-03 -6.11593109e+01] [-1.51274141e-02 -9.66922807e-05 9.99885569e-01 -5.31029407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.708623853 meters Centerline goodness [0,1] 0.999849552957359 Centerline is valid? [True, True] Translation: X:280.19, Y:-61.17, Z:-5.31 [[ 9.68314375e-01 2.49319589e-01 1.43880038e-02 2.80191044e+02] [-2.49293372e-01 9.68421259e-01 -3.61653385e-03 -6.11673821e+01] [-1.48353215e-02 -8.48922611e-05 9.99889947e-01 -5.31087346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.73862385300004 meters Centerline goodness [0,1] 0.9999569095531521 Centerline is valid? [True, True] Translation: X:280.22, Y:-61.17, Z:-5.31 [[ 9.68555933e-01 2.48386486e-01 1.42673569e-02 2.80218755e+02] [-2.48360616e-01 9.68661008e-01 -3.58547827e-03 -6.11749313e+01] [-1.47108166e-02 -7.07132927e-05 9.99891788e-01 -5.31192575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.768623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:280.25, Y:-61.18, Z:-5.31 [[ 9.69030631e-01 2.46549743e-01 1.38874138e-02 2.80245436e+02] [-2.46525054e-01 9.69130137e-01 -3.48935681e-03 -6.11818400e+01] [-1.43190112e-02 -4.23017981e-05 9.99897477e-01 -5.31349787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.79862385300004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:280.27, Y:-61.19, Z:-5.31 [[ 9.69356296e-01 2.45266816e-01 1.38766070e-02 2.80272302e+02] [-2.45242045e-01 9.69455614e-01 -3.48583421e-03 -6.11887924e+01] [-1.43077140e-02 -2.41121264e-05 9.99897639e-01 -5.31447543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.828623853 meters Centerline goodness [0,1] 0.9999355268530657 Centerline is valid? [True, True] Translation: X:280.30, Y:-61.20, Z:-5.31 [[ 9.69675728e-01 2.44018871e-01 1.35562877e-02 2.80299055e+02] [-2.43995124e-01 9.69770483e-01 -3.40424524e-03 -6.11962173e+01] [-1.39771877e-02 -6.65411728e-06 9.99902314e-01 -5.31494958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.85862385300004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:280.33, Y:-61.20, Z:-5.32 [[ 9.70076776e-01 2.42435405e-01 1.32711475e-02 2.80325842e+02] [-2.42412512e-01 9.70167550e-01 -3.33165554e-03 -6.12042368e+01] [-1.36829479e-02 1.48694720e-05 9.99906384e-01 -5.31664470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.888623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:280.35, Y:-61.22, Z:-5.32 [[ 9.70873672e-01 2.39226554e-01 1.32275883e-02 2.80351322e+02] [-2.39203527e-01 9.70963775e-01 -3.31965798e-03 -6.12151391e+01] [-1.36376594e-02 5.88827512e-05 9.99907001e-01 -5.31769243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.91862385300004 meters Centerline goodness [0,1] 0.9999571862824849 Centerline is valid? [True, True] Translation: X:280.38, Y:-61.22, Z:-5.31 [[ 9.71226535e-01 2.37780829e-01 1.33901515e-02 2.80379015e+02] [-2.37757108e-01 9.71318831e-01 -3.35953834e-03 -6.12235614e+01] [-1.38049401e-02 7.92690840e-05 9.99904704e-01 -5.31368803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.948623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:280.41, Y:-61.23, Z:-5.32 [[ 9.71676263e-01 2.35890886e-01 1.41679222e-02 2.80406416e+02] [-2.35864140e-01 9.71779541e-01 -3.55390178e-03 -6.12322273e+01] [-1.46064300e-02 1.11537205e-04 9.99893314e-01 -5.31652078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.97862385300004 meters Centerline goodness [0,1] 0.99991348358351 Centerline is valid? [True, True] Translation: X:280.43, Y:-61.24, Z:-5.32 [[ 9.72490167e-01 2.32463976e-01 1.49457324e-02 2.80432319e+02] [-2.32433818e-01 9.72604992e-01 -3.74824232e-03 -6.12425448e+01] [-1.54076252e-02 1.71235156e-04 9.99881281e-01 -5.31526109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.008623853 meters Centerline goodness [0,1] 0.9999141428234133 Centerline is valid? [True, True] Translation: X:280.46, Y:-61.25, Z:-5.31 [[ 9.72871023e-01 2.30837306e-01 1.53658863e-02 2.80459628e+02] [-2.30805242e-01 9.72992342e-01 -3.85263199e-03 -6.12500687e+01] [-1.58402209e-02 2.01586918e-04 9.99874516e-01 -5.31438195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.03862385300005 meters Centerline goodness [0,1] 0.9998721118594935 Centerline is valid? [True, True] Translation: X:280.49, Y:-61.26, Z:-5.31 [[ 9.73258466e-01 2.29171120e-01 1.57656334e-02 2.80487181e+02] [-2.29137167e-01 9.73386122e-01 -3.95164705e-03 -6.12593634e+01] [-1.62516522e-02 2.33481361e-04 9.99867906e-01 -5.31412403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.068623853 meters Centerline goodness [0,1] 0.9997642368776389 Centerline is valid? [True, True] Translation: X:280.52, Y:-61.27, Z:-5.32 [[ 9.73996784e-01 2.26022270e-01 1.56268692e-02 2.80515467e+02] [-2.25988516e-01 9.74122094e-01 -3.91627058e-03 -6.12712215e+01] [-1.61076429e-02 2.82941964e-04 9.99870223e-01 -5.31511143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.09862385300005 meters Centerline goodness [0,1] 0.9996372946447621 Centerline is valid? [True, True] Translation: X:280.54, Y:-61.28, Z:-5.32 [[ 9.74308048e-01 2.24704721e-01 1.52189176e-02 2.80543023e+02] [-2.24672545e-01 9.74426857e-01 -3.81407111e-03 -6.12822600e+01] [-1.56867619e-02 2.96807223e-04 9.99876911e-01 -5.31657322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.128623853 meters Centerline goodness [0,1] 0.9997845384814272 Centerline is valid? [True, True] Translation: X:280.57, Y:-61.29, Z:-5.32 [[ 9.74553058e-01 2.23664205e-01 1.48546417e-02 2.80571685e+02] [-2.23633432e-01 9.74666215e-01 -3.72263630e-03 -6.12902664e+01] [-1.53109379e-02 3.05912071e-04 9.99882734e-01 -5.31725824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.158623853 meters Centerline goodness [0,1] 0.9997652081109926 Centerline is valid? [True, True] Translation: X:280.60, Y:-61.30, Z:-5.32 [[ 9.74727380e-01 2.22913601e-01 1.46990441e-02 2.80600434e+02] [-2.22883390e-01 9.74838155e-01 -3.68328143e-03 -6.12977199e+01] [-1.51502426e-02 3.14022470e-04 9.99885179e-01 -5.31845556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.188623853 meters Centerline goodness [0,1] 0.9997437704182948 Centerline is valid? [True, True] Translation: X:280.63, Y:-61.31, Z:-5.32 [[ 9.74911369e-01 2.22102324e-01 1.47777141e-02 2.80628052e+02] [-2.22071702e-01 9.75023308e-01 -3.70258075e-03 -6.13073652e+01] [-1.52309674e-02 3.27975962e-04 9.99883948e-01 -5.31946468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.218623853 meters Centerline goodness [0,1] 0.999592178411213 Centerline is valid? [True, True] Translation: X:280.66, Y:-61.31, Z:-5.32 [[ 9.74943175e-01 2.21958686e-01 1.48373727e-02 2.80656865e+02] [-2.21927801e-01 9.75056015e-01 -3.71738510e-03 -6.13130268e+01] [-1.52923754e-02 3.31413723e-04 9.99883010e-01 -5.31960017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.248623853 meters Centerline goodness [0,1] 0.9995285242809995 Centerline is valid? [True, True] Translation: X:280.68, Y:-61.32, Z:-5.32 [[ 9.74926787e-01 2.22032405e-01 1.48111929e-02 2.80684582e+02] [-2.22001643e-01 9.75039231e-01 -3.71050181e-03 -6.13202143e+01] [-1.52653458e-02 3.29358451e-04 9.99883424e-01 -5.32002925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.278623853 meters Centerline goodness [0,1] 0.9996339283791641 Centerline is valid? [True, True] Translation: X:280.71, Y:-61.33, Z:-5.32 [[ 9.74744363e-01 2.22837671e-01 1.47241333e-02 2.80712188e+02] [-2.22807370e-01 9.74855514e-01 -3.68810534e-03 -6.13268325e+01] [-1.51757514e-02 3.14314461e-04 9.99884792e-01 -5.32079358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.30862385300003 meters Centerline goodness [0,1] 0.9997429305912596 Centerline is valid? [True, True] Translation: X:280.74, Y:-61.33, Z:-5.32 [[ 9.74577671e-01 2.23578105e-01 1.45325272e-02 2.80741570e+02] [-2.23548675e-01 9.74685971e-01 -3.63976619e-03 -6.13330011e+01] [-1.49784224e-02 2.98507663e-04 9.99887773e-01 -5.32156904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.338623853 meters Centerline goodness [0,1] 0.999681224099458 Centerline is valid? [True, True] Translation: X:280.77, Y:-61.34, Z:-5.32 [[ 9.74418243e-01 2.24276005e-01 1.44693364e-02 2.80769154e+02] [-2.24246912e-01 9.74525624e-01 -3.62363143e-03 -6.13398290e+01] [-1.49134327e-02 2.86228551e-04 9.99888748e-01 -5.32294316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.36862385300003 meters Centerline goodness [0,1] 0.9995921433937963 Centerline is valid? [True, True] Translation: X:280.80, Y:-61.34, Z:-5.32 [[ 9.74098204e-01 2.25680102e-01 1.41838175e-02 2.80797831e+02] [-2.25652302e-01 9.74201429e-01 -3.55167008e-03 -6.13429375e+01] [-1.46194366e-02 2.59064361e-04 9.99893097e-01 -5.31712314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.398623853 meters Centerline goodness [0,1] 0.9999353559731081 Centerline is valid? [True, True] Translation: X:280.83, Y:-61.35, Z:-5.32 [[ 9.74047438e-01 2.25888678e-01 1.43490081e-02 2.80827095e+02] [-2.25860261e-01 9.74153088e-01 -3.59223411e-03 -6.13467060e+01] [-1.47895756e-02 2.58135721e-04 9.99890595e-01 -5.32341852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.42862385300003 meters Centerline goodness [0,1] 0.9999356720130371 Centerline is valid? [True, True] Translation: X:280.85, Y:-61.35, Z:-5.32 [[ 9.73978658e-01 2.26186248e-01 1.43301887e-02 2.80854514e+02] [-2.26157942e-01 9.74084040e-01 -3.58720592e-03 -6.13543759e+01] [-1.47701848e-02 2.52976011e-04 9.99890883e-01 -5.32438919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.458623853 meters Centerline goodness [0,1] 0.9998941933299476 Centerline is valid? [True, True] Translation: X:280.88, Y:-61.36, Z:-5.33 [[ 9.73750022e-01 2.27184496e-01 1.40747569e-02 2.80881500e+02] [-2.27157302e-01 9.73851709e-01 -3.52274056e-03 -6.13627973e+01] [-1.45070381e-02 2.33084886e-04 9.99894740e-01 -5.32576522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.48862385300004 meters Centerline goodness [0,1] 0.9998492581346771 Centerline is valid? [True, True] Translation: X:280.91, Y:-61.37, Z:-5.33 [[ 9.73633301e-01 2.27691106e-01 1.39626654e-02 2.80910301e+02] [-2.27664402e-01 9.73733388e-01 -3.49422086e-03 -6.13663363e+01] [-1.43915165e-02 2.23287930e-04 9.99896412e-01 -5.32604219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.518623853 meters Centerline goodness [0,1] 0.9999786105407256 Centerline is valid? [True, True] Translation: X:280.94, Y:-61.37, Z:-5.33 [[ 9.73464496e-01 2.28439796e-01 1.34956983e-02 2.80939114e+02] [-2.28414929e-01 9.73558020e-01 -3.37672001e-03 -6.13710418e+01] [-1.39102225e-02 2.04498073e-04 9.99903227e-01 -5.32717723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.54862385300004 meters Centerline goodness [0,1] 0.9999571358151697 Centerline is valid? [True, True] Translation: X:280.97, Y:-61.38, Z:-5.33 [[ 9.73217255e-01 2.29503208e-01 1.32834924e-02 2.80965533e+02] [-2.29479225e-01 9.73307887e-01 -3.32302068e-03 -6.13788650e+01] [-1.36915718e-02 1.85735524e-04 9.99906249e-01 -5.32941722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.578623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:280.99, Y:-61.38, Z:-5.33 [[ 9.72649984e-01 2.31897283e-01 1.32536508e-02 2.80994808e+02] [-2.31873642e-01 9.72740267e-01 -3.31464670e-03 -6.13791546e+01] [-1.36610174e-02 1.50818782e-04 9.99906673e-01 -5.32899126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.60862385300004 meters Centerline goodness [0,1] 0.9999784598815293 Centerline is valid? [True, True] Translation: X:281.02, Y:-61.38, Z:-5.33 [[ 9.72325102e-01 2.33271746e-01 1.29687468e-02 2.81023667e+02] [-2.33249241e-01 9.72411578e-01 -3.24276838e-03 -6.13837743e+01] [-1.33674058e-02 1.28074754e-04 9.99910644e-01 -5.32677144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.638623853 meters Centerline goodness [0,1] 0.9999784254924381 Centerline is valid? [True, True] Translation: X:281.05, Y:-61.39, Z:-5.33 [[ 9.72087105e-01 2.34268434e-01 1.28437182e-02 2.81052089e+02] [-2.34246457e-01 9.72171944e-01 -3.21086830e-03 -6.13878396e+01] [-1.32385076e-02 1.12648191e-04 9.99912361e-01 -5.33020918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.66862385300004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:281.08, Y:-61.39, Z:-5.33 [[ 9.71513302e-01 2.36628074e-01 1.30022791e-02 2.81080139e+02] [-2.36605769e-01 9.71600303e-01 -3.24989236e-03 -6.13902264e+01] [-1.34020341e-02 8.08994036e-05 9.99910185e-01 -5.33088005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.698623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:281.11, Y:-61.39, Z:-5.33 [[ 9.71331627e-01 2.37371226e-01 1.30296653e-02 2.81109081e+02] [-2.37348907e-01 9.71419012e-01 -3.25583127e-03 -6.13949105e+01] [-1.34301052e-02 6.99150782e-05 9.99909810e-01 -5.33147926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.72862385300004 meters Centerline goodness [0,1] 0.9997844874032887 Centerline is valid? [True, True] Translation: X:281.14, Y:-61.40, Z:-5.32 [[ 9.71166290e-01 2.38058246e-01 1.28183212e-02 2.81136879e+02] [-2.38036711e-01 9.71250878e-01 -3.20252906e-03 -6.14002143e+01] [-1.32121942e-02 5.89572412e-05 9.99912713e-01 -5.32480954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.758623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:281.17, Y:-61.40, Z:-5.33 [[ 9.71041419e-01 2.38502670e-01 1.39656424e-02 2.81166021e+02] [-2.38477172e-01 9.71141840e-01 -3.48787303e-03 -6.14037011e+01] [-1.43944867e-02 5.63822676e-05 9.99896392e-01 -5.33044284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.78862385300005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:281.19, Y:-61.41, Z:-5.33 [[ 9.70992304e-01 2.38686050e-01 1.42448040e-02 2.81193386e+02] [-2.38659553e-01 9.71096785e-01 -3.55688623e-03 -6.14100073e+01] [-1.46820625e-02 5.40505924e-05 9.99892211e-01 -5.33110298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.818623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:281.22, Y:-61.42, Z:-5.33 [[ 9.71154602e-01 2.38010512e-01 1.44822442e-02 2.81220706e+02] [-2.37983062e-01 9.71262576e-01 -3.61526849e-03 -6.14159276e+01] [-1.49265337e-02 6.44558151e-05 9.99888591e-01 -5.33079011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.84862385300005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:281.25, Y:-61.42, Z:-5.33 [[ 9.71257727e-01 2.37608643e-01 1.41619617e-02 2.81247927e+02] [-2.37582367e-01 9.71360967e-01 -3.53426898e-03 -6.14229555e+01] [-1.45961497e-02 6.80536822e-05 9.99893468e-01 -5.33242059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.878623853 meters Centerline goodness [0,1] 0.9999782111341105 Centerline is valid? [True, True] Translation: X:281.28, Y:-61.43, Z:-5.33 [[ 9.71425886e-01 2.36940724e-01 1.38145034e-02 2.81276046e+02] [-2.36915669e-01 9.71524105e-01 -3.44648915e-03 -6.14294958e+01] [-1.42377367e-02 7.51364545e-05 9.99898635e-01 -5.32980292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.908623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:281.30, Y:-61.44, Z:-5.33 [[ 9.71741179e-01 2.35657218e-01 1.35924881e-02 2.81302938e+02] [-2.35632845e-01 9.71836235e-01 -3.39047689e-03 -6.14364236e+01] [-1.40086628e-02 9.18293704e-05 9.99901870e-01 -5.33400954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.938623853 meters Centerline goodness [0,1] 0.9999785835135888 Centerline is valid? [True, True] Translation: X:281.33, Y:-61.44, Z:-5.33 [[ 9.71982699e-01 2.34645853e-01 1.38186977e-02 2.81330334e+02] [-2.34620571e-01 9.72080919e-01 -3.44604788e-03 -6.14436856e+01] [-1.42414932e-02 1.07348161e-04 9.99898579e-01 -5.33453299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.968623853 meters Centerline goodness [0,1] 0.9997619923404808 Centerline is valid? [True, True] Translation: X:281.36, Y:-61.45, Z:-5.33 [[ 9.72220756e-01 2.33681838e-01 1.34015150e-02 2.81358014e+02] [-2.33657983e-01 9.72313111e-01 -3.34095351e-03 -6.14521218e+01] [-1.38111889e-02 1.16773385e-04 9.99904614e-01 -5.32761912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.998623853 meters Centerline goodness [0,1] 0.9998932034687513 Centerline is valid? [True, True] Translation: X:281.38, Y:-61.46, Z:-5.34 [[ 9.72557038e-01 2.32241534e-01 1.40241866e-02 2.81384932e+02] [-2.32215270e-01 9.72658136e-01 -3.49553295e-03 -6.14594653e+01] [-1.44525471e-02 1.42974884e-04 9.99895546e-01 -5.33504801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.028623853 meters Centerline goodness [0,1] 0.9996973692743347 Centerline is valid? [True, True] Translation: X:281.41, Y:-61.47, Z:-5.34 [[ 9.73268913e-01 2.29250882e-01 1.38439777e-02 2.81410745e+02] [-2.29225001e-01 9.73367351e-01 -3.44957012e-03 -6.14699240e+01] [-1.42660929e-02 1.83973568e-04 9.99898217e-01 -5.33628034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.05862385300003 meters Centerline goodness [0,1] 0.9998718414251233 Centerline is valid? [True, True] Translation: X:281.44, Y:-61.48, Z:-5.34 [[ 9.73671360e-01 2.27540470e-01 1.37628640e-02 2.81437693e+02] [-2.27514734e-01 9.73768603e-01 -3.42845891e-03 -6.14793101e+01] [-1.41819580e-02 2.06937912e-04 9.99899410e-01 -5.33680575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.088623853 meters Centerline goodness [0,1] 0.9997403384255853 Centerline is valid? [True, True] Translation: X:281.46, Y:-61.49, Z:-5.34 [[ 9.74132637e-01 2.25569074e-01 1.35719560e-02 2.81464795e+02] [-2.25543865e-01 9.74227150e-01 -3.38024345e-03 -6.14898170e+01] [-1.39846464e-02 2.31734058e-04 9.99902183e-01 -5.33798359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.11862385300003 meters Centerline goodness [0,1] 0.9996968712785537 Centerline is valid? [True, True] Translation: X:281.49, Y:-61.50, Z:-5.34 [[ 9.75045597e-01 2.21609046e-01 1.32481667e-02 2.81491688e+02] [-2.21584669e-01 9.75135556e-01 -3.29885425e-03 -6.15037589e+01] [-1.36498144e-02 2.80942670e-04 9.99906797e-01 -5.33913650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.148623853 meters Centerline goodness [0,1] 0.9996968712785537 Centerline is valid? [True, True] Translation: X:281.52, Y:-61.51, Z:-5.34 [[ 9.75055845e-01 2.21563950e-01 1.32482149e-02 2.81519204e+02] [-2.21539572e-01 9.75145803e-01 -3.29866099e-03 -6.15105180e+01] [-1.36498055e-02 2.81374829e-04 9.99906797e-01 -5.33966814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.17862385300003 meters Centerline goodness [0,1] 0.999208403756873 Centerline is valid? [True, True] Translation: X:281.55, Y:-61.52, Z:-5.34 [[ 9.75462887e-01 2.19771839e-01 1.31337631e-02 2.81545518e+02] [-2.19747727e-01 9.75551253e-01 -3.26945461e-03 -6.15222344e+01] [-1.35311931e-02 3.03117044e-04 9.99908403e-01 -5.34048988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.208623853 meters Centerline goodness [0,1] 0.9990921274480135 Centerline is valid? [True, True] Translation: X:281.57, Y:-61.53, Z:-5.34 [[ 9.75878902e-01 2.17906265e-01 1.33127248e-02 2.81572995e+02] [-2.17881326e-01 9.75969645e-01 -3.31347692e-03 -6.15333102e+01] [-1.37148426e-02 3.32958097e-04 9.99905892e-01 -5.34079261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.23862385300004 meters Centerline goodness [0,1] 0.9987316464948298 Centerline is valid? [True, True] Translation: X:281.60, Y:-61.55, Z:-5.34 [[ 9.76448690e-01 2.15322844e-01 1.35656826e-02 2.81600062e+02] [-2.15296704e-01 9.76542847e-01 -3.37604553e-03 -6.15477151e+01] [-1.39744100e-02 3.75888481e-04 9.99902283e-01 -5.34039214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.268623853 meters Centerline goodness [0,1] 0.9981129647896385 Centerline is valid? [True, True] Translation: X:281.63, Y:-61.56, Z:-5.34 [[ 9.76660218e-01 2.14339226e-01 1.39109488e-02 2.81627863e+02] [-2.14311641e-01 9.76759201e-01 -3.46184897e-03 -6.15576664e+01] [-1.43296573e-02 3.99771905e-04 9.99897245e-01 -5.34044905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.29862385300004 meters Centerline goodness [0,1] 0.9980303456635138 Centerline is valid? [True, True] Translation: X:281.66, Y:-61.57, Z:-5.34 [[ 9.76885055e-01 2.13267421e-01 1.45806929e-02 2.81656347e+02] [-2.13237002e-01 9.76993766e-01 -3.62806711e-03 -6.15708447e+01] [-1.50189945e-02 4.35061305e-04 9.99887114e-01 -5.33936558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.328623853 meters Centerline goodness [0,1] 0.9976431769974075 Centerline is valid? [True, True] Translation: X:281.68, Y:-61.58, Z:-5.34 [[ 9.76943879e-01 2.12983522e-01 1.47877145e-02 2.81683883e+02] [-2.12952202e-01 9.77055690e-01 -3.67955080e-03 -6.15804475e+01] [-1.52321043e-02 4.45638261e-04 9.99883885e-01 -5.33975323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.35862385300004 meters Centerline goodness [0,1] 0.9985693228127981 Centerline is valid? [True, True] Translation: X:281.72, Y:-61.58, Z:-5.34 [[ 9.76934916e-01 2.13028310e-01 1.47346559e-02 2.81716845e+02] [-2.12997226e-01 9.77045927e-01 -3.66587790e-03 -6.15827631e+01] [-1.51773713e-02 4.42883287e-04 9.99884719e-01 -5.33918269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.388623853 meters Centerline goodness [0,1] 0.9989155424456687 Centerline is valid? [True, True] Translation: X:281.75, Y:-61.59, Z:-5.34 [[ 9.76866318e-01 2.13344839e-01 1.47029144e-02 2.81748805e+02] [-2.13313887e-01 9.76976861e-01 -3.66049877e-03 -6.15893868e+01] [-1.51453557e-02 4.39482128e-04 9.99885206e-01 -5.33975884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.41862385300004 meters Centerline goodness [0,1] 0.9979484110871284 Centerline is valid? [True, True] Translation: X:281.78, Y:-61.61, Z:-5.34 [[ 9.76649597e-01 2.14360866e-01 1.43172338e-02 2.81776043e+02] [-2.14331576e-01 9.76754445e-01 -3.56784453e-03 -6.16102633e+01] [-1.47492280e-02 4.15898637e-04 9.99891138e-01 -5.34247964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.448623853 meters Centerline goodness [0,1] 0.9974623655913979 Centerline is valid? [True, True] Translation: X:281.81, Y:-61.61, Z:-5.34 [[ 9.76437569e-01 2.15367630e-01 1.36549254e-02 2.81807988e+02] [-2.15341071e-01 9.76532968e-01 -3.40386015e-03 -6.16144037e+01] [-1.40675661e-02 3.83190684e-04 9.99900973e-01 -5.33715208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.47862385300004 meters Centerline goodness [0,1] 0.9991746666087485 Centerline is valid? [True, True] Translation: X:281.84, Y:-61.62, Z:-5.34 [[ 9.76190080e-01 2.16500254e-01 1.34375158e-02 2.81839769e+02] [-2.16474610e-01 9.76282494e-01 -3.35188820e-03 -6.16186285e+01] [-1.38444961e-02 3.63199029e-04 9.99904094e-01 -5.34402708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.508623853 meters Centerline goodness [0,1] 0.9984193100501976 Centerline is valid? [True, True] Translation: X:281.87, Y:-61.63, Z:-5.34 [[ 9.75520747e-01 2.19500168e-01 1.33771469e-02 2.81869077e+02] [-2.19474992e-01 9.75612409e-01 -3.33997034e-03 -6.16294129e+01] [-1.37840346e-02 3.22261145e-04 9.99904944e-01 -5.33802501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.53862385300005 meters Centerline goodness [0,1] 0.9995491724093515 Centerline is valid? [True, True] Translation: X:281.90, Y:-61.63, Z:-5.34 [[ 9.75029624e-01 2.21635329e-01 1.39647047e-02 2.81900441e+02] [-2.21608106e-01 9.75129575e-01 -3.48704981e-03 -6.16325049e+01] [-1.43902500e-02 3.05285113e-04 9.99896408e-01 -5.34399370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.568623853 meters Centerline goodness [0,1] 0.999573624405739 Centerline is valid? [True, True] Translation: X:281.93, Y:-61.64, Z:-5.34 [[ 9.74523303e-01 2.23834715e-01 1.42250638e-02 2.81930450e+02] [-2.23806696e-01 9.74627079e-01 -3.55244012e-03 -6.16392654e+01] [-1.46592918e-02 2.78271148e-04 9.99892508e-01 -5.34398571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.59862385300005 meters Centerline goodness [0,1] 0.9993577117410294 Centerline is valid? [True, True] Translation: X:281.96, Y:-61.64, Z:-5.34 [[ 9.74011943e-01 2.26075533e-01 1.38053736e-02 2.81959830e+02] [-2.26049360e-01 9.74109746e-01 -3.44819327e-03 -6.16449196e+01] [-1.42275011e-02 2.37885556e-04 9.99898756e-01 -5.33811411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.628623853 meters Centerline goodness [0,1] 0.9998051399744516 Centerline is valid? [True, True] Translation: X:281.99, Y:-61.65, Z:-5.35 [[ 9.72902568e-01 2.30765516e-01 1.44176883e-02 2.81990422e+02] [-2.30737490e-01 9.73009376e-01 -3.60076362e-03 -6.16468098e+01] [-1.48594780e-02 1.76490962e-04 9.99889576e-01 -5.34562050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.658623853 meters Centerline goodness [0,1] 0.9999139433316839 Centerline is valid? [True, True] Translation: X:282.02, Y:-61.65, Z:-5.35 [[ 9.72374527e-01 2.32949773e-01 1.49057748e-02 2.82019515e+02] [-2.32920080e-01 9.72488756e-01 -3.72219264e-03 -6.16511645e+01] [-1.53627823e-02 1.47511053e-04 9.99881975e-01 -5.34538538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.688623853 meters Centerline goodness [0,1] 0.9999573269608262 Centerline is valid? [True, True] Translation: X:282.05, Y:-61.66, Z:-5.35 [[ 9.71842130e-01 2.35140975e-01 1.52182850e-02 2.82048024e+02] [-2.35110298e-01 9.71961269e-01 -3.79987066e-03 -6.16565948e+01] [-1.56850889e-02 1.14898881e-04 9.99876975e-01 -5.34584601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.718623853 meters Centerline goodness [0,1] 0.9999786475348579 Centerline is valid? [True, True] Translation: X:282.08, Y:-61.66, Z:-5.35 [[ 9.71383191e-01 2.37006820e-01 1.55712424e-02 2.82076340e+02] [-2.36974952e-01 9.71507982e-01 -3.88742551e-03 -6.16615463e+01] [-1.60489326e-02 8.61853894e-05 9.99871204e-01 -5.34596314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.748623853 meters Centerline goodness [0,1] 0.9999786566495208 Centerline is valid? [True, True] Translation: X:282.10, Y:-61.67, Z:-5.35 [[ 9.70661052e-01 2.39954593e-01 1.54569123e-02 2.82103768e+02] [-2.39923577e-01 9.70784112e-01 -3.85814049e-03 -6.16652872e+01] [-1.59311034e-02 3.64690153e-05 9.99873091e-01 -5.34651160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.778623853 meters Centerline goodness [0,1] 0.9998707035879755 Centerline is valid? [True, True] Translation: X:282.13, Y:-61.67, Z:-5.35 [[ 9.70346743e-01 2.41233136e-01 1.52895878e-02 2.82131784e+02] [-2.41202963e-01 9.70467194e-01 -3.81535869e-03 -6.16709043e+01] [-1.57584344e-02 1.43269916e-05 9.99875828e-01 -5.34745562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.80862385300003 meters Centerline goodness [0,1] 0.9998694460159275 Centerline is valid? [True, True] Translation: X:282.16, Y:-61.68, Z:-5.35 [[ 9.69760354e-01 2.43585974e-01 1.51897439e-02 2.82159874e+02] [-2.43556493e-01 9.69879308e-01 -3.78968545e-03 -6.16766291e+01] [-1.56553325e-02 -2.44740437e-05 9.99877447e-01 -5.34823001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.838623853 meters Centerline goodness [0,1] 0.9999132979299881 Centerline is valid? [True, True] Translation: X:282.19, Y:-61.68, Z:-5.35 [[ 9.69497798e-01 2.44637456e-01 1.50510568e-02 2.82187284e+02] [-2.44608649e-01 9.69614621e-01 -3.75435679e-03 -6.16824115e+01] [-1.55121810e-02 -4.17780229e-05 9.99879678e-01 -5.34894521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.86862385300003 meters Centerline goodness [0,1] 0.9998490728762398 Centerline is valid? [True, True] Translation: X:282.21, Y:-61.69, Z:-5.35 [[ 9.68790691e-01 2.47414970e-01 1.51798998e-02 2.82214790e+02] [-2.47386024e-01 9.68909606e-01 -3.78555245e-03 -6.16851276e+01] [-1.56445531e-02 -8.78870790e-05 9.99877613e-01 -5.34927107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.898623853 meters Centerline goodness [0,1] 0.9998065722452664 Centerline is valid? [True, True] Translation: X:282.24, Y:-61.69, Z:-5.35 [[ 9.68399984e-01 2.48933849e-01 1.52777615e-02 2.82243417e+02] [-2.48904736e-01 9.68520483e-01 -3.80872275e-03 -6.16898618e+01] [-1.57449449e-02 -1.14340133e-04 9.99876034e-01 -5.34986290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.92862385300003 meters Centerline goodness [0,1] 0.9998287341311468 Centerline is valid? [True, True] Translation: X:282.27, Y:-61.69, Z:-5.35 [[ 9.68069754e-01 2.50226660e-01 1.50854156e-02 2.82271273e+02] [-2.50198443e-01 9.68187276e-01 -3.76007601e-03 -6.16935757e+01] [-1.55463787e-02 -1.34331644e-04 9.99879139e-01 -5.35073175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.958623853 meters Centerline goodness [0,1] 0.9996363869698202 Centerline is valid? [True, True] Translation: X:282.30, Y:-61.70, Z:-5.35 [[ 9.67677982e-01 2.51730651e-01 1.51987468e-02 2.82300322e+02] [-2.51702210e-01 9.67797320e-01 -3.78734433e-03 -6.16976008e+01] [-1.56626971e-02 -1.60628441e-04 9.99877320e-01 -5.35137747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.98862385300004 meters Centerline goodness [0,1] 0.9994445749930572 Centerline is valid? [True, True] Translation: X:282.33, Y:-61.70, Z:-5.35 [[ 9.67021032e-01 2.54230163e-01 1.54061118e-02 2.82329687e+02] [-2.54201270e-01 9.67143724e-01 -3.83825303e-03 -6.16992856e+01] [-1.58757241e-02 -2.04581789e-04 9.99873952e-01 -5.35240145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.018623853 meters Centerline goodness [0,1] 0.9993706733794839 Centerline is valid? [True, True] Translation: X:282.36, Y:-61.71, Z:-5.35 [[ 9.66803703e-01 2.55049784e-01 1.54986356e-02 2.82357805e+02] [-2.55020659e-01 9.66927898e-01 -3.86055114e-03 -6.17052031e+01] [-1.59706959e-02 -2.20077135e-04 9.99872436e-01 -5.35270452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.04862385300004 meters Centerline goodness [0,1] 0.9993814257070944 Centerline is valid? [True, True] Translation: X:282.39, Y:-61.71, Z:-5.35 [[ 9.66631459e-01 2.55708758e-01 1.53835416e-02 2.82386084e+02] [-2.55680158e-01 9.66753835e-01 -3.83122918e-03 -6.17081404e+01] [-1.58517767e-02 -2.29879700e-04 9.99874326e-01 -5.35366487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.078623853 meters Centerline goodness [0,1] 0.9994066162290461 Centerline is valid? [True, True] Translation: X:282.42, Y:-61.71, Z:-5.35 [[ 9.66333341e-01 2.56836229e-01 1.53305743e-02 2.82415323e+02] [-2.56807991e-01 9.66454908e-01 -3.81657526e-03 -6.17102755e+01] [-1.57965436e-02 -2.48930070e-04 9.99875196e-01 -5.35489873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.10862385300004 meters Centerline goodness [0,1] 0.9995008247243684 Centerline is valid? [True, True] Translation: X:282.44, Y:-61.72, Z:-5.36 [[ 9.66273776e-01 2.57066254e-01 1.52292616e-02 2.82442964e+02] [-2.57038428e-01 9.66393749e-01 -3.79064465e-03 -6.17186453e+01] [-1.56919100e-02 -2.51704932e-04 9.99876843e-01 -5.35532283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.138623853 meters Centerline goodness [0,1] 0.9993524574240756 Centerline is valid? [True, True] Translation: X:282.47, Y:-61.72, Z:-5.36 [[ 9.66244497e-01 2.57173934e-01 1.52688856e-02 2.82471578e+02] [-2.57145988e-01 9.66365098e-01 -3.79972129e-03 -6.17242166e+01] [-1.57325074e-02 -2.54872900e-04 9.99876204e-01 -5.35593345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.16862385300004 meters Centerline goodness [0,1] 0.9991926745841212 Centerline is valid? [True, True] Translation: X:282.50, Y:-61.72, Z:-5.36 [[ 9.66247220e-01 2.57203644e-01 1.45806615e-02 2.82500394e+02] [-2.57178175e-01 9.66357194e-01 -3.62778232e-03 -6.17233341e+01] [-1.50232059e-02 -2.44493325e-04 9.99887115e-01 -5.35849403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.198623853 meters Centerline goodness [0,1] 0.999315610496824 Centerline is valid? [True, True] Translation: X:282.53, Y:-61.73, Z:-5.36 [[ 9.66294975e-01 2.57031322e-01 1.44540631e-02 2.82528185e+02] [-2.57006287e-01 9.66403043e-01 -3.59538437e-03 -6.17292267e+01] [-1.48925769e-02 -2.40583229e-04 9.99889070e-01 -5.35976798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.22862385300004 meters Centerline goodness [0,1] 0.9992559198144176 Centerline is valid? [True, True] Translation: X:282.56, Y:-61.73, Z:-5.36 [[ 9.66524173e-01 2.56141442e-01 1.49192718e-02 2.82557096e+02] [-2.56114682e-01 9.66639284e-01 -3.70990418e-03 -6.17334365e+01] [-1.53718144e-02 -2.35332487e-04 9.99881819e-01 -5.35980078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.258623853 meters Centerline goodness [0,1] 0.9994566752874188 Centerline is valid? [True, True] Translation: X:282.58, Y:-61.74, Z:-5.36 [[ 9.66770725e-01 2.55195505e-01 1.51532206e-02 2.82584623e+02] [-2.55167795e-01 9.66889447e-01 -3.76735031e-03 -6.17430852e+01] [-1.56129000e-02 -2.24449891e-04 9.99878086e-01 -5.35904637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.28862385300005 meters Centerline goodness [0,1] 0.9994466319037991 Centerline is valid? [True, True] Translation: X:282.61, Y:-61.74, Z:-5.36 [[ 9.67022073e-01 2.54230818e-01 1.53297388e-02 2.82613108e+02] [-2.54202349e-01 9.67143550e-01 -3.81045511e-03 -6.17446931e+01] [-1.57947931e-02 -2.12061406e-04 9.99875232e-01 -5.36028228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.318623853 meters Centerline goodness [0,1] 0.9996777866088115 Centerline is valid? [True, True] Translation: X:282.64, Y:-61.76, Z:-5.36 [[ 9.67747235e-01 2.51430945e-01 1.57406502e-02 2.82639994e+02] [-2.51400577e-01 9.67875225e-01 -3.91149592e-03 -6.17550374e+01] [-1.62184565e-02 -1.71869177e-04 9.99868457e-01 -5.35983305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.34862385300005 meters Centerline goodness [0,1] 0.9997636746444377 Centerline is valid? [True, True] Translation: X:282.67, Y:-61.76, Z:-5.36 [[ 9.68120063e-01 2.49983739e-01 1.58642453e-02 2.82667564e+02] [-2.49952710e-01 9.68250024e-01 -3.94140112e-03 -6.17616393e+01] [-1.63458421e-02 -1.49561608e-04 9.99866387e-01 -5.36023609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.378623853 meters Centerline goodness [0,1] 0.9995911868491264 Centerline is valid? [True, True] Translation: X:282.69, Y:-61.77, Z:-5.36 [[ 9.68561090e-01 2.48282844e-01 1.56538942e-02 2.82694751e+02] [-2.48252423e-01 9.68687573e-01 -3.88839539e-03 -6.17679065e+01] [-1.61291547e-02 -1.19968682e-04 9.99869910e-01 -5.36135008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.408623853 meters Centerline goodness [0,1] 0.9997629719013963 Centerline is valid? [True, True] Translation: X:282.72, Y:-61.78, Z:-5.36 [[ 9.68965059e-01 2.46712699e-01 1.54776923e-02 2.82722254e+02] [-2.46682774e-01 9.69088662e-01 -3.84365286e-03 -6.17755093e+01] [-1.59475341e-02 -9.37147406e-05 9.99872826e-01 -5.36259835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.438623853 meters Centerline goodness [0,1] 0.9998059173639265 Centerline is valid? [True, True] Translation: X:282.75, Y:-61.78, Z:-5.36 [[ 9.69793379e-01 2.43452735e-01 1.52173325e-02 2.82748842e+02] [-2.43423417e-01 9.69912761e-01 -3.77835061e-03 -6.17818785e+01] [-1.56793348e-02 -4.00356693e-05 9.99877071e-01 -5.36497959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.468623853 meters Centerline goodness [0,1] 0.9999142440614013 Centerline is valid? [True, True] Translation: X:282.78, Y:-61.79, Z:-5.37 [[ 9.70193622e-01 2.41879675e-01 1.47837254e-02 2.82776065e+02] [-2.41851841e-01 9.70306252e-01 -3.66939001e-03 -6.17886118e+01] [-1.52322920e-02 -1.54524022e-05 9.99883982e-01 -5.36595698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.498623853 meters Centerline goodness [0,1] 0.9999784788877889 Centerline is valid? [True, True] Translation: X:282.80, Y:-61.80, Z:-5.37 [[ 9.70917670e-01 2.38985275e-01 1.43149398e-02 2.82802842e+02] [-2.38958879e-01 9.71023191e-01 -3.55193552e-03 -6.17959318e+01] [-1.47489988e-02 2.79549824e-05 9.99891227e-01 -5.36761607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.528623853 meters Centerline goodness [0,1] 0.9999571780323306 Centerline is valid? [True, True] Translation: X:282.83, Y:-61.80, Z:-5.37 [[ 9.71307669e-01 2.37402572e-01 1.41925998e-02 2.82830561e+02] [-2.37376471e-01 9.71411353e-01 -3.52064031e-03 -6.18027842e+01] [-1.46226617e-02 5.06356672e-05 9.99893082e-01 -5.36845803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.55862385300003 meters Centerline goodness [0,1] 0.9999567043338962 Centerline is valid? [True, True] Translation: X:282.86, Y:-61.81, Z:-5.37 [[ 9.71684927e-01 2.35854343e-01 1.41820798e-02 2.82859127e+02] [-2.35828126e-01 9.71788415e-01 -3.51732799e-03 -6.18088125e+01] [-1.46115579e-02 7.32013014e-05 9.99893243e-01 -5.36827298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.588623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:282.89, Y:-61.82, Z:-5.37 [[ 9.72444717e-01 2.32741526e-01 1.35150041e-02 2.82886045e+02] [-2.32717425e-01 9.72538621e-01 -3.35127524e-03 -6.18166663e+01] [-1.39238444e-02 1.13752948e-04 9.99903052e-01 -5.37045689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.61862385300003 meters Centerline goodness [0,1] 0.9999351393423129 Centerline is valid? [True, True] Translation: X:282.91, Y:-61.82, Z:-5.37 [[ 9.72839293e-01 2.31076998e-01 1.36795916e-02 2.82914000e+02] [-2.31052155e-01 9.72935456e-01 -3.39111883e-03 -6.18228432e+01] [-1.40929692e-02 1.38314532e-04 9.99900680e-01 -5.37083559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.648623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:282.94, Y:-61.83, Z:-5.37 [[ 9.73205912e-01 2.29522675e-01 1.37693045e-02 2.82942006e+02] [-2.29497361e-01 9.73303301e-01 -3.41262965e-03 -6.18301821e+01] [-1.41849854e-02 1.61172307e-04 9.99899375e-01 -5.37110204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.67862385300003 meters Centerline goodness [0,1] 0.9998931121467356 Centerline is valid? [True, True] Translation: X:282.97, Y:-61.84, Z:-5.37 [[ 9.73973449e-01 2.26216504e-01 1.42061293e-02 2.82967890e+02] [-2.26189216e-01 9.74077023e-01 -3.52016688e-03 -6.18394036e+01] [-1.46341840e-02 2.15275834e-04 9.99892891e-01 -5.37148334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.708623853 meters Centerline goodness [0,1] 0.9998285763263907 Centerline is valid? [True, True] Translation: X:282.99, Y:-61.85, Z:-5.37 [[ 9.74306230e-01 2.24771879e-01 1.43168417e-02 2.82994720e+02] [-2.24744022e-01 9.74411384e-01 -3.54666870e-03 -6.18469572e+01] [-1.47476850e-02 2.37916822e-04 9.99891219e-01 -5.37149639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.73862385300004 meters Centerline goodness [0,1] 0.9999136237016563 Centerline is valid? [True, True] Translation: X:283.02, Y:-61.85, Z:-5.37 [[ 9.74681186e-01 2.23118481e-01 1.46536240e-02 2.83022940e+02] [-2.23089126e-01 9.74791296e-01 -3.62912446e-03 -6.18521042e+01] [-1.50939499e-02 2.68175165e-04 9.99886044e-01 -5.37100910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.768623853 meters Centerline goodness [0,1] 0.9997841291771005 Centerline is valid? [True, True] Translation: X:283.05, Y:-61.86, Z:-5.37 [[ 9.75012182e-01 2.21659085e-01 1.47815679e-02 2.83049415e+02] [-2.21629058e-01 9.75124179e-01 -3.66008856e-03 -6.18615809e+01] [-1.52251561e-02 2.92605978e-04 9.99884048e-01 -5.37160990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.79862385300004 meters Centerline goodness [0,1] 0.9998489099935247 Centerline is valid? [True, True] Translation: X:283.08, Y:-61.87, Z:-5.37 [[ 9.75633662e-01 2.18884752e-01 1.51136509e-02 2.83078389e+02] [-2.18853045e-01 9.75750659e-01 -3.74121153e-03 -6.18677106e+01] [-1.55660490e-02 3.42383382e-04 9.99878783e-01 -5.37161427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.828623853 meters Centerline goodness [0,1] 0.9996772874938147 Centerline is valid? [True, True] Translation: X:283.10, Y:-61.88, Z:-5.37 [[ 9.75937990e-01 2.17540259e-01 1.48753054e-02 2.83104584e+02] [-2.17509392e-01 9.76051283e-01 -3.68195269e-03 -6.18753265e+01] [-1.53200339e-02 3.57838867e-04 9.99882577e-01 -5.37266829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.85862385300004 meters Centerline goodness [0,1] 0.9996582365003418 Centerline is valid? [True, True] Translation: X:283.13, Y:-61.88, Z:-5.37 [[ 9.76197147e-01 2.16391360e-01 1.46256647e-02 2.83130822e+02] [-2.16361405e-01 9.76306634e-01 -3.61931081e-03 -6.18845057e+01] [-1.50623211e-02 3.68731524e-04 9.99886489e-01 -5.37359427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.888623853 meters Centerline goodness [0,1] 0.9993538382010856 Centerline is valid? [True, True] Translation: X:283.16, Y:-61.89, Z:-5.37 [[ 9.76700380e-01 2.14095398e-01 1.48165163e-02 2.83158928e+02] [-2.14064408e-01 9.76812671e-01 -3.66546101e-03 -6.18932685e+01] [-1.52577192e-02 4.08368372e-04 9.99883511e-01 -5.37401433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.91862385300004 meters Centerline goodness [0,1] 0.9993066839995667 Centerline is valid? [True, True] Translation: X:283.19, Y:-61.90, Z:-5.37 [[ 9.76934103e-01 2.13030363e-01 1.47588022e-02 2.83187412e+02] [-2.12999498e-01 9.77045488e-01 -3.65081916e-03 -6.19000500e+01] [-1.51977565e-02 4.22992281e-04 9.99884418e-01 -5.37483063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.948623853 meters Centerline goodness [0,1] 0.9994762226926518 Centerline is valid? [True, True] Translation: X:283.22, Y:-61.91, Z:-5.38 [[ 9.77152917e-01 2.12046757e-01 1.44343533e-02 2.83215098e+02] [-2.12017129e-01 9.77259428e-01 -3.57035609e-03 -6.19060240e+01] [-1.48631903e-02 4.28453708e-04 9.99889445e-01 -5.37541752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.97862385300004 meters Centerline goodness [0,1] 0.999379453491109 Centerline is valid? [True, True] Translation: X:283.24, Y:-61.92, Z:-5.38 [[ 9.77425270e-01 2.10862720e-01 1.32948865e-02 2.83241639e+02] [-2.10837489e-01 9.77515598e-01 -3.28761384e-03 -6.19192315e+01] [-1.36891941e-02 4.10336358e-04 9.99906214e-01 -5.37929246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.008623853 meters Centerline goodness [0,1] 0.9991511035653651 Centerline is valid? [True, True] Translation: X:283.27, Y:-61.92, Z:-5.38 [[ 9.77527493e-01 2.10405736e-01 1.30163672e-02 2.83269937e+02] [-2.10381516e-01 9.77614065e-01 -3.21832169e-03 -6.19242153e+01] [-1.34021370e-02 4.07594867e-04 9.99910104e-01 -5.37948622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.03862385300005 meters Centerline goodness [0,1] 0.9988030988857939 Centerline is valid? [True, True] Translation: X:283.30, Y:-61.93, Z:-5.37 [[ 9.77691714e-01 2.09668032e-01 1.25789322e-02 2.83298648e+02] [-2.09645361e-01 9.77772547e-01 -3.10941456e-03 -6.19309558e+01] [-1.29512794e-02 4.02934068e-04 9.99916047e-01 -5.37170613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.068623853 meters Centerline goodness [0,1] 0.9995265457206189 Centerline is valid? [True, True] Translation: X:283.33, Y:-61.94, Z:-5.38 [[ 9.77660317e-01 2.09761253e-01 1.34358008e-02 2.83325651e+02] [-2.09735401e-01 9.77752542e-01 -3.32090414e-03 -6.19396556e+01] [-1.38334854e-02 4.28753132e-04 9.99904221e-01 -5.37922949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.09862385300005 meters Centerline goodness [0,1] 0.9995265457206189 Centerline is valid? [True, True] Translation: X:283.35, Y:-61.95, Z:-5.38 [[ 9.77665392e-01 2.09737592e-01 1.34359356e-02 2.83353984e+02] [-2.09711746e-01 9.77757618e-01 -3.32035865e-03 -6.19466140e+01] [-1.38334924e-02 4.28526236e-04 9.99904221e-01 -5.37977690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.128623853 meters Centerline goodness [0,1] 0.9989683853080874 Centerline is valid? [True, True] Translation: X:283.38, Y:-61.96, Z:-5.38 [[ 9.77608782e-01 2.09970975e-01 1.39017487e-02 2.83380873e+02] [-2.09943334e-01 9.77707521e-01 -3.43509122e-03 -6.19582216e+01] [-1.43131137e-02 4.39595873e-04 9.99897466e-01 -5.38000612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.158623853 meters Centerline goodness [0,1] 0.9991451895542164 Centerline is valid? [True, True] Translation: X:283.41, Y:-61.96, Z:-5.38 [[ 9.77521305e-01 2.10359144e-01 1.41820188e-02 2.83409648e+02] [-2.10330423e-01 9.77624076e-01 -3.50405615e-03 -6.19641868e+01] [-1.46017933e-02 4.42379520e-04 9.99893290e-01 -5.37967928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.188623853 meters Centerline goodness [0,1] 0.9991267119640461 Centerline is valid? [True, True] Translation: X:283.44, Y:-61.97, Z:-5.38 [[ 9.77175203e-01 2.11960020e-01 1.41976027e-02 2.83436884e+02] [-2.11931412e-01 9.77278248e-01 -3.50737268e-03 -6.19724713e+01] [-1.46184311e-02 4.18399624e-04 9.99893057e-01 -5.38011654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.218623853 meters Centerline goodness [0,1] 0.9993594670766077 Centerline is valid? [True, True] Translation: X:283.47, Y:-61.98, Z:-5.38 [[ 9.76952581e-01 2.12975501e-01 1.43209891e-02 2.83465052e+02] [-2.12946510e-01 9.77057455e-01 -3.53736004e-03 -6.19786871e+01] [-1.47458002e-02 4.06228374e-04 9.99891192e-01 -5.38046412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.248623853 meters Centerline goodness [0,1] 0.9990519080350794 Centerline is valid? [True, True] Translation: X:283.49, Y:-61.99, Z:-5.38 [[ 9.76772229e-01 2.13804465e-01 1.42710942e-02 2.83493690e+02] [-2.13775775e-01 9.76876398e-01 -3.52429176e-03 -6.19856562e+01] [-1.46946044e-02 3.91616089e-04 9.99891952e-01 -5.37615283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.278623853 meters Centerline goodness [0,1] 0.9994613926232334 Centerline is valid? [True, True] Translation: X:283.52, Y:-61.99, Z:-5.38 [[ 9.76440354e-01 2.15313006e-01 1.43018983e-02 2.83520609e+02] [-2.15284361e-01 9.76545019e-01 -3.53141631e-03 -6.19942258e+01] [-1.47268074e-02 3.69242367e-04 9.99891487e-01 -5.38179563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.30862385300003 meters Centerline goodness [0,1] 0.999633596999806 Centerline is valid? [True, True] Translation: X:283.55, Y:-62.00, Z:-5.38 [[ 9.75737990e-01 2.18503973e-01 1.38343252e-02 2.83549852e+02] [-2.18477499e-01 9.75836010e-01 -3.41531711e-03 -6.19960285e+01] [-1.42462930e-02 3.09965879e-04 9.99898468e-01 -5.38239196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.338623853 meters Centerline goodness [0,1] 0.9999147048788809 Centerline is valid? [True, True] Translation: X:283.58, Y:-62.00, Z:-5.38 [[ 9.75320448e-01 2.20352878e-01 1.39510724e-02 2.83577220e+02] [-2.20326154e-01 9.75420180e-01 -3.44350564e-03 -6.20019442e+01] [-1.43669439e-02 2.84735349e-04 9.99896750e-01 -5.38307445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.36862385300003 meters Centerline goodness [0,1] 0.9999785080272519 Centerline is valid? [True, True] Translation: X:283.61, Y:-62.00, Z:-5.38 [[ 9.74309509e-01 2.24767143e-01 1.41672727e-02 2.83607445e+02] [-2.24740066e-01 9.74412480e-01 -3.49579106e-03 -6.20045503e+01] [-1.45905063e-02 2.22028664e-04 9.99893528e-01 -5.38241061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.398623853 meters Centerline goodness [0,1] 0.9999783117897111 Centerline is valid? [True, True] Translation: X:283.64, Y:-62.01, Z:-5.38 [[ 9.73753036e-01 2.27167960e-01 1.41330312e-02 2.83636819e+02] [-2.27141267e-01 9.73855576e-01 -3.48733116e-03 -6.20060226e+01] [-1.45557411e-02 1.85604694e-04 9.99894042e-01 -5.38190233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.42862385300003 meters Centerline goodness [0,1] 0.9998698029684924 Centerline is valid? [True, True] Translation: X:283.66, Y:-62.01, Z:-5.37 [[ 9.73182623e-01 2.29605135e-01 1.40379610e-02 2.83664928e+02] [-2.29579063e-01 9.73283854e-01 -3.46315939e-03 -6.20106993e+01] [-1.44580800e-02 1.47464601e-04 9.99895466e-01 -5.37448985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.458623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:283.70, Y:-62.01, Z:-5.38 [[ 9.71960481e-01 2.34684193e-01 1.47021201e-02 2.83695051e+02] [-2.34656188e-01 9.72071666e-01 -3.62616898e-03 -6.20102540e+01] [-1.51425189e-02 7.45494828e-05 9.99885343e-01 -5.38307116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.48862385300004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:283.72, Y:-62.01, Z:-5.38 [[ 9.71471906e-01 2.36701425e-01 1.46550932e-02 2.83723756e+02] [-2.36673837e-01 9.71582438e-01 -3.61407346e-03 -6.20139593e+01] [-1.50940876e-02 4.24936842e-05 9.99886077e-01 -5.38370435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.518623853 meters Centerline goodness [0,1] 0.9999785903913676 Centerline is valid? [True, True] Translation: X:283.75, Y:-62.02, Z:-5.38 [[ 9.71025705e-01 2.38543786e-01 1.43507126e-02 2.83750627e+02] [-2.38517541e-01 9.71131743e-01 -3.53844835e-03 -6.20173478e+01] [-1.47805074e-02 1.30276283e-05 9.99890762e-01 -5.38482146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.54862385300004 meters Centerline goodness [0,1] 0.9999356582164458 Centerline is valid? [True, True] Translation: X:283.78, Y:-62.02, Z:-5.39 [[ 9.70309195e-01 2.41476625e-01 1.37515597e-02 2.83779837e+02] [-2.41452839e-01 9.70406636e-01 -3.38940222e-03 -6.20192070e+01] [-1.41630662e-02 -3.15849938e-05 9.99899698e-01 -5.38688340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.578623853 meters Centerline goodness [0,1] 0.9997836434443964 Centerline is valid? [True, True] Translation: X:283.81, Y:-62.02, Z:-5.38 [[ 9.70180756e-01 2.42049106e-01 1.27094924e-02 2.83808410e+02] [-2.42028845e-01 9.70264000e-01 -3.13198706e-03 -6.20244802e+01] [-1.30896576e-02 -3.74701809e-05 9.99914326e-01 -5.38070253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.60862385300004 meters Centerline goodness [0,1] 0.9999147920927062 Centerline is valid? [True, True] Translation: X:283.83, Y:-62.03, Z:-5.39 [[ 9.69978537e-01 2.42842055e-01 1.30143929e-02 2.83834884e+02] [-2.42820888e-01 9.70065840e-01 -3.20663225e-03 -6.20284595e+01] [-1.34035232e-02 -4.98019952e-05 9.99910168e-01 -5.38990371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.638623853 meters Centerline goodness [0,1] 0.9999355102216299 Centerline is valid? [True, True] Translation: X:283.86, Y:-62.03, Z:-5.39 [[ 9.69773575e-01 2.43635877e-01 1.34451495e-02 2.83862298e+02] [-2.43613380e-01 9.69866772e-01 -3.31145202e-03 -6.20332935e+01] [-1.38467922e-02 -6.40596322e-05 9.99904127e-01 -5.38925750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.66862385300004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:283.89, Y:-62.04, Z:-5.39 [[ 9.69696566e-01 2.43958914e-01 1.31384260e-02 2.83890003e+02] [-2.43937476e-01 9.69785566e-01 -3.23489410e-03 -6.20390411e+01] [-1.35306372e-02 -6.80887776e-05 9.99908454e-01 -5.39011998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.698623853 meters Centerline goodness [0,1] 0.9999784751818848 Centerline is valid? [True, True] Translation: X:283.92, Y:-62.05, Z:-5.39 [[ 9.69638788e-01 2.44194963e-01 1.30169644e-02 2.83917695e+02] [-2.44173950e-01 9.69726155e-01 -3.20419643e-03 -6.20450869e+01] [-1.34053395e-02 -7.14904830e-05 9.99910142e-01 -5.39022104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.72862385300004 meters Centerline goodness [0,1] 0.999935522696011 Centerline is valid? [True, True] Translation: X:283.94, Y:-62.05, Z:-5.39 [[ 9.69533087e-01 2.44605498e-01 1.31811990e-02 2.83944599e+02] [-2.44583999e-01 9.69622681e-01 -3.24390436e-03 -6.20485463e+01] [-1.35742663e-02 -7.88377500e-05 9.99907862e-01 -5.39072343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.758623853 meters Centerline goodness [0,1] 0.9999575866822182 Centerline is valid? [True, True] Translation: X:283.97, Y:-62.05, Z:-5.39 [[ 9.69490425e-01 2.44755741e-01 1.35256545e-02 2.83971665e+02] [-2.44733133e-01 9.69584767e-01 -3.32767956e-03 -6.20532890e+01] [-1.39287373e-02 -8.40223420e-05 9.99902987e-01 -5.39083902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.78862385300005 meters Centerline goodness [0,1] 0.9999350466581506 Centerline is valid? [True, True] Translation: X:284.00, Y:-62.06, Z:-5.39 [[ 9.69462950e-01 2.44849862e-01 1.37888683e-02 2.83998273e+02] [-2.44826406e-01 9.69561002e-01 -3.39029034e-03 -6.20578507e+01] [-1.41992611e-02 -8.91181809e-05 9.99899181e-01 -5.39101272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.818623853 meters Centerline goodness [0,1] 0.9999573433434288 Centerline is valid? [True, True] Translation: X:284.02, Y:-62.06, Z:-5.39 [[ 9.69528277e-01 2.44571199e-01 1.41368013e-02 2.84024856e+02] [-2.44546530e-01 9.69631332e-01 -3.47477757e-03 -6.20630970e+01] [-1.45573160e-02 -8.82105984e-05 9.99894033e-01 -5.39097023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.84862385300005 meters Centerline goodness [0,1] 0.9999786164866887 Centerline is valid? [True, True] Translation: X:284.05, Y:-62.07, Z:-5.39 [[ 9.69620659e-01 2.44207178e-01 1.40937030e-02 2.84051526e+02] [-2.44182651e-01 9.69723077e-01 -3.46209698e-03 -6.20679696e+01] [-1.45124580e-02 -8.45169985e-05 9.99894685e-01 -5.39171562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.878623853 meters Centerline goodness [0,1] 0.9999566151109569 Centerline is valid? [True, True] Translation: X:284.08, Y:-62.07, Z:-5.39 [[ 9.69803833e-01 2.43465418e-01 1.43218340e-02 2.84079288e+02] [-2.43440021e-01 9.69909576e-01 -3.51730176e-03 -6.20743547e+01] [-1.47472253e-02 -7.54148540e-05 9.99891251e-01 -5.39173856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.908623853 meters Centerline goodness [0,1] 0.9999141465089825 Centerline is valid? [True, True] Translation: X:284.11, Y:-62.08, Z:-5.39 [[ 9.70119755e-01 2.42184962e-01 1.46323192e-02 2.84106947e+02] [-2.42158353e-01 9.70230097e-01 -3.59046924e-03 -6.20798659e+01] [-1.50662742e-02 -6.01531839e-05 9.99886495e-01 -5.39179534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.938623853 meters Centerline goodness [0,1] 0.9999352121801102 Centerline is valid? [True, True] Translation: X:284.13, Y:-62.09, Z:-5.39 [[ 9.70294007e-01 2.41485963e-01 1.46311452e-02 2.84134882e+02] [-2.41459302e-01 9.70404311e-01 -3.58868585e-03 -6.20865223e+01] [-1.50647436e-02 -5.07457320e-05 9.99886519e-01 -5.39238520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.968623853 meters Centerline goodness [0,1] 0.9999354227656277 Centerline is valid? [True, True] Translation: X:284.16, Y:-62.09, Z:-5.39 [[ 9.70486172e-01 2.40702981e-01 1.47873229e-02 2.84162996e+02] [-2.40675667e-01 9.70598822e-01 -3.62627372e-03 -6.20932739e+01] [-1.52254131e-02 -3.97003016e-05 9.99884086e-01 -5.39285211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.998623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:284.19, Y:-62.10, Z:-5.39 [[ 9.70674208e-01 2.39943842e-01 1.47828913e-02 2.84189810e+02] [-2.39916466e-01 9.70786770e-01 -3.62456064e-03 -6.20994905e+01] [-1.52207263e-02 -2.83914968e-05 9.99884158e-01 -5.39346545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.028623853 meters Centerline goodness [0,1] 0.9999786762197203 Centerline is valid? [True, True] Translation: X:284.22, Y:-62.11, Z:-5.40 [[ 9.71063791e-01 2.38406357e-01 1.40542612e-02 2.84216810e+02] [-2.38381465e-01 9.71165490e-01 -3.44497125e-03 -6.21057154e+01] [-1.44703165e-02 -4.98854319e-06 9.99895299e-01 -5.39571722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.05862385300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:284.25, Y:-62.11, Z:-5.40 [[ 9.71269296e-01 2.37595766e-01 1.35722704e-02 2.84245132e+02] [-2.37572488e-01 9.71364119e-01 -3.32580002e-03 -6.21122279e+01] [-1.39738125e-02 5.84939238e-06 9.99902361e-01 -5.39656555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.088623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:284.27, Y:-62.12, Z:-5.40 [[ 9.71685787e-01 2.35938231e-01 1.26444894e-02 2.84272462e+02] [-2.35917893e-01 9.71768054e-01 -3.09796385e-03 -6.21183222e+01] [-1.30184390e-02 2.71861380e-05 9.99915256e-01 -5.39983691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.11862385300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:284.30, Y:-62.13, Z:-5.40 [[ 9.71970031e-01 2.34769070e-01 1.25595971e-02 2.84300730e+02] [-2.34748917e-01 9.72051173e-01 -3.07634073e-03 -6.21251926e+01] [-1.29308007e-02 4.17591826e-05 9.99916393e-01 -5.40049172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.148623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:284.33, Y:-62.13, Z:-5.40 [[ 9.72254405e-01 2.33588680e-01 1.25578738e-02 2.84328351e+02] [-2.33568442e-01 9.72335500e-01 -3.07531001e-03 -6.21325488e+01] [-1.29288241e-02 5.68606865e-05 9.99916418e-01 -5.40083300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.17862385300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:284.36, Y:-62.14, Z:-5.40 [[ 9.72876908e-01 2.30975113e-01 1.26892964e-02 2.84356502e+02] [-2.30954234e-01 9.72959654e-01 -3.10689604e-03 -6.21394633e+01] [-1.30637891e-02 9.19806699e-05 9.99914661e-01 -5.39955915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.208623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:284.38, Y:-62.15, Z:-5.40 [[ 9.73202824e-01 2.29582101e-01 1.29738769e-02 2.84384501e+02] [-2.29560161e-01 9.73289292e-01 -3.17588515e-03 -6.21460798e+01] [-1.33564618e-02 1.12495137e-04 9.99910792e-01 -5.39945219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.23862385300004 meters Centerline goodness [0,1] 0.9999570428283002 Centerline is valid? [True, True] Translation: X:284.41, Y:-62.15, Z:-5.40 [[ 9.73715313e-01 2.27352790e-01 1.37549344e-02 2.84411041e+02] [-2.27327914e-01 9.73812449e-01 -3.36648862e-03 -6.21532993e+01] [-1.41601070e-02 1.51120971e-04 9.99899729e-01 -5.39842790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.268623853 meters Centerline goodness [0,1] 0.9999784635927035 Centerline is valid? [True, True] Translation: X:284.44, Y:-62.16, Z:-5.40 [[ 9.73956982e-01 2.26301053e-01 1.39868020e-02 2.84438028e+02] [-2.26275244e-01 9.74057393e-01 -3.42178081e-03 -6.21611217e+01] [-1.43983005e-02 1.67800284e-04 9.99896325e-01 -5.39877419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.29862385300004 meters Centerline goodness [0,1] 0.9999785283318661 Centerline is valid? [True, True] Translation: X:284.47, Y:-62.17, Z:-5.40 [[ 9.74222519e-01 2.25135160e-01 1.43053455e-02 2.84466209e+02] [-2.25108051e-01 9.74327524e-01 -3.49873104e-03 -6.21680568e+01] [-1.47257792e-02 1.88294128e-04 9.99891552e-01 -5.39871414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.328623853 meters Centerline goodness [0,1] 0.9999569818463392 Centerline is valid? [True, True] Translation: X:284.49, Y:-62.18, Z:-5.40 [[ 9.74490230e-01 2.23975915e-01 1.42682005e-02 2.84494370e+02] [-2.23948833e-01 9.74594658e-01 -3.48892691e-03 -6.21752297e+01] [-1.46871476e-02 2.04578329e-04 9.99892117e-01 -5.39903072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.35862385300004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:284.52, Y:-62.18, Z:-5.40 [[ 9.74732632e-01 2.22886293e-01 1.47647139e-02 2.84522628e+02] [-2.22857180e-01 9.74844423e-01 -3.60955753e-03 -6.21830084e+01] [-1.51978199e-02 2.27931005e-04 9.99884480e-01 -5.39885483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.388623853 meters Centerline goodness [0,1] 0.9998920715781294 Centerline is valid? [True, True] Translation: X:284.55, Y:-62.19, Z:-5.40 [[ 9.75227226e-01 2.20740298e-01 1.43380159e-02 2.84548929e+02] [-2.20712621e-01 9.75332588e-01 -3.50459351e-03 -6.21933243e+01] [-1.47579392e-02 2.53193941e-04 9.99891064e-01 -5.40015639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.41862385300004 meters Centerline goodness [0,1] 0.9998920599283277 Centerline is valid? [True, True] Translation: X:284.58, Y:-62.20, Z:-5.40 [[ 9.75544506e-01 2.19359871e-01 1.39342990e-02 2.84575156e+02] [-2.19333600e-01 9.75643980e-01 -3.40515721e-03 -6.22024576e+01] [-1.43418698e-02 2.65622445e-04 9.99897115e-01 -5.40181133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.448623853 meters Centerline goodness [0,1] 0.9999130018704598 Centerline is valid? [True, True] Translation: X:284.60, Y:-62.21, Z:-5.40 [[ 9.75861906e-01 2.17959117e-01 1.36881197e-02 2.84601710e+02] [-2.17933645e-01 9.75957860e-01 -3.34388596e-03 -6.22113669e+01] [-1.40878584e-02 2.80069118e-04 9.99900722e-01 -5.40258609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.47862385300004 meters Centerline goodness [0,1] 0.9995683701657458 Centerline is valid? [True, True] Translation: X:284.63, Y:-62.22, Z:-5.40 [[ 9.76616641e-01 2.14591189e-01 1.30598264e-02 2.84628940e+02] [-2.14567717e-01 9.76703908e-01 -3.18916067e-03 -6.22226339e+01] [-1.34399493e-02 3.12370249e-04 9.99909631e-01 -5.39759219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.508623853 meters Centerline goodness [0,1] 0.9994621342512908 Centerline is valid? [True, True] Translation: X:284.65, Y:-62.24, Z:-5.41 [[ 9.76896061e-01 2.13295176e-01 1.33885783e-02 2.84653325e+02] [-2.13270392e-01 9.76987745e-01 -3.26905021e-03 -6.22388211e+01] [-1.37777495e-02 3.38134946e-04 9.99905025e-01 -5.40562306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.53862385300005 meters Centerline goodness [0,1] 0.9996970221606648 Centerline is valid? [True, True] Translation: X:284.68, Y:-62.24, Z:-5.40 [[ 9.77525740e-01 2.10387357e-01 1.34382702e-02 2.84682434e+02] [-2.10362125e-01 9.77618032e-01 -3.28030546e-03 -6.22431906e+01] [-1.38276301e-02 3.79679932e-04 9.99904322e-01 -5.40447817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.568623853 meters Centerline goodness [0,1] 0.9997194587712294 Centerline is valid? [True, True] Translation: X:284.71, Y:-62.25, Z:-5.40 [[ 9.77796167e-01 2.09129365e-01 1.34001902e-02 2.84707983e+02] [-2.09104165e-01 9.77887904e-01 -3.27044580e-03 -6.22535064e+01] [-1.37878301e-02 3.95793786e-04 9.99904865e-01 -5.40472505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.59862385300005 meters Centerline goodness [0,1] 0.9996356778534996 Centerline is valid? [True, True] Translation: X:284.74, Y:-62.26, Z:-5.41 [[ 9.78015143e-01 2.08110318e-01 1.32843782e-02 2.84735503e+02] [-2.08085470e-01 9.78105276e-01 -3.24132975e-03 -6.22633481e+01] [-1.36680746e-02 4.05783491e-04 9.99906505e-01 -5.40528650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.628623853 meters Centerline goodness [0,1] 0.9996945432330417 Centerline is valid? [True, True] Translation: X:284.76, Y:-62.27, Z:-5.40 [[ 9.78249606e-01 2.06999241e-01 1.33799012e-02 2.84763913e+02] [-2.06973940e-01 9.78341011e-01 -3.26398619e-03 -6.22698479e+01] [-1.37657488e-02 4.23702339e-04 9.99905158e-01 -5.40483898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.658623853 meters Centerline goodness [0,1] 0.9988563683341098 Centerline is valid? [True, True] Translation: X:284.79, Y:-62.29, Z:-5.41 [[ 9.78292877e-01 2.06800309e-01 1.32920780e-02 2.84788797e+02] [-2.06775331e-01 9.78383081e-01 -3.24180209e-03 -6.22884119e+01] [-1.36751499e-02 4.22958070e-04 9.99906401e-01 -5.40740705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.688623853 meters Centerline goodness [0,1] 0.999397369950283 Centerline is valid? [True, True] Translation: X:284.82, Y:-62.29, Z:-5.41 [[ 9.78336145e-01 2.06614565e-01 1.29926574e-02 2.84816747e+02] [-2.06590689e-01 9.78422326e-01 -3.16833026e-03 -6.22936289e+01] [-1.33669292e-02 4.15529966e-04 9.99910572e-01 -5.40749860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.718623853 meters Centerline goodness [0,1] 0.9997395607257574 Centerline is valid? [True, True] Translation: X:284.84, Y:-62.30, Z:-5.41 [[ 9.78236019e-01 2.07066662e-01 1.33300248e-02 2.84844139e+02] [-2.07041581e-01 9.78326746e-01 -3.24992759e-03 -6.23037924e+01] [-1.37140714e-02 4.19326821e-04 9.99905870e-01 -5.40769262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.748623853 meters Centerline goodness [0,1] 0.9994829480578237 Centerline is valid? [True, True] Translation: X:284.87, Y:-62.31, Z:-5.41 [[ 9.78159369e-01 2.07417478e-01 1.34995599e-02 2.84871152e+02] [-2.07391797e-01 9.78252429e-01 -3.29065177e-03 -6.23123559e+01] [-1.38885160e-02 4.19083859e-04 9.99903462e-01 -5.40799749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.778623853 meters Centerline goodness [0,1] 0.9993727424134277 Centerline is valid? [True, True] Translation: X:284.90, Y:-62.32, Z:-5.41 [[ 9.78117719e-01 2.07595443e-01 1.37789726e-02 2.84897442e+02] [-2.07568718e-01 9.78214676e-01 -3.35791729e-03 -6.23220258e+01] [-1.41758816e-02 4.24354722e-04 9.99899427e-01 -5.40848237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.80862385300003 meters Centerline goodness [0,1] 0.9994178650740605 Centerline is valid? [True, True] Translation: X:284.93, Y:-62.33, Z:-5.41 [[ 9.78082261e-01 2.07765096e-01 1.37388174e-02 2.84926013e+02] [-2.07738554e-01 9.78178659e-01 -3.34734179e-03 -6.23286586e+01] [-1.41344788e-02 4.19893562e-04 9.99900015e-01 -5.40833747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.838623853 meters Centerline goodness [0,1] 0.9992041983911902 Centerline is valid? [True, True] Translation: X:284.95, Y:-62.34, Z:-5.41 [[ 9.78049679e-01 2.07930492e-01 1.35549037e-02 2.84952701e+02] [-2.07904689e-01 9.78143518e-01 -3.30124889e-03 -6.23421906e+01] [-1.39450715e-02 4.10657373e-04 9.99902678e-01 -5.40949268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.86862385300003 meters Centerline goodness [0,1] 0.9987519097932044 Centerline is valid? [True, True] Translation: X:284.98, Y:-62.35, Z:-5.40 [[ 9.78132478e-01 2.07600001e-01 1.26133177e-02 2.84981362e+02] [-2.07577638e-01 9.78213724e-01 -3.07144407e-03 -6.23494897e+01] [-1.29761522e-02 3.86036508e-04 9.99915732e-01 -5.40123854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.898623853 meters Centerline goodness [0,1] 0.9996125616134657 Centerline is valid? [True, True] Translation: X:285.01, Y:-62.36, Z:-5.41 [[ 9.78108023e-01 2.07685327e-01 1.30958237e-02 2.85009109e+02] [-2.07661232e-01 9.78195607e-01 -3.18859269e-03 -6.23601977e+01] [-1.34725012e-02 3.99293194e-04 9.99909162e-01 -5.41080775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.92862385300003 meters Centerline goodness [0,1] 0.9994174003107198 Centerline is valid? [True, True] Translation: X:285.04, Y:-62.38, Z:-5.41 [[ 9.77981819e-01 2.08272064e-01 1.32025849e-02 2.85035714e+02] [-2.08247636e-01 9.78070852e-01 -3.21403901e-03 -6.23763963e+01] [-1.35824580e-02 3.93864626e-04 9.99907677e-01 -5.41168608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.958623853 meters Centerline goodness [0,1] 0.9994174003107198 Centerline is valid? [True, True] Translation: X:285.06, Y:-62.38, Z:-5.41 [[ 9.77986486e-01 2.08250155e-01 1.32024829e-02 2.85064071e+02] [-2.08225719e-01 9.78075517e-01 -3.21445803e-03 -6.23832538e+01] [-1.35824367e-02 3.94600011e-04 9.99907677e-01 -5.41223353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.98862385300004 meters Centerline goodness [0,1] 0.9996789452280559 Centerline is valid? [True, True] Translation: X:285.09, Y:-62.39, Z:-5.41 [[ 9.77820957e-01 2.09034340e-01 1.30698038e-02 2.85093402e+02] [-2.09010466e-01 9.77908227e-01 -3.18191770e-03 -6.23882782e+01] [-1.34461987e-02 3.79620030e-04 9.99909524e-01 -5.41189867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.018623853 meters Centerline goodness [0,1] 0.9995466908431551 Centerline is valid? [True, True] Translation: X:285.12, Y:-62.40, Z:-5.41 [[ 9.77362289e-01 2.11150666e-01 1.33548796e-02 2.85121371e+02] [-2.11125948e-01 9.77453461e-01 -3.25046910e-03 -6.23988024e+01] [-1.37401120e-02 3.57324311e-04 9.99905536e-01 -5.40541597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.04862385300004 meters Centerline goodness [0,1] 0.9996615475737192 Centerline is valid? [True, True] Translation: X:285.15, Y:-62.41, Z:-5.41 [[ 9.76968843e-01 2.12906104e-01 1.42432340e-02 2.85148467e+02] [-2.12878164e-01 9.77072599e-01 -3.46741875e-03 -6.24101211e+01] [-1.46549083e-02 3.55486576e-04 9.99892548e-01 -5.41230853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.078623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:285.18, Y:-62.41, Z:-5.41 [[ 9.76580792e-01 2.14706753e-01 1.38190932e-02 2.85179933e+02] [-2.14680639e-01 9.76678508e-01 -3.36367111e-03 -6.24118607e+01] [-1.42190143e-02 3.18204826e-04 9.99898854e-01 -5.41149507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.10862385300004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:285.21, Y:-62.42, Z:-5.41 [[ 9.75578049e-01 2.19219299e-01 1.37974319e-02 2.85208419e+02] [-2.19193713e-01 9.75675579e-01 -3.35869215e-03 -6.24192483e+01] [-1.41981075e-02 2.52356006e-04 9.99899170e-01 -5.41294523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.138623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:285.24, Y:-62.42, Z:-5.41 [[ 9.75012864e-01 2.21731866e-01 1.35975833e-02 2.85237923e+02] [-2.21707262e-01 9.75107653e-01 -3.30992909e-03 -6.24245148e+01] [-1.39930243e-02 2.12540478e-04 9.99902070e-01 -5.41373018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.16862385300004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:285.27, Y:-62.43, Z:-5.42 [[ 9.74453975e-01 2.24196965e-01 1.32352609e-02 2.85266012e+02] [-2.24173886e-01 9.74543837e-01 -3.22146929e-03 -6.24305306e+01] [-1.36205856e-02 1.72173679e-04 9.99907221e-01 -5.41518806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.198623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:285.30, Y:-62.43, Z:-5.42 [[ 9.73339761e-01 2.29012455e-01 1.27673576e-02 2.85295134e+02] [-2.28991398e-01 9.73423487e-01 -3.10711431e-03 -6.24345754e+01] [-1.31396136e-02 1.00662834e-04 9.99913666e-01 -5.41652223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.22862385300004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:285.32, Y:-62.44, Z:-5.42 [[ 9.72878270e-01 2.30955809e-01 1.29338920e-02 2.85323023e+02] [-2.30934376e-01 9.72964238e-01 -3.14721587e-03 -6.24404269e+01] [-1.33110822e-02 7.49776429e-05 9.99911401e-01 -5.41642803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.258623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:285.35, Y:-62.45, Z:-5.42 [[ 9.72460751e-01 2.32692828e-01 1.31960281e-02 2.85351510e+02] [-2.32670688e-01 9.72550279e-01 -3.21030185e-03 -6.24472564e+01] [-1.35808150e-02 5.15636208e-05 9.99907775e-01 -5.41648620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.28862385300005 meters Centerline goodness [0,1] 0.9999786598378148 Centerline is valid? [True, True] Translation: X:285.38, Y:-62.45, Z:-5.41 [[ 9.72160509e-01 2.33935522e-01 1.33460618e-02 2.85378586e+02] [-2.33913001e-01 9.72252113e-01 -3.24616278e-03 -6.24538181e+01] [-1.37351296e-02 3.39738924e-05 9.99905668e-01 -5.41297253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.318623853 meters Centerline goodness [0,1] 0.9999783947283137 Centerline is valid? [True, True] Translation: X:285.40, Y:-62.46, Z:-5.41 [[ 9.71641554e-01 2.36004749e-01 1.46440453e-02 2.85404895e+02] [-2.35977885e-01 9.71751902e-01 -3.56081191e-03 -6.24612926e+01] [-1.50707474e-02 4.16198549e-06 9.99886430e-01 -5.41493111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.34862385300005 meters Centerline goodness [0,1] 0.9999570040416201 Centerline is valid? [True, True] Translation: X:285.43, Y:-62.47, Z:-5.42 [[ 9.71470024e-01 2.36687724e-01 1.49971451e-02 2.85433152e+02] [-2.36659645e-01 9.71585777e-01 -3.64566598e-03 -6.24689515e+01] [-1.54338973e-02 -7.56382652e-06 9.99880890e-01 -5.41524515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.378623853 meters Centerline goodness [0,1] 0.9999354505551252 Centerline is valid? [True, True] Translation: X:285.46, Y:-62.48, Z:-5.42 [[ 9.71344302e-01 2.37204545e-01 1.49750249e-02 2.85460420e+02] [-2.37176623e-01 9.71459728e-01 -3.63954511e-03 -6.24768384e+01] [-1.54109503e-02 -1.64744291e-05 9.99881244e-01 -5.41534728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.408623853 meters Centerline goodness [0,1] 0.9999348944204518 Centerline is valid? [True, True] Translation: X:285.49, Y:-62.49, Z:-5.42 [[ 9.71278497e-01 2.37483599e-01 1.48196281e-02 2.85487915e+02] [-2.37456297e-01 9.71391548e-01 -3.60101917e-03 -6.24850091e+01] [-1.52508445e-02 -2.14215187e-05 9.99883699e-01 -5.41615049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.438623853 meters Centerline goodness [0,1] 0.9999785163383247 Centerline is valid? [True, True] Translation: X:285.51, Y:-62.50, Z:-5.42 [[ 9.71365452e-01 2.37159999e-01 1.42931301e-02 2.85514469e+02] [-2.37134579e-01 9.71470604e-01 -3.47228436e-03 -6.24951816e+01] [-1.47088427e-02 -1.65383148e-05 9.99891819e-01 -5.41500488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.468623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:285.54, Y:-62.50, Z:-5.42 [[ 9.71387682e-01 2.37059713e-01 1.44452062e-02 2.85541512e+02] [-2.37033744e-01 9.71495081e-01 -3.50885464e-03 -6.25043198e+01] [-1.48652548e-02 -1.55431284e-05 9.99889506e-01 -5.41944082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.498623853 meters Centerline goodness [0,1] 0.9999573424336141 Centerline is valid? [True, True] Translation: X:285.57, Y:-62.51, Z:-5.42 [[ 9.71468191e-01 2.36743415e-01 1.42165061e-02 2.85568959e+02] [-2.36718239e-01 9.71572208e-01 -3.45254233e-03 -6.25132635e+01] [-1.46297289e-02 -1.12712520e-05 9.99892980e-01 -5.42082376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.528623853 meters Centerline goodness [0,1] 0.9999352513327434 Centerline is valid? [True, True] Translation: X:285.60, Y:-62.52, Z:-5.42 [[ 9.71570891e-01 2.36321553e-01 1.42171249e-02 2.85595665e+02] [-2.36296336e-01 9.71674906e-01 -3.45220033e-03 -6.25237012e+01] [-1.46302528e-02 -5.39716681e-06 9.99892972e-01 -5.42093697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.55862385300003 meters Centerline goodness [0,1] 0.999978660748581 Centerline is valid? [True, True] Translation: X:285.62, Y:-62.53, Z:-5.42 [[ 9.71608202e-01 2.36171655e-01 1.41580814e-02 2.85622980e+02] [-2.36146642e-01 9.71711351e-01 -3.43717075e-03 -6.25317202e+01] [-1.45693307e-02 -3.80008317e-06 9.99893862e-01 -5.42134047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.588623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:285.65, Y:-62.54, Z:-5.42 [[ 9.71694969e-01 2.35822232e-01 1.40272193e-02 2.85650220e+02] [-2.35797652e-01 9.71796211e-01 -3.40472120e-03 -6.25400488e+01] [-1.44345075e-02 7.65084355e-07 9.99895817e-01 -5.42232786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.61862385300003 meters Centerline goodness [0,1] 0.9999569021247252 Centerline is valid? [True, True] Translation: X:285.68, Y:-62.55, Z:-5.42 [[ 9.71884510e-01 2.35023325e-01 1.43016224e-02 2.85676618e+02] [-2.34997697e-01 9.71989731e-01 -3.47065833e-03 -6.25505058e+01] [-1.47167158e-02 1.22307333e-05 9.99891703e-01 -5.42268690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.648623853 meters Centerline goodness [0,1] 0.9999350227420403 Centerline is valid? [True, True] Translation: X:285.70, Y:-62.56, Z:-5.42 [[ 9.72015546e-01 2.34458529e-01 1.46620900e-02 2.85703728e+02] [-2.34431544e-01 9.72126122e-01 -3.55717390e-03 -6.25593200e+01] [-1.50874105e-02 2.03719386e-05 9.99886178e-01 -5.42299988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.67862385300003 meters Centerline goodness [0,1] 0.999891627110562 Centerline is valid? [True, True] Translation: X:285.73, Y:-62.57, Z:-5.42 [[ 9.72142007e-01 2.33931981e-01 1.46883122e-02 2.85733387e+02] [-2.33904852e-01 9.72252965e-01 -3.56265149e-03 -6.25679865e+01] [-1.51141732e-02 2.77356844e-05 9.99885774e-01 -5.41778250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.708623853 meters Centerline goodness [0,1] 0.99997843898232 Centerline is valid? [True, True] Translation: X:285.76, Y:-62.58, Z:-5.42 [[ 9.72489029e-01 2.32427857e-01 1.55685835e-02 2.85761726e+02] [-2.32397187e-01 9.72613638e-01 -3.77612765e-03 -6.25802645e+01] [-1.60198939e-02 5.41476943e-05 9.99871672e-01 -5.42222496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.73862385300004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:285.79, Y:-62.59, Z:-5.42 [[ 9.72605772e-01 2.31935831e-01 1.56135201e-02 2.85791587e+02] [-2.31904918e-01 9.72731086e-01 -3.78719266e-03 -6.25900145e+01] [-1.60661420e-02 6.25933534e-05 9.99870929e-01 -5.42268958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.768623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:285.82, Y:-62.60, Z:-5.42 [[ 9.72671773e-01 2.31669716e-01 1.54520384e-02 2.85821618e+02] [-2.31639399e-01 9.72794499e-01 -3.74840810e-03 -6.25990985e+01] [-1.59000506e-02 6.66698517e-05 9.99873584e-01 -5.42319820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.79862385300004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:285.85, Y:-62.61, Z:-5.43 [[ 9.72550394e-01 2.32253719e-01 1.42807822e-02 2.85850737e+02] [-2.32227881e-01 9.72655236e-01 -3.46465489e-03 -6.26073126e+01] [-1.46949566e-02 5.31556808e-05 9.99892022e-01 -5.42599681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.828623853 meters Centerline goodness [0,1] 0.9996994998819464 Centerline is valid? [True, True] Translation: X:285.88, Y:-62.61, Z:-5.42 [[ 9.72341772e-01 2.33185757e-01 1.32620138e-02 2.85880338e+02] [-2.33163559e-01 9.72432209e-01 -3.21770303e-03 -6.26134983e+01] [-1.36467319e-02 3.64887454e-05 9.99906878e-01 -5.42011237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.85862385300004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:285.91, Y:-62.62, Z:-5.43 [[ 9.72177050e-01 2.33856758e-01 1.35203531e-02 2.85908814e+02] [-2.33833750e-01 9.72271061e-01 -3.28044125e-03 -6.26210013e+01] [-1.39126014e-02 2.76548253e-05 9.99903215e-01 -5.42985452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.888623853 meters Centerline goodness [0,1] 0.9999568388795373 Centerline is valid? [True, True] Translation: X:285.94, Y:-62.63, Z:-5.43 [[ 9.71649532e-01 2.36037401e-01 1.35473817e-02 2.85938598e+02] [-2.36014515e-01 9.71743971e-01 -3.28688807e-03 -6.26261881e+01] [-1.39404150e-02 -3.67546722e-06 9.99902828e-01 -5.42972589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.91862385300004 meters Centerline goodness [0,1] 0.999913403043883 Centerline is valid? [True, True] Translation: X:285.97, Y:-62.63, Z:-5.43 [[ 9.71316106e-01 2.37391342e-01 1.37975458e-02 2.85968454e+02] [-2.37367746e-01 9.71414098e-01 -3.34712468e-03 -6.26320445e+01] [-1.41977090e-02 -2.39762438e-05 9.99899207e-01 -5.42988347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.948623853 meters Centerline goodness [0,1] 0.999913614374568 Centerline is valid? [True, True] Translation: X:286.00, Y:-62.64, Z:-5.43 [[ 9.70989180e-01 2.38701007e-01 1.42070656e-02 2.85996978e+02] [-2.38676127e-01 9.71093109e-01 -3.44658215e-03 -6.26372046e+01] [-1.46190862e-02 -4.42934365e-05 9.99893134e-01 -5.42946127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.97862385300004 meters Centerline goodness [0,1] 0.9999151265675063 Centerline is valid? [True, True] Translation: X:286.02, Y:-62.64, Z:-5.43 [[ 9.70486024e-01 2.40742951e-01 1.41318643e-02 2.86024917e+02] [-2.40718558e-01 9.70588907e-01 -3.42780708e-03 -6.26414445e+01] [-1.45414511e-02 -7.51631325e-05 9.99894265e-01 -5.43032233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.008623853 meters Centerline goodness [0,1] 0.9997174281615442 Centerline is valid? [True, True] Translation: X:286.05, Y:-62.65, Z:-5.42 [[ 9.70245917e-01 2.41751946e-01 1.33737261e-02 2.86053583e+02] [-2.41730191e-01 9.70338080e-01 -3.24424870e-03 -6.26463738e+01] [-1.37613391e-02 -8.51143056e-05 9.99905305e-01 -5.42352583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.03862385300005 meters Centerline goodness [0,1] 0.9999352708913198 Centerline is valid? [True, True] Translation: X:286.08, Y:-62.65, Z:-5.43 [[ 9.70168534e-01 2.42027851e-01 1.39833687e-02 2.86081166e+02] [-2.42004107e-01 9.70269298e-01 -3.39142335e-03 -6.26528530e+01] [-1.43884522e-02 -9.37804179e-05 9.99896476e-01 -5.43260048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.068623853 meters Centerline goodness [0,1] 0.9999352261686278 Centerline is valid? [True, True] Translation: X:286.11, Y:-62.66, Z:-5.43 [[ 9.69766943e-01 2.43599098e-01 1.45449405e-02 2.86110794e+02] [-2.43573597e-01 9.69876005e-01 -3.52678911e-03 -6.26584130e+01] [-1.49659114e-02 -1.22599985e-04 9.99887997e-01 -5.43092489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.09862385300005 meters Centerline goodness [0,1] 0.99991414098051 Centerline is valid? [True, True] Translation: X:286.14, Y:-62.66, Z:-5.43 [[ 9.69490690e-01 2.44671197e-01 1.49602146e-02 2.86139934e+02] [-2.44644352e-01 9.69606098e-01 -3.62712592e-03 -6.26611597e+01] [-1.53929686e-02 -1.43467207e-04 9.99881511e-01 -5.43190256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.128623853 meters Centerline goodness [0,1] 0.9998502257312194 Centerline is valid? [True, True] Translation: X:286.17, Y:-62.67, Z:-5.43 [[ 9.69236393e-01 2.45663486e-01 1.51744969e-02 2.86168721e+02] [-2.45635997e-01 9.69355160e-01 -3.67851937e-03 -6.26659235e+01] [-1.56131547e-02 -1.62047823e-04 9.99878094e-01 -5.43210994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.158623853 meters Centerline goodness [0,1] 0.9998486322845713 Centerline is valid? [True, True] Translation: X:286.20, Y:-62.67, Z:-5.43 [[ 9.68636377e-01 2.48023413e-01 1.50982378e-02 2.86197636e+02] [-2.47996498e-01 9.68754018e-01 -3.65927248e-03 -6.26703609e+01] [-1.55340638e-02 -1.99805656e-04 9.99879319e-01 -5.43173861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.188623853 meters Centerline goodness [0,1] 0.999761538294782 Centerline is valid? [True, True] Translation: X:286.22, Y:-62.67, Z:-5.43 [[ 9.68369781e-01 2.49058794e-01 1.51553658e-02 2.86224922e+02] [-2.49031809e-01 9.68488343e-01 -3.67266961e-03 -6.26742334e+01] [-1.55925057e-02 -2.17665881e-04 9.99878406e-01 -5.43244541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.218623853 meters Centerline goodness [0,1] 0.9995722199644943 Centerline is valid? [True, True] Translation: X:286.25, Y:-62.68, Z:-5.43 [[ 9.68109214e-01 2.50117716e-01 1.43414973e-02 2.86253252e+02] [-2.50093680e-01 9.68215409e-01 -3.47459804e-03 -6.26754042e+01] [-1.47547172e-02 -2.22927477e-04 9.99891118e-01 -5.42763723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.248623853 meters Centerline goodness [0,1] 0.999805900621118 Centerline is valid? [True, True] Translation: X:286.28, Y:-62.68, Z:-5.43 [[ 9.67931564e-01 2.50777249e-01 1.48073816e-02 2.86281129e+02] [-2.50751718e-01 9.68044789e-01 -3.58648088e-03 -6.26822320e+01] [-1.52336164e-02 -2.41508319e-04 9.99883933e-01 -5.43413307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.278623853 meters Centerline goodness [0,1] 0.9998263700488335 Centerline is valid? [True, True] Translation: X:286.31, Y:-62.69, Z:-5.43 [[ 9.67884420e-01 2.50941378e-01 1.51054627e-02 2.86309007e+02] [-2.50914840e-01 9.68002253e-01 -3.65793177e-03 -6.26873489e+01] [-1.55400484e-02 -2.49729597e-04 9.99879215e-01 -5.43476612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.30862385300003 meters Centerline goodness [0,1] 0.9998489621542312 Centerline is valid? [True, True] Translation: X:286.34, Y:-62.69, Z:-5.44 [[ 9.67911434e-01 2.50848281e-01 1.49196621e-02 2.86336371e+02] [-2.50822396e-01 9.68026384e-01 -3.61200769e-03 -6.26919963e+01] [-1.53486924e-02 -2.46081841e-04 9.99882172e-01 -5.43535854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.338623853 meters Centerline goodness [0,1] 0.9997854261436786 Centerline is valid? [True, True] Translation: X:286.36, Y:-62.70, Z:-5.44 [[ 9.68172358e-01 2.49854154e-01 1.46692693e-02 2.86363571e+02] [-2.49829029e-01 9.68283456e-01 -3.55048730e-03 -6.26971195e+01] [-1.50911147e-02 -2.27325639e-04 9.99886097e-01 -5.43638222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.36862385300003 meters Centerline goodness [0,1] 0.9997411338338079 Centerline is valid? [True, True] Translation: X:286.39, Y:-62.70, Z:-5.44 [[ 9.68420916e-01 2.48876085e-01 1.48870536e-02 2.86391936e+02] [-2.48850109e-01 9.68535310e-01 -3.60216149e-03 -6.27044432e+01] [-1.53151289e-02 -2.16236386e-04 9.99882693e-01 -5.43675022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.398623853 meters Centerline goodness [0,1] 0.9997619047619047 Centerline is valid? [True, True] Translation: X:286.42, Y:-62.71, Z:-5.44 [[ 9.68754280e-01 2.47551821e-01 1.52722052e-02 2.86419373e+02] [-2.47524328e-01 9.68874634e-01 -3.69480773e-03 -6.27118459e+01] [-1.57115086e-02 -2.00881530e-04 9.99876546e-01 -5.43672557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.42862385300003 meters Centerline goodness [0,1] 0.999718480661787 Centerline is valid? [True, True] Translation: X:286.45, Y:-62.72, Z:-5.44 [[ 9.69563262e-01 2.44348118e-01 1.55266901e-02 2.86447769e+02] [-2.44319304e-01 9.69687565e-01 -3.75551454e-03 -6.27206033e+01] [-1.59736913e-02 -1.52261192e-04 9.99872401e-01 -5.43707623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.458623853 meters Centerline goodness [0,1] 0.999785444558874 Centerline is valid? [True, True] Translation: X:286.47, Y:-62.73, Z:-5.44 [[ 9.70041713e-01 2.42444026e-01 1.54909206e-02 2.86474270e+02] [-2.42415106e-01 9.70165388e-01 -3.74657468e-03 -6.27285625e+01] [-1.59370896e-02 -1.20899425e-04 9.99872989e-01 -5.43764078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.48862385300004 meters Centerline goodness [0,1] 0.9995901816142531 Centerline is valid? [True, True] Translation: X:286.50, Y:-62.74, Z:-5.43 [[ 9.71117380e-01 2.38120813e-01 1.51496489e-02 2.86502645e+02] [-2.38092642e-01 9.71235541e-01 -3.66303269e-03 -6.27400165e+01] [-1.55861218e-02 -4.97852304e-05 9.99878528e-01 -5.43052893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.518623853 meters Centerline goodness [0,1] 0.9999358261315993 Centerline is valid? [True, True] Translation: X:286.53, Y:-62.75, Z:-5.44 [[ 9.71637751e-01 2.35943938e-01 1.58284463e-02 2.86530146e+02] [-2.35912907e-01 9.71766668e-01 -3.82653172e-03 -6.27490693e+01] [-1.62844035e-02 -1.61320917e-05 9.99867400e-01 -5.43837881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.54862385300004 meters Centerline goodness [0,1] 0.9999138951673663 Centerline is valid? [True, True] Translation: X:286.56, Y:-62.76, Z:-5.44 [[ 9.72135390e-01 2.33883469e-01 1.58526616e-02 2.86558246e+02] [-2.33852079e-01 9.72264636e-01 -3.83174864e-03 -6.27579593e+01] [-1.63091649e-02 1.78005880e-05 9.99866997e-01 -5.43885989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.578623853 meters Centerline goodness [0,1] 0.999914006234548 Centerline is valid? [True, True] Translation: X:286.59, Y:-62.77, Z:-5.44 [[ 9.72573558e-01 2.32056957e-01 1.58190585e-02 2.86586001e+02] [-2.32025468e-01 9.72702198e-01 -3.82307770e-03 -6.27666085e+01] [-1.62744048e-02 4.77998239e-05 9.99867562e-01 -5.43919976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.60862385300004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:286.61, Y:-62.78, Z:-5.44 [[ 9.73371095e-01 2.28693530e-01 1.57474101e-02 2.86614873e+02] [-2.28661874e-01 9.73498463e-01 -3.80644596e-03 -6.27769943e+01] [-1.62005891e-02 1.04252162e-04 9.99868756e-01 -5.43990384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.638623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:286.64, Y:-62.79, Z:-5.44 [[ 9.73776878e-01 2.26953159e-01 1.58384242e-02 2.86643970e+02] [-2.26920905e-01 9.73905666e-01 -3.82841575e-03 -6.27862902e+01] [-1.62940021e-02 1.33953179e-04 9.99867235e-01 -5.44063337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.66862385300004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:286.68, Y:-62.80, Z:-5.44 [[ 9.74142981e-01 2.25388785e-01 1.56635855e-02 2.86675340e+02] [-2.25357042e-01 9.74268890e-01 -3.78591412e-03 -6.27950879e+01] [-1.61138466e-02 1.58122371e-04 9.99870151e-01 -5.44123316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.698623853 meters Centerline goodness [0,1] 0.9998924846790668 Centerline is valid? [True, True] Translation: X:286.70, Y:-62.81, Z:-5.44 [[ 9.74863490e-01 2.22309901e-01 1.48149847e-02 2.86704916e+02] [-2.22281109e-01 9.74976035e-01 -3.58335779e-03 -6.28061485e+01] [-1.52408709e-02 2.00193461e-04 9.99883831e-01 -5.43583013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.72862385300004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:286.73, Y:-62.82, Z:-5.44 [[ 9.75293486e-01 2.20384068e-01 1.52800383e-02 2.86733859e+02] [-2.20353159e-01 9.75413146e-01 -3.69871359e-03 -6.28175123e+01] [-1.57194877e-02 2.40326570e-04 9.99876412e-01 -5.44320083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.758623853 meters Centerline goodness [0,1] 0.9998703991705546 Centerline is valid? [True, True] Translation: X:286.76, Y:-62.83, Z:-5.44 [[ 9.75665084e-01 2.18734520e-01 1.52595687e-02 2.86764834e+02] [-2.18703472e-01 9.75784371e-01 -3.69497888e-03 -6.28274466e+01] [-1.56982681e-02 2.67741208e-04 9.99876739e-01 -5.44389413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.78862385300005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:286.80, Y:-62.84, Z:-5.44 [[ 9.76024250e-01 2.17136175e-01 1.51176805e-02 2.86795661e+02] [-2.17105470e-01 9.76141279e-01 -3.66322838e-03 -6.28377188e+01] [-1.55524114e-02 2.93268608e-04 9.99879011e-01 -5.44494323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.818623853 meters Centerline goodness [0,1] 0.9999348010344903 Centerline is valid? [True, True] Translation: X:286.83, Y:-62.85, Z:-5.45 [[ 9.76720874e-01 2.13990352e-01 1.49821374e-02 2.86825297e+02] [-2.13959779e-01 9.76835714e-01 -3.63337908e-03 -6.28509372e+01] [-1.54125950e-02 3.43222383e-04 9.99881160e-01 -5.44528571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.84862385300005 meters Centerline goodness [0,1] 0.9992627287709255 Centerline is valid? [True, True] Translation: X:286.86, Y:-62.86, Z:-5.44 [[ 9.77020022e-01 2.12643890e-01 1.46441775e-02 2.86856200e+02] [-2.12614526e-01 9.77129699e-01 -3.55167582e-03 -6.28599101e+01] [-1.50645029e-02 3.56493526e-04 9.99886460e-01 -5.43713526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.878623853 meters Centerline goodness [0,1] 0.9998056743101438 Centerline is valid? [True, True] Translation: X:286.88, Y:-62.87, Z:-5.45 [[ 9.77328604e-01 2.11168073e-01 1.53897608e-02 2.86884621e+02] [-2.11135410e-01 9.77449683e-01 -3.73562846e-03 -6.28724744e+01] [-1.58315622e-02 4.01613102e-04 9.99874592e-01 -5.44632401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.908623853 meters Centerline goodness [0,1] 0.9998056743101438 Centerline is valid? [True, True] Translation: X:286.92, Y:-62.88, Z:-5.45 [[ 9.77289535e-01 2.11348827e-01 1.53895239e-02 2.86916156e+02] [-2.11316171e-01 9.77410617e-01 -3.73660412e-03 -6.28803310e+01] [-1.58316109e-02 3.99688841e-04 9.99874592e-01 -5.44693402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.938623853 meters Centerline goodness [0,1] 0.9988113248325049 Centerline is valid? [True, True] Translation: X:286.95, Y:-62.89, Z:-5.44 [[ 9.77802611e-01 2.08988311e-01 1.50312691e-02 2.86946801e+02] [-2.08956827e-01 9.77918044e-01 -3.65294674e-03 -6.28909756e+01] [-1.54627725e-02 4.30974557e-04 9.99880351e-01 -5.43873387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.968623853 meters Centerline goodness [0,1] 0.9996740051724513 Centerline is valid? [True, True] Translation: X:286.98, Y:-62.90, Z:-5.45 [[ 9.77973143e-01 2.08153367e-01 1.55147240e-02 2.86977706e+02] [-2.08119713e-01 9.78096092e-01 -3.77091737e-03 -6.28972119e+01] [-1.59598201e-02 4.58936014e-04 9.99872529e-01 -5.44669148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.998623853 meters Centerline goodness [0,1] 0.9995858039762818 Centerline is valid? [True, True] Translation: X:287.01, Y:-62.91, Z:-5.45 [[ 9.78054403e-01 2.07766280e-01 1.55806820e-02 2.87008741e+02] [-2.07732248e-01 9.78178385e-01 -3.78959181e-03 -6.29071344e+01] [-1.60280357e-02 4.69816868e-04 9.99871432e-01 -5.44727413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.028623853 meters Centerline goodness [0,1] 0.9997163553848839 Centerline is valid? [True, True] Translation: X:287.04, Y:-62.92, Z:-5.45 [[ 9.78084411e-01 2.07645022e-01 1.53111187e-02 2.87039493e+02] [-2.07612099e-01 9.78204134e-01 -3.72676489e-03 -6.29167265e+01] [-1.57512437e-02 4.66317155e-04 9.99875833e-01 -5.44785298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.05862385300003 meters Centerline goodness [0,1] 0.999142091152815 Centerline is valid? [True, True] Translation: X:287.07, Y:-62.93, Z:-5.45 [[ 9.78039577e-01 2.07868419e-01 1.51428369e-02 2.87067642e+02] [-2.07836201e-01 9.78156689e-01 -3.68849950e-03 -6.29341797e+01] [-1.55787897e-02 4.60268809e-04 9.99878537e-01 -5.44935176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.088623853 meters Centerline goodness [0,1] 0.9994657663048124 Centerline is valid? [True, True] Translation: X:287.10, Y:-62.94, Z:-5.45 [[ 9.77911054e-01 2.08474429e-01 1.51123469e-02 2.87099259e+02] [-2.08442365e-01 9.78027713e-01 -3.68410520e-03 -6.29410455e+01] [-1.55483358e-02 4.52673862e-04 9.99879015e-01 -5.44989092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.11862385300003 meters Centerline goodness [0,1] 0.9995674459848174 Centerline is valid? [True, True] Translation: X:287.13, Y:-62.95, Z:-5.45 [[ 9.77751265e-01 2.09220034e-01 1.51473347e-02 2.87130945e+02] [-2.09187871e-01 9.77868488e-01 -3.69521216e-03 -6.29452947e+01] [-1.55852137e-02 4.44359668e-04 9.99878444e-01 -5.44949042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.148623853 meters Centerline goodness [0,1] 0.9993127295375959 Centerline is valid? [True, True] Translation: X:287.16, Y:-62.96, Z:-5.45 [[ 9.77530725e-01 2.10231999e-01 1.53684476e-02 2.87160273e+02] [-2.10198967e-01 9.77651428e-01 -3.75218492e-03 -6.29581638e+01] [-1.58138141e-02 4.37444224e-04 9.99874858e-01 -5.44997558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.17862385300003 meters Centerline goodness [0,1] 0.9997846359270347 Centerline is valid? [True, True] Translation: X:287.19, Y:-62.96, Z:-5.45 [[ 9.77044245e-01 2.12495808e-01 1.51682232e-02 2.87192530e+02] [-2.12463883e-01 9.77161898e-01 -3.70460220e-03 -6.29614902e+01] [-1.56090222e-02 3.96860654e-04 9.99878093e-01 -5.44992280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.208623853 meters Centerline goodness [0,1] 0.9998496272904986 Centerline is valid? [True, True] Translation: X:287.22, Y:-62.97, Z:-5.45 [[ 9.76812042e-01 2.13566287e-01 1.50888980e-02 2.87222716e+02] [-2.13534781e-01 9.76928501e-01 -3.68794552e-03 -6.29691584e+01] [-1.55283953e-02 3.80425069e-04 9.99879355e-01 -5.45092156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.23862385300004 meters Centerline goodness [0,1] 0.9998704719139934 Centerline is valid? [True, True] Translation: X:287.25, Y:-62.98, Z:-5.45 [[ 9.76560136e-01 2.14707088e-01 1.52041898e-02 2.87253681e+02] [-2.14675198e-01 9.76678417e-01 -3.71861107e-03 -6.29762257e+01] [-1.56480162e-02 3.67484863e-04 9.99877495e-01 -5.45143476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.268623853 meters Centerline goodness [0,1] 0.9995450606585788 Centerline is valid? [True, True] Translation: X:287.28, Y:-62.99, Z:-5.44 [[ 9.76092557e-01 2.16823823e-01 1.51904447e-02 2.87283857e+02] [-2.16792204e-01 9.76210693e-01 -3.71799149e-03 -6.29859788e+01] [-1.56352237e-02 3.35933822e-04 9.99877706e-01 -5.44417416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.29862385300004 meters Centerline goodness [0,1] 0.9999139562897952 Centerline is valid? [True, True] Translation: X:287.32, Y:-62.99, Z:-5.45 [[ 9.75897764e-01 2.17679353e-01 1.54678219e-02 2.87315309e+02] [-2.17646635e-01 9.76020282e-01 -3.78844817e-03 -6.29934794e+01] [-1.59215748e-02 3.30618718e-04 9.99873189e-01 -5.45190783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.328623853 meters Centerline goodness [0,1] 0.9998265093684942 Centerline is valid? [True, True] Translation: X:287.35, Y:-63.00, Z:-5.45 [[ 9.75686315e-01 2.18639367e-01 1.52656990e-02 2.87345242e+02] [-2.18607573e-01 9.75805682e-01 -3.74165226e-03 -6.30027529e+01] [-1.57144283e-02 3.13481507e-04 9.99876472e-01 -5.45345161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.35862385300004 meters Centerline goodness [0,1] 0.9999784385174325 Centerline is valid? [True, True] Translation: X:287.38, Y:-63.01, Z:-5.46 [[ 9.75291277e-01 2.20436256e-01 1.46554729e-02 2.87375147e+02] [-2.20407122e-01 9.75401344e-01 -3.59438177e-03 -6.30115218e+01] [-1.50873000e-02 2.75398580e-04 9.99886142e-01 -5.45522091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.388623853 meters Centerline goodness [0,1] 0.9998927314854544 Centerline is valid? [True, True] Translation: X:287.41, Y:-63.02, Z:-5.46 [[ 9.75021726e-01 2.21635820e-01 1.44981478e-02 2.87406188e+02] [-2.21607407e-01 9.75129477e-01 -3.55803120e-03 -6.30184513e+01] [-1.49261584e-02 2.56260776e-04 9.99888566e-01 -5.45600987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.41862385300004 meters Centerline goodness [0,1] 0.9999352597164376 Centerline is valid? [True, True] Translation: X:287.44, Y:-63.03, Z:-5.46 [[ 9.74767131e-01 2.22747144e-01 1.45859413e-02 2.87437336e+02] [-2.22718472e-01 9.74876223e-01 -3.58214170e-03 -6.30259510e+01] [-1.50173992e-02 2.43195425e-04 9.99887203e-01 -5.45633116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.448623853 meters Centerline goodness [0,1] 0.9999571017974347 Centerline is valid? [True, True] Translation: X:287.47, Y:-63.03, Z:-5.46 [[ 9.74264743e-01 2.24928361e-01 1.46779631e-02 2.87468272e+02] [-2.24899534e-01 9.74375280e-01 -3.60734168e-03 -6.30335863e+01] [-1.51132378e-02 2.13438767e-04 9.99885766e-01 -5.45662611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.47862385300004 meters Centerline goodness [0,1] 0.999892355056083 Centerline is valid? [True, True] Translation: X:287.50, Y:-63.04, Z:-5.46 [[ 9.74045968e-01 2.25854118e-01 1.49789795e-02 2.87499047e+02] [-2.25824164e-01 9.74161114e-01 -3.68401922e-03 -6.30413561e+01] [-1.54239902e-02 2.05788549e-04 9.99881022e-01 -5.45668013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.508623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:287.53, Y:-63.05, Z:-5.46 [[ 9.73853962e-01 2.26674954e-01 1.50640706e-02 2.87528617e+02] [-2.26644715e-01 9.73970444e-01 -3.70765800e-03 -6.30510355e+01] [-1.55123928e-02 1.96525439e-04 9.99879656e-01 -5.45754430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.53862385300005 meters Centerline goodness [0,1] 0.999956861222553 Centerline is valid? [True, True] Translation: X:287.56, Y:-63.06, Z:-5.46 [[ 9.73541981e-01 2.27986473e-01 1.54330730e-02 2.87559957e+02] [-2.27954859e-01 9.73664282e-01 -3.80101948e-03 -6.30583049e+01] [-1.58932130e-02 1.82408060e-04 9.99873678e-01 -5.45666771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.568623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:287.59, Y:-63.07, Z:-5.46 [[ 9.73356955e-01 2.28768192e-01 1.55355463e-02 2.87589997e+02] [-2.28736207e-01 9.73480911e-01 -3.82925804e-03 -6.30674108e+01] [-1.59995702e-02 1.73693023e-04 9.99871984e-01 -5.45678321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.59862385300005 meters Centerline goodness [0,1] 0.9999573360638252 Centerline is valid? [True, True] Translation: X:287.62, Y:-63.08, Z:-5.46 [[ 9.73214701e-01 2.29367164e-01 1.56157169e-02 2.87622312e+02] [-2.29334904e-01 9.73339959e-01 -3.85033207e-03 -6.30756393e+01] [-1.60825410e-02 1.65970843e-04 9.99870654e-01 -5.45724156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.628623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:287.65, Y:-63.08, Z:-5.46 [[ 9.72875464e-01 2.30834542e-01 1.51243589e-02 2.87653556e+02] [-2.30804412e-01 9.72993008e-01 -3.73218699e-03 -6.30841631e+01] [-1.55774131e-02 1.40184396e-04 9.99878655e-01 -5.45867322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.658623853 meters Centerline goodness [0,1] 0.9999577818588647 Centerline is valid? [True, True] Translation: X:287.68, Y:-63.09, Z:-5.46 [[ 9.72688223e-01 2.31644295e-01 1.47831428e-02 2.87684457e+02] [-2.31615564e-01 9.72800547e-01 -3.65047643e-03 -6.30932611e+01] [-1.52266615e-02 1.26769469e-04 9.99884060e-01 -5.46037233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.688623853 meters Centerline goodness [0,1] 0.9999784677662461 Centerline is valid? [True, True] Translation: X:287.72, Y:-63.10, Z:-5.46 [[ 9.72519869e-01 2.32351945e-01 1.47539297e-02 2.87716574e+02] [-2.32323367e-01 9.72631770e-01 -3.64600125e-03 -6.31004806e+01] [-1.51972963e-02 1.18126027e-04 9.99884507e-01 -5.46005326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.718623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:287.75, Y:-63.11, Z:-5.46 [[ 9.72343155e-01 2.33087555e-01 1.47980111e-02 2.87748681e+02] [-2.33058846e-01 9.72455747e-01 -3.65989768e-03 -6.31083712e+01] [-1.52434875e-02 1.09869079e-04 9.99883805e-01 -5.46037440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.748623853 meters Centerline goodness [0,1] 0.9999783760406531 Centerline is valid? [True, True] Translation: X:287.78, Y:-63.12, Z:-5.46 [[ 9.72068996e-01 2.34199402e-01 1.52481567e-02 2.87780218e+02] [-2.34169005e-01 9.72188578e-01 -3.77447501e-03 -6.31159552e+01] [-1.57080636e-02 9.84044392e-05 9.99876616e-01 -5.46027275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.778623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:287.81, Y:-63.12, Z:-5.46 [[ 9.71919918e-01 2.34825498e-01 1.51214678e-02 2.87811253e+02] [-2.34795639e-01 9.72037539e-01 -3.74571546e-03 -6.31246829e+01] [-1.55782238e-02 9.00807731e-05 9.99878648e-01 -5.46133779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.80862385300003 meters Centerline goodness [0,1] 0.9999784231648902 Centerline is valid? [True, True] Translation: X:287.84, Y:-63.13, Z:-5.46 [[ 9.71770182e-01 2.35456347e-01 1.49338949e-02 2.87843326e+02] [-2.35427258e-01 9.71884922e-01 -3.70195800e-03 -6.31325334e+01] [-1.53856768e-02 8.16064691e-05 9.99881630e-01 -5.46185788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.838623853 meters Centerline goodness [0,1] 0.9999352946251402 Centerline is valid? [True, True] Translation: X:287.87, Y:-63.14, Z:-5.46 [[ 9.71365158e-01 2.37117815e-01 1.49957108e-02 2.87873632e+02] [-2.37088633e-01 9.71480900e-01 -3.72047736e-03 -6.31394917e+01] [-1.54502380e-02 5.86295239e-05 9.99880636e-01 -5.46289720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.86862385300003 meters Centerline goodness [0,1] 0.9998915683553088 Centerline is valid? [True, True] Translation: X:287.91, Y:-63.15, Z:-5.46 [[ 9.71103262e-01 2.38182948e-01 1.50777214e-02 2.87905663e+02] [-2.38153538e-01 9.71220305e-01 -3.74317796e-03 -6.31467687e+01] [-1.55353504e-02 4.41996252e-05 9.99879318e-01 -5.46358198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.898623853 meters Centerline goodness [0,1] 0.9997629923295699 Centerline is valid? [True, True] Translation: X:287.94, Y:-63.15, Z:-5.46 [[ 9.70861359e-01 2.39219700e-01 1.42182091e-02 2.87937009e+02] [-2.39193618e-01 9.70965465e-01 -3.53253806e-03 -6.31540396e+01] [-1.46504427e-02 2.86998320e-05 9.99892676e-01 -5.45802567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.92862385300003 meters Centerline goodness [0,1] 0.9998485307482581 Centerline is valid? [True, True] Translation: X:287.97, Y:-63.16, Z:-5.46 [[ 9.70575842e-01 2.40381437e-01 1.41173722e-02 2.87967800e+02] [-2.40355808e-01 9.70678507e-01 -3.51016607e-03 -6.31608941e+01] [-1.45472085e-02 1.36899899e-05 9.99894184e-01 -5.46139155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.958623853 meters Centerline goodness [0,1] 0.9999142661179699 Centerline is valid? [True, True] Translation: X:288.00, Y:-63.17, Z:-5.47 [[ 9.70150567e-01 2.42106466e-01 1.38685174e-02 2.88000422e+02] [-2.42081873e-01 9.70249689e-01 -3.45076575e-03 -6.31668608e+01] [-1.42913774e-02 -9.55430753e-06 9.99897873e-01 -5.46702128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.98862385300004 meters Centerline goodness [0,1] 0.9998710038053877 Centerline is valid? [True, True] Translation: X:288.03, Y:-63.17, Z:-5.47 [[ 9.69931495e-01 2.42984233e-01 1.38404351e-02 2.88032461e+02] [-2.42959789e-01 9.70030238e-01 -3.44655164e-03 -6.31740921e+01] [-1.42630983e-02 -1.97502171e-05 9.99898277e-01 -5.46780072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.018623853 meters Centerline goodness [0,1] 0.9997600034908584 Centerline is valid? [True, True] Translation: X:288.06, Y:-63.18, Z:-5.47 [[ 9.69745170e-01 2.43719366e-01 1.39705685e-02 2.88064811e+02] [-2.43694495e-01 9.69845797e-01 -3.48184165e-03 -6.31814417e+01] [-1.43978893e-02 -2.80515101e-05 9.99896345e-01 -5.46796065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.04862385300004 meters Centerline goodness [0,1] 0.9998501199040767 Centerline is valid? [True, True] Translation: X:288.10, Y:-63.19, Z:-5.47 [[ 9.69623832e-01 2.44208474e-01 1.38508628e-02 2.88095825e+02] [-2.44184036e-01 9.69722754e-01 -3.45489565e-03 -6.31880067e+01] [-1.42752116e-02 -3.22104147e-05 9.99898103e-01 -5.46956076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.078623853 meters Centerline goodness [0,1] 0.999934809535192 Centerline is valid? [True, True] Translation: X:288.13, Y:-63.20, Z:-5.47 [[ 9.69558660e-01 2.44455498e-01 1.40539814e-02 2.88127438e+02] [-2.44430325e-01 9.69660512e-01 -3.50830435e-03 -6.31956239e+01] [-1.44852151e-02 -3.37123701e-05 9.99895083e-01 -5.46945971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.10862385300004 meters Centerline goodness [0,1] 0.9998040581729514 Centerline is valid? [True, True] Translation: X:288.16, Y:-63.20, Z:-5.47 [[ 9.69609099e-01 2.44256850e-01 1.40280563e-02 2.88158843e+02] [-2.44231709e-01 9.69710570e-01 -3.50456250e-03 -6.32044372e+01] [-1.44591679e-02 -2.80404863e-05 9.99895460e-01 -5.46861753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.138623853 meters Centerline goodness [0,1] 0.9997827975673328 Centerline is valid? [True, True] Translation: X:288.19, Y:-63.21, Z:-5.47 [[ 9.69755368e-01 2.43649833e-01 1.44666674e-02 2.88191039e+02] [-2.43622980e-01 9.69863268e-01 -3.61729724e-03 -6.32131855e+01] [-1.49120432e-02 -1.65191999e-05 9.99888809e-01 -5.46869281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.16862385300004 meters Centerline goodness [0,1] 0.9997182182724612 Centerline is valid? [True, True] Translation: X:288.22, Y:-63.22, Z:-5.46 [[ 9.69772253e-01 2.43629774e-01 1.36495864e-02 2.88223153e+02] [-2.43605830e-01 9.69868307e-01 -3.41563212e-03 -6.32214618e+01] [-1.40704509e-02 -1.27335714e-05 9.99901006e-01 -5.46197798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.198623853 meters Centerline goodness [0,1] 0.9998916693749323 Centerline is valid? [True, True] Translation: X:288.25, Y:-63.23, Z:-5.47 [[ 9.69918985e-01 2.43008659e-01 1.42812819e-02 2.88254388e+02] [-2.42982329e-01 9.70024119e-01 -3.57718407e-03 -6.32296002e+01] [-1.47224746e-02 -5.20386839e-07 9.99891618e-01 -5.47002761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.22862385300004 meters Centerline goodness [0,1] 0.9999136833473597 Centerline is valid? [True, True] Translation: X:288.29, Y:-63.24, Z:-5.47 [[ 9.69959788e-01 2.42831715e-01 1.45178195e-02 2.88286195e+02] [-2.42804461e-01 9.70068430e-01 -3.63808053e-03 -6.32379331e+01] [-1.49667197e-02 3.80048915e-06 9.99887992e-01 -5.47052961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.258623853 meters Centerline goodness [0,1] 0.9999348619072433 Centerline is valid? [True, True] Translation: X:288.32, Y:-63.25, Z:-5.47 [[ 9.70088173e-01 2.42323623e-01 1.44290952e-02 2.88318430e+02] [-2.42296601e-01 9.70195476e-01 -3.61877747e-03 -6.32464095e+01] [-1.48759581e-02 1.44125111e-05 9.99889347e-01 -5.47107848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.28862385300005 meters Centerline goodness [0,1] 0.9998915213052156 Centerline is valid? [True, True] Translation: X:288.35, Y:-63.25, Z:-5.47 [[ 9.70230534e-01 2.41771532e-01 1.41151689e-02 2.88349643e+02] [-2.41745573e-01 9.70333203e-01 -3.54295463e-03 -6.32541331e+01] [-1.45530027e-02 2.52031651e-05 9.99894099e-01 -5.47262459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.318623853 meters Centerline goodness [0,1] 0.9999356140275572 Centerline is valid? [True, True] Translation: X:288.38, Y:-63.26, Z:-5.47 [[ 9.70231123e-01 2.41777751e-01 1.39673243e-02 2.88381413e+02] [-2.41752296e-01 9.70331654e-01 -3.50846909e-03 -6.32621423e+01] [-1.44012066e-02 2.73931947e-05 9.99896297e-01 -5.47329064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.34862385300005 meters Centerline goodness [0,1] 0.9999785862652305 Centerline is valid? [True, True] Translation: X:288.41, Y:-63.27, Z:-5.47 [[ 9.70315028e-01 2.41429519e-01 1.41610215e-02 2.88412611e+02] [-2.41403272e-01 9.70418356e-01 -3.56007068e-03 -6.32707025e+01] [-1.46016214e-02 3.58731547e-05 9.99893390e-01 -5.47373698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.378623853 meters Centerline goodness [0,1] 0.9998911765986158 Centerline is valid? [True, True] Translation: X:288.44, Y:-63.28, Z:-5.47 [[ 9.70572125e-01 2.40386701e-01 1.42822757e-02 2.88444251e+02] [-2.40359848e-01 9.70677202e-01 -3.59345112e-03 -6.32791806e+01] [-1.47272973e-02 5.48178820e-05 9.99891546e-01 -5.46978435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.408623853 meters Centerline goodness [0,1] 0.9999141207033514 Centerline is valid? [True, True] Translation: X:288.47, Y:-63.29, Z:-5.47 [[ 9.70730029e-01 2.39738878e-01 1.44388933e-02 2.88474940e+02] [-2.39711314e-01 9.70837404e-01 -3.63596475e-03 -6.32885574e+01] [-1.48894998e-02 6.83740712e-05 9.99889143e-01 -5.47402734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.438623853 meters Centerline goodness [0,1] 0.9999355587060188 Centerline is valid? [True, True] Translation: X:288.51, Y:-63.30, Z:-5.47 [[ 9.70867670e-01 2.39189169e-01 1.43006898e-02 2.88506506e+02] [-2.39162030e-01 9.70972984e-01 -3.60387613e-03 -6.32976127e+01] [-1.47475916e-02 7.87048050e-05 9.99891245e-01 -5.47468664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.468623853 meters Centerline goodness [0,1] 0.9999567520813061 Centerline is valid? [True, True] Translation: X:288.54, Y:-63.31, Z:-5.48 [[ 9.71271077e-01 2.37573955e-01 1.38242903e-02 2.88536866e+02] [-2.37548391e-01 9.71369448e-01 -3.48660234e-03 -6.33071604e+01] [-1.42568191e-02 1.02498101e-04 9.99898361e-01 -5.47574105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.498623853 meters Centerline goodness [0,1] 0.999957070490255 Centerline is valid? [True, True] Translation: X:288.57, Y:-63.32, Z:-5.48 [[ 9.71430692e-01 2.36919730e-01 1.38366422e-02 2.88568055e+02] [-2.36894020e-01 9.71529222e-01 -3.49210447e-03 -6.33163252e+01] [-1.42700507e-02 1.14519655e-04 9.99898171e-01 -5.47654967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.528623853 meters Centerline goodness [0,1] 0.9999785426143679 Centerline is valid? [True, True] Translation: X:288.60, Y:-63.33, Z:-5.48 [[ 9.71590562e-01 2.36269620e-01 1.37275978e-02 2.88597713e+02] [-2.36244207e-01 9.71687527e-01 -3.46756212e-03 -6.33261611e+01] [-1.41582152e-02 1.25985169e-04 9.99899760e-01 -5.47796459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.55862385300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:288.63, Y:-63.34, Z:-5.48 [[ 9.71741054e-01 2.35657383e-01 1.35985791e-02 2.88628662e+02] [-2.35632372e-01 9.71836190e-01 -3.43592898e-03 -6.33354853e+01] [-1.40252933e-02 1.34567808e-04 9.99901632e-01 -5.47871202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.588623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:288.66, Y:-63.34, Z:-5.48 [[ 9.71907157e-01 2.34975948e-01 1.35197267e-02 2.88660355e+02] [-2.34951129e-01 9.72001174e-01 -3.41821934e-03 -6.33429238e+01] [-1.39443896e-02 1.45716783e-04 9.99902762e-01 -5.47846383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.61862385300003 meters Centerline goodness [0,1] 0.9998252817332052 Centerline is valid? [True, True] Translation: X:288.69, Y:-63.35, Z:-5.47 [[ 9.72159861e-01 2.33944648e-01 1.32327612e-02 2.88689610e+02] [-2.33920742e-01 9.72249904e-01 -3.34820759e-03 -6.33528760e+01] [-1.36488460e-02 1.59575715e-04 9.99906837e-01 -5.47034233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.648623853 meters Centerline goodness [0,1] 0.999978489997849 Centerline is valid? [True, True] Translation: X:288.72, Y:-63.36, Z:-5.48 [[ 9.72296082e-01 2.33338565e-01 1.39083707e-02 2.88719064e+02] [-2.33312060e-01 9.72395538e-01 -3.52147990e-03 -6.33621903e+01] [-1.43461347e-02 1.78930483e-04 9.99897073e-01 -5.47942819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.67862385300003 meters Centerline goodness [0,1] 0.9999571431632631 Centerline is valid? [True, True] Translation: X:288.75, Y:-63.37, Z:-5.48 [[ 9.72514911e-01 2.32413562e-01 1.40955177e-02 2.88748456e+02] [-2.32386224e-01 9.72617035e-01 -3.57001743e-03 -6.33715000e+01] [-1.45392611e-02 1.96291045e-04 9.99894280e-01 -5.47978827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.708623853 meters Centerline goodness [0,1] 0.9998718113062428 Centerline is valid? [True, True] Translation: X:288.78, Y:-63.38, Z:-5.48 [[ 9.72581428e-01 2.32141383e-01 1.39908523e-02 2.88778172e+02] [-2.32114386e-01 9.72682033e-01 -3.54600555e-03 -6.33804979e+01] [-1.44318253e-02 2.01301050e-04 9.99895836e-01 -5.48059994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.73862385300004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:288.81, Y:-63.39, Z:-5.48 [[ 9.72666542e-01 2.31796673e-01 1.37876777e-02 2.88809072e+02] [-2.31770406e-01 9.72764237e-01 -3.49544930e-03 -6.33886128e+01] [-1.42223933e-02 2.04330924e-04 9.99898836e-01 -5.48176830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.768623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:288.84, Y:-63.40, Z:-5.48 [[ 9.72623352e-01 2.31977867e-01 1.37871342e-02 2.88840513e+02] [-2.31951588e-01 9.72721043e-01 -3.49759150e-03 -6.33967931e+01] [-1.42223994e-02 2.03891495e-04 9.99898836e-01 -5.48237836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.79862385300004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:288.87, Y:-63.40, Z:-5.48 [[ 9.72703970e-01 2.31685268e-01 1.29970274e-02 2.88871796e+02] [-2.31661856e-01 9.72790778e-01 -3.29962389e-03 -6.34047265e+01] [-1.34078627e-02 1.98641762e-04 9.99910091e-01 -5.48369247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.828623853 meters Centerline goodness [0,1] 0.9999785315586088 Centerline is valid? [True, True] Translation: X:288.90, Y:-63.41, Z:-5.49 [[ 9.72748001e-01 2.31553053e-01 1.20212167e-02 2.88901251e+02] [-2.31532985e-01 9.72822259e-01 -3.05429604e-03 -6.34146383e+01] [-1.24017388e-02 1.87752169e-04 9.99923078e-01 -5.48670066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.85862385300004 meters Centerline goodness [0,1] 0.9999785306367813 Centerline is valid? [True, True] Translation: X:288.93, Y:-63.42, Z:-5.49 [[ 9.72655865e-01 2.31944052e-01 1.19383760e-02 2.88932866e+02] [-2.31924282e-01 9.72729111e-01 -3.03374896e-03 -6.34224398e+01] [-1.23164659e-02 1.81994430e-04 9.99924133e-01 -5.48680960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.888623853 meters Centerline goodness [0,1] 0.9999783849213211 Centerline is valid? [True, True] Translation: X:288.96, Y:-63.43, Z:-5.49 [[ 9.72502026e-01 2.32596215e-01 1.17818083e-02 2.88964592e+02] [-2.32576978e-01 9.72573375e-01 -2.99646288e-03 -6.34297260e+01] [-1.21556390e-02 1.73888839e-04 9.99926102e-01 -5.48753053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.91862385300004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:289.00, Y:-63.44, Z:-5.49 [[ 9.72319820e-01 2.33369451e-01 1.15268087e-02 2.88995260e+02] [-2.33351067e-01 9.72388129e-01 -2.93369009e-03 -6.34372468e+01] [-1.18931656e-02 1.62691917e-04 9.99929261e-01 -5.48804783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.948623853 meters Centerline goodness [0,1] 0.9997217644414956 Centerline is valid? [True, True] Translation: X:289.03, Y:-63.44, Z:-5.48 [[ 9.71799415e-01 2.35537368e-01 1.13156678e-02 2.89025513e+02] [-2.35519777e-01 9.71865284e-01 -2.88179166e-03 -6.34439863e+01] [-1.16760743e-02 1.35459897e-04 9.99931823e-01 -5.48008137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.97862385300004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:289.06, Y:-63.45, Z:-5.49 [[ 9.71590940e-01 2.36366661e-01 1.19099366e-02 2.89057421e+02] [-2.36347211e-01 9.71663925e-01 -3.03510296e-03 -6.34482055e+01] [-1.22898529e-02 1.33998246e-04 9.99924468e-01 -5.48716137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.008623853 meters Centerline goodness [0,1] 0.9999566245201588 Centerline is valid? [True, True] Translation: X:289.09, Y:-63.46, Z:-5.49 [[ 9.71346310e-01 2.37352958e-01 1.22441343e-02 2.89089138e+02] [-2.37332451e-01 9.71423470e-01 -3.12260972e-03 -6.34551184e+01] [-1.26354000e-02 1.27205040e-04 9.99920162e-01 -5.48727464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.03862385300005 meters Centerline goodness [0,1] 0.9999784830554062 Centerline is valid? [True, True] Translation: X:289.12, Y:-63.46, Z:-5.49 [[ 9.70995262e-01 2.38751514e-01 1.28808173e-02 2.89118940e+02] [-2.38728906e-01 9.71080687e-01 -3.28765677e-03 -6.34626776e+01] [-1.32932460e-02 1.17275711e-04 9.99911634e-01 -5.48747578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.068623853 meters Centerline goodness [0,1] 0.9999787744359306 Centerline is valid? [True, True] Translation: X:289.15, Y:-63.47, Z:-5.49 [[ 9.70788749e-01 2.39576409e-01 1.31282049e-02 2.89148837e+02] [-2.39552963e-01 9.70877506e-01 -3.35350066e-03 -6.34696725e+01] [-1.35492985e-02 1.10640319e-04 9.99908198e-01 -5.48727671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.09862385300005 meters Centerline goodness [0,1] 0.999869822741967 Centerline is valid? [True, True] Translation: X:289.18, Y:-63.48, Z:-5.48 [[ 9.70569503e-01 2.40464241e-01 1.31067916e-02 2.89180950e+02] [-2.40440942e-01 9.70657993e-01 -3.34875732e-03 -6.34760371e+01] [-1.35274684e-02 9.87924113e-05 9.99908495e-01 -5.47867962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.128623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:289.21, Y:-63.48, Z:-5.49 [[ 9.70399142e-01 2.41114311e-01 1.37620287e-02 2.89211865e+02] [-2.41088645e-01 9.70496718e-01 -3.51937201e-03 -6.34829483e+01] [-1.42045746e-02 9.73267378e-05 9.99899105e-01 -5.48657910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.158623853 meters Centerline goodness [0,1] 0.9999783183730108 Centerline is valid? [True, True] Translation: X:289.24, Y:-63.49, Z:-5.49 [[ 9.70068683e-01 2.42464113e-01 1.33380805e-02 2.89242128e+02] [-2.42440098e-01 9.70160372e-01 -3.41336626e-03 -6.34889621e+01] [-1.37676960e-02 7.75141608e-05 9.99905218e-01 -5.48830680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.188623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:289.27, Y:-63.50, Z:-5.49 [[ 9.69926746e-01 2.43043976e-01 1.31047249e-02 2.89273055e+02] [-2.43020819e-01 9.70015268e-01 -3.35569627e-03 -6.34971290e+01] [-1.35273650e-02 7.00585832e-05 9.99908499e-01 -5.48971238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.218623853 meters Centerline goodness [0,1] 0.9998703599671579 Centerline is valid? [True, True] Translation: X:289.31, Y:-63.51, Z:-5.48 [[ 9.69791558e-01 2.43633916e-01 1.21181233e-02 2.89305500e+02] [-2.43614136e-01 9.69867265e-01 -3.10504299e-03 -6.35051401e+01] [-1.25094649e-02 5.90983361e-05 9.99921752e-01 -5.48476776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.248623853 meters Centerline goodness [0,1] 0.9996985227615315 Centerline is valid? [True, True] Translation: X:289.34, Y:-63.51, Z:-5.48 [[ 9.69580855e-01 2.44503271e-01 1.14505660e-02 2.89337426e+02] [-2.44485646e-01 9.69648466e-01 -2.93610296e-03 -6.35123771e+01] [-1.18209105e-02 4.72901951e-05 9.99930129e-01 -5.48449245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.278623853 meters Centerline goodness [0,1] 0.9999784287501617 Centerline is valid? [True, True] Translation: X:289.37, Y:-63.52, Z:-5.49 [[ 9.69469476e-01 2.44920344e-01 1.19566212e-02 2.89368180e+02] [-2.44901125e-01 9.69543203e-01 -3.06853485e-03 -6.35203180e+01] [-1.23440074e-02 4.66608776e-05 9.99923809e-01 -5.49391885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.30862385300003 meters Centerline goodness [0,1] 0.999914159405983 Centerline is valid? [True, True] Translation: X:289.40, Y:-63.53, Z:-5.49 [[ 9.69323284e-01 2.45523082e-01 1.14362637e-02 2.89400206e+02] [-2.45505519e-01 9.69390744e-01 -2.93692146e-03 -6.35281750e+01] [-1.18072902e-02 3.91604971e-05 9.99930291e-01 -5.48793487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.338623853 meters Centerline goodness [0,1] 0.999738943154872 Centerline is valid? [True, True] Translation: X:289.43, Y:-63.54, Z:-5.49 [[ 9.69226929e-01 2.45914407e-01 1.11921761e-02 2.89431013e+02] [-2.45897585e-01 9.69291547e-01 -2.87651596e-03 -6.35361315e+01] [-1.15558584e-02 3.58676480e-05 9.99933228e-01 -5.48598964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.36862385300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:289.46, Y:-63.54, Z:-5.50 [[ 9.69206052e-01 2.45948239e-01 1.22103440e-02 2.89460870e+02] [-2.45928181e-01 9.69282963e-01 -3.14134595e-03 -6.35435807e+01] [-1.26078869e-02 4.17438216e-05 9.99920517e-01 -5.49502579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.398623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:289.49, Y:-63.55, Z:-5.49 [[ 9.69195607e-01 2.45977969e-01 1.24384219e-02 2.89491804e+02] [-2.45957146e-01 9.69275419e-01 -3.20084896e-03 -6.35512878e+01] [-1.28435949e-02 4.29300009e-05 9.99917517e-01 -5.49435195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.42862385300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:289.52, Y:-63.56, Z:-5.49 [[ 9.69294491e-01 2.45572482e-01 1.27414885e-02 2.89523514e+02] [-2.45550569e-01 9.69378230e-01 -3.28098900e-03 -6.35602451e+01] [-1.31570422e-02 5.15648219e-05 9.99913441e-01 -5.49459938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.458623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:289.55, Y:-63.57, Z:-5.49 [[ 9.69695991e-01 2.43980598e-01 1.27731634e-02 2.89553562e+02] [-2.43958402e-01 9.69780110e-01 -3.29183209e-03 -6.35707601e+01] [-1.31903030e-02 7.59558459e-05 9.99913001e-01 -5.49438961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.48862385300004 meters Centerline goodness [0,1] 0.9999127723139325 Centerline is valid? [True, True] Translation: X:289.58, Y:-63.58, Z:-5.49 [[ 9.70032586e-01 2.42658966e-01 1.23858381e-02 2.89584071e+02] [-2.42637960e-01 9.70111652e-01 -3.19419238e-03 -6.35810874e+01] [-1.27907452e-02 9.31962155e-05 9.99918191e-01 -5.48867871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.518623853 meters Centerline goodness [0,1] 0.9999783802481947 Centerline is valid? [True, True] Translation: X:289.61, Y:-63.59, Z:-5.50 [[ 9.70329079e-01 2.41469407e-01 1.24098690e-02 2.89612596e+02] [-2.41448189e-01 9.70408426e-01 -3.20297602e-03 -6.35926612e+01] [-1.28160622e-02 1.11600382e-04 9.99917865e-01 -5.49652552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.54862385300004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:289.64, Y:-63.61, Z:-5.50 [[ 9.70965702e-01 2.38918717e-01 1.19771172e-02 2.89642382e+02] [-2.38898741e-01 9.71039560e-01 -3.09270350e-03 -6.36060520e+01] [-1.23691594e-02 1.41590793e-04 9.99923489e-01 -5.49790124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.578623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:289.67, Y:-63.62, Z:-5.50 [[ 9.71331139e-01 2.37441237e-01 1.17250961e-02 2.89670940e+02] [-2.37421953e-01 9.71401891e-01 -3.03028160e-03 -6.36178967e+01] [-1.21092944e-02 1.59611645e-04 9.99926667e-01 -5.49955920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.60862385300004 meters Centerline goodness [0,1] 0.9998040453743822 Centerline is valid? [True, True] Translation: X:289.70, Y:-63.63, Z:-5.49 [[ 9.71607150e-01 2.36328185e-01 1.13373094e-02 2.89701834e+02] [-2.36310076e-01 9.71673279e-01 -2.93044246e-03 -6.36288686e+01] [-1.17087068e-02 1.68118404e-04 9.99931437e-01 -5.49320276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.638623853 meters Centerline goodness [0,1] 0.9999356195544873 Centerline is valid? [True, True] Translation: X:289.73, Y:-63.64, Z:-5.50 [[ 9.71830974e-01 2.35387820e-01 1.17103818e-02 2.89731049e+02] [-2.35368403e-01 9.71901507e-01 -3.02914883e-03 -6.36401284e+01] [-1.20943625e-02 1.87566787e-04 9.99926843e-01 -5.50021020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.66862385300004 meters Centerline goodness [0,1] 0.9997187364777153 Centerline is valid? [True, True] Translation: X:289.76, Y:-63.65, Z:-5.50 [[ 9.72397387e-01 2.33042642e-01 1.15952029e-02 2.89760986e+02] [-2.33023418e-01 9.72466493e-01 -3.00111327e-03 -6.36528076e+01] [-1.19753337e-02 2.16320889e-04 9.99928270e-01 -5.49716978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.698623853 meters Centerline goodness [0,1] 0.9995228697217463 Centerline is valid? [True, True] Translation: X:289.79, Y:-63.66, Z:-5.49 [[ 9.72633661e-01 2.32064665e-01 1.13909063e-02 2.89791310e+02] [-2.32046021e-01 9.72700334e-01 -2.95023730e-03 -6.36645394e+01] [-1.17645842e-02 2.26285629e-04 9.99930769e-01 -5.49290232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.72862385300004 meters Centerline goodness [0,1] 0.9997636594117267 Centerline is valid? [True, True] Translation: X:289.82, Y:-63.68, Z:-5.50 [[ 9.72869142e-01 2.31049732e-01 1.19018449e-02 2.89819750e+02] [-2.31029268e-01 9.72941909e-01 -3.08538271e-03 -6.36767535e+01] [-1.22926806e-02 2.51999114e-04 9.99924410e-01 -5.50100036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.758623853 meters Centerline goodness [0,1] 0.9996312524402412 Centerline is valid? [True, True] Translation: X:289.85, Y:-63.69, Z:-5.50 [[ 9.73268885e-01 2.29350753e-01 1.20793202e-02 2.89848779e+02] [-2.29329533e-01 9.73343801e-01 -3.13218616e-03 -6.36913349e+01] [-1.24757007e-02 2.78314463e-04 9.99922137e-01 -5.50096404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.78862385300005 meters Centerline goodness [0,1] 0.999659473034521 Centerline is valid? [True, True] Translation: X:289.88, Y:-63.70, Z:-5.50 [[ 9.73271234e-01 2.29339420e-01 1.21051545e-02 2.89878915e+02] [-2.29318085e-01 9.73346470e-01 -3.14074833e-03 -6.37035634e+01] [-1.25028068e-02 2.80869150e-04 9.99921797e-01 -5.50201062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.818623853 meters Centerline goodness [0,1] 0.9998691356409082 Centerline is valid? [True, True] Translation: X:289.91, Y:-63.71, Z:-5.50 [[ 9.73273758e-01 2.29335686e-01 1.19722435e-02 2.89911068e+02] [-2.29314791e-01 9.73347350e-01 -3.10837089e-03 -6.37102904e+01] [-1.23660119e-02 2.79883303e-04 9.99923499e-01 -5.50187804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.84862385300005 meters Centerline goodness [0,1] 0.9996118179857667 Centerline is valid? [True, True] Translation: X:289.94, Y:-63.72, Z:-5.50 [[ 9.73115866e-01 2.30017070e-01 1.17328477e-02 2.89942144e+02] [-2.29997020e-01 9.73186557e-01 -3.04878698e-03 -6.37200059e+01] [-1.21195227e-02 2.68302973e-04 9.99926520e-01 -5.49797698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.878623853 meters Centerline goodness [0,1] 0.9997622289950933 Centerline is valid? [True, True] Translation: X:289.97, Y:-63.73, Z:-5.50 [[ 9.72909598e-01 2.30892933e-01 1.16347923e-02 2.89971583e+02] [-2.30873248e-01 9.72979130e-01 -3.02592484e-03 -6.37308257e+01] [-1.20190747e-02 2.57789034e-04 9.99927735e-01 -5.50399581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.908623853 meters Centerline goodness [0,1] 0.9999131114779738 Centerline is valid? [True, True] Translation: X:290.00, Y:-63.74, Z:-5.50 [[ 9.72251052e-01 2.33658002e-01 1.14817599e-02 2.90003286e+02] [-2.33639016e-01 9.72318821e-01 -2.98677860e-03 -6.37374316e+01] [-1.18618159e-02 2.21311560e-04 9.99929622e-01 -5.50408460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.938623853 meters Centerline goodness [0,1] 0.999891800653524 Centerline is valid? [True, True] Translation: X:290.03, Y:-63.75, Z:-5.50 [[ 9.71764076e-01 2.35671246e-01 1.15604288e-02 2.90033580e+02] [-2.35652115e-01 9.71832817e-01 -3.00946980e-03 -6.37456391e+01] [-1.19440496e-02 2.00255134e-04 9.99928647e-01 -5.50456495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.968623853 meters Centerline goodness [0,1] 0.9999784026607922 Centerline is valid? [True, True] Translation: X:290.07, Y:-63.75, Z:-5.50 [[ 9.71210634e-01 2.37939846e-01 1.15988724e-02 2.90065004e+02] [-2.37920727e-01 9.71279877e-01 -3.02136582e-03 -6.37521564e+01] [-1.19846547e-02 1.74770468e-04 9.99928166e-01 -5.50463891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.998623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:290.10, Y:-63.76, Z:-5.51 [[ 9.70059226e-01 2.42583356e-01 1.17649659e-02 2.90095618e+02] [-2.42563998e-01 9.70130559e-01 -3.06690267e-03 -6.37571827e+01] [-1.21575325e-02 1.21320051e-04 9.99926087e-01 -5.50573735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.028623853 meters Centerline goodness [0,1] 0.999956912338152 Centerline is valid? [True, True] Translation: X:290.13, Y:-63.76, Z:-5.51 [[ 9.69436661e-01 2.45053403e-01 1.18907872e-02 2.90127810e+02] [-2.45033790e-01 9.69509578e-01 -3.10168911e-03 -6.37626426e+01] [-1.22883115e-02 9.32464840e-05 9.99924492e-01 -5.50587272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.05862385300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:290.16, Y:-63.77, Z:-5.51 [[ 9.68894427e-01 2.47191792e-01 1.18240366e-02 2.90159515e+02] [-2.47172534e-01 9.68966570e-01 -3.08624873e-03 -6.37679615e+01] [-1.22199915e-02 6.76721166e-05 9.99925331e-01 -5.50574837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.088623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:290.19, Y:-63.77, Z:-5.51 [[ 9.67722019e-01 2.51755881e-01 1.15356331e-02 2.90190751e+02] [-2.51737850e-01 9.67790771e-01 -3.01308016e-03 -6.37718470e+01] [-1.19226399e-02 1.18685386e-05 9.99928923e-01 -5.50692756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.11862385300003 meters Centerline goodness [0,1] 0.999978735619963 Centerline is valid? [True, True] Translation: X:290.22, Y:-63.78, Z:-5.51 [[ 9.67131931e-01 2.54026731e-01 1.12359906e-02 2.90222491e+02] [-2.54009758e-01 9.67197198e-01 -2.93649813e-03 -6.37773487e+01] [-1.16133677e-02 -1.40701558e-05 9.99932562e-01 -5.50821737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.148623853 meters Centerline goodness [0,1] 0.9999785158767671 Centerline is valid? [True, True] Translation: X:290.25, Y:-63.78, Z:-5.51 [[ 9.66647527e-01 2.55863392e-01 1.12464771e-02 2.90254804e+02] [-2.55846488e-01 9.66712948e-01 -2.94124340e-03 -6.37834299e+01] [-1.16246716e-02 -3.42260246e-05 9.99932431e-01 -5.50860394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.17862385300003 meters Centerline goodness [0,1] 0.9999784054591 Centerline is valid? [True, True] Translation: X:290.29, Y:-63.79, Z:-5.51 [[ 9.65739483e-01 2.59260720e-01 1.14511702e-02 2.90287311e+02] [-2.59243404e-01 9.65807369e-01 -2.99729902e-03 -6.37875462e+01] [-1.18367065e-02 -7.40303542e-05 9.99929941e-01 -5.50810825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.208623853 meters Centerline goodness [0,1] 0.9997395833333333 Centerline is valid? [True, True] Translation: X:290.32, Y:-63.79, Z:-5.50 [[ 9.65363849e-01 2.60672774e-01 1.10609358e-02 2.90319370e+02] [-2.60656691e-01 9.65427210e-01 -2.89694743e-03 -6.37940589e+01] [-1.14336837e-02 -8.64986056e-05 9.99934630e-01 -5.49872409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.23862385300004 meters Centerline goodness [0,1] 0.9999566320445823 Centerline is valid? [True, True] Translation: X:290.35, Y:-63.80, Z:-5.51 [[ 9.65009090e-01 2.61956480e-01 1.16730261e-02 2.90350215e+02] [-2.61938628e-01 9.65079681e-01 -3.06004371e-03 -6.37992869e+01] [-1.20669986e-02 -1.04646444e-04 9.99927186e-01 -5.50869252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.268623853 meters Centerline goodness [0,1] 0.9999568630834268 Centerline is valid? [True, True] Translation: X:290.38, Y:-63.81, Z:-5.51 [[ 9.64674084e-01 2.63177602e-01 1.18937636e-02 2.90381090e+02] [-2.63159150e-01 9.64747394e-01 -3.11874390e-03 -6.38051221e+01] [-1.22952610e-02 -1.21381302e-04 9.99924403e-01 -5.50904012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.29862385300004 meters Centerline goodness [0,1] 0.9999130018704598 Centerline is valid? [True, True] Translation: X:290.41, Y:-63.81, Z:-5.51 [[ 9.64338211e-01 2.64406506e-01 1.18749709e-02 2.90412306e+02] [-2.64388184e-01 9.64411313e-01 -3.11558136e-03 -6.38120258e+01] [-1.22761362e-02 -1.35127837e-04 9.99924636e-01 -5.50839667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.328623853 meters Centerline goodness [0,1] 0.9997626035911602 Centerline is valid? [True, True] Translation: X:290.44, Y:-63.82, Z:-5.50 [[ 9.64176052e-01 2.65016482e-01 1.14370379e-02 2.90444084e+02] [-2.64999507e-01 9.64243873e-01 -3.00259125e-03 -6.38184991e+01] [-1.18238299e-02 -1.35782830e-04 9.99930087e-01 -5.50172696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.35862385300004 meters Centerline goodness [0,1] 0.9998699638065929 Centerline is valid? [True, True] Translation: X:290.48, Y:-63.83, Z:-5.51 [[ 9.64106792e-01 2.65253525e-01 1.17754174e-02 2.90476243e+02] [-2.65235524e-01 9.64178691e-01 -3.09343327e-03 -6.38260698e+01] [-1.21741506e-02 -1.40858963e-04 9.99925882e-01 -5.50974780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.388623853 meters Centerline goodness [0,1] 0.9999353726841879 Centerline is valid? [True, True] Translation: X:290.51, Y:-63.83, Z:-5.51 [[ 9.64084970e-01 2.65363965e-01 1.10515666e-02 2.90506558e+02] [-2.65348085e-01 9.64148302e-01 -2.90602518e-03 -6.38318686e+01] [-1.14265036e-02 -1.30856841e-04 9.99934707e-01 -5.51194469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.41862385300004 meters Centerline goodness [0,1] 0.9999362976175309 Centerline is valid? [True, True] Translation: X:290.54, Y:-63.84, Z:-5.51 [[ 9.64106694e-01 2.65293034e-01 1.08576258e-02 2.90537283e+02] [-2.65277696e-01 9.64167822e-01 -2.85558403e-03 -6.38388006e+01] [-1.12261399e-02 -1.27198259e-04 9.99936977e-01 -5.51322313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.448623853 meters Centerline goodness [0,1] 0.9998722480091982 Centerline is valid? [True, True] Translation: X:290.57, Y:-63.85, Z:-5.51 [[ 9.64237792e-01 2.64827620e-01 1.05741529e-02 2.90567511e+02] [-2.64813015e-01 9.64295763e-01 -2.78368214e-03 -6.38467856e+01] [-1.09338067e-02 -1.16041792e-04 9.99940217e-01 -5.51402977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.47862385300004 meters Centerline goodness [0,1] 0.9999785038693035 Centerline is valid? [True, True] Translation: X:290.60, Y:-63.86, Z:-5.51 [[ 9.64536868e-01 2.63728560e-01 1.07646515e-02 2.90598491e+02] [-2.63713365e-01 9.64596929e-01 -2.83298880e-03 -6.38552641e+01] [-1.11306899e-02 -1.06260339e-04 9.99938046e-01 -5.51321790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.508623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:290.63, Y:-63.86, Z:-5.51 [[ 9.64704424e-01 2.63106453e-01 1.09713060e-02 2.90629793e+02] [-2.63090606e-01 9.64766803e-01 -2.88934799e-03 -6.38637951e+01] [-1.13449579e-02 -9.90807605e-05 9.99935639e-01 -5.51302586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.53862385300005 meters Centerline goodness [0,1] 0.9999569790703177 Centerline is valid? [True, True] Translation: X:290.66, Y:-63.87, Z:-5.51 [[ 9.64853104e-01 2.62555647e-01 1.10914011e-02 2.90660514e+02] [-2.62539391e-01 9.64916848e-01 -2.92311010e-03 -6.38698655e+01] [-1.14697589e-02 -9.15578411e-05 9.99934216e-01 -5.51443539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.568623853 meters Centerline goodness [0,1] 0.9999783704280493 Centerline is valid? [True, True] Translation: X:290.69, Y:-63.88, Z:-5.51 [[ 9.65255975e-01 2.61054594e-01 1.14630498e-02 2.90691501e+02] [-2.61037101e-01 9.65324035e-01 -3.02298782e-03 -6.38784751e+01] [-1.18547224e-02 -7.43242408e-05 9.99929728e-01 -5.51263926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.59862385300005 meters Centerline goodness [0,1] 0.9999784478113752 Centerline is valid? [True, True] Translation: X:290.72, Y:-63.89, Z:-5.51 [[ 9.65469323e-01 2.60266874e-01 1.14079268e-02 2.90721597e+02] [-2.60249463e-01 9.65536716e-01 -3.01105834e-03 -6.38858956e+01] [-1.17984509e-02 -6.18223652e-05 9.99930394e-01 -5.51329917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.628623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:290.75, Y:-63.89, Z:-5.51 [[ 9.65695912e-01 2.59433529e-01 1.12093179e-02 2.90752760e+02] [-2.59416652e-01 9.65760965e-01 -2.95957161e-03 -6.38937851e+01] [-1.15933338e-02 -4.98375115e-05 9.99932794e-01 -5.51436004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.65862385300005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:290.78, Y:-63.90, Z:-5.52 [[ 9.65909749e-01 2.58642714e-01 1.10591140e-02 2.90783457e+02] [-2.58626219e-01 9.65973056e-01 -2.92131219e-03 -6.39012087e+01] [-1.14383822e-02 -3.84529113e-05 9.99934579e-01 -5.51595761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.688623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:290.82, Y:-63.91, Z:-5.52 [[ 9.66381291e-01 2.56872768e-01 1.11166902e-02 2.90815476e+02] [-2.56855973e-01 9.66445229e-01 -2.93741311e-03 -6.39092310e+01] [-1.14982136e-02 -1.67272062e-05 9.99933893e-01 -5.51522294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.718623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:290.85, Y:-63.92, Z:-5.52 [[ 9.66331716e-01 2.57059229e-01 1.11161215e-02 2.90846833e+02] [-2.57042422e-01 9.66395650e-01 -2.93956309e-03 -6.39177180e+01] [-1.14982133e-02 -1.67217532e-05 9.99933893e-01 -5.51583302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.748623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:290.88, Y:-63.93, Z:-5.52 [[ 9.66478266e-01 2.56500806e-01 1.12737525e-02 2.90878483e+02] [-2.56483452e-01 9.66544017e-01 -2.98363206e-03 -6.39255334e+01] [-1.16618820e-02 -7.91541539e-06 9.99931998e-01 -5.51620619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.778623853 meters Centerline goodness [0,1] 0.9998485864463239 Centerline is valid? [True, True] Translation: X:290.91, Y:-63.93, Z:-5.51 [[ 9.66673170e-01 2.55769800e-01 1.11709981e-02 2.90909765e+02] [-2.55752680e-01 9.66737715e-01 -2.95924531e-03 -6.39327789e+01] [-1.15563108e-02 3.61033595e-06 9.99933224e-01 -5.50814720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.80862385300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:290.94, Y:-63.94, Z:-5.52 [[ 9.66933100e-01 2.54720877e-01 1.25560696e-02 2.90941368e+02] [-2.54699140e-01 9.67014619e-01 -3.32776656e-03 -6.39391988e+01] [-1.29895545e-02 1.97074998e-05 9.99915632e-01 -5.51543049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.838623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:290.97, Y:-63.95, Z:-5.52 [[ 9.67096204e-01 2.54086375e-01 1.28469960e-02 2.90973410e+02] [-2.54063533e-01 9.67181530e-01 -3.40709538e-03 -6.39470721e+01] [-1.32910738e-02 3.10358167e-05 9.99911669e-01 -5.51533586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.86862385300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:291.01, Y:-63.95, Z:-5.52 [[ 9.67236196e-01 2.53562970e-01 1.26475638e-02 2.91005370e+02] [-2.53540752e-01 9.67318882e-01 -3.35679762e-03 -6.39548471e+01] [-1.30853868e-02 4.01433258e-05 9.99914382e-01 -5.51600429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.898623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:291.04, Y:-63.96, Z:-5.52 [[ 9.67351306e-01 2.53142885e-01 1.22527579e-02 2.91038013e+02] [-2.53121969e-01 9.67428900e-01 -3.25444895e-03 -6.39622208e+01] [-1.26775127e-02 4.67532421e-05 9.99919636e-01 -5.51698004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.92862385300003 meters Centerline goodness [0,1] 0.9998282340311326 Centerline is valid? [True, True] Translation: X:291.07, Y:-63.97, Z:-5.51 [[ 9.67657066e-01 2.52026163e-01 1.10731882e-02 2.91070152e+02] [-2.52008982e-01 9.67720419e-01 -2.94328909e-03 -6.39679560e+01] [-1.14575362e-02 5.75516058e-05 9.99934359e-01 -5.51093749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.958623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:291.10, Y:-63.98, Z:-5.52 [[ 9.67754881e-01 2.51625577e-01 1.16215386e-02 2.91101314e+02] [-2.51606596e-01 9.67824656e-01 -3.09131259e-03 -6.39752660e+01] [-1.20254649e-02 6.75770728e-05 9.99927689e-01 -5.51974269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.98862385300004 meters Centerline goodness [0,1] 0.9999345063965419 Centerline is valid? [True, True] Translation: X:291.13, Y:-63.98, Z:-5.51 [[ 9.67878968e-01 2.51166970e-01 1.12007361e-02 2.91132873e+02] [-2.51149286e-01 9.67943773e-01 -2.98131588e-03 -6.39825273e+01] [-1.15904908e-02 7.24960654e-05 9.99932825e-01 -5.51228387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.018623853 meters Centerline goodness [0,1] 0.9999783722992409 Centerline is valid? [True, True] Translation: X:291.16, Y:-63.99, Z:-5.52 [[ 9.68010840e-01 2.50643303e-01 1.15303281e-02 2.91163801e+02] [-2.50624500e-01 9.68079505e-01 -3.07125217e-03 -6.39902595e+01] [-1.19320631e-02 8.32226860e-05 9.99928807e-01 -5.52063657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.04862385300004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:291.19, Y:-64.00, Z:-5.52 [[ 9.68309365e-01 2.49488624e-01 1.15065668e-02 2.91193724e+02] [-2.49469790e-01 9.68377724e-01 -3.06713733e-03 -6.39973358e+01] [-1.19079189e-02 9.93969962e-05 9.99929093e-01 -5.52150010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.078623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:291.22, Y:-64.00, Z:-5.52 [[ 9.68380781e-01 2.49205288e-01 1.16356312e-02 2.91223878e+02] [-2.49185973e-01 9.68450677e-01 -3.10449978e-03 -6.40041662e+01] [-1.20421927e-02 1.06901839e-04 9.99927484e-01 -5.52227055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.10862385300004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:291.25, Y:-64.01, Z:-5.52 [[ 9.68453758e-01 2.48942143e-01 1.11860939e-02 2.91253546e+02] [-2.48924274e-01 9.68518352e-01 -2.98460352e-03 -6.40112256e+01] [-1.15769308e-02 1.05960199e-04 9.99932979e-01 -5.52381623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.138623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:291.28, Y:-64.02, Z:-5.53 [[ 9.68486512e-01 2.48845410e-01 1.04803342e-02 2.91284081e+02] [-2.48829710e-01 9.68543211e-01 -2.79709628e-03 -6.40170510e+01] [-1.08467011e-02 1.01131505e-04 9.99941168e-01 -5.52522634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.16862385300004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:291.31, Y:-64.02, Z:-5.53 [[ 9.68499972e-01 2.48807655e-01 1.01269750e-02 2.91312602e+02] [-2.48792988e-01 9.68552911e-01 -2.70334566e-03 -6.40225555e+01] [-1.04811242e-02 9.86698341e-05 9.99945067e-01 -5.52799853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.198623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:291.34, Y:-64.03, Z:-5.53 [[ 9.68503271e-01 2.48794426e-01 1.01364479e-02 2.91342773e+02] [-2.48779733e-01 9.68556309e-01 -2.70563986e-03 -6.40280158e+01] [-1.04908687e-02 9.86782383e-05 9.99944964e-01 -5.52736753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.22862385300004 meters Centerline goodness [0,1] 0.9999781864188644 Centerline is valid? [True, True] Translation: X:291.37, Y:-64.03, Z:-5.53 [[ 9.68476869e-01 2.48889458e-01 1.03243556e-02 2.91372077e+02] [-2.48874221e-01 9.68531893e-01 -2.75579652e-03 -6.40346289e+01] [-1.06853564e-02 9.94592289e-05 9.99942905e-01 -5.52773579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.258623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:291.40, Y:-64.04, Z:-5.53 [[ 9.68421433e-01 2.49085576e-01 1.07844202e-02 2.91402141e+02] [-2.49068963e-01 9.68481474e-01 -2.87859784e-03 -6.40411138e+01] [-1.11615284e-02 1.01631491e-04 9.99937703e-01 -5.52828175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.28862385300005 meters Centerline goodness [0,1] 0.9999346547593116 Centerline is valid? [True, True] Translation: X:291.43, Y:-64.05, Z:-5.52 [[ 9.68330834e-01 2.49454862e-01 1.03763257e-02 2.91432966e+02] [-2.49439503e-01 9.68386422e-01 -2.76966847e-03 -6.40451188e+01] [-1.07392002e-02 9.36898646e-05 9.99942329e-01 -5.52402545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.318623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:291.46, Y:-64.05, Z:-5.53 [[ 9.68090932e-01 2.50382064e-01 1.04292913e-02 2.91461139e+02] [-2.50366598e-01 9.68147104e-01 -2.78410847e-03 -6.40502833e+01] [-1.07941790e-02 8.41239735e-05 9.99941738e-01 -5.53040116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.34862385300005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:291.49, Y:-64.05, Z:-5.53 [[ 9.67811030e-01 2.51473558e-01 1.01419651e-02 2.91490025e+02] [-2.51458997e-01 9.67864167e-01 -2.70702369e-03 -6.40549681e+01] [-1.04967895e-02 6.95990136e-05 9.99944905e-01 -5.53212813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.378623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:291.52, Y:-64.06, Z:-5.53 [[ 9.67332623e-01 2.53332641e-01 9.49580839e-03 2.91519234e+02] [-2.53319968e-01 9.67379228e-01 -2.53435551e-03 -6.40564269e+01] [-9.82808276e-03 4.60868860e-05 9.99951702e-01 -5.53421008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.40862385300005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:291.55, Y:-64.06, Z:-5.54 [[ 9.67048115e-01 2.54431828e-01 9.07675823e-03 2.91547231e+02] [-2.54420300e-01 9.67090711e-01 -2.42219158e-03 -6.40605478e+01] [-9.39433121e-03 3.30642511e-05 9.99955872e-01 -5.53582183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.438623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:291.58, Y:-64.06, Z:-5.54 [[ 9.66819434e-01 2.55311454e-01 8.73168539e-03 2.91575126e+02] [-2.55300827e-01 9.66858863e-01 -2.32957291e-03 -6.40649157e+01] [-9.03707405e-03 2.30698637e-05 9.99959165e-01 -5.53745054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.468623853 meters Centerline goodness [0,1] 0.9998262682418346 Centerline is valid? [True, True] Translation: X:291.60, Y:-64.07, Z:-5.53 [[ 9.66559585e-01 2.56349835e-01 6.87974312e-03 2.91604522e+02] [-2.56343266e-01 9.66584069e-01 -1.83513382e-03 -6.40659193e+01] [-7.12028635e-03 1.01903621e-05 9.99974650e-01 -5.53275921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.498623853 meters Centerline goodness [0,1] 0.9998697520948204 Centerline is valid? [True, True] Translation: X:291.63, Y:-64.07, Z:-5.53 [[ 9.66505316e-01 2.56571165e-01 6.22183580e-03 2.91633107e+02] [-2.56565799e-01 9.66525342e-01 -1.65940748e-03 -6.40711256e+01] [-6.43931808e-03 7.51587761e-06 9.99979267e-01 -5.53465174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.528623853 meters Centerline goodness [0,1] 0.9999783413831193 Centerline is valid? [True, True] Translation: X:291.66, Y:-64.08, Z:-5.54 [[ 9.66441847e-01 2.56808249e-01 6.29922469e-03 2.91660445e+02] [-2.56802755e-01 9.66462375e-01 -1.67985972e-03 -6.40770872e+01] [-6.51936549e-03 5.82848019e-06 9.99978749e-01 -5.54475205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.55862385300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:291.69, Y:-64.08, Z:-5.55 [[ 9.66516666e-01 2.56535788e-01 5.90965011e-03 2.91687304e+02] [-2.56530949e-01 9.66534733e-01 -1.57565100e-03 -6.40830547e+01] [-6.11609296e-03 6.88480455e-06 9.99981297e-01 -5.54696011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.588623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:291.71, Y:-64.09, Z:-5.55 [[ 9.66670324e-01 2.55953839e-01 6.00980376e-03 2.91714723e+02] [-2.55948825e-01 9.66689005e-01 -1.60208383e-03 -6.40873114e+01] [-6.21967072e-03 1.04846875e-05 9.99980658e-01 -5.54795411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.61862385300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:291.74, Y:-64.09, Z:-5.55 [[ 9.66852731e-01 2.55263250e-01 6.03895332e-03 2.91741821e+02] [-2.55258177e-01 9.66871591e-01 -1.60939820e-03 -6.40936275e+01] [-6.24971261e-03 1.45588347e-05 9.99980470e-01 -5.54833361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.648623853 meters Centerline goodness [0,1] 0.9999785513587715 Centerline is valid? [True, True] Translation: X:291.77, Y:-64.10, Z:-5.55 [[ 9.67038621e-01 2.54555763e-01 6.13755363e-03 2.91769343e+02] [-2.54550512e-01 9.67058097e-01 -1.63521150e-03 -6.41004123e+01] [-6.35162345e-03 1.89952517e-05 9.99979828e-01 -5.54827733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.67862385300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:291.80, Y:-64.11, Z:-5.55 [[ 9.67553322e-01 2.52601763e-01 5.73743997e-03 2.91797420e+02] [-2.52597144e-01 9.67570333e-01 -1.52794455e-03 -6.41085954e+01] [-5.93733819e-03 2.91068749e-05 9.99982373e-01 -5.54999175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.708623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:291.82, Y:-64.12, Z:-5.55 [[ 9.67929383e-01 2.51165133e-01 5.36519409e-03 2.91824431e+02] [-2.51161072e-01 9.67944252e-01 -1.42875501e-03 -6.41167946e+01] [-5.55206222e-03 3.54060597e-05 9.99984587e-01 -5.55166424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.73862385300004 meters Centerline goodness [0,1] 0.9915288508609497 Centerline is valid? [True, True] Translation: X:291.86, Y:-64.09, Z:-5.54 [[ 9.55553779e-01 2.94675047e-01 9.14288400e-03 2.91861912e+02] [-2.94665236e-01 9.55597447e-01 -2.43279909e-03 -6.40894812e+01] [-9.45380179e-03 -3.69419705e-04 9.99955244e-01 -5.54005615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.768623853 meters Centerline goodness [0,1] 0.9934098276744583 Centerline is valid? [True, True] Translation: X:291.89, Y:-64.09, Z:-5.54 [[ 9.55857053e-01 2.93657196e-01 1.01363009e-02 2.91890262e+02] [-2.93645076e-01 9.55910714e-01 -2.69753947e-03 -6.40923019e+01] [-1.04815505e-02 -3.98012729e-04 9.99944988e-01 -5.53952976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.79862385300004 meters Centerline goodness [0,1] 0.9965498767813136 Centerline is valid? [True, True] Translation: X:291.92, Y:-64.10, Z:-5.54 [[ 9.56285256e-01 2.92253419e-01 1.03173452e-02 2.91918615e+02] [-2.92240779e-01 9.56340832e-01 -2.74582990e-03 -6.41000152e+01] [-1.06693766e-02 -3.89352333e-04 9.99943005e-01 -5.53911488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.828623853 meters Centerline goodness [0,1] 0.9995253505933117 Centerline is valid? [True, True] Translation: X:291.95, Y:-64.11, Z:-5.54 [[ 9.57442709e-01 2.88402903e-01 1.12793921e-02 2.91946372e+02] [-2.88387565e-01 9.57509070e-01 -2.99877541e-03 -6.41135837e+01] [-1.16649758e-02 -3.81680785e-04 9.99931889e-01 -5.53686763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.85862385300004 meters Centerline goodness [0,1] 0.9993963435667471 Centerline is valid? [True, True] Translation: X:291.97, Y:-64.12, Z:-5.54 [[ 9.58121998e-01 2.86113788e-01 1.18801466e-02 2.91973654e+02] [-2.86096593e-01 9.58195576e-01 -3.15880976e-03 -6.41211023e+01] [-1.22872830e-02 -3.72344356e-04 9.99924439e-01 -5.53718477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.888623853 meters Centerline goodness [0,1] 0.9996324960006918 Centerline is valid? [True, True] Translation: X:292.00, Y:-64.13, Z:-5.54 [[ 9.58996082e-01 2.83164941e-01 1.20054101e-02 2.92001535e+02] [-2.83147159e-01 9.59071166e-01 -3.19143334e-03 -6.41282146e+01] [-1.24177447e-02 -3.38725693e-04 9.99922839e-01 -5.53756186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.91862385300004 meters Centerline goodness [0,1] 0.9997452012909801 Centerline is valid? [True, True] Translation: X:292.03, Y:-64.14, Z:-5.54 [[ 9.59938507e-01 2.79954561e-01 1.19794241e-02 2.92028958e+02] [-2.79936611e-01 9.60013206e-01 -3.18407254e-03 -6.41357815e+01] [-1.23918009e-02 -2.96965538e-04 9.99923175e-01 -5.53928461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.948623853 meters Centerline goodness [0,1] 0.9999351743809154 Centerline is valid? [True, True] Translation: X:292.06, Y:-64.16, Z:-5.54 [[ 9.62168602e-01 2.72207811e-01 1.15969488e-02 2.92055224e+02] [-2.72190433e-01 9.62238469e-01 -3.08172208e-03 -6.41563102e+01] [-1.19978991e-02 -1.91442286e-04 9.99928004e-01 -5.53938378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.97862385300004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:292.08, Y:-64.17, Z:-5.54 [[ 9.63300208e-01 2.68181760e-01 1.14565275e-02 2.92081821e+02] [-2.68164510e-01 9.63368322e-01 -3.04488789e-03 -6.41688716e+01] [-1.18534390e-02 -1.39092929e-04 9.99929736e-01 -5.54034209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.008623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:292.11, Y:-64.18, Z:-5.54 [[ 9.64461785e-01 2.63977158e-01 1.13809080e-02 2.92107231e+02] [-2.63959848e-01 9.64528928e-01 -3.02422464e-03 -6.41810538e+01] [-1.17755412e-02 -8.73536572e-05 9.99930662e-01 -5.54200031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.03862385300005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:292.13, Y:-64.20, Z:-5.54 [[ 9.66628816e-01 2.55916964e-01 1.16293022e-02 2.92131494e+02] [-2.55898313e-01 9.66698768e-01 -3.08962512e-03 -6.42004889e+01] [-1.20327196e-02 1.06018548e-05 9.99927604e-01 -5.54200158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.068623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:292.16, Y:-64.21, Z:-5.54 [[ 9.67592917e-01 2.52222815e-01 1.21489916e-02 2.92158116e+02] [-2.52202177e-01 9.67669183e-01 -3.22705726e-03 -6.42126953e+01] [-1.25701423e-02 5.84756064e-05 9.99920991e-01 -5.54125520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.09862385300005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:292.19, Y:-64.22, Z:-5.54 [[ 9.68483516e-01 2.48772140e-01 1.23329487e-02 2.92185789e+02] [-2.48750602e-01 9.68562033e-01 -3.27514236e-03 -6.42237239e+01] [-1.27599900e-02 1.04092989e-04 9.99918583e-01 -5.54103184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.128623853 meters Centerline goodness [0,1] 0.9999568937646831 Centerline is valid? [True, True] Translation: X:292.21, Y:-64.24, Z:-5.54 [[ 9.69938270e-01 2.43044622e-01 1.22091665e-02 2.92212568e+02] [-2.43023066e-01 9.70015093e-01 -3.24179789e-03 -6.42390689e+01] [-1.26309773e-02 1.77234776e-04 9.99920210e-01 -5.54252533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.15862385300005 meters Centerline goodness [0,1] 0.9999783629400437 Centerline is valid? [True, True] Translation: X:292.24, Y:-64.25, Z:-5.54 [[ 9.70499116e-01 2.40806795e-01 1.19813302e-02 2.92241835e+02] [-2.40785865e-01 9.70573050e-01 -3.18130243e-03 -6.42490047e+01] [-1.23948354e-02 2.02516240e-04 9.99923161e-01 -5.54339783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.188623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:292.27, Y:-64.26, Z:-5.55 [[ 9.70951552e-01 2.38997161e-01 1.15516774e-02 2.92269453e+02] [-2.38977582e-01 9.71020242e-01 -3.06686737e-03 -6.42637164e+01] [-1.19498851e-02 2.17187713e-04 9.99928574e-01 -5.54613891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.218623853 meters Centerline goodness [0,1] 0.9999358782541786 Centerline is valid? [True, True] Translation: X:292.30, Y:-64.27, Z:-5.55 [[ 9.71690837e-01 2.36000878e-01 1.09774159e-02 2.92299079e+02] [-2.35982997e-01 9.71752812e-01 -2.91514963e-03 -6.42740561e+01] [-1.13553126e-02 2.42140680e-04 9.99935497e-01 -5.54669451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.248623853 meters Centerline goodness [0,1] 0.9996550385925574 Centerline is valid? [True, True] Translation: X:292.33, Y:-64.29, Z:-5.54 [[ 9.71904508e-01 2.35129653e-01 1.07551592e-02 2.92327409e+02] [-2.35112432e-01 9.71963983e-01 -2.85648323e-03 -6.42862701e+01] [-1.11252713e-02 2.47557296e-04 9.99938082e-01 -5.53986355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.278623853 meters Centerline goodness [0,1] 0.9998933697297989 Centerline is valid? [True, True] Translation: X:292.35, Y:-64.30, Z:-5.55 [[ 9.72046715e-01 2.34515642e-01 1.12959302e-02 2.92354755e+02] [-2.34496598e-01 9.72112309e-01 -3.00058908e-03 -6.42955077e+01] [-1.16845979e-02 2.67855544e-04 9.99931697e-01 -5.54792055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.30862385300003 meters Centerline goodness [0,1] 0.9999355974410716 Centerline is valid? [True, True] Translation: X:292.38, Y:-64.30, Z:-5.55 [[ 9.72083172e-01 2.34356990e-01 1.14502002e-02 2.92384722e+02] [-2.34337419e-01 9.72150568e-01 -3.04091696e-03 -6.43003506e+01] [-1.18439787e-02 2.72813849e-04 9.99929820e-01 -5.54694952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.338623853 meters Centerline goodness [0,1] 0.9999138395261173 Centerline is valid? [True, True] Translation: X:292.42, Y:-64.31, Z:-5.55 [[ 9.71960611e-01 2.34844747e-01 1.18538951e-02 2.92415958e+02] [-2.34823810e-01 9.72032854e-01 -3.14796933e-03 -6.43061827e+01] [-1.22616595e-02 2.76125380e-04 9.99924785e-01 -5.54673194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.36862385300003 meters Centerline goodness [0,1] 0.9997850802725182 Centerline is valid? [True, True] Translation: X:292.45, Y:-64.31, Z:-5.54 [[ 9.71886973e-01 2.35167862e-01 1.14799410e-02 2.92445547e+02] [-2.35148244e-01 9.71954735e-01 -3.04902367e-03 -6.43133827e+01] [-1.18750154e-02 2.63818420e-04 9.99929455e-01 -5.54100817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.398623853 meters Centerline goodness [0,1] 0.9999783033195921 Centerline is valid? [True, True] Translation: X:292.48, Y:-64.32, Z:-5.55 [[ 9.71726350e-01 2.35787539e-01 1.23343797e-02 2.92476732e+02] [-2.35764941e-01 9.71804590e-01 -3.27597873e-03 -6.43195194e+01] [-1.27590417e-02 2.75340569e-04 9.99918562e-01 -5.54661167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.42862385300003 meters Centerline goodness [0,1] 0.9999136255668322 Centerline is valid? [True, True] Translation: X:292.51, Y:-64.33, Z:-5.55 [[ 9.71321216e-01 2.37402512e-01 1.32341583e-02 2.92507149e+02] [-2.37376638e-01 9.71411330e-01 -3.51559280e-03 -6.43257094e+01] [-1.36904219e-02 2.73289877e-04 9.99906244e-01 -5.54652451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.458623853 meters Centerline goodness [0,1] 0.9999786766744141 Centerline is valid? [True, True] Translation: X:292.54, Y:-64.33, Z:-5.55 [[ 9.71077777e-01 2.38404970e-01 1.30775470e-02 2.92536147e+02] [-2.38379789e-01 9.71165797e-01 -3.47438855e-03 -6.43333990e+01] [-1.35287778e-02 2.56478616e-04 9.99908449e-01 -5.54725172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.48862385300004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:292.57, Y:-64.34, Z:-5.55 [[ 9.70776987e-01 2.39628210e-01 1.30523146e-02 2.92566390e+02] [-2.39603234e-01 9.70864699e-01 -3.46791943e-03 -6.43378747e+01] [-1.35030428e-02 2.39199580e-04 9.99908801e-01 -5.54796579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.518623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:292.60, Y:-64.34, Z:-5.55 [[ 9.70111643e-01 2.42337763e-01 1.24823457e-02 2.92596595e+02] [-2.42315144e-01 9.70191925e-01 -3.31655548e-03 -6.43414656e+01] [-1.29139976e-02 1.92767686e-04 9.99916592e-01 -5.54973167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.54862385300004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:292.62, Y:-64.35, Z:-5.55 [[ 9.69715545e-01 2.43933701e-01 1.21701130e-02 2.92624815e+02] [-2.43912325e-01 9.69791896e-01 -3.23359768e-03 -6.43468010e+01] [-1.25912604e-02 1.67229394e-04 9.99920713e-01 -5.55135382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.578623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:292.65, Y:-64.35, Z:-5.55 [[ 9.69294942e-01 2.45617714e-01 1.18005529e-02 2.92653552e+02] [-2.45597746e-01 9.69366762e-01 -3.13504464e-03 -6.43520044e+01] [-1.22090863e-02 1.40593716e-04 9.99925456e-01 -5.55287945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.60862385300004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:292.68, Y:-64.36, Z:-5.55 [[ 9.69306646e-01 2.45571515e-01 1.18007017e-02 2.92680957e+02] [-2.45551550e-01 9.69378466e-01 -3.13448458e-03 -6.43591905e+01] [-1.22090862e-02 1.40596150e-04 9.99925456e-01 -5.55341098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.638623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:292.71, Y:-64.36, Z:-5.55 [[ 9.68843947e-01 2.47399306e-01 1.16185148e-02 2.92708452e+02] [-2.47380090e-01 9.68913603e-01 -3.08559483e-03 -6.43639795e+01] [-1.20207110e-02 1.15270641e-04 9.99927742e-01 -5.55466755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.66862385300004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:292.74, Y:-64.36, Z:-5.56 [[ 9.67911750e-01 2.51051437e-01 1.09553586e-02 2.92737237e+02] [-2.51034593e-01 9.67973745e-01 -2.90884450e-03 -6.43648032e+01] [-1.13347691e-02 6.53307909e-05 9.99935757e-01 -5.55687382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.698623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:292.77, Y:-64.37, Z:-5.56 [[ 9.67432365e-01 2.52890598e-01 1.09983479e-02 2.92765840e+02] [-2.52873749e-01 9.67494880e-01 -2.91948467e-03 -6.43678237e+01] [-1.13791555e-02 4.32104969e-05 9.99935254e-01 -5.55702618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.72862385300004 meters Centerline goodness [0,1] 0.9999355032893322 Centerline is valid? [True, True] Translation: X:292.79, Y:-64.37, Z:-5.55 [[ 9.66964371e-01 2.54687144e-01 1.06941174e-02 2.92794160e+02] [-2.54671329e-01 9.67023504e-01 -2.83828729e-03 -6.43710992e+01] [-1.10643381e-02 2.10375943e-05 9.99938788e-01 -5.55246290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.758623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:292.82, Y:-64.37, Z:-5.56 [[ 9.65868098e-01 2.58804981e-01 1.08994697e-02 2.92822566e+02] [-2.58788818e-01 9.65929594e-01 -2.89245933e-03 -6.43704226e+01] [-1.12767032e-02 -2.69266753e-05 9.99936416e-01 -5.55931000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.78862385300005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:292.85, Y:-64.37, Z:-5.56 [[ 9.65331976e-01 2.60795341e-01 1.09528663e-02 2.92851157e+02] [-2.60779169e-01 9.65394110e-01 -2.90479162e-03 -6.43735425e+01] [-1.13313888e-02 -5.21911495e-05 9.99935796e-01 -5.56017487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.818623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:292.88, Y:-64.38, Z:-5.56 [[ 9.64890579e-01 2.62426308e-01 1.08905276e-02 2.92878991e+02] [-2.62410425e-01 9.64952034e-01 -2.88802111e-03 -6.43764975e+01] [-1.12667294e-02 -7.11636105e-05 9.99936526e-01 -5.56045942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.84862385300005 meters Centerline goodness [0,1] 0.9999784199054792 Centerline is valid? [True, True] Translation: X:292.91, Y:-64.38, Z:-5.56 [[ 9.64480989e-01 2.63917245e-01 1.11404018e-02 2.92907167e+02] [-2.63900741e-01 9.64545322e-01 -2.95295810e-03 -6.43811507e+01] [-1.15247590e-02 -9.18883425e-05 9.99933584e-01 -5.55923089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.878623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:292.94, Y:-64.38, Z:-5.56 [[ 9.63645366e-01 2.66904781e-01 1.22248338e-02 2.92936495e+02] [-2.66885155e-01 9.63722895e-01 -3.23975922e-03 -6.43805362e+01] [-1.26460594e-02 -1.40647695e-04 9.99920026e-01 -5.55806420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.90862385300005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:292.96, Y:-64.38, Z:-5.56 [[ 9.63224026e-01 2.68397686e-01 1.27341444e-02 2.92964676e+02] [-2.68376532e-01 9.63308182e-01 -3.37386309e-03 -6.43816530e+01] [-1.31724426e-02 -1.67759522e-04 9.99913226e-01 -5.55777245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.938623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:292.99, Y:-64.39, Z:-5.56 [[ 9.62854730e-01 2.69674307e-01 1.36578205e-02 2.92992268e+02] [-2.69650115e-01 9.62951571e-01 -3.61766075e-03 -6.43884361e+01] [-1.41274099e-02 -1.99551108e-04 9.99900183e-01 -5.55593384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.968623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:293.02, Y:-64.39, Z:-5.56 [[ 9.62304715e-01 2.71614520e-01 1.39709357e-02 2.93021875e+02] [-2.71589422e-01 9.62406098e-01 -3.69976623e-03 -6.43870087e+01] [-1.44506239e-02 -2.34055857e-04 9.99895557e-01 -5.55653506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.998623853 meters Centerline goodness [0,1] 0.999978458953536 Centerline is valid? [True, True] Translation: X:293.05, Y:-64.39, Z:-5.56 [[ 9.62151383e-01 2.72187460e-01 1.33680009e-02 2.93050381e+02] [-2.72164556e-01 9.62244216e-01 -3.53867525e-03 -6.43893076e+01] [-1.38264646e-02 -2.33554765e-04 9.99904383e-01 -5.55813360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.028623853 meters Centerline goodness [0,1] 0.999872288797599 Centerline is valid? [True, True] Translation: X:293.08, Y:-64.39, Z:-5.56 [[ 9.62112721e-01 2.72340448e-01 1.30304003e-02 2.93078554e+02] [-2.72318710e-01 9.62200929e-01 -3.44864782e-03 -6.43916019e+01] [-1.34770695e-02 -2.30433857e-04 9.99909154e-01 -5.56026543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.05862385300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:293.11, Y:-64.40, Z:-5.56 [[ 9.62287249e-01 2.71760876e-01 1.22178876e-02 2.93106123e+02] [-2.71741734e-01 9.62364787e-01 -3.23231600e-03 -6.43998176e+01] [-1.26364818e-02 -2.09693487e-04 9.99920134e-01 -5.56220680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.088623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:293.13, Y:-64.40, Z:-5.57 [[ 9.62623077e-01 2.70600624e-01 1.14940498e-02 2.93134108e+02] [-2.70583603e-01 9.62691679e-01 -3.04057828e-03 -6.44031497e+01] [-1.18880085e-02 -1.83170580e-04 9.99929318e-01 -5.56554342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.11862385300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:293.16, Y:-64.42, Z:-5.56 [[ 9.63045868e-01 2.69092895e-01 1.14747885e-02 2.93160814e+02] [-2.69075840e-01 9.63114213e-01 -3.03410772e-03 -6.44151053e+01] [-1.18679887e-02 -1.65603453e-04 9.99929559e-01 -5.56496303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.148623853 meters Centerline goodness [0,1] 0.9998474579964698 Centerline is valid? [True, True] Translation: X:293.19, Y:-64.42, Z:-5.56 [[ 9.64016977e-01 2.65601916e-01 1.12645532e-02 2.93188734e+02] [-2.65585249e-01 9.64082780e-01 -2.97794685e-03 -6.44226326e+01] [-1.16509102e-02 -1.20907848e-04 9.99932119e-01 -5.55934802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.17862385300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:293.22, Y:-64.43, Z:-5.57 [[ 9.64558659e-01 2.63608087e-01 1.17204594e-02 2.93215823e+02] [-2.63589904e-01 9.64629860e-01 -3.09781889e-03 -6.44306154e+01] [-1.21225152e-02 -1.01366736e-04 9.99926514e-01 -5.56604736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.208623853 meters Centerline goodness [0,1] 0.9999784598815293 Centerline is valid? [True, True] Translation: X:293.24, Y:-64.44, Z:-5.57 [[ 9.65136671e-01 2.61485783e-01 1.16786847e-02 2.93243050e+02] [-2.61467581e-01 9.65207325e-01 -3.08616477e-03 -6.44383491e+01] [-1.20793402e-02 -7.50266522e-05 9.99927039e-01 -5.56734989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.23862385300004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:293.27, Y:-64.45, Z:-5.57 [[ 9.66308602e-01 2.57099205e-01 1.21525676e-02 2.93269824e+02] [-2.57079157e-01 9.66385016e-01 -3.21071338e-03 -6.44500106e+01] [-1.25695310e-02 -2.16318705e-05 9.99921000e-01 -5.56697114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.268623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:293.30, Y:-64.46, Z:-5.57 [[ 9.66920554e-01 2.54773090e-01 1.24625198e-02 2.93296879e+02] [-2.54751821e-01 9.67000865e-01 -3.29197245e-03 -6.44597135e+01] [-1.28899734e-02 8.22621349e-06 9.99916921e-01 -5.56634219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.29862385300004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:293.32, Y:-64.47, Z:-5.57 [[ 9.67455009e-01 2.52729640e-01 1.25910573e-02 2.93322031e+02] [-2.52707762e-01 9.67536939e-01 -3.32554036e-03 -6.44683108e+01] [-1.30227757e-02 3.54527640e-05 9.99915199e-01 -5.56608258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.328623853 meters Centerline goodness [0,1] 0.9999785812200137 Centerline is valid? [True, True] Translation: X:293.35, Y:-64.48, Z:-5.57 [[ 9.67956302e-01 2.50786677e-01 1.29089433e-02 2.93348560e+02] [-2.50763529e-01 9.68042375e-01 -3.40789591e-03 -6.44769212e+01] [-1.33510590e-02 6.16021358e-05 9.99910869e-01 -5.56641772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.35862385300004 meters Centerline goodness [0,1] 0.9999133655324771 Centerline is valid? [True, True] Translation: X:293.38, Y:-64.49, Z:-5.57 [[ 9.68885458e-01 2.47152503e-01 1.32894202e-02 2.93375739e+02] [-2.47127641e-01 9.68976588e-01 -3.50739250e-03 -6.44859743e+01] [-1.37439979e-02 1.14078524e-04 9.99905540e-01 -5.56604467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.388623853 meters Centerline goodness [0,1] 0.9998922854865464 Centerline is valid? [True, True] Translation: X:293.40, Y:-64.50, Z:-5.57 [[ 9.69318229e-01 2.45459218e-01 1.31126725e-02 2.93402080e+02] [-2.45434867e-01 9.69406908e-01 -3.46012637e-03 -6.44952962e+01] [-1.35608352e-02 1.35656544e-04 9.99908038e-01 -5.56752583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.41862385300004 meters Centerline goodness [0,1] 0.99971705299815 Centerline is valid? [True, True] Translation: X:293.43, Y:-64.50, Z:-5.57 [[ 9.69796114e-01 2.43590345e-01 1.26190544e-02 2.93429794e+02] [-2.43567645e-01 9.69878198e-01 -3.32901909e-03 -6.45034176e+01] [-1.30498626e-02 1.54876418e-04 9.99914835e-01 -5.56828880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.448623853 meters Centerline goodness [0,1] 0.9996552095679345 Centerline is valid? [True, True] Translation: X:293.45, Y:-64.52, Z:-5.57 [[ 9.70523059e-01 2.40722231e-01 1.17388181e-02 2.93454961e+02] [-2.40702383e-01 9.70594032e-01 -3.09632589e-03 -6.45170202e+01] [-1.21389813e-02 1.79494176e-04 9.99926304e-01 -5.57193998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.47862385300004 meters Centerline goodness [0,1] 0.9996755072902695 Centerline is valid? [True, True] Translation: X:293.48, Y:-64.52, Z:-5.57 [[ 9.70818695e-01 2.39547340e-01 1.13196196e-02 2.93483077e+02] [-2.39528814e-01 9.70884667e-01 -2.98494051e-03 -6.45245451e+01] [-1.17050797e-02 1.86460985e-04 9.99931476e-01 -5.57230929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.508623853 meters Centerline goodness [0,1] 0.9997396341860314 Centerline is valid? [True, True] Translation: X:293.51, Y:-64.53, Z:-5.57 [[ 9.71077430e-01 2.38499532e-01 1.12515966e-02 2.93510736e+02] [-2.38481165e-01 9.71142592e-01 -2.96642926e-03 -6.45321323e+01] [-1.16343966e-02 1.97338645e-04 9.99932299e-01 -5.57287569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.53862385300005 meters Centerline goodness [0,1] 0.9997863978127136 Centerline is valid? [True, True] Translation: X:293.54, Y:-64.54, Z:-5.58 [[ 9.71393722e-01 2.37225030e-01 1.08868020e-02 2.93536871e+02] [-2.37207759e-01 9.71454705e-01 -2.86980271e-03 -6.45413277e+01] [-1.12568241e-02 2.05274420e-04 9.99936619e-01 -5.57512638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.568623853 meters Centerline goodness [0,1] 0.9997421517436988 Centerline is valid? [True, True] Translation: X:293.56, Y:-64.55, Z:-5.58 [[ 9.71605309e-01 2.36364188e-01 1.07282082e-02 2.93564376e+02] [-2.36347373e-01 9.71664513e-01 -2.82730632e-03 -6.45482671e+01] [-1.10924932e-02 2.11442002e-04 9.99938454e-01 -5.57567607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.59862385300005 meters Centerline goodness [0,1] 0.9996319470003681 Centerline is valid? [True, True] Translation: X:293.59, Y:-64.56, Z:-5.58 [[ 9.71795012e-01 2.35594718e-01 1.04682464e-02 2.93590330e+02] [-2.35578670e-01 9.71851369e-01 -2.75814464e-03 -6.45574578e+01] [-1.08233839e-02 2.14255649e-04 9.99941403e-01 -5.57765434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.628623853 meters Centerline goodness [0,1] 0.9995493465525012 Centerline is valid? [True, True] Translation: X:293.62, Y:-64.57, Z:-5.58 [[ 9.71941486e-01 2.35006619e-01 1.00815061e-02 2.93618586e+02] [-2.34991710e-01 9.71993747e-01 -2.65554208e-03 -6.45651330e+01] [-1.04232309e-02 2.11961158e-04 9.99945654e-01 -5.57857580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.65862385300005 meters Centerline goodness [0,1] 0.9995027242065208 Centerline is valid? [True, True] Translation: X:293.65, Y:-64.58, Z:-5.58 [[ 9.72252380e-01 2.33712670e-01 1.01831810e-02 2.93645469e+02] [-2.33697394e-01 9.72305680e-01 -2.68179246e-03 -6.45750970e+01] [-1.05279337e-02 2.27596228e-04 9.99944554e-01 -5.57878209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.688623853 meters Centerline goodness [0,1] 0.9996751559251559 Centerline is valid? [True, True] Translation: X:293.67, Y:-64.58, Z:-5.58 [[ 9.72389745e-01 2.33130201e-01 1.04160478e-02 2.93672873e+02] [-2.33114190e-01 9.72445501e-01 -2.74256014e-03 -6.45840640e+01] [-1.07684125e-02 2.38708793e-04 9.99941990e-01 -5.57927514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.718623853 meters Centerline goodness [0,1] 0.9995449324983205 Centerline is valid? [True, True] Translation: X:293.70, Y:-64.59, Z:-5.58 [[ 9.72463606e-01 2.32812584e-01 1.06224163e-02 2.93700860e+02] [-2.32795921e-01 9.72521588e-01 -2.79633651e-03 -6.45917908e+01] [-1.09815515e-02 2.46480307e-04 9.99939671e-01 -5.57929775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.748623853 meters Centerline goodness [0,1] 0.9995671464127259 Centerline is valid? [True, True] Translation: X:293.73, Y:-64.60, Z:-5.58 [[ 9.72582782e-01 2.32317817e-01 1.05434728e-02 2.93728584e+02] [-2.32301377e-01 9.72639897e-01 -2.77502164e-03 -6.45991925e+01] [-1.08996893e-02 2.49675013e-04 9.99940565e-01 -5.57980380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.778623853 meters Centerline goodness [0,1] 0.9993480953519198 Centerline is valid? [True, True] Translation: X:293.75, Y:-64.61, Z:-5.58 [[ 9.72620716e-01 2.32175454e-01 1.01735975e-02 2.93754986e+02] [-2.32160143e-01 9.72673892e-01 -2.67727771e-03 -6.46081006e+01] [-1.05171908e-02 2.42071922e-04 9.99944664e-01 -5.58134015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.80862385300003 meters Centerline goodness [0,1] 0.9994182664339732 Centerline is valid? [True, True] Translation: X:293.78, Y:-64.62, Z:-5.58 [[ 9.72597549e-01 2.32259920e-01 1.04564297e-02 2.93782217e+02] [-2.32243760e-01 9.72653725e-01 -2.75089210e-03 -6.46159518e+01] [-1.08094073e-02 2.47070359e-04 9.99941546e-01 -5.58191822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.838623853 meters Centerline goodness [0,1] 0.9995021860525518 Centerline is valid? [True, True] Translation: X:293.81, Y:-64.62, Z:-5.58 [[ 9.72454791e-01 2.32852033e-01 1.05645992e-02 2.93810550e+02] [-2.32835579e-01 9.72512145e-01 -2.77871197e-03 -6.46233670e+01] [-1.09212298e-02 2.42357185e-04 9.99940332e-01 -5.58223451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.86862385300003 meters Centerline goodness [0,1] 0.9994136043784206 Centerline is valid? [True, True] Translation: X:293.84, Y:-64.63, Z:-5.58 [[ 9.72417781e-01 2.32998112e-01 1.07489018e-02 2.93838009e+02] [-2.32981091e-01 9.72477156e-01 -2.82686769e-03 -6.46311605e+01] [-1.11117163e-02 2.44605534e-04 9.99938233e-01 -5.58256601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.898623853 meters Centerline goodness [0,1] 0.9994644846199983 Centerline is valid? [True, True] Translation: X:293.86, Y:-64.64, Z:-5.58 [[ 9.72393121e-01 2.33101330e-01 1.07419177e-02 2.93864740e+02] [-2.33084343e-01 9.72452421e-01 -2.82458848e-03 -6.46389027e+01] [-1.11044192e-02 2.42837580e-04 9.99938315e-01 -5.58314544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.92862385300003 meters Centerline goodness [0,1] 0.9995459263103269 Centerline is valid? [True, True] Translation: X:293.89, Y:-64.64, Z:-5.58 [[ 9.72335651e-01 2.33350327e-01 1.05359930e-02 2.93893707e+02] [-2.33334007e-01 9.72392703e-01 -2.76974402e-03 -6.46436409e+01] [-1.08914434e-02 2.34715394e-04 9.99940659e-01 -5.57876272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.958623853 meters Centerline goodness [0,1] 0.9994599615492623 Centerline is valid? [True, True] Translation: X:293.92, Y:-64.65, Z:-5.58 [[ 9.72356227e-01 2.33260035e-01 1.06359493e-02 2.93918993e+02] [-2.33243403e-01 9.72414366e-01 -2.79555367e-03 -6.46548663e+01] [-1.09946408e-02 2.37509021e-04 9.99939529e-01 -5.58447219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.98862385300004 meters Centerline goodness [0,1] 0.9996556177356866 Centerline is valid? [True, True] Translation: X:293.95, Y:-64.66, Z:-5.59 [[ 9.72371924e-01 2.33196645e-01 1.05908382e-02 2.93947096e+02] [-2.33180159e-01 9.72429570e-01 -2.78289975e-03 -6.46620395e+01] [-1.09478071e-02 2.36440238e-04 9.99940043e-01 -5.58541140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.018623853 meters Centerline goodness [0,1] 0.9996099252356702 Centerline is valid? [True, True] Translation: X:293.98, Y:-64.67, Z:-5.59 [[ 9.72437419e-01 2.32917565e-01 1.07179510e-02 2.93975037e+02] [-2.32900670e-01 9.72496452e-01 -2.81576578e-03 -6.46705463e+01] [-1.10790107e-02 2.41938025e-04 9.99938597e-01 -5.58542083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.04862385300004 meters Centerline goodness [0,1] 0.9994827474730059 Centerline is valid? [True, True] Translation: X:294.00, Y:-64.68, Z:-5.59 [[ 9.72469933e-01 2.32771421e-01 1.09405317e-02 2.94000708e+02] [-2.32753813e-01 9.72531441e-01 -2.87375020e-03 -6.46829296e+01] [-1.13089380e-02 2.48185203e-04 9.99936021e-01 -5.58735570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.078623853 meters Centerline goodness [0,1] 0.9996337154184263 Centerline is valid? [True, True] Translation: X:294.03, Y:-64.69, Z:-5.59 [[ 9.72502560e-01 2.32636241e-01 1.09155804e-02 2.94029360e+02] [-2.32618714e-01 9.72563786e-01 -2.86641002e-03 -6.46867148e+01] [-1.12829290e-02 2.48422809e-04 9.99936315e-01 -5.58598137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.10862385300004 meters Centerline goodness [0,1] 0.9996550832111754 Centerline is valid? [True, True] Translation: X:294.06, Y:-64.70, Z:-5.59 [[ 9.72592171e-01 2.32265593e-01 1.08241693e-02 2.94055787e+02] [-2.32248342e-01 9.72652370e-01 -2.84175300e-03 -6.46977794e+01] [-1.11881954e-02 2.49971347e-04 9.99937379e-01 -5.58734994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.138623853 meters Centerline goodness [0,1] 0.9995050037662757 Centerline is valid? [True, True] Translation: X:294.08, Y:-64.71, Z:-5.59 [[ 9.72623252e-01 2.32143738e-01 1.06439963e-02 2.94081762e+02] [-2.32127055e-01 9.72681461e-01 -2.79404195e-03 -6.47111166e+01] [-1.10018372e-02 2.46790660e-04 9.99939448e-01 -5.58986315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.16862385300004 meters Centerline goodness [0,1] 0.9995007813856572 Centerline is valid? [True, True] Translation: X:294.11, Y:-64.72, Z:-5.59 [[ 9.72574405e-01 2.32357865e-01 1.04330962e-02 2.94110484e+02] [-2.32341852e-01 9.72630333e-01 -2.73838312e-03 -6.47164706e+01] [-1.07838307e-02 2.39236453e-04 9.99941824e-01 -5.59012542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.198623853 meters Centerline goodness [0,1] 0.9994343153039468 Centerline is valid? [True, True] Translation: X:294.14, Y:-64.72, Z:-5.59 [[ 9.72485780e-01 2.32750718e-01 9.92531141e-03 2.94139016e+02] [-2.32736250e-01 9.72536402e-01 -2.60468089e-03 -6.47207359e+01] [-1.02589680e-02 2.23035370e-04 9.99947351e-01 -5.58597765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.22862385300004 meters Centerline goodness [0,1] 0.9997192527804772 Centerline is valid? [True, True] Translation: X:294.17, Y:-64.73, Z:-5.59 [[ 9.71997153e-01 2.34780762e-01 9.97642887e-03 2.94166397e+02] [-2.34766258e-01 9.72048329e-01 -2.61745989e-03 -6.47281386e+01] [-1.03121002e-02 2.02034691e-04 9.99946808e-01 -5.59070861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.258623853 meters Centerline goodness [0,1] 0.99963283730373 Centerline is valid? [True, True] Translation: X:294.19, Y:-64.74, Z:-5.59 [[ 9.71690034e-01 2.36046232e-01 1.00326165e-02 2.94194824e+02] [-2.36031636e-01 9.71741807e-01 -2.63180124e-03 -6.47352937e+01] [-1.03703396e-02 1.89280162e-04 9.99946209e-01 -5.59087747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.28862385300005 meters Centerline goodness [0,1] 0.9997603642463455 Centerline is valid? [True, True] Translation: X:294.22, Y:-64.74, Z:-5.59 [[ 9.71357546e-01 2.37410117e-01 1.00475555e-02 2.94223315e+02] [-2.37395555e-01 9.71409494e-01 -2.63532691e-03 -6.47422322e+01] [-1.03859441e-02 1.74599669e-04 9.99946049e-01 -5.59174078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.318623853 meters Centerline goodness [0,1] 0.9999138729194927 Centerline is valid? [True, True] Translation: X:294.25, Y:-64.75, Z:-5.59 [[ 9.70474159e-01 2.40997511e-01 1.00052932e-02 2.94250893e+02] [-2.40983263e-01 9.70525724e-01 -2.62406417e-03 -6.47466254e+01] [-1.03427874e-02 1.35478264e-04 9.99946503e-01 -5.59266604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.34862385300005 meters Centerline goodness [0,1] 0.9999781630781325 Centerline is valid? [True, True] Translation: X:294.28, Y:-64.75, Z:-5.59 [[ 9.70003197e-01 2.42901873e-01 9.61659422e-03 2.94279390e+02] [-2.42888811e-01 9.70050859e-01 -2.52143154e-03 -6.47518961e+01] [-9.94104592e-03 1.10033522e-04 9.99950581e-01 -5.59344648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.378623853 meters Centerline goodness [0,1] 0.9999784798140656 Centerline is valid? [True, True] Translation: X:294.31, Y:-64.76, Z:-5.59 [[ 9.69528238e-01 2.44784428e-01 9.77652321e-03 2.94306585e+02] [-2.44771027e-01 9.69577524e-01 -2.56295054e-03 -6.47567728e+01] [-1.01064675e-02 9.18432950e-05 9.99948924e-01 -5.59188909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.40862385300005 meters Centerline goodness [0,1] 0.9999567062083298 Centerline is valid? [True, True] Translation: X:294.33, Y:-64.76, Z:-5.60 [[ 9.69010912e-01 2.46838318e-01 9.41787331e-03 2.94334667e+02] [-2.46825987e-01 9.69056675e-01 -2.46825414e-03 -6.47622031e+01] [-9.73571270e-03 6.71893213e-05 9.99952605e-01 -5.59526842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.438623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:294.36, Y:-64.77, Z:-5.60 [[ 9.68489454e-01 2.48891211e-01 9.01904517e-03 2.94362197e+02] [-2.48879993e-01 9.68531447e-01 -2.36341833e-03 -6.47670862e+01] [-9.32346291e-03 4.42858220e-05 9.99956535e-01 -5.59673238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.468623853 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:294.39, Y:-64.77, Z:-5.60 [[ 9.67619738e-01 2.52272358e-01 8.40834367e-03 2.94389693e+02] [-2.52262734e-01 9.67656270e-01 -2.20349045e-03 -6.47693424e+01] [-8.69226621e-03 1.10290873e-05 9.99962221e-01 -5.59834950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.498623853 meters Centerline goodness [0,1] 0.999978350292271 Centerline is valid? [True, True] Translation: X:294.42, Y:-64.77, Z:-5.60 [[ 9.67196339e-01 2.53893613e-01 8.32314956e-03 2.94417354e+02] [-2.53884257e-01 9.67232151e-01 -2.17972072e-03 -6.47737225e+01] [-8.60383502e-03 -4.89873764e-06 9.99962986e-01 -5.59643548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.528623853 meters Centerline goodness [0,1] 0.999978350292271 Centerline is valid? [True, True] Translation: X:294.44, Y:-64.78, Z:-5.60 [[ 9.67214426e-01 2.53824696e-01 8.32330421e-03 2.94443988e+02] [-2.53815342e-01 9.67250238e-01 -2.17912992e-03 -6.47805521e+01] [-8.60383498e-03 -4.89640623e-06 9.99962986e-01 -5.59695132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.55862385300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:294.47, Y:-64.79, Z:-5.60 [[ 9.66697769e-01 2.55788308e-01 8.23189397e-03 2.94472184e+02] [-2.55779237e-01 9.66732818e-01 -2.15434088e-03 -6.47855878e+01] [-8.50909726e-03 -2.29510325e-05 9.99963797e-01 -5.59929453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.588623853 meters Centerline goodness [0,1] 0.9999346846356492 Centerline is valid? [True, True] Translation: X:294.50, Y:-64.79, Z:-5.60 [[ 9.65750478e-01 2.59343301e-01 8.18935620e-03 2.94501134e+02] [-2.59334454e-01 9.65785198e-01 -2.14278842e-03 -6.47878861e+01] [-8.46487682e-03 -5.43832763e-05 9.99964171e-01 -5.59981612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.61862385300003 meters Centerline goodness [0,1] 0.9998273033416804 Centerline is valid? [True, True] Translation: X:294.53, Y:-64.79, Z:-5.60 [[ 9.65233352e-01 2.61262518e-01 8.15312055e-03 2.94529854e+02] [-2.61253821e-01 9.65267782e-01 -2.13290807e-03 -6.47932055e+01] [-8.42719352e-03 -7.12798910e-05 9.99964488e-01 -5.59965600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.648623853 meters Centerline goodness [0,1] 0.999739187133232 Centerline is valid? [True, True] Translation: X:294.56, Y:-64.80, Z:-5.60 [[ 9.64770689e-01 2.62966662e-01 8.12730546e-03 2.94558406e+02] [-2.62958084e-01 9.64804917e-01 -2.12573468e-03 -6.47982161e+01] [-8.40026162e-03 -8.62941580e-05 9.99964713e-01 -5.59979067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.67862385300003 meters Centerline goodness [0,1] 0.9990020393109732 Centerline is valid? [True, True] Translation: X:294.59, Y:-64.80, Z:-5.60 [[ 9.63997981e-01 2.65783796e-01 8.17718526e-03 2.94587903e+02] [-2.65775217e-01 9.64032656e-01 -2.13834569e-03 -6.48001205e+01] [-8.45141125e-03 -1.11932259e-04 9.99964280e-01 -5.59793965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.708623853 meters Centerline goodness [0,1] 0.9982075756921349 Centerline is valid? [True, True] Translation: X:294.62, Y:-64.81, Z:-5.60 [[ 9.63566877e-01 2.67353253e-01 7.81737945e-03 2.94616387e+02] [-2.67345468e-01 9.63598580e-01 -2.04388977e-03 -6.48057038e+01] [-8.07925631e-03 -1.20516484e-04 9.99967355e-01 -5.60018977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.73862385300004 meters Centerline goodness [0,1] 0.9975178070364774 Centerline is valid? [True, True] Translation: X:294.64, Y:-64.81, Z:-5.60 [[ 9.63273582e-01 2.68414604e-01 7.58993323e-03 2.94643537e+02] [-2.68407300e-01 9.63303475e-01 -1.98418554e-03 -6.48104729e+01] [-7.84399343e-03 -1.25879974e-04 9.99969227e-01 -5.60108819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.768623853 meters Centerline goodness [0,1] 0.9968097573679413 Centerline is valid? [True, True] Translation: X:294.67, Y:-64.82, Z:-5.60 [[ 9.63221057e-01 2.68589901e-01 8.04117141e-03 2.94670872e+02] [-2.68581712e-01 9.63254612e-01 -2.10169433e-03 -6.48158149e+01] [-8.31018931e-03 -1.35315353e-04 9.99965461e-01 -5.59737255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.79862385300004 meters Centerline goodness [0,1] 0.9945668513507709 Centerline is valid? [True, True] Translation: X:294.70, Y:-64.82, Z:-5.60 [[ 9.62761347e-01 2.70258399e-01 7.14050386e-03 2.94699479e+02] [-2.70251993e-01 9.62787817e-01 -1.86560221e-03 -6.48171408e+01] [-7.37898479e-03 -1.33605699e-04 9.99972766e-01 -5.60248130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.828623853 meters Centerline goodness [0,1] 0.9932623809115098 Centerline is valid? [True, True] Translation: X:294.73, Y:-64.82, Z:-5.60 [[ 9.62703206e-01 2.70471788e-01 6.89553341e-03 2.94727029e+02] [-2.70465818e-01 9.62727892e-01 -1.80175761e-03 -6.48238363e+01] [-7.12584695e-03 -1.30448256e-04 9.99974602e-01 -5.60215088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.85862385300004 meters Centerline goodness [0,1] 0.9912613817805205 Centerline is valid? [True, True] Translation: X:294.76, Y:-64.83, Z:-5.60 [[ 9.62785478e-01 2.70162096e-01 7.52103479e-03 2.94755068e+02] [-2.70154994e-01 9.62814843e-01 -1.96397899e-03 -6.48283373e+01] [-7.77195661e-03 -1.40954659e-04 9.99969788e-01 -5.60117414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.888623853 meters Centerline goodness [0,1] 0.9880627191190071 Centerline is valid? [True, True] Translation: X:294.78, Y:-64.83, Z:-5.60 [[ 9.62640768e-01 2.70696953e-01 6.77572085e-03 2.94783409e+02] [-2.70691196e-01 9.62664605e-01 -1.77034593e-03 -6.48349125e+01] [-7.00197389e-03 -1.29920809e-04 9.99975477e-01 -5.60214445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.91862385300004 meters Centerline goodness [0,1] 0.985829134955515 Centerline is valid? [True, True] Translation: X:294.81, Y:-64.84, Z:-5.60 [[ 9.62801557e-01 2.70123731e-01 6.80670928e-03 2.94811043e+02] [-2.70117924e-01 9.62825609e-01 -1.77591872e-03 -6.48381419e+01] [-7.03339180e-03 -1.28756870e-04 9.99975257e-01 -5.60423706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.948623853 meters Centerline goodness [0,1] 0.983534197373261 Centerline is valid? [True, True] Translation: X:294.84, Y:-64.85, Z:-5.60 [[ 9.62881184e-01 2.69851748e-01 6.31345941e-03 2.94837805e+02] [-2.69846749e-01 9.62901875e-01 -1.64678313e-03 -6.48489346e+01] [-6.52362921e-03 -1.18010004e-04 9.99978714e-01 -5.60250342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.97862385300004 meters Centerline goodness [0,1] 0.9808647574618807 Centerline is valid? [True, True] Translation: X:294.87, Y:-64.86, Z:-5.60 [[ 9.62941929e-01 2.69636243e-01 6.25594281e-03 2.94865324e+02] [-2.69631330e-01 9.62962244e-01 -1.63177533e-03 -6.48559566e+01] [-6.46422249e-03 -1.15493302e-04 9.99979100e-01 -5.60318191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.008623853 meters Centerline goodness [0,1] 0.975032936653636 Centerline is valid? [True, True] Translation: X:294.89, Y:-64.86, Z:-5.60 [[ 9.63296605e-01 2.68361664e-01 6.45506083e-03 2.94892754e+02] [-2.68356407e-01 9.63318226e-01 -1.68336608e-03 -6.48609348e+01] [-6.67002867e-03 -1.10676105e-04 9.99977749e-01 -5.60423666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.03862385300005 meters Centerline goodness [0,1] 0.9726464751057037 Centerline is valid? [True, True] Translation: X:294.92, Y:-64.87, Z:-5.60 [[ 9.63373050e-01 2.68085837e-01 6.50774958e-03 2.94920830e+02] [-2.68080495e-01 9.63395024e-01 -1.69594131e-03 -6.48676661e+01] [-6.72419140e-03 -1.10776578e-04 9.99977386e-01 -5.60457252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.068623853 meters Centerline goodness [0,1] 0.9694085067716671 Centerline is valid? [True, True] Translation: X:294.95, Y:-64.87, Z:-5.61 [[ 9.63536074e-01 2.67498578e-01 6.53801716e-03 2.94947980e+02] [-2.67493172e-01 9.63558249e-01 -1.70400697e-03 -6.48722978e+01] [-6.75557981e-03 -1.07002763e-04 9.99977175e-01 -5.60568369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.09862385300005 meters Centerline goodness [0,1] 0.9669151610200443 Centerline is valid? [True, True] Translation: X:294.98, Y:-64.88, Z:-5.61 [[ 9.63678315e-01 2.66976287e-01 6.91143549e-03 2.94976198e+02] [-2.66970242e-01 9.63703092e-01 -1.80005171e-03 -6.48799733e+01] [-7.14114287e-03 -1.10476800e-04 9.99974496e-01 -5.60564215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.128623853 meters Centerline goodness [0,1] 0.962013769736985 Centerline is valid? [True, True] Translation: X:295.00, Y:-64.89, Z:-5.61 [[ 9.64048970e-01 2.65665673e-01 5.59760945e-03 2.95003506e+02] [-2.65661680e-01 9.64065218e-01 -1.45877083e-03 -6.48873336e+01] [-5.78400591e-03 -8.07438191e-05 9.99983269e-01 -5.60790598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.15862385300005 meters Centerline goodness [0,1] 0.957837280268191 Centerline is valid? [True, True] Translation: X:295.03, Y:-64.88, Z:-5.60 [[ 9.64501788e-01 2.64072391e-01 -1.44010888e-03 2.95034022e+02] [-2.64040514e-01 9.64266880e-01 -2.17253686e-02 -6.48774603e+01] [-4.34842074e-03 2.13344040e-02 9.99762939e-01 -5.59954564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.188623853 meters Centerline goodness [0,1] 0.9559529759447185 Centerline is valid? [True, True] Translation: X:295.06, Y:-64.89, Z:-5.59 [[ 9.64776438e-01 2.63049145e-01 -3.40186542e-03 2.95060719e+02] [-2.63070219e-01 9.64726627e-01 -9.82824453e-03 -6.48942083e+01] [ 6.96558834e-04 1.03769882e-02 9.99945915e-01 -5.59496915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.218623853 meters Centerline goodness [0,1] 0.9564937848264038 Centerline is valid? [True, True] Translation: X:295.08, Y:-64.93, Z:-5.61 [[ 9.65783707e-01 2.59091044e-01 1.15612319e-02 2.95081566e+02] [-2.59320112e-01 9.65380408e-01 2.81735155e-02 -6.49281112e+01] [-3.86148123e-03 -3.02075822e-02 9.99536188e-01 -5.61160806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.248623853 meters Centerline goodness [0,1] 0.9493692574586109 Centerline is valid? [True, False] Translation: X:295.06, Y:-64.91, Z:-5.61 [[ 9.67131980e-01 2.54255433e-01 3.14776628e-03 2.95062332e+02] [-2.54274309e-01 9.67028480e-01 1.41595800e-02 -6.49108819e+01] [ 5.56170503e-04 -1.44945788e-02 9.99894793e-01 -5.60658587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.278623853 meters Centerline goodness [0,1] 0.9525924958080181 Centerline is valid? [False, True] Translation: X:295.01, Y:-64.89, Z:-5.61 [[ 9.68053242e-01 2.50744713e-01 9.42886999e-05 2.95005319e+02] [-2.50744674e-01 9.68053208e-01 -3.09642648e-04 -6.48857591e+01] [-1.68917735e-04 2.76108180e-04 9.99999948e-01 -5.60767926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.30862385300003 meters Centerline goodness [0,1] 0.949400047735804 Centerline is valid? [True, False] Translation: X:294.97, Y:-64.87, Z:-5.61 [[ 9.70120898e-01 2.42583604e-01 -4.31717674e-03 2.94970132e+02] [-2.42616362e-01 9.70066185e-01 -1.04354349e-02 -6.48662626e+01] [ 1.65648178e-03 1.11710511e-02 9.99936230e-01 -5.60741325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.338623853 meters Centerline goodness [0,1] 0.9546684709066305 Centerline is valid? [False, True] Translation: X:294.92, Y:-64.85, Z:-5.61 [[ 9.71829328e-01 2.35671493e-01 -2.58953042e-03 2.94915038e+02] [-2.35685707e-01 9.71774148e-01 -1.03563245e-02 -6.48479874e+01] [ 7.57482539e-05 1.06748952e-02 9.99943019e-01 -5.61118638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.36862385300003 meters Centerline goodness [0,1] 0.9496123189192711 Centerline is valid? [True, False] Translation: X:294.90, Y:-64.84, Z:-5.61 [[ 9.73127203e-01 2.30267538e-01 -5.54896301e-04 2.94896356e+02] [-2.30267077e-01 9.73112059e-01 -5.47660794e-03 -6.48421884e+01] [-7.21108744e-04 5.45721052e-03 9.99984849e-01 -5.61400093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.398623853 meters Centerline goodness [0,1] 0.9539770641211153 Centerline is valid? [False, True] Translation: X:294.88, Y:-64.84, Z:-5.62 [[ 9.74490944e-01 2.24426440e-01 4.15196784e-04 2.94877236e+02] [-2.24426204e-01 9.74490933e-01 -5.48596095e-04 -6.48355979e+01] [-5.27724970e-04 4.41420889e-04 9.99999763e-01 -5.61523248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.42862385300003 meters Centerline goodness [0,1] 0.9580186535673325 Centerline is valid? [True, True] Translation: X:294.90, Y:-64.86, Z:-5.63 [[ 9.74131974e-01 2.25855503e-01 7.49587147e-03 2.94898023e+02] [-2.25979789e-01 9.73569696e-01 3.30935400e-02 -6.48595731e+01] [ 1.76604815e-04 -3.39313909e-02 9.99424149e-01 -5.63413978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.458623853 meters Centerline goodness [0,1] 0.9508691713755769 Centerline is valid? [True, True] Translation: X:294.94, Y:-64.84, Z:-5.62 [[ 9.76144426e-01 2.17083024e-01 -4.12547689e-03 2.94937734e+02] [-2.17102589e-01 9.75624444e-01 -3.19907836e-02 -6.48370532e+01] [-2.91973995e-03 3.21232768e-02 9.99479650e-01 -5.61629850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.48862385300004 meters Centerline goodness [0,1] 0.9578183245046106 Centerline is valid? [True, True] Translation: X:294.95, Y:-64.88, Z:-5.64 [[ 9.74478815e-01 2.24386237e-01 6.46959300e-03 2.94953733e+02] [-2.24478298e-01 9.73975155e-01 3.13351559e-02 -6.48750231e+01] [ 7.29954876e-04 -3.19877288e-02 9.99487995e-01 -5.63517359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.518623853 meters Centerline goodness [0,1] 0.9558449398473545 Centerline is valid? [True, True] Translation: X:294.99, Y:-64.86, Z:-5.64 [[ 9.74490464e-01 2.24426816e-01 -9.69572959e-04 2.94985029e+02] [-2.24426698e-01 9.74490946e-01 2.30257920e-04 -6.48647137e+01] [ 9.96516122e-04 -6.78608924e-06 9.99999503e-01 -5.63715269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.54862385300004 meters Centerline goodness [0,1] 0.9420554327057258 Centerline is valid? [True, False] Translation: X:294.99, Y:-64.86, Z:-5.64 [[ 9.75448902e-01 2.20210390e-01 -2.61233324e-03 2.94988410e+02] [-2.20220880e-01 9.75438073e-01 -4.83008210e-03 -6.48593897e+01] [ 1.48453504e-03 5.28678861e-03 9.99984923e-01 -5.63733659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.578623853 meters Centerline goodness [0,1] 0.9507036173702841 Centerline is valid? [False, True] Translation: X:294.99, Y:-64.86, Z:-5.64 [[ 9.75452144e-01 2.20194728e-01 -2.71959721e-03 2.94989084e+02] [-2.20205903e-01 9.75441088e-01 -4.90341410e-03 -6.48590189e+01] [ 1.57310092e-03 5.38191716e-03 9.99984280e-01 -5.63751557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.60862385300004 meters Centerline goodness [0,1] 0.9509554414872967 Centerline is valid? [True, True] Translation: X:295.02, Y:-64.87, Z:-5.64 [[ 9.75309971e-01 2.20828451e-01 -2.29270859e-03 2.95015747e+02] [-2.20827805e-01 9.75312665e-01 5.34580405e-04 -6.48681851e+01] [ 2.35415829e-03 -1.50877929e-05 9.99997229e-01 -5.64118398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.638623853 meters Centerline goodness [0,1] 0.9466628885304503 Centerline is valid? [True, False] Translation: X:294.98, Y:-64.85, Z:-5.64 [[ 9.75960590e-01 2.17867216e-01 -5.89945887e-03 2.94981644e+02] [-2.17899040e-01 9.75956234e-01 -5.42557096e-03 -6.48507869e+01] [ 4.57555962e-03 6.58062986e-03 9.99967879e-01 -5.64021936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.66862385300004 meters Centerline goodness [0,1] 0.9452858361774744 Centerline is valid? [False, False] Translation: X:294.98, Y:-64.85, Z:-5.64 [[ 9.76821812e-01 2.13924540e-01 -7.44569154e-03 2.94984654e+02] [-2.13994771e-01 9.76778962e-01 -1.04449852e-02 -6.48451061e+01] [ 5.03835619e-03 1.17962285e-02 9.99917729e-01 -5.64018407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.698623853 meters Centerline goodness [0,1] 0.9448883691721345 Centerline is valid? [False, False] Translation: X:294.94, Y:-64.84, Z:-5.64 [[ 9.76670682e-01 2.14574683e-01 -8.49024157e-03 2.94944327e+02] [-2.14648686e-01 9.76649383e-01 -9.05116201e-03 -6.48353180e+01] [ 6.34983898e-03 1.06624238e-02 9.99922993e-01 -5.63987335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.72862385300004 meters Centerline goodness [0,1] 0.9416188957372527 Centerline is valid? [False, False] Translation: X:294.95, Y:-64.83, Z:-5.64 [[ 9.76695708e-01 2.14448851e-01 -8.78548764e-03 2.94945607e+02] [-2.14528088e-01 9.76672921e-01 -9.36511206e-03 -6.48337462e+01] [ 6.57221035e-03 1.10315986e-02 9.99917552e-01 -5.63981470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.758623853 meters Centerline goodness [0,1] 0.9380402835408022 Centerline is valid? [False, False] Translation: X:294.95, Y:-64.84, Z:-5.64 [[ 9.75804376e-01 2.18494380e-01 -8.12556241e-03 2.94946711e+02] [-2.18538436e-01 9.75815587e-01 -4.98924975e-03 -6.48354481e+01] [ 6.83892742e-03 6.64427944e-03 9.99954540e-01 -5.63954738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.78862385300005 meters Centerline goodness [0,1] 0.93439144273867 Centerline is valid? [False, False] Translation: X:294.95, Y:-64.83, Z:-5.64 [[ 9.75809877e-01 2.18463294e-01 -8.29892959e-03 2.94947640e+02] [-2.18511067e-01 9.75819767e-01 -5.35691968e-03 -6.48332588e+01] [ 6.92796922e-03 7.04074310e-03 9.99951214e-01 -5.63932188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.818623853 meters Centerline goodness [0,1] 0.9337698421245342 Centerline is valid? [False, False] Translation: X:294.95, Y:-64.83, Z:-5.64 [[ 9.76540439e-01 2.15126328e-01 -9.45698804e-03 2.94949665e+02] [-2.15217578e-01 9.76514882e-01 -1.00039666e-02 -6.48266546e+01] [ 7.08277297e-03 1.18045880e-02 9.99905239e-01 -5.63898760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.84862385300005 meters Centerline goodness [0,1] 0.9306164121325563 Centerline is valid? [False, False] Translation: X:294.95, Y:-64.82, Z:-5.64 [[ 9.76551735e-01 2.15037225e-01 -1.02810922e-02 2.94953744e+02] [-2.15145916e-01 9.76520130e-01 -1.09850413e-02 -6.48212245e+01] [ 7.67750066e-03 1.29393962e-02 9.99886808e-01 -5.63888709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.878623853 meters Centerline goodness [0,1] 0.9291346996345607 Centerline is valid? [False, False] Translation: X:294.96, Y:-64.82, Z:-5.64 [[ 9.76576422e-01 2.14913990e-01 -1.05104357e-02 2.94955108e+02] [-2.15029074e-01 9.76540878e-01 -1.14198013e-02 -6.48188523e+01] [ 7.80959507e-03 1.34123579e-02 9.99879552e-01 -5.63897777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.90862385300005 meters Centerline goodness [0,1] 0.9282936993834718 Centerline is valid? [False, False] Translation: X:294.96, Y:-64.82, Z:-5.64 [[ 9.76608560e-01 2.14753105e-01 -1.08085801e-02 2.94956594e+02] [-2.14876016e-01 9.76568916e-01 -1.18932699e-02 -6.48164151e+01] [ 8.00120670e-03 1.39375738e-02 9.99870854e-01 -5.63891955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.938623853 meters Centerline goodness [0,1] 0.9265419713934373 Centerline is valid? [False, False] Translation: X:294.96, Y:-64.81, Z:-5.64 [[ 9.76674541e-01 2.14419293e-01 -1.14545991e-02 2.94959953e+02] [-2.14558635e-01 9.76627812e-01 -1.27557180e-02 -6.48118615e+01] [ 8.45180805e-03 1.49158681e-02 9.99853031e-01 -5.63870799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.968623853 meters Centerline goodness [0,1] 0.9275315291928959 Centerline is valid? [False, False] Translation: X:294.96, Y:-64.81, Z:-5.64 [[ 9.76723473e-01 2.14184454e-01 -1.16737712e-02 2.94961241e+02] [-2.14331978e-01 9.76669988e-01 -1.33243506e-02 -6.48091801e+01] [ 8.54755323e-03 1.55162685e-02 9.99843080e-01 -5.63863653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.998623853 meters Centerline goodness [0,1] 0.9247458066187423 Centerline is valid? [False, False] Translation: X:294.96, Y:-64.81, Z:-5.64 [[ 9.76764830e-01 2.13979458e-01 -1.19691027e-02 2.94962649e+02] [-2.14135165e-01 9.76707521e-01 -1.37313519e-02 -6.48072482e+01] [ 8.75208541e-03 1.59753074e-02 9.99834082e-01 -5.63843557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.028623853 meters Centerline goodness [0,1] 0.9238325004308117 Centerline is valid? [False, False] Translation: X:294.96, Y:-64.81, Z:-5.64 [[ 9.76801264e-01 2.13802243e-01 -1.21610312e-02 2.94963745e+02] [-2.13964150e-01 9.76740011e-01 -1.40816811e-02 -6.48057789e+01] [ 8.86747079e-03 1.63570286e-02 9.99826893e-01 -5.63835157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.05862385300003 meters Centerline goodness [0,1] 0.9170520726276122 Centerline is valid? [False, False] Translation: X:294.97, Y:-64.80, Z:-5.64 [[ 9.77696427e-01 2.09573853e-01 -1.37294415e-02 2.94968017e+02] [-2.09814118e-01 9.77549862e-01 -1.93469293e-02 -6.47980879e+01] [ 9.36660313e-03 2.17960543e-02 9.99718560e-01 -5.63794487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.088623853 meters Centerline goodness [0,1] 0.9203621860515253 Centerline is valid? [False, False] Translation: X:294.97, Y:-64.80, Z:-5.64 [[ 9.77731567e-01 2.09400905e-01 -1.38651899e-02 2.94969262e+02] [-2.09646487e-01 9.77580931e-01 -1.95927084e-02 -6.47971116e+01] [ 9.45161442e-03 2.20631979e-02 9.99711900e-01 -5.63832213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.11862385300003 meters Centerline goodness [0,1] 0.9172416767293428 Centerline is valid? [False, False] Translation: X:294.97, Y:-64.80, Z:-5.64 [[ 9.77754533e-01 2.09282113e-01 -1.40382003e-02 2.94970457e+02] [-2.09532540e-01 9.77603257e-01 -1.96973833e-02 -6.47969452e+01] [ 9.60148039e-03 2.22006655e-02 9.99707428e-01 -5.63855064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.148623853 meters Centerline goodness [0,1] 0.9130810623905949 Centerline is valid? [False, False] Translation: X:294.97, Y:-64.80, Z:-5.64 [[ 9.77847157e-01 2.08803942e-01 -1.46918796e-02 2.94973871e+02] [-2.09070647e-01 9.77698885e-01 -1.98583711e-02 -6.47968900e+01] [ 1.02177281e-02 2.24900925e-02 9.99694850e-01 -5.63844583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.17862385300003 meters Centerline goodness [0,1] 0.8830223719443725 Centerline is valid? [False, False] Translation: X:294.98, Y:-64.80, Z:-5.64 [[ 9.77870963e-01 2.08678089e-01 -1.48941200e-02 2.94975119e+02] [-2.08949245e-01 9.77725074e-01 -1.98467102e-02 -6.47971214e+01] [ 1.04207810e-02 2.25196367e-02 9.99692089e-01 -5.63849429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.208623853 meters Centerline goodness [0,1] 0.8790914734656305 Centerline is valid? [False, False] Translation: X:294.98, Y:-64.80, Z:-5.64 [[ 9.77905688e-01 2.08505222e-01 -1.50345369e-02 2.94976324e+02] [-2.08779698e-01 9.77761044e-01 -1.98589883e-02 -6.47976669e+01] [ 1.05594817e-02 2.25591237e-02 9.99689744e-01 -5.63881449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] Total time of SLAM: 5429.96 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%| | 0/10307 [00:00